Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
We propose a generalization of Heisenberg picture quantum mechanics in which a Lagrangian and Hamiltonian dynamics is formulated directly for dynamical systems on a manifold with non--commuting coordinates, which act as operators on an…
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
We present a new setting of the geometric Hamilton-Jacobi theory by using the so-called time-evolution operator K. This new approach unifies both the Lagrangian and the Hamiltonian formulation of the problem developed in a previous paper…
Connecting ideas of geometric formulation of quantum mechanics with new results in symplectic geometry a new approach to geometrical quantization procedure is proposed. As a first result we verify that the correspondence between "classical"…
Due to the presence of a gravitational anomaly in topologically massive gravity (TMG), the geometric entropy is no longer simply the Hubeny-Rangamani-Takayanagi (HRT) area; instead, it is given by the HRT area plus an anomalous…
We discuss from a bi-Hamiltonian point of view the Hamilton-Jacobi separability of a few dynamical systems. They are shown to admit, in their natural phase space, a quasi-bi-Hamiltonian formulation of Pfaffian type. This property allows us…
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system.…
We have obtained the metric operator $\Theta=\exp T$ for the non-Hermitian Hamiltonian model $H=\omega(a^{\dag}a+1/2)+\alpha(a^{2}-a^{\dag^{2}})$. We have also found the intertwining operator which connects the Hamiltonian to the adjoint of…
We develop a unified quantum geometric framework to understand reactive quantum dynamics. The critical roles of the quantum geometry of adiabatic electronic states in both adiabatic and non-adiabatic quantum dynamics are unveiled. A…
We propose a new method for simulating certain type of time-dependent Hamiltonian $H(t) = \sum_{i=1}^m \gamma_i(t) H_i$ where $\gamma_i(t)$ (and its higher order derivatives) is bounded, computable function of time $t$, and each $H_i$ is…
This article establishes a stochastic homogenization result for the first order Hamilton-Jacobi equation on a Riemannian manifold $M$, in the context of a stationary ergodic random environment. The setting involves a finitely generated…
Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…
We propose an approach to quantum cosmology of integrable models. To analyze the models with two dynamical variables, we introduce equivalent Hamiltonians in reduced phase spaces, which are obtained with the aid of the Faddeev--Jackiw…
In this paper we construct a distinguished Riemannian geometrization on the dual 1-jet space J^{1*}(T,M) for the multi-time quadratic Hamiltonian functions. Our geometrization includes a nonlinear connection N, a generalized Cartan…
We study the computational complexity of 2-local Hamiltonian problems generated by a positive-weight symmetric interaction term, encompassing many canonical problems in statistical mechanics and optimization. We show these problems belong…
This article explores some geometric and algebraic properties of the dynamical system which is represented by matrix differential equations arising from inertial navigation problems, such as the symplecticity and the orthogonality.…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…
Port-Hamiltonian systems provide an energy-based formulation with a model class that is closed under structure preserving interconnection. For continuous-time systems these interconnections are constructed by geometric objects called Dirac…