Related papers: Janis-Newman algorithm: simplifications and gauge …
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…
Using purely Hamiltonian methods we derive a simple differential equation for the generator of the most general local symmetry transformation of a Lagrangian. The restrictions on the gauge parameters found by earlier approaches are easily…
Electric-magnetic duality, the Newman-Janis shift, and the double copy all act by elementary operations on three-point amplitudes. At the same time, they generate a network of interesting classical solutions spanning from the Coulomb charge…
Main objects of the paper are stationary and weak KAM Hamilton-Jacobi equations on the finite-dimensional torus. The key idea of the paper is to replace the underlying calculus of variations problems with continuous time Markov decision…
In the literature, the Newman-Janis algorithm (NJA) has been widely used to construct stationary and axisymmetric spacetimes to describe rotating black holes. In addition, it has been recently shown that the general stationary and…
The aim of this paper is to introduce a new Newton-type iterative method and then to show that this process converges to the unique solution of the scalar nonlinear equation f(x)=0 under weaker conditions involving only f and f' by fixed…
We study the Jordan frame formulation of generalizations of scalar-tensor theories conceived by replacing the scalar with other fields such as vectors. The generic theory in this family contains higher order time derivative terms in the…
A nonlinear equation in a Banach space is written as a linear equation with a linear operator depending on the unknown solution. This method, which we call a global linearization method, differs essentially from the local linearization…
A damped Newton's method to find a singularity of a vector field in Riemannian setting is presented with global convergence study. It is ensured that the sequence generated by the proposed method reduces to a sequence generated by the…
This article develops the numerical and theoretical study of a reconstruction algorithm of a potential in a wave equation from boundary measurements, using a cost functional built on weighted energy terms coming from a Carleman estimate.…
This is a documentation of a framework for robot motion optimization that aims to draw on classical constrained optimization methods. With one exception the underlying algorithms are classical ones: Gauss-Newton (with adaptive step size and…
In this paper, we investigate the convergence performance of a cooperative diffusion Gauss-Newton (GN) method, which is widely used to solve the nonlinear least squares problems (NLLS) due to the low computation cost compared with Newton's…
A Lagrange multiplier field can be used to restrict radiative corrections to the Einstein-Hilbert action to one-loop order. This result is employed to show that it is possible to couple a scalar field to the metric (graviton) field in such…
Generated Jacobian Equations have been introduced by Trudinger [Disc. cont. dyn. sys (2014), pp. 1663-1681] as a generalization of Monge-Amp{\`e}re equations arising in optimal transport. In this paper, we introduce and study a damped…
We present an algorithm to automatically derive Feynman rules for lattice perturbation theory in background field gauge. Vertices with an arbitrary number of both background and quantum legs can be derived automatically from both gluonic…
Solving dynamical problems in general relativity requires the full machinery of numerical relativity. Wilson has proposed a simpler but approximate scheme for systems near equilibrium, like binary neutron stars. We test the scheme on…
A modified Gauss's algorithm for solving a system of linear equations in an integral ring is proposed, as well as an appropriate algorithm for calculating the elements of the adjoint matrix.
In this paper we propose an extension of the iteratively regularized Gauss--Newton method to the Banach space setting by defining the iterates via convex optimization problems. We consider some a posteriori stopping rules to terminate the…
This paper considers the problems of solving monotone variational inequalities with H\"older continuous Jacobians. By employing the knowledge of H\"older parameter $\nu$, we propose the $\nu$-regularized extra-Newton method within at most…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…