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868
Nonholonomic motion planning: Steering using sinusoids
 IEEE fins. Auto. Control
, 1993
"... AbstractIn this paper, we investigate methods for steering systems with nonholonomic constraints between arbitrary configurations. Early work by Brockett derives the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vec ..."
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Cited by 251 (14 self)
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AbstractIn this paper, we investigate methods for steering systems with nonholonomic constraints between arbitrary configurations. Early work by Brockett derives the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their first order Lie brackets. Using Brockett’s result as motivation, we derive suboptimal trajectories for systems which are not in canonical form and consider systems in which it takes more than one level of bracketing to achieve controllability. These trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. We define a class of systems which can be steered using sinusoids (chained systems) and give conditions under which a class of twoinput systems can be converted into this form. I.
ANALYSIS OF MULTISCALE METHODS
, 2004
"... The heterogeneous multiscale method gives a general framework for the analysis of multiscale methods. In this paper, we demonstrate this by applying this framework to two canonical problems: The elliptic problem with multiscale coefficients and the quasicontinuum method. ..."
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Cited by 125 (13 self)
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The heterogeneous multiscale method gives a general framework for the analysis of multiscale methods. In this paper, we demonstrate this by applying this framework to two canonical problems: The elliptic problem with multiscale coefficients and the quasicontinuum method.
Deformotion  Deforming Motion, Shape Average and the Joint Registration and Segmentation of Images
 International Journal of Computer Vision
, 2002
"... What does it mean for a deforming object to be "moving" (see Fig. 1)? How can we separate the overall motion (a finitedimensional group action) from the more general deformation (a di#eomorphism)? In this paper we propose a definition of motion for a deforming object and introduce a notion of "shap ..."
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Cited by 102 (15 self)
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What does it mean for a deforming object to be "moving" (see Fig. 1)? How can we separate the overall motion (a finitedimensional group action) from the more general deformation (a di#eomorphism)? In this paper we propose a definition of motion for a deforming object and introduce a notion of "shape average" as the entity that separates the motion from the deformation. Our definition allows us to derive novel and e#cient algorithms to register nonequivalent shapes using regionbased methods, and to simultaneously approximate and register structures in greyscale images. We also extend the notion of shape average to that of a "moving average" in order to track moving and deforming objects through time.
Multisymplectic geometry, variational integrators, and nonlinear PDEs
 Comm. Math. Phys
, 1998
"... Abstract: This paper presents a geometricvariational approach to continuous and discrete mechanics and field theories. Using multisymplectic geometry, we show that the existence of the fundamental geometric structures as well as their preservation along solutions can be obtained directly from the v ..."
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Cited by 89 (21 self)
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Abstract: This paper presents a geometricvariational approach to continuous and discrete mechanics and field theories. Using multisymplectic geometry, we show that the existence of the fundamental geometric structures as well as their preservation along solutions can be obtained directly from the variational principle. In particular, we prove that a unique multisymplectic structure is obtained by taking the derivative of an action function, and use this structure to prove covariant generalizations of conservation of symplecticity and Noether’s theorem. Natural discretization schemes for PDEs, which have these important preservation properties, then follow by choosing a discrete action functional. In the case of mechanics, we recover the variational symplectic integrators of Veselov type, while for PDEs we obtain covariant spacetime integrators which conserve the corresponding discrete multisymplectic form as well as the discrete momentum mappings corresponding to symmetries. We show that the usual notion of symplecticity along an infinitedimensional space of fields can be naturally obtained by making a spacetime split. All of the aspects of our method are demonstrated with a nonlinear sineGordon equation, including computational results and a comparison with other discretization
Toeplitz Quantization Of Kähler Manifolds And gl(N), N → ∞ Limits
"... For general compact Kähler manifolds it is shown that both Toeplitz quantization and geometric quantization lead to a welldefined (by operator norm estimates) classical limit. This generalizes earlier results of the authors and Klimek and Lesniewski obtained for the torus and higher genus Riemann s ..."
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Cited by 83 (9 self)
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For general compact Kähler manifolds it is shown that both Toeplitz quantization and geometric quantization lead to a welldefined (by operator norm estimates) classical limit. This generalizes earlier results of the authors and Klimek and Lesniewski obtained for the torus and higher genus Riemann surfaces, respectively. We thereby arrive at an approximation of the Poisson algebra by a sequence of finitedimensional matrix algebras gl(N), N → ∞.
