Applying Differential Forms and the Generalized Sundman Transformations in Linearizing the Equation of Motion of a Free Particle in a Space of Constant Curvature

Equation of motion of a free particle in a space of constant curvature applies to many fields, such as the fixed reduction of the second member of the Burgers classes, the study of fusion of pellets, equations of Yang-Baxter, the concept of univalent functions as well as spheres of gaseous stability to mention but a few. In this study, the authors want to examine the linearization of the said equation using both point and non-point transformation methods. As captured in the title, the methods under examination here are the differential forms (DF) and the generalized Sundman transformations (GST), which are point and non-point transformation methods respectively. The comparative analysis of the solutions obtained via the two linearizability methods is also taken into account.

Some remarks on invariant lightlike submanifolds of indefinite Sasakian manifold

PurposeThe author considers an invariant lightlike submanifold M, whose transversal bundle tr(TM) is flat, in an indefinite Sasakian manifold M¯(c) of constant φ¯-sectional curvature c. Under some geometric conditions, the author demonstrates that c=1, that is, M¯ is a space of constant curvature 1. Moreover, M and any leaf M′ of its screen distribution S(TM) are, also, spaces of constant curvature 1.Design/methodology/approachThe author has employed the techniques developed by K. L. Duggal and A. Bejancu of reference number 7.FindingsThe author has discovered that any totally umbilic invariant ligtlike submanifold, whose transversal bundle is flat, in an indefinite Sasakian space form is, in fact, a space of constant curvature 1 (see Theorem 4.4).Originality/valueTo the best of the author’s findings, at the time of submission of this paper, the results reported are new and interesting as far as lightlike geometry is concerned.

Path and Control Planning for Autonomous Vehicles in Restricted Space and Low Speed

This paper presents models of path and control planning for the parking, docking, and movement of autonomous vehicles at low speeds, considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters’ dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and have the potential for other highway applications.

Path and Control Planning for Autonomous Vehicles in Restricted Space and Low Speed

The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

Constructing the CKVs of Bianchi III and V spacetimes

We determine the conformal algebra of Bianchi III and Bianchi V spacetimes or, equivalently, we determine all Bianchi III and Bianchi V spacetimes which admit a proper conformal Killing vector (CKV). The algorithm that we use has been developed in [M. Tsamparlis et al.Class. Quantum. Grav. 15, 2909 (1998)] and concerns the computation of the CKVs of decomposable spacetimes. The main point of this method is that a decomposable space admits a CKV if the reduced space admits a gradient homothetic vector, the latter being possible only if the reduced space is flat or a space of constant curvature. We apply this method in a stepwise manner starting from the two-dimensional spacetime which admits an infinite number of CKVs and we construct step by step the Bianchi III and V spacetimes by assuming that CKVs survive as we increase the dimension of the space. We find that there is only one Bianchi III and one Bianchi V spacetime which admit at maximum one proper CKV. In each case, we determine the CKV and the corresponding conformal factor. As a first application in these two spacetimes, we study the kinematics of the comoving observers and the dynamics of the corresponding cosmological fluid. As a second application, we determine in these spacetimes generators of the Lie symmetries of the wave equation.

Lambert's theorem and projective dynamics

We prove that the classical Lambert theorem about the elapsed time on an arc of Keplerian orbit extends without change to the Kepler problem on a space of constant curvature. We prove that the Hooke problem has a property similar to Lambert's theorem, which also extends to the spaces of constant curvature. This article is part of the theme issue ‘Topological and geometrical aspects of mass and vortex dynamics’.

The index of symmetry of three-dimensional Lie groups with a left-invariant metric

We determine the index of symmetry of 3-dimensional unimodular Lie groups with a left-invariant metric. In particular, we prove that every 3-dimensional unimodular Lie group admits a left-invariant metric with positive index of symmetry. We also study the geometry of the quotients by the so-called foliation of symmetry, and we explain in what cases the group fibers over a 2-dimensional space of constant curvature.

Curvature properties of some class of warped product manifolds

We prove that warped product manifolds with [Formula: see text]-dimensional base, [Formula: see text] satisfy some pseudosymmetry type curvature conditions. These conditions are formed from the metric tensor [Formula: see text], the Riemann–Christoffel curvature tensor [Formula: see text], the Ricci tensor [Formula: see text] and the Weyl conformal curvature [Formula: see text] of the considered manifolds. The main result of the paper states that if [Formula: see text] and the fiber is a semi-Riemannian space of constant curvature (when [Formula: see text] is greater or equal to 5) then the [Formula: see text]-tensors [Formula: see text] and [Formula: see text] of such warped products are proportional to the [Formula: see text]-tensor [Formula: see text] and the tensor [Formula: see text] is a linear combination of some Kulkarni–Nomizu products formed from the tensors [Formula: see text] and [Formula: see text]. We also obtain curvature properties of this kind of quasi-Einstein and 2-quasi-Einstein manifolds, and in particular, of the Goedel metric, generalized spherically symmetric metrics and generalized Vaidya metrics.