Related papers: Numerical Integrators for Mechanical Systems on Li…
We consider trivializations of second iterated bundles of a Lie group that preserve lifted group structures. With such a trivialization, we elaborate Hamiltonian dynamics on cotangent, Lagrangian dynamics on tangent bundles and, both…
Many relevant applications of group theoretical methods to physical problems are related, in some manner, to classification schemes by means of symmetry groups. In these schemes, irreducible representations of a Lie group have to be…
The reduction of the `master system' of free motion on the cotangent bundle $T^*G$ of a compact, connected and simply connected, semisimple Lie group is considered using the conjugation action of $G$. It is proved that the restriction of…
In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we…
This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is…
An overview of Hamiltonian systems with noncanonical Poisson structures is given. Examples of bi-Hamiltonian ode's, pde's and lattice equations are presented. Numerical integrators using generating functions, Hamiltonian splitting,…
A remarkable number of different numerical algorithms can be understood and analyzed using the concepts of symmetric spaces and Lie triple systems, which are well known in differential geometry from the study of spaces of constant curvature…
We provide a comprehensive survey of splitting and composition methods for the numerical integration of ordinary differential equations (ODEs). Splitting methods constitute an appropriate choice when the vector field associated with the ODE…
In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups. A homogeneous space $M$ is a manifold where a group…
Integrable systems with a linear periodic integral for the Lie algebra $\mathrm{e}(3)$ are considered. One investigates singulariries of the Liouville foliation, bifurcation diagram of the momentum mapping, transformations of Liouville…
A fully numerical method to calculate loop integrals, a numerical contour-integration method, is proposed. Loop integrals can be interpreted as a contour integral in a complex plane for an integrand with multi-poles in the plane. Stable and…
We define symmetric bundles as vector bundles in the category of symmetric spaces; it is shown that this notion is the geometric analog of the one of a representation of a Lie triple system. We show that such a bundle has an underlying…
We explore the integration of representations from a Lie algebra to its algebraic group in positive characteristic. An integrable module is stable under the twists by group elements. Our aim is to investigate cohomological obstructions for…
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The…
Motivated by numerical integration on manifolds, we relate the algebraic properties of invariant connections to their geometric properties. Using this perspective, we generalize some classical results of Cartan and Nomizu to invariant…
In this paper we extend the Lie theory of integration in two different ways. First we consider a finite dimensional Lie algebra of vector fields and discuss the most general conditions under which the integral curves of one of the fields…
A new method is proposed to numerically integrate a dynamical system on a manifold such that the trajectory stably remains on the manifold and preserves first integrals of the system. The idea is that given an initial point in the manifold…
On the base of Lie algebraic and differential geometry methods, a wide class of multidimensional nonlinear integrable systems is obtained, and the integration scheme for such equations is proposed.
Principal bundles have at least three different definitions, depending on the category of geometric objects studied. In Differential Geometry, they are defined as locally trivial projection map of smooth manifolds with an atlas whose…
Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant derivative. The digital implementation of controllers for…