A differential geometric method for kinematic analysis of two- and three-degree-of-freedom rigid body motions

In this paper, we present a novel differential geometric characterization of two- and three-degree-of-freedom rigid body kinematics, using a metric defined on dual vectors. The instantaneous angular and linear velocities of a rigid body are expressed as a dual velocity vector, and dual inner product is defined on this dual vector, resulting in a positive semi-definite and symmetric dual matrix. We show that the maximum and minimum magnitude of the dual velocity vector, for a unit speed motion, can be obtained as eigenvalues of this dual matrix. Furthermore, we show that the tip of the dual velocity vector lies on a dual ellipse for a two-degree-of-freedom motion and on a dual ellipsoid for a three-degree-of-freedom motion. In this manner, the velocity distribution of a rigid body can be studied algebraically in terms of the eigenvalues of a dual matrix or geometrically with the dual ellipse and ellipsoid. The second-order properties of the two- and three-degree-of-freedom motions of a rigid body are also obtained from the derivatives of the elements of the dual matrix. This results in a definition of the geodesic motion of a rigid body. The theoretical results are illustrated with the help of a spatial 2R and a parallel three-degree-of-freedom manipulator.

Degrees of freedom of relay aided MIMO X network with orthogonal components

We consider the one-way relay aided MIMO X fading Channel where there are two transmitters and two receivers along with a relay with M antennas at every node. Every transmitter wants to transmit messages to every other receiver. The relay broadcasts to the receivers along a noisy link which is independent of the transmitters channel. In literature, this is referred to as a relay with orthogonal components. We derive an upper bound on the degrees of freedom of such a network. Next we show that the upper bound is tight by proposing an achievability scheme based on signal space alignment for the same for M = 2 antennas at every node.

On the generalized degrees of freedom of the K-user symmetric MIMO Gaussian interference channel

This work derives inner and outer bounds on the generalized degrees of freedom (GDOF) of the K-user symmetric MIMO Gaussian interference channel. For the inner bound, an achievable GDOF is derived by employing a combination of treating interference as noise, zero-forcing at the receivers, interference alignment (IA), and extending the Han-Kobayashi (HK) scheme to K users, depending on the number of antennas and the INR/SNR level. An outer bound on the GDOF is derived, using a combination of the notion of cooperation and providing side information to the receivers. Several interesting conclusions are drawn from the bounds. For example, in terms of the achievable GDOF in the weak interference regime, when the number of transmit antennas (M) is equal to the number of receive antennas (N), treating interference as noise performs the same as the HK scheme and is GDOF optimal. For K >; N/M+1, a combination of the HK and IA schemes performs the best among the schemes considered. However, for N/M <; K ≤ N/M+1, the HK scheme is found to be GDOF optimal.

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.

MODELING AND SIMULATION OF A THREE-WHEELED MOBILE ROBOT ON UNEVEN TERRAINS WITH TWO-DEGREE-OF-FREEDOM SUSPENSION MECHANISMS

A wheeled mobile robot (WMR) will move on an uneven terrain without slip if its torus-shaped wheels tilt in a lateral direction. An independent two degree-of-freedom (DOF) suspension is required to maintain contact with uneven terrain and for lateral tilting. This article deals with the modeling and simulation of a three-wheeled mobile robot with torus-shaped wheels and four novel two-DOF suspension mechanism concepts. Simulations are performed on an uneven terrain for three representative pathsa straight line, a circular, and an S'-shaped path. Simulations show that a novel concept using double four-bar mechanism performs better than the other three concepts.

Three-degree-of-freedom Parallel Manipulator to Track the Sun for Concentrated Solar Power Systems

In concentrated solar power(CSP) generating stations, incident solar energy is reflected from a large number of mirrors or heliostats to a faraway receiver. In typical CSP installations, the mirror needs to be moved about two axes independently using two actuators in series with the mirror effectively mounted at a single point. A three degree-of-freedom parallel manipulator, namely the 3-RPS parallel manipulator, is proposed to track the sun. The proposed 3-RPS parallel manipulator supports the load of the mirror, structure and wind loading at three points resulting in less deflection, and thus a much larger mirror can be moved with the required tracking accuracy and without increasing the weight of the support structure. The kinematics equations to determine motion of the actuated prismatic joints in the 3-RPS parallel manipulator such that the sun's rays are reflected on to a stationary receiver are developed. Using finite element analysis, it is shown that for same sized mirror, wind loading and maximum deflection requirement, the weight of the support structure is between 15% and 60% less with the 3-RPS parallel manipulator when compared to azimuth-elevation or the target-aligned configurations.

