Develops computational methods for simulating rigid body dynamics on SO(3).
problem Simulating rotational dynamics of rigid bodies on SO(3).
method Discrete Mechanics, Variational Integrators, Newton-Raphson algorithm.
result Preserves symplectic structure of SO(3) manifold dynamics.
Paper provides closed-form time derivatives for rigid body systems.
problem Need for time derivatives of equations of motion in robotics.
method Lie group formulation for rigid body systems to derive closed-form derivatives up to second-order.
result Closed-form equations provide direct insight into system dynamics.
The numerical integration plays a fundamental role in understanding the behaviour of many mechanical systems. In this paper some important aspects of the mechanical integrators on the dynamics of a mechanical system are studied. More specific, we have shown that if that the Lie-Trotter integrator is obtained, in case o…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been developed to model the dynamics of these complex scenes; however, relying on app…
Study on symmetries and equilibria in Poisson manifolds, with applications to rigid body dynamics.
problem Characterizing conformal relative equilibria on Poisson manifolds.
method Introducing conformally Poisson actions and momentum maps, establishing algebraic criteria.
result Classification of nontrivial conformal relative equilibria in Lie algebras, with applications to rigid body dynamics.
Optimizes angular velocity transfers for rigid bodies under deadline constraints.
problem Stochastic guidance of spin states of rigid bodies over a hard deadline.
method Structural analysis of Kantorovich optimal coupling formulation for nonlinear dynamics.
result Derives the ground cost for optimal transport of angular velocity.
Suppose that the initial triangle formed by the three moving masses of the three-body problem is similar to the triangle formed at some later time. We derive a simple integral formula for the overall rotation relating the two triangles. The formula is based on the fact that the space of similarity classes of triangles …
Model learns Lagrangian dynamics from images for better prediction and control.
problem Lack of interpretability and applicability to high-dimensional data like images.
method Unsupervised neural network model that learns Lagrangian dynamics from images using a coordinate-aware VAE.
result Model infers interpretable Lagrangian dynamics, enabling long-term prediction and synthesis of controllers.
The paper proves convex bodies are minimal fillings and have Lipschitz-volume rigidity.
problem Finding minimal fillings of convex bodies.
method Analyzing integral current spaces and proving rigidity properties.
result Convex bodies are the unique minimal fillings of their boundary metrics among integral current spaces and enjoy Lipschitz-volume rigidity.
New equations for rigid body motion on infinite-dimensional spaces of operators.
problem Integrating rigid body dynamics on infinite-dimensional spaces of operators.
method Introducing pseudo-Riemannian metrics and adapting classical integrability theory.
result Existence of geodesics and integrals of motion for the rigid body equations.
Paper compares Lagrangian reduction methods for rigid body systems.
problem Modeling and reduction of rigid body systems with rotors.
method Euler-Poincaré reduction by the whole group and reduction by stages.
result Equivalence of equations and conservation laws are tracked.
New surface area measures defined for ball-convex bodies, leading to entropy and inequalities.
problem Defining and analyzing surface area measures for ball-convex bodies.
method Introducing Lp relative surface areas, proving invariance and inequalities, and using geometric interpretations. result Established inequalities and a new notion of entropy for ball-convex bodies.
Geometrically interpolates rigid body motions with initial and terminal twists.
problem Finding spatial trajectories between prescribed initial and terminal poses.
method Derives solutions for k-IV-TIP and k-BV-TIP for k=1,...,4.
result Automatic cubic interpolation identical to minimum acceleration curve when twists are zero.
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior information on the mechanical …
We consider an SO(4) Euler rigid body with two 'inertia momenta' coinciding. We study it from the point of view of bihamiltonian geometry. We show how to algebraically integrate it by means of the method of separation of variables.
The paper studies rigidity and continuity in nonlinear elasticity on manifolds and hypersurfaces.
problem Rigidity and continuity properties of elastic bodies in non-Euclidean settings.
method Geometric rigidity estimates, asymptotic rigidity of elastic membranes, simplified geometric proof of continuous dependence.
result Established geometric rigidity estimate and proved asymptotic rigidity of elastic membranes.
