Related papers: Singular surfaces and cusps in symmetric planar 3-…
We give construction of singular K3 surfaces with discriminant 3 and 4 as double coverings over the projective plane. Focusing on the similarities in their branching loci, we can generalize this construction, and obtain a three dimensional…
In this talk we show that dual conformal symmetry has unexpected applications to Feynman integrals in dimensional regularization. Outside $4$ dimensions, the symmetry is anomalous, but still preserves the unitarity cut surfaces. This…
We present an exact formulation of the symmetric Traveling Salesman Problem (TSP) that replaces the classical edge-selection view with a surface-building approach. Instead of selecting edges to form a cycle, the model selects a set of…
A quadric in $\R P^3$ cuts a curve of degree 6 on a cubic surface in $\R P^3$. The papers classifies the nonsingular curves cut in this way on non-singular cubic surfaces up to homeomorphism. Two issues new in the study related to the first…
Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The differential techniques (e.g., real-time kinematic (RTK)) have…
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…
It has become obvious that certain singular phenomena cannot be explained by a mere investigation of the configuration space, defined as the solution set of the loop closure equations. For example, it was observed that a particular 6R…
Work of Kalelkar, Schleimer, and Segerman shows that, with some exceptions, the set of essential ideal triangulations of an orientable cusped hyperbolic 3-manifold is connected via 2-3 and 3-2 moves. It is natural to ask if the subgraph…
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of…
This paper further studies the matroid realization space of a specific deformation of the regular $n$-gon with its lines of symmetry. Recently, we obtained that these particular realization spaces are birational to the elliptic modular…
The Cartesian coordinate system is the most commonly used system in computer visualization. This is due to its ease of use and processing speed. However, it is not always suitable for a given problem. Angular measures often allow us to…
In this article we provide a classification and description of compact Riemann surfaces admitting a triangular action of a group of order $2p^2,$ where $p$ is an odd prime number. We obtain that all such Riemann surfaces are isomorphic to…
Planar supersymmetric quantum mechanical systems with separable spectral problem in curvilinear coordinates are analyzed in full generality. We explicitly construct the supersymmetric extension of the Euler/Pauli Hamiltonian describing the…
We explore the connection between the rank of a polynomial and the singularities of its vanishing locus. We first describe the singularity of generic polynomials of fixed rank. We then focus on cubic surfaces. Cubic surfaces with isolated…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows of the…
Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that…
The current bottleneck of globally solving mixed-integer (non-convex) quadratically constrained problem (MIQCP) is still to construct strong but computationally cheap convex relaxations, especially when dense quadratic functions are…