richardson number criterion for the nonlinear stability of three dimensional stratified flow with use of a method of arnol d we derive the necessary and sufficient conditions for the formal stability of a parallel shear flow in a three dimensional stratified fluid when the local richardson number defined with respect to density variations is everywhere greater than unity the equilibrium is formally stable under nonlinear pertrubations the essential physical content of the nonlinear stability result is that the total energy acts as a potential well for deformations of the fluid across constant density surfaces this well is required to have definite curvature to assure stability under these deformations

generic bifurcation of hamiltonian systems with symmetry we study generic bifurcations of equilibria in one parameter hamiltonian systems with symmetry group on the generalized eigenvalues of the linearized system go through zero theorem 3 3 classifies expected actions of on the generalized eigenspace of this zero eigenvalue generic one degree of freedom symmetric systems is section 4 remarks concerning systems with more degrees of freedom are given in section 5

a geometric setting for internal motions of the quantum three body system quantum mechanics for internal motions of the three body system is set up on the basis of the complex vector bundle theory the three body system is called a triatomic molecule in the born oppenheimer approximation the internal states of the molecule are described as cross sections in the complex vector bundle assigned by an eigenvalue of the square of the total angular momentum operator this bundle is equipped with a linear connection which is a natural consequence of a geometric interpretation of the so called eckart condition the coupling of the internal motion with the rotation is understood naturally in terms of this connection the internal hamiltonian operator is obtained which includes the internal motion rotation coupling and a centrifugal potential the complex vector bundle for the triatomic molecule proves to be a trivial bundle though the geometric setting for the internal motion is independent of whether the bundle is trivial or not

semidirect products and reduction in mechanics this paper shows how to reduce a hamiltonian system on the cotangent bundle of a lie group to a hamiltonian system in the dual of the lie algebra of a semidirect product the procedure simplifies unifies and extends work of greene guillemin holm holmes kupershmidt marsden morrison ratiu sternberg and others the heavy top compressible fluids magnetohydrodynamics elasticity the maxwell vlasov equations and multifluid plasmas are presented as examples starting with lagrangian variables our method explains in a direct way why semidirect products occur so frequently in examples it also provides a framework for the systematic introduction of clebsch or canonical variables

canonical maps between semidirect products with applications to elasticity and superfluids it is shown that two canonical maps arising in the poisson bracket formulations of elasticity and superfluids are particular instances of general canonical maps between duals of semidirect product lie algebras

the camassa holm equation as a geodesic flow on the diffeomorphism group misiolek j geom phys 24 203 208 1998 has shown that the camassa holm equation is a geodesic flow on the bott virasoro group in this paper it is shown that the camassa holm equation for the case 0 is the geodesic spray of the weak riemannian metric on the diffeomorphism group of the line or the circle obtained by right translating the h1 inner product over the entire group this paper uses the right trivialization technique to rigorously verify that the euler poincare theory for lie groups can be applied to diffeomorphism groups the observation made in this paper has led to physically meaningful generalizations of the ch equation to higher dimensional manifolds

optimal control for holonomic and nonholonomic mechanical systems with symmetry and lagrangian reduction in this paper we establish necessary conditions for optimal control using the ideas of lagrangian reduction in the sense of reduction under a symmetry group the techniques developed here are designed for lagrangian mechanical control systems with symmetry the benefit of such an approach is that it makes use of the special structure of the system especially its symmetry structure and thus it leads rather directly to the desired conclusions for such systems lagrangian reduction can do in one step what one can alternatively do by applying the pontryagin maximum principle followed by an application of poisson reduction the idea of using lagrangian reduction in the sense of symmetry reduction was also obtained by bloch and crouch proc 33rd cdc ieee 1994 pp 2584 2590 in a somewhat different context and the general idea is closely related to those in montgomery comm math phys 128 1990 pp 565 592 and vershik and gershkovich dynamical systems vii v arnold and s p novikov eds springer verlag 1994 here we develop this idea further and apply it to some known examples such as optimal control on lie groups and principal bundles such as the ball and plate problem and reorientation examples with zero angular momentum such as the satellite with moveable masses however one of our main goals is to extend the method to the case of nonholonomic systems with a nontrivial momentum equation in the context of the work of bloch krishnaprasad marsden and murray arch rational mech anal 1996 to appear the snakeboard is used to illustrate the method

