Towards a Hamilton-Jacobi Theory for Nonholonomic Mechanical Systems

In this paper we obtain a Hamilton-Jacobi theory for nonholonomic mechanical systems. The results are applied to a large class of nonholonomic mechanical systems, the so-called \v{C}aplygin systems.Comment: 13 pages, added references, fixed typos, comparison with previous approaches and some explanations added. To appear in J. Phys.

Discrete variational integrators and optimal control theory

A geometric derivation of numerical integrators for optimal control problems is proposed. It is based in the classical technique of generating functions adapted to the special features of optimal control problems.Comment: 17 page

Geometric numerical integration of nonholonomic systems and optimal control problems

A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.Comment: 6 pages, 1 figure. Submitted to IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Sevilla 200

A new geometric setting for classical field theories

A new geometrical setting for classical field theories is introduced. This description is strongly inspired in the one due to Skinner and Rusk for singular lagrangians systems. For a singular field theory a constraint algorithm is developed that gives a final constraint submanifold where a well-defined dynamics exists. The main advantage of this algorithm is that the second order condition is automatically included.Comment: 22 page

An analytic model for the transition from decelerated to accelerated cosmic expansion

We consider the scenario where our observable universe is devised as a dynamical four-dimensional hypersurface embedded in a five-dimensional bulk spacetime, with a large extra dimension, which is the {\it generalization of the flat FRW cosmological metric to five dimensions}. This scenario generates a simple analytical model where different stages of the evolution of the universe are approximated by distinct parameterizations of the {\it same} spacetime. In this model the evolution from decelerated to accelerated expansion can be interpreted as a "first-order" phase transition between two successive stages. The dominant energy condition allows different parts of the universe to evolve, from deceleration to acceleration, at different redshifts within a narrow era. This picture corresponds to the creation of bubbles of new phase, in the middle of the old one, typical of first-order phase transitions. Taking $\Omega_{m} = 0.3$ today, we find that the cross-over from deceleration to acceleration occurs at $z \sim 1-1.5$, regardless of the equation of state in the very early universe. In the case of primordial radiation, the model predicts that the deceleration parameter "jumps" from $q \sim + 1.5$ to $q \sim - 0.4$ at $z \sim 1.17$. At the present time $q = - 0.55$ and the equation of state of the universe is $w = p/\rho \sim - 0.7$, in agreement with observations and some theoretical predictions.Comment: The abstract and introduction are improved and the discussion section is expanded. A number of references are adde

Wave-like Solutions for Bianchi type-I cosmologies in 5D

We derive exact solutions to the vacuum Einstein field equations in 5D, under the assumption that (i) the line element in 5D possesses self-similar symmetry, in the classical understanding of Sedov, Taub and Zeldovich, and that (ii) the metric tensor is diagonal and independent of the coordinates for ordinary 3D space. These assumptions lead to three different types of self-similarity in 5D: homothetic, conformal and "wave-like". In this work we present the most general wave-like solutions to the 5D field equations. Using the standard technique based on Campbell's theorem, they generate a large number of anisotropic cosmological models of Bianchi type-I, which can be applied to our universe after the big-bang, when anisotropies could have played an important role. We present a complete review of all possible cases of self-similar anisotropic cosmologies in 5D. Our analysis extends a number of previous studies on wave-like solutions in 5D with spatial spherical symmetry

Tulczyjew's triples and lagrangian submanifolds in classical field theories

In this paper the notion of Tulczyjew's triples in classical mechanics is extended to classical field theories, using the so-called multisymplectic formalism, and a convenient notion of lagrangian submanifold in multisymplectic geometry. Accordingly, the dynamical equations are interpreted as the local equations defining these lagrangian submanifolds.Comment: 29 page