A geometrical formulation for the workspace of parallel manipulators

In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using a recursive approach as an extension of volume generation for solids of revolution. In this approach, the workspace volume and boundary for each limb of the parallel manipulator is obtained with an algebraic formulation derived from the kinematic chain of the limb and the motion constraints on its joints. Then, the overall workspace of the mechanism can be determined as the intersection of the limb workspaces. The workspace of different kinematic chains is discussed and classified according to its external shape. An algebraic formulation for the inclusion of obstacles in the computation is also proposed. Both analytical models and numerical simulations are reported with their advantages and limitations. An example on a 3-SPR parallel mechanism illustrates the feasibility of the formulation and its efficiency.

Differential Geometric Aspects of Parametric Estimation Theory for States on Finite-Dimensional C∗-Algebras

A geometrical formulation of estimation theory for finite-dimensional C∗-algebras is presented. This formulation allows to deal with the classical and quantum case in a single, unifying mathematical framework. The derivation of the Cramer–Rao and Helstrom bounds for parametric statistical models with discrete and finite outcome spaces is presented.

Surface operators in superspace

We generalize the geometrical formulation of Wilson loops recently introduced in [1] to the description of Wilson Surfaces. For N = (2, 0) theory in six dimensions, we provide an explicit derivation of BPS Wilson Surfaces with non-trivial coupling to scalars, together with their manifestly supersymmetric version. We derive explicit conditions which allow to classify these operators in terms of the number of preserved supercharges. We also discuss kappa-symmetry and prove that BPS conditions in six dimensions arise from kappa-symmetry invariance in eleven dimensions. Finally, we discuss super-Wilson Surfaces — and higher dimensional operators — as objects charged under global p-form (super)symmetries generated by tensorial supercurrents. To this end, the construction of conserved supercurrents in supermanifolds and of the corresponding conserved charges is developed in details.

The geometrical origin of dark energy

The geometrical formulation of the quantum Hamilton–Jacobi theory shows that the quantum potential is never trivial, so that it plays the rôle of intrinsic energy. Such a key property selects the Wheeler–DeWitt (WDW) quantum potential $$Q[g_{jk}]$$ Q [ g jk ] as the natural candidate for the dark energy. This leads to the WDW Hamilton–Jacobi equation with a vanishing kinetic term, and with the identification $$\begin{aligned} \Lambda =-\frac{\kappa ^2}{\sqrt{{\bar{g}}}}Q[g_{jk}]. \end{aligned}$$ Λ = - κ 2 g ¯ Q [ g jk ] . This shows that the cosmological constant is a quantum correction of the Einstein tensor, reminiscent of the von Weizsäcker correction to the kinetic term of the Thomas–Fermi theory. The quantum potential also defines the Madelung pressure tensor. The geometrical origin of the vacuum energy density, a strictly non-perturbative phenomenon, provides strong evidence that it is due to a graviton condensate. Time independence of the regularized WDW equation suggests that the ratio between the Planck length and the Hubble radius may be a time constant, providing an infrared/ultraviolet duality. We speculate that such a duality is related to the local to global geometry theorems for constant curvatures, showing that understanding the universe geometry is crucial for a formulation of Quantum Gravity.

Geometrical Formulation for Adjoint-Symmetries of Partial Differential Equations

A geometrical formulation for adjoint-symmetries as one-forms is studied for general partial differential equations (PDEs), which provides a dual counterpart of the geometrical meaning of symmetries as tangent vector fields on the solution space of a PDE. Two applications of this formulation are presented. Additionally, for systems of evolution equations, adjoint-symmetries are shown to have another geometrical formulation given by one-forms that are invariant under the flow generated by the system on the solution space. This result is generalized to systems of evolution equations with spatial constraints, where adjoint-symmetry one-forms are shown to be invariant up to a functional multiplier of a normal one-form associated with the constraint equations. All of the results are applicable to the PDE systems of interest in applied mathematics and mathematical physics.

A general framework for quantum splines

Quantum splines are curves in a Hilbert space or, equivalently, in the corresponding Hilbert projective space, which generalize the notion of Riemannian cubic splines to the quantum domain. In this paper, we present a generalization of this concept to general density matrices with a Hamiltonian approach and using a geometrical formulation of quantum mechanics. Our main goal is to formulate an optimal control problem for a nonlinear system on [Formula: see text] which corresponds to the variational problem of quantum splines. The corresponding Hamiltonian equations and interpolation conditions are derived. The results are illustrated with some examples and the corresponding quantum splines are computed with the implementation of a suitable iterative algorithm.

Geometrical formulation of relativistic mechanics

The relativistic Lagrangian in presence of potentials was formulated directly from the metric, with the classical Lagrangian shown embedded within it. Using it we formulated covariant equations of motion, a deformed Euler–Lagrange equation, and relativistic Hamiltonian mechanics. We also formulate a modified local Lorentz transformation, such that the metric at a point is invariant only under the transformation defined at that point, and derive the formulae for time-dilation, length contraction, and gravitational redshift. Then we compare our formulation under non-relativistic approximations to the conventional ad hoc formulation, and we briefly analyze the relativistic Liénard oscillator and the spacetime it implies.