Line Kinematics for Whole-Arm Manipulation

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).

A comparison of methods for the coupled analysis of floating structures

The dynamic analysis of a deepwater floating platform and the associated mooring/riser system should ideally be fully coupled to ensure a reliable response prediction. It is generally held that a time domain analysis is the only means of capturing the various coupling and nonlinear effects accurately. However, in recent work it has been found that for an ultra-deepwater floating system (2000m water depth), the highly efficient frequency domain approach can provide highly accurate response predictions. One reason for this is the accuracy of the drag linearization procedure over both first and second order motions, another reason is the minimal geometric nonlinearity displayed by the mooring lines in deepwater. In this paper, the aim is to develop an efficient analysis method for intermediate water depths, where both mooring/vessel coupling and geometric nonlinearity are of importance. It is found that the standard frequency domain approach is not so accurate for this case and two alternative methods are investigated. In the first, an enhanced frequency domain approach is adopted, in which line nonlinearities are linearized in a systematic way. In the second, a hybrid approach is adopted in which the low frequency motion is solved in the time domain while the high frequency motion is solved in the frequency domain; the two analyses are coupled by the fact that (i) the low frequency motion affects the mooring line geometry for the high frequency motion, and (ii) the high frequency motion affects the drag forces which damp the low frequency motion. The accuracy and efficiency of each of the methods are systematically compared. Copyright © 2007 by ASME.

Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation

A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely decouples translation and rotation of the end-effector for individual control. The structure synthesis of SA-PM is achieved using the line geometry. Singularity analysis shows that the SA-PM is an isotropic translation PM when all the actuators are in linear mode. Because of the decoupled motion structure, a decomposition method is applied for both the displacement analysis and dimension optimization. With the index of maximal workspace satisfying given global conditioning requirements, the geometrical parameters are optimized. As a result, the translational workspace is a cube, and the orientation workspace is nearly unlimited.

Inclusão das representações de gary e de skilling-umoto em modelos de linhas de transmissão trifásicas: Aplicação em simulações de transitórios eletromagnéticos em sistemas de energia elétrica

Pós-graduação em Engenharia Elétrica - FEIS

Eduard Study (1862-1930) - ein mathematischer Mephistopheles im geometrischen Gärtchen

Diese Arbeit befasst sich mit Eduard Study (1862-1930), einem der deutschen Geometer um die Jahrhundertwende, der seine Zeit zum Einen durch seine Kontakte zu Klein, Hilbert, Engel, Lie, Gordan, Halphen, Zeuthen, Einstein, Hausdorff und Weyl geprägt hat, zum Anderen in ihr aber auch für seine beißenden und stilistisch ausgefeilten Kritiken ebenso berühmt wie berüchtigt war. Da sich Study mit einer Vielzahl mathematischer Themen beschäftigt hat, führen wir zunächst in die von ihm bearbeiteten Gebiete der Geometrie des 19. Jahrhunderts ein (analytische und synthetische Geometrie im Sinne von Monge, Poncelet, Plücker und Reye, Invariantentheorie Clebsch-Gordan'scher Prägung, abzählende Geometrie von Chasles und Halphen, die Werke Lie's und Grassmann’s, Liniengeometrie sowie Axiomatik und Grundlagenkrise). In seiner darauf folgenden Biographie finden sich als zentrale Stellen seine Habilitation bei Klein über die Chasles’sche Vermutung, sein Streit mit Zeuthen darüber als eine der Debatten der Mathematischen Annalen (aus der er historisch zwar nicht, mathematisch aber tatsächlich als Gewinner hätte herausgehen müssen, wie wir an der Lösung des Problems durch van der Waerden sehen werden) und seine Auseinandersetzungen als etablierter Bonner Professor mit Engel über Lie, Weyl über Invariantentheorie, zahlreichen philosophischen Richtungen über das Raumproblem, Pasch’s Axiomatik, Hilbert’s Formalismus sowie Brouwer’s und Weyl’s Intuitionismus.

Geometrie der dynamen. Die zusammensetzung von kräften und verwandte gegenstände der geometrie

Available on demand as hard copy or computer file from Cornell University Library.

Nachweis linearer Mannigfaltigkeiten beliebiger Dimension in unserem Raume; lineare Complexe und Strahlensysteme in denselben.

"Aus den Sitzungsberichten der Kaiserl. Akademie der Wissenschaften in Wien. Mathem.-naturw. Classe. Bd. CI, Abt. 2 a. Feb. 1892."

Lezioni di geometria della retta.

Lithographed.

La géométrie réglée et ses applications.

Page 134 incorrectly numbered 136.

Liniengeometrie mit anwendungen,

Available on demand as hard copy or computer file from Cornell University Library.

Kummer's quartic surface,

Prefatory note by H.F. Baker.

An analytic geometry-variant approach to line ratio enhancement above the optically thin limit

We describe a simple theoretical model to investigate the anomalous effects of opacity on spectral line ratios, as previously studied in elements such as Fe XV and Fe XVII. The model developed is general: it is not specific to a particular atomic system, thus giving applicability to a number of coronal and chromospheric plasmas; furthermore, it may be applied to a variety of astrophysically relevant geometries. The analysis is underpinned by geometrical arguments, and we outline a technique for it to be used as a tool for the explicit diagnosis of plasma geometry in distant astrophysical objects.

Geometry without axioms; or the first book of Euclid's elements. With alterations and familiar notes; and an intercalary book in which the straight line and plane are derived from properties of the sphere ... To which is added an appendix ...

Mode of access: Internet.