Madeleine Jotz, Tudor Ratiu
The reduction of nonholonomic systems is formulated in terms of Dirac reduction. An optimal reduction method for a class of nonholonomic systems is formulated. Several examples are studied in detail.
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We formulate a noncommutative generalization of the Ricci flow theory in the framework of spectral action approach to noncommutative geometry. Grisha Perelman's functionals are generated as commutative versions of certain spectral functionals defined by nonholonomic Dirac operators and corresponding spectral triples. We derive the formulas for spectral averaged energy and entropy functionals and state the conditions when such values describe (non)holonomic Riemannian configurations.
In this paper we examine a new class of five dimensional (5D) exact solutions in extra dimension gravity possessing Lie algebroid symmetry. The constructions provide a motivation for the theory of Clifford nonholonomic algebroids elaborated in Ref. hep-th/0501217. Such Einstein-Dirac spacetimes are parametrized by generic off--diagonal metrics and nonholonomic frames (vielbeins) with associated nonlinear connection structure. They describe self-consistent propagations of (3D) Dirac wave packets in 5D nonholonomically deformed Taub NUT spacetimes and have two physically distinct properties: Fis…
We propose a new framework for constructing geometric and physical models on nonholonomic manifolds provided both with Clifford -- Lie algebroid symmetry and nonlinear connection structure. Explicit parametrizations of generic off-diagonal metrics and linear and nonlinear connections define different types of Finsler, Lagrange and/or Riemann-Cartan spaces. A generalization to spinor fields and Dirac operators on nonholonomic manifolds motivates the theory of Clifford algebroids defined as Clifford bundles, in general, enabled with nonintegrable distributions defining the nonlinear connection. …
In this work we introduce a category $LDP_d$ of discrete-time dynamical systems, that we call discrete Lagrange--D'Alembert--Poincaré systems, and study some of its elementary properties. Examples of objects of $LDP_d$ are nonholonomic discrete mechanical systems as well as their lagrangian reductions and, also, discrete Lagrange-Poincaré systems. We also introduce a notion of symmetry group for objects of $LDP_d$ and a process of reduction when symmetries are present. This reduction process extends the reduction process of discrete Lagrange--Poincaré systems as well as the one defined for non…
Nonholonomic mechanical systems have been attracting more interest in recent years because of their rich geometric properties and their applications in Engineering. In all generality, we discuss the reduction of a Hamilton-Jacobi theory for systems subject to nonholonomic constraints and that are invariant under the action of a group of symmetries. We consider nonholonomic systems subject to linear or nonlinear constraints, with different positioning with respect to the symmetries. We describe the reduction procedure first, to later reconstruct solutions in the unreduced picture, by starting f…
This paper presents a reduction procedure for nonholonomic systems admitting suitable types of symmetries and conserved quantities. The full procedure contains two steps. The first (simple) step results in a Chaplygin system, described by an almost symplectic structure, carrying additional symmetries. The focus of this paper is on the second step, which consists of a Marsden-Weinstein--type reduction that generalizes constructions in [4,17]. The almost symplectic manifolds obtained in the second step are proven to coincide with the leaves of the reduced nonholonomic brackets defined in [7]. We…
Dirac structures in nonholonomic mechanics
本文将 Dirac 代数胚应用于具有类磁或陀螺势的非完整力学系统，提出一种独立于特定 Hamiltonian 或 Lagrangian 的普适性 Dirac 结构，以统一描述添加不同势的系统。
Nonholonomic reduction for mechanical systems with collisions
本文研究主丛上含碰撞非完整系统的非光滑变分问题，推广变分原理得到隐式拉格朗日-达朗贝尔-庞特里亚金方程，并利用联络实现对称性约化。
In order to describe the impact of nonholonomic constraints for the dynamics of a regular controlled Hamiltonian (RCH) system, in this paper, for an RCH system with nonholonomic constraint, we first derive its distributional RCH system, by analyzing carefully the structure of dynamical vector field of the nonholonomic RCH system. Secondly, we derive precisely the geometric constraint conditions of the induced distributional two-form for the dynamical vector field of the distributional RCH system, which are called the Type I and Type II of Hamilton-Jacobi equations. Thirdly, we generalize the a…
