Geometric structures as deformed infinitesimal symmetries

A general model for geometric structures on differentiable manifolds is obtained by deforming infinitesimal symmetries. Specifically, this model consists of a Lie algebroid, equipped with an affine connection compatible with the Lie algebroid structure. The curvature of this connection vanishes precisely when the structure is locally symmetric.

This model generalizes Cartan geometries, a substantial class, to the intransitive case. Simple examples are surveyed and corresponding local obstructions to symmetry are identified. These examples include foliations, Riemannian structures, infinitesimal -structures, symplectic and Poisson structures.

     

Lie Algebroids, Holonomy and Characteristic Classes

We extend the notion of connection in order to study singular geometric structures, namely, we consider a notion of connection on a Lie algebroid which is a natural extension of the usual concept of a covariant connection. It allows us to define holonomy of the orbit foliation of a Lie algebroid and prove a Stability Theorem. We also introduce secondary or exotic characteristic classes, thus providing invariants which generalize the modular class of a Lie algebroid.     

Bott's vanishing theorem for regular Lie algebroids

Differential geometry has discovered many objects which determine Lie algebroids playing a role analogous to that of Lie algebras for Lie groups. For example:

--- differential groupoids,

--- principal bundles,

--- vector bundles,

--- actions of Lie groups on manifolds,

--- transversally complete foliations,

--- nonclosed Lie subgroups,

--- Poisson manifolds,

--- some complete closed pseudogroups.

We carry over the idea of Bott's Vanishing Theorem to regular Lie algebroids (using the Chern-Weil homomorphism of transitive Lie algebroids investigated by the author) and, next, apply it to new situations which are not described by the classical version, for example, to the theory of transversally complete foliations and nonclosed Lie subgroups in order to obtain some topological obstructions for the existence of involutive distributions and Lie subalgebras of some types (respectively).

     

The localized longitudinal index theorem for Lie groupoids and the van Est map

We define the “localized index” of longitudinal elliptic operators on Lie groupoids associated with Lie algebroid cohomology classes. We derive a topological expression for these numbers using the algebraic index theorem for Poisson manifolds on the dual of the Lie algebroid. Underlying the definition and computation of the localized index, is an action of the Hopf algebroid of jets around the unit space, and the characteristic map it induces on Lie algebroid cohomology. This map can be globalized to differentiable groupoid cohomology, giving a definition of the “global index”, that can be computed by localization. This correspondence between the “global” and “localized” index is given by the van Est map for Lie groupoids.     

Lie algebroid modules and representations up to homotopy

We establish a relationship between two different generalizations of Lie algebroid representations: representation up to homotopy and Vaĭntrob’s Lie algebroid modules. Specifically, we show that there is a noncanonical way to obtain a representation up to homotopy from a given Lie algebroid module, and that any two representations up to homotopy obtained in this way are equivalent in a natural sense. We therefore obtain a one-to-one correspondence, up to equivalence.     

Lie algebroid structures on double vector bundles and representation theory of Lie algebroids

A VB-algebroid is essentially defined as a Lie algebroid object in the category of vector bundles. There is a one-to-one correspondence between VB-algebroids and certain flat Lie algebroid superconnections, up to a natural notion of equivalence. In this setting, we are able to construct characteristic classes, which in special cases reproduce characteristic classes constructed by Crainic and Fernandes. We give a complete classification of regular VB-algebroids, and in the process we obtain another characteristic class of Lie algebroids that does not appear in the ordinary representation theory of Lie algebroids.     

转动相对论系统的Lie对称性和守恒量

研究转动相对论性完整与非完整力学系统的Lie对称性和守恒量.定义转动相对论力学系统的无限小变换生成元,利用微分方程在无限小变换下的不变性,建立转动相对论性力学系统的Lie对称确定方程,得到结构方程和守恒量的形式,并给出应用实例.     

Equivariant cohomology and localization for Lie algebroids

Let M be a manifold carrying the action of a Lie group G, and let A be a Lie algebroid on M equipped with a compatible infinitesimal G-action. Using these data, we construct an equivariant cohomology of A and prove a related localization formula for the case of compact G. By way of application, we prove an analog of the Bott formula.     

