See also GEOMETRIC MECHANICS - Part I: Dynamics and Symmetry (2nd Edition) This textbook introduces modern geometric mechanics to advanced undergraduates and beginning graduate students in mathematics, physics and engineering. In particular, it explains the dynamics of rotating, spinning and rolling rigid bodies from a geometric viewpoint by formulating their solutions as coadjoint motions generated by Lie groups. The only prerequisites are linear algebra, multivariable calculus and some familiarity with Euler-Lagrange variational principles and canonical Poisson brackets in classical mechanics at the beginning undergraduate level.The book uses familiar concrete examples to explain variational calculus on tangent spaces of Lie groups. Through these examples, the student develops skills in performing computational manipulations, starting from vectors and matrices, working through the theory of quaternions to understand rotations, then transferring these skills to the computation of more abstract adjoint and coadjoint motions, Lie-Poisson Hamiltonian formulations, momentum maps and finally dynamics with nonholonomic constraints.The organisation of the first edition has been preserved in the second edition. However, the substance of the text has been rewritten throughout to improve the flow and to enrich the development of the material. Many worked examples of adjoint and coadjoint actions of Lie groups on smooth manifolds have also been added and the enhanced coursework examples have been expanded. The second edition is ideal for classroom use, student projects and self-study.

See also GEOMETRIC MECHANICS - Part I: Dynamics and Symmetry (2nd Edition) This textbook introduces modern geometric mechanics to advanced undergraduates and beginning graduate students in mathematics, physics and engineering. In particular, it explains the dynamics of rotating, spinning and rolling rigid bodies from a geometric viewpoint by formulating their solutions as coadjoint motions generated by Lie groups. The only prerequisites are linear algebra, multivariable calculus and some familiarity with Euler-Lagrange variational principles and canonical Poisson brackets in classical mechanics at the beginning undergraduate level.The book uses familiar concrete examples to explain variational calculus on tangent spaces of Lie groups. Through these examples, the student develops skills in performing computational manipulations, starting from vectors and matrices, working through the theory of quaternions to understand rotations, then transferring these skills to the computation of more abstract adjoint and coadjoint motions, Lie-Poisson Hamiltonian formulations, momentum maps and finally dynamics with nonholonomic constraints.The organisation of the first edition has been preserved in the second edition. However, the substance of the text has been rewritten throughout to improve the flow and to enrich the development of the material. Many worked examples of adjoint and coadjoint actions of Lie groups on smooth manifolds have also been added and the enhanced coursework examples have been expanded. The second edition is ideal for classroom use, student projects and self-study.

This book describes the global properties of simply-connected spaces that are non-positively curved in the sense of A. D. Alexandrov, and the structure of groups which act on such spaces by isometries. The theory of these objects is developed in a manner accessible to anyone familiar with the rudiments of topology and group theory: non-trivial theorems are proved by concatenating elementary geometric arguments, and many examples are given. Part I is an introduction to the geometry of geodesic spaces. In Part II the basic theory of spaces with upper curvature bounds is developed. More specialized topics, such as complexes of groups, are covered in Part III. The book is divided into three parts, each part is divided into chapters and the chapters have various subheadings. The chapters in Part III are longer and for ease of reference are divided into numbered sections.

This volume contains contributions of principal speakers of the symposium on geometry and analysis of automorphic forms of several variables, held in September 2009 at Tokyo, Japan, in honor of Takayuki Oda's 60th birthday. It presents both research and survey articles in the fields that are the main themes of his work. The volume may serve as a guide to developing areas as well as a resource for researchers who seek a broader view and for students who are beginning to explore automorphic form.

The aim of the book is to provide a new and fruitful approach to the challenging problems of modern physics, astrophysics, and cosmology. The well-known observations of the flat rotation curves of spiral galaxies and of the gravitational lensing effect greatly exceeding the expectations based on the classical GRT can be explained without bringing in the notion of dark matter. The Tully-Fisher law and the unusual features of globular clusters' motion become clear. It also turns out that new features appear in the cosmological picture that involves the Universe expansion and the acceleration of the latter. The theory and the first observational results of the specific galactic scale experiment based on the optical-metrical parametric resonance are also discussed in the book. Instead of the direct measurements of the extremely small gravitational waves, it appears sufficient just to register their action on the radiation of the space masers. It can be done for special cases when the source of the gravitational wave is strictly periodic and presents a close binary system. When the amount of data obtained in such observations is large enough, it would be possible to judge upon the geometrical properties of the space-time region enveloping our galaxy, the Milky Way. The foundations of the new approach stem from the equivalence principle which is the basics of the classical GRT. In order to make the presentation self-contained, the roots of century-old ideas are discussed again. This makes the book interesting not only to the specialists in the field but also to graduates and ambitious undergraduate students.