Nonholonomic momentum map reduction and a Chaplygin-type foliation
本文通过引入基于守恒量和非完整动量丛映射的约化框架，证明非完整系统动量水平集的约化空间具有几乎辛结构，并揭示其叶状结构的每个叶均为带有磁项的 Chaplygin 型余切丛。
Lagrangian reduction of nonholonomic discrete mechanical systems
本文提出非完整离散力学系统的拉格朗日约化与重构方法，通过分析两类离散对称系统，得到确定离散约化系统动力学的受迫离散力学系统。
In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show the link between vakonomic mechanics and nonholonomic mechanics from the viewpoints of Dirac structures as well as Lagrangian submanifolds. Namely, we clarify that Lagrangian submanifold theory cannot represent nonholonomic mechanics properly, but vakonomic mechanics instead. Second, in order to represent vakonomic mechanics, we employ the space $TQ\times V^…
We prove the following nonholonomic version of the classical Moser theorem: given a bracket-generating distribution on a connected compact manifold (possibly with boundary), two volume forms of equal total volume can be isotoped by the flow of a vector field tangent to this distribution. We describe formal solutions of the corresponding nonholonomic mass transport problem and present the Hamiltonian framework for both the Otto calculus and its nonholonomic counterpart as infinite-dimensional Hamiltonian reductions on diffeomorphism groups. Finally, we define a nonholonomic analog of the Wasser…
Symmetries of supergeometries related to nonholonomic superdistributions
本文将Tanaka理论扩展至超几何，推导出超流形上强正则括号生成分布及其结构约化相关几何结构的超对称维数上界。
In this summary of Habilitation Thesis, it is outlined author's 18 years research activity on mathematical physics, geometric methods in particle physics and gravity, modifications and applications (after defending his PhD thesis in 1994). Ten most relevant publications are structured conventionally into three "strategic directions": 1) nonholonomic geometric flows evolutions and exact solutions for Ricci solitons and field equations in (modified) gravity theories; 2) geometric methods in quantization of models with nonlinear dynamics and anisotropic field interactions; 3) (non) commutative ge…
This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian systems, the nonholonomic controlled Hamiltonian systems and the controlled magnetic Hamiltonian systems. These research reveal the deeply internal relationships of the geometrical structures of phase spaces, the nonholonomic constraint, the dynamical vector fields and the controls of these systems.
We survey the geometry of Lagrange and Finsler spaces and discuss the issues related to the definition of curvature of nonholonomic manifolds enabled with nonlinear connection structure. It is proved that any commutative Riemannian geometry (in general, any Riemann--Cartan space) defined by a generic off--diagonal metric structure (with an additional affine connection possessing nontrivial torsion) is equivalent to a generalized Lagrange, or Finsler, geometry modeled on nonholonomic manifolds. This results in the problem of constructing noncommutative geometries with local anisotropy, in parti…
The purpose of this paper is to generalize the regular Optimal Reduction Theorem to general proper Dirac actions, formulated both in terms of point and orbit reduction. A comparison to general standard singular Dirac reduction is given emphasizing the desingularization role played by optimal reduction.
Dirac structures on tangent bundles: a geometric framework for variational principles, constrained dynamics, and symmetry reduction
提出切丛上的拉格朗日-狄拉克结构，统一描述非完整、退化拉格朗日和对称系统，并建立拉格朗日-达朗贝尔-狄拉克变分原理及李群对称约化理论。
Dirac structures are geometric objects that generalize both Poisson structures and presymplectic structures on manifolds. They naturally appear in the formulation of constrained mechanical systems. In this paper, we show that the evolution equa- tions for nonequilibrium thermodynamics admit an intrinsic formulation in terms of Dirac structures, both on the Lagrangian and the Hamiltonian settings. In absence of irreversible processes these Dirac structures reduce to canonical Dirac structures associated to canonical symplectic forms on phase spaces. Our geometric formulation of nonequilibrium t…
A new method of singular reduction is extended from Poisson to Dirac manifolds. Then it is shown that the Dirac structures on the strata of the quotient coincide with those of the only other known singular Dirac reduction method.
