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a Geometric Approach
Enrico Massa
Dipartimento di Matematica dellUniversit`a di Genova
Via Dodecaneso, 35 - 16146 Genova (Italia)
E-mail: massa@dima.unige.it
Enrico Pagani
Dipartimento di Matematica dellUniversit`a di Trento
Via Sommarive, 14 - 38050 Povo di Trento (Italia)
E-mail: pagani@science.unitn.it
Stefano Vignolo
Dipartimento di Matematica dellUniversit`a di Genova
Via Dodecaneso, 35 - 16146 Genova (Italia)
E-mail: vignolo@dima.unige.it
Abstract
A revisitation of the Legendre transformation in the context of affine principal
bundles is presented. The argument, merged with the gaugetheoretical considerations developed in [1], provides a unified representation of Lagrangian
and Hamiltonian Mechanics, extending to arbitrary non-autonomous systems
the symplectic approach of W.M. Tulczyjew.
PACS: 03.20+1
1991 Mathematical subject classification: 70D10, 58F05, 53C57
Keywords: Lagrangian dynamics, Legendre transformation, Symplectic geometry.
Introduction
In recent papers [1, 2, 3, 4] a new geometrical framework for Analytical Mechanics has been developed. The formulation automatically embodies the invariance
of Lagranges equations under gauge transformations of the form L L + f,
f denoting the total time derivative of an arbitrary smooth function over the configuration manifold. Within this context we shall introduce an enhanced version
Research partly supported by the National Group for Mathematical Physics (GNFMINDAM).
2
2.1
(2.1)
coordinates as Y = v
. Viewed as an element of the modelling space W , the
vector Y coincides with the constant function f (x) 1 x M .
Let M denote the quotient of Q by the action described above.
A straightforward argument shows that the variables y1 , . . . , yn form an affine
2
(2.2)
Eq. (2.2) establishes a bi-affine pairing between the spaces Q and Q , invariant
under the 1-parameter group of translations
(z, ) 7 ( (z), )
(2.3)
(2.4)
and with image space z(M ) identical to the affine subspace of Q formed by the
totality of hyperplanes containing z.
The previous arguments allow a simple characterization of the first jet spaces
j1 (Q, M ) and j1 (Q, M ) associated with the fibrations Q M and Q M .
Recalling the interpretation of the bi-affine pairing (2.2) we have in fact
Theorem 2.1 Both manifolds j1 (Q, M ) and j1 (Q, M ) are diffeomorphic to the
submanifold S Q Q described by the equation F (z, ) = 0 .
Proof: by definition, every pair (z, ) S, meant as a point z Q and a hyperplane : M Q through z is an element of j1 (Q, M ), while, meant as a point
Q and a hyperplane z : M Q containing , it belongs to j1 (Q, M ).
A straightforward argument (left to the reader) shows that both correspondences
S j1 (Q, M ) and S j1 (Q, M ) obtained in this way are in fact diffeomorphisms.
In view of Theorem 2.1, the bundles j1 (Q, M ) and j1 (Q, M ) may be identified. Depending on the context, we shall refer them to global coordinates xi , u, yi
or xi , v, yi , related to each other by the correspondence
u v xi yi = 0
3
(2.5)
(2.6)
M M
Q
?
j1 (Q, M )
(2.8)
HH
HH
H
j
H
xi
yi =
xi
; v = xi
yi =
xi
(2.9a)
(2.9b)
i
i
() = (dyi ) dx = d
dx = 0
xi
(2.10)
xi =
yi
xi =
yi
; u = + yi
yi
(2.11a)
(2.11b)
the correspondence := 1
: M Q is a section of the bundle Q M ,
described in coordinates as
v = yi xi + x1 , . . . , xn := (y1 , . . . , yn )
(2.12)
with the variables xi defined implicitly in terms of the yi s through eqs. (2.9b).
