A Fast Approach to Creative Telescoping

In this note we reinvestigate the task of computing creative telescoping relations in differential-difference operator algebras. Our approach is based on an ansatz that explicitly includes the denominators of the delta parts. We contribute several ideas of how to make an implementation of this approach reasonably fast and provide such an implementation. A selection of examples shows that it can be superior to existing methods by a large factor.Comment: 9 pages, 1 table, final version as it appeared in the journa

Computer Algebra meets Finite Elements: an Efficient Implementation for Maxwell's Equations

We consider the numerical discretization of the time-domain Maxwell's equations with an energy-conserving discontinuous Galerkin finite element formulation. This particular formulation allows for higher order approximations of the electric and magnetic field. Special emphasis is placed on an efficient implementation which is achieved by taking advantage of recurrence properties and the tensor-product structure of the chosen shape functions. These recurrences have been derived symbolically with computer algebra methods reminiscent of the holonomic systems approach.Comment: 16 pages, 1 figure, 1 table; Springer Wien, ISBN 978-3-7091-0793-

Assistive trajectories for human-in-the-loop mobile robotic platforms

Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms. This will allow the platform to function well beyond the line-of-sight of the operator, enabling remote operation inside a building, surveillance, or advanced observations whilst keeping the operator in a safe location. In addition, on-board operators can be assisted to navigate without collision when distracted, or under-fire, or when physically disabled by injury

Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control

Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they are not energy-preserving they do exhibit long-time stable energy behavior. However, variational integrators often simulate mechanical system dynamics by solving an implicit difference equation at each time step, one that is moreover expressed purely in terms of configurations at different time steps. This paper formulates the first- and second-order linearizations of a variational integrator in a manner that is amenable to control analysis and synthesis, creating a bridge between existing analysis and optimal control tools for discrete dynamic systems and variational integrators for mechanical systems in generalized coordinates with forcing and holonomic constraints. The forced pendulum is used to illustrate the technique. A second example solves the discrete LQR problem to find a locally stabilizing controller for a 40 DOF system with 6 constraints.Comment: 13 page

Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control

Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they are not energy-preserving they do exhibit long-time stable energy behavior. However, variational integrators often simulate mechanical system dynamics by solving an implicit difference equation at each time step, one that is moreover expressed purely in terms of configurations at different time steps. This paper formulates the first- and second-order linearizations of a variational integrator in a manner that is amenable to control analysis and synthesis, creating a bridge between existing analysis and optimal control tools for discrete dynamic systems and variational integrators for mechanical systems in generalized coordinates with forcing and holonomic constraints. The forced pendulum is used to illustrate the technique. A second example solves the discrete LQR problem to find a locally stabilizing controller for a 40 DOF system with 6 constraints.Comment: 13 page

On the Hamiltonian formulation of nonholonomic mechanical systems

A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a ¿Poisson¿ bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic

Computer-Assisted Proofs of Some Identities for Bessel Functions of Fractional Order

We employ computer algebra algorithms to prove a collection of identities involving Bessel functions with half-integer orders and other special functions. These identities appear in the famous Handbook of Mathematical Functions, as well as in its successor, the DLMF, but their proofs were lost. We use generating functions and symbolic summation techniques to produce new proofs for them.Comment: Final version, some typos were corrected. 21 pages, uses svmult.cl