A Lax Description for Polytropic Gas Dynamics

We give a Lax description for the system of polytropic gas equations. The special structure of the Lax function naturally leads to the two infinite sets of conserved charges associated with this system. We obtain closed form expressions for the conserved charges as well as the generating functions for them. We show how the study of these generating functions can naturally lead to the recursion relation between the conserved quantities as well as the higher order Hamiltonian structures.Comment: 9 pages, Te

Optimal path planning for nonholonomic robotics systems via parametric optimisation

Abstract. Motivated by the path planning problem for robotic systems this paper considers nonholonomic path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in n-dimensional Euclidean space. The problem is formulated as a constrained optimal kinematic control problem where the cost function to be minimised is a quadratic function of translational and angular velocity inputs. An application of the Maximum Principle of optimal control leads to a set of Hamiltonian vector field that define the necessary conditions for optimality and consequently the optimal velocity history of the trajectory. It is illustrated that the systems are always integrable when n = 2 and in some cases when n = 3. However, if they are not integrable in the most general form of the cost function they can be rendered integrable by considering special cases. This implies that it is possible to reduce the kinematic system to a class of curves defined analytically. If the optimal motions can be expressed analytically in closed form then the path planning problem is reduced to one of parameter optimisation where the parameters are optimised to match prescribed boundary conditions.This reduction procedure is illustrated for a simple wheeled robot with a sliding constraint and a conventional slender underwater vehicle whose velocity in the lateral directions are constrained due to viscous damping

Discrete Variational Optimal Control

This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of variational principles. The key point is to solve the optimal control problem as a variational integrator of a specially constructed higher-dimensional system. The developed framework applies to systems on tangent bundles, Lie groups, underactuated and nonholonomic systems with symmetries, and can approximate either smooth or discontinuous control inputs. The resulting methods inherit the preservation properties of variational integrators and result in numerically robust and easily implementable algorithms. Several theoretical and a practical examples, e.g. the control of an underwater vehicle, will illustrate the application of the proposed approach.Comment: 30 pages, 6 figure

Equivalence of the Siegert-pseudostate and Lagrange-mesh R-matrix methods

Siegert pseudostates are purely outgoing states at some fixed point expanded over a finite basis. With discretized variables, they provide an accurate description of scattering in the s wave for short-range potentials with few basis states. The R-matrix method combined with a Lagrange basis, i.e. functions which vanish at all points of a mesh but one, leads to simple mesh-like equations which also allow an accurate description of scattering. These methods are shown to be exactly equivalent for any basis size, with or without discretization. The comparison of their assumptions shows how to accurately derive poles of the scattering matrix in the R-matrix formalism and suggests how to extend the Siegert-pseudostate method to higher partial waves. The different concepts are illustrated with the Bargmann potential and with the centrifugal potential. A simplification of the R-matrix treatment can usefully be extended to the Siegert-pseudostate method.Comment: 19 pages, 1 figur

Multiplicative renormalizability of gluon and ghost propagators in QCD

We reformulate the coupled set of continuum equations for the renormalized gluon and ghost propagators in QCD, such that the multiplicative renormalizability of the solutions is manifest, independently of the specific form of full vertices and renormalization constants. In the Landau gauge, the equations are free of renormalization constants, and the renormalization point dependence enters only through the renormalized coupling and the renormalized propagator functions. The structure of the equations enables us to devise novel truncations with solutions that are multiplicatively renormalizable and agree with the leading order perturbative results. We show that, for infrared power law behaved propagators, the leading infrared behavior of the gluon equation is not solely determined by the ghost loop, as concluded in previous studies, but that the gluon loop, the three-gluon loop, the four-gluon loop, and even massless quarks also contribute to the infrared analysis. In our new Landau gauge truncation, the combination of gluon and ghost loop contributions seems to reject infrared power law solutions, but massless quark loops illustrate how additional contributions to the gluon vacuum polarization could reinstate these solutions. Moreover, a schematic study of the three-gluon and four-gluon loops shows that they too need to be considered in more detail before a definite conclusion about the existence of infrared power behaved gluon and ghost propagators can be reached.Comment: 13 pages, 1 figure, submitted to Phys. Rev.