Dirac structures on protobialgebroids

Protobialgebroids include several kinds of algebroid structures such as Lie algebroid, Lie bialgebroid, Lie quasi-bialgebroid, etc. In this paper, the Dirac theories are generalized from Lie bialgebroid to protobialgebroid. We give the integrable conditions for a maximally isotropic subbundle being a Dirac structure for a protobialgebroid by the notion of a characteristic pair. From the integrable conditions, we found out that the Dirac structure has closed relations with the twisting of a protobialgebroid. At last, some special cases of the Dirac structures for protobialgebroids are discussed.     

A Lie–Rinehart Algebra with No Antipode

The aim of this note is to communicate a simple example of a Lie–Rinehart algebra whose enveloping algebra is not a Hopf algebroid, neither in the sense of Böhm and Szlachányi, nor in the sense of Lu.     

Discrete Nonholonomic Lagrangian Systems on Lie Groupoids

This paper studies the construction of geometric integrators for nonholonomic systems. We develop a formalism for nonholonomic discrete Euler–Lagrange equations in a setting that 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). This work was partially supported by MEC (Spain) Grants MTM 2006-03322, MTM 2007-62478, MTM 2006-10531, project “Ingenio Mathematica” (i-MATH) No. CSD 2006-00032 (Consolider-Ingenio 2010) and S-0505/ESP/0158 of the CAM.     

变质量完整力学系统的Lie对称与守恒量

研究变质量完整系统的Lie对称和守恒量。利用常微分方程在无限小变换下的不变性建立系统Lie对称的确定方程。给出结构方程和守恒量。举例说明结果的应用。     

Invariants for feedback equivalence and Cauchy characteristic multifoliations of nonlinear control systems

Linearization of a nonlinear feedback control system under nonlinear feedback is treated as a problem of equivalence-under the Lie pseudogroup of feedback transformations-of distributions on the product manifold of the state and control variables. The new feature of this paper is that it introduces the Cauchy characteristic sub-distributions of these distributions and their derived distributions. These Cauchy characteristic distributions are involutive and nested, hence define a Multifoliate Structure. A necessary condition for feedback equivalence of two nonlinear control systems is that these multifoliations be transformed under the feedback pseudogroup. For linear systems, this Cauchy characteristic multifoliate structuee is readily computed in terms of the (A, B)-matrix that defines the linear system. Assuming that the conditions for local feedback linearization are satisfied, the existence of a global feedback linearizing transformation is dependent on computing an element of the first cohomology group of the space with coefficients in the sheaf of groupoid of infinitesimal feedback automorphisms of the linear system. The theorem quoted above about the Cauchy characteristic multifoliations provides some information about this groupoid. It is computed explicitly and directly for control systems with one- or two-state dimensions. Finally, these Cauchy characteristic sub-distributions must inevitably play a role in the numerical or symbolic computational analysis of the Hunt-Su partial differential equations for the feedback-linearizing transformation.Senior Research Associate of the National Research Council at the Ames Research Center of NASA.     

准坐标下非完整力学系统的Lie对称性和守恒量

研究准坐标下非完整系统的Ｌｉｅ对称性,首先,对准坐标下非完整力学系统定义无限小变换生成元,由微分方程在无限小变换下的不变性,建立Ｌｉｅ对称性的确定方程,得到结构方程并求出守恒量;其次,研究上述问题的逆问题;根据已知积分求相应的Ｌｉｅ对称性,举例说明结果的应用。     

判定常微分方程组具有一维李对称群的新方法

给出了判定常微分方程组接受一维李对称群的一种新方法，利用该方法证明了无穷小生成元的一个性质，所给方法比传统方法形式简单。     

Group Algebras of Finite Groups as Lie Algebras

We consider the natural Lie algebra structure on the (associative) group algebra of a finite group G, and show that the Lie subalgebras associated to natural involutive antiautomorphisms of this group algebra are reductive ones. We give a decomposition in simple factors of these Lie algebras, in terms of the ordinary representations of G.     

Tangent and Cotangent Lifts and Graded Lie Algebras Associated with Lie Algebroids

Generalized Schouten, Frölicher–Nijenhuis and Frölicher–Richardson brackets are defined for an arbitrary Lie algebroid. Tangent and cotangent lifts of Lie algebroids are introduced and discussed and the behaviour of the related graded Lie brackets under these lifts is studied. In the case of the canonical Lie algebroid on the tangent bundle, a new common generalization of the Frölicher–Nijenhuis and the symmetric Schouten brackets, as well as embeddings of the Nijenhuis–Richardson and the Frölicher–Nijenhuis bracket into the Schouten bracket, are obtained.