This thesis explores the effects singularities have on stationary and dynamical properties of many-body quantum systems. In papers I and II we find that the ground state suffers a Z2 symmetry breaking phase transition (PT) when a single impurity is added to a Bose-Einstein condensate (BEC) in a double well (bosonic Josephson junction). The PT occurs for a certain value of the BEC-impurity interaction energy, Λc . A result of the PT is the mean-field dynamics undergo chaotic motion in phase space once the symmetry is broken. We determine the critical scaling exponents that characterize the divergence of the correlation length and fidelity susceptibility at the PT, finding that the BEC-impurity system belongs to the same universality class as the Dicke and Lipkin-Meshkov-Glick models (which also describe symmetry breaking PTs in systems of bosons). In paper III we study the dynamics of a generic two-mode quantum field following a quench where one of the terms in the Hamiltonian is flashed on and off. This model is relevant to BECs in double wells as well as other simple many-particle systems found in quantum optics and optomechanics. We find that when plotted in Fock-space plus time, the semiclassical wave function develops prominent cusp-shaped structures after the quench. These structures are singular in the classical limit and we identify them as catastrophes (as described by the Thom-Arnold catastrophe theory) and show that they arise from the coalescence of classical (mean-field) trajectories in a path integral description. Furthermore, close to the cusp the wave function obeys a remarkable set of scaling relations signifying these structures as examples of universality in quantum dynamics. Within the cusp we find a network of vortex-antivortex pairs which are phase singularities caused by interference. When the mean-field Hamiltonian displays a Z2 symmetry breaking PT modelled by the Landau theory of PTs we calculate scaling exponents describing how the separation distance between the members of each pair diverges as the PT is approached. We also find that the cusp becomes infinitely stretched out at the PT due to critical slowing down. In paper IV we investigate in greater detail the morphology of the vortex network found within cusp catastrophes in many-body wave functions following a quench. In contrast to the cusp catastrophes studied so far in the literature, these structures live in Fock space which is fundamentally granular. As such, these cusps represent a new iii type of catastrophe, which we term a ‘quantum catastrophe’. The granularity of Fock space introduces a new length scale, the quantum length lq = N −1 which effectively removes the vortex cores. Nevertheless, a subset of the vortices persist as phase singularities as can be shown by integrating the phase of the wave function around circuits in Fock-space plus time. Whether or not the vortices survive in a quantum catastrophe is governed by the separation of the vortex-antivortex pairs lv ∝ N −3/4 in comparison to lq , i.e. they survive if lv lq . When particle numbers are reached such that lq ≈ lv the vortices annihilate in pairs. / Thesis / Doctor of Philosophy (PhD)

Thesis deals with the truck frame VARIANT 252. The main task is to analyze weighting states, setting the values for weigting states. Strength control of the frame by using the Finite Element Method (FEM). And each subsequent frame adjustments based on the results of FEM. Part of this thesis is also the drawing documentation provided a modified frame assembly and each modified components.

The aim of this project was to develop and evaluate an interactive Augmented Reality interface for teaching children aged 8 to 15 about biological systems present in the human body. The interface was de- signed as one component of a “human body scanner” exhibit, which is to be featured at the ScienceAlive! Science Centre. In the exhibit, the interface allows visualization and interaction with the body systems while being moved across a human male mannequin named BRET. Prior research has shown that Augmented Reality, Visualization applications, and games are viable methods to teach biology to university aged users, and Augmented Reality and interactive systems have been used with children and learning biology as well. BRET went through three iteration phases, in the first phase, prototypes were evaluated by ScienceAlive! and designs and interactions were implemented, while the use of Augmented Reality through a transparent display was rejected. Iteration two included integration of the non-transparent touch display screen and observational evaluation of six children from 9 to 15 years old. This evaluation resulted in design and interaction changes. Iteration three was the last iteration where final interface and interaction modifications were made and re- search was conducted with 48 children from the ages 8 to 15. This was to determine whether learning, fun, and retention rates were higher for children who interacted with BRET versus those who watched video clips, or read text. Each child used one learning method to learn the three different body systems: skeletal, circulatory, and digestion. The results of the final evaluation showed that overall there was no significant difference in the children’s rating of fun or the amount of information they retained between the different learning methods. There was a positive significant difference between some of the expected fun scores and the actual fun scores. It was also found that learning with text was higher than the interactive condition but there was no differences between learning with video and interaction, or with text and video.