discrete time lagrangian mechanics on lie groups with an application to the lagrange top we develop the theory of discrete time lagrangian mechanics on lie groups originated in the work of veselov and moser and the theory of lagrangian reduction in the discrete time setting the results thus obtained are applied to the investigation of an integrable time discretization of a famous integrable system of classical mechanics the lagrange top we recall the derivation of the euler poinsot equations of motion both in the frame moving with the body and in the rest frame the latter ones being less widely known we find a discrete time lagrange function turning into the known continuous time lagrangian in the continuous limit and elaborate both descriptions of the resulting discrete time system namely in the body frame and in the rest frame this system naturally inherits poisson properties of the continuous time system the integrals of motion being deformed the discrete time lax representations are also found kirchhoff s kinetic analogy between elastic curves and motions of the lagrange top is also generalised to the discrete context

geometric phases reduction and lie poisson structure for the resonant three wave interaction hamiltonian lie poisson structures of the three wave equations associated with the lie algebras su 3 and su 2 1 are derived and shown to be compatible poisson reduction is performed using the method of invariants and geometric phases associated with the reconstruction are calculated these results can be applied to applications of nonlinear waves in for instance nonlinear optics some of the general structures presented in the latter part of this paper are implicit in the literature our purpose is to put the three wave interaction in the modern setting of geometric mechanics and to explore some new things such as explicit geometric phase formulas as well as some old things such as integrability in this context

on reduction of two degrees of freedom hamiltonian systems by an s1 action and so0 1 2 as a dynamical group reduction by an s1 action is a method of finding periodic solutions in hamiltonian systems which is known rather as the method of averaging such periodic solutions can be reconstructed as s1 orbits by pulling back the critical points of an associated reduced hamiltonian on a reduced phase space along the reduction for hamiltonian systems of two degrees of freedom a geometric setting of the reduction is already accomplished in the case where the reduced phase space is a two sphere in the euclidean space r3 and the reduced hamilton s equations of motion are euler s equations this article deals with the case where the reduced phase space will be a two hyperboloid in the three minkowski space and the reduced hamilton s equations of motion will be euler s equations with respect to the lorentz metric this reduction is associated with su 1 1 symplectic action on the phase space r4 as a consequence of this association the reduced hamiltonian system proves to admit a dynamical group so0 1 2 a w

coadjoint orbits vortices and clebsch variables for incompressible fluids this paper is a study of incompressible fluids especially their clebsch variables and vortices using symplectic geometry and the lie poisson structure on the dual of a lie algebra following ideas of arnold and others it is shown that euler s equations are lie poisson equations associated to the group of volume preserving diffeomorphisms the dual of the lie algebra is seen to be the space of vortices and kelvin s circulation theorem is interpreted as preservation of coadjoint orbits in this context clebsch variables can be understood as momentum maps the motion of n point vortices is shown to be identifiable with the dynamics on a special coadjoint orbit and the standard canonical variables for them are a special kind of clebsch variables point vortices with cores vortex patches and vortex filaments can be understood in a similar way this leads to an explanation of the geometry behind the hald beale majda convergence theorems for vorticity algorithms symplectic structures on the coadjoint orbits of a vortex patch and filament are computed and shown to be closely related to those commonly used for the kdv and the schrodinger equations respectively

symmetry and bifurcations of momentum mappings the zero set of a momentum mapping is shown to have a singularity at each point with symmetry the zero set is diffeomorphic to the product of a manifold and the zero set of a homogeneous quadratic function the proof uses the kuranishi theory of deformations among the applications it is shown that the set of all solutions of the yang mills equations on a lorentz manifold has a singularity at any solution with symmetry in the sense of a pure gauge symmetry similarly the set of solutions of einstein s equations has a singularity at any solution that has spacelike killing fields provided the spacetime has a compact cauchy surface

a borsuk ulam theorem for orthogonal tk and zpr actions and applications abstract a version if the borsuk ulam theorem is proved for the torus tk and p torus zpr we deal with the case of a nonempty fixed point set of groups on the sphere of representation as an application a geometrical index theory is introduced for these groups the index is used to obtain the existence of multiple critical points for functions invariant under tk or zpr action

