ANNs solve complex inverse kinematics of a Tricept parallel robot.
problem Solving inverse kinematics for a Tricept parallel robot.
method Developed kinematic equations, used ANNs (MLP and RBF) for solving.
result ANNs provided proper accuracy and speed in solving complex inverse kinematics.
Convex optimisation solves inverse kinematics problems more reliably.
problem Finding the best parameters of a kinematic skeleton from observed joint locations.
method Convex optimisation using semidefinite programming.
result The proposed method significantly outperforms local optimisation methods.
New method for PKM inverse dynamics second derivatives efficiently.
problem Efficient computation of PKM inverse dynamics second derivatives.
method Recursive Lie-group formulation for serial robots adapted to PKM topology.
result Efficient computation of second time derivatives for PKM.
A neural network model mimics body functions for movement tasks.
problem Solving inverse and forward kinematics, dynamics for a redundant manipulator.
method Recurrent neural network with Mean of Multiple Computations principle, dynamic extension.
result Neural network solves inverse tasks and shows prototypical population-coding.
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
problem Challenges in applying imitation learning to bimanual robotic tasks.
method Integrates physical robot structure into action prediction using a dynamic spatial-temporal graph and differentiable kinematics.
result Effective generation of kinematics-aware actions in both simulation and real-world environments.
Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with n segments there are some values of the base-length, z, at which the configuration space of the constrained arm (arm with its end effector fixed) has two disconnected com…
Study the geometry and dynamics of skew evolutes and involutes, related to bicycle kinematics.
problem Understanding the geometry and dynamics of skew evolutes and involutes.
method Investigate the skew evolute and involute maps, comparing them to bicycle kinematics.
result The skew evolute and involute maps have properties analogous to bicycle kinematics.
Given a bounded domain M in Rn with a conformally Euclidean metric g=ρdx2, in this paper we consider the inverse problem of recovering a semigeodesic neighborhood of a domain Γ⊂∂M and the conformal factor ρ in the neighborhood from the travel time data (defined below) and the Carte…
Given a compact manifold with boundary with unknown Riemannian metric. The problem is to reconstruct the metric in a class of conformal metrics from knowledge of lengths of all closed geodesics (kinematic data). An integral inequality is stated which implies uniqueness and stability for this problem. If the conformal c…
Proves a special case of the Gaussian kinematic formula using large sphere limits.
problem Proving a special case of the Gaussian kinematic formula.
method Viewing the GKF as the limit of spherical kinematic formulas for large dimension spheres.
result Proves a special case of the Gaussian kinematic formula.
ISR creates analytical relationships from data via invertible maps.
problem Creating analytical relationships from datasets.
method Combines INNs and EQL, using invertible maps and sparsity promoting regularization.
result ISR can serve as a normalizing flow for density estimation and solve inverse problems.
For data sets populated by a very well modeled process and by another process of unknown probability density function (PDF), a desired feature when manipulating the fraction of the unknown process (either for enhancing it or suppressing it) consists in avoiding to modify the kinematic distributions of the well modeled …
The paper uses complex-valued functions to simplify plane differential geometry and kinematics.
problem Simplifying complex problems in plane differential geometry and kinematics.
method Consistent use of complex-valued functions of a real variable.
result Derives results in a particularly simple, uniform, and transparent way.
New formulas for measuring geometric properties of definable sets.
problem Measuring geometric properties of definable sets in a non-standard setting.
method Proved two kinematic formulas integrating on SO(n)imesSn−1. result Generalized Cauchy-Crofton and infinitesimal linear kinematic formulas.
Paper proposes a smart neck-band for detecting neck postures using integrated kinematic and kinetic data.
problem Improper neck postures lead to musculoskeletal disorders requiring therapy and rehabilitation.
method Integrated use of kinematic and kinetic data with machine learning algorithms.
result 100% accuracy in predicting neck postures using the proposed platform.
DRMMs enable flexible conditional sampling for interactive machine learning.
problem Limited flexibility in conditional sampling for deep generative models.
method Proposes Deep Residual Mixture Models (DRMMs) that allow flexible conditional sampling.
result DRMMs enable sampling with arbitrary combinations of conditioning variables and priors.
