We study motion planning problems, finding trajectories that connect two configurations of a system, from two different perspectives: optimality and survivability. For the problem of finding optimal trajectories, we provide a model in which the...
This thesis constitutes the first steps in the author's program to investigate the question of when a homotopy of 2-cocycles ω = {ω[subscript t]}[subscript t∊[0,1]] on a locally compact Hausdorff groupoid Ɠ induces an isomorphism of the...
In this thesis, we present different approaches to tying knots using robots by enforcing different types of constraints. We attack the problem from three different directions; mechanical design, motion planning with simple control strategies, and...
Riemannian manifolds. Singularities (Mathematics). Laplacian operator. Spectral theory (Mathematics). Riemann surfaces. Curves on surfaces. Geometry
Historically, inverse spectral theory has been concerned with the relationship between the geometry and the spectrum of compact Riemannian manifolds, where spectrum means the eigenvalue spectrum of the Laplace operator as it acts on smooth...
We begin with a result on the refocussing of null geodesics in space-times. We show that all oriented refocussing 2-dimensional Lorentz manifolds are also strongly refocussing. We also introduce a theory of virtual Legendrian knots. We show that...
In this thesis we study 1=k-geodesics, those closed geodesics that minimize on any subinterval of length L=k, where L is the length of the geodesic. These curves arise as critical points of the uniform energy, a function introduced in Morse theory...
For ordinary knots in R 3 , there are no degree one Vassiliev invariants. For virtual knots, however, the space of degree one Vassiliev invariants is infinite dimensional. We introduce a sequence of three degree one Vassiliev invariants of virtual...
In this thesis, we study the dynamics of magnetic flows on compact nilmanifolds. Magnetic flows are generalizations of geodesic flows. They model the motion of a particle of unit mass and unit charge in a smooth manifold M in the presence of a...
There are no Vassiliev invariants of degree one for classical knots. A. Henrich proved the existence of a sequence of three Vassiliev invariants of degree one for virtual knots. The invariants get stronger and stronger, and the final invariant is...
An interval order is an ordered set whose elements are in correspondence with a collection of intervals in a linearly ordered set, with disjoint intervals ordered by their relative position. The order complex of an ordered set is the simplicial...
Spectral theory is the subfield of differential geometry which provided the solution to Kac''s famous question, "Can you hear the shape of a drum?" That is, can we use the Laplace spectrum of a manifold to draw conclusions about its geometry or...
Given graded C *-algebras A and B , we define the notion of an admissible pair ([straight phi], D ) for A and B . Associated to an admissible pair ([straight phi], D ) is an equivalence class of asymptotic morphisms from A to B . Under certain...
This thesis contains some results concerning groupoid dynamical systems and crossed products. We introduce the notion of a proper groupoid dynamical system and of its generalized fixed point algebra. We show that our notion of proper groupoid...
A metric structure on a set gives a concept of distance between any two elements of that set, and it induces a topology. In this thesis, we provide several ways to put a metric structure on the collection of CW complexes. We accomplish this by...
Goldman and Turaev constructed a Lie bialgebra structure on the free Z-module generated by free homotopy classes of loops on an oriented surface. Turaev conjectured that the cobracket of A is zero if and only if A is a power of a simple class. Chas...