Geometry Mechanics And Control In Action For The Falling Cat

Author : Toshihiro Iwai
Publisher : Springer Nature
ISBN 13 : 9811606889
Total Pages : 193 pages
Book Rating : 4.85/5 ( download)

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Download or read book Geometry, Mechanics, and Control in Action for the Falling Cat written by Toshihiro Iwai and published by Springer Nature. This book was released on 2021-04-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.

Author : Michael J. Enos
Publisher : American Mathematical Soc.
ISBN 13 : 9780821892008
Total Pages : 298 pages
Book Rating : 4.02/5 ( download)

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Download or read book Dynamics and Control of Mechanical Systems: The Falling Cat and Related Problems written by Michael J. Enos and published by American Mathematical Soc.. This book was released on 1993 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains a collection of papers presented at the Fields Institute workshop, ``The Falling Cat and Related Problems,'' held in March 1992. The theme of the workshop was the application of methods from geometric mechanics and mathematical control theory to problems in the dynamics and control of freely rotating systems of coupled rigid bodies and related nonholonomic mechanical systems. This book will prove useful in providing insight into this new and exciting area of research.

Author : Board on Mathematical Sciences
Publisher : National Academies Press
ISBN 13 : 0309590612
Total Pages : 81 pages
Book Rating : 4.17/5 ( download)

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Download or read book Motion, Control, and Geometry written by Board on Mathematical Sciences and published by National Academies Press. This book was released on 1997-05-21 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"- that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.

Author : Yakov Eliashberg
Publisher : American Mathematical Soc.
ISBN 13 : 9780821886892
Total Pages : 452 pages
Book Rating : 4.94/5 ( download)

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Download or read book Symplectic Geometry and Topology written by Yakov Eliashberg and published by American Mathematical Soc.. This book was released on 2004 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: Symplectic geometry has its origins as a geometric language for classical mechanics. But it has recently exploded into an independent field interconnected with many other areas of mathematics and physics. The goal of the IAS/Park City Mathematics Institute Graduate Summer School on Symplectic Geometry and Topology was to give an intensive introduction to these exciting areas of current research. Included in this proceedings are lecture notes from the following courses: Introductionto Symplectic Topology by D. McDuff; Holomorphic Curves and Dynamics in Dimension Three by H. Hofer; An Introduction to the Seiberg-Witten Equations on Symplectic Manifolds by C. Taubes; Lectures on Floer Homology by D. Salamon; A Tutorial on Quantum Cohomology by A. Givental; Euler Characteristicsand Lagrangian Intersections by R. MacPherson; Hamiltonian Group Actions and Symplectic Reduction by L. Jeffrey; and Mechanics: Symmetry and Dynamics by J. Marsden. Information for our distributors: Titles in this series are copublished with the Institute for Advanced Study/Park City Mathematics Institute. Members of the Mathematical Association of America (MAA) and the National Council of Teachers of Mathematics (NCTM) receive a 20% discount from list price.

Author : Luis Hernández-Lamoneda
Publisher : Springer
ISBN 13 : 3319714287
Total Pages : 128 pages
Book Rating : 4.88/5 ( download)

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Download or read book Geometrical Themes Inspired by the N-body Problem written by Luis Hernández-Lamoneda and published by Springer. This book was released on 2018-02-26 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presenting a selection of recent developments in geometrical problems inspired by the N-body problem, these lecture notes offer a variety of approaches to study them, ranging from variational to dynamical, while developing new insights, making geometrical and topological detours, and providing historical references. A. Guillot’s notes aim to describe differential equations in the complex domain, motivated by the evolution of N particles moving on the plane subject to the influence of a magnetic field. Guillot studies such differential equations using different geometric structures on complex curves (in the sense of W. Thurston) in order to find isochronicity conditions. R. Montgomery’s notes deal with a version of the planar Newtonian three-body equation. Namely, he investigates the problem of whether every free homotopy class is realized by a periodic geodesic. The solution involves geometry, dynamical systems, and the McGehee blow-up. A novelty of the approach is the use of energy-balance in order to motivate the McGehee transformation. A. Pedroza’s notes provide a brief introduction to Lagrangian Floer homology and its relation to the solution of the Arnol’d conjecture on the minimal number of non-degenerate fixed points of a Hamiltonian diffeomorphism.

