Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

Non-singular terminal sliding mode guidance and control with terminal angle constraints for non-maneuvering targets

In this paper guidance laws to intercept stationary and constant velocity targets at a desired impact angle, based on sliding mode control theory, are proposed. The desired impact angle, which is defined in terms of a desired line-of-sight (LOS) angle, is achieved in finite time by selecting the missile's lateral acceleration (latax) to enforce non-singular terminal sliding mode on a switching surface designed using this desired LOS angle and based on non-linear engagement dynamics. Numerical simulation results are presented to validate the proposed guidance laws for different initial engagement geometries and impact angles.

On the stability of the L-p-norm of the Riemannian curvature tensor

We consider the Riemannian functional defined on the space of Riemannian metrics with unit volume on a closed smooth manifold M where R(g) and dv (g) denote the corresponding Riemannian curvature tensor and volume form and p a (0, a). First we prove that the Riemannian metrics with non-zero constant sectional curvature are strictly stable for for certain values of p. Then we conclude that they are strict local minimizers for for those values of p. Finally generalizing this result we prove that product of space forms of same type and dimension are strict local minimizer for for certain values of p.

Interaction-induced singular Fermi surface in a high-temperature oxypnictide superconductor

In the family of iron-based superconductors, LaFeAsO-type materials possess the simplest electronic structure due to their pronounced two-dimensionality. And yet they host superconductivity with the highest transition temperature T-c approximate to 55K. Early theoretical predictions of their electronic structure revealed multiple large circular portions of the Fermi surface with a very good geometrical overlap (nesting), believed to enhance the pairing interaction and thus superconductivity. The prevalence of such large circular features in the Fermi surface has since been associated with many other iron-based compounds and has grown to be generally accepted in the field. In this work we show that a prototypical compound of the 1111-type, SmFe0.92Co0.08AsO, is at odds with this description and possesses a distinctly different Fermi surface, which consists of two singular constructs formed by the edges of several bands, pulled to the Fermi level from the depths of the theoretically predicted band structure by strong electronic interactions. Such singularities dramatically affect the low-energy electronic properties of the material, including superconductivity. We further argue that occurrence of these singularities correlates with the maximum superconducting transition temperature attainable in each material class over the entire family of iron-based superconductors.

Moduli spaces of vector bundles on a singular rational ruled surface

We study moduli spaces M-X (r, c(1), c(2)) parametrizing slope semistable vector bundles of rank r and fixed Chern classes c(1), c(2) on a ruled surface whose base is a rational nodal curve. We showthat under certain conditions, these moduli spaces are irreducible, smooth and rational (when non-empty). We also prove that they are non-empty in some cases. We show that for a rational ruled surface defined over real numbers, the moduli space M-X (r, c(1), c(2)) is rational as a variety defined over R.

Complex potentials and singular integral equation for curve crack problem in antiplane elasticity

Four types of the fundamental complex potential in antiplane elasticity are introduced: (a) a point dislocation, (b) a concentrated force, (c) a dislocation doublet and (d) a concentrated force doublet. It is proven that if the axis of the concentrated force doublet is perpendicular to the direction of the dislocation doublet, the relevant complex potentials are equivalent. Using the obtained complex potentials, a singular integral equation for the curve crack problem is introduced. Some particular features of the obtained singular integral equation are discussed, and numerical solutions and examples are given.

Del combate singular al singular combate sexual en la sátira trovadoresca medieval gallego-portuguesa

Integran este número de la revista ponencias presentadas en Studia Hispanica Medievalia VIII: Actas de las IX Jornadas Internacionales de Literatura Española Medieval, 2008, y de Homenaje al Quinto Centenario de Amadis de Gaula.

Using wavelet transform to study the Lipschitz local singular exponent in wall turbulence

In this paper, wavelet,transform is introduced to study the Lipschitz local singular exponent for characterising the local singularity behavior of fluctuating velocity in wall turbulence. I, is found that the local singular exponent is negative when the ejections and sweeps of coherent structures occur in a turbulent boundary layer.

