Related papers: Galilean Symmetry in Robotics
With the advent of relativistic mechanics, the Lorentz transformation replaced the Galilean transformation based on classical Newtonian mechanics among inertial frames at high uniform velocities, but both transformations are based on…
We study the Lie symmetries of non-relativistic and relativistic higher order constant motions, in $d$ spatial dimensions, like constant acceleration, constant rate-of-change -of-acceleration (constant jerk), and so on. In the…
It is widely accepted that the notion of an inertial frame is central to Newtonian mechanics and that the correct space-time structure underlying $\text{Newton's}$ methods in $\textit{Principia}$ is neo-Newtonian or Galilean space-time. I…
I review, some of the algebraic and geometric structures that underlie the theory of Special Relativity. This includes a discussion of relativity as a symmetry principle, derivations of the Lorentz group, its composition law, its Lie…
Symmetry is one of the most central concepts in physics, and it is no surprise that it has also been widely adopted as an inductive bias for machine-learning models applied to the physical sciences. This is especially true for models…
The concept of weak Lie motion (weak Lie symmetry) is introduced through ${\cal{L}}_{\xi}{\cal{L}}_{\xi}g_{ab}=0,$ (${\cal{L}}_{\xi}{\cal{L}}_{\xi}f=0$). Applications are given which exhibit a reduction of the usual symmetry, e.g., in the…
In this pedagogical article, we explore a powerful language for describing the notion of spacetime and particle dynamics intrinsic to a given fundamental physical theory, focusing on special relativity and its Newtonian limit. The starting…
We investigate inertial frames in the absence of Lorentz invariance, reconsidering the usual group structure implied by the relativity principle. We abandon the relativity principle, discarding the group structure for the transformations…
In this note we approach the classical, Newtonian, gravitational $N$-body problem by mean of a new, original numerical integration method. After a short summary of the fundamental characteristics of the problem, including a sketch of some…
With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification. An important class of methods focuses on the inertial…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
We try to lay down the foundations of a Newtonian theory where inertia and gravitational fields appear in a unified way aiming to reach a better understanding of the general relativistic theory. We also formulate a kind of equivalence…
We generalize the notion of kinematical Lie algebra introduced in physics for the classification of the various possible relativity algebras an isotropic spacetime can accommodate. We first give an elementary proof of the fact that such a…
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…
An algorithm is proposed for research into the symmetrical properties of theoretical and mathematical physics equations. The application of this algorithm to the free Schrodinger equation permited us to establish that in addition to the…
In the development of the old ideas of Stueckelberg-Wheeler-Feynman on the "one-electron Universe", we study the purely algebraic dynamics of the ensemble of(two kinds of) identical point-like particles. These are represented by the(real…
Newtonian mechanics has the concept of an absolute inertial rest frame. Special relativity eliminates the absolute rest frame but continues to require the absolute inertial frame. General relativity solves this for gravity by requiring…
We that show two body gravitational orbits may be plotted using a radial reference frame rather than the customary Newtonian rectilinear inertial frame. Infinitesimal calculus cofounder and continental contemporary of Newton, Leibniz…
The fundamental laws of physics are intrinsically geometric, dictating the evolution of systems through principles of symmetry and conservation. While modern machine learning offers powerful tools for modeling complex dynamics from data,…
In this paper we analyze the normal forms of a general quadratic Hamiltonian system defined on the dual of the Lie algebra $\mathfrak{o}(K)$ of real $K$ - skew - symmetric matrices, where $K$ is an arbitrary $3\times 3$ real symmetric…