A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrain with minimal slip: Modeling, simulation and experiments

It is known in literature that a wheeled mobile robot (WMR) with fixed length axle will slip on an uneven terrain. One way to avoid wheel slip is to use a torus-shaped wheel with lateral tilt capability which allows the distance between the wheel-ground contact points to change even with a fixed length axle. Such an arrangement needs a two degree-of-freedom (DOF) suspension for the vertical and lateral tilting motion of the wheel. In this paper modeling, simulation, design and experimentation with a three-wheeled mobile robot, with torus-shaped wheels and a novel two DOF suspension allowing independent lateral tilt and vertical motion, is presented. The suspension is based on a four-bar mechanism and is called the double four-bar (D4Bar) suspension. Numerical simulations show that the three-wheeled mobile robot can traverse uneven terrain with low wheel slip. Experiments with a prototype three-wheeled mobile robot moving on a constructed uneven terrain along a straight line, a circular arc and a path representing a lane change, also illustrate the low slip capability of the three-wheeled mobile robot with the D4Bar suspension. (C) 2015 Elsevier Ltd. All rights reserved.

Flow-Induced Vibrations Of A Cylinder With Two Degrees Of Freedom Near Rigid Plane Boundary

Based on similarity analyses, the flow-induced vibrations of a near-wall cylinder with 2 degrees of freedom are investigated experimentally by employing a hydroelastic apparatus in conjunction with a flume. The cylinder's vibration amplitude, vibration frequency and vortex shedding frequency were measured and analyzed. The effects of gap-to-diameter ratio (e,ID) upon the vibration responses are further investigated. The experimental results indicate that, when the reduced velocity (Vr) is small (e.g. Vr = 1.2 similar to 2.6), only streamwise vibration occurs, and its frequency is quite close to its natural frequency in still water. When increasing Vr (e.g. Vr > 3.4), both streamwise and transverse vibrations of the near-wall cylinder may occur. In the examined range of gap-to-diameter ratio (0.42 < e(0)/D < 2.68), 2 vibration stages (in terms of Vr) of streamwise vibrations usually exist: First Streamwise Vibration (FSV) and Second Streamwise Vibration (SSV). In the SSV stage, the vortex shedding frequency may either undergo a jump to that of the streamwise vibration, or stay consistent with that of the transverse vibration. The amplitudes of transverse vibration are usually much larger than those of streamwise vibration for the same value of e(0)/D. The maximum amplitudes of both streamwise and transverse vibration get larger with the increase of e(0)/D (0.42 < e(0)/D < 2.68).

Conferencia "Culture, Freedom and Christianity", presentada por Alberto de Onaindia en el Congress for Cultural Freedom, celebrado en Berlín en 1950.

Fecha: 2-7-1950 / Unidad de instalación: Carpeta 45 - Expediente 2-27 / Nº de pág.: 6 (mecanografiadas)

Experimental Study on Flow Induced Vibration of a Cylinder with Two Degrees of Freedom Near a Rigid Wall

The flow-induced vibration of a cylinder with two degrees of freedom near a rigid wall under the action of steady flow is investigated experimentally. The vibration amplitude and frequency of the cylinder and the vortex shedding frequency at the wake flow region of the cylinder are measured. The influence of gap-to-diameter ratio upon the amplitude response is analyzed. The experimental results indicate that when the reduced velocity (Vr) is in the range of 1.2 < Vr < 2.6, only streamwise vibration with small amplitude occurs, whose frequency is quite close to its natural frequency in the still water. When the reduced velocity Vr > 3.4, both the streamwise and transverse vibrations of the cylinder occur. In this range, the amplitudes of transverse vibration are much larger than those of streamwise vibrations, and the amplitudes of the streamwise vibration also get larger than those at the range of 1.2 < Vr < 2.6. At the range of Vr > 3.4, the frequency of streamwise vibration undergoes a jump at certain values of Vr, at which the streamwise vibrating frequency is twice as much as the transverse one. However, when the streamwise vibration does not experience a jump, its frequency is the same as that of the transverse vibration. The maximum values of second streamwise and transverse vibration amplitudes increase with increasing gap-to-diameter ratios.