Cauchy singular integral equation method for transient antiplane dynamic problems

In this paper, by use of the boundary integral equation method and the techniques of Green basic solution and singularity analysis, the dynamic problem of antiplane is investigated. The problem is reduced to solving a Cauchy singular integral equation in Laplace transform space. This equation is strictly proved to be equivalent to the dual integral equations obtained by Sih [Mechanics of Fracture, Vol. 4. Noordhoff, Leyden (1977)]. On this basis, the dynamic influence between two parallel cracks is also investigated. By use of the high precision numerical method for the singular integral equation and Laplace numerical inversion, the dynamic stress intensity factors of several typical problems are calculated in this paper. The related numerical results are compared to be consistent with those of Sih. It shows that the method of this paper is successful and can be used to solve more complicated problems. Copyright (C) 1996 Elsevier Science Ltd

Variable power singular interface elements for a crack normal to the bimaterial interface

Zero thickness crack tip interface elements for a crack normal to the interface between two materials are presented. The elements are shown to have the desired r(lambda-1) (0 < lambda < 1) singularity in the stress field at the crack tip and are compatible with other singular elements. The stiffness matrices of the quadratic and cubic interface element are derived. Numerical examples are given to demonstrate the applicability of the proposed interface elements for a crack perpendicular to the bimaterial interface.

Collapsed isoparametric element as a singular element for a crack normal to the bi-material interface

It is shown that the variable power singularity of the strain field at the crack tip can be obtained by the simple technique of collapsing quadrilateral isoparametric elements into triangular elements around the crack tip and adequately shifting the side-nodes adjacent to this crack tip. The collapsed isoparametric elements have the desired singularity at crack tip along any ray. The strain expressions for a single element have been derived and in addition to the desired power singularity, additional singularities are revealed. Numerical examples have shown that triangular elements formed by collapsing one side lead to excellent results.

Singular behaviour near the tip of a sharp V-notch in a power law hardening material

This paper presents an asymptotic analysis of the near-tip stress and strain fields of a sharp V-notch in a power law hardening material. First, the asymptotic solutions of the HRR type are obtained for the plane stress problem under symmetric loading. It is found that the angular distribution function of the radial stress sigma(r) presents rapid variation with the polar angle if the notch angle beta is smaller than a critical notch angle; otherwise, there is no such phenomena. Secondly, the asymptotic solutions are developed for antisymmetric loading in the cases of plane strain and plane stress. The accurate calculation results and the detailed comparisons are given as well. All results show that the singular exponent s is changeable for various combinations of loading condition and plane problem.

Un impuesto singular: el diezmo-señor y la sal en Añana, siglos XVI-XIX

[ES]Cuando a partir de 1564 las salinas de Añana comenzaron a producir para la Corona, sus propietarios se vieron obligados a pagar al rey un tributo anual por el uso de las mueras, admitidas como un ius regalia de la monarquía: el diezmoseñor. Desde entonces, todo el entramado de la fabricación y venta de la sal se organizó en torno a él. En este artículo se analizan algunas de las características de este canon tan singular que se mantuvo en vigor hasta el siglo XX.

Os ultimos fins do homem, salvaçam, e condenaçam eterna : tratado espiritual, dividido em dous livros : no primeiro se trata da singular providencia de Deos na salvação das almas; no segundo das causas geraes da perdição das almas, ou estradas commuas do reyno da morte : escrito, e dedicado à soberana Rainha dos Anjos, Maria Santissima senhora nossa : pelo Padre Manoel Bernardes da Congregação do Oratorio de Lisboa

Manuel Bernardes nasceu em 1644, em Lisboa, onde viveu e morreu em 1710. Estudou Filosofia e Direito Canônico na Universidade de Coimbra e seguiu, posteriormente, o curso de Teologia ordenando-se sacerdote. De acordo com a Advertência contida na obra, o Padre Manuel Bernardes pretendia acrescentar mais algumas causas da perdição das almas, o que não chegou a fazer, impedido por outras ocupações. Não obstante esta falta, pareceu-lhe conveniente publicá-la para não tirar dos fiéis a oportunidade de aprender lição tão útil e saudável. A primeira edição, ‘rara’ e muito apreciada foi impressa em Lisboa na Oficina de Joseph Antonio da Sylva, em 1728

Nicaragua (1979-1990) : actor singular de las relaciones internacionales en el final de la Guerra Fría. Valor e insuficiencias del pragmatismo y protagonismo de la revolución sandinista en la escena internacional

420 p.