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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…
The double-direction orthogonalization algorithm is applied to construct sequences of polynomials, which are orthogonal over the interval [0,1]with the weighting function 1. Functional and recurrent relations are derived for the sequences…
Higher order tensor inversion is possible for even order. We have shown that a tensor group endowed with the Einstein (contracted) product is isomorphic to the general linear group of degree $n$. With the isomorphic group structures, we…
Molecular robotics is challenging, so it seems best to keep it simple. We consider an abstract molecular robotics model based on simple folding instructions that execute asynchronously. Turning Machines are a simple 1D to 2D folding model,…
A classical (or quantum) superintegrable system on an n-dimensional Riemannian manifold is an integrable Hamiltonian system with potential that admits 2n-1 functionally independent constants of the motion that are polynomial in the momenta,…
Closed meanders are planar configurations of one or several disjoint closed Jordan curves intersecting a given line or curve transversely. They arise as shooting curves of parabolic PDEs in one space dimension, as trajectories of Cartesian…
We introduce a novel, two-mass system that slides up an inclined plane while its center of mass moves down. The system consists of two identical masses connected by an ideal string symmetrically placed over a corner-shaped support. This…
The altenating knots, links and twists projected on the S_2 sphere are identified with the phase Space of a Hamiltonian dynamic system of one degree of freedom. The saddles of the system correspond to the crossing points, the edges, to the…
Since its introduction in 2012, the factorization theory for rational motions quickly evolved and found applications in theoretical and applied mechanism science. We provide an accessible introduction to motion factorization with many…
It has been suggested recently that knots might exist as stable soliton solutions in a simple three-dimensional classical field theory, opening up a wide range of possible applications in physics and beyond. We have re-examined and extended…
This work analyzes the inverse optimal transport (IOT) problem under Bregman regularization. We establish well-posedness results, including existence, uniqueness (up to equivalence classes of solutions), and stability, under several…
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is…
We consider the expected value for the total curvature of a random closed polygon. Numerical experiments have suggested that as the number of edges becomes large, the difference between the expected total curvature of a random closed…
We provide a remarkably simple algorithm to compute all (at most four) common tangents of two disjoint simple polygons. Given each polygon as a read-only array of its corners in cyclic order, the algorithm runs in linear time and constant…
A highly deformable rod, modelled as the extensible elastica, is connected to a movable clamp at one end and to a pin sliding along a frictionless curved profile at the other. Bifurcation analysis shows that axial compliance provides a…
Two knots in three-space are S-equivalent if they are indistinguishable by Seifert matrices. We show that S-equivalence is generated by the doubled-delta move on knot diagrams. It follows as a corollary that a knot has trivial Alexander…
We derive the Christoffel-Geronimus-Uvarov transformations of a system of bi-orthogonal polynomials and associated functions on the unit circle, that is to say the modification of the system corresponding to a rational modification of the…
Motion polynomials are a specific type of polynomial over a Clifford algebra that can conveniently describe rational motions. There exists an algorithm for the factorization of motion polynomials that works in generic cases. It hinges on…
A 2-dimensional point-line framework is a collection of points and lines in the plane which are linked by pairwise constraints that fix some angles between pairs of lines and also some point-line and point-point distances. It is rigid if…
We prove that, in all dimensions d>=4, every simple open polygonal chain and every tree may be straightened, and every simple closed polygonal chain may be convexified. These reconfigurations can be achieved by algorithms that use…