This monograph describes a Riemannian geometric reduction approach to the three-body problem. The fundamental theorems are presented in the introductory part, whereas their proofs are provided in later chapters where specific topics are analyzed in more detail. The basic idea is to reduce the kinematic and dynamics of …
This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the latter exploits a suitable kernel function. We provide an extensive comparison …
Construct intrinsic Langevin dynamics for rigid inclusions on curved surfaces.
problem Stochastic dynamics of rigid inclusions on curved surfaces.
method Cartan's method of moving frames, Hamiltonian equations, intrinsic Langevin equations, Fokker-Planck equation.
result Extracted overdamped equations for accurate simulations of diffusion processes.
New minimal surfaces found from vortex crystals.
problem Minimal surfaces and vortex crystals.
method Gluing helicoids into minimal surfaces.
result New minimal surfaces and vortex crystals discovered.
Study of rigid body displacements in a projective space over dual numbers with geometric interpretations.
problem Understanding rigid body displacements in a novel geometric space.
method Projective differential geometry over the ring of dual numbers.
result Existence of non-straight curves with multiple osculating tangents.
We propose a sliding surface for systems on the Lie group SO(3)×R3 . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable equilibrium. The sliding surface is used to design a sliding-mode controller for t…
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two classes) are placed in a common framework. While model classes used in the litera…
A linkage mechanism consists of rigid bodies assembled by joints which can be used to translate and transfer motion from one form in one place to another. In this paper, we are particularly interested in a family of spacial linkage mechanisms which consist of n-copies of a rigid body joined together by hinges to form…
The configuration manifold M of a mechanical system consisting of two unconstrained rigid bodies in Rn, n≥1, is a manifold with boundary (typically with singularities.) A complete description of the system requires boundary conditions that specify how orbits should be continued after collisions. A b…
There is a well-known example of integrable conservative system on S2, the case of Kovalevskaya in the dynamics of a rigid body, possessing an integral of fourth degree in momenta. Goryachev proposed a one-parameter family of examples of conservative systems on S2 possessing an integral of fourth degree in moment…
Paper derives and applies a parallel transport equation on Lie groups.
problem Efficiently solving parallel transport on Lie groups with left-invariant metrics.
method Derives a parallel transport equation in Lie algebra, applies it to SE(3), and compares to existing methods.
result Stable and efficient parallel transport implementation on Lie groups.
Extended Regge complex for linearized Riemann-Cartan geometry and cohomology.
problem Cohomology of the Regge complex in three dimensions.
method Constructing a discrete version of linearized Riemann-Cartan geometry on any triangulation.
result The cohomology of the Regge complex is isomorphic to the infinitesimal-rigid-body-motion-valued de~Rham cohomology.
Neural network models colloidal particle dynamics in non-equilibrium systems.
problem Analyzing non-equilibrium dynamics of many-body colloidal systems.
method Combining power functional theory and machine learning, training a neural network to predict internal force fields.
result The neural network accurately predicts dynamics in non-equilibrium systems, in good agreement with simulations.
Soft geometric bias improves physical dynamics predictions.
problem Learning physical dynamics with exact group equivariance can degrade performance.
method Object-centric world models using geometric algebra neural networks.
result Soft geometric inductive bias leads to better physical fidelity predictions.
Simplifies neural network models by explicitly enforcing constraints in Cartesian coordinates.
problem Learning dynamics of complex systems efficiently and accurately.
method Embedding systems into Cartesian coordinates and using Lagrange multipliers to enforce constraints.
result Explicitly enforcing constraints leads to a 100x improvement in accuracy and data efficiency.
Paper introduces new Lp q-torsional measure and solves Minkowski problem.
problem Solving the Minkowski problem for q-torsional rigidity. method Established Lp variational formula and proved existence of solutions. result Existence of solutions to Lp Minkowski problem for specific measures. The paper proves a rigidity theorem for non-compact convex sets in hyperbolic 3-space.
problem Determining a closed convex set in hyperbolic 3-space by its boundary metric.
method Pogorelov's rigidity theorem, Hausdorff measure, and complex analysis techniques.
result The intrinsic path metric on the boundary determines a closed convex set up to isometry under certain conditions.
