Coordinates & Constraints

This short chapter introduces constraints, generalised coordinates and the various spaces of Lagrangian mechanics. Analytical mechanics concerns itself with scalar quantities of a dynamic system, namely the potential and kinetic energies of the particle; this approach is in opposition to Newton’s method of vectorial mechanics, which relies upon defining the position of the particle in three-dimensional space, and the forces acting upon it. The chapter serves as an informal, non-mathematical introduction to differential geometry concepts that describe the configuration space and velocity phase space as a manifold and a tangent, respectively. The distinction between holonomic and non-holonomic constraints is discussed, as are isoperimetric constraints, configuration manifolds, generalised velocity and tangent bundles. The chapter also introduces constraint submanifolds, in an intuitive, graphic format.

Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions

We analyze a class of rheonomous affine constraints defined on configuration manifolds from the viewpoint of integrability/nonintegrability. First, we give the definition ofA-rheonomous affine constraints and introduce, geometric representation their. Some fundamental properties of theA-rheonomous affine constrains are also derived. We next define the rheonomous bracket and derive some necessary and sufficient conditions on the respective three cases: complete integrability, partial integrability, and complete nonintegrability for theA-rheonomous affine constrains. Then, we apply the integrability/nonintegrability conditions to some physical examples in order to confirm the effectiveness of our new results.

Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part II: Foliation Structures and Integrating Algorithms

This paper investigates foliation structures of configuration manifolds and develops integrating algorithms for a class of constraints that contain the time variable, calledA-rheonomous affine constrains. We first present some preliminaries on theA-rheonomous affine constrains. Next, theoretical analysis on foliation structures of configuration manifolds is done for the respective three cases where theA-rheonomous affine constrains are completely integrable, partially integrable, and completely nonintegrable. We then propose two types of integrating algorithms in order to calculate independent first integrals for completely integrable and partially integrableA-rheonomous affine constrains. Finally, a physical example is illustrated in order to verify the availability of our new results.

HUMAN VERSUS HUMANOID ROBOT BIODYNAMICS

In this paper we compare and contrast modern dynamical methodologies common to both humanoid robotics and human biomechanics. While the humanoid robot's motion is defined on the system of constrained rotational Lie groups SO(3) acting in all major robot joints, human motion is defined on the corresponding system of constrained Euclidean groups SE(3) of the full (rotational + translational) rigid motions acting in all synovial human joints. In both cases the smooth configuration manifolds, Q rob and Q hum , respectively, can be constructed. The autonomous Lagrangian dynamics are developed on the corresponding tangent bundles, TQ rob and TQ hum , respectively, which are themselves smooth Riemannian manifolds. Similarly, the autonomous Hamiltonian dynamics are developed on the corresponding cotangent bundles, T*Q rob and T*Q hum , respectively, which are themselves smooth symplectic manifolds. In this way a full rotational + translational biodynamics simulator has been created with 270 DOFs in total, called the Human Biodynamics Engine, which is currently in its validation stage. Finally, in both the human and the humanoid case, the time-dependent biodynamics generalizing the autonomous Lagrangian (of Hamiltonian) dynamics is naturally formulated in terms of jet manifolds.

QUANTIZATION OF KINEMATICS ON CONFIGURATION MANIFOLDS

This review paper is devoted to topological global aspects of quantal description. The treatment concentrates on quantizations of kinematical observables — generalized positions and momenta. A broad class of quantum kinematics is rigorously constructed for systems, the configuration space of which is either a homogeneous space of a Lie group or a connected smooth finite-dimensional manifold without boundary. The class also includes systems in an external gauge field for an Abelian or a compact gauge group. Conditions for equivalence and irreducibility of generalized quantum kinematics are investigated with the aim of classification of possible quantizations. Complete classification theorems are given in two special cases. It is attempted to motivate the global approach based on a generalization of imprimitivity systems called quantum Borel kinematics. These are classified by means of global invariants — quantum numbers of topological origin. Selected examples are presented which demonstrate the richness of applications of Borel quantization. The review aims to provide an introductory survey of the subject and to be sufficiently selfcontained as well, so that it can serve as a standard reference concerning Borel quantization for systems admitting localization on differentiable manifolds.