multisymplectic geometry variational integrators and nonlinear pdes this paper presents a geometric variational approach to continuous and discrete mechanics and field theories using multisymplectic geometry we show that the existence of the fundamental geometric structures as well as their preservation along solutions can be obtained directly from the variational principle in particular we prove that a unique multisymplectic structure is obtained by taking the derivative of an action function and use this structure to prove covariant generalizations of conservation of symplecticity and noether s theorem natural discretization schemes for pdes which have these important preservation properties then follow by choosing a discrete action functional in the case of mechanics we recover the variational symplectic integrators of veselov type while for pdes we obtain covariant spacetime integrators which conserve the corresponding discrete multisymplectic form as well as the discrete momentum mappings corresponding to symmetries we show that the usual notion of symplecticity along an infinite dimensional space of fields can be naturally obtained by making a spacetime split all of the aspects of our method are demonstrated with a nonlinear sine gordon equation including computational results and a comparison with other discretization schemes

the symmetry group of the harmonic oscillator and its reduction the symmetry of the harmonic oscillator is dealt with in the hamiltonian formalism unitary operators representing the symmetry are studied from this point of view of additional interest is reduction of the symmetry group su 4 for the four dimensional harmonic oscillator subspaces are determined from the representation spaces for su 4 so as to give those for so 4

discrete versions of some classical integrable systems and factorization of matrix polynomials discrete versions of several classical integrable systems are investigated such as a discrete analogue of the higher dimensional force free spinning top euler arnold equations the heisenberg chain with classical spins and a new discrete system on the stiefel manifold the integrability is shown with the help of a lax pair representation which is found via a factorization of certain matrix polynomials the complete description of the dynamics is given in terms of abelian functions the flow becomes linear on a prym variety corresponding to a spectral curve the approach is also applied to the billiard problem in the interior of ann dimensional ellipsoid

variational integrators and the newmark algorithm for conservative and dissipative mechanical systems the purpose of this work is twofold first we demonstrate analytically that the classical newmark family as well as related integration algorithms are variational in the sense of the veselov formulation of discrete mechanics such variational algorithms are well known to be symplectic and momentum preserving and to often have excellent global energy behavior this analytical result is veried through numerical examples and is believed to be one of the primary reasons that this class of algorithms performs so well second we develop algorithms for mechanical systems with forcing and in particular for dissipative systems in this case we develop integrators that are based on a discretization of the lagrange d alembert principle as well as on a variational formulation of dissipation it is demonstrated that these types of structured integrators have good numerical behavior in terms of obtaining the correct amounts by which the energy changes over the integration run

the hamiltonian structure of the maxwell vlasov equations morrison 25 has observed that the maxwell vlasov and poisson vlasov equations for a collisionless plasma can be written in hamiltonian form relative to a certain poisson bracket we derive another poisson structure for these equations by using general methods of symplectic geometry the main ingredients in our construction are the symplectic structure on the co adjoint orbits for the group of canonical transformations and the symplectic structure for the phase space of the electromagnetic field regarded as a gauge theory our poisson bracket satisfies the jacobi identity whereas morrison s does not 37 our construction also shows where canonical variables can be found and can be applied to the yang mills vlasov equations and to electromagnetic fluid dynamics

heckman kostant and steinberg formulas for symplectic manifolds abstract let m be a compact symplectic manifold on which a compact connected lie group k acts in a hamiltonian fashion in part i we derive a formula for j m which generalizes the heckman formula for co adjoint orbits here j is the moment map associated with the action of k on m and m the liouville measure on m in part ii we derive a quantum analogue of this formula which extends to the symplectic setting classical multiplicity formulas of kostant and steinberg

isoholonomic problems and some applications we study the problem of finding the shortest loops with a given holonomy we show that the solutions are the trajectories of particles in yang mills potentials theorem 4 or equivalently the projections of kaluza klein geodesics theorem 2 applications to quantum mechanics berry s phase sect 3 and the optimal control of deformable bodies sect 6 are touched upon