This dissertation focuses on the constrained control of multi-body systems which are actuated by vectorized thrusters. A general control framework is proposed to stabilize the task configuration while ensuring constraints satisfaction at all times. For this purpose, the equations of motion of the system are derived using the Euler-Lagrange method. It is seen that under some reasonable conditions, the system dynamics are decoupled. This property is exploited in a cascade control scheme to stabilize the points of equilibrium of the system. The control scheme is composed of an inner loop, tasked to control the attitude of the vectorized thrusters, and an outer loop which is tasked to stabilize the task configuration of the system to a desired configuration. To prove stability, input-to-state stability and small gain arguments are used. All stability properties are derived in the absence of constraints, and are shown to be local. The main result of this analysis is that the proposed control scheme can be directly applied under the assumption that a suitable mapping between the generalized force and the real inputs of the system is designed. This thesis proposes to enforce constraints by augmenting the control scheme with two types of Reference Governor units: the Scalar Reference Governor, and the Explicit Reference Governor. This dissertation presents two case studies which inspired the main generalization of this thesis: (i) the control of an unmanned aerial and ground vehicle manipulating an object, and (ii) the control of a tethered quadrotor. Two further case studies are discussed afterwards to show that the generalized control framework can be directly applied when a suitable mapping is designed. / Doctorat en Sciences de l'ingénieur et technologie / info:eu-repo/semantics/nonPublished

This thesis concerns two types of quantum many-body systems in one dimension exactly solved by special functions: firstly, systems with interactions localised at points and solved by the (coordinate) Bethe ansatz; secondly, systems of Calogero-Sutherland type, as well as certain recently introduced deformations thereof, with eigenfunctions given by natural many-variable generalisations of classical (orthogonal) polynomials. The thesis is divided into two parts. The first provides background and a few complementary results, while the second presents the main results of this thesis in five appended scientific papers. In the first paper we consider two complementary quantum many-body systems with local interactions related to the root systems CN, one with delta-interactions, and the other with certain momentum dependent interactions commonly known as delta-prime interactions. We prove, by construction, that the former is exactly solvable by the Bethe ansatz in the general case of distinguishable particles, and that the latter is similarly solvable only in the case of bosons or fermions. We also establish a simple strong/weak coupling duality between the two models and elaborate on their physical interpretations. In the second paper we consider a well-known four-parameter family of local interactions in one dimension. In particular, we determine all such interactions leading to a quantum many-body system of distinguishable particles exactly solvable by the Bethe ansatz. We find that there are two families of such systems: the first is described by a one-parameter deformation of the delta-interaction model, while the second features a particular one-parameter combination of the delta and the delta-prime interactions. In papers 3-5 we construct and study particular series representations for the eigenfunctions of a family of Calogero-Sutherland models naturally associated with the classical (orthogonal) polynomials. In our construction, the eigenfunctions are given by linear combinations of certain symmetric polynomials generalising the so-called Schur polynomials, with explicit and rather simple coefficients. In paper 5 we also generalise certain of these results to the so-called deformed Calogero-Sutherland operators. / QC 20100712

