A geometrical approach to the motion planning problem for a submerged rigid body

The main focus of this paper is the motion planning problem for a deeply submerged rigid body. The equations of motion are formulated and presented by use of the framework of differential geometry and these equations incorporate external dissipative and restoring forces. We consider a kinematic reduction of the affine connection control system for the rigid body submerged in an ideal fluid, and present an extension of this reduction to the forced affine connection control system for the rigid body submerged in a viscous fluid. The motion planning strategy is based on kinematic motions; the integral curves of rank one kinematic reductions. This method is of particular interest to autonomous underwater vehicles which can not directly control all six degrees of freedom (such as torpedo shaped AUVs) or in case of actuator failure (i.e., under-actuated scenario). A practical example is included to illustrate our technique.

Dynamical evolution of quantum states: a geometrical approach.

Questo lavoro di tesi si inserisce nel recente filone di ricerca che ha lo scopo di studiare le strutture della Meccanica quantistica facendo impiego della geometria differenziale. In particolare, lo scopo della tesi è analizzare la geometria dello spazio degli stati quantistici puri e misti. Dopo aver riportato i risultati noti relativi a questo argomento, vengono calcolati esplicitamente il tensore metrico e la forma simplettica come parte reale e parte immaginaria del tensore di Fisher per le matrici densità 2×2 e 3×3. Quest’ultimo altro non é che la generalizzazione di uno strumento molto usato in Teoria dell’Informazione: l’Informazione di Fisher. Dal tensore di Fisher si può ottenere un tensore metrico non solo sulle orbite generate dall'azione del gruppo unitario ma anche su percorsi generati da trasformazioni non unitarie. Questo fatto apre la strada allo studio di tutti i percorsi possibili all'interno dello spazio delle matrici densità, che in questa tesi viene esplicitato per le matrici 2×2 e affrontato utilizzando il formalismo degli operatori di Kraus. Proprio grazie a questo formalismo viene introdotto il concetto di semi-gruppo dinamico che riflette la non invertibilità di evoluzioni non unitarie causate dall'interazione tra il sistema sotto esame e l’ambiente. Viene infine presentato uno schema per intraprendere la stessa analisi sulle matrici densità 3×3, e messe in evidenza le differenze con il caso 2×2.

Convergence Property of the Measurement Gross Error Correction in Power System State Estimation, Using Geometrical Background

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

A Geometrical Interpretation to Define Contradiction Degrees between Two Fuzzy Sets

For inference purposes in both classical and fuzzy logic, neither the information itself should be contradictory, nor should any of the items of available information contradict each other. In order to avoid these troubles in fuzzy logic, a study about contradiction was initiated by Trillas et al. in [5] and [6]. They introduced the concepts of both self-contradictory fuzzy set and contradiction between two fuzzy sets. Moreover, the need to study not only contradiction but also the degree of such contradiction is pointed out in [1] and [2], suggesting some measures for this purpose. Nevertheless, contradiction could have been measured in some other way. This paper focuses on the study of contradiction between two fuzzy sets dealing with the problem from a geometrical point of view that allow us to find out new ways to measure the contradiction degree. To do this, the two fuzzy sets are interpreted as a subset of the unit square, and the so called contradiction region is determined. Specially we tackle the case in which both sets represent a curve in [0,1]2. This new geometrical approach allows us to obtain different functions to measure contradiction throughout distances. Moreover, some properties of these contradiction measure functions are established and, in some particular case, the relations among these different functions are obtained.

Optimal Trajectory Generation for Convergence to a Rectilinear Path

This paper presents a strategy to determine the shortest path of a fixed-wing Miniature Air Vehicle (MAV), constrained by a bounded turning rate, to eventually fly along a given straight line, starting from an arbitrary but known initial position and orientation. Unlike the work available in the literature that solves the problem using the Pontryagin's Minimum Principle (PMP) the trajectory generation algorithm presented here considers a geometrical approach which is intuitive and easy to understand. This also computes the explicit solution for the length of the optimal path as a function of the initial configuration. Further, using a 6-DOF model of a MAV the generated optimal path is tracked by an autopilot consisting of proportional-integral-derivative (PID) controllers. The simulation results show the path generation and tracking for different cases.

Time-periodic perturbation of a Lienard equation with an unbounded homoclinic loop

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Chiral asymmetry and gravitation theory

In this letter we apply an alternative approach, recently developed, to the description of massless particles of arbitrary spin to the case of spin-two particles. This provides a non-geometrical approach to the theory of linearized gravitation. Within this method the chiral components of a spinor field are treated as independent field variables. The free field Lagrangian is built up from the requirement of chiral invariance. This formulation is parallel to the neutrino theory and leads to a formulation that generalizes, to particles of spin-two, the two-component neutrino theory. At the free field level the analog of curvature tensor, spin connection tensor, and metric tensor are independent quantities. By introducing left-right asymmetric linear interactions of these chiral components we get the linearized gravitation theory.

