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Matroid connectivity and singularities of configuration hypersurfaces [PDF]
Letters in Mathematical Physics, 2021 AbstractConsider 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. The corresponding configuration hypersurface and its non-smooth locus support the respective first and second degeneracy scheme of the bilinear form.
Graham Denham +2 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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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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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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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
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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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On singularity confinement for the pentagram map [PDF]
Discrete Mathematics & Theoretical Computer Science, 2012 The pentagram map, introduced by R. Schwartz, is a birational map on the configuration space of polygons in the projective plane. We study the singularities of the iterates of the pentagram map.
Max Glick
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Architectural singularities of parallel mechanisms with prismatic joints due to special designs of platform shapes [PDF]
Mechanical Sciences, 2019 Singularity is an inherent property of robotic manipulators. A manipulator becomes singular when it gains or losses degrees of freedom at a particular configuration.
X. Wu, S. Bai
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