KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Greek alphabetThe Greek alphabet has been used to write the Greek language since the late 9th or early 8th century BC. It is derived from the earlier Phoenician alphabet, and was the earliest known alphabetic script to have distinct letters for vowels as well as consonants. In Archaic and early Classical times, the Greek alphabet existed in many local variants, but, by the end of the 4th century BC, the Euclidean alphabet, with 24 letters, ordered from alpha to omega, had become standard and it is this version that is still used for Greek writing today.
Greek diacriticsGreek orthography has used a variety of diacritics starting in the Hellenistic period. The more complex polytonic orthography (πολυτονικό σύστημα γραφής), which includes five diacritics, notates Ancient Greek phonology. The simpler monotonic orthography (μονοτονικό σύστημα γραφής), introduced in 1982, corresponds to Modern Greek phonology, and requires only two diacritics. Polytonic orthography () is the standard system for Ancient Greek and Medieval Greek.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Kinematic pairIn classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.
Tangent vectorIn mathematics, a tangent vector is a vector that is tangent to a curve or surface at a given point. Tangent vectors are described in the differential geometry of curves in the context of curves in Rn. More generally, tangent vectors are elements of a tangent space of a differentiable manifold. Tangent vectors can also be described in terms of germs. Formally, a tangent vector at the point is a linear derivation of the algebra defined by the set of germs at .
Tangent spaceIn mathematics, the tangent space of a manifold is a generalization of to curves in two-dimensional space and to surfaces in three-dimensional space in higher dimensions. In the context of physics the tangent space to a manifold at a point can be viewed as the space of possible velocities for a particle moving on the manifold. In differential geometry, one can attach to every point of a differentiable manifold a tangent space—a real vector space that intuitively contains the possible directions in which one can tangentially pass through .
Tangent bundleIn differential geometry, the tangent bundle of a differentiable manifold is a manifold which assembles all the tangent vectors in . As a set, it is given by the disjoint union of the tangent spaces of . That is, where denotes the tangent space to at the point . So, an element of can be thought of as a pair , where is a point in and is a tangent vector to at . There is a natural projection defined by . This projection maps each element of the tangent space to the single point .
Natural selectionNatural selection is the differential survival and reproduction of individuals due to differences in phenotype. It is a key mechanism of evolution, the change in the heritable traits characteristic of a population over generations. Charles Darwin popularised the term "natural selection", contrasting it with artificial selection, which is intentional, whereas natural selection is not. Variation exists within all populations of organisms. This occurs partly because random mutations arise in the genome of an individual organism, and their offspring can inherit such mutations.
On the Origin of SpeciesOn the Origin of Species (or, more completely, On the Origin of Species by Means of Natural Selection, or the Preservation of Favoured Races in the Struggle for Life) is a work of scientific literature by Charles Darwin that is considered to be the foundation of evolutionary biology; it was published on 24 November 1859. Darwin's book introduced the scientific theory that populations evolve over the course of generations through a process of natural selection.
Vector fieldIn vector calculus and physics, a vector field is an assignment of a vector to each point in a space, most commonly Euclidean space . A vector field on a plane can be visualized as a collection of arrows with given magnitudes and directions, each attached to a point on the plane. Vector fields are often used to model, for example, the speed and direction of a moving fluid throughout three dimensional space, such as the wind, or the strength and direction of some force, such as the magnetic or gravitational force, as it changes from one point to another point.
Directional selectionIn population genetics, directional selection, is a mode of negative natural selection in which an extreme phenotype is favored over other phenotypes, causing the allele frequency to shift over time in the direction of that phenotype. Under directional selection, the advantageous allele increases as a consequence of differences in survival and reproduction among different phenotypes. The increases are independent of the dominance of the allele, and even if the allele is recessive, it will eventually become fixed.
Tsakonian languageTsakonian or Tsaconian (also Tzakonian or Tsakonic, τσακώνικα and Tsakonian: τσακώνικα, α τσακώνικα γρούσσα) is a highly divergent modern variety of Greek, spoken in the Tsakonian region of the Peloponnese, Greece. Tsakonian derives from Doric Greek, being its only extant variant. Although it is conventionally treated as a dialect of Greek, some compendia treat it as a separate language. Tsakonian is critically endangered, with only a few hundred/thousand, mostly elderly, fluent speakers left.
Coloration evidence for natural selectionAnimal coloration provided important early evidence for evolution by natural selection, at a time when little direct evidence was available. Three major functions of coloration were discovered in the second half of the 19th century, and subsequently used as evidence of selection: camouflage (protective coloration); mimicry, both Batesian and Müllerian; and aposematism. Charles Darwin's On the Origin of Species was published in 1859, arguing from circumstantial evidence that selection by human breeders could produce change, and that since there was clearly a struggle for existence, that natural selection must be taking place.
Group selectionGroup selection is a proposed mechanism of evolution in which natural selection acts at the level of the group, instead of at the level of the individual or gene. Early authors such as V. C. Wynne-Edwards and Konrad Lorenz argued that the behavior of animals could affect their survival and reproduction as groups, speaking for instance of actions for the good of the species. In the 1930s, R.A. Fisher and J.B.S.
Kin selectionKin selection is a process whereby natural selection favours a trait due to its positive effects on the reproductive success of an organism's relatives, even when at a cost to the organism's own survival and reproduction. Kin selection can lead to the evolution of altruistic behaviour. Kin selection is related to the concept of inclusive fitness, which combines the number of offspring produced with the number an individual can ensure the production of by supporting others (weighted by the relatedness between individuals).
TangentIn geometry, the tangent line (or simply tangent) to a plane curve at a given point is the straight line that "just touches" the curve at that point. Leibniz defined it as the line through a pair of infinitely close points on the curve. More precisely, a straight line is said to be a tangent of a curve y = f(x) at a point x = c if the line passes through the point (c, f(c)) on the curve and has slope f(c), where f is the derivative of f. A similar definition applies to space curves and curves in n-dimensional Euclidean space.
