DOCSLIB.ORG

JET TRANSPORT PROPAGATION of UNCERTAINTIES for ORBITS AROUND the EARTH 1 Introduction

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
JET TRANSPORT PROPAGATION of UNCERTAINTIES for ORBITS AROUND the EARTH 1 Introduction View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by UPCommons. Portal del coneixement obert de la UPC 64rd International Astronautical Congress, Beijing, China. Copyright 2012 by the International Astronautical Federation. All rights reserved. IAC-13. C1.8.10 JET TRANSPORT PROPAGATION OF UNCERTAINTIES FOR ORBITS AROUND THE EARTH Daniel Perez´ ∗, Josep J. Masdemontz, Gerard Gomez´ x Abstract In this paper we present a tool to study the non-linear propagation of uncertainties for orbits around the Earth. The tool we introduce is known as Jet Transport and allows to propagate full neighborhoods of initial states instead of a single initial state by means of usual numerical integrators. The description of the transported neighborhood is ob- tained in a semi-analytical way by means of polynomials in 6 variables. These variables correspond to displacements in the phase space from the reference point selected in an orbit as initial condition. The basis of the procedure is a standard numerical integrator of ordinary differential equations (such as a Runge-Kutta or a Taylor method) where the usual arithmetic is replaced by a polynomial arithmetic. In this way, the solution of the variational equations is also obtained up to high order. This methodology is applied to the propagation of satellite trajectories and to the computation of images of uncertainty ellipsoids including high order nonlinear descriptions. The procedure can be specially adapted to the determination of collision probabilities with catalogued space debris or for the end of life analysis of spacecraft in Medium Earth Orbits. 1 Introduction of a particle that at time t0 is at x0. As it has been stated, our objective is to propagate a full neighborhood U of x0, Any trajectory, from the ones of small debris to big aster- i.e. to compute '(t; t0;U). For this purpose, the initial oids, or artificial satellites, is under uncertainty when its condition x0 is replaced by a simple polynomial that pa- orbit is tried to be determined. As it is well known, small rameterizes its neighbourhood: Pt0;x0 (ξ) = x0 + ξ = T differences in the initial conditions can produce big devi- x0 + (ξ1; : : : ; ξn) . ations from predicted states after some time. Therefore it Then we can select any ordinary differential equation is very important to study how these uncertainties evolve integrator (RK, Taylor, symplectic,. ) and to use it to and how can they be controlled along the time. propagate the polynomial. We note that, since the initial The study of uncertainties is usually performed by condition is a polynomial, all the computations required means of Monte Carlo methods or analyzing the evolu- in the propagation method have to be done using polyno- tion of the covariance matrix. The first option, based mial algebra, i.e. the algebraic operations are done using on massive integrations of initial conditions, has a slow truncated polynomials up to a certain order. rate of convergence towards a meaningful result. On the other hand, the study of the covariance matrix is a faster ξ2 xT P (ξ)] T;x0 2 method but only takes into account a linear approxima- x0 P (ξ)] ξ T;x0 1 tion of the uncertainties, while higher order approxima- 1 tions could play an important role. In this paper we present a new way to study uncer- Figure 1: Schematic idea of the Jet Transport. tainty regions: The Jet Transport. Given an initial state x0, the Jet transport consist in the integration of a full neigh- In this way we obtain the expression of the neighbourhood borhood of states around x0, instead of doing the single U propagated at time t by means of truncated Taylor’s se- x propagation of 0. This procedure is also known as Dif- ries up to order n, Pt;x0 (ξ). These series give us the state ferential Algebra and it was introduced by M. Wertz and of the particle, that initially is at x0 + ξ, at time t, i.e. K. Makino for the study of particle beams and particle ac- Pt;x0 (ξ) = '(t; t0; x0 + ξ). celerators. This kind of techniques have been also applied Using this procedure the time required for Monte in celestial mechanics to work with Kalman Filters and Carlo simulations can be dramatically reduced since now differential Kalman Filters.7 the propagation of an orbit is just a mater of evaluating a To briefly describe the methodology, let us consider polynomial (of course, as a minor drawback, the time to a dynamical system x_ = f(t; x) and the associated flow compute the propagation of the neighbourhood is longer map '(t; t0; x0) = xt which give us the position at time t than the required for a single trajectory). Moreover, this ∗Universitat de Barcelona, Spain, [email protected] zIEEC & Universitat Politecnica` de Catalunya, Spain. [email protected] xIEEC & Universitat de Barcelona, Spain, [email