On codimensions k immersions of m-manifolds for k=1 and k=m-2

Let us consider M a closed smooth connected m-manifold, N a smooth ( 2m-2)-manifold and f: M -> N a continuous map, with m equivalent to 1( 4). We prove that if f*: H(1)(M; Z(2)) -> H(1)(f(M); Z(2)) is injective, then f is homotopic to an immersion. Also we give conditions to a map between manifolds of codimension one to be homotopic to an immersion. This work complements some results of Biasi et al. (Manu. Math. 104, 97-110, 2001; Koschorke in The singularity method and immersions of m-manifolds into manifolds of dimensions 2m-2, 2m-3 and 2m-4. Lecture Notes in Mathematics, vol. 1350. Springer, Heidelberg, 1988; Li and Li in Math. Proc. Camb. Phil. Soc. 112, 281-285, 1992).

What do very nearly flat detectable cosmic topologies Rook like?

Recent studies of the delectability of the cosmic topology of nearly flat universes have often concentrated on the range of values of Omega(0) given by current observations. Here we study the consequences of taking a range of bounds satisfying \Omega(0) - 1\ much less than 1, which include those expected from future observations such as the Planck mission, as well as those predicted by inflationary models. We show that in this limit, a generic detectable non-flat manifold is locally indistinguishable from either a cylindrical (R-2 X S) or toroidal (R x T-2) manifold, irrespective of its global shape, with the former being more likely. Importantly, this is compatible with some recent indications of the alignment of the quadrupole and octupole moments, based on the analysis of the first year WMAP data. It also implies that in this limit an observer would not be able to distinguish topologically whether the universe is spherical, hyperbolic or flat. By severely restricting the expected topological signatures of detectable isometries, our results provide an effective theoretical framework for interpreting cosmological observations, and can be used to confine the parameter spaces which realistic search strategies, such as the 'circles in the sky' method, need to concentrate on.

A new deformation of W-infinity and applications to the two-loop WZNW and conformal affine Toda models

We construct a centerless W-infinity type of algebra in terms of a generator of a centerless Virasoro algebra and an abelian spin 1 current. This algebra conventionally emerges in the study of pseudo-differential operators on a circle or alternatively within KP hierarchy with Watanabe's bracket. Construction used here is based on a spherical deformation of the algebra W ∞ of area preserving diffeomorphisms of a 2-manifold. We show that this deformation technique applies to the two-loop WZNW and conformal affine Toda models, establishing henceforth W ∞ invariance of these models.

Integrated visual perception architecture for robotic clothes perception and manipulation

This thesis proposes a generic visual perception architecture for robotic clothes perception and manipulation. This proposed architecture is fully integrated with a stereo vision system and a dual-arm robot and is able to perform a number of autonomous laundering tasks. Clothes perception and manipulation is a novel research topic in robotics and has experienced rapid development in recent years. Compared to the task of perceiving and manipulating rigid objects, clothes perception and manipulation poses a greater challenge. This can be attributed to two reasons: firstly, deformable clothing requires precise (high-acuity) visual perception and dexterous manipulation; secondly, as clothing approximates a non-rigid 2-manifold in 3-space, that can adopt a quasi-infinite configuration space, the potential variability in the appearance of clothing items makes them difficult to understand, identify uniquely, and interact with by machine. From an applications perspective, and as part of EU CloPeMa project, the integrated visual perception architecture refines a pre-existing clothing manipulation pipeline by completing pre-wash clothes (category) sorting (using single-shot or interactive perception for garment categorisation and manipulation) and post-wash dual-arm flattening. To the best of the author’s knowledge, as investigated in this thesis, the autonomous clothing perception and manipulation solutions presented here were first proposed and reported by the author. All of the reported robot demonstrations in this work follow a perception-manipulation method- ology where visual and tactile feedback (in the form of surface wrinkledness captured by the high accuracy depth sensor i.e. CloPeMa stereo head or the predictive confidence modelled by Gaussian Processing) serve as the halting criteria in the flattening and sorting tasks, respectively. From scientific perspective, the proposed visual perception architecture addresses the above challenges by parsing and grouping 3D clothing configurations hierarchically from low-level curvatures, through mid-level surface shape representations (providing topological descriptions and 3D texture representations), to high-level semantic structures and statistical descriptions. A range of visual features such as Shape Index, Surface Topologies Analysis and Local Binary Patterns have been adapted within this work to parse clothing surfaces and textures and several novel features have been devised, including B-Spline Patches with Locality-Constrained Linear coding, and Topology Spatial Distance to describe and quantify generic landmarks (wrinkles and folds). The essence of this proposed architecture comprises 3D generic surface parsing and interpretation, which is critical to underpinning a number of laundering tasks and has the potential to be extended to other rigid and non-rigid object perception and manipulation tasks. The experimental results presented in this thesis demonstrate that: firstly, the proposed grasp- ing approach achieves on-average 84.7% accuracy; secondly, the proposed flattening approach is able to flatten towels, t-shirts and pants (shorts) within 9 iterations on-average; thirdly, the proposed clothes recognition pipeline can recognise clothes categories from highly wrinkled configurations and advances the state-of-the-art by 36% in terms of classification accuracy, achieving an 83.2% true-positive classification rate when discriminating between five categories of clothes; finally the Gaussian Process based interactive perception approach exhibits a substantial improvement over single-shot perception. Accordingly, this thesis has advanced the state-of-the-art of robot clothes perception and manipulation.

Periodic orbits near a heteroclinic loop formed by one dimensional orbit and a 2-dimensional manifold: application to the charged collinear 3-body problem

The paper is devoted to the study of a type of differential systems which appear usually in the study of some Hamiltonian systems with 2 degrees of freedom. We prove the existence of infinitely many periodic orbits on each negative energy level. All these periodic orbits pass near the total collision. Finally we apply these results to study the existence of periodic orbits in the charged collinear 3–body problem.

Bianchi identities for an N=2, d=5 supersymmetric Yang-Mills theory on the group manifold

The purpose of this note is the construction of a geometrical structure for a supersymmetric N = 2, d = 5 Yang-Mills theory on the group manifold. From a general hypothesis proposed for the curvatures of the theory, the Bianchi identities are solved, whose solution will be fundamental for the construction of the geometrical action for the N = 2, d = 5 supergravity and Yang-Mills coupled theory.

Geometric properties of 2-dimensional minimal surfaces in a sub-Riemannian manifold which models the Visual Cortex

In this paper we study the notion of degree forsubmanifolds embedded in an equiregular sub-Riemannian manifold and we provide the definition of their associated area functional. In this setting we prove that the Hausdorff dimension of a submanifold coincides with its degree, as stated by Gromov. Using these general definitions we compute the first variation for surfaces embedded in low dimensional manifolds and we obtain the partial differential equation associated to minimal surfaces. These minimal surfaces have several applications in the neurogeometry of the visual cortex.

Metastable BrO(2+) and NBr(2+) molecules in the gas phase

The doubly positively charged gas-phase molecules BrO(2+) and NBr(2+) have been produced by prolonged high-current energetic oxygen (17 keV (16)O(-)) ion surface bombardment (ion beam sputtering) of rubidium bromide (RbBr) and of ammonium bromide (NH(4)Br) powdered ionic salt samples, respectively, pressed into indium foil. These novel species were observed at half-integer m/z values in positive ion mass spectra for ion flight times of roughly similar to 12 mu s through a magnetic-sector secondary ion mass spectrometer. Here we present these experimental results and combine them with a detailed theoretical investigation using high level ab initio calculations of the ground states of BrO(2+) and NBr(2+), and a manifold of excited electronic states. NBr(2+) and BrO(2+), in their ground states, are long-lived metastable gas-phase molecules with well depths of 2.73 x 10(4) cm(-1) (3.38 eV) and 1.62 x 10(4) cm(-1) (2.01 eV); their fragmentation channels into two monocations lie 2.31 x 10(3) cm(-1) (0.29 eV) and 2.14 x 10(4) cm(-1) (2.65 eV) below the ground state minimum. The calculated lifetimes for NBr(2+) (v '' < 35) and BrO(2+) (v '' < 18) are large enough to be considered stable against tunneling. For NBr(2+), we predicted R(e) = 3.051 a(0) and omega(e) = 984 cm(-1); for BrO(2+), we obtained 3.033 a(0) and 916 cm(-1), respectively. The adiabatic double ionization energies of BrO and NBr to form metastable BrO(2+) and NBr(2+) are calculated to be 30.73 and 29.08 eV, respectively. The effect of spin-orbit interactions on the low-lying (Lambda + S) states is also discussed. (C) 2011 American Institute of Physics. [doi:10.1063/1.3562121]

Contractions in the 2-wasserstein lenght space and thermalization of granular media

An algebraic decay rate is derived which bounds the time required for velocities to equilibrate in a spatially homogeneous flow-through model representing the continuum limit of a gas of particles interacting through slightly inelastic collisions. This rate is obtained by reformulating the dynamical problem as the gradient flow of a convex energy on an infinite-dimensional manifold. An abstract theory is developed for gradient flows in length spaces, which shows how degenerate convexity (or even non-convexity) | if uniformly controlled | will quantify contractivity (limit expansivity) of the flow.

A proof that all Seifert 3-manifold groups and all virtual surface groups are conjugacy separable

We prove that the fundamental group of any Seifert 3-manifold is conjugacy separable. That is, conjugates may be distinguished infinite quotients or, equivalently, conjugacy classes are closed in the pro-finite topology.

Refilling meridians in a genus 2 handlebody complement

Suppose a genus two handlebody is removed from a 3-manifold M and then a single meridian of the handlebody is restored. The result is a knot or link complement in M and it is natural to ask whether geometric properties of the link complement say something about the meridian that was restored. Here we consider what the relation must be between two not necessarily disjoint meridians so that restoring each of them gives a trivial knot or a split link.

Integral formulae for a Riemannian manifold with a distribution

We obtain a new series of integral formulae for symmetric functions of curvature of a distribution of arbitrary codimension (an its orthogonal complement) given on a compact Riemannian manifold, which start from known formula by P.Walczak (1990) and generalize ones for foliations by several authors: Asimov (1978), Brito, Langevin and Rosenberg (1981), Brito and Naveira (2000), Andrzejewski and Walczak (2010), etc. Our integral formulae involve the co-nullity tensor, certain component of the curvature tensor and their products. The formulae also deal with a number of arbitrary functions depending on the scalar invariants of the co-nullity tensor. For foliated manifolds of constant curvature the obtained formulae give us the classical type formulae. For a special choice of functions our formulae reduce to ones with Newton transformations of the co-nullity tensor.

Generation of symmetric periodic orbits by a heteroclinic loop formed by two singular points and their invariant manifolds of dimension 1 and 2 in R3

In this paper we will find a continuous of periodic orbits passing near infinity for a class of polynomial vector fields in R3. We consider polynomial vector fields that are invariant under a symmetry with respect to a plane and that possess a “generalized heteroclinic loop” formed by two singular points e+ and e− at infinity and their invariant manifolds � and . � is an invariant manifold of dimension 1 formed by an orbit going from e− to e+, � is contained in R3 and is transversal to . is an invariant manifold of dimension 2 at infinity. In fact, is the 2–dimensional sphere at infinity in the Poincar´e compactification minus the singular points e+ and e−. The main tool for proving the existence of such periodic orbits is the construction of a Poincar´e map along the generalized heteroclinic loop together with the symmetry with respect to .

Transgression et initiation : tendances idéologiques et développement littéraire du récit de Genèse 2-3

Several questions about the story of Gen 2-3 remain unresolved in current scholarship. For instance, the implications and manifold consequences of the transgression act - the consumption of the forbidden fruit - are much debated. Interpreters generally agree that the story is connected to several "J" / "non-P" narratives of the primeval history. Besides the use of the tetragrammaton as the designation for God, a common characteristic of these stories is the strong opposition between Yhwh as a harsh deity on one hand and disobedient and transgressing humankind on the other. This paper reconsiders several open questions as well as the aforementioned consensus. The analysis of important motifs in Gen 2-3 leads to the conclusion that this story differs in theologically important ways from the postulated "J"-narrative in Genesis. This indicates that it was not composed as an integral part of that narrative. There are, in Gen 2-3, ideological features and linguistic elements typical of the "J" stratum, but they are all found in the sections that present Yhwh God's investigation and punishment of the couple (3,8-19.24). Since these verses are in tension with or even contradict their immediate context, it should be assigned to a redactional ("J") layer. According to this analysis, the transgression in Gen 2-3 should not be considered a sin. Rather, it is an important step in human evolution towards a self-conscious and autonomous being. The plot has a structure similar to some episodes in ancient Near Eastern myths. 'Initiation' functions as a central theme. Finally, the article discusses the literary milieu of the story. Because of several linguistic and thematic similarities with Gen 1, with P-texts in general, and with the book of Ezekiel, the relationship of Gen 2-3 to these literary entities needs to be reconsidered.

On Hamiltonian balanced dynamics and the slowest invariant manifold

The concept of a slowest invariant manifold is investigated for the five-component model of Lorenz under conservative dynamics. It is shown that Lorenz's model is a two-degree-of-freedom canonical Hamiltonian system, consisting of a nonlinear vorticity-triad oscillator coupled to a linear gravity wave oscillator, whose solutions consist of regular and chaotic orbits. When either the Rossby number or the rotational Froude number is small, there is a formal separation of timescales, and one can speak of fast and slow motion. In the same regime, the coupling is weak, and the Kolmogorov–Arnold-Moser theorem is shown to apply. The chaotic orbits are inherently unbalanced and are confined to regions sandwiched between invariant tori consisting of quasi-periodic regular orbits. The regular orbits generally contain free fast motion, but a slowest invariant manifold may be geometrically defined as the set of all slow cores of invariant tori (defined by zero fast action) that are smoothly related to such cores in the uncoupled system. This slowest invariant manifold is not global; in fact, its structure is fractal; but it is of nearly full measure in the limit of weak coupling. It is also nonlinearly stable. As the coupling increases, the slowest invariant manifold shrinks until it disappears altogether. The results clarify previous definitions of a slowest invariant manifold and highlight the ambiguity in the definition of “slowness.” An asymptotic procedure, analogous to standard initialization techniques, is found to yield nonzero free fast motion even when the core solutions contain none. A hierarchy of Hamiltonian balanced models preserving the symmetries in the original low-order model is formulated; these models are compared with classic balanced models, asymptotically initialized solutions of the full system and the slowest invariant manifold defined by the core solutions. The analysis suggests that for sufficiently small Rossby or rotational Froude numbers, a stable slowest invariant manifold can be defined for this system, which has zero free gravity wave activity, but it cannot be defined everywhere. The implications of the results for more complex systems are discussed.