Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
Hamiltonian Monte Carlo (HMC) improves the computational efficiency of the Metropolis algorithm by reducing its random walk behavior. Riemannian Manifold HMC (RMHMC) further improves HMC's performance by exploiting the geometric properties…
We present a tensor formulation for free compact electrodynamics in three Euclidean dimensions and use this formulation to construct a quantum Hamiltonian in the continuous-time limit. Gauge-invariance is maintained at every step and the…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
We develop a Hamiltonian framework for general relativistic kinetic theory on the cotangent bundle $T^{\ast}M$ of a Lorentzian (pseudo-Riemannian) manifold. Starting from the geodesic Hamiltonian $H$, we derive a Landau-type collision…
Port-Hamiltonian systems provide an energy-based modeling paradigm for dynamical input-state-output systems. At their core, they fulfill an energy balance relating stored, dissipated and supplied energy. To accurately resolve this energy…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
We show that Gutzwiller's characterization of chaotic Hamiltonian systems in terms of the curvature associated with a Riemannian metric tensor in the structure of the Hamiltonian can be extended to a wide class of potential models of…
It is well known that an (in general, non-commutative) set of non-Hermitian operators $\Lambda_j$ with real eigenvalues need not necessarily represent observables. We describe a specific class of quantum models in which these operators plus…
In a recent paper [Nieto M M 1996 Quantum and Semiclassical Optics, 8 1061; quant-ph/9605032], the one dimensional squeezed and harmonic oscillator time-displacement operators were reordered in coordinate-momentum space. In this paper, we…
With this contribution, we give a complete and comprehensive framework for modeling the dynamics of complex mechanical structures as port-Hamiltonian systems. This is motivated by research on the potential of lightweight construction using…
We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics in combination with the St. Venant-Kirchhoff material law.…
Motivated by research on contraction analysis and incremental stability/stabilizability the study of 'differential properties' has attracted increasing attention lately. Previously lifts of functions and vector fields to the tangent bundle…
Latent variable models are powerful tools for learning low-dimensional manifolds from high-dimensional data. However, when dealing with constrained data such as unit-norm vectors or symmetric positive-definite matrices, existing approaches…
The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrinsic geometry of the configuration space. Applying this…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
We consider a relativistic extended object described by a reparametrization invariant local action that depends on the extrinsic curvature of the worldvolume swept out by the object as it evolves. We provide a Hamiltonian formulation of the…
A Hermite type formula is introduced and used to study the zeta function over the real and complex n-projective space. This approach allows to compute the residua at the poles and the value at the origin as well as the value of the…
Port-Hamiltonian systems theory provides a systematic methodology for the modeling, simulation and control of multi-physics systems. The incorporation of algebraic constraints has led to a multitude of definitions of port-Hamiltonian…
In this paper the geometric theory of separation of variables for time-independent Hamilton-Jacobi equation is extended to include the case of complex eigenvalues of a Killing tensor on pseudo-Riemannian manifolds. This task is performed…
These short notes present to the reader (students, in particular) a concise approach to the derivation of the propagator of Hamiltonians with position-dependent kinetic energy. The formalism is applied to the von Roos Hamiltonian with…