Singularities of optimal control problems on some 6-D lie groups

This paper considers the motion planning problem for oriented vehicles travelling at unit speed in a 3-D space. A Lie group formulation arises naturally and the vehicles are modeled as kinematic control systems with drift defined on the orthonormal frame bundles of particular Riemannian manifolds, specifically, the 3-D space forms Euclidean space E-3, the sphere S-3, and the hyperboloid H'. The corresponding frame bundles are equal to the Euclidean group of motions SE(3), the rotation group SO(4), and the Lorentz group SO (1, 3). The maximum principle of optimal control shifts the emphasis for these systems to the associated Hamiltonian formalism. For an integrable case, the extremal curves are explicitly expressed in terms of elliptic functions. In this paper, a study at the singularities of the extremal curves are given, which correspond to critical points of these elliptic functions. The extremal curves are characterized as the intersections of invariant surfaces and are illustrated graphically at the singular points. It. is then shown that the projections, of the extremals onto the base space, called elastica, at these singular points, are curves of constant curvature and torsion, which in turn implies that the oriented vehicles trace helices.

The quadratic spinor Lagrangian, axial torsion current and generalizations

We show that the Einstein-Hilbert, the Einstein-Palatini, and the Holst actions can be derived from the Quadratic Spinor Lagrangian (QSL), when the three classes of Dirac spinor fields, under Lounesto spinor field classification, are considered. To each one of these classes, there corresponds an unique kind of action for a covariant gravity theory. In other words, it is shown to exist a one-to-one correspondence between the three classes of non-equivalent solutions of the Dirac equation, and Einstein-Hilbert, Einstein-Palatini, and Holst actions. Furthermore, it arises naturally, from Lounesto spinor field classification, that any other class of spinor field-Weyl, Majorana, flagpole, or flag-dipole spinor fields-yields a trivial (zero) QSL, up to a boundary term. To investigate this boundary term, we do not impose any constraint on the Dirac spinor field, and consequently we obtain new terms in the boundary component of the QSL. In the particular case of a teleparallel connection, an axial torsion one-form current density is obtained. New terms are also obtained in the corresponding Hamiltonian formalism. We then discuss how these new terms could shed new light on more general investigations.

Hamilton-Jacobi approach for first order actions and theories with higher derivatives

In this work, we analyze systems described by Lagrangians with higher order derivatives in the context of the Hamilton-Jacobi formalism for first order actions. Two different approaches are studied here: the first one is analogous to the description of theories with higher derivatives in the hamiltonian formalism according to [D.M. Gitman, S.L. Lyakhovich, I.V. Tyutin, Soviet Phys. J. 26 (1983) 730; D.M. Gitman, I.V. Tyutin, Quantization of Fields with Constraints, Springer-Verlag, New York, Berlin, 1990] the second treats the case where degenerate coordinate are present, in an analogy to reference [D.M. Gitman, I.V. Tyutin, Nucl. Phys. B 630 (2002) 509]. Several examples are analyzed where a comparison between both approaches is made. (C) 2007 Elsevier B.V. All rights reserved.

Influence of the resonance in a gravity-gradient stabilized satellite

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

BFFT quantization and dynamical solutions of a fluid field theory

We study a field theory formulation of a fluid mechanical model. We implement the Hamiltonian formalism by using the BFFT conjecture in order to build a gauge invariant fluid field theory. We also generalize previous known classical dynamical field solutions for the fluid model. ©2000 The American Physical Society.

Variáveis canônicas não singulares e o movimento rotacional de satélites artificiais

Pós-graduação em Física - FEG

Formalismo de Hamilton-Jacobi para sistemas singulares

Pós-graduação em Física - IFT

Quantização de sistemas singulares via formalismo de Hamilton-Jacobi

Pós-graduação em Física - IFT

O modelo de Schrödinger não linear com um defeito integrável

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Estudo sobre a teoria de vínculos de Hamilton-Jacobi

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Cassini states for black hole binaries

Cassini states correspond to the equilibria of the spin axis of a body when its orbit is perturbed. They were initially described for planetary satellites, but the spin axes of black hole binaries also present this kind of equilibria. In previous works, Cassini states were reported as spin-orbit resonances, but actually the spin of black hole binaries is in circulation and there is no resonant motion. Here we provide a general description of the spin dynamics of black hole binary systems based on a Hamiltonian formalism. In absence of dissipation, the problem is integrable and it is easy to identify all possible trajectories for the spin for a given value of the total angular momentum. As the system collapses due to radiation reaction, the Cassini states are shifted to different positions, which modifies the dynamics around them. This is why the final spin distribution may differ from the initial one. Our method provides a simple way of predicting the distribution of the spin of black hole binaries at the end of the inspiral phase.

Lagrangian-Hamiltonian unified formalism for field theory

The RuskSkinner formalism was developed in order to give a geometrical unified formalism for describing mechanical systems. It incorporates all the characteristics of Lagrangian and Hamiltonian descriptions of these systems (including dynamical equations and solutions, constraints, Legendre map, evolution operators, equivalence, etc.). In this work we extend this unified framework to first-order classical field theories, and show how this description comprises the main features of the Lagrangian and Hamiltonian formalisms, both for the regular and singular cases. This formulation is a first step toward further applications in optimal control theory for partial differential equations. 2004 American Institute of Physics.

Unified formalism for non-autonomous mechanical systems

We present a unified geometric framework for describing both the Lagrangian and Hamiltonian formalisms of regular and non-regular time-dependent mechanical systems, which is based on the approach of Skinner and Rusk (1983). The dynamical equations of motion and their compatibility and consistency are carefully studied, making clear that all the characteristics of the Lagrangian and the Hamiltonian formalisms are recovered in this formulation. As an example, it is studied a semidiscretization of the nonlinear wave equation proving the applicability of the proposed formalism.

Lagrangian and Hamiltonian BRST structures of the antysimmetric tensor gauge theory

We study the Becchi-Rouet-Stora-Tyutin (BRST) structure of a self-interacting antisymmetric tensor gauge field, which has an on-shell null-vector gauge transformation. The Batalin-Vilkovisky covariant general formalism is briefly reviewed, and the issue of on-shell nilpotency of the BRST transformation is elucidated. We establish the connection between the covariant and the canonical BRST formalisms for our particular theory. Finally, we point out the similarities and differences with Wittens string field theory.

Nonlinear Lattice Within Supersymmetric Quantum Mechanics Formalism

In the last decades, the study of nonlinear one dimensional lattices has attracted much attention of the scientific community. One of these lattices is related to a simplified model for the DNA molecule, allowing to recover experimental results, such as the denaturation of DNA double helix. Inspired by this model we construct a Hamiltonian for a reflectionless potential through the Supersymmetric Quantum Mechanics formalism, SQM. Thermodynamical properties of such one dimensional lattice are evaluated aming possible biological applications.