The thesis explores kinematical symmetries beyond Lorentzian spacetime.
problem Exploring symmetries beyond standard Lorentzian spacetime.
method Algebraic and geometric classification of kinematical, super-kinematical, and super-Bargmann symmetries.
result Classification of kinematical Lie algebras and superalgebras in 3D spacetime.
This work improves vehicle trajectory prediction for safer self-driving cars.
problem Improving trajectory predictions for safer self-driving cars.
method Deep-learning-based method combining AI and physically grounded models.
result Proposes a method that outperforms existing state-of-the-art.
Explains non-lorentzian theories and their dynamics.
problem Understanding non-lorentzian kinematics and dynamics.
method Review of kinematical spacetimes, construction of particle dynamics actions, discussion of gravity theories and field theories.
result Introduction and analysis of non-lorentzian gravity and field theories.
Classifies kinematical and aristotelian Lie superalgebras and their superspaces.
problem Classifying Lie superalgebras and their associated superspaces.
method Quaternionic formalism to simplify calculations, classification via isomorphism and central extensions, geometric limits to explore relationships.
result 27 homogeneous superspaces classified, some with parameters.
We introduce different bases for the vector space of Sp(2)Sp(1)-invariant, translation invariant continuous valuations on the quaternionic plane and determine a complete set of kinematic formulas.
Study explores kinematics of surfaces under metric restrictions.
problem Understanding the kinematics of surfaces under metric constraints.
method Analyzed three energy contents: stretching, drilling, and bending.
result Metric restrictions can hinder the elastic response of a shell.
A new framework models and simulates multibody systems using factor graphs.
problem Solving kinematic and dynamic problems for multi-body systems.
method Factor graph theory for modeling and simulation of multibody systems.
result The proposed framework provides a unified approach for multibody systems.
Researchers prove formulas for flag area measures, extending previous work.
problem Proving additive kinematic formulas for flag area measures.
method Introducing an algebraic framework to compute these formulas explicitly.
result Existence and explicit computation of additive kinematic formulas for flag area measures.
The existence of kinematic formulas for area measures with respect to any connected, closed subgroup of the orthogonal group acting transitively on the unit sphere is established. In particular, the kinematic operator for area measures is shown to have the structure of a co-product. In the case of the unitary group the…
In this contribution we review results on the kinematics of a quantum system localized on a connected configuration manifold and compatible dynamics for the quantum system including external fields and leading to non-linear Schrödinger equations for pure states.
New kinematic model for a spin-rolling sphere using Darboux frame.
problem Control and planning of an underactuated sphere on a plane.
method Darboux frame transformation to fully-actuated model.
result Underactuated sphere model transformed into fully-actuated model.
A kinematics of the motion of a car is reformulated in terms of the theory of gauge potentials (connection on principal bundle). E(2)-connection originates in the no-slipping contact of the car with a road.
We consider the kinematics of specific fluid spacetimes admitting timelike congruences of Ricci Solitons. These fluids includes string cloud, string fluid, perfect fluid, radially symmetric fluid, anisotropic fluid and relativistic magneto-fluid. Results are obtained and important physical aspects are discussed.
The paper proposes a method to align surgical videos using kinematic data.
problem Difficulty in learning from comparing novice to expert surgical videos due to variability in gesture duration and execution.
method A novel technique using Dynamic Time Warping to synchronize videos of the same gesture at different speeds.
result The proposed approach allows for the alignment of surgical videos, enabling better learning for novice trainees.
Researchers reconstruct stiffness tensors from limited data in anisotropic elasticity.
problem Reconstructing stiffness tensors from partial data around one polarization.
method Using algebraic geometry and slowness surfaces, the approach leverages the algebraic geometry of families of slowness surfaces.
result For tensors in a dense open subset, a small amount of data around one polarization uniquely determines the entire slowness surface and stiffness tensor.
