Canonical solution groups of a homomorphism : manipulator kinematics, nonparametric regression and distributed object systems

The kinematic mapping of a rigid open-link manipulator is a homomorphism between Lie groups. The homomorphisrn has solution groups that act on an inverse kinematic solution element. A canonical representation of solution group operators that act on a solution element of three and seven degree-of-freedom (do!) dextrous manipulators is determined by geometric analysis. Seven canonical solution groups are determined for the seven do! Robotics Research K-1207 and Hollerbach arms. The solution element of a dextrous manipulator is a collection of trivial fibre bundles with solution fibres homotopic to the Torus. If fibre solutions are parameterised by a scalar, a direct inverse funct.ion that maps the scalar and Cartesian base space coordinates to solution element fibre coordinates may be defined. A direct inverse pararneterisation of a solution element may be approximated by a local linear map generated by an inverse augmented Jacobian correction of a linear interpolation. The action of canonical solution group operators on a local linear approximation of the solution element of inverse kinematics of dextrous manipulators generates cyclical solutions. The solution representation is proposed as a model of inverse kinematic transformations in primate nervous systems. Simultaneous calibration of a composition of stereo-camera and manipulator kinematic models is under-determined by equi-output parameter groups in the composition of stereo-camera and Denavit Hartenberg (DH) rnodels. An error measure for simultaneous calibration of a composition of models is derived and parameter subsets with no equi-output groups are determined by numerical experiments to simultaneously calibrate the composition of homogeneous or pan-tilt stereo-camera with DH models. For acceleration of exact Newton second-order re-calibration of DH parameters after a sequential calibration of stereo-camera and DH parameters, an optimal numerical evaluation of DH matrix first order and second order error derivatives with respect to a re-calibration error function is derived, implemented and tested. A distributed object environment for point and click image-based tele-command of manipulators and stereo-cameras is specified and implemented that supports rapid prototyping of numerical experiments in distributed system control. The environment is validated by a hierarchical k-fold cross validated calibration to Cartesian space of a radial basis function regression correction of an affine stereo model. Basic design and performance requirements are defined for scalable virtual micro-kernels that broker inter-Java-virtual-machine remote method invocations between components of secure manageable fault-tolerant open distributed agile Total Quality Managed ISO 9000+ conformant Just in Time manufacturing systems.

Hilbert-Smith Conjecture for K - Quasiconformal Groups

MSC 2010: 30C60

Optimal control of affine connection control systems from the point of view of Lie algebroids

The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems (ACCSs) on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.

Motivic Decomposition of Projective Pseudo-Homogeneous Varieties

Let G be a semi-simple algebraic group over a field k. Projective G-homogeneous varieties are projective varieties over which G acts transitively. The stabilizer or the isotropy subgroup at a point on such a variety is a parabolic subgroup which is always smooth when the characteristic of k is zero. However, when k has positive characteristic, we encounter projective varieties with transitive G-action where the isotropy subgroup need not be smooth. We call these varieties projective pseudo-homogeneous varieties. To every such variety, we can associate a corresponding projective homogeneous variety. In this thesis, we extensively study the Chow motives (with coefficients from a finite connected ring) of projective pseudo-homogeneous varieties for G inner type over k and compare them to the Chow motives of the corresponding projective homogeneous varieties. This is done by proving a generic criterion for the motive of a variety to be isomorphic to the motive of a projective homogeneous variety which works for any characteristic of k. As a corollary, we give some applications and examples of Chow motives that exhibit an interesting phenomenon. We also show that the motives of projective pseudo-homogeneous varieties satisfy properties such as Rost Nilpotence and Krull-Schmidt.

Casimir invariants and characteristic identities for gl(infinity)

A full set of (higher-order) Casimir invariants for the Lie algebra gl(infinity) is constructed and shown to be well defined in the category O-FS generated by the highest weight (unitarizable) irreducible representations with only a finite number of nonzero weight components. Moreover, the eigenvalues of these Casimir invariants are determined explicitly in terms of the highest weight. Characteristic identities satisfied by certain (infinite) matrices with entries from gl(infinity) are also determined and generalize those previously obtained for gl(n) by Bracken and Green [A. J. Bracken and H. S. Green, J. Math. Phys. 12, 2099 (1971); H. S. Green, ibid. 12, 2106 (1971)]. (C) 1997 American Institute of Physics.

