Related papers: Analyse Comparative des Manipulateurs 3R \`a Axes …
We demonstrate the remarkable effectiveness of boundary value formulations coupled to numerical continuation for the computation of stable and unstable manifolds in systems of ordinary differential equations. Specifically, we consider the…
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas…
Directed Algebraic Topology studies spaces equipped with a form of direction, to include models of non-reversible processes. In the present extension we also want to cover critical processes, indecomposable and unstoppable. The previous…
This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric…
We find all possible isomorphisms and 3-birational maps (i.e., birational maps which induce an isomorphism between open subsets whose respective complements have codimension at least 3) between moduli spaces of parabolic vector bundles with…
Spatial correlations of the cubic 3-torus topology are analysed using the Planck 2013 data. The spatial-correlation method for detecting multiply connected spaces is based on the fact that positions on the cosmic microwave background (CMB)…
Irreducible modules of the 3-permutation orbifold of a rank one lattice vertex operator algebra are listed explicitly. Fusion rules are determined by using the quantum dimensions. The $S$-matrix is also given.
In this paper we present algorithms for computing the topology of planar and space rational curves defined by a parametrization. The algorithms given here work directly with the parametrization of the curve, and do not require to compute or…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this…
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
Homology features of spaces which appear in applications, for instance 3D meshes, are among the most important topological properties of these objects. Given a non-trivial cycle in a homology class, we consider the problem of computing a…
We use numerical bootstrap techniques to study correlation functions of traceless symmetric tensors of $O(N)$ with two indexes $t_{ij}$. We obtain upper bounds on operator dimensions for all the relevant representations and several values…
Given a complex, separable Hilbert space $\mathcal{H}$, we characterize those operators for which $\| P T (I-P) \| = \| (I-P) T P \|$ for all orthogonal projections $P$ on $\mathcal{H}$. When $\mathcal{H}$ is finite-dimensional, we also…
Given a triangulation of a closed, oriented, irreducible, atoroidal 3-manifold every oriented, incompressible surface may be isotoped into normal position relative to the triangulation. Such a normal oriented surface is then encoded by…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
The program of understanding Shape Theory layer by layer topologically and geometrically -- proposed in Part I -- is now addressed for 4 points in 1-$d$. Topological shape space graphs are far more complex here, whereas metric shape spaces…
Braiding operators corresponding to the third Reidemeister move in the theory of knots and links are realized in terms of parametrized unitary matrices for all dimensions. Two distinct classes are considered. Their (non-local) unitary…