Optimal steady motions for oriented vehicles

Motivated by the motion planning problem for oriented vehicles travelling in a 3-Dimensional space; Euclidean space E3, the sphere S3 and Hyperboloid H3. For such problems the orientation of the vehicle is naturally represented by an orthonormal frame over a point in the underlying manifold. The orthonormal frame bundles of the space forms R3,S3 and H3 correspond with their isometry groups and are the Euclidean group of motion SE(3), the rotation group SO(4) and the Lorentzian group SO(1; 3) respectively. 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. For constant twist motions or helical motions, the corresponding curves g(t) 2 SE(3) are 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/helical 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.

Invariant theory and reversible-equivariant vector fields

In this paper we present results for the systematic study of reversible-equivariant vector fields - namely, in the simultaneous presence of symmetries and reversing symmetries - by employing algebraic techniques from invariant theory for compact Lie groups. The Hilbert-Poincare series and their associated Molien formulae are introduced,and we prove the character formulae for the computation of dimensions of spaces of homogeneous anti-invariant polynomial functions and reversible-equivariant polynomial mappings. A symbolic algorithm is obtained for the computation of generators for the module of reversible-equivariant polynomial mappings over the ring of invariant polynomials. We show that this computation can be obtained directly from a well-known situation, namely from the generators of the ring of invariants and the module of the equivariants. (C) 2008 Elsevier B.V, All rights reserved.

On the manifold structure of the set of unparameterized embeddings with low regularity

Given manifolds M and N, with M compact, we study the geometrical structure of the space of embeddings of M into N, having less regularity than C(infinity) quotiented by the group of diffeomorphisms of M.

Representation type of Jordan algebras

The problem of classification of Jordan bit-nodules over (non-semisimple) finite dimensional Jordan algebras with respect to their representation type is considered. The notions of diagram of a Jordan algebra and of Jordan tensor algebra of a bimodule are introduced and a mapping Qui is constructed which associates to the diagram of a Jordan algebra J the quiver of its universal associative enveloping algebra S(J). The main results are concerned with Jordan algebras of semi-matrix type, that is, algebras whose semi-simple component is a direct sum of Jordan matrix algebras. In this case, criterion of finiteness and tameness for one-sided representations are obtained, in terms of diagram and mapping Qui, for Jordan tensor algebras and for algebras with radical square equals to 0. (c) 2010 Elsevier Inc. All rights reserved.

Structurable superalgebras of Cartan type

We describe the simple Lie superalgebras arising from the unital structurable superalgebras of characteristic 0 and construct four series of the unital simple structurable superalgebras of Cartan type. We give a classification of simple structurable superalgebras of Cartan type over an algebraically closed field F of characteristic 0. Together with the Faulkner theorem on the classification of classical such superalgebras, it gives a classification of the simple structurable superalgebras over F. Crown Copyright (C) 2010 Published by Elsevier Inc. All rights reserved.

Térmitas como bioindicadores de qualidade de habitat na caatinga, Brasil: há uma sintonia entre as variáveis estruturais dos habitats e as taxocenoses amostradas?

The composition of termite assemblages was analyzed at three Caatinga sites of the Seridó Ecological Station, located in the municipality of Serra Negra do Norte, in the state of Rio Grande do Norte, Brazil. These sites have been subjected to selective logging, and cleared for pasture and farming. A standardized sampling protocol for termite assemblages (30h/person/site) was conducted between September 2007 and February 2009. At each site we measured environmental variables, such as soil granulometry, pH and organic matter, necromass stock, vegetation height, tree density, stem diameter at ankle height (DAH) and the largest and the smallest crown width. Ten species of termites, belonging to eight genera and three families, were found at the three experimental sites. Four feeding-groups were sampled: wood-feeders, soil-feeders, wood-soil interface feeders and leaf-feeders. The wood-feeders were dominant in number of species and number of encounters at all sites. In general, the sites were not significantly different in relation to the environmental variables measured. The same pattern was observed for termite assemblages, where no significant differences in species richness, relative abundance and taxonomic and functional composition were observed between the three sites. The agreement between the composition of assemblages and environmental variables reinforces the potential of termites as biological indicators of habitat quality

A homological version of the implicit function theorem

Our objective in this paper is to prove an Implicit Function Theorem for general topological spaces. As a consequence, we show that, under certain conditions, the set of the invertible elements of a topological monoid X is an open topological group in X and we use the classical topological group theory to conclude that this set is a Lie group.