In this paper we study the relation between conserved quantities of nonholonomic systems and the hamiltonization problem employing the geometric methods of [1,3]. We illustrate the theory with classical examples describing the dynamics of solids of revolution rolling without sliding on a plane. In these cases, using the existence of two conserved quantities we obtain, by means of 'gauge transformations' and symmetry reduction, genuine Poisson brackets describing the reduced dynamics.
We extend our earlier work in [TZ1], where an analytic approach to the Guillemin-Sternberg conjecture [GS] was developed, to cases where the Spin$^c$-complex under consideration is allowed to be further twisted by certain natural exterior power bundles. The main result is a weighted quantization formula in the presence of commuting Hamiltonian actions. The corresponding Morse type inequalities in holomorphic situations are also established.
The purpose of this paper is to define the concept of multi-Dirac structures and to describe their role in the description of classical field theories. We begin by outlining a variational principle for field theories, referred to as the Hamilton-Pontryagin principle, and we show that the resulting field equations are the Euler-Lagrange equations in implicit form. Secondly, we introduce multi-Dirac structures as a graded analog of standard Dirac structures, and we show that the graph of a multisymplectic form determines a multi-Dirac structure. We then discuss the role of multi-Dirac structures…
The regular reduction of a Dirac manifold acted upon freely and properly by a Lie group is generalized to a nonfree action. For this, several facts about $G$-invariant vector fields and one-forms are shown.
We first recall some basic definitions and facts about Jacobi manifolds, generalized Lie bialgebroids, generalized Courant algebroids and Dirac structures. We establish an one-one correspondence between reducible Dirac structures of the generalized Lie bialgebroid of a Jacobi manifold $(M,Λ,E)$ for which 1 is an admissible function and Jacobi quotient manifolds of $M$. We study Jacobi reductions from the point of view of Dirac structures theory and we present some examples and applications.
We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures recently proposed by Yoshimura and Marsden [Yo09] to describe the reduction of a class of optimal control problems with a Lie group of symmetry. We will prove that, as in the case of reduction of implicit Hamiltonian or Lagrangian systems, the reduction of the variational principle and the reduction of the Dirac structure describing the Pontryagin Maximum Princ…
Discrete Dirac structures and discrete Lagrange--Dirac dynamical systems in mechanics
本文提出流形上的(±)-离散Dirac结构，构建对应的离散Lagrange-Dirac系统，证明其与已有离散方程等价并阐明变分结构，通过非完整系统数值算例验证了方法有效性。
We consider the concept of Stokes-Dirac structures in boundary control theory proposed by van der Schaft and Maschke. We introduce Poisson reduction in this context and show how Stokes-Dirac structures can be derived through symmetry reduction from a canonical Dirac structure on the unreduced phase space. In this way, we recover not only the standard structure matrix of Stokes-Dirac structures, but also the typical non-canonical advection terms in (for instance) the Euler equation.
For a Hamiltonian, proper and free action of a Lie group $G$ on a Dirac manifold $(M,L)$, with a regular moment map $μ:M\to \mathfrak{g}^*$, the manifolds $M/G$, $μ^{-1}(0)$ and $μ^{-1}(0)/G$ all have natural induced Dirac structures. If $(M,L)$ is an integrable Dirac structure, we show that $M/G$ is always integrable, but $μ^{-1}(0)$ and $μ^{-1}(0)/G$ may fail to be integrable, and we describe the obstructions to their integrability.
In this paper we study the modular classes of Dirac manifolds and of Dirac maps, and we discuss their basic properties. We apply these results to explain the relationship between the modular classes of the various structures involved in the reduction of a Poisson manifold under the action by of a Poisson Lie group.