protected] 1 64rd International Astronautical Congress, Beijing, China. Copyright 2012 by the International Astronautical Federation. All rights reserved. procedure also allows the study of the covariance matrix control. Finally other applications of this procedure will up to high order, due to the fact that the different orders of be commented. the final polynomials provide the variational equations up to that order. The polynomial algebra As an interesting application of this jet transport methodology, in Alessi et al1 the authors studied the close As already stated, one of the basic ingredients of the Jet approach of the Near Earth Asteroid (NEO) Apophis. Transport is the polynomial algebra. In this section we More concretely they study the close approach of 2019. will explain some procedures and considerations for its Other Apophis encounters have been studied in.2 implementation. The relevance of the polynomial alge- bra is due to the fact that any algebraic operation in the method will use it. Some of these questions have been 2 Jet Transport studied by Jorba.5 The first question that any polynomial algebra must The objective of Jet Transport techniques for the numeri- deal with is how the polynomials are stored and accessed. cal integration of Ordinary Differential Equations (ODEs) There are several storage procedures in the literature, each is to obtain the solutions of the high order variational one with its own strengths and weaknesses. Some of them equations associated to a certain ODE. have been developed to deal with sparse polynomials, oth- The direct computation of high order variational equa- ers are memory efficient and others are fast accessing to tions requires a large amount of work just to obtain the the data. system of differential equations that must be integrated. In general, the polynomials that appear when the Jet To overcome this difficulty, the basic idea is to propagate, Transport procedure is applied to the usual vector-fields instead of just one initial condition x0, a full neighbour- of Astrodynamics and Celestial Mechanics are not sparse, hood of it, given by a polynomial Pt0;x0 (ξ) = x0 + ξ, therefore methods thought for these kind of polynomials where ξ = (ξ1; :::; ξn) represents the deviation with re- are not the best option. Two other storage systems are: spect to x0. Then, the ODEs can be integrated using any of the usual methods but instead of evaluating the vector- • Nested arrays: this system consist in a nest with a field that defines the differential equation at a certain state number of arrays as the number of variables of the using real arithmetic, polynomial arithmetic must be used system. It is a fast system to write, since the co- to do the integrations. efficients are easily stored using the exponents of The procedure requires two main ingredients: the variables. As main drawback, their structure is difficult to insert in a general implementation. The 1. A polynomial algebra package. The polynomial dimension of the dynamical system determines the algebra package has to contain all the basic func- number of arrays that must be nested and, therefore, tions needed for the implementation of the integra- they cannot be introduced in a general code. tion method. The usual functions that appear in the package are: addition, product, division, composi- • Reverse lexicographical order: in a first step the tion of polynomials as well as the elementary func- monomials are ordered according to their degree. tions (trigonometric, exponential, logarithm, ...). Inside each degree the following rule is applied: the monomial pj precedes the monomial pk if the 2. An integration method. Any standard integration exponent of the first variable of pj is higher than method can be used, for instance a Runge-Kutta, the exponent of the first variable of pk. In case a Taylor method or a symplectic integrator (i.e. that both monomials have the same exponent for leap-frog integrator). The arithmetic of the se- the first (second, ...) variable then the second lected method has to be adapted to the Jet Trans- (third, ...) variables should be used for the com- port, transforming the standard floating point arith- parison. In other words, using the multi-indices metics of the numerical integrator by a polynomial j = fj1; : : : ; jng and k = fk1; : : : ; kng then we arithmetic. say that j < k if the minimum i such that ji 6= ki verifies j < k . In this section we will show the basic characteristics of i i the Jet Transport methods. First we will describe the basic The selection of one of these two systems is done depend- characteristics of the polynomial algebra; later we will see ing on the characteristics of the problem. Usually, if the how we should mix the polynomial algebra with a Taylor number of variables is small the first method is used; when integration method, which is the integrator that has been the number of variables is large, then the second method is selected for the computations that follow.
