On Minc's sheltered middle path

This paper shows that a construction, which was introduced by Piotr Minc in connection with a problem that came from Helly type theorems and that allows to replace three PL-arcs with a "sheltered middle path", can in the case of general (non-PL) paths result in the topologist's sine curve.Comment: 18 pages, 3 figure

Social choice on complex objects: A geometric approach

Marengo and Pasquali (2008) present a model of object construction in majority voting and show that, in general, by appropriate changes of such bundles, different social outcomes may be obtained. In this paper we extend and generalize this approach by providing a geometric model of individual preferences and social aggregation based on hyperplanes and their arrangements. As an application of this model we give a necessary condition for existence of a local social optimum. Moreover we address the question if a social decision rule depends also upon the number of voting agents. More precisely: are there social decision rules that can be obtained by an odd (even) number of voting agent which cannot be obtained by only three (two) voting agent? The answer is negative. Indeed three (or two) voting agent can produce all possible social decision rules.Social choice; object construction power; agenda power; intransitive cycles; arrangements; graph theory.

Pseudo-Anosov flows in toroidal manifolds

We first prove rigidity results for pseudo-Anosov flows in prototypes of toroidal 3-manifolds: we show that a pseudo-Anosov flow in a Seifert fibered manifold is up to finite covers topologically equivalent to a geodesic flow and we show that a pseudo-Anosov flow in a solv manifold is topologically equivalent to a suspension Anosov flow. Then we study the interaction of a general pseudo-Anosov flow with possible Seifert fibered pieces in the torus decomposition: if the fiber is associated with a periodic orbit of the flow, we show that there is a standard and very simple form for the flow in the piece using Birkhoff annuli. This form is strongly connected with the topology of the Seifert piece. We also construct a large new class of examples in many graph manifolds, which is extremely general and flexible. We construct other new classes of examples, some of which are generalized pseudo-Anosov flows which have one prong singularities and which show that the above results in Seifert fibered and solvable manifolds do not apply to one prong pseudo-Anosov flows. Finally we also analyse immersed and embedded incompressible tori in optimal position with respect to a pseudo-Anosov flow.Comment: 44 pages, 4 figures. Version 2. New section 9: questions and comments. Overall revision, some simplified proofs, more explanation

Robot Motion Planning Under Topological Constraints

My thesis addresses the the problem of manipulation using multiple robots with cables. I study how robots with cables can tow objects in the plane, on the ground and on water, and how they can carry suspended payloads in the air. Specifically, I focus on planning optimal trajectories for robots. Path planning or trajectory generation for robotic systems is an active area of research in robotics. Many algorithms have been developed to generate path or trajectory for different robotic systems. One can classify planning algorithms into two broad categories. The first one is graph-search based motion planning over discretized configuration spaces. These algorithms are complete and quite efficient for finding optimal paths in cluttered 2-D and 3-D environments and are widely used [48]. The other class of algorithms are optimal control based methods. In most cases, the optimal control problem to generate optimal trajectories can be framed as a nonlinear and non convex optimization problem which is hard to solve. Recent work has attempted to overcome these shortcomings [68]. Advances in computational power and more sophisticated optimization algorithms have allowed us to solve more complex problems faster. However, our main interest is incorporating topological constraints. Topological constraints naturally arise when cables are used to wrap around objects. They are also important when robots have to move one way around the obstacles rather than the other way around. Thus I consider the optimal trajectory generation problem under topological constraints, and pursue problems that can be solved in finite-time, guaranteeing global optimal solutions. In my thesis, I first consider the problem of planning optimal trajectories around obstacles using optimal control methodologies. I then present the mathematical framework and algorithms for multi-robot topological exploration of unknown environments in which the main goal is to identify the different topological classes of paths. Finally, I address the manipulation and transportation of multiple objects with cables. Here I consider teams of two or three ground robots towing objects on the ground, two or three aerial robots carrying a suspended payload, and two boats towing a boom with applications to oil skimming and clean up. In all these problems, it is important to consider the topological constraints on the cable configurations as well as those on the paths of robot. I present solutions to the trajectory generation problem for all of these problems

Geometric generators for braid-like groups

We study the problem of finding generators for the fundamental group G of a space of the following sort: one removes a family of complex hyperplanes from n dimensional complex vector space, or n dimensional complex hyperbolic space, or the Hermitian symmetric space for O(2,n), and then takes the quotient by a discrete group $P{\Gamma}$. The classical example is the braid group, but there are many similar "braid-like" groups that arise in topology and algebraic geometry. Our main result is that if $P{\Gamma}$ contains reflections in the hyperplanes nearest the basepoint, and these reflections satisfy a certain property, then G is generated by the analogues of the generators of the classical braid group. We apply this to obtain generators for G in a particular intricate example in complex hyperbolic space of dimension 13. The interest in this example comes from a conjectured relationship between this braid-like group and the monster simple group M, that gives geometric meaning to the generators and relations in the Conway-Simons presentation of $(M \times M):2$.Comment: 24 pages, 5 figures. Revised version 2: minor typos corrected, expository material added, bibliography update

Topologically robust CAD model generation for structural optimisation

Computer-aided design (CAD) models play a crucial role in the design, manufacturing and maintenance of products. Therefore, the mesh-based finite element descriptions common in structural optimisation must be first translated into CAD models. Currently, this can at best be performed semi-manually. We propose a fully automated and topologically accurate approach to synthesise a structurally-sound parametric CAD model from topology optimised finite element models. Our solution is to first convert the topology optimised structure into a spatial frame structure and then to regenerate it in a CAD system using standard constructive solid geometry (CSG) operations. The obtained parametric CAD models are compact, that is, have as few as possible geometric parameters, which makes them ideal for editing and further processing within a CAD system. The critical task of converting the topology optimised structure into an optimal spatial frame structure is accomplished in several steps. We first generate from the topology optimised voxel model a one-voxel-wide voxel chain model using a topology-preserving skeletonisation algorithm from digital topology. The weighted undirected graph defined by the voxel chain model yields a spatial frame structure after processing it with standard graph algorithms. Subsequently, we optimise the cross-sections and layout of the frame members to recover its optimality, which may have been compromised during the conversion process. At last, we generate the obtained frame structure in a CAD system by repeatedly combining primitive solids, like cylinders and spheres, using boolean operations. The resulting solid model is a boundary representation (B-Rep) consisting of trimmed non-uniform rational B-spline (NURBS) curves and surfaces

Automated CAD Model Generation for Structural Optimisation

Computer-aided design (CAD) models play a crucial role in the design, manufacturing and maintenance of products. Therefore, the mesh-based finite element descriptions common in structural optimisation must be first translated into CAD models. Currently, this translation either can be performed semi-manually or fails to reserve the structural optimality found by the structural optimisation due to the intrinsic difference in geometric representation between finite element mesh and CAD model. This thesis propose a fully automated and topologically accurate approach to synthesise structurally sound parametric CAD models from topology-optimised finite element models to fill the long-existing gap between structural optimisation and CAD systems. This approach successfully preserves the optimal structural performance during the mesh-CAD conversion. The solution provided in this thesis is to first convert the topology-optimised structure into a spatial frame structure and then to regenerate it in a CAD system using standard constructive solid geometry (CSG) operations. The obtained parametric CAD models are compact, that is, have as few as possible geometric parameters, which makes them ideal for editing and further processing within a CAD system. The critical task of converting the topology-optimised structure into an optimal spatial frame structure is accomplished in several steps. The first step is to generate a one-voxel-wide voxel chain model from the topology-optimised voxel model using a topology-preserving skeletonisation algorithm from digital topology. The undirected graph defined by the voxel chain model yields a spatial frame structure after processing it with the proposed graph algorithms. Subsequently, the cross-sections and layout of the frame members are optimised to recover its optimality, which may have been compromised during the conversion process. At last, the obtained frame structure is generated in a CAD system by repeatedly combining primitive solids, like cylinders and spheres, using boolean operations. The resulting solid model is a boundary representation (B-Rep) consisting of trimmed non-uniform rational B-spline (NURBS) curves and surfaces. The numerical studies in this thesis clarify that the converted spatial frame structures are with equivalent structural performance. Moreover, CAD models generated from the spatial frame structures have significantly fewer geometric degree of freedom compared to the topology-optimised structures. Though the numerical studies use topology-optimised structures as input and compact CSG models as output, this thesis also provides the way to extend the proposed generation process to taking other optimised meshes and producing outputs of various geometric representations. This offers a wide range of possible applications and brings new thoughts to industrial design and manufacturing.Chinese Scholarship Counci