A metamorphic robotic system is an aggregate of identical robot units which can individually detach and reattach in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and analyzing general metamorphic systems. This formal structure combined with ideas from geometric group theory leads to a natural extension of a configuration space for met...

We evaluate the information geometric complexity of entropic motion on low-dimensional Gaussian statistical manifolds in order to quantify how difficult it is to make macroscopic predictions about systems in the presence of limited information. Specifically, we observe that the complexity of such entropic inferences not only depends on the amount of available pieces of information but also on t...

We present a detailed description of the generalized geometric cluster algorithm for the efficient simulation of continuum fluids. The connection with well-known cluster algorithms for lattice spin models is discussed, and an explicit full cluster decomposition is derived for a particle configuration in a fluid. We investigate a number of basic properties of the geometric cluster algorithm, inc...

We study the crossover of quantum point contacts from (i) individual-atom contacts to (ii) electronic-shell effects and finally to (iii) geometric-shell effects in electrochemically deposited silver contacts. The method allows the fabrication of mechanically unstrained structures, which is a requirement for determining the individual atomic configuration by means of a detailed lifetime analysis...

A reduction method is proposed for efficient time-integration of compliant mechanism models that undergo large deflections. Of particular importance for the modelling of this class of mechanisms is the accurate description of geometric non-linearities, as stiffness characteristics can change significantly during deflection. A finite element based flexible multibody approach is used to describe ...

In this paper we present an approach based on sceneor part-graphs for geometrically categorizing touching and occluded objects. We use additive RGBD feature descriptors and hashing of graph configuration parameters for describing the spatial arrangement of constituent parts. The presented experiments quantify that this method outperforms our earlier part-voting and sliding window classification...

We present tools for handling geometric constraint problems with under-constrained configurations. The basic idea is to add to the given set of constraints a set of extra constraints which can be defined either automatically or drawn from an independently given set of constraints placed on some geometric elements of the problem. In both cases, the resulting completed set of constraints is not o...

In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we deduce an intrinsic framework for this type of dynamical systems. Interesting applications as, for instance, a geometric derivation of the higher-order Euler-Po...

A comprehensive error compensation system has been developed to correct geometric, thermal, and cutting forceinduced errors on a turning centre. The basic approach to error compensation is proposed in this paper. The implementation of error compensation control and o f hardware configuration of the system are also presented. A total of 11 geometric and thermal error components and 10 cutting fo...