The KMS condition and spectral passivity in group duality

Let (A, G, α) be a C¹-dynamical system, where G is abelian, and let φ be an invariant state. Suppose that there is a neighbourhood Ω of the identity in $\text{G}\text{?}$ and a finite constant κ such that $\text{Π}{}_{\mathrm{i\; =\; 1}}{}^{\mathrm{n}}\text{φ(x}{}_{\mathrm{i}}{}^1\text{x}{}_{\mathrm{i}}\text{) ? κ}\text{Π}{}_{\mathrm{i\; =\; 1}}{}^{\mathrm{n}}\text{φ(x}{}_{\mathrm{i}}\text{x}{}_{\mathrm{i}}{}^1\text{)}$ whenever x_i lies in a spectral subspace $\text{R}{}^{\mathrm{\alpha }}\text{(Ω}{}_{\mathrm{i}}\text{)}$, where $\text{Ω}{}_1\text{+ … + Ω}{}_{\mathrm{n}}\text{? Ω}$. This condition of complete spectral passivity, together with self-adjointness of the left kernel of φ, ensures that φ satisfies the KMS condition for some one-parameter subgroup of G.     

On nuclear C1-algebras

A C¹-algebra is called nuclear if there is a unique way of forming its tensor product with any other C¹-algebra. Takesaki [17] showed that all C¹-algebras of type I and all inductive limits of such algebras are nuclear, but that the C¹-algebra $\text{C}{}_{\mathrm{r}}{}^1\text{(G)}$ generated by the left regular representation of G on l²(G) is nonnuclear, where G is the free group on two generators. In this paper an extension property for tensor products of C¹-algebras is introduced, and is characterized in terms of the existence of a certain family of weak expectations on the algebra. Nuclearity implies the extension property, and this is used to show that for a discrete group $\text{G, C}{}_{\mathrm{r}}{}^1\text{(G)}$ is nuclear if and only if G is amenable.An approximation property in the dual of a C¹-algebra is introduced, and shown to imply nuclearity. It is not clear whether the converse implication holds, but it is proved that the known nuclear C¹-algebras satisfy the approximation property.     

On the closability of some positive definite symmetric differential forms on c0∞(ω)

Let $\text{S}$ be a Dirichlet form in $\text{L}{}^2\text{(Ω; m)}$, where Ω is an open subset of $\text{R}$ⁿ, n ? 2, and m a Radon measure on Ω; for each integer k with 1 ? k < n, let $\text{S}$_k be a Dirichlet form on some k-dimensional submanifold $\text{Ω}{}_{\mathrm{k}}$ of Ω. The paper is devoted to the study of the closability of the forms E with domain $\text{C}{}_0{}^{\mathrm{\infty }}\text{(Ω)}$ and defined by: $\text{(?,g)=}$$\text{E}$$\text{(?, g)+}\text{∑}\text{i}\text{p}\text{=1}$$\text{E}$k_i where 1 ? k_p < ? < n, and where , g^k_i denote restrictions of ?, g in $\text{C}{}_0{}^{\mathrm{\infty }}\text{(Ω)}$ to . Conditions are given for E to be closable if, for each i = 1,…, p, one has k_i = n ? i. Other conditions are given for E to be nonclosable if, for some i, k_i < n ? i.     

Spectral theory of commuting self-adjoint partial differential operators

Let Ω denote a connected and open subset of $\text{R}$ⁿ. The existence of n commuting self-adjoint operators H₁,…, H_n on $\text{L}{}^2\text{(Ω)}$ such that each H_j is an extension of $\text{−}\text{i∂}\text{∂x}{}_{\mathrm{j}}$ (acting on $\text{C}{}_{\mathrm{c}}{}^{\mathrm{\infty }}\text{(Ω))}$ is shown to be equivalent to the existence of a measure μ on $\text{R}$ⁿ such that f → $\text{}\text{̂}$tf (the Fourier transform of f) is unitary from $\text{L}{}^2\text{(Ω)}$ onto Ω. It is shown that the support of μ can be chosen as a subgroup of $\text{R}$ⁿ iff H₁,…, H_n can be chosen such that the unitary groups generated by H₁,…, H_n act multiplicatively on $\text{L}{}^2\text{(Ω)}$. This happens iff Ω (after correction by a null set) forms a system of representatives for the quotient of $\text{R}$ⁿ by some subgroup, i.e., iff Ω is essentially a fundamental domain.     

