Engineering Curves – I
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A Characterization of Helical Polynomial Curves of Any Degree
A CHARACTERIZATION OF HELICAL POLYNOMIAL CURVES OF ANY DEGREE J. MONTERDE Abstract. We give a full characterization of helical polynomial curves of any degree and a simple way to construct them. Existing results about Hermite interpolation are revisited. A simple method to select the best quintic interpolant among all possible solutions is suggested. 1. Introduction The notion of helical polynomial curves, i.e, polynomial curves which made a constant angle with a ¯xed line in space, have been studied by di®erent authors. Let us cite the papers [5, 6, 7] where the main results about the cubical and quintic cases are stablished. In [5] the authors gives a necessary condition a polynomial curve must satisfy in order to be a helix. The condition is expressed in terms of its hodograph, i.e., its derivative. If a polynomial curve, ®, is a helix then its hodograph, ®0, must be Pythagorean, i.e., jj®0jj2 is a perfect square of a polynomial. Moreover, this condition is su±cient in the cubical case: all PH cubical curves are helices. In the same paper it is also stated that not only ®0 must be Pythagorean, but also ®0^®00. Following the same ideas, in [1] it is proved that both conditions are su±cient in the quintic case. Unfortunately, this characterization is no longer true for higher degrees. It is possible to construct examples of polynomial curves of degree 7 verifying both conditions but being not a helix. The aim of this paper is just to show how a simple geometric trick can clarify the proofs of some previous results and to simplify the needed compu- tations to solve some related problems as for instance, the Hermite problem using helical polynomial curves. -
Linguistic Presentation of Objects
Zygmunt Ryznar dr emeritus Cracow Poland [email protected] Linguistic presentation of objects (types,structures,relations) Abstract Paper presents phrases for object specification in terms of structure, relations and dynamics. An applied notation provides a very concise (less words more contents) description of object. Keywords object relations, role, object type, object dynamics, geometric presentation Introduction This paper is based on OSL (Object Specification Language) [3] dedicated to present the various structures of objects, their relations and dynamics (events, actions and processes). Jay W.Forrester author of fundamental work "Industrial Dynamics”[4] considers the importance of relations: “the structure of interconnections and the interactions are often far more important than the parts of system”. Notation <!...> comment < > container of (phrase,name...) ≡> link to something external (outside of definition)) <def > </def> start-end of definition <spec> </spec> start-end of specification <beg> <end> start-end of section [..] or {..} 1 list of assigned keywords :[ or :{ structure ^<name> optional item (..) list of items xxxx(..) name of list = value assignment @ mark of special attribute,feature,property @dark unknown, to obtain, to discover :: belongs to : equivalent name (e.g.shortname) # number of |name| executive/operational object ppppXxxx name of item Xxxx with prefix ‘pppp ‘ XXXX basic object UUUU.xxxx xxxx object belonged to UUUU object class & / conjunctions ‘and’ ‘or’ 1 If using Latex editor we suggest [..] brackets -
Helical Curves and Double Pythagorean Hodographs
Helical polynomial curves and “double” Pythagorean-hodograph curves Rida T. Farouki Department of Mechanical & Aeronautical Engineering, University of California, Davis — synopsis — • introduction: properties of Pythagorean-hodograph curves • computing rotation-minimizing frames on spatial PH curves • helical polynomial space curves — are always PH curves • standard quaternion representation for spatial PH curves • “double” Pythagorean hodograph structure — requires both |r0(t)| and |r0(t) × r00(t)| to be polynomials in t • Hermite interpolation problem: selection of free parameters Pythagorean-hodograph (PH) curves r(ξ) = PH curve ⇐⇒ coordinate components of r0(ξ) comprise a “Pythagorean n-tuple of polynomials” in Rn PH curves incorporate special algebraic structures in their hodographs (complex number & quaternion models for planar & spatial PH curves) • rational offset curves rd(ξ) = r(ξ) + d n(ξ) Z ξ • polynomial arc-length function s(ξ) = |r0(ξ)| dξ 0 Z 1 • closed-form evaluation of energy integral E = κ2 ds 0 • real-time CNC interpolators, rotation-minimizing frames, etc. helical polynomial space curves several equivalent characterizations of helical curves • tangent t maintains constant inclination ψ with fixed vector a • a · t = cos ψ, where ψ = pitch angle and a = axis vector of helix • fixed curvature/torsion ratio, κ/τ = tan ψ (Theorem of Lancret) • curve has a circular tangent indicatrix on the unit sphere (small circle for space curve, great circle for planar curve) • (r(2) × r(3)) · r(4) ≡ 0 — where r(k) = kth arc–length derivative -
