Classification and higher order analysis of manipulator singularities

A purely algebraic approach to higher order analysis of (singular) configurations of rigid multibody systems with kinematic loops (CMS) is presented. Rigid body con.gurations are described by elements of the Lie group SE(3) and so the rigid body kinematics is determined by an analytical map f : V → SE(3), where V is the configuration space, an analytic variety. Around regular configurations V has manifold structure but this is lost in singular points. In such points the concept of a tangent vector space does not makes sense but the tangent space C_qV (a cone) to V can still be defined. This tangent cone can be determined algebraically using the special structure of the Lie algebra se (3), the generating algebra of the special Euclidean group SE (3), and the fact that the push forward map f_*, the tangential mapping C_qV → se (3), is given in terms of the mechanisms screw system. Moreover the differentials of f of arbitrary order can be expressed algebraically. The tangent space to the configuration space can be shown to be a hypersurface of maximum degree 4, a vector space for regular points. It is the structure of the tangent cone to V that gives the complete geometric picture of the configuration space around a (singular) point. Identification of the screw system and its matrix representation with the kinematic basic functions of the CMS allows an automatic algebraic analysis of mechanisms.     

Vector fields and a family of linear type modules related to free divisors

This paper has three main goals. We start describing a method for computing the polynomial vector fields tangent to a given algebraic variety; this is of interest, for instance, in view of (effective) foliation theory. We then pass to furnishing a family of modules of linear type (that is, the Rees algebra equals the symmetric algebra), formed with vector fields related to suitable pairs of algebraic varieties, one of them being a free divisor in the sense of K. Saito. Finally, we derive freeness criteria for modules retaining a certain tangency feature, so that, in particular, well-known criteria for free divisors are recovered.     

ON NONLINEAR DIFFERENTIAL GALOIS THEORY

This Is an accom ofa work In course ofprogress．The aim Is the following:     

A-扩张Lie Rinehart代数

The purpose of this paper is to give a brief introduction to the category of Lie Rinehart algebras and introduces the concept of smooth manifolds associated with a unitary, commutative,associative algebra A.It especially shows that the A-extended algebra as well as the action algebra can be realized as the space of A-left invariant vector fields on a Lie group,analogous to the well known relationship of Lie algebras and Lie groups.     

Differential Invariants of the 2D Conformal Lie Algebra Action

We consider the Lie algebra that corresponds to the Lie pseudogroup of all conformal transformations on the plane. This conformal Lie algebra is canonically represented as the Lie algebra of holomorphic vector fields in ℝ²≃ℂ. We describe all representations of \mathfrakg\mathfrak{g} via vector fields in J ⁰ℝ²=ℝ³(x,y,u), which project to the canonical representation, and find their algebra of scalar differential invariants.     

Harmonicity of vector fields on four-dimensional generalized symmetric spaces

Let (M = G/H;g)denote a four-dimensional pseudo-Riemannian generalized symmetric space and g = m + h the corresponding decomposition of the Lie algebra g of G. We completely determine the harmonicity properties of vector fields belonging to m. In some cases, all these vector fields are critical points for the energy functional restricted to vector fields. Vector fields defining harmonic maps are also classified, and the energy of these vector fields is explicitly calculated.     

Convex topological algebras via linear vector fields and Cuntz algebras

A realization by linear vector fields is constructed for any Lie algebra which admits a biorthogonal system and for its any suitable representation. The embedding into Lie algebras of linear vector fields is in analogue to the classical Jordan—Schwinger map. A number of examples of such Lie algebras of linear vector fields is computed. In particular, we obtain examples of the twisted Heisenberg-Virasoro Lie algebra and the Schrödinger-Virasoro Lie algebras among others. More generally, we construct an embedding of an arbitrary locally convex topological algebra into the Cuntz algebra.     

Differential equations in vertex algebras and simple modules for the Lie algebra of vector fields on a torus

We study irreducible representations for the Lie algebra of vector fields on a 2-dimensional torus constructed using the generalized Verma modules. We show that for a certain choice of parameters these representations remain irreducible when restricted to a loop subalgebra in the Lie algebra of vector fields. We prove this result by studying vertex algebras associated with the Lie algebra of vector fields on a torus and solving non-commutative differential equations that we derive using the vertex algebra technique.     

A class of strongly homotopy Lie algebras with simplified sh-Lie structures

Given a complex that is a differential graded vector space, it is known that a single mapping defined on a space of it where the homology is non-trivial extends to a strongly homotopy Lie algebra (on the graded space) when that mapping satisfies two conditions. This strongly homotopy Lie algebra is non-trivial (it is not a Lie algebra); however we show that one can obtain an sh-Lie algebra where the only non-zero mappings defining it are the lower order mappings. This structure applies to a significant class of examples. Moreover in this case the graded space can be replaced by another graded space, with only three non-zero terms, on which the same sh-Lie structure exists.     