Given a Dirac subbundle and an isotropic subbundle of a Courant algebroid, we provide a canonical method to obtain a new Dirac subbundle. When the original Dirac subbundle is involutive (i.e., a Dirac structure) this construction has interesting applications, for instance to Dirac's theory of constraints and to the Marsden-Ratiu reduction in Poisson geometry.
Let $X$ be a manifold with a bi-Poisson structure $\{η^t\}$ generated by a pair of $G$-invariant symplectic structures $ω_1$ and $ω_2$, where the Lie group $G$ acts properly on $X$. Let $H$ be some isotropy subgroup for this action representing the principle orbit type and $X^r_\mathfrak{h}$ be the submanifold of $X$ consisting of the points in $X$ with the stabilizer algebra equal to the Lie algebra $\mathfrak{h}$ of $H$ and with the stabilizer group conjugated to $H$ in $G$. We prove that the pair of symplectic structures $ω_1|_{X^r_\mathfrak{h}}$ and $ω_2|_{X^r_\mathfrak{h}}$ generates an $…
Reduction along strong Dirac maps
本文提出沿强Dirac映射的通用约简方法，恢复了泊松几何中的多种构造，并引入了新的泊松、准泊松和Dirac约简结构。
Kasparov defined a distinguished K-homology fundamental class, so called the Dirac element. We prove a localization formula for the Dirac element in K-homology of crossed product of C^{*}-algebras. Then we define the quantization of Hamiltonian G-spaces as a push-forward of the Dirac element. With this, we develop a K-homological approach to the quantization commutes with reduction theorem.
Stokes-Dirac structures are infinite-dimensional Dirac structures defined in terms of differential forms on a smooth manifold with boundary. These Dirac structures lay down a geometric framework for the formulation of Hamiltonian systems with a nonzero boundary energy flow. Simplicial triangulation of the underlaying manifold leads to the so-called simplicial Dirac structures, discrete analogues of Stokes-Dirac structures, and thus provides a natural framework for deriving finite-dimensional port-Hamiltonian systems that emulate their infinite-dimensional counterparts. The port-Hamiltonian sys…
We investigate reductions of the two-dimensional Dirac equation imposed by the requirement of the existence of a differential operator $D_n$ of order $n$ mapping its eigenfunctions to adjoint eigenfunctions. For first order operators these reductions (and multi-component analogs thereof) lead to the Lame equations descriptive of orthogonal coordinate systems. Our main observation is that $n$-th order reductions coincide with the projective-geometric `Gauss-Codazzi' equations governing special classes of line congruences in the projective space $P^{2n-1}$, which is the projectivised kernel of $…
In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can be obtained from the Hamilton-Pontryagin principle, by making use of an anholonomic frame, and how these equations can be reduced. To do this, we keep the momentum constraint implicit throughout and we make use of a Routhian function defined on a certain submanifold of the Pontryagin bundle. Then, we show how the reduced implicit Lagrange-Routh equations can …
We prove that the classical $W$-algebra associated to a nilpotent orbit in a simple Lie-algebra can be constructed by preforming bihamiltonian, Drinfeld-Sokolov or Dirac reductions. We conclude that the classical $W$-algebra depends only on the nilpotent orbit but not on the choice of a good grading or an isotropic subspace. In addition, using this result we prove again that the transverse Poisson structure to a nilpotent orbit is polynomial and we better clarify the relation between classical and finite $W$-algebras.
This paper is concerned with symmetries of closed multiplicative 2-forms on Lie groupoids and their infinitesimal counterparts. We use them to study Lie group actions on Dirac manifolds by Dirac diffeomorphisms and their lifts to presymplectic groupoids, building on recent work of Fernandes-Ortega-Ratiu \cite{FOR} on Poisson actions.
Dirac geometry, deformation theory and shifted symplectic geometry
该研究发展狄拉克变形理论，在扭曲狄拉克几何与泊松几何间插值，证明其与狄拉克几何结构运算兼容，以紧致李群相关结构变形为例，还得到统一变形理论及约化空间的光滑变形。
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