Study on curvature measures in non-Euclidean spaces linked to Euclidean geometry.
problem Investigating curvature measures in spherical, hyperbolic, and de Sitter spaces.
method Establishing a unifying framework for curvature measures in real-analytic spaces of constant curvature.
result Floating bodies and duality in non-Euclidean spaces are connected to curvature measures in Euclidean space.
New normalizing flows model molecular crystal structures.
problem Modeling positions and orientations of molecules in crystals.
method Smooth flows on unit quaternions for rigid body motion, using double cover property.
result Trained flows can generate Boltzmann distributions of molecules.
Unified framework for strain-gradient plasticity from dislocations.
problem Deriving strain-gradient plasticity from edge-dislocations.
method Γ-limit derivation in a continuum framework with smooth frame fields and dislocation circulation.
result Unified strain-gradient model with new geometric rigidity estimates.
Uncertainty propagation in nonlinear dynamic systems remains an outstanding problem in scientific computing and control. Numerous approaches have been developed, but are limited in their capability to tackle problems with more than a few uncertain variables or require large amounts of simulation data. In this paper, we…
New MBL hidden Born machine learns various tasks.
problem Learning from quantum many-body systems.
method MBL dynamics and hidden units for training.
result Enhanced trainability and stability in learning.
Study proves quantitative results for isoperimetric problem outside convex bodies in the plane.
problem Quantitative estimates for the relative isoperimetric problem outside convex bodies in the plane.
method Flow approach and Łojasiewicz estimates to prove quantitative stability for minimizers.
result Explicit constants and optimal exponents/rates for Łojasiewicz estimates and rates of convergence for gradient flow.
Integrates magnetic geodesic and sub-Riemannian flows on Stefel variety, proving integrability and Lax presentations.
problem Integrability of magnetic geodesic and sub-Riemannian flows on Vn,2. method Proves integrability of magnetic geodesic and sub-Riemannian flows on Vn,2 with respect to magnetic field ηdα. result Integrable cases of a heavy rigid body with a gyrostat are derived.
Paper proves rigidity theorems for geodesically reversible Finsler metrics.
problem Understanding geodesically reversible Finsler metrics in closed manifolds.
method Applied theory of volumes and areas on Finsler spaces to establish rigidity theorems.
result Partial explanation of the scarcity of geodesically reversible Finsler metrics in closed manifolds.
Let M be a nontrivial compression body without toroidal boundary components. We study the dynamics of the group of outer automorphisms of the fundamental group of M on the PSL(2,C)-character variety of M.
Paper proves rigidity results for anisotropic capillary hypersurfaces.
problem Rigidity of anisotropic capillary hypersurfaces.
method New Hsiung-Minkowski integral formula for anisotropic capillary hypersurfaces.
result Uniqueness of solution to anisotropic Orlicz-Christoffel-Minkowski problem.
Study circles to understand dynamics and rigidity in homogeneous spaces.
problem Understanding dynamics and rigidity in infinite-volume homogeneous spaces.
method Addressing four questions about circle packings.
result Highlighting the interplay between dynamics, geometry, and rigidity.
We consider the problem of minimizing the relative perimeter under a volume constraint in an unbounded convex body C⊂Rn+1, without assuming any further regularity on the boundary of C. Motivated by an example of an unbounded convex body with null isoperimetric profile, we introduce the concept of…
Characterizes billiard and quasigeodesic flows in polyhedral convex bodies.
problem Characterizing billiard and quasigeodesic flows in polyhedral convex bodies.
method Alexandrov geometry methods.
result Optimal regularity result for convex bodies: billiard dynamics is continuous if boundary is of class C2,1. Fixed points of Minkowski valuations are found in specific ball neighborhoods.
problem Finding fixed points of Minkowski valuations.
method Lutwak-Schneider class reduction technique and Petty's conjectured projection inequality.
result Balls are the only solutions to the fixed-point problem for certain Minkowski valuations.
Rolling systems limit to billiard models with no-slip collisions.
problem Understanding how rolling systems behave as billiard models with no-slip collisions.
method Showed that no-slip billiards arise as limits of non-holonomic rolling systems.
result Rolling systems limit to billiard models with no-slip collisions.