Non-uniform rational B-spline

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Revision as of 23:26, 3 February 2014 by en>Mike Gale (The fact that a single control point only influences those intervals -> In many applications the fact that a single control point only influences those intervals)
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In geometry, the notion of a connection makes precise the idea of transporting data along a curve or family of curves in a parallel and consistent manner. There are a variety of kinds of connections in modern geometry, depending on what sort of data one wants to transport. For instance, an affine connection, the most elementary type of connection, gives a means for transporting tangent vectors to a manifold from one point to another along a curve. An affine connection is typically given in the form of a covariant derivative, which gives a means for taking directional derivatives of vector fields: the infinitesimal transport of a vector field in a given direction.

Connections are of central importance in modern geometry in large part because they allow a comparison between the local geometry at one point and the local geometry at another point. Differential geometry embraces several variations on the connection theme, which fall into two major groups: the infinitesimal and the local theory. The local theory concerns itself primarily with notions of parallel transport and holonomy. The infinitesimal theory concerns itself with the differentiation of geometric data. Thus a covariant derivative is a way of specifying a derivative of a vector field along another vector field on a manifold. A Cartan connection is a way of formulating some aspects of connection theory using differential forms and Lie groups. An Ehresmann connection is a connection in a fibre bundle or a principal bundle by specifying the allowed directions of motion of the field. A Koszul connection is a connection generalizing the derivative in a vector bundle.

Connections also lead to convenient formulations of geometric invariants, such as the curvature (see also curvature tensor and curvature form), and torsion tensor.

Motivation: the unsuitability of coordinates

Parallel transport (of black arrow) on a sphere. Blue, respectively red arrows represent parallel transports in different directions but ending at the same lower right point. The fact that they end up not pointing in the same direction is a function of the curvature of the sphere.

Consider the following problem. Suppose that a tangent vector to the sphere S is given at the north pole, and we are to define a manner of consistently moving this vector to other points of the sphere: a means for parallel transport. Naïvely, this could be done using a particular coordinate system. However, unless proper care is applied, the parallel transport defined in one system of coordinates will not agree with that of another coordinate system. A more appropriate parallel transportation system exploits the symmetry of the sphere under rotation. Given a vector at the north pole, one can transport this vector along a curve by rotating the sphere in such a way that the north pole moves along the curve without axial rolling. This latter means of parallel transport is the Levi-Civita connection on the sphere. If two different curves are given with the same initial and terminal point, and a vector v is rigidly moved along the first curve by a rotation, the resulting vector at the terminal point will be different from the vector resulting from rigidly moving v along the second curve. This phenomenon reflects the curvature of the sphere. A simple mechanical device that can be used to visualize parallel transport is the South Pointing Chariot.

For instance, suppose that S is given coordinates by the stereographic projection. Regard S as consisting of unit vectors in R3. Then S carries a pair of coordinate patches: one covering a neighborhood of the north pole, and the other of the south pole. The mappings

cover a neighborhood U0 of the north pole and U1 of the south pole, respectively. Let X, Y, Z be the ambient coordinates in R3. Then φ0 and φ1 have inverses

so that the coordinate transition function is inversion in the circle:

Let us now represent a vector field in terms of its components relative to the coordinate derivatives. If P is a point of U0S, then a vector field may be represented by

where denotes the Jacobian matrix of φ0, and v0 = v0(xy) is a vector field on R2 uniquely determined by v. Furthermore, on the overlap between the coordinate charts U0U1, it is possible to represent the same vector field with respect to the φ1 coordinates:

To relate the components v0 and v1, apply the chain rule to the identity φ1 = φ0 o φ01:

Applying both sides of this matrix equation to the component vector v11−1(P)) and invoking (1) and (2) yields

We come now to the main question of defining how to transport a vector field parallelly along a curve. Suppose that P(t) is a curve in S. Naïvely, one may consider a vector field parallel if the coordinate components of the vector field are constant along the curve. However, an immediate ambiguity arises: in which coordinate system should these components be constant?