Eigenvalue estimates and the Trace Theorem

We consider inequalities of the form $\text{∝}{}_{\mathrm{?\Omega }}\text{u}{}^2\text{ds ? C ∝}{}_{\mathrm{\Omega }}\text{(u}{}^2\text{+ u,}{}_{\mathrm{i}}\text{u}{}_{\mathrm{i}}\text{) d}\text{x}$ (¹) for sufficiently regular functions u(x) defined on a bounded domain Ω in Rⁿ. The inequality (¹) follows from the Trace Theorem in interpolation spaces and so is called a trace inequality. Information on the optimal constants C (which depend on the domain geometry) is obtained through consideration of associated eigenvalue problems.     

Barriers for uniformly elliptic equations and the exterior cone condition

We consider the mixed boundary value problem $\text{Au = f}\text{in}\text{Ω, B}{}_0\text{u = g}{}_0\text{in}\text{Γ}{}^{\mathrm{?}}\text{, B}{}_1\text{u = g}{}_1\text{in}\text{Γ}{}^{\mathrm{+}}$, where Ω is a bounded open subset of $\text{R}$ⁿ whose boundary Γ is divided into disjoint open subsets Γ⁺ and Γ^? by an (n ? 2)-dimensional manifold ω in Γ. We assume A is a properly elliptic second order partial differential operator on $\text{Ω}$ and B_j, for j = 0, 1, is a normal jth order boundary operator satisfying the complementing condition with respect to A on $\text{Γ}{}^{\mathrm{+}}$. The coefficients of the operators and Γ⁺, Γ^? and ω are all assumed arbitrarily smooth. As announced in [Bull. Amer. Math. Soc.83 (1977), 391–393] we obtain necessary and sufficient conditions in terms of the coefficients of the operators for the mixed boundary value problem to be well posed in Sobolev spaces. In fact, we construct an open subset $\text{T}$ of the reals such that, if $\text{D}{}^{\mathrm{s}}\text{= {u ? H}{}^{\mathrm{s}}\text{(Ω): Au = 0}}$ then for $\text{s ? =}\text{1}\text{2}\text{(}\text{mod}\text{1), (B}{}_0\text{,B}{}_1\text{): D}{}^{\mathrm{s}}\text{→ H}{}^{\mathrm{<mtext>s\; ?\; </mtext><mtext>1</mtext><mtext>2</mtext>}}\text{(Γ}{}^{\mathrm{?}}\text{) × H}{}^{\mathrm{<mtext>s\; ?\; </mtext><mtext>3</mtext><mtext>2</mtext>}}\text{(Γ}{}^{\mathrm{+}}\text{)}$ is a Fredholm operator if and only if s ∈$\text{T}$ . Moreover, $\text{T}$ = ?_xew$\text{T}$_x, where the sets $\text{T}$_x are determined algebraically by the coefficients of the operators at x. If n = 2, $\text{T}$_x is the set of all reals not congruent (modulo 1) to some exceptional value; if n = 3, $\text{T}$_x is either an open interval of length 1 or is empty; and finally, if n ? 4, $\text{T}$_x is an open interval of length 1.     

The family of D-weights for a two-rooted graph

Let Π(G) be the set of paths of a particular class Π from the initial to the terminal root of a two-rooted (possibly directed) graph G. We consider the family of $\text{D}$-weights defined by

where Π_x(G) is the family of subsets of Π(G) which cover x(G), the vertex set or the edge (arc) set of G.A number of the common properties and interrelations of these weights are discussed. Some of the weights have been considered previously, [1, 2], in the context of percolation theory but here only combinatorial arguments are used.     

Multiplicativity factors for C-numerical radii

For matrices $\text{A, C?}\text{C}{}_{\mathrm{n}}\text{x}{}_{\mathrm{n}}$ , the C-numerical radius of A is the nonnegative quantity

$\text{r}{}_{\mathrm{c}}\text{(A)=max{|tr(CU}{}^1\text{AU)|:Uunitary}}$

. This generalizes the classical numerical radius r(A). It is known that r_c constitutes a norm on $\text{C}{}_{\mathrm{n}}\text{x}{}_{\mathrm{n}}$ if and only if C is nonscalar and trC≠0. For all such C we obtain multiplicativity factors for r_c, i.e., constant μ>0 for which μr_c is submultiplicative on $\text{C}{}_{\mathrm{n}}\text{x}{}_{\mathrm{n}}$.     

