相关论文: Hyperbolic pseudoinverses for kinematics in the Eu…

In a polydiagonal subspace of the Euclidean space, certain components of the vectors are equal (synchrony) or opposite (anti-synchrony). Polydiagonal subspaces invariant under a matrix have many applications in graph theory and dynamical…

We investigate a quantum non-relativistic system describing the interaction of two particles with spin 1/2 and spin 0, respectively. Assuming that the Hamiltonian is rotationally invariant and parity conserving we identify all such systems…

The classifying space of inertial reference frames in special relativity is naturally hyperbolic. There is a remarkable interplay between central elements of hyperbolic geometry and those of special relativity -- which, to a certain extent,…

The inverse problem of the calculus of variations consists in determining if the solutions of a given system of second order differential equations correspond with the solutions of the Euler-Lagrange equations for some regular Lagrangian.…

Differential invariants of a (pseudo)group action can vary when restricted to invariant submanifolds (differential equations). The algebra is still governed by the Lie-Tresse theorem, but may change a lot. We describe in details the case of…

Systems of ordinary differential equations (or dynamical forms in Lagrangian mechanics), induced by embeddings of smooth fibered manifolds over one-dimensional basis, are considered in the class of variational equations. For a given…

The main focus of the paper is the investigation of moduli space of left invariant pseudoRiemannian metrics on the cotangent bundle of Heisenberg group. Consideration of orbits of the automorphism group naturally acting on the space of the…

We review a recently introduced set of N-dimensional quasi-maximally superintegrable Hamiltonian systems describing geodesic motions, that can be used to generate "dynamically" a large family of curved spaces. From an algebraic viewpoint,…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

A deformation of the canonical algebra for kinematical observables of the quantum field theory in Minkowski space-time has been considered under the condition of Lorentz invariance. A relativistic invariant algebra obtained depends on…

Classical and quantum superintegrable systems have a long history and they possess more integrals of motion than degrees of freedom. They have many attractive properties, wide applications in modern physics and connection to many domains in…

Heterodimensional cycles are heteroclinic cycles that connect periodic orbits whose unstable manifolds have different dimensions. This is a source of nonhyperbolic dynamics and unstable dimension variability. For smooth invertible maps…

In recent work, we initiated a research program aimed at the systematic investigation of quantum superintegrable systems describing the interaction of two non-relativistic spin-$1/2$ particles in three-dimensional Euclidean space. In that…

We start developing a formalism which allows to construct supersymmetric theories systematically across space-time signatures. Our construction uses a complex form of the supersymmetry algebra, which is obtained by doubling the spinor…

The link between 3D spaces with (in general, non-constant) curvature and quantum deformations is presented. It is shown how the non-standard deformation of a sl(2) Poisson coalgebra generates a family of integrable Hamiltonians that…

A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…

A classical (or quantum) superintegrable system on an n-dimensional Riemannian manifold is an integrable Hamiltonian system with potential that admits 2n-1 functionally independent constants of the motion that are polynomial in the momenta,…

In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…

The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric…

The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…