This volume focuses on the interactions between mathematics, physics, biology and neuroscience by exploring new geometrical and topological modeling in these fields. Among the highlights are the central roles played by multilevel and scale-change approaches in these disciplines.

The integration of mathematics with physics, molecular and cell biology, and the neurosciences, will constitute the new frontier and challenge for 21st century science, where breakthroughs are more likely to span across traditional disciplines.

Geometry processing, or mesh processing, is a fast-growing area of research that uses concepts from applied mathematics, computer science, and engineering to design efficient algorithms for the acquisition, reconstruction, analysis, manipulation, simulation, and transmission of complex 3D models. Applications of geometry processing algorithms already cover a wide range of areas from multimedia, entertainment, and classical computer-aided design, to biomedical computing, reverse engineering, and scientific computing.

Over the last several years, triangle meshes have become increasingly popular, as irregular triangle meshes have developed into a valuable alternative to traditional spline surfaces. This book discusses the whole geometry processing pipeline based on triangle meshes. The pipeline starts with data input, for example, a model acquired by 3D scanning techniques. This data can then go through processes of error removal, mesh creation, smoothing, conversion, morphing, and more. The authors detail techniques for those processes using triangle meshes. A supplemental website contains downloads and additional information.

The tensorial nature of a quantity permits us to formulate transformation rules for its components under a change of basis. These rules are relatively simple and easily grasped by any engineering student familiar with matrix operators in linear algebra. More complex problems arise when one considers the tensor fields that describe continuum bodies. In this case general curvilinear coordinates become necessary. The principal basis of a curvilinear system is constructed as a set of vectors tangent to the coordinate lines. Another basis, called the dual basis, is also constructed in a special manner. The existence of these two bases is responsible for the mysterious covariant and contravariant terminology encountered in tensor discussions.A tensor field is a tensor-valued function of position in space. The use of tensor fields allows us to present physical laws in a clear, compact form. A byproduct is a set of simple and clear rules for the representation of vector differential operators such as gradient, divergence, and Laplacian in curvilinear coordinate systems.This book is a clear, concise, and self-contained treatment of tensors, tensor fields, and their applications. The book contains practically all the material on tensors needed for applications. It shows how this material is applied in mechanics, covering the foundations of the linear theories of elasticity and elastic shells.The main results are all presented in the first four chapters. The remainder of the book shows how one can apply these results to differential geometry and the study of various types of objects in continuum mechanics such as elastic bodies, plates, and shells. Each chapter of this new edition is supplied with exercises and problems - most with solutions, hints, or answers to help the reader progress. An extended appendix serves as a handbook-style summary of all important formulas contained in the book.

Focusing on Sobolev inequalities and their applications to analysis on manifolds and Ricci flow, Sobolev Inequalities, Heat Kernels under Ricci Flow, and the Poincare Conjecture introduces the field of analysis on Riemann manifolds and uses the tools of Sobolev imbedding and heat kernel estimates to study Ricci flows, especially with surgeries. The author explains key ideas, difficult proofs, and important applications in a succinct, accessible, and unified manner. The book first discusses Sobolev inequalities in various settings, including the Euclidean case, the Riemannian case, and the Ricci flow case. It then explores several applications and ramifications, such as heat kernel estimates, Perelman's W entropies and Sobolev inequality with surgeries, and the proof of Hamilton's little loop conjecture with surgeries. Using these tools, the author presents a unified approach to the Poincare conjecture that clarifies and simplifies Perelman's original proof. Since Perelman solved the Poincare conjecture, the area of Ricci flow with surgery has attracted a great deal of attention in the mathematical research community. Along with coverage of Riemann manifolds, this book shows how to employ Sobolev imbedding and heat kernel estimates to examine Ricci flow with surgery.

The tensorial nature of a quantity permits us to formulate transformation rules for its components under a change of basis. These rules are relatively simple and easily grasped by any engineering student familiar with matrix operators in linear algebra. More complex problems arise when one considers the tensor fields that describe continuum bodies. In this case general curvilinear coordinates become necessary. The principal basis of a curvilinear system is constructed as a set of vectors tangent to the coordinate lines. Another basis, called the dual basis, is also constructed in a special manner. The existence of these two bases is responsible for the mysterious covariant and contravariant terminology encountered in tensor discussions.A tensor field is a tensor-valued function of position in space. The use of tensor fields allows us to present physical laws in a clear, compact form. A byproduct is a set of simple and clear rules for the representation of vector differential operators such as gradient, divergence, and Laplacian in curvilinear coordinate systems.This book is a clear, concise, and self-contained treatment of tensors, tensor fields, and their applications. The book contains practically all the material on tensors needed for applications. It shows how this material is applied in mechanics, covering the foundations of the linear theories of elasticity and elastic shells.The main results are all presented in the first four chapters. The remainder of the book shows how one can apply these results to differential geometry and the study of various types of objects in continuum mechanics such as elastic bodies, plates, and shells. Each chapter of this new edition is supplied with exercises and problems - most with solutions, hints, or answers to help the reader progress. An extended appendix serves as a handbook-style summary of all important formulas contained in the book.