Chapter 2. Parameterized Curves in R3
Chapter 2. Parameterized Curves in R3 Def. A smooth curve in R3 is a smooth map σ :(a, b) → R3. For each t ∈ (a, b), σ(t) ∈ R3. As t increases from a to b, σ(t) traces out a curve in R3. In terms of components, σ(t) = (x(t), y(t), z(t)) , (1) or x = x(t) σ : y = y(t) a < t < b , z = z(t) dσ velocity at time t: (t) = σ0(t) = (x0(t), y0(t), z0(t)) . dt dσ speed at time t: (t) = |σ0(t)| dt Ex. σ : R → R3, σ(t) = (r cos t, r sin t, 0) - the standard parameterization of the unit circle, x = r cos t σ : y = r sin t z = 0 σ0(t) = (−r sin t, r cos t, 0) |σ0(t)| = r (constant speed) 1 Ex. σ : R → R3, σ(t) = (r cos t, r sin t, ht), r, h > 0 constants (helix). σ0(t) = (−r sin t, r cos t, h) √ |σ0(t)| = r2 + h2 (constant) Def A regular curve in R3 is a smooth curve σ :(a, b) → R3 such that σ0(t) 6= 0 for all t ∈ (a, b). That is, a regular curve is a smooth curve with everywhere nonzero velocity. Ex. Examples above are regular. Ex. σ : R → R3, σ(t) = (t3, t2, 0). σ is smooth, but not regular: σ0(t) = (3t2, 2t, 0) , σ0(0) = (0, 0, 0) Graph: x = t3 y = t2 = (x1/3)2 σ : y = t2 ⇒ y = x2/3 z = 0 There is a cusp, not because the curve isn’t smooth, but because the velocity = 0 at the origin. -
Art and Engineering Inspired by Swarm Robotics
RICE UNIVERSITY Art and Engineering Inspired by Swarm Robotics by Yu Zhou A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy Approved, Thesis Committee: Ronald Goldman, Chair Professor of Computer Science Joe Warren Professor of Computer Science Marcia O'Malley Professor of Mechanical Engineering Houston, Texas April, 2017 ABSTRACT Art and Engineering Inspired by Swarm Robotics by Yu Zhou Swarm robotics has the potential to combine the power of the hive with the sen- sibility of the individual to solve non-traditional problems in mechanical, industrial, and architectural engineering and to develop exquisite art beyond the ken of most contemporary painters, sculptors, and architects. The goal of this thesis is to apply swarm robotics to the sublime and the quotidian to achieve this synergy between art and engineering. The potential applications of collective behaviors, manipulation, and self-assembly are quite extensive. We will concentrate our research on three topics: fractals, stabil- ity analysis, and building an enhanced multi-robot simulator. Self-assembly of swarm robots into fractal shapes can be used both for artistic purposes (fractal sculptures) and in engineering applications (fractal antennas). Stability analysis studies whether distributed swarm algorithms are stable and robust either to sensing or to numerical errors, and tries to provide solutions to avoid unstable robot configurations. Our enhanced multi-robot simulator supports this research by providing real-time simula- tions with customized parameters, and can become as well a platform for educating a new generation of artists and engineers. The goal of this thesis is to use techniques inspired by swarm robotics to develop a computational framework accessible to and suitable for both artists and engineers. -
On Helices and Bertrand Curves in Euclidean 3-Space
ON HELİCES AND BERTRAND CURVES IN EUCLİDEAN 3-SPACE Murat Babaarslan Department of Mathematics, Faculty of Science and Arts Bozok University, Yozgat, Turkey [email protected] Yusuf Yaylı Department of Mathematics, Faculty of Science Ankara University, Tandoğan, Ankara, Turkey [email protected] Abstract- In this article, we investigate Bertrand curves corresponding to spherical images of the tangent indicatrix, binormal indicatrix, principal normal indicatrix and Darboux indicatrix of a space curve in Euclidean 3-space. As a result, in case of a space curve is general helix, we show that curve corresponding to spherical images of its tangent indicatrix and binormal indicatrix are circular helices and Bertrand curves. Similarly, in case of a space curve is slant helix, we demonstrate that the curve corresponding to spherical image of its principal normal indicatrix is circular helix and Bertrand curve. Key Words- Helix, Bertrand curve, Spherical Images 1. INTRODUCTION In the differential geometry of a regular curve in Euclidean 3-space E3 , it is well known that, one of the important problems is characterization of a regular curve. The curvature and the torsion of a regular curve play an important role to determine the shape and size of the curve 1,2. Natural scientists have long held a fascination, sometimes bordering on mystical obsession for helical structures in nature. Helices arise in nanosprings, carbon nonotubes, helices, DNA double and collagen triple helix, the double helix shape is commonly associated with DNA, since the double helix is structure of DNA 3 . This fact was published for the first time by Watson and Crick in 1953 4. -
The Cycloid: Tangents, Velocity Vector, Area, and Arc Length
