On the Bases of Wrench Spaces for the Kinematic and Dynamic Analysis of Mechanisms

2003 ◽  
Vol 125 (3) ◽  
pp. 552-556 ◽  
Author(s):  
Koichi Sugimoto
Keyword(s):  
Dynamic Analysis ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Closed Loop ◽  
Computational Procedure ◽  
Analysis Procedure ◽  
Dual Basis ◽  
Passive Joint

The aim of this paper is to find out a computational procedure for the kinematic and dynamic analysis of a mechanism with multiple loops having motion spaces of a Lie algebra or Lie algebras. The basis of a motion space of the loop is determined such that it consists of passive joints axes in a loop, and a basis of a wrench space is determined to be its dual basis. The analysis of a closed loop mechanism can be done by selecting loop-cut-joints and computing values of wrenches acting on these joints from the condition that virtual works of passive joints are zero. By expressing these wrenches in the coordinate vectors on the dual bases, the concise analysis procedure can be obtained. Because a formulation for the analysis is developed based on the bases consisting of passive joint axes and their dual bases, the computational procedure can be applied to a mechanism with any Lie algebras.

Integrable two-dimensional dynamical systems and the characteristic Lie algebras

2007 ◽  
Vol 5 ◽  
pp. 195-200
Author(s):  
A.V. Zhiber ◽  
O.S. Kostrigina
Keyword(s):  
Dynamical System ◽  
Dynamical Systems ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Second Order ◽  
System Of Equations ◽  
Two Dimensional ◽  
Finite Dimensional ◽  
Dimensional Dynamical System

In the paper it is shown that the two-dimensional dynamical system of equations is Darboux integrable if and only if its characteristic Lie algebra is finite-dimensional. The class of systems having a full set of fist and second order integrals is described.

Reduction of partially invariant submodels of rank 3 defect 1 to invariant submodels

2018 ◽  
Vol 13 (3) ◽  
pp. 59-63 ◽  
Author(s):  
D.T. Siraeva
Keyword(s):  
Equation Of State ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Gas Dynamics ◽  
Hydrodynamic Type ◽  
System Of Equations ◽  
Two Dimensional ◽  
Equations Of Gas Dynamics ◽  
Entropy Functions

Equations of hydrodynamic type with the equation of state in the form of pressure separated into a sum of density and entropy functions are considered. Such a system of equations admits a twelve-dimensional Lie algebra. In the case of the equation of state of the general form, the equations of gas dynamics admit an eleven-dimensional Lie algebra. For both Lie algebras the optimal systems of non-similar subalgebras are constructed. In this paper two partially invariant submodels of rank 3 defect 1 are constructed for two-dimensional subalgebras of the twelve-dimensional Lie algebra. The reduction of the constructed submodels to invariant submodels of eleven-dimensional and twelve-dimensional Lie algebras is proved.

scholarly journals Structure of n-Lie Algebras with Involutive Derivations

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Ruipu Bai ◽  
Shuai Hou ◽  
Yansha Gao
Keyword(s):  
Lie Algebra ◽  
Lie Algebras ◽  
Two Dimensional

We study the structure of n-Lie algebras with involutive derivations for n≥2. We obtain that a 3-Lie algebra A is a two-dimensional extension of Lie algebras if and only if there is an involutive derivation D on A=A1  ∔  A-1 such that dim A1=2 or dim A-1=2, where A1 and A-1 are subspaces of A with eigenvalues 1 and -1, respectively. We show that there does not exist involutive derivations on nonabelian n-Lie algebras with n=2s for s≥1. We also prove that if A is a (2s+2)-dimensional (2s+1)-Lie algebra with dim A1=r, then there are involutive derivations on A if and only if r is even, or r satisfies 1≤r≤s+2. We discuss also the existence of involutive derivations on (2s+3)-dimensional (2s+1)-Lie algebras.

scholarly journals COMMUTATORS OF SKEW-SYMMETRIC MATRICES

2005 ◽  
Vol 15 (03) ◽  
pp. 793-801 ◽  
Author(s):  
ANTHONY M. BLOCH ◽  
ARIEH ISERLES
Keyword(s):  
Optimal Control ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Lie Group ◽  
Geometric Integration ◽  
Symmetric Matrices ◽  
Frobenius Norm

In this paper we develop a theory for analysing the "radius" of the Lie algebra of a matrix Lie group, which is a measure of the size of its commutators. Complete details are given for the Lie algebra 𝔰𝔬(n) of skew symmetric matrices where we prove [Formula: see text], X, Y ∈ 𝔰𝔬(n), for the Frobenius norm. We indicate how these ideas might be extended to other matrix Lie algebras. We discuss why these ideas are of interest in applications such as geometric integration and optimal control.

WHITEHEAD EXACT SEQUENCE AND DIFFERENTIAL GRADED FREE LIE ALGEBRA

2004 ◽  
Vol 15 (10) ◽  
pp. 987-1005 ◽  
Author(s):  
MAHMOUD BENKHALIFA
Keyword(s):  
Exact Sequence ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Integral Domain ◽  
Free Lie Algebra ◽  
Universal Algebras ◽  
Free Lie Algebras ◽  
Equivalent Class

Let R be a principal and integral domain. We say that two differential graded free Lie algebras over R (free dgl for short) are weakly equivalent if and only if the homologies of their corresponding enveloping universal algebras are isomophic. This paper is devoted to the problem of how we can characterize the weakly equivalent class of a free dgl. Our tool to address this question is the Whitehead exact sequence. We show, under a certain condition, that two R-free dgls are weakly equivalent if and only if their Whitehead sequences are isomorphic.

A note on the algebra of Poisson brackets

1984 ◽  
Vol 96 (1) ◽  
pp. 45-60 ◽  
Author(s):  
C. J. Atkin
Keyword(s):  
Poisson Bracket ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Symplectic Manifold ◽  
Vector Fields ◽  
Poisson Brackets ◽  
Infinite Dimensional

In a long sequence of notes in the Comptes Rendus and elsewhere, and in the papers [1], [2], [3], [6], [7], Lichnerowicz and his collaborators have studied the ‘classical infinite-dimensional Lie algebras’, their derivations, automorphisms, co-homology, and other properties. The most familiar of these algebras is the Lie algebra of C∞ vector fields on a C∞ manifold. Another is the Lie algebra of ‘Poisson brackets’, that is, of C∞ functions on a C∞ symplectic manifold, with the Poisson bracket as composition; some questions concerning this algebra are of considerable interest in the theory of quantization – see, for instance, [2] and [3].

scholarly journals Vector bundles associated to Lie algebras

2016 ◽  
Vol 2016 (716) ◽  
Author(s):  
Jon F. Carlson ◽  
Eric M. Friedlander ◽  
Julia Pevtsova
Keyword(s):  
Lie Algebra ◽  
Lie Algebras ◽  
Vector Bundles ◽  
Coherent Sheaves ◽  
Restricted Lie Algebra ◽  
Finite Dimensional

AbstractWe introduce and investigate a functorial construction which associates coherent sheaves to finite dimensional (restricted) representations of a restricted Lie algebra

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