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We consider the problem on the existence of two dimensional superintegrable systems in the presence of a magnetic field in the two dimensional Euclidean space. We assume the existence of two integrals of motion, besides the Hamiltonian,…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
A new generalized matrix inverse is derived which is consistent with respect to arbitrary nonsingular diagonal transformations, e.g., it preserves units associated with variables under state space transformations, thus providing a general…
Relativistic invariance in Euclidean formulations of quantum mechanics is discussed. Relativistic treatments of quantum theory are needed to study hadronic systems at sub-hadronic distance scales. Euclidean formulations of relativistic…
This paper presents a generalisation of Sylvester's law of inertia to real non-degenerate quadratic forms on a fixed real vector bundle over a connected locally connected paracompact Hausdorff space. By interpreting the classical inertia as…
Recent general results on Hamiltonian reductions under polar group actions are applied to study some reductions of the free particle governed by the Laplace-Beltrami operator of a compact, connected, simple Lie group. The reduced systems…
The problem of the gauge hierarchy is brought up in a hypercomplex scheme for a U(1) field theory; in such a scheme a compact gauge group is deformed through a \gamma-parameter that varies along a non-compact internal direction, transverse…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
We study properties of "hyperbolic directions" in groups acting cocompactly on properly convex domains in real projective space, from three different perspectives simultaneously: the (coarse) metric geometry of the Hilbert metric, the…
This paper introduces a class of polynomial maps in Euclidean spaces, investigates the conditions under which there exist Smale horseshoes and uniformly hyperbolic invariant sets, studies the chaotic dynamical behavior and strange…
Designing adaptable control laws that can transfer between different robots is a challenge because of kinematic and dynamic differences, as well as in scenarios where external sensors are used. In this work, we empirically investigate a…
We introduce and study the notions of hyperbolically embedded and very rotating families of subgroups. The former notion can be thought of as a generalization of the peripheral structure of a relatively hyperbolic group, while the later one…
The need to enforce fermionic antisymmetry in the nuclear many-body problem commonly requires use of single-particle coordinates, defined relative to some fixed origin. To obtain physical operators which nonetheless act on the nuclear…
We introduce invertible subalgebras of local operator algebras on lattices. An invertible subalgebra is defined to be one such that every local operator can be locally expressed by elements of the inveritible subalgebra and those of the…
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in robotics, there appears to be no comparable treatment of…
This paper aims at the most comprehensive and systematic construction and tabulation of mechanical systems that admit a second invariant, quadratic in velocities, other than the Hamiltonian. The configuration space is in general a 2D…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
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…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…