20,977 research outputs found
On the Number of Embeddings of Minimally Rigid Graphs
Rigid frameworks in some Euclidian space are embedded graphs having a unique
local realization (up to Euclidian motions) for the given edge lengths,
although globally they may have several. We study the number of distinct planar
embeddings of minimally rigid graphs with vertices. We show that, modulo
planar rigid motions, this number is at most . We also exhibit several families which realize lower bounds of the order
of , and .
For the upper bound we use techniques from complex algebraic geometry, based
on the (projective) Cayley-Menger variety over the complex numbers . In this context, point configurations
are represented by coordinates given by squared distances between all pairs of
points. Sectioning the variety with hyperplanes yields at most
zero-dimensional components, and one finds this degree to be
. The lower bounds are related to inductive
constructions of minimally rigid graphs via Henneberg sequences.
The same approach works in higher dimensions. In particular we show that it
leads to an upper bound of for the number of spatial embeddings
with generic edge lengths of the 1-skeleton of a simplicial polyhedron, up to
rigid motions
Formation Shape Control Based on Distance Measurements Using Lie Bracket Approximations
We study the problem of distance-based formation control in autonomous
multi-agent systems in which only distance measurements are available. This
means that the target formations as well as the sensed variables are both
determined by distances. We propose a fully distributed distance-only control
law, which requires neither a time synchronization of the agents nor storage of
measured data. The approach is applicable to point agents in the Euclidean
space of arbitrary dimension. Under the assumption of infinitesimal rigidity of
the target formations, we show that the proposed control law induces local
uniform asymptotic stability. Our approach involves sinusoidal perturbations in
order to extract information about the negative gradient direction of each
agent's local potential function. An averaging analysis reveals that the
gradient information originates from an approximation of Lie brackets of
certain vector fields. The method is based on a recently introduced approach to
the problem of extremum seeking control. We discuss the relation in the paper
Topological mechanics of origami and kirigami
Origami and kirigami have emerged as potential tools for the design of
mechanical metamaterials whose properties such as curvature, Poisson ratio, and
existence of metastable states can be tuned using purely geometric criteria. A
major obstacle to exploiting this property is the scarcity of tools to identify
and program the flexibility of fold patterns. We exploit a recent connection
between spring networks and quantum topological states to design origami with
localized folding motions at boundaries and study them both experimentally and
theoretically. These folding motions exist due to an underlying topological
invariant rather than a local imbalance between constraints and degrees of
freedom. We give a simple example of a quasi-1D folding pattern that realizes
such topological states. We also demonstrate how to generalize these
topological design principles to two dimensions. A striking consequence is that
a domain wall between two topologically distinct, mechanically rigid structures
is deformable even when constraints locally match the degrees of freedom.Comment: 5 pages, 3 figures + ~5 pages S
- β¦