关于holonomicA_1-模k[x,p^(-1)]的研究(英文)

本文研究了一阶Weyl代数A1上的Holonomic模k[x,p 1].利用与Bernstein-链对应的k[x,p 1]上的好链,证明了k[x,p 1]的重数为degp+1,且计算了k[x,p 1]上的一些元素的零化子.

ON THE UNIFICATION OF THE HAMILTON PRINCIPLES IN NONHOLONOMIC SYSTEM AND IN HOLONOMIC SYSTEM

In this paper by means of typical engineering examples and deep theoretical analysis, we prove that under the effect of conservative force, the Hamilton principles in holonomic and non-holonomic systems have the same formula δ∫Ldt=0. The formula ∫δdt=0 is an evolved form of the formula δ∫Ldt=0. Therefore, the two formulas are unified.

Symmetry of Lagrangians of holonomic systems in terms of quasi-coordinates

This paper discusses the symmetry of Lagrangians of holonomic systems in terms of quasi-coordinates. Firstly, the definition and the criterion of the symmetry are given. Secondly, the condition under which there exists a conserved quantity and the form of the conserved quantity are obtained. Finally, an example is shown to illustrate the application of the results.

Two kinds of generalized gradient representations for holonomic mechanical systems

Two kinds of generalized gradient systems are proposed and the characteristics of the two systems are studied. The conditions under which a holonomic mechanical system can be considered as one of the two generalized gradient systems are obtained. The characteristics of the generalized gradient systems can be used to study the stability of the holonomic system. Some examples are given to illustrate the application of the results.

Conformal invariance and Noether symmetry, Lie symmetry of holonomic mechanical systems in event space

This paper is devoted to studying the conformal invariance and Noether symmetry and Lie symmetry of a holonomic mechanical system in event space. The definition of the conformal invariance and the corresponding conformal factors of the holonomic system in event space are given. By investigating the relation between the conformal invariance and the Noether symmetry and the Lie symmetry, expressions of conformal factors of the system under these circumstances are obtained, and the Noether conserved quantity and the Hojman conserved quantity directly derived from the conformal invariance are given. Two examples are given to illustrate the application of the results.

Noether＇s theorem and one-step corrections method for holonomic system

In this paper, a new computational method for improving the accuracy of numerically computed solutions is introduced. The computational method is based on the one-step method and conserved quantities of holonomic systems are considered as kinematical constraints in this method.

Noether symmetry and non-Noether conserved quantity of the relativistic holonomic nonconservative systems in general Lie transformations

For a relativistic holonomic nonconservative system, by using the Noether symmetry, a new non-Noether conserved quantity is given under general infinitesimal transformations of groups. On the basis of tile theory of invariance of differential equations of motion under general infinitesimal transformations, we construct the relativistic Noether symmetry, Lie symmetry and the condition under which the Noether symmetry is a Lie symmetry under general infinitesimal transformations. By using the Noether symmetry, a new relativistic non-Noether conserved quantity is given which only depends on the variables t, qs and qs. An example is given to illustrate the application of the results.

Experimental study of path planning problem using EMCOA for a holonomic mobile robot

In this paper,a comparative study of the path planning problem using evolutionary algorithms,in comparison with classical methods such as the A*algorithm,is presented for a holonomic mobile robot.The configured navigation system,which consists of the integration of sensors sources,map formatting,global and local path planners,and the base controller,aims to enable the robot to follow the shortest smooth path delicately.Grid-based mapping is used for scoring paths efficiently,allowing the determination of collision-free trajectories from the initial to the target position.This work considers the evolutionary algorithms,the mutated cuckoo optimization algorithm(MCOA)and the genetic algorithm(GA),as a global planner to find the shortest safe path among others.A non-uniform motion coefficient is introduced for MCOA in order to increase the performance of this algorithm.A series of experiments are accomplished and analyzed to confirm the performance of the global planner implemented on a holonomic mobile robot.The results of the experiments show the capacity of the planner framework with respect to the path planning problem under various obstacle layouts.

Mei symmetry and Mei conserved quantity of Appell equations for a variable mass holonomic system

Mei symmetry and Mei conserved quantity of Appell equations for a variable mass holonomic system are investi- gated. Appell equations and differential equations of motion for a variable mass holonomic system are established. A new expression of the total first derivative of the function with respect of time t along the systematic motional track curve, and the definition and the criterion of Mei symmetry for Appell equations under the infinitesimal transformations of groups are given. The expressions of the structural equation and Mei conserved quantity for Mei symmetry in Appell are obtained. An example is given to illustrate the application of the results.