Multiplicative renormalizability and quark propagator

The renormalized Dyson-Schwinger equation for the quark propagator is studied, in Landau gauge, in a novel truncation which preserves multiplicative renormalizability. The renormalization constants are formally eliminated from the integral equations, and the running coupling explicitly enters the kernels of the new equations. To construct a truncation which preserves multiplicative renormalizability, and reproduces the correct leading order perturbative behavior, non-trivial cancellations involving the full quark-gluon vertex are assumed in the quark self-energy loop. A model for the running coupling is introduced, with infrared fixed point in agreement with previous Dyson-Schwinger studies of the gauge sector, and with correct logarithmic tail. Dynamical chiral symmetry breaking is investigated, and the generated quark mass is of the order of the extension of the infrared plateau of the coupling, and about three times larger than in the Abelian approximation, which violates multiplicative renormalizability. The generated scale is of the right size for hadronic phenomenology, without requiring an infrared enhancement of the running coupling.Comment: 17 pages; minor corrections, comparison to lattice results added; accepted for publication in Phys. Rev.

Discrete Nonholonomic Lagrangian Systems on Lie Groupoids

This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifying a discrete Lagrangian and a constraint submanifold on it. Additionally, it is necessary to fix a vector subbundle of the Lie algebroid associated to the Lie groupoid. We also discuss the existence of nonholonomic evolution operators in terms of the discrete nonholonomic Legendre transformations and in terms of adequate decompositions of the prolongation of the Lie groupoid. The characterization of the reversibility of the evolution operator and the discrete nonholonomic momentum equation are also considered. Finally, we illustrate with several classical examples the wide range of application of the theory (the discrete nonholonomic constrained particle, the Suslov system, the Chaplygin sleigh, the Veselova system, the rolling ball on a rotating table and the two wheeled planar mobile robot).Comment: 45 page

A new Chiral Two-Matrix Theory for Dirac Spectra with Imaginary Chemical Potential

We solve a new chiral Random Two-Matrix Theory by means of biorthogonal polynomials for any matrix size $N$. By deriving the relevant kernels we find explicit formulas for all $(n,k)$-point spectral (mixed or unmixed) correlation functions. In the microscopic limit we find the corresponding scaling functions, and thus derive all spectral correlators in this limit as well. We extend these results to the ordinary (non-chiral) ensembles, and also there provide explicit solutions for any finite size $N$, and in the microscopic scaling limit. Our results give the general analytical expressions for the microscopic correlation functions of the Dirac operator eigenvalues in theories with imaginary baryon and isospin chemical potential, and can be used to extract the tree-level pion decay constant from lattice gauge theory configurations. We find exact agreement with previous computations based on the low-energy effective field theory in the two special cases where comparisons are possible.Comment: 31 pages 2 figures, v2 missing term in partially quenched results inserted, fig 2 update

A new chiral two-matrix theory for dirac spectra with imaginary chemical potential

We solve a new chiral Random Two-Matrix Theory by means of biorthogonal polynomials for any matrix size $N$. By deriving the relevant kernels we find explicit formulas for all $(n,k)$-point spectral (mixed or unmixed) correlation functions. In the microscopic limit we find the corresponding scaling functions, and thus derive all spectral correlators in this limit as well. We extend these results to the ordinary (non-chiral) ensembles, and also there provide explicit solutions for any finite size $N$, and in the microscopic scaling limit. Our results give the general analytical expressions for the microscopic correlation functions of the Dirac operator eigenvalues in theories with imaginary baryon and isospin chemical potential, and can be used to extract the tree-level pion decay constant from lattice gauge theory configurations. We find exact agreement with previous computations based on the low-energy effective field theory in the two special cases where comparisons are possible

Solution of coupled vertex and propagator Dyson-Schwinger equations in the scalar Munczek-Nemirovsky model

In a scalar $\phi^2\chi$ model, we exactly solve the vertex and $\phi$ propagator Dyson-Schwinger equations under the assumption of a spatially constant (Munczek-Nemirovsky) propagator for the $\chi$ field. Various truncation schemes are also considered.Comment: 7 pages,4 figures, minor changes, reference added for published versio