487 research outputs found
Robots, computer algebra and eight connected components
Answering connectivity queries in semi-algebraic sets is a long-standing and
challenging computational issue with applications in robotics, in particular
for the analysis of kinematic singularities. One task there is to compute the
number of connected components of the complementary of the singularities of the
kinematic map. Another task is to design a continuous path joining two given
points lying in the same connected component of such a set. In this paper, we
push forward the current capabilities of computer algebra to obtain
computer-aided proofs of the analysis of the kinematic singularities of various
robots used in industry. We first show how to combine mathematical reasoning
with easy symbolic computations to study the kinematic singularities of an
infinite family (depending on paramaters) modelled by the UR-series produced by
the company ``Universal Robots''. Next, we compute roadmaps (which are curves
used to answer connectivity queries) for this family of robots. We design an
algorithm for ``solving'' positive dimensional polynomial system depending on
parameters. The meaning of solving here means partitioning the parameter's
space into semi-algebraic components over which the number of connected
components of the semi-algebraic set defined by the input system is invariant.
Practical experiments confirm our computer-aided proof and show that such an
algorithm can already be used to analyze the kinematic singularities of the
UR-series family. The number of connected components of the complementary of
the kinematic singularities of generic robots in this family is
Computing the Real Isolated Points of an Algebraic Hypersurface
Let be the field of real numbers. We consider the problem of
computing the real isolated points of a real algebraic set in
given as the vanishing set of a polynomial system. This problem plays an
important role for studying rigidity properties of mechanism in material
designs. In this paper, we design an algorithm which solves this problem. It is
based on the computations of critical points as well as roadmaps for answering
connectivity queries in real algebraic sets. This leads to a probabilistic
algorithm of complexity for computing the real isolated
points of real algebraic hypersurfaces of degree . It allows us to solve in
practice instances which are out of reach of the state-of-the-art.Comment: Conference paper ISSAC 202
Robustness and Randomness
Robustness problems of computational geometry algorithms is a topic that has been subject to intensive research efforts from both computer science and mathematics communities. Robustness problems are caused by the lack of precision in computations involving floating-point instead of real numbers. This paper reviews methods dealing with robustness and inaccuracy problems. It discussed approaches based on exact arithmetic, interval arithmetic and probabilistic methods. The paper investigates the possibility to use randomness at certain levels of reasoning to make geometric constructions more robust
Parallel Mapper
The construction of Mapper has emerged in the last decade as a powerful and
effective topological data analysis tool that approximates and generalizes
other topological summaries, such as the Reeb graph, the contour tree, split,
and joint trees. In this paper, we study the parallel analysis of the
construction of Mapper. We give a provably correct parallel algorithm to
execute Mapper on multiple processors and discuss the performance results that
compare our approach to a reference sequential Mapper implementation. We report
the performance experiments that demonstrate the efficiency of our method
A Formulation of the Potential for Communication Condition using C2KA
An integral part of safeguarding systems of communicating agents from covert
channel communication is having the ability to identify when a covert channel
may exist in a given system and which agents are more prone to covert channels
than others. In this paper, we propose a formulation of one of the necessary
conditions for the existence of covert channels: the potential for
communication condition. Then, we discuss when the potential for communication
is preserved after the modification of system agents in a potential
communication path. Our approach is based on the mathematical framework of
Communicating Concurrent Kleene Algebra (C2KA). While existing approaches only
consider the potential for communication via shared environments, the approach
proposed in this paper also considers the potential for communication via
external stimuli.Comment: In Proceedings GandALF 2014, arXiv:1408.556
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