Geometrisation of Chaplygin's reducing multiplier theorem

We develop the reducing multiplier theory for a special class of nonholonomic dynamical systems and show that the non-linear Poisson brackets naturally obtained in the framework of this approach are all isomorphic to the Lie-Poisson $e(3)$-bracket. As two model examples, we consider the Chaplygin ball problem on the plane and the Veselova system. In particular, we obtain an integrable gyrostatic generalisation of the Veselova system

Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: pro or contra?

The phenomenon of a topological monodromy in integrable Hamiltonian and nonholonomic systems is discussed. An efficient method for computing and visualizing the monodromy is developed. The comparative analysis of the topological monodromy is given for the rolling ellipsoid of revolution problem in two cases, namely, on a smooth and on a rough plane. The first of these systems is Hamiltonian, the second is nonholonomic. We show that, from the viewpoint of monodromy, there is no difference between the two systems, and thus disprove the conjecture by Cushman and Duistermaat stating that the topological monodromy gives a topological obstruction for Hamiltonization of the rolling ellipsoid of revolution on a rough plane.Comment: 31 pages, 11 figure

Local normal forms for c-projectively equivalent metrics and proof of the Yano-Obata conjecture in arbitrary signature. Proof of the projective Lichnerowicz conjecture for Lorentzian metrics

Two K\"ahler metrics on a complex manifold are called c-projectively equivalent if their $J$-planar curves coincide. These curves are defined by the property that the acceleration is complex proportional to the velocity. We give an explicit local description of all pairs of c-projectively equivalent K\"ahler metrics of arbitrary signature and use this description to prove the classical Yano-Obata conjecture: we show that on a closed connected K\"ahler manifold of arbitrary signature, any c-projective vector field is an affine vector field unless the manifold is $CP^n$ with (a multiple of) the Fubini-Study metric. As a by-product, we prove the projective Lichnerowicz conjecture for metrics of Lorentzian signature: we show that on a closed connected Lorentzian manifold, any projective vector field is an affine vector field.Comment: comments are welcom

Geodesics on the Ellipsoid and Monodromy

The equations for geodesic flow on the ellipsoid are well known, and were first solved by Jacobi in 1838 by separating the variables of the Hamilton-Jacobi equation. In 1979 Moser investigated the case of the general ellipsoid with distinct semi-axes and described a set of integrals which weren't know classically. After reviewing the properties of geodesic flow on the three dimensional ellipsoid with distinct semi-axes, we investigate the three dimensional ellipsoid with the two middle semi-axes being equal, corresponding to a Hamiltonian invariant under rotations. The system is Liouville-integrable and thus the invariant manifolds corresponding to regular points of the energy momentum map are 3-dimensional tori. An analysis of the critical points of the energy momentum maps gives the bifurcation diagram. We find the fibres of the critical values of the energy momentum map, and carry out an analysis of the action variables. We show that the obstruction to the existence of single valued globally smooth action variables is monodromy.Comment: 24 pages, 7 figure