Asymptotic formulas for curve operators in TQFT

Topological quantum field theories with gauge group $\textrm{SU}_2$ associate to each surface with marked points $\Sigma$ and each integer $r>0$ a vector space $V_r (\Sigma)$ and to each simple closed curve $\gamma$ in $\Sigma$ an Hermitian operator $T_r^{\gamma}$ acting on that space. We show that the matrix elements of the operators $T_r^{\gamma}$ have an asymptotic expansion in orders of $\frac{1}{r}$, and give a formula to compute the first two terms in terms of trace functions, generalizing results of March\'e and Paul

Methods and Measures for Analyzing Complex Street Networks and Urban Form

Complex systems have been widely studied by social and natural scientists in terms of their dynamics and their structure. Scholars of cities and urban planning have incorporated complexity theories from qualitative and quantitative perspectives. From a structural standpoint, the urban form may be characterized by the morphological complexity of its circulation networks - particularly their density, resilience, centrality, and connectedness. This dissertation unpacks theories of nonlinearity and complex systems, then develops a framework for assessing the complexity of urban form and street networks. It introduces a new tool, OSMnx, to collect street network and other urban form data for anywhere in the world, then analyze and visualize them. Finally, it presents a large empirical study of 27,000 street networks, examining their metric and topological complexity relevant to urban design, transportation research, and the human experience of the built environment.Comment: PhD thesis (2017), City and Regional Planning, UC Berkele

A computational geometric approach for an ensemble-based topological entropy calculation in two and three dimensions

From the stirring of dye in viscous fluids to the availability of essential nutrients spreading over the surface of a pond, nature is rife with examples of mixing in two-dimensional fluids. The long-time exponential growth rate of a thin filament of dye stretched by the fluid is a well-known proxy for the quality of mixing in two dimensions. This growth rate in turn gives a lower bound on the flow's topological entropy, a measure quantifying the complexity of chaotic dynamics. In the real-world study of mixing, topological entropy may be hard to compute; the velocity field may not be known or may be expensive to recover or approximate, thus limiting our knowledge of the governing system and underlying mechanics driving the mixing. Central to this study are two questions: \emph{How can stretching rates in two-dimensional planar flows best be computed using only trajectory data?}, and \emph{Can a method for computing stretching rates in higher dimensions from only trajectory data be developed?}. In this spirit, we introduce the Ensemble-based Topological Entropy Calculation (E-tec), a method to derive a lower-bound on topological entropy that requires only finite number of system trajectories, like those obtained from ocean drifters, and no detailed knowledge of the velocity field. E-tec is demonstrated to be computationally more efficient than other competing methods in two dimensions that accommodate trajectory data. This is accomplished by considering the evolution of a ``rubber band" wrapped around the data points and evolving with their trajectories. E-tec records the growth of this band as the collective motion of trajectories strike, deform, and stretch it. This exponential growth rate acts as a lower bound on the topological entropy. In this manuscript, I demonstrate convergence of E-tec's approximation with respect to both the number of trajectories (ensemble size) and the duration of trajectories in time. Driving the efficiency of E-tec in two dimensions is the use of computational geometry tools. Not only this, by computing stretching rates in this new computational geometry framework, I extend E-tec to three dimensions using two methods. First, I consider a two-dimensional rubber sheet stretched around a collection of points in a three-dimensional flow. Similar to the band-stretching component of two-dimensional E-tec, a three-dimensional triangulation is used to record the growth of the sheet as it is stretched and deformed by points evolving in time. Second, I calculate the growth rates of one-dimensional rubber strings as they are stretched by the edges of this dynamic, moving triangulation

Complete periodicity of Prym eigenforms

This paper deals with Prym eigenforms which are introduced previously by McMullen. We prove several results on the directional flow on those surfaces, related to complete periodicity (introduced by Calta). More precisely we show that any homological direction is algebraically periodic, and any direction of a regular closed geodesic is a completely periodic direction. As a consequence we draw that the limit set of the Veech group of every Prym eigenform in some Prym loci of genus 3,4, and 5 is either empty, one point, or the full circle at infinity. We also construct new examples of translation surfaces satisfying the topological Veech dichotomy. As a corollary we obtain new translation surfaces whose Veech group is infinitely generated and of the first kind.Comment: 35 page