On tensor products of certain group C1-algebras

If A and B are C¹-algebras there is, in general, a multiplicity of C¹-norms on their algebraic tensor product A ⊙ B, including maximal and minimal norms ν and α, respectively. A is said to be nuclear if α and ν coincide, for arbitrary B. The earliest example, due to Takesaki [11], of a nonnuclear C¹-algebra was $\text{C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{)}$, the C¹-algebra generated by the left regular representation of the free group on two generators F₂. It is shown here that W¹-algebras, with the exception of certain finite type I's, are nonnuclear.If $\text{C}{}^1\text{(F}{}_2\text{)}$ is the group C¹-algebra of F₂, there is a canonical homomorphism λ_l of $\text{C}{}^1\text{(F}{}_2\text{)}$ onto $\text{C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{)}$. The principal result of this paper is that there is a norm ζ on $\text{C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{) ⊙ C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{)}$, distinct from α, relative to which the homomorphism $\text{λ ⊙ λ}{}_{\mathrm{l}}\text{: C}{}^1\text{(F}{}_2\text{) ⊙ C}{}^1\text{(F}{}_2\text{) → C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{) ⊙ C}{}_{\mathrm{l}}{}^1\text{(F}{}_2\text{)}$ is bounded ($\text{C}{}^1\text{(F}{}_2\text{) ⊙ C}{}^1\text{(F}{}_2\text{)}$ being endowed with the norm α). Thus quotients do not, in general, respect the norm α; a consequence of this is that the set of ideals of the α-tensor product of C¹-algebras A and B may properly contain the set of product ideals {$\text{I ? B + A ? J: I ? A, J ? B}$}.Let A and B be C¹-algebras. If A or B is a W¹-algebra there are on A ⊙ B certain C¹-norms, defined recently by Effros and Lance [3], the definitions of which take account of normality. In the final section of the paper it is shown by example that these norms, with α and ν, can be mutually distinct.     

Unbounded derivations commuting with compact group actions. II

Let ($\text{A}$, G, α) be a $\text{C}{}^1$ dynamical system and let δ be a closed ¹ derivation in $\text{A}$ which commutes with α and satisfies $\text{A}$^G ? ker(δ). If $\text{A}$ is a separable Type I $\text{C}{}^1$ algebra and G is a second countable compact group, then δ generates a strongly continuous one parameter group of ¹ automorphisms of $\text{A}$.     

The approximation of flows

Let U, V be two strongly continuous one-parameter groups of bounded operators on a Banach space $\text{X}$ with corresponding infinitesimal generators S, T. We prove the following: ∥U_t, ? V_t ∥ = O(t), t → 0, if and only if U = V; ∥U_t ? V_t∥ = O(t^α), t → 0; with 0 ? α ? 1, if and only if $\text{S = Ω(T + P)Ω}{}^{\mathrm{?1}}$, where Ω, P, are bounded operators on $\text{X}$ such that $\text{∥U}{}_{\mathrm{t}}\text{Ω ? ΩU}{}_{\mathrm{t}}\text{∥ = O(t}{}^{\mathrm{\alpha }}\text{), ∥U}{}_{\mathrm{t}}\text{P ? PU}{}_{\mathrm{t}}\text{∥ = ?O(t}{}^{\mathrm{\alpha }}\text{), t → 0; ∥U}{}_{\mathrm{t}}\text{? V}{}_{\mathrm{t}}\text{∥ = O(t)}$ if and only if $\text{S}{}^1\text{? T}{}^1$ has a bounded extension to $\text{X}$¹. Further results of this nature are inferred for semigroups, reflexive spaces, Hilbert spaces, and von Neumann algebras.     

Positive definite distributions on K\GK

Let G be a semisimple noncompact Lie group with finite center and let K be a maximal compact subgroup. Then W. H. Barker has shown that if T is a positive definite distribution on G, then T extends to Harish-Chandra's Schwartz space $\text{C}$¹(G). We show that the corresponding property is no longer true for the space of double cosets $\text{K}\text{G}\text{K}$. If G is of real-rank 1, we construct liner functionals $\text{T}{}_{\mathrm{p}}\text{? (C}{}_{\mathrm{c}}{}^{\mathrm{\infty }}\text{(K}\text{G}\text{K}\text{))′}$ for each p, 0 < p ? 2, such that $\text{T}{}_{\mathrm{p}}\text{(f 1 f}{}^1\text{) ? 0, ?f ? C}{}_{\mathrm{c}}{}^{\mathrm{\infty }}\text{(K}\text{G}\text{K}\text{)}$ but T_p does not extend to a continuous functional on $\text{C}{}^{\mathrm{p}}\text{(K}\text{G}\text{K}\text{)}$. In particular, if p ? 1, T_v does not extend to a continuous functional on $\text{C}{}^1\text{(K}\text{G}\text{K}\text{)}$. We use this to answer a question (in the negative) raised by Barker whether for a K-bi-invariant distribution T on G to be positive definite it is enough to verify that $\text{T(f 1 f}{}^1\text{) ? 0, ?f ? C}{}_{\mathrm{c}}{}^{\mathrm{\infty }}\text{(K}\text{G}\text{K}\text{)}$. The main tool used is a theorem of Trombi-Varadarajan.     

A multiplication of distributions

If Ω denotes an open subset of $\text{R}$ⁿ (n = 1, 2,…), we define an algebra $\text{g}$ (Ω) which contains the space $\text{D}$′(Ω) of all distributions on Ω and such that $\text{C}{}^{\mathrm{\infty }}\text{(Ω)}$ is a subalgebra of $\text{G}$ (Ω). The elements of $\text{G}$ (Ω) may be considered as “generalized functions” on Ω and they admit partial derivatives at any order that generalize exactly the derivation of distributions. The multiplication in $\text{G}$(Ω) gives therefore a natural meaning to any product of distributions, and we explain how these results agree with remarks of Schwartz on difficulties concerning a multiplication of distributions. More generally if q = 1, 2,…, and $\text{?∈O}{}_{\mathrm{M}}\text{(}\text{R}{}^{\mathrm{2q}}\text{)}$—a classical Schwartz notation—for any G₁,…,G_q∈G(σ), we define naturally an element $\text{?G}{}_1\text{,…,G}{}_{\mathrm{q}}\text{∈G(σ)}$. These results are applied to some differential equations and extended to the vector valued case, which allows the multiplication of vector valued distributions of physics.     

Uniform estimates for solutions of nonlinear Klein-Gordon equations

Uniform estimates in $\text{H}{}_0{}^1\text{(Ω)}$ of global solutions to nonlinear Klein-Gordon equations of the form $\text{u}{}_{\mathrm{tt}}\text{? Δu + mu = g(u)}\text{in}\text{Ω, u = 0}\text{in}\text{?Ω}$, where Ω is an open subset of $\text{R}$^N, m > 0, and g satisfies some growth conditions are established.     

Operator properties of Sobolev imbeddings over unbounded domains

For an open set Ω ? $\text{R}$^N, 1 ? p ? ∞ and λ ∈ $\text{R}$⁺, let $\text{W}\text{?}{}_{\mathrm{p}}{}^{\mathrm{\lambda }}\text{(Ω)}$ denote the Sobolev-Slobodetzkij space obtained by completing $\text{C}{}_0{}^{\mathrm{\infty }}\text{(Ω)}$ in the usual Sobolev-Slobodetzkij norm (cf. A. Pietsch, “r-nukleare Sobol. Einbett. Oper., Ellipt. Dgln. II,” Akademie-Verlag, Berlin, 1971, pp. 203–215). Choose a Banach ideal of operators $\text{U}$, 1 ? p, q ? ∞ and a quasibounded domain Ω ? $\text{R}$^N. Theorem 1 of the note gives sufficient conditions on λ such that the Sobolev-imbedding map $\text{W}\text{?}{}_{\mathrm{p}}{}^{\mathrm{\lambda }}\text{(Ω) λ L}{}_{\mathrm{q}}\text{(Ω)}$ exists and belongs to the given Banach ideal $\text{U}$: Assume the quasibounded domain fulfills condition C_k^l for some l > 0 and 1 ? k ? N. Roughly this means that the distance of any $\text{x ? Ω}$ to the boundary ?Ω tends to zero as $\text{O(¦ x ¦}{}^{\mathrm{?l}}\text{)}$ for $\text{¦ x ¦ → ∞}$, and that the boundary consists of sufficiently smooth ?(N ? k)-dimensional manifolds. Take, furthermore, 1 ? p, q ? ∞, p > k. Then, if μ, ν are real positive numbers with λ = μ + v ∈ $\text{N}$, μ > λ _S($\text{U}$; p,q:N) and v > N/l · λ_D($\text{U}$;p,q), one has that $\text{W}\text{?}{}_{\mathrm{p}}{}^{\mathrm{\lambda }}\text{(Ω) λ L}{}_{\mathrm{q}}\text{(Ω)}$ belongs to the Banach ideal $\text{U}$. Here λ_D($\text{U}$;p,q;N)∈$\text{R}$⁺ and λ_S($\text{U}$;p,q;N)∈$\text{R}$⁺ are the D-limit order and S-limit order of the ideal $\text{U}$, introduced by Pietsch in the above mentioned paper. These limit orders may be computed by estimating the ideal norms of the identity mappings l_pⁿ → l_qⁿ for n → ∞. Theorem 1 in this way generalizes results of R. A. Adams and C. Clark for the ideals of compact resp. Hilbert-Schmidt operators (p = q = 2) as well as results on imbeddings over bounded domains.Similar results over general unbounded domains are indicated for weighted Sobolev spaces.As an application, in Theorem 2 an estimate is given for the rate of growth of the eigenvalues of formally selfadjoint, uniformly strongly elliptic differential operators with Dirichlet boundary conditions in $\text{L}{}_2\text{(Ω)}$, where Ω fulfills condition C₁^l.For an open set Ω in $\text{R}$^N, let $\text{W}\text{?}{}_{\mathrm{p}}{}^{\mathrm{\lambda }}\text{(Ω)}$ denote the Sobolev-Slobodetzkij space obtained by completing $\text{C}{}_0{}^{\mathrm{\infty }}\text{(Ω)}$ in the usual Sobolev-Slobodetzkij norm, see below. Taking a fixed Banach ideal of operators and 1 ? p, q ? ∞, we consider quasibounded domains Ω in $\text{R}$^N and give sufficient conditions on λ such that the Sobolev imbedding operator $\text{W}\text{?}{}_{\mathrm{p}}{}^{\mathrm{\lambda }}\text{(Ω) λ L}{}_{\mathrm{q}}\text{(Ω)}$ exists and belongs to the Banach ideal. This generalizes results of C. Clark and R. A. Adams for compact, respectively, Hilbert-Schmidt operators (p = q = 2) to general Banach ideals of operators, as well as results on imbeddings over bounded domains. Similar results over general unbounded domains may be proved for weighted Sobolev spaces. As an application, we give an estimate for the rate of growth of the eigenvalues of formally selfadjoint, uniformly strongly elliptic differential operators with Dirichlet boundary conditions in $\text{L}{}_2\text{(Ω)}$, where Ω is a quasibounded open set in $\text{R}$^N.     

A Feynman-Kac gauge for solvability of the Schrödinger equation

Let {X_t, t ≥ 0} be Brownian motion in $\text{R}$^d (d ≥ 1). Let D be a bounded domain in $\text{R}$^d with C² boundary, ?D, and let q be a continuous (if d = 1), Hölder continuous (if d ≥ 2) function in D?. If the Feynman-Kac “gauge” E_x{exp(∝₀^τ_Dq(X_t)dt)1_A(X_τD)}, where τ_D is the first exit time from D, is finite for some non-empty open set A on ?D and some x?D, then for any $\text{? ? C}{}^0\text{(?D}$), is the unique solution in $\text{C}{}^2\text{(D) ∩ C}{}^0\text{(}\text{D}\text{?}\text{)}$ of the Schrödinger boundary value problem $\text{(}\text{1}\text{2}\text{Δ}\text{+ q)φ = 0}\text{in}\text{D, φ = ?}\text{on}\text{?D}$.     

