相关论文: The CR geometry of the three-segment snake
With the help of a generalization of the Fermat principle in general relativity, we show that chains in CR geometry are geodesics of a certain Kropina metric constructed from the CR structure. We study the projective equivalence of Kropina…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
We consider in this paper the $FRS$-deformations of a family of space curves with codimension $\leq 3$. Some geometric aspects of a space curve such as flattenings, vertices and twistings points has been studied.
We investigate the snaking of localised patterns, seen in numerous physical applications, using a variational approximation. This method naturally introduces the exponentially small terms responsible for the snaking structure, that are not…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…
We introduce a global Cauchy-Riemann($CR$)-invariant and discuss its behavior on the moduli space of $CR$-structures. We argue that this study is related to the Smale conjecture in 3-topology and the problem of counting complex structures.…
There are only some exceptional CR dimensions and codimensions such that the geometries enjoy a discrete classification of the pointwise types of the homogeneous models. The cases of CR dimensions $n$ and codimensions $n^2$ are among the…
Local CR-generic submanifolds of C^N are in one-to-one correspondence with their respective graphing functions, but it is well known that (despite their importance) the Cartan-Hachtroudi-Chern-Moser invariants and coframes for Levi…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…
A three-dimensional (3D) Dirac semimetal is the 3D analog of graphene whose bulk band shows a linear dispersion relation in the 3D momentum space. Since each Dirac point with four-fold degeneracy carries a zero Chern number, a Dirac…
We determine a 2-codimensional CR-structure on the slit tangent bundle $T_0M$ of a Finsler manifold $(M, F)$ by imposing a condition regarding the almost complex structure $\Psi$ associated to $F$ when restricted to the structural…
We present a way to study the conformal structure of random planar maps. The main idea is to explore the map along an SLE (Schramm--Loewner evolution) process of parameter $ \kappa = 6$ and to combine the locality property of the SLE_{6}…
Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, stride frequency, velocity, and torque, it is unclear how these…
This paper is the second part of a series of papers on noncommutative geometry and conformal geometry. In this paper, we compute explicitly the Connes-Chern character of an equivariant Dirac spectral triple. The formula that we obtain for…
The set of osculating circles of a given curve in $\SS^3$ forms a curve in the set of oriented circles in $\SS^3$. We show that its "${\frac12}$-dimensional measure" with respect to the pseudo-Riemannian structure of the set of circles is…
We propose a novel method of introducing structure into existing machine learning techniques by developing structure-based similarity and distance measures. To learn structural information, low-dimensional structure of the data is captured…
We demonstrate the existence of a large number of exact solutions of plane Couette flow, which share the topology of known periodic solutions but are localized in space. Solutions of different size are organized in a snakes-and-ladders…