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Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Lie Groups Actions Examples Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems Examples Linear Momentum Angular Momentum U(n) acts on Cn
2 3 4 5 6
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Examples
Lie Groups Actions Examples Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems Examples Linear Momentum Angular Momentum U(n) acts on Cn
2 3 4 5 6
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Examples
Examples
Example 1.1 An example of left action of a Lie group G on itself is given by left translation Lg : G G, h gh. We saw that an example ol left action of a Lie group G on itself is given by left translation Lg . Similarly, the right translation Rg : G G, h hg dene a right action. The inner automorphism Adg Ig : G G given by Ig := Rg 1 Lg denes a left action of G on itself called conjugation.
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Lie Algebra
Let g be the Lie algebra of G, that is the tangent space on G at the identity element, endowed with bracket [, ] induced via left invariant vector elds. The dual of the Lie algebra is denoted by g . For each g and l g , we sometimes use the following notation: < l , >:= l ( ) Being a vector space the Jacobi identity is veried: [u , [v , w ]] + [v , [w , u ]] + [w , [u , v ]] = 0. (2.1)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
We will denote exponential map with exp and it is dened to be a function from g to G: exp : g G. Every g induces a vector eld X on X usually called the innitesimal action, which is dened by: X (x ) := d dt exp(t ) x .
t =0
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
which can be interpreted as a map from g to itself, and is convenient to denote it by Adg ( ) = g g 1 . Its adjoint, Ad g : g g is given by < Ad g (l ), >=< l , Adg ( ) >, where l g and g.
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Symplectic Notions
Denition 5.1 A symplectic manifold is a pair (M , ), where M is a manifold and is a closed nondegenerate two form on M, that is, d = 0. Since is a differential two-form, hence skew-symmetric, the dimension of M is always even. Let (X , ) be a symplectic manifold. A group action of G - sometimes called G-action - is called symplectic if the symplectic form is invariant under each pullback: g = , for allg G . (5.1)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
A moment map for a symplectic G-action, with Lie group G on X , is a smooth map : X g such that the following properties hold. i) < d (x )v , >= x (X (x ), v ) for all x X , v Tx X and g where X is the innitesimal action of . ii) (g (x )) = Ad g 1 (s ) holds for all x X and g G .
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Hamiltonian System
Denition 5.2 A Hamiltonian dynamical system is a triple (M , , H ), where (M , ) is a symplectic manifold and H C (M ) is the Hamiltonian function of the system. To each Hamiltonian system we can associate a Hamiltonian vector eld XH TM , dened by the identity iXH = dH . (5.2)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Denition 5.3 The action of G on (X , ) is called Hamiltonian if it is symplectic and there exists a moment map : X g for it. Denition 5.4 Let g be a Lie algebra acting canonically on the manifold M. Suppose that ofr any g the vector eld M is Hamiltonian, with function H C (M ) such that M = XM . The map : M g is dened by the relation H (m) =< (m), > for all g and m M, is called momentum map of the g-action.
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Linear Momentum
Now we will discuss about 1-particle system, with conguration space X = R3 . Let R3 act on X by translations, i.e., : R3 X X is given by x , q1 , q2 , q3 , p1 , p2 , p3 = q1 + x , q2 + x , q3 + x , p1 , p2 , p3
(q1 + t , q2 + t , q3 + t )
t =0
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Linear Momentum
Lie Groups Actions Examples Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems Examples Linear Momentum Angular Momentum U(n) acts on Cn
2 3 4 5 6
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Linear Momentum
Linear Momentum
On the other hand, by denition of the canonical symplectic structure, any candidate H has a Hamiltonian vector eld given by XH (qj , pj ) = Then, XH = X implies that H ( ) H ( ) = and = 0, , 1 j 3. pj qj Solving these equations we get:
3
H ( ) H ( ) , pj qj
H ( )(qj , pj ) =
j =1
pj i.e. J (qj , pj ) =
j =1
(6.4)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Angular Momentum
Lie Groups Actions Examples Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems Examples Linear Momentum Angular Momentum U(n) acts on Cn
2 3 4 5 6
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Angular Momentum
Angular Momentum
Let SO(3) act on the conguration space X = R3 by (A, q ) := Aq . The Lie algebra so(3) of SO(3) may be identied with R3 as follows. We dene the vector space isomorphism: R3 so(3) called the hat map, by 0 v3 v2 = v3 0 v1 . v = (v1 , v2 , v3 ) v v2 v1 0 Note that w = v w. v
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Angular Momentum
Angular Moment
The innitesimal generator corresponding to g = so(3) is: X (q , p) = = = d (exp(t )q , exp(t )p) dt t =0 ( p , q ) ( q , p ) . (6.5) (6.6) (6.7)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
Angular Momentum
Angular Moment
As in the previous example, to nd the momentum map, we solve H ( ) H ( ) = q and = p. p q A solution is given by H ( ) = ( q ) p = ( q ) p = (q p) , so that J (q , p ) = q p . (6.9) (6.8)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
U(n) acts on Cn
Lie Groups Actions Examples Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems Examples Linear Momentum Angular Momentum U(n) acts on Cn
2 3 4 5 6
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
U(n) acts on Cn
U(n) acts on Cn
Let U(n) act on the space X = Cn by (A, z ) := Az . The Lie algebra for U(n) is: u(n) = {A L (C n , C n ) :< Ax , y >= < x , Ay >}. (6.10)
The rst step is to nd out the innitesimal generator corresponding to g = o(n). X (q , p) = d dt (exp(t )z )
t =0
(6.11) (6.12)
= z Cn .
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
U(n) acts on Cn
U(n) acts on Cn
We want to check that iM = dz H , for all g. where H (z ) = 1 < z , z > . 2 (6.13) (6.14) (6.15) (6.16)
West University of Timisoara
dz H w
= = = =
1 1 < w , z > + < z , z > 2 2 1 1 < w , z > < z , w > 2 2 1 1 < z , w > < w , z > 2 2 1 1 < z , w > + < z ,w > 2 2 1 < z , w > < z ,w > 2
(6.17)
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
U(n) acts on Cn
U(n) acts on Cn
< z , z >
Lie Groups Actions Lie Algebra Exponential Map and Ininitesimal Action Adjoint and Coadjoint Representation Symplectic Notions. Hamiltonian Systems
U(n) acts on Cn
Bibliograe
Jerrold E. Marsden., Tudor S. Rat iu, Introduction to Mechanics and Symmetry, Springer - Verlag, New - York, 1994.