This paper addresses the problem of singularity-free path-planning for parallel manipulators. Unlike in serial manipulators, where there are only boundary singularities, parallel manipulators also possess singular configurations within the workspace where the manipulators are uncontrollable. Therefore, it is imperative that the generated paths are singularity-free. In this paper, we use a varia...

This paper provides examples of a new method used to analyze the motion characteristics of single-degree-of-freedom, closed-loop linkages with a designated input angle and one or two design parameters. The method involves the construction of a singularity trace, which is a plot that reveals changes in the number of geometric inversions, singularities, and changes in the number of branches as a ...

Due to the dependency structure, most of the covariance matrix faces with the singularity problem. There are several methods to overcome this challenge. The most well-known ones are the eigen-value, singular value, and cholesky decompositions. In this paper, we develop a new method to deal with the singularity problem while preserving the covariance structure of the original matrix and compare ...

Quasi-Monte Carlo methods are designed for integrands of bounded variation, and this excludes singular integrands. Several methods are known for integrands that become singular on the boundary of the unit cube [0,1]d or at isolated possibly unknown points within [0,1]d . Here we consider functions on the square [0,1]2 that may become singular as the point approaches the diagonal line x1 = x2, a...

Seismological images represent maps of the earth’s structure. Apparent bandwidth limitation of seismic data prevents successful estimation of transition sharpness by the multiscale wavelet transform. We discuss the application of two recently developed techniques for (non-linear) singularity analysis designed for bandwidth limited data, such as imaged seismic reflectivity. The first method is a...

In this paper, we study a numerical method for the computation and continuation of homoclinic and heteroclinic orbits based upon the arclength parameterization of the orbits. Unlike most other methods, this method utilizes the geometric structure of the homoclinic and heteroclinic orbits and does not require solving a boundary value problem on an innnite interval. However, the boundary value pr...

We study spatially semidiscrete and fully discrete finite volume element approximations of the heat equation with homogeneous Dirichlet boundary conditions in a plane polygonal domain with one reentrant corner. We show that, as a result of the singularity in the solution near the reentrant corner, the convergence rate is reduced from optimal second order, similarly to what was shown for the fin...

Ultra-wideband (UWB) communications is expected to revolutionize high data-rate, shortdistance wireless communications, providing data-rates in excess of 100 Mbps. However, the wireless channel distorts the transmitted signal by dispersing the signal energy over time. This degrades the output signal-to-noise ratio (SNR) of a correlation based matched-filter receiver, limiting the achievable dat...

Oh et al ([25]) introduced the reproducing polynomial particle (RPP) shape functions that are piecewise polynomial and satisfy the Kronecker delta property. In this paper, we introduce RPPM (Reproducing Polynomial Particle Methods) that is the Galerkin approximation method associated with the use of the RPP approximation space. Planting particles in the computation domain in a patchwise uniform...