On geometric vector fields of Minkowski spaces and their applications

As it is well-known, a Minkowski space is a finite dimensional real vector space equipped with a Minkowski functional F. By the help of its second order partial derivatives we can introduce a Riemannian metric on the vector space and the indicatrix hypersurface S:=F⁻¹(1) can be investigated as a Riemannian submanifold in the usual sense.Our aim is to study affine vector fields on the vector space which are, at the same time, affine with respect to the Funk metric associated with the indicatrix hypersurface. We give an upper bound for the dimension of their (real) Lie algebra and it is proved that equality holds if and only if the Minkowski space is Euclidean. Criteria of the existence is also given in lower dimensional cases. Note that in case of a Euclidean vector space the Funk metric reduces to the standard Cayley-Klein metric perturbed with a nonzero 1-form.As an application of our results we present the general solution of Matsumoto's problem on conformal equivalent Berwald and locally Minkowski manifolds. The reasoning is based on the theory of harmonic vector fields on the tangent spaces as Riemannian manifolds or, in an equivalent way, as Minkowski spaces. Our main result states that the conformal equivalence between two Berwald manifolds must be trivial unless the manifolds are Riemannian.     

The automorphism group of a Banach principal bundle with {1}-structure

A {1}-structure on a Banach manifold M (with model space E) is an E-valued 1-form on M that induces on each tangent space an isomorphism onto E. Given a Banach principal bundle P with connected base space and a {1}-structure on P, we show that its automorphism group can be turned into a Banach–Lie group acting smoothly on P provided the Lie algebra of infinitesimal automorphisms consists of complete vector fields. As a consequence we show that the automorphism group of a connected geodesically complete affine Banach manifold M can be turned into a Banach–Lie group acting smoothly on M.     

Algebraic density property of homogeneous spaces

Let X be an affine algebraic variety with a transitive action of the algebraic automorphism group. Suppose that X is equipped with several fixed point free nondegenerate SL₂-actions satisfying some mild additional assumption. Then we prove that the Lie algebra generated by completely integrable algebraic vector fields on X coincides with the space of all algebraic vector fields. In particular, we show that apart from a few exceptions this fact is true for any homogeneous space of form G/R where G is a linear algebraic group and R is a closed proper reductive subgroup of G.     

CHARACTERISTIC CLASSES OF FLAGS OF FOLIATIONS AND LIE ALGEBRA COHOMOLOGY

We prove the conjecture by Feigin, Fuchs, and Gelfand describing the Lie algebra cohomology of formal vector fields on an n-dimensional space with coefficients in symmetric powers of the coadjoint representation. We also compute the cohomology of the Lie algebra of formal vector fields that preserve a given ag at the origin. The latter encodes characteristic classes of ags of foliations and was used in the formulation of the local Riemann-Roch Theorem by Feigin and Tsygan.Feigin, Fuchs, and Gelfand described the first symmetric power and to do this they had to make use of a fearsomely complicated computation in invariant theory. By the application of degeneration theorems of appropriate Hochschild-Serre spectral sequences, we avoid the need to use the methods of FFG, and moreover, we are able to describe all the symmetric powers at once.     

Courbure sectiounelle et intégrales premières symétriques du flot géodésique: généralisation d'un théorème de S. Bochner

Let (M, g) be a Riemannian manifold. We prove that the space of symmetric tensors invariant under the geodesic flow, is a Lie algebra which contains, as a subalgebra, the Lie algebra of Killing vector fields, and which also contains the space of parallel symmetric tensors as an Abelian subalgebra. Morever, we give a Weitzenböck decomposition of some Laplace—Beltrami operator on symmetric tensors and prove a vanishing theorem which generalizes a theorem due to S. Bochner [2].     

Holomorphic affine vector fields on weil bundles

We obtain necessary and sufficient conditions for a holomorphic vector field to be affine for a holomorphic linear connection defined on aWeil bundle. We also prove that the Lie algebra over R of holomorphic affine vector fields for the natural prolongation of a linear connection from the base to theWeil bundle is isomorphic to the tensor product of theWeil algebra by the Lie algebra of affine vector fields on the base.     

A cohomology for vector valued differential forms

A rather simple natural outer derivation of the graded Lie algebra of all vector valued differential forms with the Frölicher-Nijenhuis bracket turns out to be a differential and gives rise to a cohomology of the manifold, which is functorial under local diffeomorphisms. This cohomology is determined as the direct product of the de Rham cohomology space and the graded Lie algebra of traceless vector valued differential forms, equipped with a new natural differential concomitant as graded Lie bracket. We find two graded Lie algebra structures on the space of differential forms. Some consequences and related results are also discussed.     

三角导子李代数的中心扩张

In this paper,we study a class of subalgebras of the Lie algebra of vector fields on n-dimensional torus,which are called the Triangular derivation Lie algebra.We give the structure and the central extension of Triangular derivation Lie algebra.     

Derivation Algebras of Toric Varieties

We study the Lie algebra of derivations of the coordinate ring of affine toric varieties defined by simplicial affine semigroups and prove the following results:Such toric varieties are uniquely determined by their Lie algebra if they are supposed to be Cohen–Macaulay of dimension 2 or Gorenstein of dimension =1.In the Cohen–Macaulay case, every automorphism of the Lie algebra is induced from a unique automorphism of the variety.Every derivation of the Lie algebra is inner.     

Lie algebras of infinitesimal norm isometries

Given a norm on a finite dimensional vector space V, we may consider the group of all linear automorphisms which preserve it. The Lie algebra of this group is a Lie subalgebra of the endomorphism algebra of V having two properties: (1) it is the Lie algebra of a compact subgroup, and (2) it is “saturated” in a sence made precise below. We show that any Lie subalgebra satisfying these conditions is the Lie algebra of the group of linear automorphisms preserving some norm. There is an appendix on elementary Lie group theory.