Realizability of the normal form for the triple-zero nilpotency in a class of delayed nonlinear oscillators

The effects of delayed feedback terms on nonlinear oscillators has been extensively studied, and have important applications in many areas of science and engineering. We study a particular class of second-order delay-differential equations near a point of triple-zero nilpotent bifurcation. Using center manifold and normal form reduction, we show that the three-dimensional nonlinear normal form for the triple-zero bifurcation can be fully realized at any given order for appropriate choices of nonlinearities in the original delay-differential equation.Comment: arXiv admin note: text overlap with arXiv:math/050539

Qualitative methods in bifurcation theory

No abstract

Symmetric Regularization, Reduction and Blow-Up of the Planar Three-Body Problem

We carry out a sequence of coordinate changes for the planar three-body problem which successively eliminate the translation and rotation symmetries, regularize all three double collision singularities and blow-up the triple collision. Parametrizing the configurations by the three relative position vectors maintains the symmetry among the masses and simplifies the regularization of binary collisions. Using size and shape coordinates facilitates the reduction by rotations and the blow-up of triple collision while emphasizing the role of the shape sphere. By using homogeneous coordinates to describe Hamiltonian systems whose configurations spaces are spheres or projective spaces, we are able to take a modern, global approach to these familiar problems. We also show how to obtain the reduced and regularized differential equations in several convenient local coordinates systems.Comment: 51 pages, 4 figure

Higher Order Approximation to the Hill Problem Dynamics about the Libration Points

An analytical solution to the Hill problem Hamiltonian expanded about the libration points has been obtained by means of perturbation techniques. In order to compute the higher orders of the perturbation solution that are needed to capture all the relevant periodic orbits originated from the libration points within a reasonable accuracy, the normalization is approached in complex variables. The validity of the solution extends to energy values considerably far away from that of the libration points and, therefore, can be used in the computation of Halo orbits as an alternative to the classical Lindstedt-Poincar\'e approach. Furthermore, the theory correctly predicts the existence of the two-lane bridge of periodic orbits linking the families of planar and vertical Lyapunov orbits.Comment: 28 pages, 8 figure

Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)

We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through flexible cables; and (c) multiple quadrotors with a shared rigid-body payload suspended through flexible cables. We model the flexible cable(s) as a finite series of links with spherical joints with mass concentrated at the end of each link. The resulting systems are thus high-dimensional with high degree-of-underactuation. For each of these systems, we show that the dynamics are differentially-flat, enabling planning of dynamically feasible trajectories. For the single quadrotor with a point-mass payload suspended through a flexible cable with five links (16 degrees-of-freedom and 12 degrees-of-underactuation), we use the coordinate-free dynamics to develop a geometric variation-based linearized equations of motion about a desired trajectory. We show that a finite-horizon linear quadratic regulator can be used to track a desired trajectory with a relatively large region of attraction

Cubic Differentials in the Differential Geometry of Surfaces

We discuss the local differential geometry of convex affine spheres in \re^3 and of minimal Lagrangian surfaces in Hermitian symmetric spaces. In each case, there is a natural metric and cubic differential holomorphic with respect to the induced conformal structure: these data come from the Blaschke metric and Pick form for the affine spheres and from the induced metric and second fundamental form for the minimal Lagrangian surfaces. The local geometry, at least for main cases of interest, induces a natural frame whose structure equations arise from the affine Toda system for $\mathfrak a^{(2)}_2$. We also discuss the global theory and applications to representations of surface groups and to mirror symmetry.Comment: corrected published editio

Large isoperimetric surfaces in initial data sets

We study the isoperimetric structure of asymptotically flat Riemannian 3-manifolds (M,g) that are C^0-asymptotic to Schwarzschild of mass m>0. Refining an argument due to H. Bray we obtain an effective volume comparison theorem in Schwarzschild. We use it to show that isoperimetric regions exist in (M, g) for all sufficiently large volumes, and that they are close to centered coordinate spheres. This implies that the volume-preserving stable constant mean curvature spheres constructed by G. Huisken and S.-T. Yau as well as R. Ye as perturbations of large centered coordinate spheres minimize area among all competing surfaces that enclose the same volume. This confirms a conjecture of H. Bray. Our results are consistent with the uniqueness results for volume-preserving stable constant mean curvature surfaces in initial data sets obtained by G. Huisken and S.-T. Yau and strengthened by J. Qing and G. Tian. The additional hypotheses that the surfaces be spherical and far out in the asymptotic region in their results are not necessary in our work.Comment: 29 pages. All comments welcome! This is the final version to appear in J. Differential Geo