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Geodesic Reduction Via Frame Bundle Geometry

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Geodesic Reduction Via Frame Bundle Geometry Geodesic Reduction Via Frame Bundle Geometry by Ajit Bhand A thesis submitted to the Department of Mathematics and Statistics in conformity with the requirements for the degree of Doctor of Philosophy Queen's University Kingston, Ontario, Canada July 2007 Copyright c Ajit Bhand, 2007 \Truth is a shining goddess, always veiled, always distant, never wholly approachable, but worthy of all the devotion of which the human spirit is capable." {Bertrand Russell. i Abstract Reduction theory for systems with symmetry deals with the problem of understanding dy- namics on a manifold with an action of a Lie group. In geometric mechanics, this problem can be formulated in the Lagrangian, Hamiltonian or affine connection frameworks. While the Lagrangian and Hamiltonian formulations have been well developed, the results obtained in these setups are based on variational principles and symplectic geometry. These methods cannot be used directly in the affine connection formulation unless additional structure is available. In this thesis, a manifold with an arbitrary affine connection is considered, and the geodesic spray associated with the connection is studied in the presence of a Lie group action. In particular, results are obtained that provide insight into the structure of the reduced dynamics associated with the given invariant affine connection. The geometry of the frame bundle of the given manifold is used to provide an intrinsic description of the geodesic spray. A fundamental relationship between the geodesic spray, the tangent lift and the vertical lift of the symmetric product is obtained, which provides a key to understanding reduction in this formulation. ii Acknowledgements First and foremost, I would like to thank my supervisor Dr. Andrew Lewis for his constant guidance and support. His passion and dedication towards his work has been a source of inspiration for me over the years. As a student in the Mathematics and Statistics department, I have had the pleasure of knowing many remarkable individuals. In particular, I would like to thank David Tyner for always being readily available for discussion on math and non-math topics. His input has been extremely valuable to me. I also thank Elsa Hansen, John Chapman, Cesar Aguilar and Bahman Gharesifard for their active participation in the geometry reading group, which benefitted me greatly. Jennifer Read deserves special recognition for always being supportive and understanding, and being a calming influence. Dr. Navdeep Singh was a major influence in my formative years, and it was his zest for knowledge and his enthusiasm for teaching that led to me to the path that I am walking on now. I would like to thank Sharon and Raoul for being so accomodating, and for always being iii there for me. Last but not the least, I thank my parents for their love and blessings, and for being who they are. They have been the pillars of strength for me and have guided me towards my goals. iv Contents Abstract ii Acknowledgements iii Chapter 1 Introduction 1 1.1. Reduction theory for mechanical systems . 2 1.2. Contribution of this thesis . 3 1.3. Contents of the thesis . 5 Chapter 2 Literature review 8 2.1. The development of Lagrangian reduction theory . 8 2.1.1 Tangent and cotangent bundle reduction. 9 2.1.2 Lagrangian versus Hamiltonian reduction. 10 2.1.3 Routh reduction. 10 2.1.4 Euler-Poincar´e reduction. 11 2.1.5 Lagrange-Poincar´e reduction. 11 2.2. Relation of thesis to previous work . 12 Chapter 3 Definitions and notation 13 3.1. Action of a Lie group on a manifold . 14 3.1.1 Lie groups. 14 3.1.2 Action of a Lie group on a manifold. 15 v 3.2. Locally trivial fiber bundles . 17 3.2.1 Principal fiber bundles. 18 3.2.2 Associated bundles. 19 3.2.3 Connections in principal bundles. 24 3.2.4 Connections in vector bundles. 27 3.3. The bundle of linear frames . 30 3.3.1 The tangent bundle as an associated bundle. 32 3.3.2 Linear connections. 35 3.3.3 Torsion. 40 3.3.4 Geodesics. 41 Chapter 4 The geometry of the linear frame bundle 42 4.1. The space of linear connections of M . 43 4.2. First-order geometry . 46 4.2.1 Tangent and vertical lifts. 46 4.2.2 The geodesic spray of an affine connection. 48 4.3. Ehresmann connections induced by a linear connection . 49 4.4. Invariant principal connections . 52 4.5. The frame bundle L(G) of a Lie group G . 58 4.5.1 The connection 1-form of a left-invariant affine connection on G. 59 4.5.2 Geodesics on G. 61 Chapter 5 Geodesic Reduction 63 vi 5.1. Geodesic invariance . 