arXiv research

Study of motion constraints and path-following on 3D space.

In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie algebroid.

We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear---and possibly non-smooth---objective part is endowed with a proximity operator, and the constraint set is equipped with a self-concordant barrier. Our approach relies on the followin…

Study geodesics on nested non-holonomic systems.

A Lie groupoid, called \textit{second-order non-holonomic material Lie groupoid}, is associated in a natural way to any Cosserat media. This groupoid is used to give a new definition of homogeneity which does not depend on a reference crystal. The corresponding Lie algebroid, called \textit{second-order non-holonomic m…

New algorithmic view of ℓ2 regularization using ODEs and path-following methods.

Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied to linear as well as to non-linear constraints. Only the basic notions of vecto…

Rolling systems limit to billiard models with no-slip collisions.

Paper proves global optimality of a simple optimization scheme for learning DAG models.

We construct a co-dimension $3$ completely non-holonomic sub-bundle on the Gromoll-Meyer exotic $7$ sphere based on its realization as a base space of a Sp(2)-principal bundle with the structure group Sp(1). The same method is valid for constructing a co-dimension 3 completely non-holonomic sub-bundle on the standard 7…

A multisymplectic setting for classical field theories subjected to non-holonomic constraints is presented. The infinite dimensional setting in the space of Cauchy data is also given.

We provide a new and simple system of equations for the normal sub-Riemannian geodesics. These use a partial connection that we show is canonically available, given a choice of complement to the distribution. We also describe conditions which, if satisfied, mean that even this choice of complement is determined canonic…

Many scientific and engineering applications feature nonsmooth convex minimization problems over convex sets. In this paper, we address an important instance of this broad class where we assume that the nonsmooth objective is equipped with a tractable proximity operator and that the convex constraint set affords a self…

Paper develops SKPD framework for signal region detection in image regression.

We study the complexity of the entire regularization path for least squares regression with 1-norm penalty, known as the Lasso. Every regression parameter in the Lasso changes linearly as a function of the regularization value. The number of changes is regarded as the Lasso's complexity. Experimental results using exac…

A framework for computing holonomy groups of hybrid systems to achieve forward motion.

Geometrical properties of holonomic and non holonomic varieties defined by the Pfaff equations connected with a first order systems of differential equations are studied. The Riemann extensions of affine connected spaces for investigation of geodesics and asymptotic lines are used.

Modified Gibbs-Helmholtz equation geometric models for thermodynamics.

Dancing polygons and rolling balls linked via a special geometric distribution.

We give definition of a holonomy flag in subRiemannian geometry --- a generalization of a Riemannian holonomy algebra --- and calculate it for the 3D subRiemannian Lie groups. We rewrite and give new interpretation for the Codazzi equations for the $(2,3)$-distributions on the $SU(2)$ and the Heisenberg group.

Interior-point methods adapted for manifolds, achieving similar optimization results.

Generalizes beam models to include curvature and torsion.

Post-training quantization saves resources for neural networks.

We formulate a noncommutative generalization of the Ricci flow theory in the framework of spectral action approach to noncommutative geometry. Grisha Perelman's functionals are generated as commutative versions of certain spectral functionals defined by nonholonomic Dirac operators and corresponding spectral triples. W…

Paper proposes a fast stochastic algorithm for neural network quantization with error bounds.

In this study, it is generalized the concept of Lagrangian mechanics with constraints to complex case. To be beginning, it is considered a Kaehlerian manifold as a velocity-phase space. Then a non-holonomic constraint is given by 1-form on it. If the form is closed, it is found that the constraint is (locally) holonomi…

Normal geodesic flows flows of Carnot-Caratheodory are discussed from the point of view of the theory of Hamiltonian systems. The geodesic flows corresponding to left-invariant metrics and left- and -right-invariant rank 2 distributions on the three-dimensional Heisenberg group are analysed as integrable systems. The f…

Abstract: Proves no non-trivial normal orbits for specific Hamiltonians.

