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We present a framework for learning Hamiltonian systems using data. This work is based on a lifting hypothesis, which posits that nonlinear Hamiltonian systems can be written as nonlinear systems with cubic Hamiltonians. By leveraging this,…
Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental interactions to convert internal shape changes into displacement through the world, encoding this relationship in a ``motility…
Classical and quantum Hamiltonian reductions of free geodesic systems of complete Riemannian manifolds are investigated. The reduced systems are described under the assumption that the underlying compact symmetry group acts in a polar…
We show that certain right-invariant metrics endow the infinite-dimensional Lie group of all smooth orientation-preserving diffeomorphisms of the circle with a Riemannian structure. The study of the Riemannian exponential map allows us to…
The relative equilibria of a symmetric Hamiltonian dynamical system are the critical points of the so-called augmented Hamiltonian. The underlying geometric structure of the system is used to decompose the critical point equations and…
Let (N,g) be a nilpotent Lie group endowed with an invariant geometric structure (cf. symplectic, complex, hypercomplex or any of their `almost' versions). We define a left invariant Riemannian metric on N compatible with g to be minimal,…
The paper is devoted to the study of geodesic orbit Riemannian metrics on nilpotent Lie groups. The main result is the construction of continuous families of pairwise non-isomorphic connected and simply connected nilpotent Lie groups, every…
We discuss whether it is possible to reconstruct a metric by its unparameterized geodesics, and how to do it effectively. We explain why this problem is interesting for general relativity. We show how to understand whether all curves from a…
We show that the group of isometries (i.e., distance-preserving homeomorphisms) of an equiregular subRiemannian manifold is a finite-dimensional Lie group of smooth transformations. The proof is based on a new PDE argument, in the spirit of…
A description of Lagrangian and Hamiltonian formalisms naturally arisen from the invariance structure of given nonlinear dynamical systems on the infinite--dimensional functional manifold is presented. The basic ideas used to formulate the…
We present an algorithm for constructing analytically approximate integrals of motion in simple time periodic Hamiltonians of the form $H=H_0+ \varepsilon H_i$, where $\varepsilon$ is a perturbation parameter. We apply our algorithm in a…
A natural extension of a homogeneous geodesic in homogeneous Riemannian spaces $G/H$, known as a two-step homogeneous geodesic, can be expressed of the form $\gamma(t)=\pi(\exp(tx)\exp(ty))$, where $x$ and $y$ are elements of the Lie…
We mimic the stochastic Hamiltonian reduction of Lazaro-Cami and Ortega [17, 18] for the case of certain non-holonomic systems with symmetries. Using the non-holonomic connection it is shown that the drift of the stochastically perturbed…
The supersymmetric structure of a generalized non-Hermitian driven two-level system is demonstrated. A unitary rotation turns the Hamiltonian into a more convenient form. After decoupling a set of differential equations, the supersymmetric…
In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and…
In this paper we consider symplectic and Hamiltonian structures of systems generated by actions of sigma-model type and show that these systems are naturally connected with specific symplectic geometry on loop spaces of Riemannian and…
We prove that, on any closed manifold of dimension at least two with non-trivial first Betti number, a $C^\infty$ generic Riemannian metric has infinitely many closed geodesics, and indeed closed geodesics of arbitrarily large length. We…
Modified Hamiltonians are used in the field of geometric numerical integration to show that symplectic schemes for Hamiltonian systems are accurate over long times. For nonlinear systems the series defining the modified Hamiltonian usually…
Let N be a nilpotent Lie group and let S be an invariant geometric structure on N (cf. symplectic, complex or hypercomplex). We define a left invariant Riemannian metric on N compatible with S to be "minimal", if it minimizes the norm of…
Chaplygin proved the integrability by quadratures of a round sphere, rolling without slipping on a horizontal plane, with center of mass at the center of the sphere, but with arbitrary moments of inertia. Although the system is integrable…