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We introduce the notion of curvature parameters for singular plane curves with finite multiplicities and define the notion of curvatures for them. We then provide criteria to determine their singularity types for A-simple singularities. As…
We study the relation between the type of a double point of a plane curve and the curvilinear 0-dimensional subschemes of the curve at the point. An Algorithm related to a classical procedure for the study of double points via osculating…
We describe typical degenerations of quadratic differentials thus describing ``generic cusps'' of the moduli space of meromorphic quadratic differentials with at most simple poles. The part of the boundary of the moduli space which does not…
We study a generalization of constant Gauss curvature -1 surfaces in Euclidean 3-space, based on Lorentzian harmonic maps, that we call pseudospherical frontals. We analyze the singularities of these surfaces, dividing them into those of…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
The aim of this paper is to present a new method of approximation of planar data set using only arcs or segments. The first problem we are trying to solve is the following: the CNC machines can work only with simple curves (arcs or…
In mathematics curves are typically defined as the images of continuous real functions (parametrizations) defined on a closed interval. They can also be defined as connected one-dimensional compact subsets of points. For simple curves of…
Singularities arise in diverse disciplines and play a key role in both exploring fundamental laws of physics and making highly-sensitive sensors. Higher-order (>3) singularities, with further improved performance, however, usually require…
This paper is concerned with the local bifurcation analysis around typical singularities of piecewise smooth planar dynamical systems. Three-parameter families of a class of non$-$smooth vector fields are studied and the tridimensional…
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
In many biological systems, the curvature of the surfaces cells live on influence their collective properties. Curvature should likewise influence the behavior of active colloidal particles. We show using molecular simulation of…
In this paper, we study the singularities of spacelike constant mean curvature one (CMC 1) surfaces in the de Sitter 3-space. We prove the duality between generalized conelike singular points and 5/2-cuspidal edges on spacelike CMC 1…
Many parallel and distributed computing research results are obtained in simulation, using simulators that mimic real-world executions on some target system. Each such simulator is configured by picking values for parameters that define the…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
One says that a pair (P,Q) of ordinary differential operators specify a quantum curve if [P,Q]=const. If a pair of difference operators (K,L) obey the relation KL=const LK we say that they specify a discrete quantum curve. This terminology…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
It is known that the class of developable surfaces which have zero Gaussian curvature in three dimensional Euclidean space is preserved by the parallel transformations. A tangent developable surface is defined as a ruled developable surface…