Commuting self-adjoint partial differential operators and a group theoretic problem

In Rⁿ let Ω denote a Nikodym region (= a connected open set on which every distribution of finite Dirichlet integral is itself in $\text{L}{}^2\text{(Ω))}$. The existence of n commuting self-adjoint operators $\text{H}{}_1\text{,…, H}{}_{\mathrm{n}}\text{in}\text{L}{}^2\text{(Ω)}$ such that each H_j is a restriction of $\text{?i β}\text{βx}{}_{\mathrm{j}}$ (acting in the distribution sense) is shown to be equivalent to the existence of a set Λ ?Rⁿ such that the restrictions to Ω of the functions exp i ∑ λ_jx_j form a total orthogonal family in $\text{L}{}^2\text{(Ω)}$. If it is required, in addition, that the unitary groups generated by H₁,…, H_n act multiplicatively on $\text{L}{}^2\text{(Ω)}$, then this is shown to correspond to the requirement that Λ can be chosen as a subgroup of the additive group Rⁿ. The measurable sets Ω ?Rⁿ (of finite Lebesgue measure) for which there exists a subgroup Λ ?Rⁿ as stated are precisely those measurable sets which (after a correction by a null set) form a system of representatives for the quotient of Rⁿ by some subgroup Γ (essentially the dual of Λ).     

Wr,p(R)-splines

In [3] Golomb describes, for 1 < p < ∞, the H^r,p(R)-extremal extension $\text{F}{}_1$ of a function $\text{?:E → R}$ (i.e., the H^r,p-spline with knots in E) and studies the cone $\text{H}{}_{1E}{}^{\mathrm{r,p}}$ of all such splines. We study the problem of determining when $\text{F}{}_1$ is in W^r,p ≡ H^r,p ∩ L^p. If $\text{F}{}_1\text{? W}{}^{\mathrm{r,p}}$, then $\text{F}{}_1$ is called a W^r,p-spline, and we denote by $\text{W}{}_{1E}{}^{\mathrm{r,p}}$ the cone of all such splines. If E is quasiuniform, then $\text{F}{}_1\text{? W}{}^{\mathrm{r,p}}$ if and only if . The cone $\text{W}{}_{1E}{}^{\mathrm{r,p}}$ with E quasiuniform is shown to be homeomorphic to l^p. Similarly, $\text{H}{}_{1E}{}^{\mathrm{r,p}}$ is homeomorphic to h^r,p. Approximation properties of the W^r,p-splines are studied and error bounds in terms of the mesh size $\text{¦ E ¦}$ are calculated. Restricting ourselves to the case p = 2 and to quasiuniform partitions E, the second integral relation is proved and better error bounds in terms of $\text{¦ E ¦}$ are derived.     

Canonical forms for linear systems

This paper considers canonical forms for the similarity action of Gl(n) on $\text{∑}{}_{\mathrm{n,m}}\text{={(A,B)∈}\text{C}{}^{\mathrm{n}}\text{·}{}^{\mathrm{n}}\text{×}\text{C}{}^{\mathrm{n}}\text{·}{}^{\mathrm{m}}\text{}}$:

$\text{Gl(n×∑}{}_{\mathrm{n,m}}\text{→∑}{}_{\mathrm{n,m}}$

,

$\text{(H,(A,B))?(HAH}{}^{-1}\text{,HB)}$

Those canonical forms are obtained as an application of a more general method to select canonical elements M_c in the orbits $\text{O}{}_{\mathrm{M}}$ of a matrix group G acting on a set of matrices $\text{M}\text{?}\text{C}{}^{\mathrm{l}}\text{·}{}^{\mathrm{p}}$. We define a total order (?) on $\text{C}{}^{\mathrm{l}}\text{·}{}^{\mathrm{p}}$, different from the lexicographic order ^l? [0^l?x ? x <0, but $\text{0?x≠0 for x∈}\text{R}\text{]}$ and consider normalized $\text{O}{}_{\mathrm{M}}$-elements with a minimal number of parameters:

$\text{min{}\text{M}\text{?}\text{∈}\text{O}{}_{\mathrm{M}}\text{:}\text{M}\text{?}\text{normalized}}$

It is shown that the row and column echelon forms, the Jordan canonical form, and “nice” control canonical forms for reachable (A,B)-pairs have a homogeneous interpretation as such (?)-minimal orbit elements. Moreover new canonical forms for the general action (?) are determined via this method.