This paper contains a method to prove the existence of smooth curves in positive characteristic whose Jacobians have unusual Newton polygons. Using this method, I give a new proof that there exist supersingular curves of genus $4$ in every prime characteristic. More generally, the main result of the paper is that, for every $g \geq 4$ and prime p, every Newton polygon whose p-rank is at least $g-4$ occurs for a smooth curve of genus g in characteristic p. In addition, this method resolves some cases of Oort’s conjecture about Newton polygons of curves.

Cardona and Lario [‘Twists of the genus 2 curve $y^2 = x^6+1$’, J. Number Theory 209 (2020), 195–211] gave a complete classification of the twists of the curve $y^2 = x^6+1$. In this paper, we study the twists of the curve whose automorphism group is defined over a biquadratic extension of the rationals. If the twists are of type B or C in the Cardona–Lario classification, we find a pair of elliptic curves whose product is isogenous with the Jacobian of the twist.

We construct the logarithmic and tropical Picard groups of a family of logarithmic curves and realize the latter as the quotient of the former by the algebraic Jacobian. We show that the logarithmic Jacobian is a proper family of logarithmic abelian varieties over the moduli space of Deligne–Mumford stable curves, but does not possess an underlying algebraic stack. However, the logarithmic Picard group does have logarithmic modifications that are representable by logarithmic schemes, all of which are obtained by pullback from subdivisions of the tropical Picard group.

An approach for calculating the effective workspaces of parallel mechanisms has been considered in this paper. The effective workspace is a set of reachable by the end-effector points, where an important parameter (or parameters) from the point of view of operation is not higher than critical. In this article, the speed and torque in the drive and the stiffness of the mechanism are considered as such parameters. An approach to determining the appropriate effective workspace is presented for each parameter. The optimization process, which is based on presented methods, allows one to choose basic technical solutions of the designed robot: the links (lengths and cross-sections), the drives, and types of hinges, which guarantee its operability at the specified operational characteristics. Case studies of a delta robot with four degrees of freedom and a planar five-bar mechanism are presented for testing these approaches. The presented methods are of great practical importance because it uses movement parameters or operational characteristics that are decisive for this mechanism and have clear physical meaning.

A classic hand-eye system involves hand-eye calibration and robot-world and hand-eye calibration. Insofar as hand-eye calibration can solve only hand-eye transformation, this study aims to determine the robot-world and hand-eye transformations simultaneously based on the robot-world and hand-eye equation. According to whether the rotation part and the translation part of the equation are decoupled, the methods can be divided into separable solutions and simultaneous solutions. The separable solutions solve the rotation part before solving the translation part, so the estimated errors of the rotation will be transferred to the translation. In this study, a method was proposed for calculation with rotation and translation coupling; a closed-form solution based on Kronecker product and an iterative solution based on the Gauss–Newton algorithm were involved. The feasibility was further tested using simulated data and real data, and the superiority was verified by comparison with the results obtained by the available method. Finally, we improved a method that can solve the singularity problem caused by the parameterization of the rotation matrix, which can be widely used in the robot-world and hand-eye calibration. The results show that the prediction errors of rotation and translation based on the proposed method be reduced to $0.26^\circ$ and $1.67$ mm, respectively.

Let $\operatorname {\mathrm {{\rm G}}}(n)$ be equal to either $\operatorname {\mathrm {{\rm PO}}}(n,1),\operatorname {\mathrm {{\rm PU}}}(n,1)$ or $\operatorname {\mathrm {\textrm {PSp}}}(n,1)$ and let $\Gamma \leq \operatorname {\mathrm {{\rm G}}}(n)$ be a uniform lattice. Denote by $\operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}}$ the hyperbolic space associated to $\operatorname {\mathrm {{\rm G}}}(n)$ , where $\operatorname {\mathrm {{\rm K}}}$ is a division algebra over the reals of dimension d. Assume $d(n-1) \geq 2$ .

In this article we generalise natural maps to measurable cocycles. Given a standard Borel probability $\Gamma $ -space $(X,\mu _X)$ , we assume that a measurable cocycle $\sigma :\Gamma \times X \rightarrow \operatorname {\mathrm {{\rm G}}}(m)$ admits an essentially unique boundary map $\phi :\partial _\infty \operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}} \times X \rightarrow \partial _\infty \operatorname {\mathrm {\mathbb {H}^m_{{\rm K}}}}$ whose slices $\phi _x:\operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}} \rightarrow \operatorname {\mathrm {\mathbb {H}^m_{{\rm K}}}}$ are atomless for almost every $x \in X$ . Then there exists a $\sigma $ -equivariant measurable map $F: \operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}} \times X \rightarrow \operatorname {\mathrm {\mathbb {H}^m_{{\rm K}}}}$ whose slices $F_x:\operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}} \rightarrow \operatorname {\mathrm {\mathbb {H}^m_{{\rm K}}}}$ are differentiable for almost every $x \in X$ and such that $\operatorname {\mathrm {\textrm {Jac}}}_a F_x \leq 1$ for every $a \in \operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}}$ and almost every $x \in X$ . This allows us to define the natural volume $\operatorname {\mathrm {\textrm {NV}}}(\sigma )$ of the cocycle $\sigma $ . This number satisfies the inequality $\operatorname {\mathrm {\textrm {NV}}}(\sigma ) \leq \operatorname {\mathrm {\textrm {Vol}}}(\Gamma \backslash \operatorname {\mathrm {\mathbb {H}^n_{{\rm K}}}})$ . Additionally, the equality holds if and only if $\sigma $ is cohomologous to the cocycle induced by the standard lattice embedding $i:\Gamma \rightarrow \operatorname {\mathrm {{\rm G}}}(n) \leq \operatorname {\mathrm {{\rm G}}}(m)$ , modulo possibly a compact subgroup of $\operatorname {\mathrm {{\rm G}}}(m)$ when $m>n$ .

