Classical screw theory: A fresh look using dual eigenvalue approach

This paper presents a novel algebraic formulation of the central problem of screw theory, namely the determination of the principal screws of a given system. Using the algebra of dual numbers, it shows that the principal screws can be determined via the solution of a generalised eigenproblem of two real, symmetric matrices. This approach allows the study of the principal screws of the general screw systems associated with a manipulator of arbitrary geometry in terms of closed-form expressions of its architecture and configuration parameters. The formulation is illustrated with examples of practical manipulators.

A Kinematic Theory for Planar Hoberman and Other Novel Foldable Mechanisms

In this paper, we present a kinematic theory for Hoberman and other similar foldable linkages. By recognizing that the building blocks of such linkages can be modeled as planar linkages, different classes of possible solutions are systematically obtained including some novel arrangements. Criteria for foldability are arrived by analyzing the algebraic locus of the coupler curve of a PRRP linkage. They help explain generalized Hoberman and other mechanisms reported in the literature. New properties of such mechanisms including the extent of foldability, shape-preservation of the inner and outer profiles, multi-segmented assemblies and heterogeneous circumferential arrangements are derived. The design equations derived here make the conception of even complex planar radially foldable mechanisms systematic and easy. Representative examples are presented to illustrate the usage of the design equations and the kinematic theory.

Multi-UAV Task Allocation using Team Theory

A multiple UAV search and attack mission in a battlefield involves allocating UAVs to different target tasks efficiently. This task allocation becomes difficult when there is no communication among the UAVs and the UAVs sensors have limited range to detect the targets and neighbouring UAVs, and assess target status. In this paper, we propose a team theoretic approach to efficiently allocate UAVs to the targets with the constraint that UAVs do not communicate among themselves and have limited sensor range. We study the performance of team theoretic approach for task allocation on a battle field scenario. The performance obtained through team theory is compared with two other methods, namely, limited sensor range but with communication among all the UAVs, and greedy strategy with limited sensor range and no communication. It is found that the team theoretic strategy performs the best even though it assumes limited sensor range and no communication.

Optimal maintenance policies for machines subject to deterioration and intermittent breakdowns

Optimal preventive maintenance policies, for a machine subject to deterioration with age and intermittent breakdowns and repairs, are derived using optimal control theory. The optimal policies are shown to be of bang-bang nature. The extension to the case when there are a large number of identical machines and several repairmen in the system is considered next. This model takes into account the waiting line formed at the repair facility and establishes a link between this problem and the classical ``repairmen problem.''

Scattering theory and linear optimal control: Regulator and servo problems

In this paper, several known computational solutions are readily obtained in a very natural way for the linear regulator, fixed end-point and servo-mechanism problems using a certain frame-work from scattering theory. The relationships between the solutions to the linear regulator problem with different terminal costs and the interplay between the forward and backward equations have enabled a concise derivation of the partitioned equations, the forward-backward equations, and Chandrasekhar equations for the problem. These methods have been extended to the fixed end-point, servo, and tracking problems.

Study of symmetrical and related components through the theory of linear vector spaces

The paper proposes a study of symmetrical and related components, based on the theory of linear vector spaces. Using the concept of equivalence, the transformation matrixes of Clarke, Kimbark, Concordia, Boyajian and Koga are shown to be column equivalent to Fortescue's symmetrical-component transformation matrix. With a constraint on power, criteria are presented for the choice of bases for voltage and current vector spaces. In particular, it is shown that, for power invariance, either the same orthonormal (self-reciprocal) basis must be chosen for both voltage and current vector spaces, or the basis of one must be chosen to be reciprocal to that of the other. The original �¿, ��, 0 components of Clarke are modified to achieve power invariance. For machine analysis, it is shown that invariant transformations lead to reciprocal mutual inductances between the equivalent circuits. The relative merits of the various components are discussed.

Group Actions and Elementary Number Theory

Abstract | In this article the shuffling of cards is studied by using the concept of a group action. We use some fundamental results in Elementary Number Theory to obtain formulas for the orders of some special shufflings, namely the Faro and Monge shufflings and give necessary and sufficient conditions for the Monge shuffling to be a cycle. In the final section we extend the considerations to the shuffling of multisets.

Galois Theory and Solvable Equations of Prime Degree

In this article we review classical and modern Galois theory with historical evolution and prove a criterion of Galois for solvability of an irreducible separable polynomial of prime degree over an arbitrary field k and give many illustrative examples.

Two-dimensional approximations of 3-dimensional eigenvalue problems in plate-theory

The eigenvalues and eigenfunctions corresponding to the three-dimensional equations for the linear elastic equilibrium of a clamped plate of thickness 2ϵ, are shown to converge (in a specific sense) to the eigenvalues and eigenfunctions of the well-known two-dimensional biharmonic operator of plate theory, as ϵ approaches zero. In the process, it is found in particular that the displacements and stresses are indeed of the specific forms usually assumed a priori in the literature. It is also shown that the limit eigenvalues and eigenfunctions can be equivalently characterized as the leading terms in an asymptotic expansion of the three-dimensional solutions, in terms of powers of ϵ. The method presented here applies equally well to the stationary problem of linear plate theory, as shown elsewhere by P. Destuynder.

Scale effects on buckling analysis of orthotropic nanoplates based on nonlocal two-variable refined plate theory

This article presents the buckling analysis of orthotropic nanoplates such as graphene using the two-variable refined plate theory and nonlocal small-scale effects. The two-variable refined plate theory takes account of transverse shear effects and parabolic distribution of the transverse shear strains through the thickness of the plate, hence it is unnecessary to use shear correction factors. Nonlocal governing equations of motion for the monolayer graphene are derived from the principle of virtual displacements. The closed-form solution for buckling load of a simply supported rectangular orthotropic nanoplate subjected to in-plane loading has been obtained by using the Navier's method. Numerical results obtained by the present theory are compared with first-order shear deformation theory for various shear correction factors. It has been proven that the nondimensional buckling load of the orthotropic nanoplate is always smaller than that of the isotropic nanoplate. It is also shown that small-scale effects contribute significantly to the mechanical behavior of orthotropic graphene sheets and cannot be neglected. Further, buckling load decreases with the increase of the nonlocal scale parameter value. The effects of the mode number, compression ratio and aspect ratio on the buckling load of the orthotropic nanoplate are also captured and discussed in detail. The results presented in this work may provide useful guidance for design and development of orthotropic graphene based nanodevices that make use of the buckling properties of orthotropic nanoplates.

An extension of Mangler transformation to a 3-D problem

Considering the linearized boundary layer equations for three-dimensional disturbances, a Mangler type transformation is used to reduce this case to an equivalent two-dimensional one.