Lagrangian Relations and Linear Point Billiards

Motivated by the high-energy limit of the $N$-body problem we construct non-deterministic billiard process. The billiard table is the complement of a finite collection of linear subspaces within a Euclidean vector space. A trajectory is a constant speed polygonal curve with vertices on the subspaces and change of direction upon hitting a subspace governed by `conservation of momentum' (mirror reflection). The itinerary of a trajectory is the list of subspaces it hits, in order. Two basic questions are: (A) Are itineraries finite? (B) What is the structure of the space of all trajectories having a fixed itinerary? In a beautiful series of papers Burago-Ferleger-Kononenko [BFK] answered (A) affirmatively by using non-smooth metric geometry ideas and the notion of a Hadamard space. We answer (B) by proving that this space of trajectories is diffeomorphic to a Lagrangian relation on the space of lines in the Euclidean space. Our methods combine those of BFK with the notion of a generating family for a Lagrangian relation.Comment: 29 pages, 4 figure

Mobility of bodies in contact. II. How forces are generated bycurvature effects

For part I, see ibid., p.696-708. The paper considers how forces are produced by compliance and surface curvature effects in systems where an object a is kinematically immobilized to second-order by finger bodies Al,...,Ak. A class of configuration-space based elastic deformation models is introduced. Using these elastic deformation models, it is shown that any object which is kinematically immobilized to first or second-order is also dynamically locally asymptotically stable with respect to perturbations. Moreover, it is shown that for preloaded grasps kinematic immobility implies that the stiffness matrix of the grasp is positive definite. The stability result provides physical justification for using second-order effects for purposes of immobilization in practical applications. Simulations illustrate the concepts