Load more

Recommended publications
  • Jet Fitting 3: a Generic C++ Package for Estimating the Differential Properties on Sampled Surfaces Via Polynomial Fitting Frédéric Cazals, Marc Pouget
    Jet fitting 3: A Generic C++ Package for Estimating the Differential Properties on Sampled Surfaces via Polynomial Fitting Frédéric Cazals, Marc Pouget To cite this version: Frédéric Cazals, Marc Pouget. Jet fitting 3: A Generic C++ Package for Estimating the Differential Properties on Sampled Surfaces via Polynomial Fitting. ACM Transactions on Mathematical Software, Association for Computing Machinery, 2008, 35 (3). inria-00329731 HAL Id: inria-00329731 https://hal.inria.fr/inria-00329731 Submitted on 2 Mar 2016 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Jet fitting 3: A Generic C++ Package for Estimating the Differential Properties on Sampled Surfaces via Polynomial Fitting FRED´ ERIC´ CAZALS INRIA Sophia-Antipolis, France. and MARC POUGET INRIA Nancy Gand Est - LORIA, France. 3 Surfaces of R are ubiquitous in science and engineering, and estimating the local differential properties of a surface discretized as a point cloud or a triangle mesh is a central building block in Computer Graphics, Computer Aided Design, Computational Geometry, Computer Vision. One strategy to perform such an estimation consists of resorting to polynomial fitting, either interpo- lation or approximation, but this route is difficult for several reasons: choice of the coordinate system, numerical handling of the fitting problem, extraction of the differential properties.
    [Show full text]
  • Arxiv:1410.4811V3 [Math.AG] 5 Oct 2016 Sm X N N+K Linear Subspace of P of Dimension Dk, Where N 6 Dk 6 N , See Definition 2.4
    A NOTE ON HIGHER ORDER GAUSS MAPS SANDRA DI ROCCO, KELLY JABBUSCH, AND ANDERS LUNDMAN ABSTRACT. We study Gauss maps of order k, associated to a projective variety X embedded in projective space via a line bundle L: We show that if X is a smooth, complete complex variety and L is a k-jet spanned line bundle on X, with k > 1; then the Gauss map of order k has finite fibers, unless n X = P is embedded by the Veronese embedding of order k. In the case where X is a toric variety, we give a combinatorial description of the Gauss maps of order k, its image and the general fibers. 1. INTRODUCTION N Let X ⊂ P be an n-dimensional irreducible, nondegenerate projective variety defined over an algebraically closed field | of characteristic 0. The (classical) Gauss map is the rational morphism g : X 99K Gr(n;N) that assigns to a smooth point x the projective tangent space of X at ∼ n N x, g(x) = TX;x = P : It is known that the general fiber of g is a linear subspace of P , and that the N morphism is finite and birational if X is smooth unless X is all of P ,[Z93, KP91, GH79]. In [Z93], Zak defines a generalization of the above definition as follows. For n 6 m 6 N − 1, N let Gr(m;N) be the Grassmanian variety of m-dimensional linear subspaces in P , and define Pm = f(x;a) 2 Xsm × Gr(m;N)jTX;x ⊆ La g; where La is the linear subspace corresponding to a 2 Gr(m;N) and the bar denotes the Zariski closure in X × Gr(m;N).
