arXiv subjects

Tomoki Ohsawa

Publications and source records attributed to Tomoki Ohsawa.

36 records · Page 2Linked to original sources

arXiv2019

Geometric Kinematic Control of a Spherical Rolling Robot

We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its symmetry and the principal bundle structure of its configuration space; the shape space encodes the rotational angles of the wheels, whereas each fiber encodes the translational and rotational configurations of the robot for a particular shape. We show that the system is fiber controllable---meaning any translational and rotational configuration modulo shapes is reachable---as well as find exact expressions of the geometric phase or holonomy under some particular controls. We also solve an optimal control problem of the spherical robot, show that it is completely integrable, and find an explicit solution of the problem.

math.OC↗

arXiv2019

Dual Pairs and Regularization of Kummer Shapes in Resonances

We present an account of dual pairs and the Kummer shapes for $n:m$ resonances that provides an alternative to Holm and Vizman's work. The advantages of our point of view are that the associated Poisson structure on $\mathfrak{su}(2)^{*}$ is the standard $(+)$-Lie--Poisson bracket independent of the values of $(n,m)$ as well as that the Kummer shape is regularized to become a sphere without any pinches regardless of the values of $(n,m)$. A similar result holds for $n:-m$ resonance with a paraboloid and $\mathfrak{su}(1,1)^{*}$. The result also has a straightforward generalization to multidimensional resonances as well.

math.CA↗

arXiv2018

The Hagedorn--Hermite Correspondence

We investigate the relationship between the semiclassical wave packets of Hagedorn and the Hermite functions by establishing a relationship between their ladder operators. This Hagedorn--Hermite correspondence provides a unified view as well as simple proofs of some essential results on the Hagedorn wave packets. Particularly, we show that Hagedorn's ladder operators are a natural set of ladder operators obtained from the position and momentum operators using the symplectic group. This construction reveals an algebraic structure of the Hagedorn wave packets, and explains the relative simplicity of Hagedorn's parametrization compared to the rather intricate construction of the generalized squeezed states. We apply our formulation to show the existence of minimal uncertainty products for the Hagedorn wave packets, generalizing Hagedorn's one-dimensional result to multi-dimensions. The Hagedorn--Hermite correspondence also leads to an alternative derivation of the generating function for the Hagedorn wave packets based on the generating function for the Hermite functions. This result, in turn, reveals the relationship between the Hagedorn polynomials and the Hermite polynomials.

math-ph↗

arXiv2018

Symplectic Semiclassical Wave Packet Dynamics II: Non-Gaussian States

We generalize our earlier work on the symplectic/Hamiltonian formulation of the dynamics of the Gaussian wave packet to non-Gaussian semiclassical wave packets. We find the symplectic forms and asymptotic expansions of the Hamiltonians associated with these semiclassical wave packets, and obtain Hamiltonian systems governing their dynamics. Numerical experiments demonstrate that the dynamics give a very good approximation to the short-time dynamics of the expectation values computed by a method based on Egorov's Theorem or the Initial Value Representation.

math-ph↗

arXiv2017

Geometry and Dynamics of Gaussian Wave Packets and their Wigner Transforms

We find a relationship between the dynamics of the Gaussian wave packet and the dynamics of the corresponding Gaussian Wigner function from the Hamiltonian/symplectic point of view. The main result states that the momentum map corresponding to the natural action of the symplectic group on the Siegel upper half space yields the covariance matrix of the corresponding Gaussian Wigner function. This fact, combined with Kostant's coadjoint orbit covering theorem, establishes a symplectic/Poisson-geometric connection between the two dynamics. The Hamiltonian formulation naturally gives rise to corrections to the potential terms in the dynamics of both the wave packet and the Wigner function, thereby resulting in slightly different sets of equations from the conventional classical ones. We numerically investigate the effect of the correction term and demonstrate that it improves the accuracy of the dynamics as an approximation to the dynamics of expectation values of observables.

math-ph↗

arXiv2017

Optimal Control Problems with Symmetry Breaking Cost Functions

We investigate symmetry reduction of optimal control problems for left-invariant control systems on Lie groups, with partial symmetry breaking cost functions. Our approach emphasizes the role of variational principles and considers a discrete-time setting as well as the standard continuous-time formulation. Specifically, we recast the optimal control problem as a constrained variational problem with a partial symmetry breaking Lagrangian and obtain the Euler--Poincaré equations from a variational principle. By applying a Legendre transformation to it, we recover the Lie-Poisson equations obtained by A. D. Borum [Master's Thesis, University of Illinois at Urbana-Champaign, 2015] in the same context. We also discretize the variational principle in time and obtain the discrete-time Lie-Poisson equations. We illustrate the theory with some practical examples including a motion planning problem in the presence of an obstacle.

