Identification of principal screws of two- and three-screw systems

2007 ◽  
Vol 221 (12) ◽  
pp. 1701-1715 ◽  
Author(s):  
J-S Zhao ◽  
F Chu ◽  
Z-J Feng
Keyword(s):  
Screw Theory ◽  
Coordinate Systems ◽  
Third Order ◽  
Analytical Methodology ◽  
Partial Derivatives ◽  
Spatial Mechanisms ◽  
Analysis Theory ◽  
Definition Of ◽  
Derivatives Of ◽  
Homogeneous Linear

The current paper proposes a unified analytical methodology to identify the principal screws of two- and three-screw systems. Based on the definition of the pitch of a screw, it first obtains an identical homogeneous quadric equation. According to functional analysis theory, it is known that the partial derivatives of an identical quadric equation with respect to its variables must be zero. Therefore, the paper deduces a set of linear homogeneous equations that are made up of the partial derivatives of the quadric equation. With the existing criteria of non-zero solutions for homogeneous linear algebra equations, it ultimately obtains the formulas of the principal pitches and the associated principal screws of the system. The most outstanding contribution of this methodology is that it proposes a unified analytical approach to identify the principal pitches and the principal coordinate systems of the second-order and the third-order screw systems. This should be a new contribution to the screw theory and will boost its applications to the kinematics analysis of robots and spatial mechanisms.

scholarly journals Non-singular spherical harmonic expressions of geomagnetic vector and gradient tensor fields in the local north-oriented reference frame

2015 ◽  
Vol 8 (7) ◽  
pp. 1979-1990 ◽  
Author(s):  
J. Du ◽  
C. Chen ◽  
V. Lesur ◽  
L. Wang
Keyword(s):  
Reference Frame ◽  
Potential Field ◽  
Spherical Harmonic ◽  
Magnetic Potential ◽  
Tensor Fields ◽  
Third Order ◽  
Gradient Tensor ◽  
Partial Derivatives ◽  
The Third ◽  
Derivatives Of

Abstract. General expressions of magnetic vector (MV) and magnetic gradient tensor (MGT) in terms of the first- and second-order derivatives of spherical harmonics at different degrees/orders are relatively complicated and singular at the poles. In this paper, we derived alternative non-singular expressions for the MV, the MGT and also the third-order partial derivatives of the magnetic potential field in the local north-oriented reference frame. Using our newly derived formulae, the magnetic potential, vector and gradient tensor fields and also the third-order partial derivatives of the magnetic potential field at an altitude of 300 km are calculated based on a global lithospheric magnetic field model GRIMM_L120 (GFZ Reference Internal Magnetic Model, version 0.0) with spherical harmonic degrees 16–90. The corresponding results at the poles are discussed and the validity of the derived formulas is verified using the Laplace equation of the magnetic potential field.

scholarly journals The Various Definitions of Multiple Differentiability of a Function f: ℝn→ ℝ

Mathematics ◽  
2020 ◽  
Vol 8 (11) ◽  
pp. 1946
Author(s):  
Alexander Kuleshov
Keyword(s):  
Differentiable Function ◽  
Mathematical Analysis ◽  
Dimensional Case ◽  
Standard Definition ◽  
Partial Derivatives ◽  
Infinite Dimensional ◽  
Definition Of ◽  
Young’S Theorem ◽  
Derivatives Of

Since the 17-th century the concepts of differentiability and multiple differentiability have become fundamental to mathematical analysis. By now we have the generally accepted definition of what a multiply differentiable function f:Rn→R is (in this paper we call it standard). This definition is sufficient to prove some of the key properties of a multiply differentiable function: the Generalized Young’s theorem (a theorem on the independence of partial derivatives of higher orders of the order of differentiation) and Taylor’s theorem with Peano remainder. Another definition of multiple differentiability, actually more general in the sense that it is suitable for the infinite-dimensional case, belongs to Fréchet. It turns out, that the standard definition and the Fréchet definition are equivalent for functions f:Rn→R. In this paper we introduce a definition (which we call weak) of multiple differentiability of a function f:Rn→R, which is not equivalent to the above-mentioned definitions and is in fact more general, but at the same time is sufficient enough to prove the Generalized Young’s and Taylor’s theorems.

2.2. Working Group 2: Conceptual Definitions of Reference Coordinate Systems for Earth Dynamics

1975 ◽  
Vol 26 ◽  
pp. 21-26
Keyword(s):  
Coordinate System ◽  
Working Group ◽  
General Character ◽  
Coordinate Systems ◽  
Reference Coordinate System ◽  
Group 2 ◽  
Definition Of ◽  
Earth Dynamics

An ideal definition of a reference coordinate system should meet the following general requirements:1. It should be as conceptually simple as possible, so its philosophy is well understood by the users.2. It should imply as few physical assumptions as possible. Wherever they are necessary, such assumptions should be of a very general character and, in particular, they should not be dependent upon astronomical and geophysical detailed theories.3. It should suggest a materialization that is dynamically stable and is accessible to observations with the required accuracy.

System of thermodynamic quantities in the McMillan-Mayer solution theory

1985 ◽  
Vol 50 (4) ◽  
pp. 791-798 ◽  
Author(s):  
Vilém Kodýtek
Keyword(s):  
Free Energy ◽  
Generating Function ◽  
Simple Form ◽  
Unit Volume ◽  
Thermodynamic Quantities ◽  
Solution Theory ◽  
Pure Solvent ◽  
Second Derivatives ◽  
Definition Of ◽  
Derivatives Of

The McMillan-Mayer (MM) free energy per unit volume of solution AMM, is employed as a generating function of the MM system of thermodynamic quantities for solutions in the state of osmotic equilibrium with pure solvent. This system can be defined by replacing the quantities G, T, P, and m in the definition of the Lewis-Randall (LR) system by AMM, T, P0, and c (P0 being the pure solvent pressure). Following this way the LR to MM conversion relations for the first derivatives of the free energy are obtained in a simple form. New relations are derived for its second derivatives.

scholarly journals The Celestial Reference System in Relativistic Framework

1990 ◽  
Vol 141 ◽  
pp. 99-110
Author(s):  
Han Chun-Hao ◽  
Huang Tian-Yi ◽  
Xu Bang-Xin
Keyword(s):  
Coordinate System ◽  
Reference Frame ◽  
Reference System ◽  
Light Deflection ◽  
Coordinate Systems ◽  
Definition Of ◽  
Celestial Sphere ◽  
Celestial Reference System ◽  
Relativistic Framework

The concept of reference system, reference frame, coordinate system and celestial sphere in a relativistic framework are given. The problems on the choice of celestial coordinate systems and the definition of the light deflection are discussed. Our suggestions are listed in Sec. 5.

scholarly journals Third derivatives of the integrable part of an asteroid Hamiltonian

2007 ◽  
pp. 53-60 ◽  
Author(s):  
R. Pavlovic
Keyword(s):  
Third Order ◽  
Geometrical Condition ◽  
The Third ◽  
Derivatives Of ◽  
Quasi Convexity ◽  
Explicit Expressions

To apply the theorem of Nekhoroshev (1977) to asteroids, one first has to check whether a necessary geometrical condition is fulfilled: either convexity, or quasi-convexity, or only a 3-jet non-degeneracy. This requires computation of the derivatives of the integrable part of the corresponding Hamiltonian up to the third order over actions and a thorough analysis of their properties. In this paper we describe in detail the procedure of derivation and we give explicit expressions for the obtained derivatives. .

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