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We derive conditions for a nonholonomic system subject to nonlinear constraints (obeying Chetaev's rule) to preserve a smooth volume form. When applied to affine constraints, these conditions dictate that a basic invariant density exists if and only if a certain 1-form is exact and a certain function vanishes (this function automatically vanishes for linear constraints). Moreover, this result can be extended to geodesic flows for arbitrary metric connections and the sufficient condition manifests as integrability of the torsion. As a consequence, volume-preservation of a nonholonomic system is closely related to the torsion of the nonholonomic connection. Examples of nonlinear/affine/linear constraints are considered. 

Hypergraphs and tensors extend classic graph and matrix theories to account for multiway relationships, which are ubiquitous in engineering, biological, and social systems. While the Kronecker product is a potent tool for analyzing the coupling of systems in a graph or matrix context, its utility in studying multiway interactions, such as those represented by tensors and hypergraphs, remains elusive. In this article, we present a comprehensive exploration of algebraic, structural, and spectral properties of the tensor Kronecker product. We express Tucker and tensor train decompositions and various tensor eigenvalues in terms of the tensor Kronecker product. Additionally, we utilize the tensor Kronecker product to form Kronecker hypergraphs, which are tensor-based hypergraph products, and investigate the structure and stability of polynomial dynamics on Kronecker hypergraphs. Finally, we provide numerical examples to demonstrate the utility of the tensor Kronecker product in computing Z-eigenvalues, performing various tensor decompositions, and determining the stability of polynomial systems. 

The Toda lattice (1967) is a Hamiltonian system given by n points on a line governed by an exponential potential. Flaschka (1974) showed that the Toda lattice is integrable by interpreting it as a flow on the space of symmetric tridiagonal n × n matrices, while Moser (1975) showed that it is a gradient flow on a projective space. The symmetric Toda flow of Deift, Li, Nanda, and Tomei (1986) generalizes the Toda lattice flow from tridiagonal to all symmetric matrices. They showed the flow is integrable, in the classical sense of having d integrals in involution on its 2d-dimensional phase space. The system may be viewed as integrable in other ways as well. Firstly, Symes (1980, 1982) solved it explicitly via QR-factorization and conjugation. Secondly, Deift, Li, Nanda, and Tomei (1986) ‘tridiagonalized’ the system into a family of tridiagonal Toda lattices which are solvable and integrable. In this paper we derive their tridiagonalization procedure in a natural way using the fact that the symmetric Toda flow is diffeomorphic to a twisted gradient flow on a flag variety, which may then be decomposed into flows on a product of Grassmannians. These flows may in turn be embedded into projective spaces via Plücker embeddings, and mapped back to tridiagonal Toda lattice flows using Moser’s construction. In addition, we study the tridiagonalized flows projected onto a product of permutohedra, using the twisted moment map of Bloch, Flaschka, and Ratiu (1990). These ideas are facilitated in a natural way by the theory of total positivity, building on our previous work (2023). 

Forced variational integrators are given by the discretization of the Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem. 

Forced variational integrators are given by the discretization of the Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem. 

Forced variational integrators are given by the discretization of the Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem.