Derivation of the solution of certain singular integral equations

It is shown that the a;P?lication of the Poincare-Bertrand fcm~ulaw hen made in a suitable manner produces the s~lutiano f certain singular integral equations very quickly, thc method of arriving at which, otherwise, is too complicaled. Two singular integral equations are considered. One of these quaiions is with a Cauchy-tyge kcrnel arid the other is an equalion which appears in the a a w guide theory and the theory of dishcations. Adifferent approach i? alw made here to solve the singular integralquation> of the waveguide theor? ind this i ~ v o l v eth~e use of the inversion formula of the Cauchy-type singular integral equahn and dudion to a system of TIilberl problems for two unknowns which can be dwupled wry easily to obi& tbe closed form solutim of the irilegral equatlou at band. The methods of the prescnt paper avoid all the complicaled approaches of solving the singular integral equaticn of the waveguide theory knowr todate.

A canonical formulation of the direct position kinematics problem for a general 6-6 stewart platform

This paper deals with the direct position kinematics problem of a general 6-6 Stewart platform, the complete solution of which is not reported in the literature until now and even establishing the number of possible solutions for the general case has remained an unsolved problem for a long period. Here a canonical formulation of the direct position kinematics problem for a general 6-6 Stewart platform is presented. The kinematic equations are expressed as a system of six quadratic and three linear equations in nine unknowns, which has a maximum of 64 solutions. Thus, it is established that the mechanism, in general, can have up to 64 closures. Further reduction of the system is shown arriving at a set of three quartic equations in three unknowns, the solution of which will yield the assembly configurations of the general Stewart platform with far less computational effort compared to earlier models.