Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3)

This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E³, the spheres S³ and the hyperboloids H³ 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). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions is illustrated.

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 analytic torsion of a cone over an odd dimensional manifold

We study the analytic torsion of a cone over an orientable odd dimensional compact connected Riemannian manifold W. We prove that the logarithm of the analytic torsion of the cone decomposes as the sum of the logarithm of the root of the analytic torsion of the boundary of the cone, plus a topological term, plus a further term that is a rational linear combination of local Riemannian invariants of the boundary. We show that this last term coincides with the anomaly boundary term appearing in the Cheeger Muller theorem [3, 2] for a manifold with boundary, according to Bruning and Ma (2006) [5]. We also prove Poincare duality for the analytic torsion of a cone. (C) 2010 Elsevier B.V. All rights reserved.

The analytic torsion of a cone over a sphere

We compute the analytic torsion of a cone over a sphere of dimensions 1, 2, and 3, and we conjecture a general formula for the cone over an odd dimensional sphere. (C) 2009 Elsevier Masson SAS. All rights reserved.

Isometric immersions into a homogeneous Lorentzian Heisenberg group and rigidity

In this paper we prove an existence result for local and global isometric immersions of semi-Riemannian surfaces into the three dimensional Heisenberg group endowed with a homogeneous left-invariant Lorentzian metric. As a corollary, we prove a rigidity result for such immersions.

ENERGY OF GLOBAL FRAMES

The energy of a unit vector field X on a closed Riemannian manifold M is defined as the energy of the section into T(1) M determined by X. For odd-dimensional spheres, the energy functional has an infimum for each dimension 2k + 1 which is not attained by any non-singular vector field for k > 1. For k = 1, Hopf vector fields are the unique minima. In this paper we show that for any closed Riemannian manifold, the energy of a frame defined on the manifold, possibly except on a finite subset, admits a lower bound in terms of the total scalar curvature of the manifold. In particular, for odd-dimensional spheres this lower bound is attained by a family of frames defined on the sphere minus one point and consisting of vector fields parallel along geodesics.

The Gauss-Kronecker curvature of minimal hypersurfaces in four-dimensional space forms

LetQ(4)( c) be a four-dimensional space form of constant curvature c. In this paper we show that the infimum of the absolute value of the Gauss-Kronecker curvature of a complete minimal hypersurface in Q(4)(c), c <= 0, whose Ricci curvature is bounded from below, is equal to zero. Further, we study the connected minimal hypersurfaces M(3) of a space form Q(4)( c) with constant Gauss-Kronecker curvature K. For the case c <= 0, we prove, by a local argument, that if K is constant, then K must be equal to zero. We also present a classification of complete minimal hypersurfaces of Q(4)( c) with K constant.

GENERICITY OF NONDEGENERATE GEODESICS WITH GENERAL BOUNDARY CONDITIONS

Let M be a possibly noncompact manifold. We prove, generically in the C(k)-topology (2 <= k <= infinity), that semi-Riemannian metrics of a given index on M do not possess any degenerate geodesics satisfying suitable boundary conditions. This extends a result of L. Biliotti, M. A. Javaloyes and P. Piccione [6] for geodesics with fixed endpoints to the case where endpoints lie on a compact submanifold P subset of M x M that satisfies an admissibility condition. Such condition holds, for example, when P is transversal to the diagonal Delta subset of M x M. Further aspects of these boundary conditions are discussed and general conditions under which metrics without degenerate geodesics are C(k)-generic are given.

Variedade riemannianas e imersão do tipo Nash: um ensaio e aplicações

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

The analytic torsion of a disc

In this article, we study the Reidemeister torsion and the analytic torsion of the m dimensional disc, with the Ray and Singer homology basis (Adv Math 7:145-210, 1971). We prove that the Reidemeister torsion coincides with a power of the volume of the disc. We study the additional terms arising in the analytic torsion due to the boundary, using generalizations of the Cheeger-Muller theorem. We use a formula proved by Bruning and Ma (GAFA 16:767-873, 2006) that predicts a new anomaly boundary term beside the known term proportional to the Euler characteristic of the boundary (Luck, J Diff Geom 37:263-322, 1993). Some of our results extend to the case of the cone over a sphere, in particular we evaluate directly the analytic torsion for a cone over the circle and over the two sphere. We compare the results obtained in the low dimensional cases. We also consider a different formula for the boundary term given by Dai and Fang (Asian J Math 4:695-714, 2000), and we compare the results. The results of these work were announced in the study of Hartmann et al. (BUMI 2:529-533, 2009).

Quasi-isometries and isoperimetric inequalities

We consider the stability of isoperimetric inequalities under quasi-isometries between Riemann surfaces. Kanai observed that quasi-isometries preserve isoperimetric inequalities on complete Riemannian manifolds with finite geometry: positive injectivity radius and Ricci curvature bounded from below (see [2]). In [1], it is shown that the linear isoperimetric inequality is a quasi-isometric invariant for planar Riemann surfaces (genus zero surfaces) with vanishing injectivity radius. Moreover, it is proved that non-linear isoperimetric inequalities can only hold for Riemann surfaces with positive injectivity radius, and hence, by Kanai's observation, preserved by quasi-isometries. In this talk we present an overview on isoperimetric inequalities and give some of the ideas of the proofs of the results cited above.

Pseudo-Reimannian metrics with parallel spinor fields and vanishing Ricci tensor

I discuss geometry and normal forms for pseudo-Riemannian metrics with parallel spinor fields in some interesting dimensions. I also discuss the interaction of these conditions for parallel spinor fields with the condition that the Ricci tensor vanish (which, for pseudo-Riemannian manifolds, is not an automatic consequence of the existence of a nontrivial parallel spinor field).

The Herglotz variational problem on spheres and its optimal control approach

The main goal of this paper is to extend the generalized variational problem of Herglotz type to the more general context of the Euclidean sphere S^n. Motivated by classical results on Euclidean spaces, we derive the generalized Euler-Lagrange equation for the corresponding variational problem defined on the Riemannian manifold S^n. Moreover, the problem is formulated from an optimal control point of view and it is proved that the Euler-Lagrange equation can be obtained from the Hamiltonian equations. It is also highlighted the geodesic problem on spheres as a particular case of the generalized Herglotz problem.

Geometric Hamiltonian formulation of a variational problem depending on the covariant acceleration

We consider a second-order variational problem depending on the covariant acceleration, which is related to the notion of Riemannian cubic polynomials. This problem and the corresponding optimal control problem are described in the context of higher order tangent bundles using geometric tools. The main tool, a presymplectic variant of Pontryagin’s maximum principle, allows us to study the dynamics of the control problem.

Geometry of Warped Product Semi-Invariant Submanifolds of a Locally Riemannian Product Manifold

2000 Mathematics Subject Classification: 53C42, 53C15.