Formal Solutions of a Class of Pfaffian Systems in Two Variables

In this paper, we present an algorithm which computes a fundamental matrix of formal solutions of completely integrable Pfaffian systems with normal crossings in two variables, based on (Barkatou, 1997). A first step was set in (Barkatou-LeRoux, 2006) where the problem of rank reduction was tackled via the approach of (Levelt, 1991). We give instead a Moser-based approach. And, as a complementary step, we associate to our problem a system of ordinary linear singular differential equations from which the formal invariants can be efficiently derived via the package ISOLDE, implemented in the computer algebra system Maple.Comment: Keywords: Linear systems of partial differential equations, Pfaffian systems, Formal solutions, Moser-based reduction, Hukuhara- Turritin normal for

Formal Solutions of Completely Integrable {Pfaffian} Systems With Normal Crossings

In this paper, we present an algorithm for computing a fundamental matrix of formal solutions of completely integrable Pfaffian systems with normal crossings in several variables. This algorithm is a generalization of a method developed for the bivariate case based on a combination of several reduction techniques and is implemented in the computer algebra system Maple

Elliptic singularities on log symplectic manifolds and Feigin--Odesskii Poisson brackets

A log symplectic manifold is a complex manifold equipped with a complex symplectic form that has simple poles on a hypersurface. The possible singularities of such a hypersurface are heavily constrained. We introduce the notion of an elliptic point of a log symplectic structure, which is a singular point at which a natural transversality condition involving the modular vector field is satisfied, and we prove a local normal form for such points that involves the simple elliptic surface singularities $\tilde{E}_6,\tilde{E}_7$ and $\tilde{E}_8$. Our main application is to the classification of Poisson brackets on Fano fourfolds. For example, we show that Feigin and Odesskii's Poisson structures of type $q_{5,1}$ are the only log symplectic structures on projective four-space whose singular points are all elliptic.Comment: 33 pages, comments welcom

Trajectory generation for the N-trailer problem using Goursat normal form

Develops the machinery of exterior differential forms, more particularly the Goursat normal form for a Pfaffian system, for solving nonholonomic motion planning problems, i.e., motion planning for systems with nonintegrable velocity constraints. The authors use this technique to solve the problem of steering a mobile robot with n trailers. The authors present an algorithm for finding a family of transformations which will convert the system of rolling constraints on the wheels of the robot with n trailers into the Goursat canonical form. Two of these transformations are studied in detail. The Goursat normal form for exterior differential systems is dual to the so-called chained-form for vector fields that has been studied previously. Consequently, the authors are able to give the state feedback law and change of coordinates to convert the N-trailer system into chained-form. Three methods for planning trajectories for chained-form systems using sinusoids, piecewise constants, and polynomials as inputs are presented. The motion planning strategy is therefore to first convert the N-trailer system into Goursat form, use this to find the chained-form coordinates, plan a path for the corresponding chained-form system, and then transform the resulting trajectory back into the original coordinates. Simulations and frames of movie animations of the N-trailer system for parallel parking and backing into a loading dock using this strategy are included

Realizing non-Abelian statistics

We construct a series of 2+1-dimensional models whose quasiparticles obey non-Abelian statistics. The adiabatic transport of quasiparticles is described by using a correspondence between the braid matrix of the particles and the scattering matrix of 1+1-dimensional field theories. We discuss in depth lattice and continuum models whose braiding is that of SO(3) Chern-Simons gauge theory, including the simplest type of non-Abelian statistics, involving just one type of quasiparticle. The ground-state wave function of an SO(3) model is related to a loop description of the classical two-dimensional Potts model. We discuss the transition from a topological phase to a conventionally-ordered phase, showing in some cases there is a quantum critical point.Comment: 20 pages in two-column format. v2: fixed typos and added reference