Automatic construction of explicit R matrices for the one-parameter families of irreducible typical highest weight (0(m)vertical bar alpha(n)) representations of U-q[gl(m vertical bar n)]

We detail the automatic construction of R matrices corresponding to (the tensor products of) the (O-m\alpha(n)) families of highest-weight representations of the quantum superalgebras Uq[gl(m\n)]. These representations are irreducible, contain a free complex parameter a, and are 2(mn)-dimensional. Our R matrices are actually (sparse) rank 4 tensors, containing a total of 2(4mn) components, each of which is in general an algebraic expression in the two complex variables q and a. Although the constructions are straightforward, we describe them in full here, to fill a perceived gap in the literature. As the algorithms are generally impracticable for manual calculation, we have implemented the entire process in MATHEMATICA; illustrating our results with U-q [gl(3\1)]. (C) 2002 Published by Elsevier Science B.V.

A Poincare-Birkhoff-Witt commutator lemma for U-q[gl(m vertical bar n)]

We present and prove in detail a Poincare-Birkhoff-Witt commutator lemma for the quantum superalgebra U-q[gl(m\n)]. (C) 2003 American Institute of Physics.

Child sun protection in New Zealand: parental view and societal responsibilities

Issue addressed: Cutaneous melanoma is a significant health problem in New Zealand. Excessive sun exposure in early life increases subsequent risk. This study investigated parental opinions, understanding and practices concerning the sun protection of young children. The study aimed to identify areas where improvements in sun protection may be most needed. Methods: Parents were recruited through licensed childcare centres and kindergartens in Dunedin to take part in semi-structured focus groups. Feedback was obtained from participants in response to summary reports based on audiotapes. Results: Parents noted increased social acceptability of sun protective behaviours and child sunburn was now unacceptable. Past media campaigns were well recalled. The 'time to burn' used in media weather reports was easier to understand than the Ultra Violet Index (UVI), about which more information was wanted. Protective messages were expected to be straightforward, consistent and readily and regularly available. Local radio may provide the most timely, relevant information. There was a perceived lack of authoritative information about sunscreens and sunglasses and a shortage of acceptable protective clothing. Fuller information on sunscreen containers and greater use of UV Protection Factor (UPF) ratings for clothing and Eye Protection Factor (EPF) for sunglasses would assist. The use of shade and rescheduling of activities were scarcely mentioned. Conclusions: Parents were aware of the need for child sun protection but lacked confidence about how best to achieve this. Future health promotion programs should emphasise how optimal protection can be achieved more than why sun protection is needed. Programs should include a repertoire of strategies targeted towards individuals through the education of children and caregivers. They should also aim at achieving modifications in physical and social environments, including appropriate product design and promotion. So what?: The development of a balanced, comprehensive program with environmental components that reinforce protective behaviours has the potential to sustain sun protection among the largest number of children in the longer term.

A qualitative study about immigrant workers’ perceptions of their working conditions in Spain

Background: Spain has recently become an inward migration country. Little is known about the occupational health of immigrant workers. This study aimed to explore the perceptions that immigrant workers in Spain had of their working conditions.Methods: Qualitative, exploratory, descriptive study. Criterion sampling. Data collected between September 2006 and May 2007 through semi-structured focus groups and individual interviews, with a topic guide. One hundred and fifty-eight immigrant workers (90 men/68 women) from Colombia (n = 21), Morocco (n = 39), sub-Saharan Africa (n = 29), Romania (n = 44) and Ecuador (n = 25), who were authorised (documented) or unauthorised (undocumented) residents in five medium to large cities in Spain.Results: Participants described poor working conditions, low pay and health hazards. Perception of hazards appeared to be related to gender and job sector. Informants were highly segregated into jobs by sex, however, so this issue will need further exploration. Undocumented workers described poorer conditions than documented workers, which they attributed to their documentation status. Documented participants also felt vulnerable because of their immigrant status. Informants believed that deficient language skills, non-transferability of their education and training and, most of all, their immigrant status and economic need left them with little choice but to work under poor conditions.Conclusions: The occupational health needs of immigrant workers must be addressed at the job level, while improving the enforcement of existing health and safety regulations. The roles that documentation status and economic need played in these informants' work experiences should be considered and how these may influence health outcomes.

