Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
For a given pseudo-Hermitian Hamiltonian of the standard form: H=p^2/2m+v(x), we reduce the problem of finding the most general (pseudo-)metric operator \eta satisfying H^\dagger=\eta H \eta^{-1} to the solution of a differential equation.…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
We propose a modification of a recently introduced generalized translation operator, by including a $q$-exponential factor, which implies in the definition of a Hermitian deformed linear momentum operator $\hat{p}_q$, and its canonically…
We give an explicit characterization of the most general quasi-Hermitian operator H, the associated metric operators \eta_+, and \eta_+-pseudo-Hermitian operators acting in two-dimensional complex Euclidean space C^2. These operators…
We extend the formulation of pseudo-Hermitian quantum mechanics to eta-pseudo-Hermitian Hamiltonian operators H with an unbounded metric operator eta. In particular, we give the details of the construction of the physical Hilbert space,…
In this paper we extend the previously introduced class of boundary port-Hamiltonian systems to boundary control systems where the variational derivative of the Hamiltonian functional is replaced by a pair of reciprocal differential…
The action of the quantum mechanical volume operator, introduced in connection with a symmetric representation of the three-body problem and recently recognized to play a fundamental role in discretized quantum gravity models, can be given…
Riemannian geometry is a particular case of Hamiltonian mechanics: the orbits of the hamiltonian $H=\frac{1}{2}g^{ij}p_{i}p_{j}$ are the geodesics. Given a symplectic manifold (\Gamma,\omega), a hamiltonian $H:\Gamma\to\mathbb{R}$ and a…
Our main aim is to present a geometrically meaningful formula for the fundamental solutions to a second order sub-elliptic differential equation and to the heat equation associated with a sub-elliptic operator in the sub-Riemannian geometry…
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redundancy, that is only possible in PKM, is…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
The model of the position-dependent noncommutativety in quantum mechanics is proposed. We start with a given commutation relations between the operators of coordinates [x^{i},x^{j}]=\omega^{ij}(x), and construct the complete algebra of…
This work addresses the Hamiltonian dynamics of the Kepler problem in a deformed phase space, by considering the equatorial orbit. The recursion operators are constructed and used to compute the integrals of motion. The same investigation…
A Hermitian and an anti-Hermitian first-order intertwining operators are introduced and a class of $\eta$-weak-pseudo-Hermitian position-dependent mass (PDM) Hamiltonians are constructed. A corresponding reference-target…
This paper is concerned with finite-level quantum memory systems for retaining initial dynamic variables in the presence of external quantum noise. The system variables have an algebraic structure, similar to that of the Pauli matrices, and…
Quantum dynamics simulations of reactive molecular processes are commonly performed in a low-dimensional space spanned by highly optimized reactive coordinates. Usually, these sets of reactive coordinates consist of non-linear coordinates.…
In this paper, we apply the geometric Hamilton--Jacobi theory to obtain solutions of Hamiltonian systems in Classical Mechanics, that are either compatible with a cosymplectic or a contact structure. As it is well known, the first structure…
We present a generalization of the perturbative construction of the metric operator for non-Hermitian Hamiltonians with more than one perturbation parameter. We use this method to study the non-Hermitian scattering Hamiltonian:…
We extend some aspects of the Hamilton-Jacobi theory to the category of stochastic Hamiltonian dynamical systems. More specifically, we show that the stochastic action satisfies the Hamilton-Jacobi equation when, as in the classical…
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-environment interaction to address diverse…