An algebraic formulation of static isotropy and design of statically isotropic 6–6 Stewart platform manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions. We use the force and moment transformation matrices separately, and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation is applied to a class of Stewart platform manipulator, and a multi-parameter family of isotropic manipulators is identified analytically. We show that it is impossible to obtain a spatially isotropic configuration within this family. We also compute the isotropic configurations of an existing manipulator and demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Nucleophilic attacks of 1,2-diaminoethane on MeCN ligands: synthesis, x-ray structure, and spectral and electrochemical properties of [Ru(.mu.-O)(.mu.-O2CAr)2[NH2CH2CH2NHC(Me)NH]2(PPh3)2](ClO4)2(Ar = C6H4-p-X; X = H, Me, OMe, Cl)

The diruthenium(III) complex [Ru2O(O2CAr)2(MeCN)4(PPh3)2](ClO4)2 (1), on reaction with 1,2-diaminoethane (en) in MeOH at 25-degrees-C, undergoes nucleophilic attacks at the carbon of two facial MeCN ligands to form [(Ru2O)-O-III(O2CAr)2-{NH2CH2CH2NHC(Me)NH}2(PPh3)2](ClO4)2 (2) (Ar = C6H4-p-X, X = H, Me, OMe, Cl) containing two seven-membered amino-amidine chelating ligands. The molecular structure of 2 with Ar = C6H4-p-OMe was determined by X-ray crystallography. Crystal data are as follows: triclinic, P1BAR, a = 13.942 (5) angstrom, b = 14.528 (2) angstrom, c = 21.758 (6) angstrom, alpha = 109.50 (2)-degrees, beta = 92.52 (3)-degrees, gamma = 112.61 (2)-degrees, V = 3759 (2) angstrom 3, and Z = 2. The complex has an {Ru2(mu-O)(mu-O2CAr2)2(2+)} core. The Ru-Ru and average Ru-O(oxo) distances and the Ru-O-Ru angle are 3.280 (2) angstrom, 1.887 [8] angstrom, and 120.7 (4)-degrees, respectively. The amino group of the chelating ligand is trans to the mu-oxo ligand. The nucleophilic attacks take place on the MeCN ligands cis to the mu-oxo ligand. The visible spectra of 2 in CHCl3 display an absorption band at 565 nm. The H-1 NMR spectra of 2 in CDCl3 are indicative of the formation of an amino-amidine ligand. Complex 2 exhibits metal-centered quasireversible one-electron oxidation and reduction processes in the potential ranges +0.9 to +1.0 V and -0.3 to -0.5 V (vs SCE), respectively, involving the Ru(III)2/Ru(III)Ru(IV) and Ru(III)2/Ru(II)Ru(III) redox couples in CH2Cl2 containing 0.1 M TBAP. The mechanistic aspects of the nucleophilic reaction are discussed.

An Algebraic Implicitization and Specialization of Minimum KL-Divergence Models

In this paper we study representation of KL-divergence minimization, in the cases where integer sufficient statistics exists, using tools from polynomial algebra. We show that the estimation of parametric statistical models in this case can be transformed to solving a system of polynomial equations. In particular, we also study the case of Kullback-Csiszar iteration scheme. We present implicit descriptions of these models and show that implicitization preserves specialization of prior distribution. This result leads us to a Grobner bases method to compute an implicit representation of minimum KL-divergence models.

Spherical aberration and its correction using Lie algebraic methods

We discuss three methods to correct spherical aberration for a point to point imaging system. First, results obtained using Fermat's principle and the ray tracing method are described briefly. Next, we obtain solutions using Lie algebraic techniques. Even though one cannot always obtain analytical results using this method, it is often more powerful than the first method. The result obtained with this approach is compared and found to agree with the exact result of the first method.

Recovery from DoS Attacks in MIPv6: Modelling and Validation

Denial-of-service (DoS) attacks form a very important category of security threats that are prevalent in MIPv6 (mobile internet protocol version 6) today. Many schemes have been proposed to alleviate such threats, including one of our own [9]. However, reasoning about the correctness of such protocols is not trivial. In addition, new solutions to mitigate attacks may need to be deployed in the network on a frequent basis as and when attacks are detected, as it is practically impossible to anticipate all attacks and provide solutions in advance. This makes it necessary to validate the solutions in a timely manner before deployment in the real network. However, threshold schemes needed in group protocols make analysis complex. Model checking threshold-based group protocols that employ cryptography have not been successful so far. Here, we propose a new simulation based approach for validation using a tool called FRAMOGR that supports executable specification of group protocols that use cryptography. FRAMOGR allows one to specify attackers and track probability distributions of values or paths. We believe that infrastructure such as FRAMOGR would be required in future for validating new group based threshold protocols that may be needed for making MIPv6 more robust.

An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions.We use the force and moment transformation matrices separately,and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation has been applied to a class of Stewart platform manipulators. We obtain multi-parameter families of isotropic manipulator analytically. In addition to computing the isotropic configurations of an existing manipulator,we demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Algebraic Approaches to Space-Time Code Construction for Multiple-Antenna Communication

A major challenge in wireless communications is overcoming the deleterious effects of fading, a phenomenon largely responsible for the seemingly inevitable dropped call. Multiple-antennas communication systems, commonly referred to as MIMO systems, employ multiple antennas at both transmitter and receiver, thereby creating a multitude of signalling pathways between transmitter and receiver. These multiple pathways give the signal a diversity advantage with which to combat fading. Apart from helping overcome the effects of fading, MIMO systems can also be shown to provide a manyfold increase in the amount of information that can be transmitted from transmitter to receiver. Not surprisingly,MIMO has played, and continues to play, a key role in the advancement of wireless communication.Space-time codes are a reference to a signalling format in which information about the message is dispersed across both the spatial (or antenna) and time dimension. Algebraic techniques drawing from algebraic structures such as rings, fields and algebras, have been extensively employed in the construction of optimal space-time codes that enable the potential of MIMO communication to be realized, some of which have found their way into the IEEE wireless communication standards. In this tutorial article, reflecting the authors’interests in this area, we survey some of these techniques.

Algebraic characterization of rainbow connectivity

The use of algebraic techniques to solve combinatorial problems is studied in this paper. We formulate the rainbow connectivity problem as a system of polynomial equations. We first consider the case of two colors for which the problem is known to be hard and we then extend the approach to the general case. We also present a formulation of the rainbow connectivity problem as an ideal membership problem.

Fault Attacks on Pairing-Based Protocols Revisited

Several papers have studied fault attacks on computing a pairing value e(P, Q), where P is a public point and Q is a secret point. In this paper, we observe that these attacks are in fact effective only on a small number of pairing-based protocols, and that too only when the protocols are implemented with specific symmetric pairings. We demonstrate the effectiveness of the fault attacks on a public-key encryption scheme, an identity-based encryption scheme, and an oblivious transfer protocol when implemented with a symmetric pairing derived from a supersingular elliptic curve with embedding degree 2.