Author : Robert A. Meyers
Publisher : Springer Science & Business Media
ISBN 13 : 1461418054
Total Pages : 1885 pages
Book Rating : 4.54/5 ( download)

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Download or read book Mathematics of Complexity and Dynamical Systems written by Robert A. Meyers and published by Springer Science & Business Media. This book was released on 2011-10-05 with total page 1885 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mathematics of Complexity and Dynamical Systems is an authoritative reference to the basic tools and concepts of complexity, systems theory, and dynamical systems from the perspective of pure and applied mathematics. Complex systems are systems that comprise many interacting parts with the ability to generate a new quality of collective behavior through self-organization, e.g. the spontaneous formation of temporal, spatial or functional structures. These systems are often characterized by extreme sensitivity to initial conditions as well as emergent behavior that are not readily predictable or even completely deterministic. The more than 100 entries in this wide-ranging, single source work provide a comprehensive explication of the theory and applications of mathematical complexity, covering ergodic theory, fractals and multifractals, dynamical systems, perturbation theory, solitons, systems and control theory, and related topics. Mathematics of Complexity and Dynamical Systems is an essential reference for all those interested in mathematical complexity, from undergraduate and graduate students up through professional researchers.

Author : Jerrold E. Marsden
Publisher : Springer Science & Business Media
ISBN 13 : 0387217924
Total Pages : 593 pages
Book Rating : 4.25/5 ( download)

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Download or read book Introduction to Mechanics and Symmetry written by Jerrold E. Marsden and published by Springer Science & Business Media. This book was released on 2013-03-19 with total page 593 pages. Available in PDF, EPUB and Kindle. Book excerpt: A development of the basic theory and applications of mechanics with an emphasis on the role of symmetry. The book includes numerous specific applications, making it beneficial to physicists and engineers. Specific examples and applications show how the theory works, backed by up-to-date techniques, all of which make the text accessible to a wide variety of readers, especially senior undergraduates and graduates in mathematics, physics and engineering. This second edition has been rewritten and updated for clarity throughout, with a major revamping and expansion of the exercises. Internet supplements containing additional material are also available.

Author : Jerrold E. Marsden
Publisher : Cambridge University Press
ISBN 13 : 9780521428446
Total Pages : 272 pages
Book Rating : 4.40/5 ( download)

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Download or read book Lectures on Mechanics written by Jerrold E. Marsden and published by Cambridge University Press. This book was released on 1992-04-30 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the 1991 LMS Invited Lectures given by Professor Marsden, this book discusses and applies symmetry methods to such areas as bifurcations and chaos in mechanical systems.

Author : Jerrold E. Marsden
Publisher : Springer
ISBN 13 : 3540724702
Total Pages : 524 pages
Book Rating : 4.04/5 ( download)

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Download or read book Hamiltonian Reduction by Stages written by Jerrold E. Marsden and published by Springer. This book was released on 2007-06-05 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume provides a detailed account of the theory of symplectic reduction by stages, along with numerous illustrations of the theory. It gives special emphasis to group extensions, including a detailed discussion of the Euclidean group, the oscillator group, the Bott-Virasoro group and other groups of matrices. The volume also provides ample background theory on symplectic reduction and cotangent bundle reduction.

Author :
Publisher :
ISBN 13 :
Total Pages : 820 pages
Book Rating : 4.67/5 ( download)

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Download or read book Mathematical Reviews written by and published by . This book was released on 2004 with total page 820 pages. Available in PDF, EPUB and Kindle. Book excerpt: