基于Lie群的刚体动力学建模及数值计算方法研究

基于Lie群和Lie代数之间的指数映射等价关系,推导了基于Lie群的自由刚体连续动力学方程.结合离散变分原理,推导了其Lie群离散变分积分子.通过证明可知连续和离散动力学系统都具有动量守恒性.对连续动力学方程进行同维化处理,使其变为常规非线性方程组的形式,利用Runge-Kutta法进行求解;基于Runge-Kutta基本理论,推导了直接用于Lie群的Runge-Kutta法,从而使Runge-Kutta法可用于求解变维非线性方程组;通过Lie代数变换,利用Kelly变换和Newton迭代对Lie群离散变分积分子进行求解.仿真对比结果表明,3种算法下的计算结果高度吻合,且能高精度地保持系统的结构守恒和动量守恒性.     

The reduced spaces of a symplectic Lie group action

There exist three main approaches to reduction associated to canonical Lie group actions on a symplectic manifold, namely, foliation reduction, introduced by Cartan, Marsden-Weinstein reduction, and optimal reduction, introduced by the authors. When the action is free, proper, and admits a momentum map these three approaches coincide. The goal of this paper is to study the general case of a symplectic action that does not admit a momentum map and one needs to use its natural generalization, a cylinder valued momentum map introduced by Condevaux et al. In this case it will be shown that the three reduced spaces mentioned above do not coincide, in general. More specifically, the Marsden-Weinstein reduced spaces are not symplectic but Poisson and their symplectic leaves are given by the optimal reduced spaces. Foliation reduction produces a symplectic reduced space whose Poisson quotient by a certain Lie group associated to the group of symmetries of the problem equals the Marsden-Weinstein reduced space. We illustrate these constructions with concrete examples, special emphasis being given to the reduction of a magnetic cotangent bundle of a Lie group in the situation when the magnetic term ensures the non-existence of the momentum map for the lifted action. The precise relation of the cylinder valued momentum map with group valued momentum maps for Abelian Lie groups is also given.     

传递辛矩阵群收敛于辛Lie群

通过作用量变分原理,给出了Hamilton正则方程离散积分的传递辛矩阵表示,利用Hamilton正则方程给出了其对应的Lie代数．说明了当时间区段长度趋近于0时,离散系统积分的传递辛矩阵群收敛于连续时间Hamilton系统微分方程分析积分得到的辛Lie群．     

Hamilton–Pontryagin Integrators on Lie Groups Part I: Introduction and Structure-Preserving Properties

In this paper, structure-preserving time-integrators for rigid body-type mechanical systems are derived from a discrete Hamilton–Pontryagin variational principle. From this principle, one can derive a novel class of variational partitioned Runge–Kutta methods on Lie groups. Included among these integrators are generalizations of symplectic Euler and Störmer–Verlet integrators from flat spaces to Lie groups. Because of their variational design, these integrators preserve a discrete momentum map (in the presence of symmetry) and a symplectic form. In a companion paper, we perform a numerical analysis of these methods and report on numerical experiments on the rigid body and chaotic dynamics of an underwater vehicle. The numerics reveal that these variational integrators possess structure-preserving properties that methods designed to preserve momentum (using the coadjoint action of the Lie group) and energy (for example, by projection) lack.     

Multisymplectic Lie group variational integrator for a geometrically exact beam in R3

In this paper we develop, study, and test a Lie group multisymplectic integrator for geometrically exact beams based on the covariant Lagrangian formulation. We exploit the multisymplectic character of the integrator to analyze the energy and momentum map conservations associated to the temporal and spatial discrete evolutions.     