For instance, suppose that v(P(t)) has constant components in the U1 coordinate system. That is, the functions v1(φ1−1(P(t))) are constant. However, applying the product rule to (3) and using the fact that dv1/dt = 0 gives

But is always a non-singular matrix (provided that the curve P(t) is not stationary), so v1 and v0 cannot ever be simultaneously constant along the curve.

Resolution

The problem observed above is that the usual directional derivative of vector calculus does not behave well under changes in the coordinate system when applied to the components of vector fields. This makes it quite difficult to describe how to parallelly translate vector fields, if indeed such a notion makes any sense at all. There are two fundamentally different ways of resolving this problem.

The first approach is to examine what is required for a generalization of the directional derivative to "behave well" under coordinate transitions. This is the tactic taken by the covariant derivative approach to connections: good behavior is equated with covariance. Here one considers a modification of the directional derivative by a certain linear operator, whose components are called the Christoffel symbols, which involves no derivatives on the vector field itself. The directional derivative Duv of the components of a vector v in a coordinate system φ in the direction u are replaced by a covariant derivative:

where Γ depends on the coordinate system φ and is bilinear in u and v. In particular, Γ does not involve any derivatives on u or v. In this approach, Γ must transform in a prescribed manner when the coordinate system φ is changed to a different coordinate system. This transformation is not tensorial, since it involves not only the first derivative of the coordinate transition, but also its second derivative. Specifying the transformation law of Γ is not sufficient to determine Γ uniquely. Some other normalization conditions must be imposed, usually depending on the type of geometry under consideration. In Riemannian geometry, the Levi-Civita connection requires compatibility of the Christoffel symbols with the metric (as well as a certain symmetry condition). With these normalizations, the connection is uniquely defined.

The second approach is to use Lie groups to attempt to capture some vestige of symmetry on the space. This is the approach of Cartan connections. The example above using rotations to specify the parallel transport of vectors on the sphere is very much in this vein.

Historical survey of connections

Historically, connections were studied from an infinitesimal perspective in Riemannian geometry. The infinitesimal study of connections began to some extent with Christoffel. This was later taken up more thoroughly by Gregorio Ricci-Curbastro and Tullio Levi-Civita Template:Harv who observed in part that a connection in the infinitesimal sense of Christoffel also allowed for a notion of parallel transport.

The work of Levi-Civita focused exclusively on regarding connections as a kind of differential operator whose parallel displacements were then the solutions of differential equations. As the twentieth century progressed, Élie Cartan developed a new notion of connection. He sought to apply the techniques of Pfaffian systems to the geometries of Felix Klein's Erlangen program. In these investigations, he found that a certain infinitesimal notion of connection (a Cartan connection) could be applied to these geometries and more: his connection concept allowed for the presence of curvature which would otherwise be absent in a classical Klein geometry. (See, for example, Template:Harv and Template:Harv.) Furthermore, using the dynamics of Gaston Darboux, Cartan was able to generalize the notion of parallel transport for his class of infinitesimal connections. This established another major thread in the theory of connections: that a connection is a certain kind of differential form.

The two threads in connection theory have persisted through the present day: a connection as a differential operator, and a connection as a differential form. In 1950, Jean-Louis Koszul Template:Harv gave an algebraic framework for regarding a connection as a differential operator by means of the Koszul connection. The Koszul connection was both more general than that of Levi-Civita, and was easier to work with because it finally was able to eliminate (or at least to hide) the awkward Christoffel symbols from the connection formalism. The attendant parallel displacement operations also had natural algebraic interpretations in terms of the connection. Koszul's definition was subsequently adopted by most of the differential geometry community, since it effectively converted the analytic correspondence between covariant differentiation and parallel translation to an algebraic one.

