相关论文: A non-cubic space-filling modular robot
Spatial geometry of charged thin rotating and non-rotating rings in a rotating frame is investigated. It is shown, on an example of interaction between a charged probe and two positive charged non-rotating and negative charged rotating…
Proteins are linear chain molecules that play a central role in life and health. Protein native state folds are modular assemblies of space-filling building blocks of {\alpha}-helices, \{beta}-sheets and tight turns. Here we deduce the…
We present a scheme to perform universal quantum computation using global addressing techniques as applied to a physical system of endohedrally doped fullerenes. The system consists of an ABAB linear array of Group V endohedrally doped…
The purpose of this article is to demonstrate that non-crystallographic reflection groups can be used to build new solvable quantum particle systems. We explicitly construct a one-parametric family of solvable four-body systems on a line,…
We report on the development of a modular platform for programmable quantum simulation with atomic quantum gases. The platform is centered around exchangeable optical modules with versatile functionalities. The performance of each module is…
In machine learning, data is usually represented in a (flat) Euclidean space where distances between points are along straight lines. Researchers have recently considered more exotic (non-Euclidean) Riemannian manifolds such as hyperbolic…
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…
We study certain moduli spaces of stable vector bundles of rank two on cubic and quartic threefolds. In many cases under consideration, it turns out that the moduli space is complete and irreducible and a general member has vanishing…
Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes. The Robot Common Sense Embedding (RoboCSE)…
We prove an isoperimetric inequality for filling cellular cycles in a high dimensional cube with cellular chains. In addition, we provide a family of cubical cellular cycles for which the exponent in the inequality is optimal.
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
We study the folding of the regular two-dimensional triangular lattice embedded in the regular three-dimensional Face-Centred Cubic lattice, a discrete model for the crumpling of membranes. Possible folds are complete planar folds, folds…
Simple rectilinear polygons (i.e. rectilinear polygons without holes or cutpoints) can be regarded as finite rectangular cell complexes coordinatized by two finite dendrons. The intrinsic $l_1$-metric is thus inherited from the product of…
This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…
The moduli space of stable real cubic surfaces is the quotient of real hyperbolic four-space by a discrete, nonarithmetic group. The volume of the moduli space is 37\pi^2/1080 in the metric of constant curvature -1. Each of the five…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
In this paper we introduce an algorithm of construction of cyclic space-filling curves. One particular construction provides a family of space-filling curves in all dimensions (H-curves). They are compared here with the Hilbert curve in the…
Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework that is…