Related papers: Lie group variational integrators for rigid body p…
We give very flexible, concrete constructions of discrete and faithful epresentations of right-angled Artin groups into higher-rank Lie groups. Using the geometry of the associated symmetric spaces and the combinatorics of the groups, we…
In this paper, we develop a structure-preserving discretization of the Lagrangian framework for electromagnetism, combining techniques from variational integrators and discrete differential forms. This leads to a general family of…
We extend the Euler Poincare formalism from Lie groups to Lie groupoids for optimal control problems. While Lie algebroids provide the standard infinitesimal framework, the groupoid formulation enables global trajectory reconstruction and…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
We consider an SO(4) Euler rigid body with two 'inertia momenta' coinciding. We study it from the point of view of bihamiltonian geometry. We show how to algebraically integrate it by means of the method of separation of variables.
As an expansion of complex numbers, the quaternions show close relations to numerous physically fundamental concepts. In spite of that, the didactic potential provided by quaternion interrelationships in formulating physical laws are hardly…
Integration by parts plays a crucial role in mathematical analysis, e.g., during the proof of necessary optimality conditions in the calculus of variations and optimal control. Motivated by this fact, we construct a new, right-weighted…
We study the dynamics of the rigid rotator on the group manifold of SU(2) as an instance of dynamics on Lie groups together with a dual model whose carrier space is the Borel group SB(2,C), the Lie Poisson dual of SU(2). We thus introduce a…
Expositions of the Euler equations for the rotation of a rigid body often invoke the idea of a specially damped system whose energy dissipates while its angular momentum magnitude is conserved in the body frame. An attempt to explicitly…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
High dimensional integrals are abundant in many fields of research including quantum physics. The aim of this paper is to develop efficient recursive strategies to tackle a class of high dimensional integrals having a special product…
We formulate a notion of group Fourier transform for a finite dimensional Lie group. The transform provides a unitary map from square integrable functions on the group to square integrable functions on a non-commutative dual space. We then…
Starting from square-integrable wave functions on a Lie group, we build an invertible Fourier transform mapping them on wave functions on the dual of the Lie algebra. This is a group-theoretic version of the map from position space to…
This article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space…
In this paper, discrete analogues of Euler-Poincar\'{e} and Lie-Poisson reduction theory are developed for systems on finite dimensional Lie groups $G$ with Lagrangians $L:TG \to {\mathbb R}$ that are $G$-invariant. These discrete equations…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
In this note we construct an infinite-dimensional Lie group structure on the group of vertical bisections of a regular Lie groupoid. We then identify the Lie algebra of this group and discuss regularity properties (in the sense of Milnor)…
In the present paper we investigate the mechanics of systems of affinely-rigid bodies, i.e., bodies rigid in the sense of affine geometry. Certain physical applications are possible in modelling of molecular crystals, granular media, and…
In this article we construct and discuss several aspects of the two-component spinorial formalism for six-dimensional spacetimes, in which chiral spinors are represented by objects with two quaternionic components and the spin group is…