In that same year, Charles Ehresmann Template:Harv, a student of Cartan's, presented a variation on the connection as a differential form view in the context of principal bundles and, more generally, fibre bundles. Ehresmann connections were, strictly speaking, not a generalization of Cartan connections. Cartan connections were quite rigidly tied to the underlying differential topology of the manifold because of their relationship with Cartan's equivalence method. Ehresmann connections were rather a solid framework for viewing the foundational work of other geometers of the time, such as Shiing-Shen Chern, who had already begun moving away from Cartan connections to study what might be called gauge connections. In Ehresmann's point of view, a connection in a principal bundle consists of a specification of horizontal and vertical vector fields on the total space of the bundle. A parallel translation is then a lifting of a curve from the base to a curve in the principal bundle which is horizontal. This viewpoint has proven especially valuable in the study of holonomy.

Possible approaches

References

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    Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.

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    15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.

    To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010
  • Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.

    Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.

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    Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.

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    Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.

    In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.

    Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region

    Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.

    15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.

    To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010
  • Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.

    Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.

    In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.

    Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region

    Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.

    15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.

    To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010.
  • Many property agents need to declare for the PIC grant in Singapore. However, not all of them know find out how to do the correct process for getting this PIC scheme from the IRAS. There are a number of steps that you need to do before your software can be approved.

    Naturally, you will have to pay a safety deposit and that is usually one month rent for annually of the settlement. That is the place your good religion deposit will likely be taken into account and will kind part or all of your security deposit. Anticipate to have a proportionate amount deducted out of your deposit if something is discovered to be damaged if you move out. It's best to you'll want to test the inventory drawn up by the owner, which can detail all objects in the property and their condition. If you happen to fail to notice any harm not already mentioned within the inventory before transferring in, you danger having to pay for it yourself.

    In case you are in search of an actual estate or Singapore property agent on-line, you simply should belief your intuition. It's because you do not know which agent is nice and which agent will not be. Carry out research on several brokers by looking out the internet. As soon as if you end up positive that a selected agent is dependable and reliable, you can choose to utilize his partnerise in finding you a home in Singapore. Most of the time, a property agent is taken into account to be good if he or she locations the contact data on his website. This may mean that the agent does not mind you calling them and asking them any questions relating to new properties in singapore in Singapore. After chatting with them you too can see them in their office after taking an appointment.

    Have handed an trade examination i.e Widespread Examination for House Brokers (CEHA) or Actual Property Agency (REA) examination, or equal; Exclusive brokers are extra keen to share listing information thus making certain the widest doable coverage inside the real estate community via Multiple Listings and Networking. Accepting a severe provide is simpler since your agent is totally conscious of all advertising activity related with your property. This reduces your having to check with a number of agents for some other offers. Price control is easily achieved. Paint work in good restore-discuss with your Property Marketing consultant if main works are still to be done. Softening in residential property prices proceed, led by 2.8 per cent decline within the index for Remainder of Central Region

    Once you place down the one per cent choice price to carry down a non-public property, it's important to accept its situation as it is whenever you move in – faulty air-con, choked rest room and all. Get round this by asking your agent to incorporate a ultimate inspection clause within the possibility-to-buy letter. HDB flat patrons routinely take pleasure in this security net. "There's a ultimate inspection of the property two days before the completion of all HDB transactions. If the air-con is defective, you can request the seller to repair it," says Kelvin.

    15.6.1 As the agent is an intermediary, generally, as soon as the principal and third party are introduced right into a contractual relationship, the agent drops out of the image, subject to any problems with remuneration or indemnification that he could have against the principal, and extra exceptionally, against the third occasion. Generally, agents are entitled to be indemnified for all liabilities reasonably incurred within the execution of the brokers´ authority.

    To achieve the very best outcomes, you must be always updated on market situations, including past transaction information and reliable projections. You could review and examine comparable homes that are currently available in the market, especially these which have been sold or not bought up to now six months. You'll be able to see a pattern of such report by clicking here It's essential to defend yourself in opposition to unscrupulous patrons. They are often very skilled in using highly unethical and manipulative techniques to try and lure you into a lure. That you must also protect your self, your loved ones, and personal belongings as you'll be serving many strangers in your home. Sign a listing itemizing of all of the objects provided by the proprietor, together with their situation. HSR Prime Recruiter 2010

External links

See also