The origin of the spacetime metric: Bell's `Lorentzian pedagogy' and its significance in general relativity

The purpose of this paper is to evaluate the `Lorentzian pedagogy' defended by J.S. Bell in his essay ``How to teach special relativity'', and to explore its consistency with Einstein's thinking from 1905 to 1952. Some remarks are also made in this context on Weyl's philosophy of relativity and his 1918 gauge theory. Finally, it is argued that the Lorentzian pedagogy - which stresses the important connection between kinematics and dynamics - clarifies the role of rods and clocks in general relativity.Comment: To be published in ``Physics Meets Philosophy at the Planck Length'', C. Callender and N. Huggett (eds.), Cambridge University Press (1999). 22 pages, no figures, LaTeX, uses harvard.sty; 3 references added, typos corrected and minor changes to conten

On Centroidal Dynamics and Integrability of Average Angular Velocity

In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation framethat depends only on the current robot configuration and provide a simple algebraic condition to check whether this holds. In the language of geometric mechanics, this condition corresponds to requiring the flatness of the mechanical connection associated to the robotic system. Here, however, we provide both a reinterpretation and a proof of this result accessible to readers with a background in rigid body kinematics and multibody dynamics but not necessarily acquainted with differential geometry, still providing precise links to the geometric mechanics literature. This should help spreading the algebraic condition beyond the scope of geometric mechanics,contributing to a proper utilization and understanding of the concept of average angular velocity.Comment: 8 pages, accepted for IEEE Robotics and Automation Letters (RA-L

Robust Non-Rigid Registration with Reweighted Position and Transformation Sparsity

Non-rigid registration is challenging because it is ill-posed with high degrees of freedom and is thus sensitive to noise and outliers. We propose a robust non-rigid registration method using reweighted sparsities on position and transformation to estimate the deformations between 3-D shapes. We formulate the energy function with position and transformation sparsity on both the data term and the smoothness term, and define the smoothness constraint using local rigidity. The double sparsity based non-rigid registration model is enhanced with a reweighting scheme, and solved by transferring the model into four alternately-optimized subproblems which have exact solutions and guaranteed convergence. Experimental results on both public datasets and real scanned datasets show that our method outperforms the state-of-the-art methods and is more robust to noise and outliers than conventional non-rigid registration methods.Comment: IEEE Transactions on Visualization and Computer Graphic

Covariant Balance Laws in Continua with Microstructure

The purpose of this paper is to extend the Green-Naghdi-Rivlin balance of energy method to continua with microstructure. The key idea is to replace the group of Galilean transformations with the group of diffeomorphisms of the ambient space. A key advantage is that one obtains in a natural way all the needed balance laws on both the macro and micro levels along with two Doyle-Erickson formulas

Subspace procrustes analysis

Postprint (author's final draft

Cross-calibration of Time-of-flight and Colour Cameras

Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene representation. However, the individual cameras will have different viewpoints, resolutions and fields of view, which means that they must be mutually calibrated. This paper presents a geometric framework for this multi-view and multi-modal calibration problem. It is shown that three-dimensional projective transformations can be used to align depth and parallax-based representations of the scene, with or without Euclidean reconstruction. A new evaluation procedure is also developed; this allows the reprojection error to be decomposed into calibration and sensor-dependent components. The complete approach is demonstrated on a network of three time-of-flight and six colour cameras. The applications of such a system, to a range of automatic scene-interpretation problems, are discussed.Comment: 18 pages, 12 figures, 3 table

Symmetry-Adapted Phonon Analysis of Nanotubes

The characteristics of phonons, i.e. linearized normal modes of vibration, provide important insights into many aspects of crystals, e.g. stability and thermodynamics. In this paper, we use the Objective Structures framework to make concrete analogies between crystalline phonons and normal modes of vibration in non-crystalline but highly symmetric nanostructures. Our strategy is to use an intermediate linear transformation from real-space to an intermediate space in which the Hessian matrix of second derivatives is block-circulant. The block-circulant nature of the Hessian enables us to then follow the procedure to obtain phonons in crystals: namely, we use the Discrete Fourier Transform from this intermediate space to obtain a block-diagonal matrix that is readily diagonalizable. We formulate this for general Objective Structures and then apply it to study carbon nanotubes of various chiralities that are subjected to axial elongation and torsional deformation. We compare the phonon spectra computed in the Objective Framework with spectra computed for armchair and zigzag nanotubes. We also demonstrate the approach by computing the Density of States. In addition to the computational efficiency afforded by Objective Structures in providing the transformations to almost-diagonalize the Hessian, the framework provides an important conceptual simplification to interpret the phonon curves.Comment: To appear in J. Mech. Phys. Solid