    [Show full text]
  • A Geometric Theory of Higher-Order Automatic Differentiation
    A Geometric Theory of Higher-Order Automatic Differentiation Michael Betancourt Abstract. First-order automatic differentiation is a ubiquitous tool across statistics, machine learning, and computer science. Higher-order imple- mentations of automatic differentiation, however, have yet to realize the same utility. In this paper I derive a comprehensive, differential geo- metric treatment of automatic differentiation that naturally identifies the higher-order differential operators amenable to automatic differ- entiation as well as explicit procedures that provide a scaffolding for high-performance implementations. arXiv:1812.11592v1 [stat.CO] 30 Dec 2018 Michael Betancourt is the principle research scientist at Symplectomorphic, LLC. (e-mail: [email protected]). 1 2 BETANCOURT CONTENTS 1 First-Order Automatic Differentiation . ....... 3 1.1 CompositeFunctionsandtheChainRule . .... 3 1.2 Automatic Differentiation . 4 1.3 The Geometric Perspective of Automatic Differentiation . .......... 7 2 JetSetting ....................................... 8 2.1 JetsandSomeofTheirProperties . 8 2.2 VelocitySpaces .................................. 10 2.3 CovelocitySpaces................................ 13 3 Higher-Order Automatic Differentiation . ....... 15 3.1 PushingForwardsVelocities . .... 15 3.2 Pulling Back Covelocities . 20 3.3 Interleaving Pushforwards and Pullbacks . ........ 24 4 Practical Implementations of Automatic Differentiation . ............ 31 4.1 BuildingCompositeFunctions. .... 31 4.2 GeneralImplementations . 34 4.3 LocalImplementations. 44
    [Show full text]
  • Jets and Differential Linear Logic
    Jets and differential linear logic James Wallbridge Abstract We prove that the category of vector bundles over a fixed smooth manifold and its corresponding category of convenient modules are models for intuitionistic differential linear logic. The exponential modality is modelled by composing the jet comonad, whose Kleisli category has linear differential operators as morphisms, with the more familiar distributional comonad, whose Kleisli category has smooth maps as morphisms. Combining the two comonads gives a new interpretation of the semantics of differential linear logic where the Kleisli morphisms are smooth local functionals, or equivalently, smooth partial differential operators, and the codereliction map induces the functional derivative. This points towards a logic and hence computational theory of non-linear partial differential equations and their solutions based on variational calculus. Contents 1 Introduction 2 2 Models for intuitionistic differential linear logic 5 3 Vector bundles and the jet comonad 10 4 Convenient sheaves and the distributional comonad 17 5 Comonad composition and non-linearity 22 6 Conclusion 27 arXiv:1811.06235v2 [cs.LO] 28 Dec 2019 1 1 Introduction In this paper we study differential linear logic (Ehrhard, 2018) through the lens of the category of vector bundles over a smooth manifold. We prove that a number of categories arising from the category of vector bundles are models for intuitionistic differential linear logic. This is part of a larger project aimed at understanding the interaction between differentiable programming, based on differential λ-calculus (Ehrhard and Regnier, 2003), and differential linear logic with a view towards extending these concepts to a language of non-linear partial differential equations.
    [Show full text]
  • On Galilean Connections and the First Jet Bundle
    Cent. Eur. J. Math. • 10(5) • 2012 • 1889-1895 DOI: 10.2478/s11533-012-0089-4 Central European Journal of Mathematics On Galilean connections and the first jet bundle Research Article James D.E. Grant1∗, Bradley C. Lackey2† 1 Gravitationsphysik, Fakultät für Physik, Universität Wien, Boltzmanngasse 5, 1090 Wien, Austria 2 Trusted Systems Research Group, National Security Agency, 9800 Savage Road, Suite 6511, Fort G.G. Meade, MD 20755, USA Received 30 November 2011; accepted 8 June 2012 Abstract: We see how the first jet bundle of curves into affine space can be realized as a homogeneous space of the Galilean group. Cartan connections with this model are precisely the geometric structure of second-order ordi- nary differential equations under time-preserving transformations – sometimes called KCC-theory. With certain regularity conditions, we show that any such Cartan connection induces “laboratory” coordinate systems, and the geodesic equations in this coordinates form a system of second-order ordinary differential equations. We then show the converse – the “fundamental theorem” – that given such a coordinate system, and a system of second order ordinary differential equations, there exists regular Cartan connections yielding these, and such connections are completely determined by their torsion. MSC: 53C15, 58A20, 70G45 Keywords: Galilean group • Cartan connections • Jet bundles • 2nd order ODE © Versita Sp. z o.o. 1. Introduction The geometry of a system of ordinary differential equations has had a distinguished history, dating back even to Lie [10]. Historically, there have been three main branches of this theory, depending on the class of allowable transformations considered. The most studied has been differential equations under contact transformation; see § 7.1 of Doubrov, Komrakov, and Morimoto [5], for the construction of Cartan connections under this class of transformation.
