An energy-based stability criterion for solitary traveling waves in Hamiltonian lattices

In this work, we revisit a criterion, originally proposed in [Nonlinearity {\bf 17}, 207 (2004)], for the stability of solitary traveling waves in Hamiltonian, infinite-dimensional lattice dynamical systems. We discuss the implications of this criterion from the point of view of stability theory, both at the level of the spectral analysis of the advance-delay differential equations in the co-traveling frame, as well as at that of the Floquet problem arising when considering the traveling wave as a periodic orbit modulo a shift. We establish the correspondence of these perspectives for the pertinent eigenvalue and Floquet multiplier and provide explicit expressions for their dependence on the velocity of the traveling wave in the vicinity of the critical point. Numerical results are used to corroborate the relevant predictions in two different models, where the stability may change twice. Some extensions, generalizations and future directions of this investigation are also discussed

Existence and Stability of PT-Symmetric Vortices in Nonlinear Two-Dimensional Square Lattices

Vortices symmetric with respect to simultaneous parity and time reversing transformations are considered on the square lattice in the framework of the discrete nonlinear Schrödinger equation. The existence and stability of vortex configurations is analyzed in the limit of weak coupling between the lattice sites, when predictions on the elementary cell of a square lattice (i.e., a single square) can be extended to a large (yet finite) array of lattice cells. Our analytical predictions are found to be in good agreement with numerical computations

Stiffness modeling of parallel mechanisms at limb and joint/link levels

Drawing on screw theory and the virtual joint method, this paper presents a general and hierarchical approach for semianalytical stiffness modeling of parallel mechanisms. The stiffness model is built by two essential steps: 1) formulating the map between the stiffness matrices of platform and limbs using the duality of wrench and twist of the platform; and 2) formulating the map between stiffness matrices of a limb and a number of elastic elements in that limb using the duality of the wrench attributed to the limb and the twist of the endlink of that limb. By merging these two threads, the Cartesian stiffness matrix can be explicitly expressed in terms of the compliance matrices of joints and links. The proposed approach bridges the gap between two currently available approaches and is thereby very useful for evaluating stiffness over the entire workspace and investigating the influences of joint/link compliances on those of the platform in a quick and precise manner. A stiffness analysis for a 3-PRS parallel mechanism is presented as an example to illustrate the effectiveness of the proposed approach

A generalized approach for computing the transmission index of parallel mechanisms

This paper presents a novel approach for computing the transmission index of parallel mechanisms. The approach is based on an extended concept to compute the maximal virtual coefficient, which is an important notion involved in the formulation of dimensionally homogeneous transmission indices for singularity analysis and dimensional optimization of parallel mechanisms. By exploiting the dual property of the virtual coefficient, two characteristic points instead of one as in the current state of the art are defined: one characteristic point – termed the transmission characteristic point – is located on the ‘floating’ axis of the transmission wrench, as in existing approaches, while a second one – termed the output characteristic point – is located on the floating axis of the output twist of the platform, which is a novel concept. This allows one to define two characteristic lengths, namely, the transmission and output characteristic lengths, respectively, of which the larger is then used for the measure of the “distance” between the transmission wrench screw and the output twist screw. As shown in this paper, this new measure makes it possible to discern more finely the configuration-dependent properties of kinematic performance of parallel mechanisms, thus making it more suitable for dimensional optimization. Confidence in this statement is demonstrated through the comparative study of two in-parallel mechanisms using the new method and previously existing ones

Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity

By taking gravity and joint/link compliances into account, this paper presents a semi-analytical approach for compliance analysis of a 3-SPR parallel mechanism which forms the main body of a 5-DOF hybrid manipulator especially designed for high-speed machining and forced assembling in the aircraft industry. The approach is implemented in three steps: (1) kinetostatic analysis that considers both the externally applied wrench imposed upon the platform and the gravity of all moving components; (2) deflection analysis that takes both joint and link compliances into account; and (3) formulation of the component compliance matrices using a semi-analytical approach. The advantage of this approach is that the deflections of the platform caused by both the payload and gravity within the given task workspace can be evaluated in an effective manner. The computational results show that the deflection arising from gravity of the moving components may have significant influence on the pose accuracy of the end-effector

A Bayesian approach to estimating causal vaccine effects on binary post-infection outcomes

To estimate causal effects of vaccine on post-infection outcomes, Hudgens and Halloran (2006) defined a post-infection causal vaccine efficacy estimand VEI based on the principal stratification framework. They also derived closed forms for the maximum likelihood estimators (MLEs) of the causal estimand under some assumptions. Extending their research, we propose a Bayesian approach to estimating the causal vaccine effects on binary post-infection outcomes. The identifiability of the causal vaccine effect VEI is discussed under different assumptions on selection bias. The performance of the proposed Bayesian method is compared with the maximum likelihood method through simulation studies and two case studies — a clinical trial of a rotavirus vaccine candidate and a field study of pertussis vaccination. For both case studies, the Bayesian approach provided similar inference as the frequentist analysis. However, simulation studies with small sample sizes suggest that the Bayesian approach provides smaller bias and shorter confidence interval length

A simple and visually orientated approach for type synthesis of overconstrained 1T2R parallel mechanisms

This paper presents a simple and highly visual approach for the type synthesis of a family of overconstrained parallel mechanisms that have one translational and two rotational movement capabilities. It considers, especially, mechanisms offering the accuracy and dynamic response needed for machining applications. This family features a spatial limb plus a member of a class of planar symmetrical linkages, the latter connected by a revolute joint either to the machine frame at its base link or to the platform at its output link. Criteria for selecting suitable structures from among numerous candidates are proposed by considering the realistic practical requirements for reconfigurability, movement capability, rational component design and so on. It concludes that a few can simultaneously fulfil the proposed criteria, even though a variety of structures have been presented in the literature. Exploitation of the proposed structures and evaluation criteria then leads to a novel five degrees of freedom hybrid module named TriMule. A significant potential advantage of the TriMule over the Tricept arises because all the joints connecting the base link and the machine frame can be integrated into one single, compact part, leading to a lightweight, cost effective and flexible design particularly suitable for configuring various robotized manufacturing cells

Stability of topological edge states under strong nonlinear effects

We examine the role of strong nonlinearity on the topologically-robust edge state in a one-dimensional system. We consider a chain inspired from the Su-Schrieffer-Heeger model, but with a finite-frequency edge state and the dynamics governed by second-order differential equations. We introduce a cubic onsite-nonlinearity and study this nonlinear effect on the edge state's frequency and linear stability. Nonlinear continuation reveals that the edge state loses its typical shape enforced by the chiral symmetry and becomes generally unstable due to various types of instabilities that we analyze using a combination of spectral stability and Krein signature analysis. This results in an initially-excited nonlinear-edge state shedding its energy into the bulk over a long time. However, the stability trends differ both qualitatively and quantitatively when softening and stiffening types of nonlinearity are considered. In the latter, we find a frequency regime where nonlinear edge states can be linearly stable. This enables high-amplitude edge states to remain spatially localized without shedding their energy, a feature that we have confirmed via long-time dynamical simulations. Finally, we examine the robustness of frequency and stability of nonlinear edge states against disorder, and find that those are more robust under a chiral disorder compared to a non-chiral disorder. Moreover, the frequency-regime where high-amplitude edge states were found to be linearly stable remains intact in the presence of small amount of disorder of both types.Comment: 13 pages, 8 figure