This book covers the basic topics in geometry (including trigonometry) that are accessible and valuable to senior high school and university students. It also includes material that are very useful for problem solving in mathematical competitions, from relatively easy to advanced levels, including the International Mathematical Olympiad.

Combinatorics of Spreads and Parallelisms covers all known finite and infinite parallelisms as well as the planes comprising them. It also presents a complete analysis of general spreads and partitions of vector spaces that provide groups enabling the construction of subgeometry partitions of projective spaces. The book describes general partitions of finite and infinite vector spaces, including Sperner spaces, focal-spreads, and their associated geometries. Since retraction groups provide quasi-subgeometry and subgeometry partitions of projective spaces, the author thoroughly discusses subgeometry partitions and their construction methods. He also features focal-spreads as partitions of vector spaces by subspaces. In addition to presenting many new examples of finite and infinite parallelisms, the book shows that doubly transitive or transitive t-parallelisms cannot exist unless the parallelism is a line parallelism. Along with the author's other three books (Subplane Covered Nets, Foundations of Translation Planes, Handbook of Finite Translation Planes), this text forms a solid, comprehensive account of the complete theory of the geometries that are connected with translation planes in intricate ways. It explores how to construct interesting parallelisms and how general spreads of vector spaces are used to study and construct subgeometry partitions of projective spaces.

This book aims to propose implementations and applications of Fractional Order Systems (FOS). It is well known that FOS can be applied in control applications and systems modeling, and their effectiveness has been proven in many theoretical works and simulation routines. A further and mandatory step for FOS real world utilization is their hardware implementation and applications on real systems modeling. With this viewpoint, introductive chapters on FOS are included, on the definition of stability region of Fractional Order PID Controller and Chaotic FOS, followed by the practical implementation based on Microcontroller, Field Programmable Gate Array, Field Programmable Analog Array and Switched Capacitor. Another section is dedicated to FO modeling of Ionic Polymeric Metal Composite (IPMC). This new material may have applications in robotics, aerospace and biomedicine.

This book covers the basic topics in geometry (including trigonometry) that are accessible and valuable to senior high school and university students. It also includes materials that are very useful for problem solving in mathematical competitions, from relatively easy to advanced levels, including the International Mathematical Olympiad.

Curious Curves is self-contained and unified in presentation. This book is suitable for a topics course, capstone course, or senior seminar; it is also intended for independent study by students and others interested in mathematics.Curves can often provide a better representation of natural phenomena than do the figures of classical geometry. Thus the content - presented with an emphasis on the geometric intuition characteristic of the study of curves - is highly relevant not only for people working in mathematics, but also those in other sciences. The explanations are detailed and illustrative to capture the interest of the reader, as well as complete to provide the necessary background information needed to go further into the subject.

This book unravels the mystery of Geometry in Origami with a unique approach: 64 Polyhedra designs, each made from a single square sheet of paper, no cuts, no glue; each polyhedron the largest possible from the starting size of square and each having an ingenious locking mechanism to hold its shape.

The author covers the five Platonic solids (cube, tetrahedron, octahedron, icosahedron and dodecahedron). There are ample variations with different color patterns and sunken sides. Dipyramids and Dimpled Dipyramids, unexplored before this in Origami, are also covered. There are a total of 64 models in the book. All the designs have an interesting look and a pleasing folding sequence and are based on unique mathematical equations.

New to the Second Edition New Foreword by Joseph Clinton, life-long Buckminster Fuller collaborator A new chapter by Chris Kitrick on the mathematical techniques for developing optimal single-edge hexagonal tessellations, of varying density, with the smallest edge possible for a particular topology, suggesting ways of comparing their levels of optimization An expanded history of the evolution of spherical subdivision New applications of spherical design in science, product design, architecture and entertainment New geodesic algorithms for grid optimization New full-color spherical illustrations created using DisplaySphere to aid readers in visualizing and comparing the various tessellations presented in the book. Updated Bibliography with references to the most recent advancements in spherical subdivision methods.

This classic text serves as a tool for self-study; it is also used as a basic text for undergraduate courses in differential geometry. The author's ability to extract the essential elements of the theory in a lucid and concise fashion allows the student easy access to the material and enables the instructor to add emphasis and cover special topics. The extraordinary wealth of examples within the exercises and the new material, ranging from isoperimetric problems to comments on Einstein's original paper on relativity theory, enhance this new edition.

