Combinatorial Computations on an Extension of a Problem by Pál Turán

Turan’s problem asks what is the maximal distance from a polynomial to the set of all irreducible polynomials over Z. It turns out it is sufficient to consider the problem in the setting of F2. Even though it is conjectured that there exists an absolute constant C such that the distance L(f - g) <= C, the problem remains open. Thus it attracts different approaches, one of which belongs to Lee, Ruskey and Williams, who study what the probability is for a set of polynomials ‘resembling’ the irreducibles to satisfy this conjecture. In the following article we strive to provide more precision and detail to their method, and propose a table with better numeric results. ACM Computing Classification System (1998): H.1.1. *This author is partially supported by the High School Students Institute of Mathematics and Informatics

Best experienced payoff dynamics and cooperation in the centipede game

We study population game dynamics under which each revising agent tests each of his strategies a fixed number of times, with each play of each strategy being against a newly drawn opponent, and chooses the strategy whose total payoff was highest. In the centipede game, these best experienced payoff dynamics lead to cooperative play. When strategies are tested once, play at the almost globally stable state is concentrated on the last few nodes of the game, with the proportions of agents playing each strategy being largely independent of the length of the game. Testing strategies many times leads to cyclical play.U.S. National Science Foundation (Grants SES-1458992 and SES- 1728853), the U.S. Army Research Office (Grants W911NF-17-1-0134 MSN201957), Project ECO2017-83147- C2-2-P (MINECO/AEI/FEDER, UE), and the Spanish Ministerio de Educación, Cultura, y Deporte (Grants PRX15/00362 and PRX16/00048

3D weak lensing with spin wavelets on the ball

We construct the spin flaglet transform, a wavelet transform to analyze spin signals in three dimensions. Spin flaglets can probe signal content localized simultaneously in space and frequency and, moreover, are separable so that their angular and radial properties can be controlled independently. They are particularly suited to analyzing of cosmological observations such as the weak gravitational lensing of galaxies. Such observations have a unique 3D geometrical setting since they are natively made on the sky, have spin angular symmetries, and are extended in the radial direction by additional distance or redshift information. Flaglets are constructed in the harmonic space defined by the Fourier-Laguerre transform, previously defined for scalar functions and extended here to signals with spin symmetries. Thanks to various sampling theorems, both the Fourier-Laguerre and flaglet transforms are theoretically exact when applied to bandlimited signals. In other words, in numerical computations the only loss of information is due to the finite representation of floating point numbers. We develop a 3D framework relating the weak lensing power spectrum to covariances of flaglet coefficients. We suggest that the resulting novel flaglet weak lensing estimator offers a powerful alternative to common 2D and 3D approaches to accurately capture cosmological information. While standard weak lensing analyses focus on either real or harmonic space representations (i.e., correlation functions or Fourier-Bessel power spectra, respectively), a wavelet approach inherits the advantages of both techniques, where both complicated sky coverage and uncertainties associated with the physical modeling of small scales can be handled effectively. Our codes to compute the Fourier-Laguerre and flaglet transforms are made publicly available.Comment: 24 pages, 4 figures, version accepted for publication in PR

