arXiv research

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Us…

New method for PKM inverse dynamics second derivatives efficiently.

Generalizes kinematical Lie algebras for isotropic spacetimes.

Proves a special case of the Gaussian kinematic formula using large sphere limits.

Affine deformations serve as basic examples in the continuum mechanics of deformable 3-dimensional bodies (referred as homogeneous deformations). They preserve parallelism and are often used as an approximation to general deformations. However, when the deformable body is a membrane, a shell or an interface modeled by …

Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.

The paper uses complex-valued functions to simplify plane differential geometry and kinematics.

New formulas for measuring geometric properties of definable sets.

Paper proposes a smart neck-band for detecting neck postures using integrated kinematic and kinetic data.

The thesis explores kinematical symmetries beyond Lorentzian spacetime.

Explains non-lorentzian theories and their dynamics.

We introduce different bases for the vector space of $\mathrm{Sp}(2)\mathrm{Sp}(1)$-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.

Study the geometry and dynamics of skew evolutes and involutes, related to bicycle kinematics.

Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology is understanding and predicting future movement of vehicles surrounding the SDV.…

Researchers prove formulas for flag area measures, extending previous work.

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.

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.

New kinematic model for a spin-rolling sphere using Darboux frame.

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.

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…

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is a joint that has an associated geometric transformation that is propagated to a…

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.

A kinematic method selects the deformation Laplacian for fluid dynamics on Riemannian manifolds.

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.

This paper explores non-periodic folding of Spidron units, revealing nonlinear dynamics.

Deep neural networks (DNNs) have recently received vast attention in applications requiring classification of radar returns, including radar-based human activity recognition for security, smart homes, assisted living, and biomedicine. However,acquiring a sufficiently large training dataset remains a daunting task due t…

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 $(\mathcal{P},η,ω)$ 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.

Study of rigid body displacements in a projective space over dual numbers with geometric interpretations.

The local kinematic formulas on complex space forms induce the structure of a commutative algebra on the space $\mathrm{Curv}^{\mathrm{U}(n)*}$ 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…

Extends particle classification to curved space-times using groupoids.

Improved sensitivity to Higgs potential through neural simulation-based inference for di-Higgs events.

In this note we show that the configuration spaces of the kinematic system constructed in [4] and [12] gives rise to a natural tower of sphere bundles. Moreover, we prove that, each tower of projective bundles associated to special multi- flags (cf [1], [13], [2], [3]), we can associate such a tower of sphere bundles w…

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…

Billiard motion in ellipses analyzed with canonical coordinates.

Current machine learning techniques proposed to automatically discover a robot kinematics usually rely on a priori information about the robot's structure, sensors properties or end-effector position. This paper proposes a method to estimate a certain aspect of the forward kinematics model with no such information. An …

We investigate the general problem of how to model the kinematics of stock prices without considering the dynamical causes of motion. We propose a stochastic process with long-range correlated absolute returns. We find that the model is able to reproduce the experimentally observed clustering, power law memory, fat tai…

Study reveals CR structure of snake robot's geometry.

We classify $N{=}1$ $d=4$ kinematical and aristotelian Lie superalgebras with spatial isotropy, but not necessarily parity nor time-reversal invariance. Employing a quaternionic formalism which makes rotational covariance manifest and simplifies many of the calculations, we find a list of $43$ isomorphism classes of Li…

Generalizes Hasimoto transformation to arbitrary flows on space curves.

We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equat…