the maxwell vlasov equations in euler poincare form low s well known action principle for the maxwell vlasov equations of ideal plasma dynamics was originally expressed in terms of a mixture of eulerian and lagrangian variables by imposing suitable constraints on the variations and analyzing invariance properties of the lagrangian as one does for the euler equations for the rigid body and ideal fluids we first transform this action principle into purely eulerian variables hamilton s principle for the eulerian description of low s action principle then casts the maxwell vlasov equations into euler poincare form for right invariant motion on the diffeomorphism group of position velocity phase space openface r 6 legendre transforming the eulerian form of low s action principle produces the hamiltonian formulation of these equations in the eulerian description since it arises from euler poincare equations this hamiltonian formulation can be written in terms of a poisson structure that contains the lie poisson bracket on the dual of a semidirect product lie algebra because of degeneracies in the lagrangian the legendre transform is dealt with using the dirac theory of constraints another maxwell vlasov poisson structure is known whose ingredients are the lie poisson bracket on the dual of the lie algebra of symplectomorphisms of phase space and the born infeld brackets for the maxwell field we discuss the relationship between these two hamiltonian formulations we also discuss the general kelvin noether theorem for euler poincare equations and its meaning in the plasma context

controlled lagrangians and the stabilization of mechanical systems i the first matching theorem we develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled lagrangians the procedure involves making structured modifications to the lagrangian for the uncontrolled system thereby constructing the controlled lagrangian the euler lagrange equations derived from the controlled lagrangian describe the closed loop system where new terms in these equations are identified with control forces since the controlled system is lagrangian by construction energy methods can be used to find control gains that yield closed loop stability we use kinetic shaping to preserve symmetry and only stabilize systems module the symmetry group the procedure is demonstrated for several underactuated balance problems including the stabilization of an inverted planar pendulum on a cart moving on a line and an inverted spherical pendulum on a cart moving in the plane

the connection whose holonomy is the classical adiabatic angles of hannay and berry and its generalization to the non integrable case we show how averaging defines an ehresmann connection whose holonomy is the classical adiabatic angles which hannay defined for families of completely integrable systems the averaging formula we obtain for the connection only requires that the family of hamiltonians has a continuous symmetry group this allows us to extend the notion of the hannay angles to families of non integrable systems with symmetry we state three geometric axioms satisfied by the connection these axioms uniquely determine the connection thus enabling us to find new formulas for the connection and its curvature two examples are given

reduction of exterior differential systems for ordinary variational problems this paper deals with the reduction of ordinary variational problems with abelian and non abelian symmetry groups it differs from the existing results on geometric reduction in the approach that is completely lagrangian and based on exterior differential systems in this setting two procedures of reduction come out naturally the first one is the lagrangian analog of the marsden weinstein reduction holding in the symplectic case and the other one especially in the non abelian case comes out naturally in our setting

reduction theory and the lagrange routh equations reduction theory for mechanical systems with symmetry has its roots in the classical works in mechanics of euler jacobi lagrange hamilton routh poincare and others the modern vision of mechanics includes besides the traditional mechanics of particles and rigid bodies field theories such as electromagnetism fluid mechanics plasma physics solid mechanics as well as quantum mechanics and relativistic theories including gravity symmetries in these theories vary from obvious translational and rotational symmetries to less obvious particle relabeling symmetries in fluids and plasmas to subtle symmetries underlying integrable systems reduction theory concerns the removal of symmetries and their associated conservation laws variational principles along with symplectic and poisson geometry provide fundamental tools for this endeavor reduction theory has been extremely useful in a wide variety of areas from a deeper understanding of many physical theories including new variational and poisson structures to stability theory integrable systems as well as geometric phases this paper surveys progress in selected topics in reduction theory especially those of the last few decades as well as presenting new results on non abelian routh reduction we develop the geometry of the associated lagrange routh equations in some detail the paper puts the new results in the general context of reduction theory and discusses some future directions

symplectic geometry and topology this is a review of the ideas underlying the application of symplectic geometry to hamiltonian systems the paper begins with symplectic manifolds and their lagrangian submanifolds covers contact manifolds and their legendrian submanifolds and indicates the first steps of symplectic and contact topology