Modelagem Matemática e Análise de Modelos Matemáticos na Educação Matemática

In this paper we present two studies, the first one completed and the second one in development, which are based in teaching approaches that propose the qualitative study of mathematical models as a strategy for the teaching and learning of mathematical concepts. These teaching approaches focus on subjects from Higher Education such as Introduction to Ordinary Differential Equations and Topics of Differential and Integral Calculus. We denominate this common aspect of the teaching approaches as Model Analysis and in a preliminary level we relate it with Mathematical Modeling. Furthermore, we discuss some questions related with the choice of the theme and the role of Digital Technologies when Model Analysis is applied.

Strategies for Minimum Distance in Simulated Evacuation of Transport Airplanes

The present paper describes the preliminary stages of the development of a new, comprehensive model conceived to simulate the evacuation of transport airplanes in certification studies. Two previous steps were devoted to implementing an efficient procedure to define the whole geometry of the cabin, and setting up an algorithm for assigning seats to available exits. Now, to clarify the role of the cabin arrangement in the evacuation process, the paper addresses the influence of several restrictions on the seat-to-exit assignment algorithm, maintaining a purely geometrical approach for consistency. Four situations are considered: first, an assignment method without limitations to search the minimum for the total distance run by all passengers along their escaping paths; second, a protocol that restricts the number of evacuees through each exit according to updated FAR 25 capacity; third, a procedure which tends to the best proportional sharing among exits but obliges to each passenger to egress through the nearest fore or rear exits; and fourth, a scenario which includes both restrictions. The four assignment strategies are applied to turboprops, and narrow body and wide body jets. Seat to exit distance and number of evacuees per exit are the main output variables. The results show the influence of airplane size and the impact of non-symmetries and inappropriate matching between size and longitudinal location of exits.

A three dimensional surface measurement and reconstruction system for respiratory function analysis

Respiration is a complex activity. If the relationship between all neurological and skeletomuscular interactions was perfectly understood, an accurate dynamic model of the respiratory system could be developed and the interaction between different inputs and outputs could be investigated in a straightforward fashion. Unfortunately, this is not the case and does not appear to be viable at this time. In addition, the provision of appropriate sensor signals for such a model would be a considerable invasive task. Useful quantitative information with respect to respiratory performance can be gained from non-invasive monitoring of chest and abdomen motion. Currently available devices are not well suited in application for spirometric measurement for ambulatory monitoring. A sensor matrix measurement technique is investigated to identify suitable sensing elements with which to base an upper body surface measurement device that monitors respiration. This thesis is divided into two main areas of investigation; model based and geometrical based surface plethysmography. In the first instance, chapter 2 deals with an array of tactile sensors that are used as progression of existing and previously investigated volumetric measurement schemes based on models of respiration. Chapter 3 details a non-model based geometrical approach to surface (and hence volumetric) profile measurement. Later sections of the thesis concentrate upon the development of a functioning prototype sensor array. To broaden the application area the study has been conducted as it would be fore a generically configured sensor array. In experimental form the system performance on group estimation compares favourably with existing system on volumetric performance. In addition provides continuous transient measurement of respiratory motion within an acceptable accuracy using approximately 20 sensing elements. Because of the potential size and complexity of the system it is possible to deploy it as a fully mobile ambulatory monitoring device, which may be used outside of the laboratory. It provides a means by which to isolate coupled physiological functions and thus allows individual contributions to be analysed separately. Thus facilitating greater understanding of respiratory physiology and diagnostic capabilities. The outcome of the study is the basis for a three-dimensional surface contour sensing system that is suitable for respiratory function monitoring and has the prospect with future development to be incorporated into a garment based clinical tool.

Involutivity and Symple Waves in R^2

A strictly hyperbolic quasi-linear 2×2 system in two independent variables with C2 coefficients is considered. The existence of a simple wave solution in the sense that the solution is a 2-dimensional vector-valued function of the so called Riemann invariant is discussed. It is shown, through a purely geometrical approach, that there always exists simple wave solution for the general system when the coefficients are arbitrary C^2 functions depending on both, dependent and independent variables.

Credit risk & forward price models

Doutoramento em Gestão

Geometrical-transformation approach to optical two-dimensional beam shaping: comment

I show that the research reported by Arieli et al. [Appl. Opt. 86, 9129 (1997)] has two serious mistakes: One is that an important factor is lost in the formula used in that study to determine the x-direction coordinate transformation; the other is the conclusion that the geometrical-transformation approach given by Arieli et al. can provide a smooth phase distribution. A potential research direction for obtaining a smooth phase distribution for a generic two-dimensional beam-shaping problem is stated. (C) 1998 Optical Society of America.

From subspace learning to distance learning: A geometrical optimization approach

In this paper, we adopt a differential-geometry viewpoint to tackle the problem of learning a distance online. As this problem can be cast into the estimation of a fixed-rank positive semidefinite (PSD) matrix, we develop algorithms that exploits the rich geometry structure of the set of fixed-rank PSD matrices. We propose a method which separately updates the subspace of the matrix and its projection onto that subspace. A proper weighting of the two iterations enables to continuously interpolate between the problem of learning a subspace and learning a distance when the subspace is fixed. © 2009 IEEE.