Generalised connections over a vector bundle map

A generalised notion of connection on a fibre bundle E over a manifold M is presented. These connections are characterised by a smooth distribution on E which projects onto a (not necessarily integrable) distribution on M and which, in addition, is `parametrised' in some specific way by a vector bundle map from a prescribed vector bundle over M into TM. Some basic properties of these generalised connections are investigated. Special attention is paid to the class of linear connections over a vector bundle map. It is pointed out that not only the more familiar types of connections encountered in the literature, but also the recently studied Lie algebroid connections, can be recovered as special cases within this more general framework.Comment: 31 page

Skinner-Rusk approach to time-dependent mechanics

The geometric approach to autonomous classical mechanical systems in terms of a canonical first-order system on the Whitney sum of the tangent and cotangent bundle, developed by R. Skinner and R. Rusk, is extended to the time-dependent framework

Aspects of reduction and transformation of Lagrangian systems with symmetry

This paper contains results on geometric Routh reduction and it is a continuation of a previous paper where a new class of transformations is introduced between Lagrangian systems obtained after Routh reduction. In general, these reduced Lagrangian systems have magnetic force terms and are singular in the sense that the Lagrangian does not depend on some velocity components. The main purpose of this paper is to show that the Routh reduction process itself is entirely captured by the application of such a new transformation on the initial Lagrangian system with symmetry.Comment: To appear in Journal of Geometric Mechanic

Multivector Fields and Connections. Setting Lagrangian Equations in Field Theories

The integrability of multivector fields in a differentiable manifold is studied. Then, given a jet bundle $J^1E\to E\to M$, it is shown that integrable multivector fields in $E$ are equivalent to integrable connections in the bundle $E\to M$ (that is, integrable jet fields in $J^1E$). This result is applied to the particular case of multivector fields in the manifold $J^1E$ and connections in the bundle $J^1E\to M$ (that is, jet fields in the repeated jet bundle $J^1J^1E$), in order to characterize integrable multivector fields and connections whose integral manifolds are canonical lifting of sections. These results allow us to set the Lagrangian evolution equations for first-order classical field theories in three equivalent geometrical ways (in a form similar to that in which the Lagrangian dynamical equations of non-autonomous mechanical systems are usually given). Then, using multivector fields; we discuss several aspects of these evolution equations (both for the regular and singular cases); namely: the existence and non-uniqueness of solutions, the integrability problem and Noether's theorem; giving insights into the differences between mechanics and field theories.Comment: New sections on integrability of Multivector Fields and applications to Field Theory (including some examples) are added. The title has been slightly modified. To be published in J. Math. Phy

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

Derivations of forms along a map: the framework for time-dependent second-order equations

AbstractA comprehensive theory is presented concerning derivations of scalar and vector-valued forms along the projection π : R × TM → R × M. It is the continuation of previous work on derivations of forms along the tangent bundle projection and is prompted by the need for a scheme which is adapted to the study of time-dependent second-order equations. The overall structure of the theory closely follows the pattern of this preceding work, but there are many features which are certainly not trivial transcripts of the time-independent situation. As before, a crucial ingredient in the classification of derivations is a non-linear connection on the bundle π. In the presence of a given second-order system, such a connection is canonically defined and gives rise to two important operations: the dynamical covariant derivative, which is a derivation of degree 0, and the Jacobi endomorphism, which is a type (1, 1) tensor field along π. The theory is developed in such a way that all results readily apply to the more general situation of a bundle π : J1 E → E, where E is fibred over R, but need not be the trivial fibration R × M → R

The Cartan form for constrained Lagrangian systems and the nonholonomic Noether theorem

This paper deals with conservation laws for mechanical systems with nonholonomic constraints. It uses a Lagrangian formulation of nonholonomic systems and a Cartan form approach. We present what we believe to be the most general relations between symmetries and first integrals. We discuss the so-called nonholonomic Noether theorem in terms of our formalism, and we give applications to Riemannian submanifolds, to Lagrangians of mechanical type, and to the determination of quadratic first integrals.Comment: 25 page

Routh reduction and the class of magnetic Lagrangian systems

In this paper, some new aspects related to Routh reduction of Lagrangian systems with symmetry are discussed. The main result of this paper is the introduction of a new concept of transformation that is applicable to systems obtained after Routh reduction of Lagrangian systems with symmetry, so-called magnetic Lagrangian systems. We use these transformations in order to show that, under suitable conditions, the reduction with respect to a (full) semi-direct product group is equivalent to the reduction with respect to an Abelian normal subgroup. The results in this paper are closely related to the more general theory of Routh reduction by stages.Comment: 23 page

Homogeneous variational problems: a minicourse

A Finsler geometry may be understood as a homogeneous variational problem, where the Finsler function is the Lagrangian. The extremals in Finsler geometry are curves, but in more general variational problems we might consider extremal submanifolds of dimension $m$. In this minicourse we discuss these problems from a geometric point of view.Comment: This paper is a written-up version of the major part of a minicourse given at the sixth Bilateral Workshop on Differential Geometry and its Applications, held in Ostrava in May 201