64 5.2. Frame bundle adapted to a principal connection . 66 5.2.1 The reduced frame bundle. 69 5.3. The reduced geodesic spray . 73 5.3.1 Decomposition of the reduced geodesic spray. 74 5.3.2 Discussion. 83 Chapter 6 Conclusions and future work 87 6.1. Conclusions . 87 6.2. Future work . 88 vii Chapter 1 Introduction The geometry of systems with symmetry has been an active area of research in the last 30 years. The study of manifolds with certain special geometric structure invariant under Lie group action leads to what is known as reduction theory. Such questions arise in, for example, geometric mechanics. In this framework, the presence of symmetry allows the dynamics on a manifold to be studied on a lower dimensional manifold. In mechanics, there are at least three different ways of describing dynamics on a manifold, corresponding to the Lagrangian, Hamiltonian and affine connection formulations respectively. While the reduction theory for Lagrangian and Hamiltonian systems has been well developed (see [22, 1, 7, 6]), the results have been obtained by using variational analysis and symplectic geometry respectively. The main reason behind following this approach is the fact that the dynamics for such systems arises from variational principles which are manifested by symplectic structures in the Hamil- tonian framework. However, when the dynamics on a manifold are given in terms of the 1 geodesic equation of an affine connection, we cannot use variational analysis unless additional structure is provided. 1.1. Reduction theory for mechanical systems In this section we motivate the idea of reduction in mechanics by presenting a simple example. What we say here can be found in [21, 20]. A detailed review of reduction theory will be presented in Chapter 2. The equations of motion of a particle with charge e and mass m in a magentic field can be considered as reduced equations coming from dynamics on a larger manifold as we discuss below. 3 First of all, let B be a closed two-form on R and let B = Bxi + Byj + BZ k be the associated divergence free vector field satisfying iB(dx ^ dy ^ dz) = B; where iB refers to the interior product. The vector field B can be thought of as a magnetic field. Let the configuration space be given by M = R3 × S1 with variables (q; θ). The Lie group G = S1 acts on M in a natural way and M=G ' R3. If B = dA, for some one-form A on R3, that is, B = r × A, where A[ = A, we consider the one-form ! = A + dθ regarded as a principal connection one-form. Define a Lagrangian L : T M ! R as follows: 1 1 L(q; q_; θ; θ_) = mjjq_jj2 + (!(q; q_; θ; θ_))2: 2 2 2 Now, the Euler{Lagrange equations corresponding to this Lagrangian are the geodesic equa- tions on M for the Levi{Civita connection corresponding to the metric for which L is the kinetic energy. These equations can be reduced, for example, by using the procedure de- scribed in [20], and the reduced dynamics is given by e mx¨ = (B y_ − B z_); c z y e my¨ = (B z_ − B x_); (1.1.1) c x z e mz¨ = (B x_ − B y_): c y x These equations correspond to the Lorentz force law for a particle with charge e and mass m: dv e m = v × B; dt c where v = (x:_ y_; z_). This therefore provides an example of a physical system whose dynamics can be thought of as the dynamics of a reduced system. 1.2. Contribution of this thesis In this thesis, we consider an arbitrary affine connection on a manifold and provide results that enable us to decompose the reduced geodesic spray corresponding to the affine connection using tools from affine differential geometry only. In other words, we do not use variational methods. In arriving at our results, we come to a deeper understanding of the geometry of bundle of linear frames and its relationship with the geometry of the tangent bundle of the 3 given manifold. The setup we consider is the following. Let M be a manifold and G a Lie group which acts on M in such a manner that M is the total space of a principal bundle over M=G. Let A be an arbitrary principal connection on this bundle. The Lie group G also acts on the bundle L(M) of linear frames over M via the lifted action. In such a case we say that L(M) is G-compatible. It is known that there is a one-to-one correspondence between principal connections on L(M) and affine connections on M [12]. Let ! be a G-invariant linear connection on L(M) with r the corresponding affine connection on M. The geodesic spray Z corresponding to r is a second-order vector field on the tangent bundle T M with the property that the projection of its integral curves correspond to geodesics on M.
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