Torus Bundles over Locally Symmetric Varieties Associated to Cocycles of Discrete Groups

 We construct torus bundles over locally symmetric varieties associated to cocycles in the cohomology group , where Γ is a discrete subgroup of a semisimple Lie group and L is a lattice in a real vector space. We prove that such a torus bundle has a canonical complex structure and that the space of holomorphic forms of the highest degree on a fiber product of such bundles is isomorphic to the space of mixed automorphic forms of a certain type. (Received 4 September 1998)     

The symplectic normal space of a cotangent-lifted action

For the cotangent bundle T^∗Q of a smooth Riemannian manifold acted upon by the lift of a smooth and proper action by isometries of a Lie group, we characterize the symplectic normal space at any point. We show that this space splits as the direct sum of the cotangent bundle of a linear space and a symplectic linear space coming from reduction of a coadjoint orbit. This characterization of the symplectic normal space can be expressed solely in terms of the group action on the base manifold and the coadjoint representation. Some relevant particular cases are explored.     

Lie Group Spectral Variational Integrators

We present a new class of high-order variational integrators on Lie groups. We show that these integrators are symplectic and momentum-preserving, can be constructed to be of arbitrarily high order, or can be made to converge geometrically. Furthermore, these methods are capable of taking very large time-steps. We demonstrate the construction of one such variational integrator for the rigid body and discuss how this construction could be generalized to other related Lie group problems. We close with several numerical examples which demonstrate our claims and discuss further extensions of our work.     

A generalization of Higgs bundles to higher dimensional varieties

Let X be a smooth n-dimensional projective variety defined over and let L be a line bundle on X. In this paper we shall construct a moduli space parametrizing -cohomology L-twisted Higgs pairs, i.e., pairs where E is a vector bundle on X and . If we take , the canonical line bundle on X, the variety is canonically identified with the cotangent bundle of the smooth locus of the moduli space of stable vector bundles on X and, as such, it has a canonical symplectic structure. We prove that, in the general case, in correspondence to the choice of a non-zero section , one can define, in a natural way, a Poisson structure on . We also analyze the relations between this Poisson structure on and the canonical symplectic structure of the cotangent bundle to the smooth locus of the moduli space of parabolic bundles over X, with parabolic structure over the divisor D defined by the section s. These results generalize to the higher dimensional case similar results proved in [Bo1] in the case of curves. Received November 4, 1997; in final form May 28, 1998     

On the Construction of Geometric Integrators in the RKMK Class

We consider the construction of geometric integrators in the class of RKMK methods. Any differential equation in the form of an infinitesimal generator on a homogeneous space is shown to be locally equivalent to a differential equation on the Lie algebra corresponding to the Lie group acting on the homogeneous space. This way we obtain a distinction between the coordinate-free phrasing of the differential equation and the local coordinates used. In this paper we study methods based on arbitrary local coordinates on the Lie group manifold. By choosing the coordinates to be canonical coordinates of the first kind we obtain the original method of Munthe-Kaas [16]. Methods similar to the RKMK method are developed based on the different coordinatizations of the Lie group manifold, given by the Cayley transform, diagonal Padé approximants of the exponential map, canonical coordinates of the second kind, etc. Some numerical experiments are also given.     

Geometric methods for construction of quantum gates

The applications of geometric control theory methods on Lie groups and homogeneous spaces to the theory of quantum computations are investigated. These methods are shown to be very useful for the problem of constructing a universal set of gates for quantum computations: the well-known result that the set of all one-bit gates together with almost any one two-bit gate is universal is considered from the control theory viewpoint. Differential geometric structures such as the principal bundle for the canonical vector bundle on a complex Grassmann manifold, the canonical connection form on this bundle, the canonical symplectic form on a complex Grassmann manifold, and the corresponding dynamical systems are investigated. The Grassmann manifold is considered as an orbit of the co-adjoint action, and the symplectic form is described as the restriction of the canonical Poisson structure on a Lie coalgebra. The holonomy of the connection on the principal bundle over the Grassmannian and its relation with the Berry phase is considered and investigated for the trajectories of Hamiltonian dynamical systems. __________ Translated from Sovremennaya Matematika i Ee Prilozheniya (Contemporary Mathematics and Its Applications), Vol. 44, Quantum Computing, 2007.     

