相关论文: The CR geometry of the three-segment snake
We study the group of rational concordance classes of codimension two knots in rational homology spheres. We give a full calculation of its algebraic theory by developing a complete set of new invariants. For computation, we relate these…
The lower-order cr-invariant variational problem for Legendrian curves in the 3-sphere is studied and its Euler-Lagrange equations are deduced. Closed critical curves are investigated. Closed critical curves with non-constant cr-curvature…
We present a high-resolution image of $\eta$~Car. Together with IR and visual observations of the central arcsecond, we use this to discuss the morphological structure of $\eta$~Car on the different length scales. We identify three…
In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the…
In the present work we describe 3-dimensional complex SL_2-varieties where the generic SL_2-orbit is a surface. We apply this result to classify the minimal 3-dimensional projective varieties with Picard-number 1 where a semisimple group…
The spline space $C_k^r(\Delta)$ attached to a subdivided domain $\Delta$ of $\R^{d} $ is the vector space of functions of class $C^{r}$ which are polynomials of degree $\le k$ on each piece of this subdivision. Classical splines on planar…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
Rotation distances measure the differences in structure between rooted ordered binary trees. The one-dimensional skeleta of associahedra are rotation graphs, where two vertices representing trees are connected by an edge if they differ by a…
In this companion paper to our article {\em Accidental CR structures} (arxiv.org, January 2023), thought of as an appendix not submitted for publication, we provide complete explicit lists of infinitesimal CR automorphisms for the concerned…
We introduce the chain geometry $\Sigma(K,R)$ over a ring $R$ with a distinguished subfield $K$, thus extending the usual concept where $R$ has to be an algebra over $K$. A chain is uniquely determined by three of its points, if, and only…
Modelled on a real hypersurface in a quaternionic manifold, we introduce a quaternionic analogue of CR structure, called quaternionic CR structure. We define the strong pseudoconvexity of this structure as well as the notion of quaternionic…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
We study two kinds of curvature invariants of Riemannian manifold equip\-ped with a complex distribution $D$ (for example, a CR-submanifold of an almost Hermitian manifold) related to sets of pairwise orthogonal subspaces of the…
We propose a new approach to the existence of constant transversal scalar curvature Sasaki structures drawing on ideas and tools from the CR Yamabe problem, establishing a link between the CR Yamabe invariant, the existence of Sasaki…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
The intrinsic modularity and reconfigurability of modular reconfigurable robots (MRR) confer advantages such as versatility, fault tolerance, and economic efficacy, thereby showcasing considerable potential across diverse applications. The…
This paper provides the mathematical expressions, formulated in classical trigonometric terms, that are required (i) to compute an animal's body orientations and rotations in 3D space from data acquired at high-frequency by on-board…
We study the (relative) SL(2,C) character varieties of the three-holed projective plane and the action of the mapping class group on them. We describe a domain of discontinuity for this action, which strictly contains the set of primitive…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…