A type of new conserved quantity deduced from Mei symmetry for Nielsen equations in a holonomic system with unilateral constraints

A type of new conserved quantity deduced from Mei symmetry for Nielsen equations in a holonomic system with unilateral constraints is investigated. Nielsen equations and differential equations of motion for the holonomic mechanical system with unilateral constraints are established. The definition and the criterion of Mei symmetry for Nielsen equations in the holonomic systems with unilateral constraints under the infinitesimal transformations of Lie group are also given. The expressions of the structural equation and a type of new conserved quantity of Mei symmetry for Nielsen equations in the holonomic system with unilateral constraints are obtained. An example is given to illustrate the application of the results.

Adiabatic invariants of generalized Lutzky type for disturbed holonomic nonconservative systems

Based on the definition of higher-order adiabatic invariants of a mechanical system, a new type of adiabatic invariants, i.e. generalized Lutzky adiabatic invariants, of a disturbed holonomic nonconservative mechanical system are obtained by investigating the perturbation of Lie symmetries for a holonomic nonconservative mechanical system with the action of small disturbance. The adiabatic invariants and the exact invariants of the Lutzky type of some special cases, for example, the Lie point symmetrical transformations, the special Lie symmetrical transformations, and the Lagrange system, are given. And an example is given to illustrate the application of the method and results.

Symmetry of Lagrangians of a holonomic variable mass system

The symmetry of Lagrangians of a holonomic variable mass system is studied. Firstly, the differential equations of motion of the system are established. Secondly, the definition and the criterion of the symmetry of the system are presented. Thirdly, the conditions under which there exists a conserved quantity deduced by the symmetry are obtained. The form of the conserved quantity is the same as that of the constant mass Lagrange system. Finally, an example is shown to illustrate the application of the result.

Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

A．G．滤环上Holonomic模特征簇的刻划

给出了Ａ．Ｇ．滤环上ｈｏｌｏｎｏｍｉｃ模的特征簇刻划，推广了微分算子环和Ａ．Ｒ．滤环中的相应结果．

Perturbation to Lie Symmetry and Adiabatic Invariants for General Holonomic Mechanical Systems

Based on the concept of adiabatic invariant,the perturbation to the Lie symmetry and adiabatic invariantsfor general holonomic mechanical systems are studied.The exact invariants induced directly from the Lie symmetryof the system without perturbation are given.The perturbation to the Lie symmetry is discussed and the adiabaticinvariants that have the different form from that in[Act.Phys.Sin.55(2006)3236(in Chinese)]of the perturbedsystem,are obtained.

Mei symmetry and generalized Hojman conserved quantity for variable mass systems with unilateral holonomic constraints

This paper studies Mei symmetry which leads to a generalized Hojman conserved quantity for variable mass systems with unilateral holonomic constraints. The differential equations of motion for the systems are established, the definition and criterion of the Mei symmetry for the systems are given. The necessary and sufficient condition under which the Mei symmetry is a Lie symmetry for the systems is obtained and a generalized Hojman conserved quantity deduced from the Mei symmetry is got. An example is given to illustrate the application of the results.

Symmetry of the Lagrangians of holonomic nonconservative system in event space

This paper analyzes the symmetry of Lagrangians and the conserved quantity for the holonomic non-conservative system in the event space. The criterion and the definition of the symmetry are proposed first, then a quantity caused by the symmetry and its existence condition are given. An example is shown to illustrate the application of the result at the end.

Integral Invariants of a Holonomic Dynamical System

This paper uses Poincare’s formalism to study . the integral invariants of aconservative holonomic dynamical system Introducing new parameters for theasynchronous variation, a generalization of the poincare and Poincare-Cartan integralinvariants is presented.

ANOTHER CLASS D＇ALEMBERT PRINCIPLE AND A NEW MAGGI EQUATION FOR ARBITRARY ORDER NONHOLONOMIC MECHANICAL SYSTEMS IN DERIVATIVE SPACE

As a concrete application of the concepts of 'derivative space' and'correspondent kinetic energy' in derivative space, and of foe thought of 'treatingnonholonomic systems by changing them into formal holonomic system' which theauthors have previously proposed in references [1. 2, 3]. this paper derived another newuniversal D'Alembert principle and a new Maggi equation for arbitrary ordernonholonomic mechanical systems. An example using the Maggi equation is given.

Characteristics of a Two-Body Holonomic Constraint Mechanical System

Two massive blocks are connected with a massless unstretchable line of 2l. One of the masses is placed on a horizontal frictionless table, l distance away from the edge of the table the other one is held horizontally equidistance from the edge along the extension of the line. The latter is released from rest. As it falls under gravity’s pull, it drags the one on the table. It is the interest of this investigation to analyze the kinematics of the system. Because of the holonomic constraint of the system, analysis of the problem encounters complicated super nonlinear coupled differential equations. Utilizing Mathematica we solve the equations numerically. Applying the solutions we quantify numerous kinematic quantities;most interestingly we evaluate the run-time, and the trajectory of the falling block. Analysis is robust allowing us to address the “what if” scenarios.