Shape Dimension and Intrinsic Metric from Samples of Manifolds

We introduce the adaptive neighborhood graph as a data structure for modeling a smooth manifold M embedded in some Euclidean space Rd. We assume that M is known to us only through a finite sample P \subset M, as is often the case in applications. The adaptive neighborhood graph is a geometric graph on P. Its complexity is at most \min{2^{O(k)n, n2}, where n = |P| and k = dim M, as opposed to the n\lceil d/2 \rceil complexity of the Delaunay triangulation, which is often used to model manifolds. We prove that we can correctly infer the connected components and the dimension of M from the adaptive neighborhood graph provided a certain standard sampling condition is fulfilled. The running time of the dimension detection algorithm is d2O(k^{7} log k) for each connected component of M. If the dimension is considered constant, this is a constant-time operation, and the adaptive neighborhood graph is of linear size. Moreover, the exponential dependence of the constants is only on the intrinsic dimension k, not on the ambient dimension d. This is of particular interest if the co-dimension is high, i.e., if k is much smaller than d, as is the case in many applications. The adaptive neighborhood graph also allows us to approximate the geodesic distances between the points in

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement

Rhombic embeddings of planar graphs with faces of degree 4

Given a finite or infinite planar graph all of whose faces have degree 4, we study embeddings in the plane in which all edges have length 1, that is, in which every face is a rhombus. We give a necessary and sufficient condition for the existence of such an embedding, as well as a description of the set of all such embeddings.Comment: 11 pages, 3 figure