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Matroid connectivity and singularities of configuration hypersurfaces [PDF]
Letters in Mathematical Physics, 2021 Consider a linear realization of a matroid over a field. One associates with it a configuration polynomial and a symmetric bilinear form with linear homogeneous coefficients.
Denham, Graham +2 more
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Global configurations of singularities for quadratic differential systems with exactly three finite singularities of total multiplicity four [PDF]
Electronic Journal of Qualitative Theory of Differential Equations, 2015 In this article we obtain the geometric classification of singularities, finite and infinite, for the two subclasses of quadratic differential systems with total finite multiplicity $m_f=4$ possessing exactly three finite singularities, namely: systems ...
Joan Artés +3 more
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S-matrix singularities and CFT correlation functions
Journal of High Energy Physics, 2017 In this note, we explore the correspondence between four-dimensional flat space S-matrix and two-dimensional CFT proposed by Pasterski et al. We demonstrate that the factorisation singularities of an n-point cubic diagram reproduces the AdS Witten ...
Carlos Cardona, Yu-tin Huang
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Image based visual servoing with kinematic singularity avoidance for mobile manipulator [PDF]
PeerJ Computer ScienceThis article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error ...
Jesus Hernandez-Barragan +4 more
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New Journal of Physics, 2012 We theoretically explore the optical flux lattices produced for ultra-cold atoms subject to laser fields where both the atom–light coupling and the effective detuning are spatially periodic. We analyze the geometric vector potential and the magnetic flux
G Juzeliūnas, I B Spielman
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Analysis of Singular Configuration of Robotic Manipulators [PDF]
Electronics, 2021 Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain singular configurations through analytical methods.
Xinglei Zhang +3 more
openaire +1 more source
Galaxies, 2021 There are a number of publications on relativistic objects dealing either with black holes or naked singularities in the center. Here we show that there exist static spherically symmetric solutions of Einstein equations with a strongly nonlinear scalar ...
Oleksandr Stashko, Valery I. Zhdanov
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Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot
Robotics, 2021 Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage
Oded Medina, Shlomi Hacohen
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Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra
Mathematics, 2022 The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion planning
Isiah Zaplana +2 more
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On singularities of real algebraic sets and applications to kinematics
Open Mathematics, 2020 We address the question of identifying non-smooth points in Vℝ(I){{\bf{V}}}_{{\mathbb{R}}}(I) the real part of an affine algebraic variety. Two simple algebraic criteria will be formulated and proven.
Diesse Marc
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