    [Show full text]
  • Holonomicity in Synthetic Differential Geometry of Jet Bundles
    Holonomicity in Synthetic Differential Geometry of Jet Bundles Hirokazu Nishimura ＩｎｓＭｕtｅ ｏｆ Ｍａtｈｅｍａｈｃｓ、 Ｕｎｉ'ｕｅｒｓｘt!Jof Tｓｕkｕｂａ Ｔｓｕkｕba、IbaTヽａｋｉ、Ｊａｐａｎ Abstract. In the repet山ve appioach to the theory of jet bundles there aie three methods of repetition, which yield non-holonomic, semi-holonomic, and holonomic jet bundles respectively However the classical approach to ｈｏｌｏｎｏｍｌ(ヽJ(ヽtbundles failed to be truly repetitive, 柘r It must resort to such ａ non-repetitive coordinate- dependent construction as Taylor expansion The principal objective ｍ this paper IS to give ａpurely repet山ve definition of holonomicity by using microsquarcs (doｕ- blc tangents), which spells the flatness of the Cartan connection on holoiiomic lnfi- nite jet bundles without effort The defiii由on applies not only to formal manifolds but to microlinear spaces in general, enhancing the applicability of the theory of jet bundles considerably The definition IS shown to degenerate into the classical one ｍ caseヽofformal manifolds Introduction The flatness of the Cartan connection lies smack dab at the center of the theory of infinite jet bundles and its comrade called the geometric theory of nonlinear partial differentialequa- tions Indeed itIS the flatness of the Cartan connection that enables the de Rham complex to decompose two-dimensionally into the variational bicomplcx, from which the algebraic topol- ogy of nonlinear partial differential equations has emerged by means of spectral sequences (ｃｆBocharov et al[1D， just as the algebraic topology of smooth manifolds IS centered
    [Show full text]
  • ARITHMETIC DIFFERENTIAL GEOMETRY 1. Introduction the Aim
    ARITHMETIC DIFFERENTIAL GEOMETRY ALEXANDRU BUIUM 1. Introduction The aim of these notes is to explain past work and proposed research aimed at developing an arithmetic analogue of classical differential geometry. In the the- ory we are going to describe the ring of integers Z will play the role of a ring of functions on an infinite dimensional manifold. The role of coordinate functions on this manifold will be played by the prime numbers p 2 Z. The role of the partial derivative of an integer n 2 Z with respect to a prime p will be played (in the spirit n−np of [16, 28]) by the Fermat quotient δpn := p 2 Z: The role of metrics/2-forms will be played by symmetric/antisymmetric matrices with entries in Z. The role of connection/curvature attached to metrics or 2-forms will be played by certain adelic/global objects attached to integral matrices. The resulting geometry will be referred to as arithmetic differential geometry. One of the somewhat surprising conclusions of our theory is that (the space whose ring of functions is) Z appears as \intrinsically curved." A starting point for this circle of ideas can be found in our paper [16] where we showed how one can replace derivation operators by Fermat quotient operators in the construction of the classical jet spaces of Lie and Cartan; the new objects thus obtained were referred to as arithmetic jet spaces. With these objects at hand it was natural to try to develop an arithmetic analogue of differential calculus, in particular of differential equations and differential geometry.