Robotic manipulation of cloth: mechanical modeling and perception

(Eng) In this work we study various mathematical problems arising from the robotic manipulation of cloth. First, we develop a locking-free continuous model for the physical simulation of inextensible textiles. We present a novel 'finite element' discretization of our inextensibility constraints which results in a unified treatment of triangle and quadrilateral meshings of the cloth. Next, we explain how to incorporate contacts, self-collisions and friction into the equations of motion, so that frictional forces and inextensibility and collision constraints may be integrated implicitly and without any decoupling. We develop an efficient 'active-set' solver tailored to our non-linear problem which takes into account past active constraints to accelerate the resolution of unresolved contacts and moreover can be initialized from any non-necessarily feasible point. Then, we embark ourselves in the empirical validation of the developed model. We record in a laboratory setting --with depth cameras and motion capture systems-- the motions of seven types of textiles (including e.g. cotton, denim and polyester) of various sizes and at different speeds and end up with more than 80 recordings. The scenarios considered are all dynamic and involve rapid shaking and twisting of the textiles, collisions with frictional objects and even strong hits with a long stick. We then, compare the recorded textiles with the simulations given by our inextensible model, and find that on average the mean error is of the order of 1 cm even for the largest sizes (DIN A2) and the most challenging scenarios. Furthermore, we also tackle other problems relevant to robotic cloth manipulation, such as cloth perception and classification of its states. We present a reconstruction algorithm based on Morse theory that proceeds directly from a point-cloud to obtain a cellular decomposition of a surface with or without boundary: the results are a piecewise parametrization of the cloth surface as a union of Morse cells. From the cellular decomposition the topology of the surface can be then deduced immediately. Finally, we study the configuration space of a piece of cloth: since the original state of a piece of cloth is flat, the set of possible states under the inextensible assumption is the set of developable surfaces isometric to a fixed one. We prove that a generic simple, closed, piecewise regular curve in space can be the boundary of only finitely many developable surfaces with nonvanishing mean curvature. Inspired on this result we introduce the dGLI cloth coordinates, a low-dimensional representation of the state of a piece of cloth based on a directional derivative of the Gauss Linking Integral. These coordinates --computed from the position of the cloth's boundary-- allow to distinguish key qualitative changes in folding sequences.(Esp) En este trabajo estudiamos varios problemas matemáticos relacionados con la manipulación robótica de textiles. En primer lugar, desarrollamos un modelo continuo libre de 'locking' para la simulación física de textiles inextensibles. Presentamos una novedosa discretización usando 'elementos finitos' de nuestras restricciones de inextensibilidad resultando en un tratamiento unificado de mallados triangulares y cuadrangulares de la tela. A continuación, explicamos cómo incorporar contactos, autocolisiones y fricción en las ecuaciones de movimiento, de modo que las fuerzas de fricción y las restricciones de inextensibilidad y colisiones puedan integrarse implícitamente y sin ningún desacoplamiento. Desarrollamos un 'solver' de tipo 'conjunto-activo' adaptado a nuestro problema no lineal que tiene en cuenta las restricciones activas pasadas para acelerar la resolución de los contactos no resueltos y, además, puede inicializarse desde cualquier punto no necesariamente factible. Posteriormente, nos embarcamos en la validación empírica del modelo desarrollado. Grabamos en un entorno de laboratorio -con cámaras de profundidad y sistemas de captura de movimiento- los movimientos de siete tipos de textiles (entre los que se incluyen, por ejemplo, algodón, tela vaquera y poliéster) de varios tamaños y a diferentes velocidades, terminando con más de 80 grabaciones. Los escenarios considerados son todos dinámicos e implican sacudidas y torsiones rápidas de los textiles, colisiones con obstáculos e incluso golpes con una varilla cilíndrica. Finalmente, comparamos las grabaciones con las simulaciones dadas por nuestro modelo inextensible, y encontramos que, de media, el error es del orden de 1 cm incluso para las telas más grandes (DIN A2) y los escenarios más complicados. Además, también abordamos otros problemas relevantes para la manipulación robótica de telas, como son la percepción y la clasificación de sus estados. Presentamos un algoritmo de reconstrucción basado en la teoría de Morse que procede directamente de una nube de puntos para obtener una descomposición celular de una superficie con o sin borde: los resultados son una parametrización a trozos de la superficie de la tela como una unión de celdas de Morse. A partir de la descomposición celular puede deducirse inmediatamente la topología de la superficie. Por último, estudiamos el espacio de configuración de un trozo de tela: dado que el estado original de la tela es plano, el conjunto de estados posibles bajo la hipótesis de inextensibilidad es el conjunto de superficies desarrollables isométricas a una fija. Demostramos que una curva genérica simple, cerrada y regular a trozos en el espacio puede ser el borde de un número finito de superficies desarrollables con curvatura media no nula. Inspirándonos en este resultado, introducimos las coordenadas dGLI, una representación de dimensión baja del estado de un pedazo de tela basada en una derivada direccional de la integral de enlazamiento de Gauss. Estas coordenadas -calculadas a partir de la posición del borde de la tela- permiten distinguir cambios cualitativos clave en distintas secuencias de plegado