The Cycloid: Tangents, Velocity Vector, Area, and Arc Length [This is Chapter 2, section 13 of Historical Perspectives for the Reform of Mathematics Curriculum: Geometric Curve Drawing Devices and their Role in the Transition to an Algebraic Description of Functions; http://www.quadrivium.info/mathhistory/CurveDrawingDevices.pdf Interactive applets for the figures can also be found at Mathematical Intentions.] The circle is the curve with which we all have the most experience. It is an ancient symbol and a cultural icon in most human societies. It is also the one curve whose area, tangents, and arclengths are discussed in our mathematics curriculum without the use of calculus, and indeed long before students approach calculus. This discussion can take place, because most people have a lot of experience with circles, and know several ways to generate them. Pascal thought that, second only to the circle, the curve that he saw most in daily life was the cycloid (Bishop, 1936). Perhaps the large and slowly moving carriage wheels of the seventeenth century were more easily observed than those of our modern automobile, but the cycloid is still a curve that is readily generated and one in which many students of all ages easily take an interest. In a variety of settings, when I have mentioned, for example, the path of an ant riding on the side of a bicycle tire, some immediate interest has been sparked (see Figure 2.13a). Figure 2.13a The cycloid played an important role in the thinking of the seventeenth century. It was used in architecture and engineering (e.g. -
Effect of Superhelical Structure on the Secondary Structure of DNA Rings
VOL. 5, PP. 691-696 (1967) Effect of Superhelical Structure on the Secondary Structure of DNA Rings DANIEL GLAUBIGER and JOHN E. HEARST, Departnient of Chemistry, University of California, Berkeley, California Synopsis A quantity, called the linking number, is defined, which specifies the total number of t,wists in a circular helix. The linking number is invariant under continuous deforma- tions of the ring and therefore enables one to calculate the influence of superhelical structures on the secondary helix of a circular molecule. The linking number can be determined by projecting the helix into a plane and counting strand crosses in the projection as described. For example, it has been shown that for each 180" twist in a left-handed superhelix, a right-handed 360" twist is removed from the secondary helix, thus allowing local unwinding. Introduction It is of interest to relate superhelical structure of helical molecules to their secondary structure.' By defining a quantity characteristic of two- stranded circular helical niolecules, related to the helical structure, and in- variant under continuous deformations of the molecule, we are able to evaluate the changes in helical structure brought about by the imposition of superhelical configurations on such molecules. The quantity of interest, called the linking number, is related to the number of turns/cycle for a circular helical molecule.* It will be shown that superhelical structures which are made from helical polymers con- tribute to this number and alter the contribution made by the secondary structure of the molecule to this number. This is made manifest as a change in the number of turns/cycle or as a change in the number of turns/ unit length. -
The Helix and the Heart
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Elsevier - Publisher Connector The Journal of BSR Thoracic and Cardiovascular Surgery Vol 124, No. 5, November 2002 Basic science review: The helix and the heart Gerald D. Buckberg, MD t is an enormous privilege and honor to be asked to give the basic science See related editorials on pages lecture. Please join me on an adventure that I have taken over the past three 884 and 886. years. I described this type of voyage to my daughters many years ago as “discovery,” in which you walk down certain common pathways but always see something different on that journey. I will tell you about my concept of how the helix and the heart affect nature, the heart, and the human. ITo pursue this new route, I select a comment from my hero, Albert Einstein, who said, “All our science, measured against reality, is primitive and childlike, and yet www.mosby.com/jtcvs is the most precious thing we have.” We all have to be students, who are often wrong and always in doubt, while a professor is sometimes wrong and never in doubt. Please join me on my student pathway to see something I discovered recently and will now share with you. The object of our affection is the heart, which is, in reality, a helix that contains an apex. The cardiac helix form, in Figure 1, was described in the 1660s by Lower as having an apical vortex, in which the muscle fibers go from outside in, in a clockwise way, and from inside out, in a counterclockwise direction. -
The Tautochrone/Brachistochrone Problems: How to Make the Period of a Pendulum Independent of Its Amplitude
