Finding normal modes of a loaded string with the method of Lagrange multipliers

We consider the normal mode problem of a vibrating string loaded with n identical beads of equal spacing, which involves an eigenvalue problem. Unlike the conventional approach to solving this problem by considering the difference equation for the components of the eigenvector, we modify the eigenvalue equation by introducing matrix-valued Lagrange undetermined multipliers, which regularize the secular equation and make the eigenvalue equation non-singular. Then, the eigenvector can be obtained from the regularized eigenvalue equation by multiplying the indeterminate eigenvalue equation by the inverse matrix. We find that the inverse matrix is nothing but the adjugate matrix of the original matrix in the secular determinant up to the determinant of the regularized matrix in the limit that the constraint equation vanishes. The components of the adjugate matrix can be represented in simple factorized forms. Finally, one can directly read off the eigenvector from the adjugate matrix. We expect this new method to be applicable to other eigenvalue problems involving more general forms of the tridiagonal matrices that appear in classical mechanics or quantum physics.

Time-independent perturbation theory with Lagrange multipliers

We derive the formulas for the energy and wavefunction of the time-independent Schrödinger equation with perturbation in a compact form. Unlike the conventional approaches based on Rayleigh–Schrödinger or Brillouin–Wigner perturbation theories, we employ a recently developed approach of matrix-valued Lagrange multipliers that regularizes an eigenproblem. The Lagrange-multiplier regularization makes the characteristic matrix for an eigenproblem invertible. After applying the constraint equation to recover the original equation, we find the solutions of the energy and wavefunction consistent with the conventional approaches. This formalism does not rely on an iterative way and the order-by-order corrections are easily obtained by taking the Taylor expansion. The Lagrange-multiplier regularization formalism for perturbation theory presented in this paper is completely new and can be extended to the degenerate perturbation theory in a straightforward manner. We expect that this new formalism is also pedagogically useful to give insights on the perturbation theory in quantum mechanics.

Design and motion analysis of a small motor stator multi-wire paralleled winding hybrid robot

The working space of small motor stators is narrow, and most of them are manual winding. It is difficult to guarantee the uniform arrangement of enameled wires by multi-wire winding. To solve these problems, a three-phase parallel equivalent multi-wire winding robot is proposed to achieve large output torque of the motor. Firstly, according to the equivalent model, the structure of the large arm, small arm and manipulator is designed to determine the motion model of the winding robot. Euler's kinematics theory is used to analyze the change of the working position of the arm, and the rotation matrix of the arm and the constraint equation of the motion vector of each branch chain are established. The motion model of the arm and the manipulator are established using inverse kinematics and analytical analysis. The motion pose of each joint of the winding robot is studied to ensure that the robot realizes a three-phase parallel multi-wire winding motion. ADAMS software was used for kinematic simulation analysis of the winding robot. The displacement of the branch chain on the xyz axis was represented by the torque of the virtual motor to verify the correctness of the inverse kinematics solution and the closure condition of the manipulator block. Finally, the ROS simulation platform is built to simulate the joint motion planning of the winding robot to verify the multi-line parallel principle and the feasibility of the multi-line parallel winding hybrid robot. The research results of this paper provide a theoretical reference for multi-wire parallel winding equipment control.

Distance Between Two Keplerian Orbits

In this paper, constrained minimization for the point of closest approach of two conic sections is developed. For this development, we considered the nine cases of possible conics, namely, (elliptic–elliptic), (elliptic–parabolic), (elliptic–hyperbolic), (parabolic–elliptic), (parabolic–parabolic), (parabolic–hyperbolic), (hyperbolic–elliptic), (hyperbolic–parabolic), and (hyperbolic–hyperbolic). The developments are considered from two points of view, namely, analytical and computational. For the analytical developments, the literal expression of the minimum distance equation (S) and the constraint equation (G), including the first and second derivatives for each case, are established. For the computational developments, we construct an efficient algorithm for calculating the minimum distance by using the Lagrange multiplier method under the constraint on time. Finally, we compute the closest distance S between two conics for some orbits. The accuracy of the solutions was checked under the conditions that L| solution ≤ ɛ1; G| solution ≤ ɛ2, where ɛ1,2 < 10−10. For the cases of (parabolic–parabolic), (parabolic–hyperbolic), and (hyperbolic–hyperbolic), we studied thousands of comets, but the condition of the closest approach was not met.

Instanton worldlines in five-dimensional Ω-deformed gauge theory

We discuss the Bosonic sector of a class of supersymmetric non-Lorentzian five-dimensional gauge field theories with an SU(1, 3) conformal symmetry. These actions have a Lagrange multiplier which imposes a novel Ω-deformed anti-self-dual gauge field constraint. Using a generalised ’t Hooft ansatz we find the constraint equation linearizes allowing us to construct a wide class of explicit solutions. These include finite action configurations that describe worldlines of anti-instantons which can be created and annihilated. We also describe the dynamics on the constraint surface.

