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Invariants of jet groups and applications in continuum mechanics
Buriánek, Martin ; Doupovec, Miroslav (referee) ; Kureš, Miroslav (advisor)
This thesis is focused on jet groups and their matrix representations. The opening section deals with group representations, group actions on sets and invariants of actions. Another section explains terms such as smooth manifolds, Lie group and Lie algebra. The following part clarifies terms jet and jet group as a special example of Lie group. First of all, groups $G_1^r$ and $G_n^1$ are described, then description of group $G_n^2$ and its subgroups ensues. Representations of these jet groups are proposed. Finally, applications of jet groups in continuum mechanics are mentioned. The thesis is complemented with algorithm of chosen problems in program Wolfram Mathematica.
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Lie groups from the point of view of kinematics and applications in robotics
Kalenský, Jan ; Kureš, Miroslav (referee) ; Tomáš, Jiří (advisor)
This diploma thesis deals with the kinematic and robotic implications of Lie theory. In the introductory section, a manifold is defined as a basic element of configuration space. The main body of the thesis deals with the definition of a structure in the configuration space - Lie group. Tangent space with vector field including a structure of Lie algebra is defined to represent velocity. These two structures are connected using exponential mapping. The conclusion of the thesis focuses on fibre space, especially considering principal bundle and principal connection. Throughout the thesis, numerous examples are presented to illustrate the terms used.
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Geometric structures based on quaternions.
Floderová, Hana ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
A pair (V, G) is called geometric structure, where V is a vector space and G is a subgroup GL(V), which is a set of transmission matrices. In this thesis we classify structures, which are based on properties of quaternions. Geometric structures based on quaternions are called triple structures. Triple structures are four structures with similar properties as quaternions. Quaternions are generated from real numbers and three complex units. We write quaternions in this shape a+bi+cj+dk.
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Drozd rings
Nytra, Jan ; Doupovec, Miroslav (referee) ; Kureš, Miroslav (advisor)
This thesis focuses on Drozd rings. In the beginning, we mention important parts of algebraic theory for the definition of these rings. In the next chapter we describe an example of Drozd ring. In the following, we concentrate on Weil algebras - it shows up, that Drozd algebras over field of real numbers are specific examples of Weil algebras. We also construct groups of algebra automorphisms for these algebras. In the last part of the thesis, we mention Lie groups, because groups of algebra automorphisms of Weil algebras are examples of Lie groups.
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Rigid body motion from the geometric viewpoint
Karas, Jakub ; Hrdina, Jaroslav (referee) ; Návrat, Aleš (advisor)
Cílem této práce je odvodit rovnice levo-invariantních Hamiltonovských systémů na Lieových grupách. Naše motivace je následující. Pohyb tuhého tělesa v 3D prostoru lze formulovat jako úlohu optimálního řízení na $\R^3$. Pro takto formulovanou úlohu lze využít Pontryaginův princip maxima (PMP). Nicméně pohyb tuhého tělesa lze také chápat jako úlohu na Lieově grupě SE(3). Tato úloha patří do skupiny tzv. levo-invariantních úloh. Jako další zjednodušení volíme také levo-invariantní Hamiltoniány. Běžný postup při studiu takových úloh je, že formulujeme Lagrangián této úlohy, odvodíme Hamiltonián a následně formulujeme Hamiltonovy rovnice. Náš postup je opačný. Odvodíme Hamiltonovy rovnice pro obecnou Lieovu grupu a obecný levo-invariantní Hamiltonián a následně zkoumáme, jaké typy úloh můžeme popsat volbou konkrétní Lieovy grupy a konkrétního Hamiltoniánu. Teoretické výsledky poté využijeme k vytvoření simulačního skriptu pohybu tuhého a pružného tělesa, který využije konformní geometrickou algebru (CGA) jako své výpočetní jádro. CGA je totiž nesmírně silný nástroj pro popis této problematiky, jelikož využitím CGA lze vyvinout kód, který je nezávislý na dimenzi uvažovaného prostoru bez větší námahy.
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Lie groups from the point of view of kinematics and applications in robotics
Kalenský, Jan ; Kureš, Miroslav (referee) ; Tomáš, Jiří (advisor)
This diploma thesis deals with the kinematic and robotic implications of Lie theory. In the introductory section, a manifold is defined as a basic element of configuration space. The main body of the thesis deals with the definition of a structure in the configuration space - Lie group. Tangent space with vector field including a structure of Lie algebra is defined to represent velocity. These two structures are connected using exponential mapping. The conclusion of the thesis focuses on fibre space, especially considering principal bundle and principal connection. Throughout the thesis, numerous examples are presented to illustrate the terms used.
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Envelopes of implicit surfaces
Vráblíková, Jana ; Šír, Zbyněk (advisor) ; Lávička, Miroslav (referee)
The aim of the thesis is to study envelopes and characteristic curves of one parameter systems of quadratic surfaces in real three dimensional space. We define one parameter systems and their envelopes generally and present algebraic geometry approach for en- velope computation using Gröbner bases and elimination theory. We convey a proof of rationality of envelopes of rational one parameter systems of spheres, cones and cylin- ders of revolution using dual space and different models of Laguerre geometry. Then we present a new approach to one parameter systems and their envelopes. We introduce the systems as curves in homogeneous spaces which allows us to study all characteristic curves at a single surface. This approach allows us to prove rationality and even provide an explicit parameterization of characteristic curves and the envelope of a one parameter system of isometric cones of revolution. We provide several other examples illustrating the concepts and results. 1
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Invariants of jet groups and applications in continuum mechanics
Buriánek, Martin ; Doupovec, Miroslav (referee) ; Kureš, Miroslav (advisor)
This thesis is focused on jet groups and their matrix representations. The opening section deals with group representations, group actions on sets and invariants of actions. Another section explains terms such as smooth manifolds, Lie group and Lie algebra. The following part clarifies terms jet and jet group as a special example of Lie group. First of all, groups $G_1^r$ and $G_n^1$ are described, then description of group $G_n^2$ and its subgroups ensues. Representations of these jet groups are proposed. Finally, applications of jet groups in continuum mechanics are mentioned. The thesis is complemented with algorithm of chosen problems in program Wolfram Mathematica.
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Geometric structures based on quaternions.
Floderová, Hana ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
A pair (V, G) is called geometric structure, where V is a vector space and G is a subgroup GL(V), which is a set of transmission matrices. In this thesis we classify structures, which are based on properties of quaternions. Geometric structures based on quaternions are called triple structures. Triple structures are four structures with similar properties as quaternions. Quaternions are generated from real numbers and three complex units. We write quaternions in this shape a+bi+cj+dk.
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