Symplectic actions on coadjoint orbits

We present a compact expression for the field theoretical actions based on the symplectic analysis of coadjoint orbits of Lie groups. The final formula for the action density α c becomes a bilinear form 〈(S, 1/λ), (y, m y)〉, where S is a 1-cocycle of the Lie group (a schwarzian type of derivative in conformai case), λ is a coefficient of the central element of the algebra and script Y sign ≡ (y, m y) is the generalized Maurer-Cartan form. In this way the action is fully determined in terms of the basic group theoretical objects. This result is illustrated on a number of examples, including the superconformal model with N = 2. In this case the method is applied to derive the N = 2 superspace generalization of the D=2 Polyakov (super-) gravity action in a manifest (2, 0) supersymmetric form. As a byproduct we also find a natural (2, 0) superspace generalization of the Beltrami equations for the (2, 0) supersymmetric world-sheet metric describing the transition from the conformal to the chiral gauge.

The Noether theorem for geometric actions and area preserving diffeomorphisms on the torus

We find that within the formalism of coadjoint orbits of the infinite dimensional Lie group the Noether procedure leads, for a special class of transformations, to the constant of motion given by the fundamental group one-cocycle S. Use is made of the simplified formula giving the symplectic action in terms of S and the Maurer-Cartan one-form. The area preserving diffeomorphisms on the torus T2=S1⊗S1 constitute an algebra with central extension, given by the Floratos-Iliopoulos cocycle. We apply our general treatment based on the symplectic analysis of coadjoint orbits of Lie groups to write the symplectic action for this model and study its invariance. We find an interesting abelian symmetry structure of this non-linear problem.

Solutions to higher Hamiltonians in the Toda hierarchies

A method is presented for constructing the general solution to higher Hamiltonians (nonquadratic in the momenta) of the Toda hierarchies of integrable models associated with a simple Lie group G. The method is representation independent and is based on a modified version of the Lax operator. It constitutes a generalization of the method used to construct the solutions of the Toda molecule models. The SL(3) and SL(4) cases are discussed in detail. © 1990 American Institute of Physics.

Campos de vetores lineares reversíveis equivariantes

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

On symmetries of singular implicit ODEs

We study implicit ODEs, cubic in derivative, with infinitesimal symmetry at singular points. Cartan showed that even at regular points the existence of nontrivial symmetry imposes restrictions on the ODE. Namely, this algebra has the maximal possible dimension 3 iff the web of solutions is flat. For cubic ODEs with flat 3-web of solutions we establish sufficient conditions for the existence of nontrivial symmetries at singular points and show that under natural assumptions such a symmetry is semi-simple, i.e. is a scaling is some coordinates. We use this symmetry to find first integrals of the ODE.

Local classification of singular hexagonal 3-webs with holomorphic Chern connection form and infinitesimal symmetries

Implicit ODE, cubic in derivative, generically has no infinitesimal symmetries even at regular points with distinct roots. Cartan showed that at regular points, ODEs with hexagonal 3-web of solutions have symmetry algebras of the maximal possible dimension 3. At singular points such a web can lose all its symmetries. In this paper we study hexagonal 3-webs having at least one infinitesimal symmetry at singular points. In particular, we establish sufficient conditions for the existence of non-trivial symmetries and show that under natural assumptions such a symmetry is semi-simple, i.e. is a scaling in some coordinates. Using the obtained results, we provide a complete classification of hexagonal singular 3-web germs in the complex plane, satisfying the following two conditions: 1) the Chern connection form is holomorphic at the singular point, 2) the web admits at least one infinitesimal symmetry at this point. As a by-product, a classification of hexagonal weighted homogeneous 3-webs is obtained.

Hirota's solitons in the affine and the conformal affine Toda models

We use Hirota's method formulated as a recursive scheme to construct a complete set of soliton solutions for the affine Toda field theory based on an arbitrary Lie algebra. Our solutions include a new class of solitons connected with two different types of degeneracies encountered in Hirota's perturbation approach. We also derive an universal mass formula for all Hirota's solutions to the affine Toda model valid for all underlying Lie groups. Embedding of the affine Toda model in the conformal affine Toda model plays a crucial role in this analysis.

Simetrias e sólitons do modelo de toda conforme afim

Pós-graduação em Física - IFT