Dynamic investigation of a spatial multi-body mechanism considering joint clearance and friction based on coordinate partitioning method

The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the modified contact model and the LuGre friction model. A dynamic solution program based on the coordinate partitioning method is designed to solve the dynamic equations. The paper verifies the correctness and applicability of the solution program by comparing the numerical calculation results with Adams simulation. Compared with the results of eccentricity, it is found that the maximum penetration is very sensitive to the change of the slider speed rather than the clearance. The equivalent damping coefficient proposed by authors not only represents whether a collision occurs, but reflects the hysteresis caused by damping. The macroscopic manifestation of the up and down oscillation of eccentricity is the swing of the contact point. Besides, the system quickly changes from the collision into the stable state due to considering friction, and the peak value of each collision reduces greatly. Therefore, when the clearance is unavoidable, the clearance joint should be coated with a material with a large friction coefficient and not easy to wear.

On the Structural Constraint and Motion of 3-PRS Parallel Kinematic Machines

This paper presents a consistent analytic kinematic formulation of the 3-PRS parallel manipulator (PM) with a parasitic motion by embedding the velocity level structural constraint equation into the motion expression. Inverse rate kinematics (IRK) is solved with a simple constraint compatible velocity profile, which is obtained by projecting the instantaneous restriction space onto the motion space. Moreover, the systematic method to reveal the parasitic motion is introduced. Thus, the parasitic terms are automatically identified from the main motions. Unlike the usual approach, this study does not consider any explicit parasitic motion expression. Consequently, the derivation of constraint compatible input velocity, which comprises the parasitic term, is simplified. To incorporate the parasitic motion into the task velocity, constraint Jacobian of the manipulator is analytically obtained first. The manipulator Jacobian is extended to incorporate the passive joint’s information apart from the active joints and structural constraint. Hence, the dimension of the Jacobian matrix used to solve IRK is 9 × 6. The validity of the IRK is proved by the Bordered Gramian based forward rate kinematics (FRK). Then, an accurate numerical integration, RK4, is applied to the joint velocity of IRK to obtain the manipulator’s joint values. Consequently, the moving plate’s pose is obtained via forward position kinematics computed using integrated active and passive joint values for validation. The projection matrix used to get compatible constraint motion adjusts our input velocity and makes it compatible with the structural constraint policy, and the parasitic motion is embedded easily. Thus, an explicit formulation of the parasitic motion equation is not required, as the usual practice. Finally, the study presented numerical simulations to show the validity of the outlined resolutions. This paper’s result and analysis can be uniformly applied to other parallel manipulators with less than 6 DoFs.

Optimal design of sandwich floor panels made of high-strength composite materials considering stiffness constraints

The article considers the challenge of designing sandwich floor panels made of high-strength composites considering stiffness constraints. A dimensionless criterion is proposed for assessing the stiffness of floor panels. A new constraint equation determines an interrelation between geometrical parameters of composite constructions and a given criterion. A demo example and the results of designing a typical floor panel using a high-strength composite material are presented. The mass of a square meter of the structure is considered as an objective function, and the thickness of the skin and the height of the honeycomb core of a sandwich construction are considered as design variables. In order to find the optimal ratio of design variables, a graphical interpretation of the design problem is used considering strength and stiffness constraints in the design space. It is noted that the presence of restrictions on a given value of the permissible relative deflection leads to an increase in the required height of the honeycomb filler with an insignificant consumption of additional mass of the sandwich construction.

Application of the surrogate gradient method for a multi-item single-machine dynamic lot size scheduling problem

This study treats a multi-item single-machine dynamic lot size scheduling problem with sequence-independent setup cost and setup time. This problem has various heterogeneous decision features, such as lot sizing and lot sequencing. Traditionally, the problem has been treated by putting artificial constraints on the other feature in order to determine one of them. The proposed model is a Lagrange decomposition and coordination method that aims at simultaneous optimization of these decision features; however, smooth convergence to a feasible near-optimal solution has been a problem. So, in this paper, we propose a model that improves the constraint equation of the existing model and showed that it satisfies the Karush–Kuhn–Tucker (KKT) condition when we obtained a feasible solution. In addition, by applying the surrogate gradient method, which has never been applied to this problem before, it was shown that smoother convergence than before can be achieved through actual example of printed circuit board.

Optimization of 3-DoF Manipulators’ Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation

This paper presents a velocity-level approach to optimizing the parasitic motion of 3-degrees of freedom (DoFs) parallel manipulators. To achieve this objective, we first systematically derive an analytical velocity-level parasitic motion equation as a primary step for the optimization. The paper utilizes an analytic structural constraint equation that describes the manipulator’s restriction space to formulate the parasitic motion equation via the task variable coupling relation. Then, the relevant geometric variables are identified from the analytic coupling equation. The Quasi-Newton method is used for the direction-specific minimization, i.e., optimizing either the x-axis or y-axis parasitic motion. The pattern-search algorithm is applied to optimize all parasitic terms from the workspace. The proposed approach equivalently describes the 3-PhRS, 3-PvRS, 3RPS manipulators. Moreover, other manipulators within a similar category can be equivalently expressed by the proposed method. Finally, the paper presents the resulting optimum configurations and numerical simulations to demonstrate the approach.