Further useful ideas

The chapter discusses several further aspects of the physics and mathematics that prove very useful in practice. First we define 4-velocity, 4-momentum and 4-acceleration. Then we introduce the tetrad and show how it can be used to relate a given 4-momentum to the energy and momentum observed in a LIF (local inertial frame). Then we define covariant version of the vector operators div, grad, curl, and obtain simplified expressions for the divergence of a vector and an antisymmetric tensor. The generalized Gauss divergence theorem is then presented.

Derivation of the differential continuity equation in an introductory engineering fluid mechanics course

The differential continuity equation is elegantly derived in advanced fluid mechanics textbooks using the divergence theorem of Gauss, where the surface integral of the mass flux flowing out of a finite control volume is replaced by the volume integral of the divergence of the mass flux within the control volume. To avoid the need for introducing the Gauss divergence theorem in an introductory fluid mechanics course, introductory textbooks in fluid mechanics have opted to use a more simple approach, which depends on the consideration of an infinitesimal control volume and the use of Taylor series expansion. This approach, however, involves a first order truncation of the Taylor series expansion and the use of approximate equality signs which may imply to undergraduate students that the derived continuity equation is an approximate equation. The present study proposes an alternative derivation of the differential continuity equation using a finite control volume and is based on the simple concept of the antiderivative function and the fundamental theorem of calculus. The proposed derivation eliminates the need to formally introduce the Gauss divergence theorem in an introductory engineering fluid mechanics course while avoiding the use of truncated Taylor series expansion and approximate equality signs, hence providing a more simple and sound understanding of the derivation of the differential continuity equation to undergraduate engineering students.

Dexterous Workspace of n-PRRR Planar Parallel Manipulators

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PRRR (n-PRRR indicates that the manipulator consists of n serial kinematic chains that connect the base to the end-effector. Each chain is composed of two actuated (therefore underlined) joints and two passive revolute joints. P indicates a prismatic joint while R indicates a revolute joint.) planar parallel manipulators. The dexterous workspace of each nonredundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PRRR manipulator. The Gauss divergence theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

Dexterous Workspace of N-PRRR Planar Parallel Manipulators

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PRRR planar parallel manipulators. The dexterous workspace of each non-redundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PRRR manipulator. The Gauss Divergence Theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

A flow conservation law for surface processes

The object studied in this paper is a pair (Φ, Y), where Φ is a random surface in and Y a random vector field on . The pair is jointly stationary, i.e. its distribution is invariant under translations. The vector field Y is smooth outside Φ but may have discontinuities on Φ. Gauss' divergence theorem is applied to derive a flow conservation law for Y. For this specializes to a well-known rate conservation law for point processes. As an application, relationships for the linear contact distribution of Φ are derived.