From eqs. (2.9b), (2.12), by elementary computations, we get the identities
xj
xj
= xi yj
j
= xi
yi
yi
x yi
= + yi
yi
(2.13)
pointing out the perfectly symmetric role played by the sections and .
Consistently with the current terminology, every diffeomorphism M M
arising from a section : M Q through the algorithm indicated above will be
called a Legendre transformation.
2.2
The construction of Subsection 2.1 is easily extended to the context of affine bundles over an arbitrary base manifold N . The basic structure is summarized into
the diagram
Q
y
N
(2.14)
y
N
(2.15)
x M()
(2.16)
Once again, the fibrations Q M and Q M are dual of each other under
the bi-affine pairing (z, ) F (z, ) defined on the fibered product Q N Q by
F (z, ) = u(z) v() yi () xi (z)
(2.17)
Basically, this means that M is the quotient of Q by the action of the 1-parameter group
of affine translations generated by an everywhere non-zero vector field X tangent to the fibers of
Q N , and constant along each fiber.
y
B
j1 (Q, M )
(2.20)
(2.21a)
2 = dv v d v i dyi
(2.21b)
and playing the role of connection 1-forms with respect to the principal fibrations
j1 (Q, M ) B and j1 (Q, M ) B discussed above.
Finally, by definition, for each z Q, the elements of the fiber j1 (Q, M )|z
are equivalence classes of sections : M Q having a first order contact at z.
Setting := (z) N , the restriction of each such to the fiber M is a section
: M Q . Moreover, if two sections , 0 have a first order contact at z, the
restrictions , 0 also do.
S
In this way, by varying z, we obtain a surjection j1 (Q, M ) N j1 (Q , M ) .
S
A similar argument establishes the surjection j1 (Q, M ) N j1 (Q , M ) .
In view of eq. (2.18) this makes both j1 (Q, M ) and j1 (Q, M ) into fiber bundles
over the same base manifold S. On this basis, we state
Theorem 2.2 There exists a unique diffeomorphism : j1 (Q, M ) j1 (Q, M )
making the diagram
j1 (Q, M ) j1 (Q, M )
y
y
S
(2.22)
Proof: in coordinates, on account eqs. (2.18), (2.19), the requirement of commutativity of the diagram (2.22) is expressed by the relations
( ) = ,
(yi ) = ui ,
(v i ) = xi ,
(v) = u xi (yi ) = u xi ui
(2.23a)
v i = xi ,
u = v =
(2.23b)
= du d yi dxi = dv d + xi dyi
(2.24)
:= d = d d + dyi dxi
(2.25)
The 2-form
endows the base manifold B with a canonical symplectic structure.
The previous arguments, summarized into the diagram
j1 (Q, M )
j1 (Q, M )
?
B
H
(2.26)
HH
?
HH
j M
xi
yi =
xi
yi =
xi
; v = xi
yi =
xi
(2.27a)
(2.27b)
; =
(2.27c)
i
() = d d + dyi dx = d
d + i dx = 0
x
(2.28)
Q M , described in coordinates as
v = yi xi + 1 , . . . , r, x1 , . . . , xn := 1 , . . . , r, y1 , . . . , yn
(2.29)
with the functions xi 1 , . . . , r, y1 , . . . , yn defined implicitly by eqs. (2.27b).
From eqs. (2.27b), (2.29), by elementary computations, we get the identities
xj
xj
= xi yj
j
= xi
yi
yi
x yi
= + yi
yi
(2.30)
pointing out once again the symmetric role played by the sections and
The previous arguments extend to jet-bundles the classical approach to the
Legendre transformation developed by Tulczyjew [5, 8]. In this connection, see
also [12].
