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

We construct a family of integrable vertex model based on the typical four-dimensional representations of the quantum group deformation of the Lie superalgebra $sl(2|1)$. Upon alternation of such a representation with its dual this model…

This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…

In this short note, we prove a formula for the group inverse of a block matrix and consider the pseudo principal pivot transform expressed in terms of group inverses. Extensions of the usual principal pivot transform, where the usual…

There are 13 equivalence classes of 2D second order quantum and classical superintegrable systems with nontrivial potential, each associated with a quadratic algebra of hidden symmetries. We study the finite and infinite irreducible…

Bilinear systems emerge in a wide variety of fields as natural models for dynamical systems ranging from robotics to quantum dots. Analyzing controllability of such systems is of fundamental and practical importance, for example, for the…

In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…

The three-dimensional universal complex Clifford algebra is used to represent relativistic vectors in terms of paravectors. In analogy to the Hestenes spacetime approach spinors are introduced in an algebraic form. This removes the…

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…

It is shown that the eigenproblem of any $2\times 2$ matrix Hamiltonian with discrete eigenvalues is involved with a supersymmetric quantum mechanics. The energy dependence of the superalgebra marks the disparity between the deduced…

The Special Euclidean group on the plane $SE(2)$ has the left-invariant sub-Riemannian structure. Every sub-Riemannian manifold possesses a Hamiltonian function governing the sub-Riemannian geodesic flow. Two natural questions are: What are…

It is known that a connected and simply-connected Lie group admits only one left-invariant Riemannian metric up to scaling and isometry if and only if it is isomorphic to the Euclidean space, the Lie group of the real hyperbolic space, or…

Three hyperbolic type metrics including the triangular ratio metric, the $j^*$-metric and the M\"obius metric are studied in an annular ring. The Euclidean midpoint rotation is introduced as a method to create upper and lower bounds for…

We show how quantum many-body systems on hyperbolic lattices with nearest-neighbor hopping and local interactions can be mapped onto quantum field theories in continuous negatively curved space. The underlying lattices have recently been…

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…

Classical mechanics unfolds within absolute time and Euclidean space, yet our knowledge of where events occur, when they occur, and how motion evolves is inherently uncertain. The special Galilean group provides a natural setting for…

We study a second-order linear differential equation known as the deformed cubic oscillator, whose isomonodromic deformations are controlled by the first Painlev{\'e} equation. We use the generalised monodromy map for this equation to give…

Classical (maximal) superintegrable systems in $n$ dimensions are Hamiltonian systems with $2n-1$ independent constants of the motion, globally defined, the maximum number possible. They are very special because they can be solved…

A finite-dimensional pseudo-unitary framework is set up for describing the dynamics of free elementary particles in a purely relativistic quantum mechanical way. States of any individual particles or antiparticles are defined as suitably…

The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…

Continuum mechanics can be formulated in the Lagrangian frame (addressing motion of individual continuum particles) or in the Eulerian frame (addressing evolution of fields in an inertial frame). There is a canonical Hamiltonian structure…