the riemannian structure of euclidean shape spaces a novel environment for statistics the riemannian metric structure of the shape space sum k m for k labelled points in mathbb r m was given by kendall for the atypically simple situations in which m 1 or 2 and k geq 2 here we deal with the general case m geq 1 k geq 2 by using the properties of riemannian submersions and warped products as studied by o neill the approach is via the associated size and shape space that is the warped product of the shape space and the half line mathbb r carrying size the warping function being equal to the square of the size when combined with parallel studies by le of the corresponding global geodesic geometry the results obtained here determine the environment in which shape statistical calculations have to be acted out finally three different applications are discussed that illustrate the theory and its use in practice

lin constraints clebsch potentials and variational principles the poisson bracket formulation of fluid plasma and rigid body type systems has undergone considerable recent development using techniques of symmetry group reduction the relationship between this approach and that using lin constraints and clebsch potentials is established the connection is made in the setting of abstract clebsch variables as well as that of variational principles on reduced spaces variational principles for both the clebsch and reduced form such as fluids in spatial representation are derived from the standard variational principle of hamilton in material lagrangian representation using reduction theory

serial and parallel computation of karush kuhn tucker points via nonsmooth equations in this paper a robust iterative algorithm is presented for computing karush kuhn tucker kkt points of nonlinear programs this algorithm is a variation of the ne sqp method for solving the nonlinear complementarily problem it makes use of a merit function that combines the original objective function of the nonlinear program with a residual function of the kkt conditions formulated as a system of nonsmooth equations global convergence and a q quadratic rate of convergence of the algorithm are established under some standard constraint qualifications in nonlinear programming theory but without the strict complementarily condition parallel implementations of the algorithm are discussed

convexity properties of the moment mapping ii be its associated momen t mapping see w for definitions the set x is the union of co adjoint orbits the main result of this paper is a description of the orbit structure of this set to describe this result we first note that the coadjoint orbits in q can be parametr ized as follows let t be a caf tan subalgebra of g and let b be a positive definite g invariant bilinear form on by means of b we get a g equivariant identification q let t be the subspace of q corresponding to t then every co adjoint orbit intersects i in a weyl group orbit so there is a one one correspondence between co adjoint orbits in q and weyl group orbits in t to get an even sharper parametrization let t be a weyl chamber in then every weyl group orbit intersects t in a single point so t is a modul i space for the co adjoint orbits two orbits in x are said to be of the same type if they are isomorphic as homogeneous g spaces since x is compact there are at most a finite number of different types of orbits see 1113 let h be a closed subgroup of t of codimension r and let cit be the set of all orbits in x of type g h

discrete routh reduction this paper develops the theory of abelian routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry the reduction of variational runge kutta discretizations is considered as well as the extent to which symmetry reduction and discretization commute these reduced methods allow the direct simulation of dynamical features such as relative equilibria and relative periodic orbits that can be obscured or difficult to identify in the unreduced dynamics the methods are demonstrated for the dynamics of an earth orbiting satellite with a non spherical j2 correction as well as the double spherical pendulum the j2 problem is interesting because in the unreduced picture geometric phases inherent in the model and those due to numerical discretization can be hard to distinguish but this issue does not appear in the reduced algorithm where one can directly observe interesting dynamical structures in the reduced phase space the cotangent bundle of shape space in which the geometric phases have been removed the main feature of the double spherical pendulum example is that it has a non trivial magnetic term in its reduced symplectic form our method is still efficient as it can directly handle the essential non canonical nature of the symplectic structure in contrast a traditional symplectic method for canonical systems could require repeated coordinate changes if one is evoking darboux theorem to transform the symplectic structure into canonical form thereby incurring additional computational cost our method allows one to design reduced symplectic integrators in a natural way despite the non canonical nature of the symplectic structure

poisson brackets and clebsch representations for magnetohydrodynamics multifluid plasmas and elasticity abstract poisson brackets are constructed by the same mathematical procedure for three physical theories ideal magnetohydrodynamics multifluid plasmas and elasticity each of these brackets is given a simple lie algebraic interpretation moreover each bracket is induced to physical space by use of a canonical poisson bracket in the space of clebsch potentials which are constructed for each physical theory by the standard procedure of constrained lagrangians

