arXiv research

The paper uses complex-valued functions to simplify plane differential geometry and kinematics.

Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.

Study of rigid body displacements in a projective space over dual numbers with geometric interpretations.

Model predicts multi-agent trajectories using a differentiable simulator.

Purely real space versions of the differential equations describing the kinematics of a dislocated crystalline medium are considered. The differential geometric structures associated with them are revealed.

We prove new kinematic formulas for tensor valuations and simplify previously known Crofton formulas by using the recently developed algebraic theory of translation invariant valuations. The heart of the paper is the computation of the Alesker-Fourier transform on the large class of spherical valuations, which is achie…

A novel controller for wheeled robots handles joystick inputs for smooth steering.

Generalizes Hasimoto transformation to arbitrary flows on space curves.

Proves a special case of the Gaussian kinematic formula using large sphere limits.

We give a complete and explicit description of the kinematical data of higher gauge theory on principal 2-bundles with the string 2-group model of Schommer-Pries as structure 2-group. We start with a self-contained review of the weak 2-category Bibun of Lie groupoids, bibundles and bibundle morphisms. We then construct…

We give a concise summary of the para-Hermitian geometry that describes a doubled target space fit for a covariant description of T-duality in string theory. This provides a generalized differentiable structure on the doubled space and leads to a kinematical setup which allows for the recovery of the physical spacetime…

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Us…

We define partial differential (PD in the following), i.e., field theoretic analogues of Hamiltonian systems on abstract symplectic manifolds and study their main properties, namely, PD Hamilton equations, PD Noether theorem, PD Poisson bracket, etc.. Unlike in standard multisymplectic approach to Hamiltonian field the…

The product of smooth valuations on manifolds is described in terms of differential forms, Gelfand transforms and blow-up spaces. It is shown that the product extends partially to generalized valuations and corresponds geometrically to transversal intersections. This result is used to prove a general kinematic formula …

Paper analyzes a three-loop linkage, showing it's overconstrained and shaky.

New formulas for measuring geometric properties of definable sets.

Paper proposes a smart neck-band for detecting neck postures using integrated kinematic and kinetic data.

The thesis explores kinematical symmetries beyond Lorentzian spacetime.

Explains non-lorentzian theories and their dynamics.

We introduce different bases for the vector space of $\mathrm{Sp}(2)\mathrm{Sp}(1)$-invariant, translation invariant continuous valuations on the quaternionic plane and determine a complete set of kinematic formulas.

Study explores kinematics of surfaces under metric restrictions.

Study the geometry and dynamics of skew evolutes and involutes, related to bicycle kinematics.

Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology is understanding and predicting future movement of vehicles surrounding the SDV.…

Researchers prove formulas for flag area measures, extending previous work.

The existence of kinematic formulas for area measures with respect to any connected, closed subgroup of the orthogonal group acting transitively on the unit sphere is established. In particular, the kinematic operator for area measures is shown to have the structure of a co-product. In the case of the unitary group the…

In this contribution we review results on the kinematics of a quantum system localized on a connected configuration manifold and compatible dynamics for the quantum system including external fields and leading to non-linear Schrödinger equations for pure states.

A kinematics of the motion of a car is reformulated in terms of the theory of gauge potentials (connection on principal bundle). E(2)-connection originates in the no-slipping contact of the car with a road.

New kinematic model for a spin-rolling sphere using Darboux frame.

We consider the kinematics of specific fluid spacetimes admitting timelike congruences of Ricci Solitons. These fluids includes string cloud, string fluid, perfect fluid, radially symmetric fluid, anisotropic fluid and relativistic magneto-fluid. Results are obtained and important physical aspects are discussed.

Non-lorentzian geometry reviewed, including Lie algebras and Klein geometries.

Geometrically reformulates elasticity theory using exterior calculus.

We prove that higher moment maps on area measures of a euclidean vector space are injective, while the kernel of the centroid map equals the image of the first variation map. Based on this, we introduce the space of smooth dual area measures on a finite-dimensional euclidean vector space and prove that it admits a natu…

Paper generates synthetic radar signatures for motion classification.

Generalizes kinematical Lie algebras for isotropic spacetimes.

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is a joint that has an associated geometric transformation that is propagated to a…

We revisit the contact measures introduced by Firey, and further developed by Schneider and Teufel, from the perspective of the theory of valuations on manifolds. This reveals a link between the kinematic formulas for area measures studied by Wannerer and the integral geometry of curved isotropic spaces. As an applicat…

The Alesker-Poincare pairing for smooth valuations on manifolds is expressed in terms of the Rumin differential operator acting on the cosphere-bundle. It is shown that the derivation operator, the signature operator and the Laplace operator acting on smooth valuations are formally self-adjoint with respect to this pai…

New proof confirms operations on constructible functions match theory.

A kinematic method selects the deformation Laplacian for fluid dynamics on Riemannian manifolds.

A close relationship between the classical Hamilton-Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship relies on new mathematical techniques for mechanics defined on a skew-symmetric algebroid. This geometric…

Study examines how body segments respond to random vibrations.

This paper explores non-periodic folding of Spidron units, revealing nonlinear dynamics.

We survey recent results in hermitian integral geometry, i.e. integral geometry on complex vector spaces and complex space forms. We study valuations and curvature measures on complex space forms and describe how the global and local kinematic formulas on such spaces were recently obtained. While the local and global k…

We give in explicit form the principal kinematic formula for the action of the affine unitary group on $\C^n$, together with a straightforward algebraic method for computing the full array of unitary kinematic formulas, expressed in terms of certain convex valuations introduced, essentially, by H. Tasaki. We introduce …

The Lagrangian formalism on a arbitrary non-fibrating manifold is considered. The kinematical description of this generic situation is based on the concept of (higher-order) Grassmann manifolds which is the factorization of the regular velocity manifold to the action of the differential group. Here we introduce in this…

We formulate a kinematical extension of Double Field Theory on a $2d$-dimensional para-Hermitian manifold $(\mathcal{P},η,ω)$ where the $O(d,d)$ metric $η$ is supplemented by an almost symplectic two-form $ω$. Together $η$ and $ω$ define an almost bi-Lagrangian structure $K$ which provides a splitting of the tangent bu…

Alternative discrete Dirac mechanics using Dirac structures.

Extends particle classification to curved space-times using groupoids.