Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
We present a new machine learning technique which calculates a real-valued, time independent, finite dimensional Hamiltonian matrix from only experimental data. A novel cost function is given along with a proof that the cost function has…
We consider a quantum test particle in the background of a Newtonian gravitational field in the framework of Cartan's formulation of nonrelativistic spacetimes. We have proposed a novel quantization of a point particle which amounts to…
In this paper, we study elements of symbolic calculus for pseudo-differential operators associated with the weighted symbol class $M_{\rho, \Lambda}^m(\mathbb{ T}\times \mathbb{Z})$ (associated to a suitable weight function $\Lambda$ on…
Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
We present a quantum algorithm based on repeated measurement to solve initial-value problems for nonlinear ordinary differential equations (ODEs), which may be generated from partial differential equations in plasma physics. We map a…
In the conventional Schr\"{o}dinger's formulation of quantum mechanics the unitary evolution of a state $\psi$ is controlled, in Hilbert space ${\cal L}$, by a Hamiltonian $\mathfrak{h}$ which must be self-adjoint. In the recent,…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
We develop new constructions of 2D classical and quantum superintegrable Hamiltonians allowing separation of variables in Cartesian coordinates. In classical mechanics we start from two functions on a one-dimensional phase space, a natural…
For a general self-adjoint Hamiltonian operator $H_0$ on the Hilbert space $L^2(\RE^d)$, we determine the set of all self-adjoint Hamiltonians $H$ on $L^2(\RE^d)$ that dynamically confine the system to an open set $\Omega \subset \RE^d$…
We prove homogenization for a class of viscous Hamilton-Jacobi equations in the stationary and ergodic setting in one space dimension. Our assumptions include most notably the following: the Hamiltonian is of the form $G(p) + \beta…
This paper presents a useful compact formula for deriving an effective Hamiltonian describing the time-averaged dynamics of detuned quantum systems. The formalism also works for ensemble-averaged dynamics of stochastic systems. To…
We develop a discrete analogue of Hamilton-Jacobi theory in the framework of discrete Hamiltonian mechanics. The resulting discrete Hamilton-Jacobi equation is discrete only in time. We describe a discrete analogue of Jacobi's solution and…
A detailed Hamilton-Jacobi analysis for linearized $\lambda R$ gravity is developed. The model is constructed by rewriting linearized gravity in terms of a parameter $\lambda$ and new variables. The set of all hamiltonians is identified…
This document should serve as a quick reference for and guide to the implementation of linear GQ($\lambda$), a gradient-based off-policy temporal-difference learning algorithm. Explanation of the intuition and theory behind the algorithm…
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…
We provide geometric quantization of a completely integrable Hamiltonian system in the action-angle variables around an invariant torus with respect to polarization spanned by almost-Hamiltonian vector fields of angle variables. The…
We present a model unifying general relativity and quantum mechanics. The model is based on the (noncommutative) algebra \mbox{{\cal A}} on the groupoid \Gamma = E \times G where E is the total space of the frame bundle over spacetime, and…
We consider model order reduction of parameterized Hamiltonian systems describing nondissipative phenomena, like wave-type and transport dominated problems. The development of reduced basis methods for such models is challenged by two main…
We have run numerical simulations of Euclidean lattice quantum gravity for metrics which are time-independent and spherically symmetric. The radial variable is discretized as $r=hL_{Planck}$, with $h=0,1,...,N$ and $N$ up to $10^5$. The…