相关论文: Hyperbolic pseudoinverses for kinematics in the Eu…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
This paper presents the classification, over the fields of real and complex numbers, of the minimal ${\mathbb Z}_2\times{\mathbb Z}_2$-graded Lie algebras and Lie superalgebras spanned by $4$ generators and with no empty graded sector. The…
We define a coupling of two baker maps through a pi/2 rotation both in position and in momentum. The classical trajectories thus exhibit spiraling, or loxodromic motion, which is only possible for conservative maps of at least two degrees…
The automorphisms of a two-generator free group acting on the space of orientation-preserving isometric actions of on hyperbolic 3-space defines a dynamical system. Those actions which preserve a hyperbolic plane but not an orientation on…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
We describe a new and robust method to prove rigidity results in complex dynamics. The new ingredient is the geometry of the critical puzzle pieces: under control of geometry and ``complex bounds'', two generalized polynomial-like maps…
Maximal parabolic subalgebras of untwisted affine Kac-Moody algebras were studied in the context of Borel-de Siebenthal theory in [13], where they were realized as certain equivariant map algebras with a non-free abelian group action. In…
We consider the existence of invariant curves of real analytic reversible mappings which are quasi-periodic in the angle variables. By the normal form theorem, we prove that under some assumptions, the original mapping is changed into its…
Quantum mechanical systems with position dependent masses (PDM) admitting for and more dimensional symmetry algebras are classified. Namely, all PDM systems are specified which, in addition to their invariance w.r.t. a three parametric Lie…
We study a three dimensional non-commutative space emerging in the context of three dimensional Euclidean quantum gravity. Our starting point is the assumption that the isometry group is deformed to the Drinfeld double D(SU(2)). We…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
By combining the ideas of Cartan's equivalence method and the method of the equivariant moving frame for pseudo-groups, we develop an efficient method for solving equivalence problems arising from horizontal Lie pseudo-group actions. The…
We introduce a generalization of the Euclidean algorithm for rings equipped with an involution, and completely enumerate all isomorphism classes of orders over definite, rational quaternion algebras equipped with an orthogonal involution…
In the present work, we demonstrate how the pseudoinverse concept from linear algebra can be used to represent and analyze the boundary conditions of linear systems of partial differential equations. This approach has theoretical and…
text of abstract (We present a utilitarian review of the family of matrix groups $Sp(2n,\Re)$, in a form suited to various applications both in optics and quantum mechanics. We contrast these groups and their geometry with the much more…
A sequence of large invertible matrices given by a small random perturbation around a fixed diagonal and positive matrix induces a random dynamics on a high-dimensional sphere. For a certain class of rotationally invariant random…
We consider the quantum inverse scattering method for several mixed integrable models based on the rational SU(N) R-matrix with general toroidal boundary conditions. This includes systems whose Hilbert spaces are invariant by the discrete…
The so-called equation of motion method is useful to obtain the explicit form of the eigenvectors and eigenvalues of certain non self-adjoint bosonic Hamiltonians with real eigenvalues. These operators can be diagonalized when they are…
A method for deriving superintegrable Hamiltonians with a spin orbital interaction is presented. The method is applied to obtain a new superintegrable system in Euclidean space $\mathbb{E}_3$ with the following properties. It describes a…
In this paper we consider families of holomorphic maps defined on subsets of the complex plane, and show that the technique developed in \cite{LSvS1} to treat unfolding of critical relations can also be used to deal with cases where the…