Exactly solvable models of supersymmetric quantum mechanics and connection to spectrum generating algebra

For nonrelativistic Hamiltonians which are shape invariant, analytic expressions for the eigenvalues and eigenvectors can be derived using the well known method of supersymmetric quantum mechanics. Most of these Hamiltonians also possess spectrum generating algebras and are hence solvable by an independent group theoretic method. In this paper, we demonstrate the equivalence of the two methods of solution by developing an algebraic framework for shape invariant Hamiltonians with a general change of parameters, which involves nonlinear extensions of Lie algebras.Comment: 12 pages, 2 figure

Non-universal equilibrium crystal shape results from sticky steps

The anisotropic surface free energy, Andreev surface free energy, and equilibrium crystal shape (ECS) z=z(x,y) are calculated numerically using a transfer matrix approach with the density matrix renormalization group (DMRG) method. The adopted surface model is a restricted solid-on-solid (RSOS) model with "sticky" steps, i.e., steps with a point-contact type attraction between them (p-RSOS model). By analyzing the results, we obtain a first-order shape transition on the ECS profile around the (111) facet; and on the curved surface near the (001) facet edge, we obtain shape exponents having values different from those of the universal Gruber-Mullins-Pokrovsky-Talapov (GMPT) class. In order to elucidate the origin of the non-universal shape exponents, we calculate the slope dependence of the mean step height of "step droplets" (bound states of steps) using the Monte Carlo method, where p=(dz/dx, dz/dy)$, and represents the thermal averag |p| dependence of , we derive a |p|-expanded expression for the non-universal surface free energy f_{eff}(p), which contains quadratic terms with respect to |p|. The first-order shape transition and the non-universal shape exponents obtained by the DMRG calculations are reproduced thermodynamically from the non-universal surface free energy f_{eff}(p).Comment: 31 pages, 21 figure

A Combinatorial Solution to Non-Rigid 3D Shape-to-Image Matching

We propose a combinatorial solution for the problem of non-rigidly matching a 3D shape to 3D image data. To this end, we model the shape as a triangular mesh and allow each triangle of this mesh to be rigidly transformed to achieve a suitable matching to the image. By penalising the distance and the relative rotation between neighbouring triangles our matching compromises between image and shape information. In this paper, we resolve two major challenges: Firstly, we address the resulting large and NP-hard combinatorial problem with a suitable graph-theoretic approach. Secondly, we propose an efficient discretisation of the unbounded 6-dimensional Lie group SE(3). To our knowledge this is the first combinatorial formulation for non-rigid 3D shape-to-image matching. In contrast to existing local (gradient descent) optimisation methods, we obtain solutions that do not require a good initialisation and that are within a bound of the optimal solution. We evaluate the proposed method on the two problems of non-rigid 3D shape-to-shape and non-rigid 3D shape-to-image registration and demonstrate that it provides promising results.Comment: 10 pages, 7 figure

Formation control of multiple robots using parametric and implicit representations

A novel method is presented for formation control of a group of autonomous mobile robots using parametric and implicit descriptions of the desired formation. Shape formation is controlled by using potential fields generated from Implicit Polynomial (IP) representations and the control for keeping the desired shape is designed using Elliptical Fourier Descriptors (EFD). Coordination of the robots is modeled by linear springs between each robot and its nearest two neighbors. This approach offers more flexibility in the formation shape and scales well to different swarm sizes and to heterogeneous systems. The method is simulated on robot groups with different sizes to form various formation shapes

Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors

This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formation shape, scalability to different swarm sizes and easy implementation. The shape formation control is first developed for point particle robots and then extended to nonholonomic mobile robots. Several simulations with robot groups of different sizes are presented to validate our proposed approach

The Hamiltonian structure of a two-dimensional rigid circular cylinder interacting dynamically with N point vortices

This paper studies the dynamical fluid plus rigid-body system consisting of a two-dimensional rigid cylinder of general cross-sectional shape interacting with N point vortices. We derive the equations of motion for this system and show that, in particular, if the vortex strengths sum to zero and the rigid-body has a circular shape, the equations are Hamiltonian with respect to a Poisson bracket structure that is the sum of the rigid body Lie–Poisson bracket on Se(2)*, the dual of the Lie algebra of the Euclidean group on the plane, and the canonical Poisson bracket for the dynamics of N point vortices in an unbounded plane. We then use this Hamiltonian structure to study the linear and nonlinear stability of the moving Föppl equilibrium solutions using the energy-Casimir method

Algebraic construction of spherical harmonics

The angular wave functions for a hydrogen atom are well known to be spherical harmonics, and are obtained as the solutions of a partial differential equation. However, the differential operator is given by the Casimir operator of the $SU(2)$ algebra and its eigenvalue $l(l+1) \hbar^2$, where $l$ is non-negative integer, is easily obtained by an algebraic method. Therefore the shape of the wave function may also be obtained by extending the algebraic method. In this paper, we describe the method and show that wave functions with different quantum numbers are connected by a rotational group in the cases of $l=0$, 1 and 2.Comment: 9pages, 13figure