nonholonomic mechanical systems with symmetry this work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of lagrangian mechanics and with a view to control theoretical applications the basic methodology is that of geometric mechanics applied to the formulation of lagrange d alembert generalizing the use of connections and momentum maps associated with a given symmetry group to this case we begin by formulating the mechanics of nonholonomic systems using an ehresmann connection to model the constraints and show how the curvature of this connection enters into lagrange s equations unlike the situation with standard configuration space constraints the presence of symmetries in the nonholonomic case may or may not lead to conservation laws however the momentum map determined by the symmetry group still satisfies a useful differential equation that decouples from the group variables this momentum equation which plays an important role in control problems involves parallel transport operators and is computed explicitly in coordinates an alternative description using a body reference frame relates part of the momentum equation to the components of the euler poincar e equations along those symmetry directions consistent with the constraints one of the purposes of this paper is to derive this evolution equation for the momentum and to distinguish geometrically and mechanically the cases where it is conserved and those where it is not an example of the former is a ball or vertical disk rolling on a flat plane and an example of the latter is the snakeboard a modified version of the skateboard which uses momentum coupling for locomotion generation we construct a synthesis of the mechanical connection and the ehresmann connection defining the constraints obtaining an important new object we call the nonholonomic connection when the nonholonomic connection is a principal connection for the given symmetry group we show how to perform lagrangian reduction in the presence of nonholonomic constraints generalizing previous results which only held in special cases several detailed examples are given to illustrate the theory september 1994 revised march 1995 revised june 1995

stratified symplectic spaces and reduction let m w be a hamiltonian g space with proper momentum map j m g it is well known that if zero is a regular value of j and g acts freely on the level set j 0 then the reduced space mo j 0 g is a symplectic manifold we show that if the regularity assumptions are dropped the space mo is a union of symplectic manifolds i e it is a stratified symplectic space arms et al 2 proved that mo possesses a natural poisson bracket using their result we study hamiltonian dynamics on the reduced space in particular we show that hamiltonian flows are strata preserving and give a recipe for lifting a reduced hamiltonian flow to the level set j 0 finally we give a detailed description of the stratification of mo and prove the existence of a connected

stabilization of relative equilibria discusses the problem of obtaining feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry we show how to stabilize an internally unstable relative equilibrium using internal actuators the methodology is that of potential shaping but the system is allowed to be underactuated i e have fewer actuators than the dimension of the shape space the theory is illustrated with the problem of stabilization of the cowboy relative equilibrium of the double spherical pendulum

mechanical integrators derived from a discrete variational principle many numerical integrators for mechanical system simulation are created by using discrete algorithms to approximate the continuous equations of motion in this paper we present a procedure to construct time stepping algorithms that approximate the flow of continuous odes for mechanical systems by discretizing hamilton s principle rather than the equations of motion the discrete equations share similarities to the continuous equations by preserving invariants including the symplectic form and the momentum map we first present a formulation of discrete mechanics along with a discrete variational principle we then show that the resulting equations of motion preserve the symplectic form and that this formulation of mechanics leads to conservation laws from a discrete version of noether s theorem we then use the discrete mechanics formulation to develop a procedure for constructing symplectic momentum mechanical integrators for lagrangian systems with holonomic constraints we apply the construction procedure to the rigid body and the double spherical pendulum to demonstrate numerical properties of the integrators

the kowalewski top 99 years later a lax pair generalizations and explicit solutions a natural lax pair for the kowalewski top is derived by using a general group theoretic approach this gives a new insight into the algebraic geometry of the top and leads to its complete solution via finite band integration theory

local equilibrium controllability of multibody systems controlled via shape change we study local equilibrium controllability of shape controlled multibody systems the multibody systems are defined on a trivial principal fiber bundle by a lagrangian that characterizes the base body motion and shape dynamics a potential dependent on an advected parameter e g uniform gravitational potential is considered this potential breaks base body symmetries but a symmetry subgroup is assumed to exist symmetric product formulas are derived and important properties are obtained for symmetric products of horizontal shape control vector fields and a potential vector field that is dependent on an advected parameter based on these properties sufficient conditions for local equilibrium controllability and local fiber equilibrium controllability are developed these results are applied to two classes of shape controlled multibody systems in a uniform gravitational field multibody attitude systems and neutrally buoyant multibody underwater vehicles