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Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Related publications (33)

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Sound Compilation of Reals

Viktor Kuncak, Eva Darulova

Writing accurate numerical software is hard because of many sources of unavoidable uncertainties, including finite numerical precision of implementations. We present a programming model where the user writes a program in a real-valued implementation and sp ...

ACM2014

A sieve algorithm based on overlattices

Anja Annemone Becker

In this paper, we present a heuristic algorithm for solving exact, as well as approximate, shortest vector and closest vector problems on lattices. The algorithm can be seen as a modified sieving algorithm for which the vectors of the intermediate sets lie ...

Cambridge Univ Press2014

Understanding and improving relational matrix factorization in recommender systems

Boi Faltings, Li Pu

Matrix factorization techniques such as the singular value decomposition (SVD) have had great success in recommender systems. We present a new perspective of SVD for constructing a latent space from the training data, which is justified by the theory of hy ...

ACM Press2013

On Sound Compilation of Reals

Viktor Kuncak, Eva Darulova

2013

Thermodynamics of a continuous medium with electric and magnetic dipoles

Jean-Philippe Ansermet, Sylvain Bréchet

The thermodynamics of an electrically charged, multicomponent fluid with spontaneous electric and magnetic dipoles is analysed in the presence of electromagnetic fields. Taking into account the chemical composition of the current densities and stress tenso ...

Springer Verlag2013

On Regularized Reconstruction of Vector Fields

Michaël Unser, Pouya Dehghani Tafti

In this paper, we give a general characterization of regularization functionals for vector field reconstruction, based on the requirement that the said functionals satisfy certain geometric invariance properties with respect to transformations of the coord ...

IEEE2011

Trustworthy Numerical Computation in Scala

Viktor Kuncak, Eva Darulova

Modern computing has adopted the floating point type as a default way to describe computations with real numbers. Thanks to dedicated hardware support, such computations are efficient on modern architectures. However, rigorous reasoning about the resulting ...

2011

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combination of the free co ...

2010

Ordered Sets in the Calculus of Data Structures

Viktor Kuncak, Philippe Paul Henri Suter, Ruzica Piskac

Our goal is to identify families of relations that are useful for reasoning about software. We describe such families using decidable quantifier-free classes of logical constraints with a rich set of operations. A key challenge is to define such classes of ...

Springer2010

Fractional Brownian Models For Vector Field Data

Michaël Unser, Pouya Dehghani Tafti

In this note we introduce a vector generalization of fractional Brownian motion. Our definition takes into account directional properties of vector fields-such as divergence, rotational behaviour, and interactions with coordinate transformations-that have ...

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