Riemannian manifoldIn differential geometry, a Riemannian manifold or Riemannian space (M, g), so called after the German mathematician Bernhard Riemann, is a real, smooth manifold M equipped with a positive-definite inner product gp on the tangent space TpM at each point p. The family gp of inner products is called a Riemannian metric (or Riemannian metric tensor). Riemannian geometry is the study of Riemannian manifolds. A common convention is to take g to be smooth, which means that for any smooth coordinate chart (U, x) on M, the n2 functions are smooth functions.
Pseudo-Riemannian manifoldIn differential geometry, a pseudo-Riemannian manifold, also called a semi-Riemannian manifold, is a differentiable manifold with a metric tensor that is everywhere nondegenerate. This is a generalization of a Riemannian manifold in which the requirement of positive-definiteness is relaxed. Every tangent space of a pseudo-Riemannian manifold is a pseudo-Euclidean vector space. A special case used in general relativity is a four-dimensional Lorentzian manifold for modeling spacetime, where tangent vectors can be classified as timelike, null, and spacelike.
ManifoldIn mathematics, a manifold is a topological space that locally resembles Euclidean space near each point. More precisely, an -dimensional manifold, or -manifold for short, is a topological space with the property that each point has a neighborhood that is homeomorphic to an open subset of -dimensional Euclidean space. One-dimensional manifolds include lines and circles, but not lemniscates. Two-dimensional manifolds are also called surfaces. Examples include the plane, the sphere, and the torus, and also the Klein bottle and real projective plane.
Curvature of Riemannian manifoldsIn mathematics, specifically differential geometry, the infinitesimal geometry of Riemannian manifolds with dimension greater than 2 is too complicated to be described by a single number at a given point. Riemann introduced an abstract and rigorous way to define curvature for these manifolds, now known as the Riemann curvature tensor. Similar notions have found applications everywhere in differential geometry of surfaces and other objects. The curvature of a pseudo-Riemannian manifold can be expressed in the same way with only slight modifications.
Riemannian geometryRiemannian geometry is the branch of differential geometry that studies Riemannian manifolds, defined as smooth manifolds with a Riemannian metric (an inner product on the tangent space at each point that varies smoothly from point to point). This gives, in particular, local notions of angle, length of curves, surface area and volume. From those, some other global quantities can be derived by integrating local contributions.
Differentiable manifoldIn mathematics, a differentiable manifold (also differential manifold) is a type of manifold that is locally similar enough to a vector space to allow one to apply calculus. Any manifold can be described by a collection of charts (atlas). One may then apply ideas from calculus while working within the individual charts, since each chart lies within a vector space to which the usual rules of calculus apply. If the charts are suitably compatible (namely, the transition from one chart to another is differentiable), then computations done in one chart are valid in any other differentiable chart.
Control theoryControl theory is a field of control engineering and applied mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any delay, overshoot, or steady-state error and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required.
RoboticsRobotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.
Optimal controlOptimal control theory is a branch of mathematical optimization that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the moon with minimum fuel expenditure.
Hyperkähler manifoldIn differential geometry, a hyperkähler manifold is a Riemannian manifold endowed with three integrable almost complex structures that are Kähler with respect to the Riemannian metric and satisfy the quaternionic relations . In particular, it is a hypercomplex manifold. All hyperkähler manifolds are Ricci-flat and are thus Calabi–Yau manifolds. Hyperkähler manifolds were defined by Eugenio Calabi in 1979. Equivalently, a hyperkähler manifold is a Riemannian manifold of dimension whose holonomy group is contained in the compact symplectic group Sp(n).
