3 resultados para Inverse kinematics

em Academic Archive On-line (Stockholm University


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We study the power series ring R= K[[x1,x2,x3,...]]on countably infinitely many variables, over a field K, and two particular K-subalgebras of it: the ring S, which is isomorphic to an inverse limit of the polynomial rings in finitely many variables over K, and the ring R', which is the largest graded subalgebra of R. Of particular interest are the homogeneous, finitely generated ideals in R', among them the generic ideals. The definition of S as an inverse limit yields a set of truncation homomorphisms from S to K[x1,...,xn] which restrict to R'. We have that the truncation of a generic I in R' is a generic ideal in K[x1,...,xn]. It is shown in Initial ideals of Truncated Homogeneous Ideals that the initial ideal of such an ideal converge to the initial ideal of the corresponding ideal in R'. This initial ideal need no longer be finitely generated, but it is always locally finitely generated: this is proved in Gröbner Bases in R'. We show in Reverse lexicographic initial ideals of generic ideals are finitely generated that the initial ideal of a generic ideal in R' is finitely generated. This contrast to the lexicographic term order. If I in R' is a homogeneous, locally finitely generated ideal, and if we write the Hilbert series of the truncated algebras K[x1,...,xn] module the truncation of I as qn(t)/(1-t)n, then we show in Generalized Hilbert Numerators that the qn's converge to a power series in t which we call the generalized Hilbert numerator of the algebra R'/I. In Gröbner bases for non-homogeneous ideals in R' we show that the calculations of Gröbner bases and initial ideals in R' can be done also for some non-homogeneous ideals, namely those which have an associated homogeneous ideal which is locally finitely generated. The fact that S is an inverse limit of polynomial rings, which are naturally endowed with the discrete topology, provides S with a topology which makes it into a complete Hausdorff topological ring. The ring R', with the subspace topology, is dense in R, and the latter ring is the Cauchy completion of the former. In Topological properties of R' we show that with respect to this topology, locally finitely generated ideals in R'are closed.

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The thesis consists of three independent parts. Part I: Polynomial amoebas We study the amoeba of a polynomial, as de ned by Gelfand, Kapranov and Zelevinsky. A central role in the treatment is played by a certain convex function which is linear in each complement component of the amoeba, which we call the Ronkin function. This function is used in two di erent ways. First, we use it to construct a polyhedral complex, which we call a spine, approximating the amoeba. Second, the Monge-Ampere measure of the Ronkin function has interesting properties which we explore. This measure can be used to derive an upper bound on the area of an amoeba in two dimensions. We also obtain results on the number of complement components of an amoeba, and consider possible extensions of the theory to varieties of codimension higher than 1. Part II: Differential equations in the complex plane We consider polynomials in one complex variable arising as eigenfunctions of certain differential operators, and obtain results on the distribution of their zeros. We show that in the limit when the degree of the polynomial approaches innity, its zeros are distributed according to a certain probability measure. This measure has its support on the union of nitely many curve segments, and can be characterized by a simple condition on its Cauchy transform. Part III: Radon transforms and tomography This part is concerned with different weighted Radon transforms in two dimensions, in particular the problem of inverting such transforms. We obtain stability results of this inverse problem for rather general classes of weights, including weights of attenuation type with data acquisition limited to a 180 degrees range of angles. We also derive an inversion formula for the exponential Radon transform, with the same restriction on the angle.

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The barred spiral galaxy M83 (NGC5236) has been observed in the 12CO J=1–0 and J=2–1 millimetre lines with the Swedish-ESO Submillimetre Telescope (SEST). The sizes of the CO maps are 100×100, and they cover the entire optical disk. The CO emission is strongly peaked toward the nucleus. The molecular spiral arms are clearly resolved and can be traced for about 360º. The total molecular gas mass is comparable to the total Hi mass, but H2 dominates in the optical disk. Iso-velocity maps show the signature of an inclined, rotating disk, but also the effects of streaming motions along the spiral arms. The dynamical mass is determined and compared to the gas mass. The pattern speed is determined from the residual velocity pattern, and the locations of various resonances are discussed. The molecular gas velocity dispersion is determined, and a trend of decreasing dispersion with increasing galactocentric radius is found. A total gas (H2+Hi+He) mass surface density map is presented, and compared to the critical density for star formation of an isothermal gaseous disk. The star formation rate (SFR) in the disk is estimated using data from various star formation tracers. The different SFR estimates agree well when corrections for extinctions, based on the total gas mass map, are made. The radial SFR distribution shows features that can be associated with kinematic resonances. We also find an increased star formation efficiency in the spiral arms. Different Schmidt laws are fitted to the data. The star formation properties of the nuclear region, based on high angular resolution HST data, are also discussed.