In this thesis, we will show how certain classes of quantum many-body Hamiltonians with $\su{2}_1 \oplus \su{2}_2 \oplus \ldots \oplus \su{2}_k$ spectrum generating algebras can be approximated by multi-dimensional shifted harmonic oscillator Hamiltonians. The dimensions of the Hilbert spaces of such Hamiltonians usually depend exponentially on $k$. This can make obtaining eigenvalues by diagonalization computationally challenging. The Shifted Harmonic Approximation (SHA) developed here gives good predictions of properties such as ground state energies, excitation energies and the most probable states in the lowest eigenstates. This is achieved by solving only a system of $k$ equations and diagonalizing $k\times k$ matrices. The SHA gives accurate approximations over wide domains of parameters and in many cases even across phase transitions. The SHA is first illustrated using the Lipkin-Meshkov-Glick (LMG) model and the Canonical Josephson Hamiltonian (CJH) which have $\su{2}$ spectrum generating algebras. Next, we extend the technique to the non-compact $\su{1,1}$ algebra, using the five-dimensional quartic oscillator (5DQO) as an example. Finally, the SHA is applied to a $k$-level Bardeen-Cooper-Shrieffer (BCS) pairing Hamiltonian with fixed particle number. The BCS model has a $\su{2}_1 \oplus \su{2}_2 \oplus \ldots \oplus \su{2}_k$ spectrum generating algebra. An attractive feature of the SHA is that it also provides information to construct basis states which yield very accurate eigenvalues for low-lying states by diagonalizing Hamiltonians in small subspaces of huge Hilbert spaces. For Hamiltonians that involve a smaller number of operators, accurate eigenvalues can be obtained using another technique developed in this thesis: the generalized Rowe-Rosensteel-Kerman-Klein equations-of-motion method (RRKK). The RRKK is illustrated using the LMG and the 5DQO. In RRKK, solving unknowns in a set of $10\times 10$ matrices typically gives estimates of the lowest few eigenvalues to an accuracy of at least eight significant figures. The RRKK involves optimization routines which require initial guesses of the matrix representations of the operators. In many cases, very good initial guesses can be obtained using the SHA. The thesis concludes by exploring possible future developments of the SHA.

In this thesis, we will show how certain classes of quantum many-body Hamiltonians with $\su{2}_1 \oplus \su{2}_2 \oplus \ldots \oplus \su{2}_k$ spectrum generating algebras can be approximated by multi-dimensional shifted harmonic oscillator Hamiltonians. The dimensions of the Hilbert spaces of such Hamiltonians usually depend exponentially on $k$. This can make obtaining eigenvalues by diagonalization computationally challenging. The Shifted Harmonic Approximation (SHA) developed here gives good predictions of properties such as ground state energies, excitation energies and the most probable states in the lowest eigenstates. This is achieved by solving only a system of $k$ equations and diagonalizing $k\times k$ matrices. The SHA gives accurate approximations over wide domains of parameters and in many cases even across phase transitions. The SHA is first illustrated using the Lipkin-Meshkov-Glick (LMG) model and the Canonical Josephson Hamiltonian (CJH) which have $\su{2}$ spectrum generating algebras. Next, we extend the technique to the non-compact $\su{1,1}$ algebra, using the five-dimensional quartic oscillator (5DQO) as an example. Finally, the SHA is applied to a $k$-level Bardeen-Cooper-Shrieffer (BCS) pairing Hamiltonian with fixed particle number. The BCS model has a $\su{2}_1 \oplus \su{2}_2 \oplus \ldots \oplus \su{2}_k$ spectrum generating algebra. An attractive feature of the SHA is that it also provides information to construct basis states which yield very accurate eigenvalues for low-lying states by diagonalizing Hamiltonians in small subspaces of huge Hilbert spaces. For Hamiltonians that involve a smaller number of operators, accurate eigenvalues can be obtained using another technique developed in this thesis: the generalized Rowe-Rosensteel-Kerman-Klein equations-of-motion method (RRKK). The RRKK is illustrated using the LMG and the 5DQO. In RRKK, solving unknowns in a set of $10\times 10$ matrices typically gives estimates of the lowest few eigenvalues to an accuracy of at least eight significant figures. The RRKK involves optimization routines which require initial guesses of the matrix representations of the operators. In many cases, very good initial guesses can be obtained using the SHA. The thesis concludes by exploring possible future developments of the SHA.