Given a continuous map $f:M \rightarrow N$ between compact hyperbolic manifolds, we also obtain an adaptation of the mapping degree theorem to this context.

An approach for calculating the maximum possible absolute values of joint velocities or generalized reactions in a leg of a parallel mechanism has been considered in this paper. The Jacobian analysis and the Screw theory-based methods have been used to acquire the result. These values are calculated for the “worst” directions of the external load or end-effector’s velocity for each leg. The feasibility of using these parameters as the measures of closeness to different types of parallel mechanism singularity is discussed. Further, how this approach is related to the state-of-the-art methods has been illustrated. The key aspect of the discussed approach is that the normalization of vectors or screws is carried out separately for angular and linear components. One possible advantage of such an approach is that it deals only with the kinematic and statics of the mechanism while still providing physically meaningful and practically applicable measures. Case studies of a 3-Degrees Of Freedom translational parallel mechanism and a planar parallel mechanism are presented for illustration and comparison.

Modeling the instantaneous kinematics of lower pair linkages using joint screws and the finite kinematics with Lie group concepts is well established on a solid theoretical foundation. This allows for modeling the forward kinematics of mechanisms as well the loop closure constraints of kinematic loops. Yet there is no established approach to the modeling of complex mechanisms possessing multiple kinematic loops. For such mechanisms, it is crucial to incorporate the kinematic topology within the modeling in a consistent and systematic way. To this end, in this paper a kinematic model graph is introduced that gives rise to an ordering of the joints within a mechanism and thus allows to systematically apply established kinematics formulations. It naturally gives rise to topologically independent loops and thus to loop closure constraints. Geometric constraints as well as velocity and acceleration constraints are formulated in terms of joint screws. An extension to higher order loop constraints is presented. It is briefly discussed how the topology representation can be used to amend structural mobility criteria.

Differential kinematics is a traditional approach to linearize the mapping between the workspace and joint space. However, a Jacobian matrix cannot be inverted directly in redundant systems or in configurations where kinematic singularities occur. This work presents a novel approach to the solution of differential kinematics through the use of dual quaternions. The main advantage of this approach is to reduce “drift” error in differential kinematics and to ignore the kinematic singularities. An analytical dual-quaternionic Jacobian is defined, which allows for the application of this approach in any robotic system.

In this paper we consider a new kind of Mumford–Shah functionalE(u, Ω) for mapsu : ℝm → ℝnwith m ≥ n. The most important novelty is that theenergy features a singular set Su ofcodimension greater than one, defined through the theory of distributional jacobians.After recalling the basic definitions and some well established results, we prove anapproximation property for the energy E(u, Ω) viaΓ −convergence, in the same spirit of the work by Ambrosio andTortorelli [L. Ambrosio and V.M. Tortorelli, Commun. Pure Appl. Math.43 (1990) 999–1036].

Implicit sampling is a sampling scheme for particle filters, designed to move particles one-by-one so that they remain in high-probability domains. We present a new derivation of implicit sampling, as well as a new iteration method for solving the resulting algebraic equations.

In this paper, an efficient method for computing the Jacobian matrix for robot manipulators on a single processor computer is developed. Compared with the existing methods, the number of required numerical operations is considerably smaller, making the proposed technique the fastest, or the least expensive, one for any general N degrees-of-freedom manipulator.

We present relations between cycles with rational coefficients modulo algebraic equivalence on the Jacobian of a curve. These relations depend on the linear systems that the curve admits. They are obtained in the tautological ring, the smallest subspace containing (an embedding of) the curve and closed under the basic operations of intersection, Pontryagin product and the pullback and pushdown induced by homotheties.

Let J be the Jacobian of a smooth curve C of genus g, and let A(J) be the ring of algebraic cycles modulo algebraic equivalence on J, tensored with $\mathbb{Q}$. We study in this paper the smallest $\mathbb{Q}$-vector subspace R of A(J) which contains C and is stable under the natural operations of A(J): intersection and Pontryagin products, pull back and push down under multiplication by integers. We prove that this ‘tautological subring’ is generated (over $\mathbb{Q}$) by the classes of the subvarieties $W_1=C,\ W_2=C + C, \dots ,W_{g-1}$. If C admits a morphism of degree d onto $\mathbb{P}^1$, we prove that the last d - 1 classes suffice.

Let X be a curve of genus g[ges ]2 over a field of characteristic zero. Then X has at most finitely many torsion packets of size greater than 2. Moreover, X has infinitely many torsion packets of size 2 if and only if either g=2, or g=3 and X is both hyperelliptic and bielliptic.

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed using the concept of force and velocity ellipsoids. A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated for an industrial robot of the Tricept family.

We prove that an indecomposable principally polarized complex abelian variety $X$ is the Jacobian of a smooth curve if and only if there exist points $a, b, c$of $X$ whose images under the Kummer map $X \rightarrow |2\Theta|^{\ast}$ are distinct and collinear, and such that the subgroup of X generated by $a - b$ and $b - c$ is dense in $X$.