Variational integrators and time-dependent lagrangian systems

This paper presents a method to construct variational integrators for time-dependent lagrangian systems. The resulting algorithms are symplectic, preserve the momentum map associated with a Lie group of symmetries and also describe the energy variation.Comment: 8 page

Hydrostatic Equilibrium of a Perfect Fluid Sphere with Exterior Higher-Dimensional Schwarzschild Spacetime

We discuss the question of how the number of dimensions of space and time can influence the equilibrium configurations of stars. We find that dimensionality does increase the effect of mass but not the contribution of the pressure, which is the same in any dimension. In the presence of a (positive) cosmological constant the condition of hydrostatic equilibrium imposes a lower limit on mass and matter density. We show how this limit depends on the number of dimensions and suggest that $\Lambda > 0$ is more effective in 4D than in higher dimensions. We obtain a general limit for the degree of compactification (gravitational potential on the boundary) of perfect fluid stars in $D$-dimensions. We argue that the effects of gravity are stronger in 4D than in any other number of dimensions. The generality of the results is also discussed

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.

Stellar models with Schwarzschild and non-Schwarzschild vacuum exteriors

A striking characteristic of non-Schwarzschild vacuum exteriors is that they contain not only the total gravitational mass of the source, but also an {\it arbitrary} constant. In this work, we show that the constants appearing in the "temporal Schwarzschild", "spatial Schwarzschild" and "Reissner-Nordstr{\"o}m-like" exteriors are not arbitrary but are completely determined by star's parameters, like the equation of state and the gravitational potential. Consequently, in the braneworld scenario the gravitational field outside of a star is no longer determined by the total mass alone, but also depends on the details of the internal structure of the source. We show that the general relativistic upper bound on the gravitational potential $M/R < 4/9$, for perfect fluid stars, is significantly increased in these exteriors. Namely, $M/R < 1/2$, $M/R < 2/3$ and $M/R < 1$ for the temporal Schwarzschild, spatial Schwarzschild and Reissner-Nordstr{\"o}m-like exteriors, respectively. Regarding the surface gravitational redshift, we find that the general relativistic Schwarzschild exterior as well as the braneworld spatial Schwarzschild exterior lead to the same upper bound, viz., $Z < 2$. However, when the external spacetime is the temporal Schwarzschild metric or the Reissner-Nordstr{\"o}m-like exterior there is no such constraint: $Z < \infty$. This infinite difference in the limiting value of $Z$ is because for these exteriors the effective pressure at the surface is negative. The results of our work are potentially observable and can be used to test the theory.Comment: 19 pages, 3 figures and caption

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

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

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

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

Functionally Graded Media

The notions of uniformity and homogeneity of elastic materials are reviewed in terms of Lie groupoids and frame bundles. This framework is also extended to consider the case Functionally Graded Media, which allows us to obtain some homogeneity conditions.Comment: 20 pages, 5 figure