This thesis presents a geometric approach to studying kinematics, dynamics and controls of open-chain multi-body systems with non-zero momentum and multi-degree-of-freedom joints subject to holonomic and nonholonomic constraints. Some examples of such systems appear in space robotics, where mobile and free-base manipulators are developed. The proposed approach introduces a unified framework for considering holonomic and nonholonomic, multi-degree-of-freedom joints through: (i) generalization of the product of exponentials formula for kinematics, and (ii) aggregation of the dynamical reduction theories, using differential geometry. Further, this framework paves the ground for the input-output linearization and controller design for concurrent trajectory tracking of base-manipulator(s). In terms of kinematics, displacement subgroups are introduced, whose relative configuration manifolds are Lie groups and they are parametrized using the exponential map. Consequently, the product of exponentials formula for forward and differential kinematics is generalized to include multi-degree-of-freedom joints and nonholonomic constraints in open-chain multi-body systems. As for dynamics, it is observed that the action of the relative configuration manifold corresponding to the first joint of an open-chain multi-body system leaves Hamilton's equation invariant. Using the symplectic reduction theorem, the dynamical equations of such systems with constant momentum (not necessarily zero) are formulated in the reduced phase space, which present the system dynamics based on the internal parameters of the system. In the nonholonomic case, a three-step reduction process is presented for nonholonomic Hamiltonian mechanical systems. The Chaplygin reduction theorem eliminates the nonholonomic constraints in the first step, and an almost symplectic reduction procedure in the unconstrained phase space further reduces the dynamical equations. Consequently, the proposed approach is used to reduce the dynamical equations of nonholonomic open-chain multi-body systems. Regarding the controls, it is shown that a generic free-base, holonomic or nonholonomic open-chain multi-body system is input-output linearizable in the reduced phase space. As a result, a feed-forward servo control law is proposed to concurrently control the base and the extremities of such systems. It is shown that the closed-loop system is exponentially stable, using a proper Lyapunov function. In each chapter of the thesis, the developed concepts are illustrated through various case studies.

Understanding the collective behavior of a quantum many-body system, a system composed of a large number of interacting microscopic degrees of freedom, is a key aspect in many areas of contemporary physics. However, as a direct consequence of the difficultly of the so-called many-body problem, many exotic quantum phenomena involving extended systems, such as high temperature superconductivity, remain not well understood on a theoretical level. Entanglement renormalization is a recently proposed numerical method for the simulation of many-body systems which draws together ideas from the renormalization group and from the field of quantum information. By taking due care of the quantum entanglement of a system, entanglement renormalization has the potential to go beyond the limitations of previous numerical methods and to provide new insight to quantum collective phenomena. This thesis comprises a significant portion of the research development of ER following its initial proposal. This includes exploratory studies with ER in simple systems of free particles, the development of the optimisation algorithms associated to ER, and the early applications of ER in the study of quantum critical phenomena and frustrated spin systems.

A defining feature of quantum many-body systems is the presence of entanglement among their constituents. Besides providing valuable insights on several physical properties, entanglement is also responsible for the computational complexity of simulating quantum systems with variational methods. This thesis explores several aspects of entanglement in many-body systems, with the primary goal of devising efficient approaches for the study of topological properties and quantum dynamics of lattice models. The first focus of this work is the development of variational wavefunctions inspired by artificial neural networks. These can efficiently encode long-range and extensive entanglement in their structure, as opposed to the case of tensor network states. This feature makes them promising tools for the study of topologically ordered phases, quantum critical states as well as dynamical properties of quantum systems. In this thesis, we characterize the representational power of a specific class of artificial neural network states, constructed from Boltzmann machines. First, we show that wavefunctions obtained from restricted Boltzmann machines can efficiently parametrize chiral topological phases, such as fractional quantum Hall states. We then turn our attention to deep Boltzmann machines. In this framework, we propose a new class of variational wavefunctions, coined generalized transfer matrix states, which encompass restricted Boltzmann machine and tensor network states. We investigate the entanglement properties of this ansatz, as well as its capability of representing physical states. Understanding how the entanglement properties of a system evolve in time is the second focus of this thesis. In this context, we first investigate the manifestation of topological properties in the unitary dynamics of systems after a quench, using the degeneracy of the entanglement spectrum as a possible signature. We then analyze the phenomenon of entanglement growth, which limits to short timescales the applicability of tensor network methods in out-of-equilibrium problems. We investigate whether these limitations can be overcome by exploiting the dependence of entanglement entropies on the chosen computational basis. Specifically, we study how the spreading of quantum correlations can be contained by means of time-dependent basis rotations of the state, using exact diagonalization to simulate its dynamics after a quench. Going beyond the case of sudden quenches, we then show how, in certain weakly interacting problems, the asymptotic value of the entanglement entropy can be tuned by modifying the velocity at which the parameters in the Hamiltonian are changed. This enables the simulation of longer timescales using tensor network approaches. We present preliminary results obtained with matrix product states methods, with the goal of studying how equilibration affects the transport properties of interacting systems at long times.