The Tautochrone/Brachistochrone Problems: How to make the Period of a Pendulum independent of its Amplitude Tatsu Takeuchi∗ Department of Physics, Virginia Tech, Blacksburg VA 24061, USA (Dated: October 12, 2019) Demo presentation at the 2019 Fall Meeting of the Chesapeake Section of the American Associa- tion of Physics Teachers (CSAAPT). I. THE TAUTOCHRONE A. The Period of a Simple Pendulum In introductory physics, we teach our students that a simple pendulum is a harmonic oscillator, and that its angular frequency ! and period T are given by s rg 2π ` ! = ;T = = 2π ; (1) ` ! g where ` is the length of the pendulum. This, of course, is not quite true. The period actually depends on the amplitude of the pendulum's swing. 1. The Small-Angle Approximation Recall that the equation of motion for a simple pendulum is d2θ g = − sin θ : (2) dt2 ` (Note that the equation of motion of a mass sliding frictionlessly along a semi-circular track of radius ` is the same. See FIG. 1.) FIG. 1. The motion of the bob of a simple pendulum (left) is the same as that of a mass sliding frictionlessly along a semi-circular track (right). The tension in the string (left) is simply replaced by the normal force from the track (right). ∗ [email protected] CSAAPT 2019 Fall Meeting Demo { Tatsu Takeuchi, Virginia Tech Department of Physics 2 We need to make the small-angle approximation sin θ ≈ θ ; (3) to render the equation into harmonic oscillator form: d2θ rg ≈ −!2θ ; ! = ; (4) dt2 ` so that it can be solved to yield θ(t) ≈ A sin(!t) ; (5) where we have assumed that pendulum bob is at θ = 0 at time t = 0. -
The Cycloid Scott Morrison
The cycloid Scott Morrison “The time has come”, the old man said, “to talk of many things: Of tangents, cusps and evolutes, of curves and rolling rings, and why the cycloid’s tautochrone, and pendulums on strings.” October 1997 1 Everyone is well aware of the fact that pendulums are used to keep time in old clocks, and most would be aware that this is because even as the pendu- lum loses energy, and winds down, it still keeps time fairly well. It should be clear from the outset that a pendulum is basically an object moving back and forth tracing out a circle; hence, we can ignore the string or shaft, or whatever, that supports the bob, and only consider the circular motion of the bob, driven by gravity. It’s important to notice now that the angle the tangent to the circle makes with the horizontal is the same as the angle the line from the bob to the centre makes with the vertical. The force on the bob at any moment is propor- tional to the sine of the angle at which the bob is currently moving. The net force is also directed perpendicular to the string, that is, in the instantaneous direction of motion. Because this force only changes the angle of the bob, and not the radius of the movement (a pendulum bob is always the same distance from its fixed point), we can write: θθ&& ∝sin Now, if θ is always small, which means the pendulum isn’t moving much, then sinθθ≈. This is very useful, as it lets us claim: θθ&& ∝ which tells us we have simple harmonic motion going on. -
A Dynamic Rod Model to Simulate Mechanics of Cables and Dna
A DYNAMIC ROD MODEL TO SIMULATE MECHANICS OF CABLES AND DNA by Sachin Goyal A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy (Mechanical Engineering and Scientific Computing) in The University of Michigan 2006 Doctoral Committee: Professor Noel Perkins, Chair Associate Professor Edgar Meyhofer, Co-Chair Assistant Professor Ioan Andricioaei Assistant Professor Krishnakumar Garikipati Assistant Professor Jens-Christian Meiners Dedication To my parents ii Acknowledgements I am extremely grateful to my advisor Prof. Noel Perkins for his highly conducive and motivating research guidance and overall mentoring. I sincerely appreciate many engaging discussions of DNA mechanics and supercoiling with Prof. E. Meyhofer and Prof. K. Garikipati in Mechanical Engineering Program, Prof. C. Meiners in the Biophysics Program, Prof. I. Andricioaei in the Biochemistry/ Biophysics Program and and Dr. S. Blumberg in Medical school at the University of Michigan and Dr. C. L. Lee at the Lawrence Livermore National Laboratory, California. I also appreciate Professor Jason D. Kahn (Department of Chemistry and Biochemistry, University of Maryland) for providing the sequences used in his experiments, and Professor Wilma K. Olson (Department of Chemistry and Chemical Biology, Rutgers University) for suggesting alternative binding topologies in DNA-protein complexes. I also acknowledge recent graduate students T. Lillian in Mechanical Engineering Program, D. Wilson in Physics Program and J. Wereszczynski in Chemistry Program to extend my work and collaborate on ongoing studies beyond the scope of dissertation. I also gratefully acknowledge the research support provided by the U. S. Office of Naval Research, Lawrence Livermore National Laboratories, and the National Science Foundation.