Geometric aspects of nonholonomic field theories

A geometric model for nonholonomic Lagrangian field theory is studied. The multisymplectic approach to such a theory as well as the corresponding Cauchy formalism are discussed. It is shown that in both formulations, the relevant equations for the constrained system can be recovered by a suitable projection of the equations for the underlying free (i.e. unconstrained) Lagrangian system.Comment: 29 pages; typos remove

Discrete Nonholonomic Lagrangian Systems on Lie Groupoids

This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifying a discrete Lagrangian and a constraint submanifold on it. Additionally, it is necessary to fix a vector subbundle of the Lie algebroid associated to the Lie groupoid. We also discuss the existence of nonholonomic evolution operators in terms of the discrete nonholonomic Legendre transformations and in terms of adequate decompositions of the prolongation of the Lie groupoid. The characterization of the reversibility of the evolution operator and the discrete nonholonomic momentum equation are also considered. Finally, we illustrate with several classical examples the wide range of application of the theory (the discrete nonholonomic constrained particle, the Suslov system, the Chaplygin sleigh, the Veselova system, the rolling ball on a rotating table and the two wheeled planar mobile robot).Comment: 45 page

Complexification of Gauge Theories

For the case of a first-class constrained system with an equivariant momentum map, we study the conditions under which the double process of reducing to the constraint surface and dividing out by the group of gauge transformations $G$ is equivalent to the single process of dividing out the initial phase space by the complexification $G_C$ of $G$. For the particular case of a phase space action that is the lift of a configuration space action, conditions are found under which, in finite dimensions, the physical phase space of a gauge system with first-class constraints is diffeomorphic to a manifold imbedded in the physical configuration space of the complexified gauge system. Similar conditions are shown to hold in the infinite-dimensional example of Yang-Mills theories. As a physical application we discuss the adequateness of using holomorphic Wilson loop variables as (generalized) global coordinates on the physical phase space of Yang-Mills theory.Comment: 25pp., LaTeX, Syracuse SU-GP-93/6-2, Lisbon DF/IST 6.9

The general (2,2) gauged sigma model with three--form flux

We find the conditions under which a Riemannian manifold equipped with a closed three-form and a vector field define an on--shell N=(2,2) supersymmetric gauged sigma model. The conditions are that the manifold admits a twisted generalized Kaehler structure, that the vector field preserves this structure, and that a so--called generalized moment map exists for it. By a theorem in generalized complex geometry, these conditions imply that the quotient is again a twisted generalized Kaehler manifold; this is in perfect agreement with expectations from the renormalization group flow. This method can produce new N=(2,2) models with NS flux, extending the usual Kaehler quotient construction based on Kaehler gauged sigma models.Comment: 24 pages. v2: typos fixed, other minor correction

Recent progress on univariate and multivariate polynomial and spline quasi-interpolants

Polynomial and spline quasi-interpolants (QIs) are practical and effective approximation operators. Among their remarkable properties, let us cite for example: good shape properties, easy computation and evaluation (no linear system to solve), uniform boundedness independently of the degree (polynomials) or of the partition (splines), good approximation order. We shall emphasize new results on various types of univariate and multivariate polynomial or spline QIs, depending on the nature of coefficient functionals, which can be differential, discrete or integral. We shall also present some applications of QIs to numerical methods

Observers in an accelerated universe

If the current acceleration of our Universe is due to a cosmological constant, then a Coleman-De Luccia bubble will nucleate in our Universe. In this work, we consider that our observations could be likely in this framework, consisting in two infinite spaces, if a foliation by constant mean curvature hypersurfaces is taken to count the events in the spacetime. Thus, we obtain and study a particular foliation, which covers the existence of most observers in our part of spacetime.Comment: revised version, accepted in EPJ

On integrability of Hirota-Kimura type discretizations

We give an overview of the integrability of the Hirota-Kimura discretization method applied to algebraically completely integrable (a.c.i.) systems with quadratic vector fields. Along with the description of the basic mechanism of integrability (Hirota-Kimura bases), we provide the reader with a fairly complete list of the currently available results for concrete a.c.i. systems.Comment: 47 pages, some minor change

Invariant higher-order variational problems II

Motivated by applications in computational anatomy, we consider a second-order problem in the calculus of variations on object manifolds that are acted upon by Lie groups of smooth invertible transformations. This problem leads to solution curves known as Riemannian cubics on object manifolds that are endowed with normal metrics. The prime examples of such object manifolds are the symmetric spaces. We characterize the class of cubics on object manifolds that can be lifted horizontally to cubics on the group of transformations. Conversely, we show that certain types of non-horizontal geodesics on the group of transformations project to cubics. Finally, we apply second-order Lagrange--Poincar\'e reduction to the problem of Riemannian cubics on the group of transformations. This leads to a reduced form of the equations that reveals the obstruction for the projection of a cubic on a transformation group to again be a cubic on its object manifold.Comment: 40 pages, 1 figure. First version -- comments welcome

Foliations of Isonergy Surfaces and Singularities of Curves

It is well known that changes in the Liouville foliations of the isoenergy surfaces of an integrable system imply that the bifurcation set has singularities at the corresponding energy level. We formulate certain genericity assumptions for two degrees of freedom integrable systems and we prove the opposite statement: the essential critical points of the bifurcation set appear only if the Liouville foliations of the isoenergy surfaces change at the corresponding energy levels. Along the proof, we give full classification of the structure of the isoenergy surfaces near the critical set under our genericity assumptions and we give their complete list using Fomenko graphs. This may be viewed as a step towards completing the Smale program for relating the energy surfaces foliation structure to singularities of the momentum mappings for non-degenerate integrable two degrees of freedom systems.Comment: 30 pages, 19 figure