math.OC↗

arXiv2016

Quantum expectations via spectrograms

We discuss a new phase space method for the computation of quantum expectation values in the high frequency regime. Instead of representing a wavefunction by its Wigner function, which typically attains negative values, we define a new phase space density by adding a first-order Hermite spectrogram term as a correction to the Husimi function. The new phase space density yields accurate approximations of the quantum expectation values as well as allows numerical sampling from non-negative densities. We illustrate the new method by numerical experiments in up to $128$ dimensions.

quant-ph↗

arXiv2015

A new Phase Space Density for Quantum Expectations

We introduce a new density for the representation of quantum states on phase space. It is constructed as a weighted difference of two smooth probability densities using the Husimi function and first-order Hermite spectrograms. In contrast to the Wigner function, it is accessible by sampling strategies for positive densities. In the semiclassical regime, the new density allows to approximate expectation values to second order with respect to the high frequency parameter and is thus more accurate than the uncorrected Husimi function. As an application, we combine the new phase space density with Egorov's theorem for the numerical simulation of time-evolved quantum expectations by an ensemble of classical trajectories. We present supporting numerical experiments in different settings and dimensions.

math-ph↗

arXiv2015

The Siegel Upper Half Space is a Marsden-Weinstein Quotient: Symplectic Reduction and Gaussian Wave Packets

We show that the Siegel upper half space $Σ_{d}$ is identified with the Marsden-Weinstein quotient obtained by symplectic reduction of the cotangent bundle $T^{*}\mathbb{R}^{2d^{2}}$ with $\mathsf{O}(2d)$-symmetry. The reduced symplectic form on $Σ_{d}$ corresponding to the standard symplectic form on $T^{*}\mathbb{R}^{2d^{2}}$ turns out to be a constant multiple of the symplectic form on $Σ_{d}$ obtained by Siegel. Our motivation is to understand the geometry behind two different formulations of the Gaussian wave packet dynamics commonly used in semiclassical mechanics. Specifically, we show that the two formulations are related via the symplectic reduction.

math-ph↗

arXiv2015

Symmetry and Conservation Laws in Semiclassical Wave Packet Dynamics

We formulate symmetries in semiclassical Gaussian wave packet dynamics and find the corresponding conserved quantities, particularly the semiclassical angular momentum, via Noether's theorem. We consider two slightly different formulations of Gaussian wave packet dynamics; one is based on earlier works of Heller and Hagedorn, and the other based on the symplectic-geometric approach by Lubich and others. In either case, we reveal the symplectic and Hamiltonian nature of the dynamics and formulate natural symmetry group actions in the setting to derive the corresponding conserved quantities (momentum maps). The semiclassical angular momentum inherits the essential properties of the classical angular momentum as well as naturally corresponds to the quantum picture.

math-ph↗

arXiv2015

Contact Geometry of the Pontryagin Maximum Principle

This paper gives a brief contact-geometric account of the Pontryagin maximum principle. We show that key notions in the Pontryagin maximum principle---such as the separating hyperplanes, costate, necessary condition, and normal/abnormal minimizers---have natural contact-geometric interpretations. We then exploit the contact-geometric formulation to give a simple derivation of the transversality condition for optimal control with terminal cost.

math.OC↗

arXiv2013

Symplectic Semiclassical Wave Packet Dynamics

The paper gives a symplectic-geometric account of semiclassical Gaussian wave packet dynamics. We employ geometric techniques to "strip away" the symplectic structure behind the time-dependent Schrödinger equation and incorporate it into semiclassical wave packet dynamics. We show that the Gaussian wave packet dynamics is a Hamiltonian system with respect to the symplectic structure, apply the theory of symplectic reduction and reconstruction to the dynamics, and discuss dynamic and geometric phases in semiclassical mechanics. A simple harmonic oscillator example is worked out to illustrate the results: We show that the reduced semiclassical harmonic oscillator dynamics is completely integrable by finding the action--angle coordinates for the system, and calculate the associated dynamic and geometric phases explicitly. We also propose an asymptotic approximation of the potential term that provides a practical semiclassical correction term to the approximation by Heller. Numerical results for a simple one-dimensional example show that the semiclassical correction term realizes a semiclassical tunneling.