Modular Operads
 COMPOSITIO MATH
, 1994
"... We develop a "higher genus" analogue of operads, which we call modular operads, in which graphs replace trees in the definition. We study a functor F on the category of modular operads, the Feynman transform, which generalizes Kontsevich's graph complexes and also the bar construction for operads. ..."
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Cited by 70 (5 self)
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We develop a "higher genus" analogue of operads, which we call modular operads, in which graphs replace trees in the definition. We study a functor F on the category of modular operads, the Feynman transform, which generalizes Kontsevich's graph complexes and also the bar construction for operads. We calculate the Euler characteristic of the Feynman transform, using the theory of symmetric functions: our formula is modelled on Wick's theorem. We give applications to the theory of moduli spaces of pointed algebraic curves.
The nonlinear geometry of linear programming IV. Hilbert geometry, in preparation
"... This series of papers studies a geometric structure underlying Karmarkar’s projective scaling algorithm for solving linear programming problems. A basic feature of the projective scaling algorithm is a vector field depending on the objective function which is defined on the interior of the polytope ..."
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Cited by 66 (0 self)
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This series of papers studies a geometric structure underlying Karmarkar’s projective scaling algorithm for solving linear programming problems. A basic feature of the projective scaling algorithm is a vector field depending on the objective function which is defined on the interior of the polytope of feasible solutions of the linear program. The geometric structure we study is the set of trajectories obtained by integrating this vector field, which we call Ptrajectories. In order to study Ptrajectories we also study a related vector field on the linear programming polytope, which we call the affine scaling vector field, and its associated trajectories, called Atrajectories. The affine scaling vector field is associated to another linear programming algorithm, the affine scaling algorithm. These affine and projective scaling vector fields are each defined for liner programs of a special form, called strict standard form and canonical form, respectively. This paper defines and presents basic properties of Ptrajectories and Atrajectories. It reviews the projective and affine scaling algorithms, defines the projective and affine scaling vector fields, and gives differential equations for Ptrajectories and Atrajectories. It presents Karmarkar’s interpretation of Atrajectories as steepest descent paths of the objective function 〈c, x 〉 with respect to the Riemannian _ dx
The Elements of Mechanics
, 1983
"... Classical Mechanics is a theory of point particles motions. If X = (x1,..., xn) are the particles positions in a Cartesian inertial system of coordinates, the equations of motion are determined by their masses (m1,..., mn), mj> 0, and by the potential energy of interaction V (x1,...,xn) as mi¨xi = − ..."
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Cited by 60 (13 self)
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Classical Mechanics is a theory of point particles motions. If X = (x1,..., xn) are the particles positions in a Cartesian inertial system of coordinates, the equations of motion are determined by their masses (m1,..., mn), mj> 0, and by the potential energy of interaction V (x1,...,xn) as mi¨xi = −∂xi V (x1,...,xn), i = 1,..., n (1.1) here xi = (xi1,..., xid) are coordinates of the ith particle and ∂xi is the gradient (∂xi1,..., ∂xid); d is the space dimension (i.e. d = 3, usually). The potential energy function will be supposed “smooth”, i.e. analytic except, possibly, when two positions coincide. The latter exception is necessary to include the important cases of gravitational attraction or, when dealing with electrically charged particles, of Coulomb interaction. A basic result is that if V is bounded below the equation (1.1) admits, given initial data X0 = X(0), ˙X0 = ˙X(0), a unique global solution t → X(t), t ∈ (−∞, ∞); otherwise a solution can fail to be global if and only if, in a finite time, it reaches infinity or a singularity point (i.e. a configuration in which two or more particles occupy the same point: an event called a collision). In Eq. (1.1) −∂xiV (x1,...,xn) is the force acting on the points. More general forces are often admitted. For instance velocity dependent friction forces: they are not considered here because of their phenomenological nature as models for microscopic phenomena which should also, in principle, be explained in terms of conservative forces (furthermore, even from a macroscopic viewpoint, they are rather incomplete models as they should be considered together with the important heat generation phenomena that accompany them). Another interesting example of forces not corresponding to a potential are certain velocity dependent forces like the Coriolis force (which however appears only in non inertial frames of reference) and the closely related Lorentz force (in electromagnetism): they could be easily accomodated in the upcoming Hamiltonian formulation of mechanics, see Appendix A2. The action principle states that an equivalent formulation of the equations (1.1) is that a motion t → X0(t) satisfying (1.1) during a time interval [t1, t2] and leading from X1 = X0(t1) to X2 = X0(t2), renders stationary the action