Distance-based formulations for the position analysis of kinematic chains

This thesis addresses the kinematic analysis of mechanisms, in particular, the position analysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) interconnected by kinematic pairs (joints). This problem, of completely geometrical nature, consists in finding the feasible assembly modes that a kinematic chain can adopt. An assembly mode is a possible relative transformation between the links of a kinematic chain. When an assignment of positions and orientations is made for all links with respect to a given reference frame, an assembly mode is called a configuration. The methods reported in the literature for solving the position analysis of kinematic chains can be classified as graphical, analytical, or numerical. The graphical approaches are mostly geometrical and designed to solve particular problems. The analytical and numerical methods deal, in general, with kinematic chains of any topology and translate the original geometric problem into a system of kinematic analysis of all the Assur kinematic chains resulting from replacing some of its revolute joints by slider joints. Thus, it is concluded that the polynomials of all fully-parallel planar robots can be derived directly from that of the widely known 3-RPR robot. In addition to these results, this thesis also presents an efficient procedure, based on distance and oriented area constraints, and geometrical arguments, to trace coupler curves of pin-jointed Gr¨ubler kinematic chains. All these techniques and results together are contributions to theoretical kinematics of mechanisms, robot kinematics, and distance plane geometry. equations that defines the location of each link based, mainly, on independent loop equations. In the analytical approaches, the system of kinematic equations is reduced to a polynomial, known as the characteristic polynomial of the linkage, using different elimination methods —e.g., Gr¨obner bases or resultant techniques. In the numerical approaches, the system of kinematic equations is solved using, for instance, polynomial continuation or interval-based procedures. In any case, the use of independent loop equations to solve the position analysis of kinematic chains, almost a standard in kinematics of mechanisms, has seldom been questioned despite the resulting system of kinematic equations becomes quite involved even for simple linkages. Moreover, stating the position analysis of kinematic chains directly in terms of poses, with or without using independent loop equations, introduces two major disadvantages: arbitrary reference frames has to be included, and all formulas involve translations and rotations simultaneously. This thesis departs from this standard approach by, instead of directly computing Cartesian locations, expressing the original position problem as a system of distance-based constraints that are then solved using analytical and numerical procedures adapted to their particularities. In favor of developing the basics and theory of the proposed approach, this thesis focuses on the study of the most fundamental planar kinematic chains, namely, Baranov trusses, Assur kinematic chains, and pin-jointed Gr¨ubler kinematic chains. The results obtained have shown that the novel developed techniques are promising tools for the position analysis of kinematic chains and related problems. For example, using these techniques, the characteristic polynomials of most of the cataloged Baranov trusses can be obtained without relying on variable eliminations or trigonometric substitutions and using no other tools than elementary algebra. An outcome in clear contrast with the complex variable eliminations require when independent loop equations are used to tackle the problem. The impact of the above result is actually greater because it is shown that the characteristic polynomial of a Baranov truss, derived using the proposed distance-based techniques, contains all the necessary and sufficient information for solving the positionEsta tesis aborda el problema de análisis de posición de cadenas cinemáticas, mecanismos con cuerpos rígidos (enlaces) interconectados por pares cinemáticos (articulaciones). Este problema, de naturaleza geométrica, consiste en encontrar los modos de ensamblaje factibles que una cadena cinemática puede adoptar. Un modo de ensamblaje es una transformación relativa posible entre los enlaces de una cadena cinemática. Los métodos reportados en la literatura para la solución del análisis de posición de cadenas cinemáticas se pueden clasificar como gráficos, analíticos o numéricos. Los enfoques gráficos son geométricos y se diseñan para resolver problemas particulares. Los métodos analíticos y numéricos tratan con cadenas cinemáticas de cualquier topología y traducen el problema geométrico original en un sistema de ecuaciones cinemáticas que define la ubicación de cada enlace, basado generalmente en ecuaciones de bucle independientes. En los enfoques analíticos, el sistema de ecuaciones cinemáticas se reduce a un polinomio, conocido como el polinomio característico de la cadena cinemática, utilizando diferentes métodos de eliminación. En los métodos numéricos, el sistema se resuelve utilizando, por ejemplo, la continuación polinomial o procedimientos basados en intervalos. En cualquier caso, el uso de ecuaciones de bucle independientes, un estándar en cinemática de mecanismos, rara vez ha sido cuestionado a pesar de que el sistema resultante de ecuaciones es bastante complicado, incluso para cadenas simples. Por otra parte, establecer el análisis de la posición de cadenas cinemáticas directamente en términos de poses, con o sin el uso de ecuaciones de bucle independientes, presenta dos inconvenientes: sistemas de referencia arbitrarios deben ser introducidos, y todas las fórmulas implican traslaciones y rotaciones de forma simultánea. Esta tesis se aparta de este enfoque estándar expresando el problema de posición original como un sistema de restricciones basadas en distancias, en lugar de directamente calcular posiciones cartesianas. Estas restricciones son posteriormente resueltas con procedimientos analíticos y numéricos adaptados a sus particularidades. Con el propósito de desarrollar los conceptos básicos y la teoría del enfoque propuesto, esta tesis se centra en el estudio de las cadenas cinemáticas planas más fundamentales, a saber, estructuras de Baranov, cadenas cinemáticas de Assur, y cadenas cinemáticas de Grübler. Los resultados obtenidos han demostrado que las técnicas desarrolladas son herramientas prometedoras para el análisis de posición de cadenas cinemáticas y problemas relacionados. Por ejemplo, usando dichas técnicas, los polinomios característicos de la mayoría de las estructuras de Baranov catalogadas se puede obtener sin realizar eliminaciones de variables o sustituciones trigonométricas, y utilizando solo álgebra elemental. Un resultado en claro contraste con las complejas eliminaciones de variables que se requieren cuando se utilizan ecuaciones de bucle independientes. El impacto del resultado anterior es mayor porque se demuestra que el polinomio característico de una estructura de Baranov, derivado con las técnicas propuestas, contiene toda la información necesaria y suficiente para resolver el análisis de posición de las cadenas cinemáticas de Assur que resultan de la sustitución de algunas de sus articulaciones de revolución por articulaciones prismáticas. De esta forma, se concluye que los polinomios de todos los robots planares totalmente paralelos se pueden derivar directamente del polinomio característico del conocido robot 3-RPR. Adicionalmente, se presenta un procedimiento eficaz, basado en restricciones de distancias y áreas orientadas, y argumentos geométricos, para trazar curvas de acoplador de cadenas cinemáticas de Grübler. En conjunto, todas estas técnicas y resultados constituyen contribuciones a la cinemática teórica de mecanismos, la cinemática de robots, y la geometría plana de distancias. Barcelona 13

Joint shape and motion estimation from echo-based sensor data

2018 Fall.Includes bibliographical references.Given a set of time-series data collected from echo-based ranging sensors, we study the problem of jointly estimating the shape and motion of the target under observation when the sensor positions are also unknown. Using an approach first described by Stuff et al., we model the target as a point configuration in Euclidean space and estimate geometric invariants of the configuration. The geometric invariants allow us to estimate the target shape, from which we can estimate the motion of the target relative to the sensor position. This work will unify the various geometric- invariant based shape and motion estimation literature under a common framework, and extend that framework to include results for passive, bistatic sensor systems

Geometric theorem proving using the Groebner basis algorithm

The purpose fo this project is to study ideals in polynomial rings and affine varieties in order to establish a connection between these two different concepts. Doing so will lead to an in depth examination of Groebner bases. Once this has been defined, step will be outlined that will enable the application of the Groebner Basis Algorithm to geometric problems