Classical Mechanics
3.1
A well known feature of Classical Mechanics is the invariance of Lagranges equations under gauge transformations of the form L L + f involving the total time
derivative of an arbitrary smooth function over the configuration manifold. This
fact is conveniently accounted for by working in an environment in which gauge
equivalent Lagrangians may be thought of as different representations of the same
geometrical object. The geometrical set-up, worked out in detail in [1, 2], relies
t
<, in which
on the introduction of a double fibration P
Vn+1
Vn+1 is the configuration space-time of the dynamical system in study, with
t
< representing absolute time;
the fibration Vn+1
P
Vn+1 is a principal fiber bundle, with structural group (<, +), called
the bundle of affine scalars over Vn+1 .
In what follows, we shall refer the manifold Vn+1 to local coordinates t, q i , and
P to fibered local coordinates t, q i , u (i = 1 . . . , n) , u denoting any trivialization
fields u
and u , and giving rise to corresponding quotient spaces and quotient
maps. The situation is summarized into the diagram
j1 (P, <) Lc (Vn+1 )
y
y
(3.1)
L(Vn+1 ) j1 (Vn+1 )
in which all arrows express principal fibrations with structural group (<, +), while
j1 (Vn+1 ) := j1 (Vn+1 , <) denotes the velocity space of the system.
More specifically, the manifold L(Vn+1 ), with coordinates t, q i , qi , u,
is the quo
tient of j1 (P, <) by the action generated by u
. The 1-parameter group generated
by u makes L(Vn+1 ) into a principal fiber bundle over j1 (Vn+1 ), known as the
Lagrangian bundle. Every section l : j1 (Vn+1 ) L(Vn+1 ), expressed locally as
u = L(t, q i , qi ) , is called a Lagrangian section.
In a similar way, the quotient of j1 (P, <) by the action generated by u is
denoted by Lc (Vn+1 ). The principal fiber bundle Lc (Vn+1 ) j1 (Vn+1 ), with
10
fields u
, p 0 . These give rise to corresponding quotient spaces and quotient
maps, summarized into the diagram
j1 (P, Vn+1 ) Hc (Vn+1 )
y
y
H(Vn+1 )
(3.2)
(Vn+1 )
in which all arrows express principal fibrations with structural group (<, +). The
double quotient (Vn+1 ) is called the phase space of the system.
More specifically: the manifold H(Vn+1 ), with coordinates t, q i , p0 pi , is the
by p0 makes H(Vn+1 ) into a principal fiber bundle over (Vn+1 ), known as the
Hamiltonian bundle. Every section h : (Vn+1 ) H(Vn+1 ), described in coordinates as p0 = H(t, q i , pi ) is called a Hamiltonian section.
In a similar way, the quotient of j1 (P, Vn+1 ) by the action generated by p 0 is
denoted by Hc (Vn+1 ). The principal fiber bundle Hc (Vn+1 ) (Vn+1 ), with
(3.3)
determines a connection over the principal fiber bundle j1 (P, Vn+1 ) H(Vn+1 ).
The curvature of , described, up to a sign, by the exterior 2-form
:= d = dp0 dt + dpi dq i
(3.4)
3.2
The algorithm developed in Subsection 2.2 applies in a natural way to the Lagrangian and Hamiltonian bundles described in Subsection 3.1, thereby providing a
mathematical environment for a unified formulation of time-dependent Lagrangian
and Hamiltonian Dynamics.
11
y
y
Vn+1
(3.5)
Vn+1
and observe that, by construction, both j1 (Vn+1 ) Vn+1 and L(Vn+1 ) Vn+1
are affine bundles (the second one identical to the quotient of j1 (P, <) P by the
y
y
Vn+1
(3.6)
Vn+1
defines another affine principal fibration over the same base space Vn+1 .
