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Concept

Fibré cotangent

Publications associées (24)

Affine Lie-Poisson reduction, Yang-Mills magnetohydrodynamics, and superfluids

Tudor Ratiu, François Gay-Balmaz

This paper develops the theory of affine Lie-Poisson reduction and applies this process to Yang-Mills and Hall magnetohydrodynamics for fluids and superfluids. As a consequence of this approach, the associated Poisson brackets are obtained by reduction of ...

2008

The symplectic normal space of a cotangent-lifted action

For the cotangent bundle T*Q of a smooth Riemannian manifold acted upon by the lift of a smooth and proper action by isometries of a Lie group, we characterize the symplectic normal space at any point. We show that this space splits as the direct sum of th ...

2008

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

Some applications of symmetries in differential geometry and dynamical systems

Oana Mihaela Dragulete

This thesis deals with applications of Lie symmetries in differential geometry and dynamical systems. The first chapter of the thesis studies the singular reduction of symmetries of cosphere bundles, the conservation properties of contact systems and their ...

EPFL2007