    [Show full text]
  • THE CONTACT SYSTEM for A-JET MANIFOLDS Although
    ARCHIVUM MATHEMATICUM (BRNO) Tomus 40 (2004), 233 { 248 THE CONTACT SYSTEM FOR A-JET MANIFOLDS R. J. ALONSO-BLANCO AND J. MUNOZ-D~ ´IAZ Abstract. Jets of a manifold M can be described as ideals of C1(M). This way, all the usual processes on jets can be directly referred to that ring. By using this fact, we give a very simple construction of the contact system on jet spaces. The same way, we also define the contact system for the recently considered A-jet spaces, where A is a Weil algebra. We will need to introduce the concept of derived algebra. Although without formalization, jets are present in the work of S. Lie (see, for instance, [6]; x 130, pp. 541) who does not assume a fibered structure on the concerned manifold; on the contrary, this assumption is usually done nowadays in the more narrow approach given by the jets of sections. It is an old idea to consider the points of a manifold other than the ordinary ones. This can be traced back to Pluc¨ ker, Grassmann, Lie or Weil. Jets are `points' of a manifold M and can be described as ideals of its ring of differentiable functions [9, 13]. Indeed, the k-jets of m-dimensional submanifolds of M are those ideals p ⊂ 1 1 k def k+1 C (M) such that C (M)=p is isomorphic to Rm = R[1; : : : ; m]=(1; : : : ; m) (where the ' are undetermined variables). This point of view was introduced in the Ph. D. thesis of J. Rodr´ıguez, advised by the second author [13].
    [Show full text]
  • Jet Schemes and Invariant Theory Tome 65, No 6 (2015), P
    R AN IE N R A U L E O S F D T E U L T I ’ I T N S ANNALES DE L’INSTITUT FOURIER Andrew R. LINSHAW, Gerald W. SCHWARZ & Bailin SONG Jet schemes and invariant theory Tome 65, no 6 (2015), p. 2571-2599. <http://aif.cedram.org/item?id=AIF_2015__65_6_2571_0> © Association des Annales de l’institut Fourier, 2015, Certains droits réservés. Cet article est mis à disposition selon les termes de la licence CREATIVE COMMONS ATTRIBUTION – PAS DE MODIFICATION 3.0 FRANCE. http://creativecommons.org/licenses/by-nd/3.0/fr/ L’accès aux articles de la revue « Annales de l’institut Fourier » (http://aif.cedram.org/), implique l’accord avec les conditions générales d’utilisation (http://aif.cedram.org/legal/). cedram Article mis en ligne dans le cadre du Centre de diffusion des revues académiques de mathématiques http://www.cedram.org/ Ann. Inst. Fourier, Grenoble 65, 6 (2015) 2571-2599 JET SCHEMES AND INVARIANT THEORY by Andrew R. LINSHAW, Gerald W. SCHWARZ & Bailin SONG (*) Abstract. — Let G be a complex reductive group and V a G-module. Then the mth jet scheme Gm acts on the mth jet scheme Vm for all m > 0. We are in- Gm ∗ terested in the invariant ring O(Vm) and whether the map pm : O((V//G)m) → G O(Vm) m induced by the categorical quotient map p: V → V//G is an isomor- ∗ phism, surjective, or neither. Using Luna’s slice theorem, we give criteria for pm to be an isomorphism for all m, and we prove this when G = SLn, GLn, SOn, or Sp2n and V is a sum of copies of the standard module and its dual, such that ∗ V//G is smooth or a complete intersection.
    [Show full text]
  • The Canonical Contact Form
    The Canonical Contact Form Peter J. Olvery School of Mathematics University of Minnesota Minneapolis, MN 55455 U.S.A. [email protected] http://www.math.umn.edu/»olver Abstract. The structure group and the involutive di®erential system that character- ize the pseudo-group of contact transformations on a jet space are determined. 1. Introduction. The canonical form on the coframe bundle over a smooth manifold originally arose as the natural generalization of the canonical form on the cotangent bundle, which plays an essential role in Hamiltonian mechanics, [19; xIII.7]. The coframe bundle F ¤M ! M forms a principal GL(m) bundle over the m-dimensional manifold M. The canonical form on the coframe bundle serves to characterize the di®eomorphism pseudo-group of the manifold, or, more correctly, its lift to the coframe bundle. Indeed, the invariance of the canonical form forms an involutive di®erential system, whose general solution, guaranteed by the Cartan{KÄahler Theorem, is the lifted di®eomorphism pseudo-group. Kobayashi, [11], introduces a vector-valued canonical form on the higher order frame bundles over y Supported in part by NSF Grant DMS 01{03944. February 21, 2005 1 the manifold. He demonstrates that the components of the canonical form constitute an involutive di®erential system that characterizes the higher order lifts of the di®eomorphism group. The geometrical study of di®erential equations relies on the jet space ¯rst introduced by Ehresmann, [6]. In the jet bundle framework, the pseudo-group of contact transforma- tions, [13, 16], assumes the role of the di®eomorphism pseudo-group.
