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.

Spreading Sequences for Asynchronous Spectrally Phase Encoded Optical CDMA

In phase encoding optical CDMA (OCDMA) the spreading is achieved by encoding the phase of signal spectrum. In this paper we first derive a mathematical model for the output of phase encoding OCDMA systems. Based on this model we introduce a metric to design spreading sequences for asynchronous transmission. Then we connect the phase encoding sequence design problem to OFDM PMEPR (peak to mean envelope power ratio) problem. Using this connection we conclude that designing sequences with good properties for samples of timing delay guarantees that the same sequence to be good for all timing delays. Finally using generalized bent function we manage to construct a family of sequences which are good for asynchronous phase encoding OCDMA systems and using these sequences we introduce an M-ary modulation scheme for phase encoding OCDMA