Related papers: Singularity Analysis of Lower-Mobility Parallel Ma…
We analyse an operator arising in the description of singular solutions to the two-dimensional Keller-Segel problem. It corresponds to the linearised operator in parabolic self-similar variables, close to a concentrated stationary state.…
Constants of motion, Lagrangians and Hamiltonians admitted by a family of relevant nonlinear oscillators are derived using a geometric formalism. The theory of the Jacobi last multiplier allows us to find Lagrangian descriptions and…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
Many finite dimensional integrable systems qre expressed with the help of the Lax equation which highlights a spectral parameter and therefore a spectral curve. These spectral curves are the starting point of an algebro-geometric…
The main focus of the paper is the investigation of moduli space of left invariant pseudoRiemannian metrics on the cotangent bundle of Heisenberg group. Consideration of orbits of the automorphism group naturally acting on the space of the…
Textbook treatments of classical mechanics typically assume that the Lagrangian is nonsingular. That is, the matrix of second derivatives of the Lagrangian with respect to the velocities is invertible. This assumption insures that (i)…
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving…
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are…
The scalars in vector multiplets of N=2 supersymmetric theories in 4 dimensions exhibit `special Kaehler geometry', related to duality symmetries, due to their coupling to the vectors. In the literature there is some confusion on the…
This work introduces non-Hermitian position-dependent mass Hamiltonians characterized by complex ladder operators and real, equidistant spectra. By imposing the Heisenberg-Weyl algebraic structure as a constraint, we derive the…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equi-lateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel…
We obtain necessary conditions for the existence of special K\"ahler structures with isolated singularities on compact Riemann surfaces. We prove that these conditions are also sufficient in the case of the Riemann sphere and, moreover, we…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
In this work, we present an overview of uniqueness results derived in recent years for the quantization of Gowdy cosmological models and for (test) Klein-Gordon fields minimally coupled to Friedmann-Lema\^{\i}tre-Robertson-Walker, de…
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…
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,…
This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian…
A notion of up and down Grover walks on simplicial complexes are proposed and their properties are investigated. These are abstract Szegedy walks, which is a special kind of unitary operators on a Hilbert space. The operators introduced in…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
Classical mechanical systems with internal constraints will be examined using the extended symplectic formalism of Faddeev-Jackiw. We will derive the generalized brackets of the theory and the corresponding equations of motion. The…