This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinemat...

An efficient method is presented for computing the normal form of general n-dimensional systems associated with 1:1 resonant double Hopf bifurcation. The approach combines the computations of center manifold and normal form in one unified procedure. The Jacobian of the system evaluated at an equilibrium contains non-semisimple eigenvalues. Explicit formulas are obtained for directly computing t...

Some symmetries can be broken in the quantization process (anomalies) and this breaking is signalled by a non-invariance of the quantum path integral measure. In this talk we show that it is possible to formulate also classical field theories via path integral techniques. The associated classical functional measure is larger than the quantum one, because it includes some auxiliary fields. For a...

Image registration is an important research area within pulmonary image analysis. Accurate registration is critical to post-analysis of lung mechanical properties and useful for clinical applications. To improve registration accuracy, we design a nonrigid registration algorithm to preserve both parenchymal tissue volume and vesselness measure. In addition, the transformation is regularized usin...

A new Jacobian approximation is developed for use in quasi-Newton methods for solving systems of nonlinear equations. The new hypersecant Jacobian approximation is intended for the special case where the evaluation of the functions whose roots are sought dominates the computation time, and additionally the Jacobian is sparse. One example of such a case is the solution of the discretized transpo...

Gauge invariance of the measure associated with gauge field is usually taken for granted, in a general theory. We furnish proof this invariance, within Fujikawa’s approach. To stress importance fact, we briefly review anomaly cancellation as consequence bosonic and compare to usual results from algebraic renormalization, showing that there are no potential inconsistencies. Then, using path inte...

The path-integral measure of a gauge-invariant fermion theory is transformed under the chiral transformation and leads to an elegant derivation anomalous Ward-Takahashi identities, as we know from seminal work Fujikawa. We present in this alternative illuminating way calculate Jacobian covariant derivative expansion technique used effective field theory. several ways customize crucial regulariz...

This the original TEX file for my article Jacobian Varieties, published as Chapter VII of Arithmetic geometry (Storrs, Conn., 1984), 167–212, Springer, New York, 1986. The table of contents has been restored, some corrections and minor improvements to the exposition have been made, and an index has been added. The numbering is unchanged.

this work intends to deal with the optimal kinematic synthesis problem of tricept parallel manipulator. observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. the effectiveness of a workspace is characterized by the dexterity of the manip...