More specifically, from the discussion of Subsection 3.1 we can draw the following
conclusions:
the bundle H(Vn+1 ) Vn+1 is canonically isomorphic to the space of connections over the principal fiber bundle P Vn+1 . At each x Vn+1 , the
elements of the fiber H(Vn+1 )|x are in fact equivalence classes of sections
% : Vn+1 P related to each other by the condition 2
% %0 d % %0 |x = 0
and therefore defining one and the same horizontal distribution along the
fiber Px ;
every section % : Vn+1 P defined in a neighborhood of a point x and
described in coordinates as u = % (t, q 1 , . . . , q n ) may be lifted to a section
j1 (Vn+1 ) L(Vn+1 ), denoted symbolically by % , and expressed in coordi% k
nates as u = %
t + q k q . The restriction of % to the fiber j1 (Vn+1 )|x is
an affine section % |x : j1 (Vn+1 )|x L(Vn+1 )|x . Two sections %, %0 satisfy
% |x = % 0 |x if and only if the differential d (% %0 ) vanishes at x.
In view of the stated results, every element H(Vn+1 )|x is easily seen to determine an affine section u = p 0 () + pi () qi of the bundle L(Vn+1 )|x j1 (Vn+1 )|x .
With the terminology of Subsection 2.2 we have thus proved
2
Notice that, consistently with the definition of H(Vn+1 ), we are not requiring %(x) = %0 (x).
12
Proposition 3.1 The affine principal fibrations (3.5), (3.6) are affine dual of
each other under the bi-affine map F : L(Vn+1 ) Vn+1 H(Vn+1 ) < expressed in
coordinates as
F (t, q i , qi , u,
p 0 , pi ) = u p 0 pi qi
(3.7)
Together with Theorem 2.2, Proposition 3.1 gives rise to a canonical identification
between the first-jet spaces j1 (L(Vn+1 ), j1 (Vn+1 )) and j1 (H(Vn+1 ), (Vn+1 )).
In the present context, this result is further enhanced by considering the fibration
H(Vn+1 ) < coming from the composition H(Vn+1 ) Vn+1 <. Denoting
by j1 (H(Vn+1 ), <) the associated first jet space, and recalling that the manifold
H(Vn+1 ) is canonically endowed with the symplectic structure (3.4), we have in
fact the following
Theorem 3.1 The manifolds j1 (H(Vn+1 ), <) , j1 (H(Vn+1 ), (Vn+1 )) are canonically diffeomorphic.
Proof: by definition, both manifolds in study may be regarded as affine subbundles, respectively of the tangent space T (H(Vn+1 )) and of the cotangent space
T (H(Vn+1 )) , according to the identifications
n
o
j1 (H(Vn+1 ), <)
= X | X T (H(Vn+1 )) , hX , dti = 1
(3.8a)
n
D
E
o
i = X, dt
p 0 , X = X p 0 dp 0 dt + dpi dq
showing that the correspondence X X determines a diffeomorphism of
j1 (H(Vn+1 ), <) onto j1 (H(Vn+1 ), (Vn+1 )), fibered over H(Vn+1 ) .
In view of the previous results, all spaces j1 (H(Vn+1 ), <), j1 (L(Vn+1 ), j1 (Vn+1 ))
and j1 (H(Vn+1 ), (Vn+1 )) are canonically diffeomorphic, and may be identified.
For definiteness, and without any loss in generality, we choose to regard all of them
as different copies of the manifold j1 (H(Vn+1 ), <). Depending on the context, we
shall refer j1 (H(Vn+1 ), <) to ordinary jet coordinates t, q i , p 0 , pi , qi , p 0 , pi , or to
coordinates t, q i , u,
pi , qi , p 0 , pi related to the previous ones by the transformation
(analogous to eq. (2.23a))
u p 0 pi qi = 0
(3.9)
The relationships with the standard jet coordinates t, q i , qi , u,
u t , u qi , u qi on
j1 (L(Vn+1 ), j1 (Vn+1 )) and t, q i , pi , p 0 , p 0t , p 0qi , p 0pi on j1 (H(Vn+1 ), (Vn+1 )) are
then expressed by the identifications
p 0 = u t = p 0t
pi = u qi = p 0qi
pi = u qi
qi = p 0pi
(3.10)
The quotient of j1 (H(Vn+1 ), <) by the action of the 1-parameter group of diffeomorphisms generated by the vector field u = p 0 will be denoted by B,
and will be referred to coordinates t, q i , qi , pi , p 0 , pi . The quotient map makes
j1 (H(Vn+1 ), <) B into a principal fiber bundle. The Liouville 1-forms of
j1 (L(Vn+1 ), j1 (Vn+1 )) and j1 (H(Vn+1 ), (Vn+1 )), unified into the single expression
:= du p 0 dt pi dq i pi dqi = dp 0 p 0 dt pi dq i + qi dpi
(3.11)
(3.12)
j1 (L(Vn+1 ), j1 (Vn+1 ))
j1 (H(Vn+1 ), (Vn+1 ))
L(Vn+1 )
(3.13)
H(Vn+1 )
B
PP
PP
j1 (Vn+1 )
PP
PP
q
)
(Vn+1 )
provides the necessary tool for the application of the Legendre transformation in
time dependent Analytical Mechanics, along the lines discussed in Section 2. An
alternative approach, leading to a construction bearing interesting analogies with
diagram (3.13) may be found in [13].