Presenting groups in a formal, abstract algebraic manner is both useful and powerful, yet it avoids a fascinating geometric perspective on group theory - which is also useful and powerful, particularly in the study of infinite groups. This book presents the modern, geometric approach to group theory, in an accessible and engaging approach to the subject. Topics include group actions, the construction of Cayley graphs, and connections to formal language theory and geometry. Theorems are balanced by specific examples such as Baumslag-Solitar groups, the Lamplighter group and Thompson's group. Only exposure to undergraduate-level abstract algebra is presumed, and from that base the core techniques and theorems are developed and recent research is explored. Exercises and figures throughout the text encourage the development of geometric intuition. Ideal for advanced undergraduates looking to deepen their understanding of groups, this book will also be of interest to graduate students and researchers as a gentle introduction to geometric group theory.

This book offers an introduction to the theory of groupoids and their representations encompassing the standard theory of groups. Using a categorical language, developed from simple examples, the theory of finite groupoids is shown to knit neatly with that of groups and their structure as well as that of their representations is described. The book comprises numerous examples and applications, including well-known games and puzzles, databases and physics applications. Key concepts have been presented using only basic notions so that it can be used both by students and researchers interested in the subject. Category theory is the natural language that is being used to develop the theory of groupoids. However, categorical presentations of mathematical subjects tend to become highly abstract very fast and out of reach of many potential users. To avoid this, foundations of the theory, starting with simple examples, have been developed and used to study the structure of finite groups and groupoids. The appropriate language and notions from category theory have been developed for students of mathematics and theoretical physics. The book presents the theory on the same level as the ordinary and elementary theories of finite groups and their representations, and provides a unified picture of the same. The structure of the algebra of finite groupoids is analysed, along with the classical theory of characters of their representations. Unnecessary complications in the formal presentation of the subject are avoided. The book offers an introduction to the language of category theory in the concrete setting of finite sets. It also shows how this perspective provides a common ground for various problems and applications, ranging from combinatorics, the topology of graphs, structure of databases and quantum physics.

Most books on fractals focus on deterministic fractals as the impact of incorporating randomness and time is almost absent. Further, most review fractals without explaining what scaling and self-similarity means. This book introduces the idea of scaling, self-similarity, scale-invariance and their role in the dimensional analysis. For the first time, fractals emphasizing mostly on stochastic fractal, and multifractals which evolves with time instead of scale-free self-similarity, are discussed. Moreover, it looks at power laws and dynamic scaling laws in some detail and provides an overview of modern statistical tools for calculating fractal dimension and multifractal spectrum.

It is impossible to trisect angles with straightedge and compass alone, but many people try and think they have succeeded. This book is about angle trisections and the people who attempt them. Its purposes are to collect many trisections in one place, inform about trisectors, to amuse the reader, and, perhaps most importantly, to reduce the number of trisectors. This book includes detailed information about the personalities of trisectors and their constructions. It can be read by anyone who has taken a high school geometry course.

This book contains a selection of classical mathematical papers related to fractal geometry. It is intended for the convenience of the student or scholar wishing to learn about fractal geometry.

The art of origami, or paper folding, is carried out using a square piece of paper to obtain attractive figures of animals, flowers or other familiar figures. It is easy to see that origami has links with geometry. Creases and edges represent lines, intersecting creases and edges make angles, while the intersections themselves represent points. Because of its manipulative and experiential nature, origami could become an effective context for the learning and teaching of geometry. In this unique and original book, origami is an object of mathematical exploration. The activities in this book differ from ordinary origami in that no figures of objects result. Rather, they lead the reader to study the effects of the folding and seek patterns. The experimental approach that characterizes much of science activity can be recognized throughout the book, as the manipulative nature of origami allows much experimenting, comparing, visualizing, discovering and conjecturing. The reader is encouraged to fill in all the proofs, for his/her own satisfaction and for the sake of mathematical completeness. Thus, this book provides a useful, alternative approach for reinforcing and applying the theorems of high school mathematics.

Since the 1950s control theory has established itself as a major mathematical discipline, particularly suitable for application in a number of research fields, including advanced engineering design, economics and the medical sciences. However, since its emergence, there has been a need to rethink and extend fields such as calculus of variations, differential geometry and nonsmooth analysis, which are closely tied to research on applications. Today control theory is a rich source of basic abstract problems arising from applications, and provides an important frame of reference for investigating purely mathematical issues. In many fields of mathematics, the huge and growing scope of activity has been accompanied by fragmentation into a multitude of narrow specialties. However, outstanding advances are often the result of the quest for unifying themes and a synthesis of different approaches. Control theory and its applications are no exception. Here, the interaction between analysis and geometry has played a crucial role in the evolution of the field. This book collects some recent results, highlighting geometrical and analytical aspects and the possible connections between them. Applications provide the background, in the classical spirit of mutual interplay between abstract theory and problem-solving practice.