Equivariant constrained symplectic integration

Summary We use recent results on symplectic integration of Hamiltonian systems with constraints to construct symplectic integrators on cotangent bundles of manifolds by embedding the manifold in a linear space. We also prove that these methods are equivariant under cotangent lifts of a symmetry group acting linearly on the ambient space and consequently preserve the corresponding momentum. These results provide an elementary construction of symplectic integrators for Lie-Poisson systems and other Hamiltonian systems with symmetry. The methods are illustrated on the free rigid body, the heavy top, and the double spherical pendulum.     

General techniques for constructing variational integrators

The numerical analysis of variational integrators relies on variational error analysis, which relates the order of accuracy of a variational integrator with the order of approximation of the exact discrete Lagrangian by a computable discrete Lagrangian. The exact discrete Lagrangian can either be characterized variationally, or in terms of Jacobi’s solution of the Hamilton-Jacobi equation. These two characterizations lead to the Galerkin and shooting constructions for discrete Lagrangians, which depend on a choice of a numerical quadrature formula, together with either a finite-dimensional function space or a one-step method. We prove that the properties of the quadrature formula, finite-dimensional function space, and underlying one-step method determine the order of accuracy and momentum-conservation properties of the associated variational integrators. We also illustrate these systematic methods for constructing variational integrators with numerical examples.     

Well-posed infinite horizon variational problems on a compact manifold

We give an effective sufficient condition for a variational problem with infinite horizon on a compact Riemannian manifold M to admit a smooth optimal synthesis, i.e., a smooth dynamical system on M whose positive semi-trajectories are solutions to the problem. To realize the synthesis, we construct an invariant Lagrangian submanifold (well-projected to M) of the flow of extremals in the cotangent bundle T*M. The construction uses the curvature of the flow in the cotangent bundle and some ideas of hyperbolic dynamics.     

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.     

Quantization of the Geodesic Flow on Quaternion Projective Spaces

We study a problem of the geometric quantization for the quaternionprojective space. First we explain a Kähler structure on the punctured cotangent bundleof the quaternion projective space, whose Kähler form coincides withthe natural symplectic form on the cotangent bundle and show thatthe canonical line bundle of this complex structure is holomorphicallytrivial by explicitly constructing a nowhere vanishing holomorphicglobal section. Then we construct a Hilbert space consisting of acertain class of holomorphic functions on the punctured cotangentbundle by the method ofpairing polarization and incidentally we construct an operatorfrom this Hilbert space to the L ₂ space of the quaternionprojective space. Also we construct a similar operator between thesetwo Hilbert spaces through the Hopf fiberation.We prove that these operators quantizethe geodesic flow of the quaternion projective space tothe one parameter group of the unitary Fourier integral operatorsgenerated by the square root of the Laplacian plus suitable constant.Finally we remark that the Hilbert space above has the reproducing kernel.     

李群的余切丛上的两种辛群胚结构

本文研究了李群的余切丛上的辛群胚结构.利用李代数胚的对偶丛上有自然诱导的泊松结构,.构造出了同一余切丛上的不同的辛群胚结构,推广了辛群胚的性质.     

Point Particle with Extrinsic Curvature as a Boundary of a Nambu–Goto String: Classical and Quantum Model

It is shown how a string living in a higher dimensional space can be approximated as a point particle with squared extrinsic curvature. We consider a generalized Howe–Tucker action for such a “rigid particle” and consider its classical equations of motion and constraints. We find that the algebra of the Dirac brackets between the dynamical variables associated with velocity and acceleration contains the spin tensor. After quantization, the corresponding operators can be represented by the Dirac matrices, projected onto the hypersurface that is orthogonal to the direction of momentum. A condition for the consistency of such a representation is that the states must satisfy the Dirac equation with a suitable effective mass. The Pauli–Lubanski vector composed with such projected Dirac matrices is equal to the Pauli–Lubanski vector composed with the usual, non projected, Dirac matrices, and its eigenvalues thus correspond to spin one half states.