Related papers: Extremal Configurations of Hinge Structures
Motivated by the hinge structure present in protein chains and other molecular conformations, we study the singularities of certain maps associated to body-and-hinge and panel-and-hinge chains. These are sequentially articulated systems…
A two-dimensional grid with dots is called a \emph{configuration with distinct differences} if any two lines which connect two dots are distinct either in their length or in their slope. These configurations are known to have many…
The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we…
Let $X$ be a smooth projective variety of dimension $n\geq 2$. It is shown that a finite configuration of points on $X$ subject to certain geometric conditions possesses rich inner structure. On the mathematical level this inner structure…
It is shown that the number of distinct types of three-point hinges, defined by a real plane set of $n$ points is $\gg n^2\log^{-3} n$, where a hinge is identified by fixing two pair-wise distances in a point triple. This is achieved via…
Spider mechanisms are the simplest examples of arachnoid mechanisms, they are one step more complicated than polygonal linkages. Their configuration spaces have been studied intensively, but are yet not completely understood. In the paper…
In this article, we study two problems concerning the size of the set of finite point configurations generated by a compact set $E\subset \mathbb{R}^d$. The first problem concerns how the Lebesgue measure or the Hausdorff dimension of the…
For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact with the environment, it is possible for it to continue to…
Inspired by the issue of stability of molecular structures, we investigate the strict minimality of point sets with respect to configurational energies featuring two- and three-body contributions. Our main focus is on characterizing those…
Tails used as inertial appendages induce body rotations of animals and robots, a phenomenon that is governed largely by the ratio of the body and tail moments of inertia. However, vertebrate tails have more degrees of freedom (e.g., number…
We consider the configuration space of planar $n$-gons with fixed perimeter, which is diffeomorphic to the complex projective space $\mathbb{C}P^{n-2}$. The oriented area function has the minimal number of critical points on the…
A $d$-dimensional body-and-hinge framework is a structure consisting of rigid bodies connected by hinges in $d$-dimensional space. The generic infinitesimal rigidity of a body-and-hinge framework has been characterized in terms of the…
Optimal geometrical arrangements, such as the stacking of atoms, are of relevance in diverse disciplines. A classic problem is the determination of the optimal arrangement of spheres in three dimensions in order to achieve the highest…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
5D cosmological model with 3-brane with matter is considered. The brane divides bulk in two AdS half spaces. Geometry of the model can be described by two types of coordinates: in the first setting the metric is static and the brane is…
We study a variant of the Erd\H os unit distance problem, concerning angles between successive triples of points chosen from a large finite point set. Specifically, given a large finite set of $n$ points $E$, and a sequence of angles…
We study the transitions between ergodic and many-body localized phases in spin systems, subject to quenched disorder, including the Heisenberg chain and the central spin model. In both cases systems with common spin lengths $1/2$ and $1$…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
We explore deformations of finite chains of independent fermions which give rise to large correlations between their extremes. After a detailed study of the Su-Schrieffer-Heeger (SSH) model, the trade-off curve between end-to-end…
We define a volume function for a robot arms in 3-dimensional Euclidean space and give geometric conditions for its critical points. For 3-arms this volume function is an exact topological Morse function on the 3-sphere.