Position and Orientation Estimation of a Rigid Body: Rigid Body Localization

Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body is not known, but, the relative position of the sensors or the topology of the sensors on the rigid body is known. We express the absolute position of the sensors as an affine function of the Stiefel manifold and propose a simple least-squares (LS) estimator as well as a constrained total least-squares (CTLS) estimator to jointly estimate the orientation and the position of the rigid body. To account for the perturbations of the sensors, we also propose a constrained total least-squares (CTLS) estimator. Analytical closed-form solutions for the proposed estimators are provided. Simulations are used to corroborate and analyze the performance of the proposed estimators.Comment: 4 pages and 1 reference page; 3 Figures; In Proc. of ICASSP 201

Some quadratic equations in the free group of rank 2

For a given quadratic equation with any number of unknowns in any free group F, with right-hand side an arbitrary element of F, an algorithm for solving the problem of the existence of a solution was given by Culler. The problem has been studied by the authors for parametric families of quadratic equations arising from continuous maps between closed surfaces, with certain conjugation factors as the parameters running through the group F. In particular, for a one-parameter family of quadratic equations in the free group F_2 of rank 2, corresponding to maps of absolute degree 2 between closed surfaces of Euler characteristic 0, the problem of the existence of faithful solutions has been solved in terms of the value of the self-intersection index mu: F_2 --> Z[F_2] on the conjugation parameter. The present paper investigates the existence of faithful, or non-faithful, solutions of similar families of quadratic equations corresponding to maps of absolute degree 0.Comment: This is the version published by Geometry & Topology Monographs on 29 April 200

The Definition of Mach's Principle

Two definitions of Mach's principle are proposed. Both are related to gauge theory, are universal in scope and amount to formulations of causality that take into account the relational nature of position, time, and size. One of them leads directly to general relativity and may have relevance to the problem of creating a quantum theory of gravity.Comment: To be published in Foundations of Physics as invited contribution to Peter Mittelstaedt's 80th Birthday Festschrift. 30 page

Seiberg-Witten and Gromov invariants for self-dual harmonic 2-forms

This is the sequel to the author's previous paper which gives an extension of Taubes' "SW=Gr" theorem to non-symplectic 4-manifolds. The main result of this paper asserts the following. Whenever the Seiberg-Witten invariants are defined over a closed minimal 4-manifold X, they are equivalent modulo 2 to "near-symplectic" Gromov invariants in the presence of certain self-dual harmonic 2-forms on X. A version for non-minimal 4-manifolds is also proved. A corollary to circle-valued Morse theory on 3-manifolds is also announced, recovering a result of Hutchings-Lee-Turaev about the 3-dimensional Seiberg-Witten invariants.Comment: 41 pages. Comments desired; to be submitte

Dirac Quantisation Conditions and Kaluza-Klein Reduction

We present the form of the Dirac quantisation condition for the p-form charges carried by p-brane solutions of supergravity theories. This condition agrees precisely with the conditions obtained in lower dimensions, as is necessary for consistency with Kaluza-klein dimensional reduction. These considerations also determine the charge lattice of BPS soliton states, which proves to be a universal modulus-independent lattice when the charges are defined to be the canonical charges corresponding to the quantum supergravity symmetry groups.Comment: 40 pages, Late