Dual Numbers and Invariant Theory of the Euclidean Group with Applications to Robotics

<p>In this thesis we study the special Euclidean group SE(3) from two points of view, algebraic and geometric. From the algebraic point of view we introduce a dualisation procedure for SO(3;ℝ) invariants and obtain vector invariants of the adjoint action of SE(3) acting on multiple screws. In the case of three screws there are 14 basic vector invariants related by two basic syzygies. Moreover, we prove that any invariant of the same group under the same action can be expressed as a rational function evaluated on those 14 vector invariants. From the geometric point of view, we study the Denavit-Hartenberg parameters used in robotics, and calculate formulae for link lengths and offsets in terms of vector invariants of the adjoint action of SE(3). Moreover, we obtain a geometrical duality between the offsets and the link lengths, where the geometrical dual of an offset is a link length and vice versa.</p>

Dual Numbers and Invariant Theory of the Euclidean Group with Applications to Robotics

<p>In this thesis we study the special Euclidean group SE(3) from two points of view, algebraic and geometric. From the algebraic point of view we introduce a dualisation procedure for SO(3;ℝ) invariants and obtain vector invariants of the adjoint action of SE(3) acting on multiple screws. In the case of three screws there are 14 basic vector invariants related by two basic syzygies. Moreover, we prove that any invariant of the same group under the same action can be expressed as a rational function evaluated on those 14 vector invariants. From the geometric point of view, we study the Denavit-Hartenberg parameters used in robotics, and calculate formulae for link lengths and offsets in terms of vector invariants of the adjoint action of SE(3). Moreover, we obtain a geometrical duality between the offsets and the link lengths, where the geometrical dual of an offset is a link length and vice versa.</p>

Loop Groups and QNEC

We construct and study solitonic representations of the conformal net associated to some vacuum Positive Energy Representation (PER) of a loop group LG. For the corresponding solitonic states, we prove the Quantum Null Energy Condition (QNEC) and the Bekenstein Bound. As an intermediate result, we show that a Positive Energy Representation of a loop group LG can be extended to a PER of $$H^{s}(S^1,G)$$ H s ( S 1 , G ) for $$s>3/2$$ s > 3 / 2 , where G is any compact, simple and simply connected Lie group. We also show the existence of the exponential map of the semidirect product $$LG \rtimes R$$ L G ⋊ R , with R a one-parameter subgroup of $$\mathrm{Diff}_+(S^1)$$ Diff + ( S 1 ) , and we compute the adjoint action of $$H^{s+1}(S^1,G)$$ H s + 1 ( S 1 , G ) on the stress energy tensor.

Ideals of Finite-Dimensional Pointed Hopf Algebras of Rank One

Let [Formula: see text] be a finite-dimensional pointed Hopf algebra of rank one over an algebraically closed field of characteristic zero. In this paper we show that any finite-dimensional indecomposable [Formula: see text]-module is generated by one element. In particular, any indecomposable submodule of [Formula: see text] under the adjoint action is generated by a special element of [Formula: see text]. Using this result, we show that the Hopf algebra [Formula: see text] is a principal ideal ring, i.e., any two-sided ideal of [Formula: see text] is generated by one element. As an application, we give explicitly the generators of ideals, primitive ideals, maximal ideals and completely prime ideals of the Taft algebras.

⋆-cohomology, third type Chern character and anomalies in general translation-invariant noncommutative Yang–Mills

A representation of general translation-invariant star products ⋆ in the algebra of [Formula: see text] is introduced which results in the Moyal–Weyl–Wigner quantization. It provides a matrix model for general translation-invariant noncommutative quantum field theories in terms of the noncommutative calculus on differential graded algebras. Upon this machinery a cohomology theory, the so-called ⋆-cohomology, with groups [Formula: see text], [Formula: see text], is worked out which provides a cohomological framework to formulate general translation-invariant noncommutative quantum field theories based on the achievements for the commutative fields, and is comparable to the Seiberg–Witten map for the Moyal case. Employing the Chern–Weil theory via the integral classes of [Formula: see text] a noncommutative version of the Chern character is defined as an equivariant form which contains topological information about the corresponding translation-invariant noncommutative Yang–Mills theory. Thereby, we study the mentioned Yang–Mills theories with three types of actions of the gauge fields on the spinors, the ordinary, the inverse, and the adjoint action, and then some exact solutions for their anomalous behaviors are worked out via employing the homotopic correlation on the integral classes of ⋆-cohomology. Finally, the corresponding consistent anomalies are also derived from this topological Chern character in the ⋆-cohomology.

Stinespring's construction as an adjunction

Given a representation of a unital C∗-algebra A on a Hilbert space H, together with a bounded linear map V:K→H from some other Hilbert space, one obtains a completely positive map on A via restriction using the adjoint action associated to V. We show this restriction forms a natural transformation from a functor of C∗-algebra representations to a functor of completely positive maps. We exhibit Stinespring's construction as a left adjoint of this restriction. Our Stinespring adjunction provides a universal property associated to minimal Stinespring dilations and morphisms of Stinespring dilations. We use these results to prove the purification postulate for all finite-dimensional C∗-algebras.

Moving frames and Noether’s finite difference conservation laws II

In this second part of the paper, we consider finite difference Lagrangians that are invariant under linear and projective actions of $SL(2)$, and the linear equi-affine action that preserves area in the plane. We first find the generating invariants, and then use the results of the first part of the paper to write the Euler–Lagrange difference equations and Noether’s difference conservation laws for any invariant Lagrangian, in terms of the invariants and a difference moving frame. We then give the details of the final integration step, assuming the Euler Lagrange equations have been solved for the invariants. This last step relies on understanding the adjoint action of the Lie group on its Lie algebra. We also use methods to integrate Lie group invariant difference equations developed in Part I. Effectively, for all three actions, we show that solutions to the Euler–Lagrange equations, in terms of the original dependent variables, share a common structure for the whole set of Lagrangians invariant under each given group action, once the invariants are known as functions on the lattice.

The DG Poisson Adjoint Action and its Application

In this paper, the differential graded (DG for short) Poisson adjoint action on M is introduced, where M is a DG Poisson module over a DG Poisson Hopf algebra A. As an application, we give a new DG poisson module structure over the DG Poisson Hopf algebra A, which depends heavily on the structure of A.