Research Goals:

1) Find a Machine for Every Even Euler Characteristic Surface with that Surface as the C-Space for the Machine
2) Create Model of Each Machine in OnShape
3) Automate Construction of Lagrangian in MATLAB for Each Machine
4) Automate Contstruction of Inertial Riemannian Metric from Lagrangian in MATLAB for Each Machine
5) Automate Computation of Sectional Curvature, Compatible Triple, etc., in MATLAB for Each Machine
6) Find Initial, Running, and Final Cost Function, Hamiltonian, and Optimal Controller in MATLAB for Each Machine

Working with Block Diagrams in Control Engineering:

Partial List of Surfaces (2D Closed Manifolds)

Boy's Surface
2-Sphere


Klein bottle





Genus 1 2-Torus
 RP^2   Sonnect Sum Symbol Genus 1 2-Torus         


Genus-2 2-Torus

Klein bottleSonnect Sum SymbolGenus 1 2-Torus Genus 1 2-TorusSonnect Sum SymbolGenus-2 2-Torus
Boy's SurfaceSonnect Sum SymbolKlein bottleSonnect Sum SymbolGenus 1 2-Torus
Genus-2 2-TorusSonnect Sum SymbolGenus-2 2-Torus
\(\mathbb{R}P^2\) Boy's Surface
(Euler Characteristic) \(\chi = 1\)
Non-Orientable
1
\(\mathbb{R}P^2\)


(If \(M = \#_{i=1}^g \mathbb{R}P^2\) is the non-orientable connect sum of \(g\)
\(\mathbb{R}P^2\)'s, \(\chi(M) = 2-g\). \(g\) is the genus of the surface.)

(The Euler characteristic \(\chi\) and orientability/non-orientability of a surface uniquely characterize it up to diffeomorphism.)
\(S^2\) 2D-Sphere
\(\chi\ = 2\)
Orientable
Orientation Double-Cover of
\(\mathbb{R}P^2\)

(If 2\(M\) is the double-cover of \(M\), then \(\chi(2M) = 2\chi(M)\).)


(The 2-sphere acts as an identity elements for connect sum: \(M \# S^2 = M\).)
\(K^2\) Klein Bottle
\(\chi = 0\)
Non-Orientable
Connect sum of 2
\(\mathbb{R}P^2\)'s
Fundamental Relation 1 (FR1)
\(T^2_1\) Genus-1 2D-Torus
\(\chi=0\)
Orientable
Orientation Double-Cover of
2 \(\mathbb{R}P^2\)'s = 1 \(T_1^2\)

(If \(M = \#_{i=1}^g T_1^2\) is the orientable connect sum of \(g\) \(T^2_1\)'s, \(\chi(M) = 2-2g\). \(g\) is the genus of the surface.)
Connect Sum of 3 \(\mathbb{R}P^2\)'s
\(\chi = -1\)
Non-Orientable
Connect Sum of 3 \(\mathbb{R}P^2\)'s = Connect Sum of \(\mathbb{R}P^2\) and \(T^2_1\)
Fundamential Relation 2 (FR2)
\(T^2_2\) Genus-2 2D-Torus
\(\chi = -2\)
Orientable
Orientation Double-Cover of 3 \(\mathbb{R}P^2\)'s = Connect Sum of 2 \(T^2_1\)'s
Connect Sum of 4 \(\mathbb{R}P^2\)'s
\(\chi = -2\)
Non-Orientable
Connect Sum of 4 \(\mathbb{R}P^2\)'s = Connect Sum of \(K^2\) and \(T^2_1\) (using FR2 then FR1)
\(T^2_3\) Genus-3 2D-Torus
\(\chi = -4\)
Orientable
Connect Sum of 3 \(T^2_1\)'s
Connect Sum of 5 \(\mathbb{R}P^2\)'s
\(\chi = -3\)
Non-Orientable
Connect Sum of 5 \(\mathbb{R}P^2\)'s = Connect Sum of \(\mathbb{R}P^2\), \(K^2\), and \(T^2_1\) (using FR2 then FR1) = Connect Sum of \(\mathbb{R}P^2\) and 2 \(T^2_1\) (using FR2 twice)
\(T^2_4\) Genus-4 2D-Torus
\(\chi = -6\)
Orientable
Orientation Double-Cover of 5 \(\mathbb{R}P^2\)'s = Connect Sum of 4 \(T^2_1\)'s

Geometric Control Theory Projects:
1) Optimal Geometric Control Theory and Pontryagin's Maximum Principle: https://deadbeatjeff.sdf.org/mathjax/PMP.html
2) A Smooth (\(C^{\infty}\)) Rise-Fall Function for a Cam-Follower System: https://deadbeatjeff.sdf.org/mathjax/riseFunction01.html
3) A Compatible Triple on the Tangent Bundle of a Torus using the Sasaki Metric, Canonical Sympletic Form (Pulled-Back to the Tangent Bundle), and Almost-Complex Structure, http://deadbeatjeff.sdf.org/mathjax/compatibleTriple.html
4) A Crank with an Internal Slider Mechanism with Coriolis Acceleration: http://deadbeatjeff.sdf.org/mathjax/coriolis01.html, in preparation
5) Genus-1 Torus C-Space of a 2R Robot Arm: https://deadbeatjeff.sdf.org/mathjax/torusCSpace Genus 1 2-Torus
6) Genus-2 Torus C-Space of a 5-Bar Mechanism: https://deadbeatjeff.sdf.org/mathjax/genus-2-torus.html, in progress Genus-2 2-Torus
7) Klein Bottle C-Space of a Mechanism: https://deadbeatjeff.sdf.org/mathjax/klein-bottle.html, in preparation Klein bottle
8) 2-Sphere Configuration Space (C-Space) of a Pendulum: https://deadbeatjeff.sdf.org/mathjax/2-sphere.html, in preparation 2-Sphere
8+i) (I am unaware of a mechanism that might have Boy's surface AKA \(\mathbb{R}P^2\) as its c-space) Boy's Surface