Canonical Noether symmetries and commutativity properties for gauge systems

For a dynamical system defined by a singular Lagrangian, canonical Noether symmetries are characterized in terms of their commutation relations with the evolution operators of Lagrangian and Hamiltonian formalisms. Separate characterizations are given in phase space, in velocity space, and through an evolution operator that links both spaces. 2000 American Institute of Physics.

Dirac and reduced quantization: A Lagrangian approach and Application to Coset Spaces

A Lagrangian treatment of the quantization of first class Hamiltonian systems with constraints and Hamiltonian linear and quadratic in the momenta, respectively, is performed. The first reduce and then quantize and the first quantize and then reduce (Diracs) methods are compared. A source of ambiguities in this latter approach is pointed out and its relevance on issues concerning self-consistency and equivalence with the first reduce method is emphasized. One of the main results is the relation between the propagator obtained la Dirac and the propagator in the full space. As an application of the formalism developed, quantization on coset spaces of compact Lie groups is presented. In this case it is shown that a natural selection of a Dirac quantization allows for full self-consistency and equivalence. Finally, the specific case of the propagator on a two-dimensional sphere S2 viewed as the coset space SU(2)/U(1) is worked out. 1995 American Institute of Physics.

Invariant discretizations of partial differential equations

Un algorithme permettant de discrétiser les équations aux dérivées partielles (EDP) tout en préservant leurs symétries de Lie est élaboré. Ceci est rendu possible grâce à l'utilisation de dérivées partielles discrètes se transformant comme les dérivées partielles continues sous l'action de groupes de Lie locaux. Dans les applications, beaucoup d'EDP sont invariantes sous l'action de transformations ponctuelles de Lie de dimension infinie qui font partie de ce que l'on désigne comme des pseudo-groupes de Lie. Afin d'étendre la méthode de discrétisation préservant les symétries à ces équations, une discrétisation des pseudo-groupes est proposée. Cette discrétisation a pour effet de transformer les symétries ponctuelles en symétries généralisées dans l'espace discret. Des schémas invariants sont ensuite créés pour un certain nombre d'EDP. Dans tous les cas, des tests numériques montrent que les schémas invariants approximent mieux leur équivalent continu que les différences finies standard.

