相关论文: Dynamics of Mobile Manipulators using Dual Quatern…
In this paper we present a novel derivation for an existing node-based algorithm for distributed optimisation termed the primal-dual method of multipliers (PDMM). In contrast to its initial derivation, in this work monotone operator theory…
The aim of this study is to introduce quaterinon Kaehler analogue of Lagrangian mechanics. Finally, the geometric and physical results related to quaternion Kaehler dynamical systems are also presented.
A general form for the equation of motion for higher-curvature gravity is obtained. The interesting feature of the analysis is that it can handle Lagrangians which contain non-minimal kinetic scalar couplings. Certain subtle features, which…
We formulate a variational principle for non-relativistic quantum mechanics inspired by Gauss's principle of least constraint. We define a quantum constraint functional as the probability-weighted square deviation between the actual motion…
These notes describe some links between the group $\mathrm{SL}_2(\mathbb{R})$, the Heisenberg group and hypercomplex numbers---complex, dual and double numbers. Relations between quantum and classical mechanics are clarified in this…
While quantum circuits built from two-particle dual-unitary (maximally entangled) operators serve as minimal models of typically nonintegrable many-body systems, the construction and characterization of dual-unitary operators themselves are…
Generalized Linear Models (GLM) form a wide class of regression and classification models, where prediction is a function of a linear combination of the input variables. For statistical inference in high dimension, sparsity inducing…
It is well known that the equations of motion obtained from Newtons second law of motion can be obtained from a Lagrangian via the Euler-Lagrangian formulation if and only if the equations of motion satisfy the Helmholtz conditions. In this…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Using a generalized coordinate along with a proper invertible coordinate transformation, we show that the Euler-Lagrange equation used by Bagchi et al. 16 is in clear violation of the Hamilton's principle. We also show that Newton's…
We propose a numerical method for convection-diffusion problems under low regularity assumptions. We derive the method and analyze it using the primal-dual weak Galerkin (PDWG) finite element framework. The Euler-Lagrange formulation…
In this paper we investigate factorizations of polynomials over the ring of dual quaternions into linear factors. While earlier results assume that the norm polynomial is real ("motion polynomials"), we only require the absence of real…
Coherent or exact equations of motion for a post-Newtonian Lagrangian formalism are the Euler-Lagrange equations without any terms truncated. They naturally conserve energy {and} angular momentum. Doubling the phase-space variables of…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Quaternion valued neural networks experienced rising popularity and interest from researchers in the last years, whereby the derivatives with respect to quaternions needed for optimization are calculated as the sum of the partial…
This paper is concerned with the boundary integral equation method for solving the exterior Neumann boundary value problem of dynamic poroelasticity in two dimensions. The main contribution of this work consists of two aspescts: the…
We show how it is possible to formulate Euclidean two-dimensional quantum gravity as the scaling limit of an ordinary statistical system by means of dynamical triangulations, which can be viewed as a discretization in the space of…
A finite element based computational scheme is developed and employed to assess a duality based variational approach to the solution of the linear heat and transport PDE in one space dimension and time, and the nonlinear system of ODEs of…
We present approximative solutions to the neutrino evolution equation calculated by different methods. In a two neutrino framework, using the physical parameters which gives the main effects to neutrino oscillations from nu{e} to another…
We consider the most general action for gravity which is quadratic in curvature. In this case first order and second order formalisms are not equivalent. This framework is a good candidate for a unitary and renormalizable theory of the…