    [Show full text]
  • Synthetic Geometry of Manifolds Beta Version August 7, 2009 Alpha Version to Appear As Cambridge Tracts in Mathematics, Vol
    Synthetic Geometry of Manifolds beta version August 7, 2009 alpha version to appear as Cambridge Tracts in Mathematics, Vol. 180 Anders Kock University of Aarhus Contents Preface page 6 1 Calculus and linear algebra 11 1.1 The number line R 11 1.2 The basic infinitesimal spaces 13 1.3 The KL axiom scheme 21 1.4 Calculus 26 1.5 Affine combinations of mutual neighbour points 34 2 Geometry of the neighbour relation 37 2.1 Manifolds 37 2.2 Framings and 1-forms 47 2.3 Affine connections 52 2.4 Affine connections from framings 61 2.5 Bundle connections 66 2.6 Geometric distributions 70 2.7 Jets and jet bundles 81 2.8 Infinitesimal simplicial and cubical complex of a manifold 89 3 Combinatorial differential forms 92 3.1 Simplicial, whisker, and cubical forms 92 3.2 Coboundary/exterior derivative 101 3.3 Integration of forms 106 3.4 Uniqueness of observables 115 3.5 Wedge/cup product 119 3.6 Involutive distributions and differential forms 123 3.7 Non-abelian theory of 1-forms 125 3.8 Differential forms with values in a vector bundle 130 3.9 Crossed modules and non-abelian 2-forms 132 3 4 Contents 4 The tangent bundle 135 4.1 Tangent vectors and vector fields 135 4.2 Addition of tangent vectors 137 4.3 The log-exp bijection 139 4.4 Tangent vectors as differential operators 144 4.5 Cotangents, and the cotangent bundle 146 4.6 The differential operator of a linear connection 148 4.7 Classical differential forms 150 4.8 Differential forms with values in TM ! M 154 4.9 Lie bracket of vector fields 157 4.10 Further aspects of the tangent bundle 161 5 Groupoids
    [Show full text]
  • Formal Manifolds and Synthetic Theory of Jet Bundles Cahiers De Topologie Et Géométrie Différentielle Catégoriques, Tome 21, No 3 (1980), P
    CAHIERS DE TOPOLOGIE ET GÉOMÉTRIE DIFFÉRENTIELLE CATÉGORIQUES ANDERS KOCK Formal manifolds and synthetic theory of jet bundles Cahiers de topologie et géométrie différentielle catégoriques, tome 21, no 3 (1980), p. 227-246 <http://www.numdam.org/item?id=CTGDC_1980__21_3_227_0> © Andrée C. Ehresmann et les auteurs, 1980, tous droits réservés. L’accès aux archives de la revue « Cahiers de topologie et géométrie différentielle catégoriques » implique l’accord avec les conditions générales d’utilisation (http://www.numdam.org/conditions). Toute utilisation commerciale ou impression systématique est constitutive d’une infraction pénale. Toute copie ou impression de ce fichier doit contenir la présente mention de copyright. Article numérisé dans le cadre du programme Numérisation de documents anciens mathématiques http://www.numdam.org/ CAHIERS DE TOPOLOGIE Vol. XXI-3 (1980) ET GEOMETRIE DIFFERENTIELLE FORMAL MANIFOLDS AND SYNTHETIC THEORY OF JET BUNDLES by Anders KOCK In the present Note, we aim to set up a framework in which the the- ory of jets can be treated from the viewpoint of synthetic differential geom- etry, in the sense of several of the articles of [21]. The advantage the synthetic viewpoint has here is that jets become representable : a k-jet at x is not an equivalence class of maps, but is a map, defined on what we shall call the k-monad around x, Nk (x ). The content of sections 3 - 5 on groupoids is essentially due to C. Ehresmann and his followers, like P. Libermann, Kumpera, .... Ehresmann’ s observation that the jet-notion
    [Show full text]