Physical Modeling And Parametric Study On Two-Degree-Of-Freedom Viv Of A Cylinder Near Rigid Wall

Unlike most previous studies on the transverse vortex-induced vibration(VIV) of a cylinder mainly under the wallfree condition (Williamson & Govardhan,2004),this paper experimentally investigates the vortex-induced vibration of a cylinder with two degrees of freedom near a rigid wall exposed to steady flow.The amplitude and frequency responses of the cylinder are discussed.The lee wake flow patterns of the cylinder undergoing VIV were visualized by employing the hydrogen bubble technique.The effects of the gap-to-diameter ratio (e0/D) and the mass ratio on the vibration amplitude and frequency are analyzed.Comparisons of VIV response of the cylinder are made between one degree (only transverse) and two degrees of freedom (streamwise and transverse) and those between the present study and previous ones.The experimental observation indicates that there are two types of streamwise vibration,i.e.the first streamwise vibration (FSV) with small amplitude and the second streamwise vibration (SSV) which coexists with transverse vibration.The vortex shedding pattem for the FSV is approximately symmetric and that for the SSV is alternate.The first streamwise vibration tends to disappear with the decrease of e0/D.For the case of large gap-to-diameter ratios (e.g.e0/D = 0.54～1.58),the maximum amplitudes of the second streamwise vibration and transverse one increase with the increasing gapto-diameter ratio.But for the case of small gap-to-diameter ratios (e.g.e0/D = 0.16,0.23),the vibration amplitude of the cylinder increases slowly at the initial stage (i.e.at small reduced velocity V,),and across the maximum amplitude it decreases quickly at the last stage (i.e.at large Vr).Within the range ofthe examined small mass ratio (m＜4),both streamwise and transverse vibration amplitude of the cylinder decrease with the increase of mass ratio for the fixed value of V,.The vibration range (in terms of Vr ) tends to widen with the decrease of the mass ratio.In the second streamwise vibration region,the vibration frequency of the cylinder with a small mass ratio (e.g.mx = 1.44) undergoes a jump at a certain Vr,.The maximum amplitudes of the transverse vibration for two-degree-of-freedom case is larger than that for one-degree-of-freedom case,but the transverse vibration frequency of the cylinder with two degrees of freedom is lower than that with one degree of freedom (transverse).

The steady-state response of multidegree-of-freedom systems with a spatially localized nonlinearity

This thesis is concerned with the dynamic response of a General multidegree-of-freedom linear system with a one dimensional nonlinear constraint attached between two points. The nonlinear constraint is assumed to consist of rate-independent conservative and hysteretic nonlinearities and may contain a viscous dissipation element. The dynamic equations for general spatial and temporal load distributions are derived for both continuous and discrete systems. The method of equivalent linearization is used to develop equations which govern the approximate steady-state response to generally distributed loads with harmonic time dependence.

The qualitative response behavior of a class of undamped chainlike structures with a nonlinear terminal constraint is investigated. It is shown that the hardening or softening behavior of every resonance curve is similar and is determined by the properties of the constraint. Also examined are the number and location of resonance curves, the boundedness of the forced response, the loci of response extrema, and other characteristics of the response. Particular consideration is given to the dependence of the response characteristics on the properties of the linear system, the nonlinear constraint, and the load distribution.

Numerical examples of the approximate steady-state response of three structural systems are presented. These examples illustrate the application of the formulation and qualitative theory. It is shown that disconnected response curves and response curves which cross are obtained for base excitation of a uniform shear beam with a cubic spring foundation. Disconnected response curves are also obtained for the steady-state response to a concentrated load of a chainlike structure with a hardening hysteretic constraint. The accuracy of the approximate response curves is investigated.