An abstract recurrent neural network trained by an unsupervised method is applied to the kinematic control of a robot arm. The network is a novel extension of the Neural Gas vector quantization method to local principal component analysis. It represents the manifold of the training data by a collection of local linear models. In the kinematic control task, the network learns the relationship be...

commutative properties of four-dimensional generalized symmetric pseudo-riemannian manifolds were considered. specially, in this paper, we studied skew-tsankov and jacobi-tsankov conditions in 4-dimensional pseudo-riemannian generalized symmetric manifolds.

Morse inequalities for diffeomorphisms of a compact manifold were first proved by Smale [21] under the assumption that the nonwandering set is finite. We call these the integral Morse inequalities. They were generalized by Zeeman in an unpublished work cited in [25] to diffeomorphisms with a hyperbolic chain recurrent set that is axiom-A-diffeomorphisms which satisfy the no cycle condition. For...

We propose a relaxed notion of shadowing. In particular, for homeomorphism f on metric space, we ask whether every approximate orbit is near some actual nearby system. distinguish the cases where close or arbitrarily to f. prove relations between these notions and ordinary shadowing present various examples. finally discuss an application, $$C^0$$ -closing lemma chain recurrent points topologic...

Manipulators actuate joints to let end effectors perform precise path tracking tasks. Recurrent neural network which is described by dynamic models with parallel processing capability, a powerful tool for kinematic control of manipulators. Due physical limitations and actuation saturation manipulator joints, the involvement joint constraints manipulators essential critical. However, current exi...

In this paper, we will study compatible triples on Lie algebroids. Using a suitable decomposition for a Lie algebroid, we construct an integrable generalized distribution on the base manifold. As a result, the symplectic form on the Lie algebroid induces a symplectic form on each integral submanifold of the distribution. The induced Poisson structure on the base manifold can be represented by m...