math-ph↗

arXiv2012

Symmetry Reduction of Optimal Control Systems and Principal Connections

This paper explores the role of symmetries and reduction in nonlinear control and optimal control systems. The focus of the paper is to give a geometric framework of symmetry reduction of optimal control systems as well as to show how to obtain explicit expressions of the reduced system by exploiting the geometry. In particular, we show how to obtain a principal connection to be used in the reduction for various choices of symmetry groups, as opposed to assuming such a principal connection is given or choosing a particular symmetry group to simplify the setting. Our result synthesizes some previous works on symmetry reduction of nonlinear control and optimal control systems. Affine and kinematic optimal control systems are of particular interest: We explicitly work out the details for such systems and also show a few examples of symmetry reduction of kinematic optimal control problems.

math.OC↗

arXiv2012

Hamilton-Jacobi Theory for Degenerate Lagrangian Systems with Holonomic and Nonholonomic Constraints

We extend Hamilton-Jacobi theory to Lagrange-Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer to the generalized Hamilton-Jacobi equation as the Dirac-Hamilton-Jacobi equation. For non-degenerate Lagrangian systems with nonholonomic constraints, the theory specializes to the recently developed nonholonomic Hamilton-Jacobi theory. We are particularly interested in applications to a certain class of degenerate nonholonomic Lagrangian systems with symmetries, which we refer to as weakly degenerate Chaplygin systems, that arise as simplified models of nonholonomic mechanical systems; these systems are shown to reduce to non-degenerate almost Hamiltonian systems, i.e., generalized Hamiltonian systems defined with non-closed two-forms. Accordingly, the Dirac-Hamilton-Jacobi equation reduces to a variant of the nonholonomic Hamilton-Jacobi equation associated with the reduced system. We illustrate through a few examples how the Dirac-Hamilton-Jacobi equation can be used to exactly integrate the equations of motion.

math-ph↗

arXiv2011

Variational and Geometric Structures of Discrete Dirac Mechanics

In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and induced Dirac structures by considering the geometry of symplectic maps and their associated generating functions. We demonstrate that this framework provides a means of deriving discrete Lagrange-Dirac and nonholonomic Hamiltonian systems. In particular, this yields nonholonomic Lagrangian and Hamiltonian integrators. We also introduce discrete Lagrange-d'Alembert-Pontryagin and Hamilton-d'Alembert variational principles, which provide an alternative derivation of the same set of integration algorithms. The paper provides a unified treatment of discrete Lagrangian and Hamiltonian mechanics in the more general setting of discrete Dirac mechanics, as well as a generalization of symplectic and Poisson integrators to the broader category of Dirac integrators.

math.SG↗

arXiv2011

Discrete Hamilton-Jacobi Theory

We develop a discrete analogue of Hamilton-Jacobi theory in the framework of discrete Hamiltonian mechanics. The resulting discrete Hamilton-Jacobi equation is discrete only in time. We describe a discrete analogue of Jacobi's solution and also prove a discrete version of the geometric Hamilton-Jacobi theorem. The theory applied to discrete linear Hamiltonian systems yields the discrete Riccati equation as a special case of the discrete Hamilton-Jacobi equation. We also apply the theory to discrete optimal control problems, and recover some well-known results, such as the Bellman equation (discrete-time HJB equation) of dynamic programming and its relation to the costate variable in the Pontryagin maximum principle. This relationship between the discrete Hamilton-Jacobi equation and Bellman equation is exploited to derive a generalized form of the Bellman equation that has controls at internal stages.

math.OC↗

arXiv2011

Nonholonomic Hamilton-Jacobi Theory via Chaplygin Hamiltonization

We develop Hamilton-Jacobi theory for Chaplygin systems, a certain class of nonholonomic mechanical systems with symmetries, using a technique called Hamiltonization, which transforms nonholonomic systems into Hamiltonian systems. We give a geometric account of the Hamiltonization, identify necessary and sufficient conditions for Hamiltonization, and apply the conventional Hamilton-Jacobi theory to the Hamiltonized systems. We show, under a certain sufficient condition for Hamiltonization, that the solutions to the Hamilton-Jacobi equation associated with the Hamiltonized system also solve the nonholonomic Hamilton-Jacobi equation associated with the original Chaplygin system. The results are illustrated through several examples.

math-ph↗

arXiv2009

Nonholonomic Hamilton-Jacobi equation and Integrability

We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the Hamilton--Jacobi theorem. Our intrinsic proof clarifies the difference from the conventional Hamilton-Jacobi theory for unconstrained systems. The proof also helps us identify a geometric meaning of the conditions on the solutions of the Hamilton-Jacobi equation that arise from nonholonomic constraints. The major advantage of our result is that it provides us with a method of integrating the equations of motion just as the unconstrained Hamilton--Jacobi theory does. In particular, we build on the work by Iglesias-Ponte, de Leon, and Martin de Diego so that the conventional method of separation of variables applies to some nonholonomic mechanical systems. We also show a way to apply our result to systems to which separation of variables does not apply.

math-ph↗