The Einstein Equations of Evolution - A Geometric Approach

In this paper the exterior Einstein equations are explored from a differential geometric point of view. Using methods of global analysis and infinite-dimensional geometry, we answer sharply the question: "In what sense are the Einstein equations, written as equations of evolution, a Lagrangian dynamical system?" By using our global methods, several aspects of the lapse function and shift vector field are clarified. The geometrical significance of the shift becomes apparent when the Einstein evolution equations are written using Lie derivatives. The evolution equations are then interpreted as evolution equations as seen by an observer in space coordinates. Using the notion of body-space transitions, we then find the relationship between solutions with different shifts by finding the flow of a time-dependent vector field. The use of body and space coordinates is shown to be somewhat analogous to the use of such coordinates in Euler's equations for a rigid body and the use of Eulerian and Lagrangian coordinates in hydrodynamics. We also explore the geometry of the lapse function, and show how one can pass from one lapse function to another by integrating ordinary differential equations. This involves integrating what we call the "intrinsic shift vector field." The essence of our method is to extend the usual configuration space [fraktur M]=Riem(M) of Riemannian metrics to [script T]×[script D]×[fraktur M], where [script T]=C[infinity](M,R) is the group of relativistic time translations and [script D]=Diff(M) is the group of spatial coordinate transformations of M. The lapse and shift then enter the dynamical picture naturally as the velocities canonically conjugate to the configuration fields (xit,etat)[is-an-element-of][script T]×[script D]. On this extended configuration space, a degenerate Lagrangian system is constructed which allows precisely for the arbitrary specification of the lapse and shift functions. We reinterpret a metric given by DeWitt for [fraktur M] as a degenerate metric on [script D]×[fraktur M]. On [script D]×[fraktur M], however, the metric is quadratic in the velocity variables. The groups [script T] and [script D] also serve as symmetry groups for our dynamical system. We establish that the associated conserved quantities are just the usual "constraint equations." A precise theorem is given for a remark of Misner that in an empty space-time we must have [script H]=0. We study the relationship between the evolution equations for the time-dependent metric gt and the Ricci flat condition of the reconstructed Lorentz metric gL. Finally, we make some remarks about a possible "superphase space" for general relativity and how our treatment on [script T]×[script D]×[fraktur M] is related to ordinary superspace and superphase space

Discrete Routh Reduction

This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is considered, as well as the extent to which symmetry reduction and discretization commute. These reduced methods allow the direct simulation of dynamical features such as relative equilibria and relative periodic orbits that can be obscured or difficult to identify in the unreduced dynamics. The methods are demonstrated for the dynamics of an Earth orbiting satellite with a non-spherical $J_2$ correction, as well as the double spherical pendulum. The $J_2$ problem is interesting because in the unreduced picture, geometric phases inherent in the model and those due to numerical discretization can be hard to distinguish, but this issue does not appear in the reduced algorithm, where one can directly observe interesting dynamical structures in the reduced phase space (the cotangent bundle of shape space), in which the geometric phases have been removed. The main feature of the double spherical pendulum example is that it has a nontrivial magnetic term in its reduced symplectic form. Our method is still efficient as it can directly handle the essential non-canonical nature of the symplectic structure. In contrast, a traditional symplectic method for canonical systems could require repeated coordinate changes if one is evoking Darboux' theorem to transform the symplectic structure into canonical form, thereby incurring additional computational cost. Our method allows one to design reduced symplectic integrators in a natural way, despite the noncanonical nature of the symplectic structure.Comment: 24 pages, 7 figures, numerous minor improvements, references added, fixed typo

Frictional Collisions Off Sharp Objects

This work develops robust contact algorithms capable of dealing with multibody nonsmooth contact geometries for which neither normals nor gap functions can be defined. Such situations arise in the early stage of fragmentation when a number of angular fragments undergo complex collision sequences before eventually scattering. Such situations precludes the application of most contact algorithms proposed to date

Stability Analysis of a Rigid Body with a Flexible Attachment Using the Energy-Casimir Method

We consider a system consisting of a rigid body to which a linear extensible shear beam is attached. For such a system the Energy-Casimir method can be used to investigate the stability of the equilibria. In the case we consider, it can be shown that a test for (formal) stability reduces to checking the positive definiteness of two matrices which depend on the parameters of the system and the particular equilibrium about which the stability is to be ascertained

Physical Dissipation and the Method of Controlled Lagrangians

We describe the effect of physical dissipation on stability of equilibria which have been stabilized, in the absence of damping, using the method of controlled Lagrangians. This method applies to a class of underactuated mechanical systems including “balance” systems such as the pendulum on a cart. Since the method involves modifying a system’s kinetic energy metric through feedback, the effect of dissipation is obscured. In particular, it is not generally true that damping makes a feedback-stabilized equilibrium asymptotically stable. Damping in the unactuated directions does tend to enhance stability, however damping in the controlled directions must be “reversed” through feedback. In this paper, we suggest a choice of feedback dissipation to locally exponentially stabilize a class of controlled Lagrangian systems

Maximal Hypersurfaces and Positivity of Mass

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Dissipation-Induced Heteroclinic Orbits in Tippe Tops

This paper demonstrates that the conditions for the existence of a dissipation-induced heteroclinic orbit between the inverted and noninverted states of a tippe top are determined by a complex version of the equations for a simple harmonic oscillator: the modified Maxwell–Bloch equations. A standard linear analysis reveals that the modified Maxwell–Bloch equations describe the spectral instability of the noninverted state and Lyapunov stability of the inverted state. Standard nonlinear analysis based on the energy momentum method gives necessary and sufficient conditions for the existence of a dissipation-induced connecting orbit between these relative equilibria