Singularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models described in terms of Standard Absolute Coordinates

A classical approach to the MBS modeling is to use absolute coordinates, i.e. a set of (possibly redundant) coordinates that describe the absolute position and orientation of the individual bodies w.r.t. to an inertial frame (IFR). A well-known problem for the time integration of the equations of motion (EOM) is the lack of a singularity-free parameterization of spatial motions, which is usually tackled by using unit quaternions. Lie group integration methods were proposed as alternative approach to the singularity-free time integration. Lie group integration methods, operating directly on the configuration space Lie group, are incompatible with standard formulations of the EOM, and cannot be implemented in existing MBS simulation codes without a major restructuring. A framework for interfacing Lie group integrators to standard EOM formulations is presented in this paper. It allows describing MBS in terms of various absolute coordinates and at the same using Lie group integration schemes. The direct product group SO(3)xR3; and the semidirect product group SE(3) are use for representing rigid body motions. The key element of this method is the local-global transitions (LGT) transition map, which facilitates the update of (global) absolute coordinates in terms of the (local) coordinates on the Lie group. This LGT map is specific to the absolute coordinates, the local coordinates on the Lie group, and the Lie group used to represent rigid body configurations. This embedding of Lie group integration methods allows for interfacing with standard vector space integration methods.

Tips of tongues in the double standard family*

We answer a question raised by Misiurewicz and Rodrigues concerning the family of degree two circle maps F λ : R / Z → R / Z defined by F λ ( x ) ≔ 2 x + a + b π sin ( 2 π x ) with λ ≔ ( a , b ) ∈ R / Z × ( 0 , 1 ) . We prove that if F λ ◦ n − i d has a zero of multiplicity three in R / Z , then there is a system of local coordinates ( α , β ) : W → R 2 defined in a neighborhood W of λ, such that α(λ) = β(λ) = 0 and F μ ◦ n − i d has a multiple zero with μ ∈ W if and only if β 3(μ) = α 2(μ). This shows that the tips of tongues are regular cusps.

Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics

This paper presents a geometric adaptive position tracking control system for a quadrotor unmanned aerial vehicle. In particular, the attitude control system is designed on the product of the two-dimensional unit sphere and the one-dimensional circle such that the direction of the thrust that is critical for position tracking is controlled independently from the yawing direction that is irrelevant to the position dynamics. Compared against the prior work with coupled attitude controls on the special orthogonal group, the proposed controller prevents large yaw errors from causing an undesirable performance degradation in tracking a position command. Further, the control input is augmented with adaptive control terms to mitigate the effects of disturbances, and it is formulated globally on the spheres to avoid singularities and complexities of local coordinates. The efficacy of the proposed control system is illustrated by both numerical examples and indoor/outdoor flight experiments.

Singularity-Free Lie Group Integration of Multibody System Models Described in Absolute Coordinates

A classical approach to the modeling of multibody systems (MBS) is to use absolute coordinates, i.e. a set of (redundant) coordinates that describe the absolute position and orientation of the individual bodies w.r.t. to an inertial frame (IFR). A well-known problem for the time integration of the equations of motion (EOM) is the lack of a singularity-free parameterization of spatial motions, which is usually tackled by using unit quaternions. Lie group integration methods were proposed as alternative approach to the singularity-free time integration. Lie group methods are inherently coordinate free and thus incompatible with any absolute coordinate description. In this paper, an integration scheme is proposed that allows describing MBS in terms of arbitrary absolute coordinates and at the same using Lie group integration schemes, which allows for singularity-free time integration. Moreover, the direct product group SO (3) × ℝ3 as well as the semidirect product group SE (3) can be use for representing rigid body motions, which is beneficial for constraint satisfaction. The crucial step of this method, which renders the underlying Lie group integration scheme applicable to EOM in absolute coordinates, is the update of the (global) absolute coordinates in terms of the (local) coordinates on the Lie group by means of a local-global transitions (LGT) transition map. This LGT map depends on the used absolute coordinates and the local coordinates on the Lie group, but also on the Lie group itself used to represent rigid body configurations (respectively the deformation field of flexible bodies), i.e. the geometry of spatial frame motions. The Lie group formulation is thus embedded, which allows interfacing with standard vector space integration methods.

Hyperbolic three-string vertex

We begin developing tools to compute off-shell string amplitudes with the recently proposed hyperbolic string vertices of Costello and Zwiebach. Exploiting the relation between a boundary value problem for Liouville’s equation and a monodromy problem for a Fuchsian equation, we construct the local coordinates around the punctures for the generalized hyperbolic three-string vertex and investigate their various limits. This vertex corresponds to the general pants diagram with three boundary geodesics of unequal lengths. We derive the conservation laws associated with such vertex and perform sample computations. We note the relevance of our construction to the calculations of the higher-order string vertices using the pants decomposition of hyperbolic Riemann surfaces.

Thermodynamics of traversable wormholes in f(R,T) gravity

In this paper, we discuss thermodynamics for spherically symmetric and static traversable wormholes which include Morris–Thorne wormholes and charged wormholes in the background of [Formula: see text] gravity. The local coordinates have been used to find trapping horizons of these objects and generalized surface gravity has been worked out on the trapping horizons. The expression for the unified first law has also been derived from the gradient of Misner–Sharp energy with the help of gravitational field equations and from this law the first law of wormhole dynamics has been obtained. We have done this analysis for the simplest case of [Formula: see text] gravity where [Formula: see text], [Formula: see text] and [Formula: see text] being the traces of the Ricci and stress–energy tensors. Also, we have extended these thermodynamic results to non-minimal curvature-matter coupling.

Interfacing conditions in the pipeline mathematical model with a kink of profile

Сформулирована замкнутая краевая задача расчета напряженно-деформированного состояния трубопровода как оболочки Власова с линией излома поверхности. Выведены разрешающие уравнения оболочки в перемещениях в избранной криволинейной системе координат; в локальных координатах, связанных с линией излома, выведены кинематические условия сопряжения; на линии излома поверхности наложены и доказаны условия сопряжения для моментов и усилий в оболочке. Условия сопряжения выведены в перемещениях оболочки на линии излома, не являющейся координатной линией. Доказано наличие сингулярности в условиях сопряжения. Установлена согласованность результатов численного анализа с известными результатами. A closed-ended formulation of the boundary-value problem of calculating the pipeline stress-strain state as a Vlasov shell with a kink line of surface was given. The resolving equations of the shell in displacements in the chosen curvilinear coordinate system were derived; in the local coordinates associated with the kink line, the kinematic conjugation conditions on this line were derived; conjugation conditions for moments and forces in the shell on the surface kink line were stated and proved. All conjugation conditions were deduced in the displacements of the shell on the kink line, which is not a coordinate line. The presence of a singularity in the obtained conjugation conditions was proved. The consistency of the numerical analysis results with known results was established.