De la désorganisation à l’organisation apprenante en milieu rural

ZUSAMMENFASSUNG Von der „Chaosgruppe“ zur lernenden Organisation. Fallstudien zur Induzierung und Verbreitung von Innovation in ländlichen Kleinorganisationen im Buruli (Zentral-Uganda). Die oft fehlende Nachhaltigkeit landwirtschaftlicher Projekte in Afrika allgemein und in Buruli (Zentral-Uganda) insbesondere gab den Anstoß zu der Forschung, die der vorliegenden Dissertation zugrunde liegt. Ein häufiger Grund für das Scheitern von Projekten ist, dass die lokale Bevölkerung die landwirtschaftliche Innovation als Risiko für die Ernährungssicherheit der Familie betrachtet. Die vorliegende Arbeit ist daher ein Beitrag zur Suche nach einem Weg zur Nachhaltigkeit, der dieser Tatsache Rechnung trägt. Als Forschungsmethode wurden die Gruppendiskussion und die Beobachtung mit den beiden Varianten „teilnehmender Beobachter“ und „beobachtender Teilnehmer“ gemäß Lamnek(1995b) angewendet. Es stellte sich heraus, dass die ablehnende Haltung der Zielbevölkerung landwirtschaftlicher Innovation gegenüber durch finanzielle Anreize, Seminare oder die Überzeugungskunst von Mitarbeitern der Entwicklungsorganisationen kaum behoben werden kann, sondern nur durch den Einbezug der Menschen in einen von ihnen selbst gesteuerten Risikomanagementprozess. Die Prozessberatung von Schein (2000) und die nichtdirektive Beratung von Rogers (2010) haben sich im Rahmen unserer Untersuchung für die Motivierung der Bevölkerung für eine risikobewusste Entwicklungsinitiative von großem Nutzen erwiesen ebenso wie für die Beschreibung dieses Prozesses in der vorliegenden Studie. Die untersuchten Gruppen wurden durch diesen innovativen Ansatz der Entwicklungsberatung in die Lage versetzt, das Risiko von Innovation zu analysieren, zu bewerten und zu minimieren, ihre Zukunft selbst in die Hand zu nehmen und in einem sozialen, ökonomischen und physischen Umfeld zu gestalten sowie auf Veränderungen im Laufe der Umsetzung angemessen zu reagieren. Der Erwerb dieser Fähigkeit setzte eine Umwandlung einfacher Bauerngruppen ohne erkennbare Strukturen in strukturierte und organisierte Gruppen voraus, die einer lernenden Organisation im ländlichen Raum entsprechen. Diese Transformation bedarf als erstes eines Zugangs zur Information und einer zielorientierten Kommunikation. Die Umwandlung der Arbeitsgruppe zu einer lernenden Bauernorganisation förderte die Nachhaltigkeit des Gemüseanbauprojekts und das Risikomanagement und wurde so zu einem konkreten, von der Umwelt wahrgenommenen Beispiel für die Zweckmäßigkeit des oben beschriebenen Forschungsansatzes. Die Herausbildung einer lernenden Organisation ist dabei nicht Mittel zum Zweck, sondern ist selbst das zu erreichende Ziel. Die Beobachtung, Begleitung und Analyse dieses Umwandlungsprozesses erfordert einen multidisziplinären Ansatz. In diesem Fall flossen agrarwissenschaftliche, soziologische, linguistische und anthropologische Perspektiven in die partnerschaftlich ausgerichtete Forschung ein. Von der Entwicklungspolitik erfordert dieser Ansatz einen neuen Weg, der auf der Partnerschaft mit den Betroffenen und auf einer Entemotionalisierung des Entwicklungsvorhabens basiert und eine gegenseitige Wertschätzung zwischen den Akteuren voraussetzt. In diesem Prozess entwickelt sich im Laufe der Zeit die „lernende“ Bauernorganisation auch zu einer „lehrenden“ Organisation und wird dadurch eine Quelle der Inspiration für die Gesamtgesellschaft. Die Nachhaltigkeit von ländlichen Entwicklungsprojekten wird damit maßgeblich verbessert.

Integrating control systems defined on the frame bundles of the space forms

This paper considers left-invariant control systems defined on the orthonormal frame bundles of simply connected manifolds of constant sectional curvature, namely the space forms Euclidean space E-3, the sphere S-3 and Hyperboloid H-3 with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1, 3). Orthonormal frame bundles of space forms coincide with their isometry groups and therefore the focus shifts to left-invariant control systems defined on Lie groups. In this paper a method for integrating these systems is given where the controls are time-independent. In the Euclidean case the elements of the Lie algebra se(3) are often referred to as twists. For constant twist motions, the corresponding curves g(t) is an element of SE(3) are known as screw motions, given in closed form by using the well known Rodrigues' formula. However, this formula is only applicable to the Euclidean case. This paper gives a method for computing the non-Euclidean screw motions in closed form. This involves decoupling the system into two lower dimensional systems using the double cover properties of Lie groups, then the lower dimensional systems are solved explicitly in closed form.

Oriented vehicles travelling in spherical space

This paper tackles the path planning problem for oriented vehicles travelling in the non-Euclidean 3-Dimensional space; spherical space S3. For such problem, the orientation of the vehicle is naturally represented by orthonormal frame bundle; the rotation group SO(4). Orthonormal frame bundles of space forms coincide with their isometry groups and therefore the focus shifts to control systems defined on Lie groups. The oriented vehicles, in this case, are constrained to travel at constant speed in a forward direction and their angular velocities directly controlled. In this paper we identify controls that induce steady motions of these oriented vehicles and yield closed form parametric expressions for these motions. The paths these vehicles trace are defined explicitly in terms of the controls and therefore invariant with respect to the coordinate system used to describe the motion.