Study curvature invariants in sub-Riemannian manifolds.

This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of nonholonomically constrained system, and characterize regularity conditions…

In the present paper we consider generic Sub-Riemannian structures on the co-rank 1 non-holonomic vector distributions and introduce the associated canonical volume and ''horizontal'' area forms. As in the classical case, the Sub-Riemannian minimal surfaces can be defined as the critical points of the '`horizontal'' ar…

In this paper, we carry a detailed study of mechanical systems with configuration space $Q\longrightarrow Q/G$ for which the base $Q/G$ variables are being controlled. The overall system's motion is considered to be induced from the base one due to the presence of general non-holonomic constraints. It is shown that the…

The paper defines and proves equivalence of nonholonomic brackets in contact mechanical systems.

This review summarizes five Lasso optimization algorithms.

This is the first part of a series of papers. The whole series aims to develop the tools for the study of all almost Hermitian symmetric structures in a unified way. In particular, methods for the construction of invariant operators, their classification and the study of their properties will be worked out. In this pap…

The authors first in this paper define a semi-symmetric metric non-holonomic connection (called in briefly a semi-sub-Riemannian connection) on sub-Riemannian manifolds, and study the relations between sub-Riemannian connections and semi-sub-Riemannian connections. An invariant under a connection transformation $\nabla…

In our previous paper [SIMAX 31 n.3 1491-1506(2010)], we studied the condition metric in the space of maximal rank matrices. Here, we show that this condition metric induces a Lipschitz-Riemann structure on that space. After investigating geodesics in such a nonsmooth structure, we show that the inverse of the smallest…

Sparse prototypes improve clustering of high-dimensional directional data.

We consider the generic regularized optimization problem $\hat{\mathsfβ}(λ)=\arg \min_βL({\sf{y}},X{\sfβ})+λJ({\sfβ})$. Efron, Hastie, Johnstone and Tibshirani [Ann. Statist. 32 (2004) 407--499] have shown that for the LASSO--that is, if $L$ is squared error loss and $J(β)=\|β\|_1$ is the $\ell_1$ norm of $β$--the opti…

In the present work we construct a lift of a metric $g$ on a 2-dimensional oriented Riemannian manifold $M$ to a metric $\hat{g}$ on the total space $P$ of the orthonormal frame bundle of $M$. We call this lift the \textit {Wagner lift}. Viktor Vladimirovich Wagner (1908 -1981) proposed a technique to extend a metric d…

The classical theory of prolongation of G-structures was generalized by N. Tanaka to a wide class of geometric structures (Tanaka structures), which are defined on a non-holonomic distribution. Examples of Tanaka structures include subriemannian, subconformal, CR-structures, structures associated to second order differ…

The paper studies metrics on hyperkähler manifolds using sub-twistor constraints.

The paper introduces new uniformity and homogeneity concepts for Cosserat media.

Using a model for the bundle $\hat{\mathcal F}^2M$ of semi-holonomic second order frames of a manifold $M$ as an extension of the bundle ${\mathcal F}^2M$ of holonomic second order frames of $M$, we introduce in $\hat{\mathcal F}^2M$ a principal bundle structure over ${\mathcal F}^2M$, the structure group being the add…

Proposes a Gaussian process model for constrained dynamics learning.

In this paper we derive a generating series for the number of cellular complexes known as pavings or three-dimensional maps, on $n$ darts, thus solving an analogue of Tutte's problem in dimension three. The generating series we derive also counts free subgroups of index $n$ in $Δ^+ = \mathbb{Z}_2*\mathbb{Z}_2*\mathbb{Z…

Geometric mechanics approach to constrained and floating multibody systems using Hamel's equations.

We realize the simple Lie superalgebra G(3) as supersymmetry of various geometric structures, most importantly super-versions of the Hilbert-Cartan equation (SHC) and Cartan's involutive PDE system that exhibit G(2) symmetry. We provide the symmetries explicitly and compute, via the first Spencer cohomology groups, the…