The Kinematic Image of 2R Dyads and Exact Synthesis of 5R Linkages

We characterise the kinematic image of the constraint variety of a 2R dyad as a regular ruled quadric in a 3-space that contains a "null quadrilateral". Three prescribed poses determine, in general, two such quadrics. This allows us to modify a recent algorithm for the synthesis of 6R linkages in such a way that two consecutive revolute axes coincide, thus producing a 5R linkage. Using the classical geometry of twisted cubics on a quadric, we explain some of the peculiar properties of the the resulting synthesis procedure for 5R linkages.Comment: Accepted for publication in the proceedings of the IMA Conference on Mathematics of Robotics, Oxford, 201

Equivalent birational embeddings II: divisors

Two divisors in $\P^n$ are said to be Cremona equivalent if there is a Cremona modification sending one to the other. We produce infinitely many non equivalent divisorial embeddings of any variety of dimension at most 14. Then we study the special case of plane curves and rational hypersurfaces. For the latter we characterise surfaces Cremona equivalent to a plane.Comment: v2 Exposition improved, thanks to referee, unconditional characterization of surfaces Cremona equivalent to a plan

Equivariant Degenerations of Plane Curve Orbits

In a series of papers, Aluffi and Faber computed the degree of the $GL_3$ orbit closure of an arbitrary plane curve. We attempt to generalize this to the equivariant setting by studying how orbits degenerate under some natural specializations, yielding a fairly complete picture in the case of plane quartics.Comment: 33 pages, comments welcom

A Worldsheet Description of Planar Yang-Mills Theory

We extend previous work by developing a worldsheet description of non-abelian gauge theory (Yang-Mills). This task requires the introduction of Grassmann variables on the world sheet analogous to those of the Neveu-Schwarz-Ramond formulation of string theory. A highlight of our construction is that once the three gluon vertices of Yang-Mills Feynman diagrams are given a worldsheet description, the worldsheet formalism automatically produces all of the quartic vertices.Comment: 18 pages, 15 figures, reference added, paragraph added to section 3.3, erroneous statement in section 4 corrected, typos correcte