We prove that higher moment maps on area measures of a euclidean vector space are injective, while the kernel of the centroid map equals the image of the first variation map. Based on this, we introduce the space of smooth dual area measures on a finite-dimensional euclidean vector space and prove that it admits a natu…
Paper generates synthetic radar signatures for motion classification.
problem Lack of large training datasets for radar-based human activity recognition.
method Adversarial learning for synthetic data generation, kinematic sifting for consistency.
result 93% overall accuracy achieved on diverse aspect angles.
Generalizes kinematical Lie algebras for isotropic spacetimes.
problem Classifying relativity algebras in isotropic spacetimes.
method Elementary proof and Lie group analysis.
result Symplectic involutive Lie algebras always exist.
We revisit the contact measures introduced by Firey, and further developed by Schneider and Teufel, from the perspective of the theory of valuations on manifolds. This reveals a link between the kinematic formulas for area measures studied by Wannerer and the integral geometry of curved isotropic spaces. As an applicat…
New proof confirms operations on constructible functions match theory.
problem Matching operations on constructible functions with generalized valuations theory.
method Comparison with characteristic cycles approach.
result Operations on constructible functions match generalized valuations theory under mild assumptions.
A kinematic method selects the deformation Laplacian for fluid dynamics on Riemannian manifolds.
problem Ambiguity in viscous operator choice for Navier-Stokes equations on Riemannian manifolds.
method Kinematic construction of strain rate from Lie-dragged vectors, excluding Hodge Laplacian due to antisymmetric part.
result Kinematic selection uniquely identifies the deformation Laplacian, resolving analytical obstructions.
We prove new kinematic formulas for tensor valuations and simplify previously known Crofton formulas by using the recently developed algebraic theory of translation invariant valuations. The heart of the paper is the computation of the Alesker-Fourier transform on the large class of spherical valuations, which is achie…
A close relationship between the classical Hamilton-Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric algebroid. This geometric…
Study examines how body segments respond to random vibrations.
problem Understanding human body responses to random vibrations.
method 35 participants were tested with random noise signals. Multiple linear regression models were created to determine influential predictors of peak translational gains.
result Multiple predictors, including motion direction and body segment, significantly influence peak translational gains.
This paper explores non-periodic folding of Spidron units, revealing nonlinear dynamics.
problem Understanding the kinematics and nonlinear phenomena of Spidron units.
method Analysis of single unit cell kinematics and recursive construction of multiple cells.
result Non-periodic folding restricts isotropic folding as the number of unit cells increases.
We survey recent results in hermitian integral geometry, i.e. integral geometry on complex vector spaces and complex space forms. We study valuations and curvature measures on complex space forms and describe how the global and local kinematic formulas on such spaces were recently obtained. While the local and global k…
We give in explicit form the principal kinematic formula for the action of the affine unitary group on $\C^n$, together with a straightforward algebraic method for computing the full array of unitary kinematic formulas, expressed in terms of certain convex valuations introduced, essentially, by H. Tasaki. We introduce …
We formulate a kinematical extension of Double Field Theory on a 2d-dimensional para-Hermitian manifold (P,η,ω) where the O(d,d) metric η is supplemented by an almost symplectic two-form ω. Together η and ω define an almost bi-Lagrangian structure K which provides a splitting of the tangent bu…
Alternative discrete Dirac mechanics using Dirac structures.
problem Developing a new framework for discrete mechanics.
method Introducing 'continuous Dirac system' and proposing a definition of 'discrete Dirac system'.
result It is possible to recover discrete Lagrangian and Hamiltonian systems.
Study of rigid body displacements in a projective space over dual numbers with geometric interpretations.
problem Understanding rigid body displacements in a novel geometric space.
method Projective differential geometry over the ring of dual numbers.
result Existence of non-straight curves with multiple osculating tangents.
Extends particle classification to curved space-times using groupoids.
problem Classifying elementary particles in curved space-time.
method Developed a new definition of elementary particles as irreducible projective representations of kinematical groupoids, extending Wigner's program.
result Classification of elementary particles valid for a wide range of space-times, including new massless particles in magnetic-like backgrounds.
The local kinematic formulas on complex space forms induce the structure of a commutative algebra on the space CurvU(n)∗ of dual unitarily invariant curvature measures. Building on the recent results from integral geometry in complex space forms, we describe this algebra structure explicitly as a…