3.3
Dynamics
As a final topic, we discuss the Lagrangian and Hamiltonian formulation of Dynamics within the geometrical framework developed so far. The analysis will provide
a gaugeinvariant extension to non-autonomous systems of the classical results of
Tulczyjew [5, 6, 7, 8, 9].
Let l : j1 (Vn+1 ) L(Vn+1 ) denote a Lagrangian section, expressed in coordinates as u = L(t, q i , qi ). On account of the identifications (3.10), the first jet
extension j1 (l) : j1 (Vn+1 ) j1 (L(Vn+1 ), j1 (Vn+1 )) is described by the equations
u = L(t, q i , qi ) ,
p 0 = u t =
L
,
t
pi = u qi =
L
,
q i
pi = u qi =
L
qi
(3.14)
L i
q L(t, q i , qi ) = 0 ,
qi
p 0 =
L
,
t
14
pi =
L
,
qi
pi =
L
q i
(3.15)
By the very definition of j1 (H(Vn+1 ), <), eqs. (3.15) provide a system of ordinary
differential equations, not in normal form, for the determination of the family of
sections : < H(Vn+1 ) ( (t) (t, q i (t), p 0 (t), pi (t)) ) whose jet extension
:= j1 () satisfies (t)
p 0 =
H
,
t
pi =
H
,
q i
qi =
H
pi
(3.16)
Once again, according to the diagram (3.13), the image space E := j1 (h)((Vn+1 ))
may be regarded as a (2n + 1)dimensional submanifold of j1 (H(Vn+1 ), <) .
Eqs. (3.16) play therefore the role of a system of ordinary differential equations,
now in normal form, characterizing the totality of sections : < H(Vn+1 ) whose
jet extension satisfies (t)
pi =
L
qi
l :
pi =
L
qi
l :
pi =
L
qi
; p 0 = L qi
L
qi
(3.17a)
(3.17b)
; p 0 =
15
L
;
t
pi =
L
q i
(3.17c)
(3.18)
qi =
H
pi
h :
qi =
H
pi
h :
qi =
H
pi
; u = H +
H
pi
pi
(3.19a)
(3.19b)
; p 0 =
H
;
t
pi =
H
q i
(3.19c)
showing that the hypersurface E is horizontal with respect to the canonical connection of j1 (H(Vn+1 ), <) B. Now, a straightforward argument indicates that
every horizontal submanifold i : S j1 (H(Vn+1 ), <) has dimension 2n + 1 3 .
Regular dynamical systems may therefore be viewed as horizontal submanifolds of
maximal dimension in j1 (H(Vn+1 ), <), projecting injectively onto both j1 (Vn+1 )
and (Vn+1 ).
The previous conclusion extends to the newer context the results originally
established by Tulczyjew in the autonomous case [5, 6, 7, 8, 9] (in this connection
see also [10, 11, 12]). The analogies are easily understood by observing that the
17
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18