Beruflich Dokumente
Kultur Dokumente
4I) d4iii1ILFONI41
IN
fHEUriY
G. Giachetta
L. Mangiarotti
G. SardanashviI3
World Scientific
NEW LAGRANGIAN
AND HAMILTONIAN
METHODS IN
FIELD THEORY
NEW LAGRANGIAN
AND HAMILTONIAN
METHODS IN
FIELD THEORY
G. Giachetta
Univ. Camertno
L. Mangiarotti
Univ Camerino
G. Sardanashvily
Moscow State Univ.
World Scientific
Singapore *Hong Kong
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World Scientific Publishing Co. Pte. Ltd.
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ISBN 981-02-1587-8
v
vi PREFACE
Introduction 1
1 Fibred Manifolds 7
1.1 Immersion and submersion ........................ 8
1.2 Fibred manifolds . .... ............. ........... 12
1.3 Vector and affine bundles ......................... 21
1.4 Tangent bundles of fibred manifolds ........ ... ........ 25
1.5 Vector and multivector fields ....................... 29
1.6 Differential forms on fibred manifolds ..... ....... .. .. .. 33
2 Jet Manifolds and Connections 43
2.1 First order jet manifolds . ........... ............. 43
2.2 Second order jet manifolds ........................ 52
2.3 Connections .... .............. ............ .. 58
2.4 Differentials and codifferentials. Identities ............... 68
2.5 Composite connections .... ..... .. ............... 75
2.6 Second order connections ...... ...... ........ .. .. 80
. ....... .... ........... ..
.
3 Lagrangian Formalism 97
3.1 Technical preliminaries. Higher order jets ................ 98
3.2 The first variational formula .... .. .. .. .. .. . ..... . .. 101
3.3 Euler-Lagrange operators ....... .... .. .. .. ....... 108
3.4 Lagrangian polysymplectic structures . .... .............
Lagrangian conservation laws ..... .... ....... ...... 128
121
3.5
3.6 Conservation laws in gauge theory ... .... ..... ........ 140
3.7 Conservation laws in gravitation theory .... .. .... . .. .. .. 155
vii
viii CONTENTS
Bibliography 427
1
2 INTRODUCTION
dATA.
If the Lagrangian density L is invariant under the local l-parameter group of gauge
transformations whose generator is the vector field u, the Lie derivative van-
ishes. Then we obtain the weak conservation law dATA -_ 0 of the corresponding
symmetry current T along the vector field u. This symmetry current is not defined
uniquely, but depends on the choice of a Lepagean equivalent of the Lagrangian
density L. Symmetry currents associated with different Lepagean equivalents differ
from each other in a superpotential term.
INTRODUCTION 3
7
8 CHAPTER 1. FIBRED MANIFOLDS
relative to the induced coordinates (z", ia) and (zA, i'a) on M and M', respectively.
The symbol C(M) denotes the space of smooth real functions on a manifold
M.
The following results follow from the inverse function Theorem ((45), p.273).
U v
'0 1 m
I
(_a,a)m " (_a,a).,
1.1. IMMERSIONS AND SUBMERSIONS 9
! I I pr, (1.1.2)
f (U) - ' (-a, a)"
00f oie-1
: (a1 ,...,xm) -+ (x ,...,2n)
1
R R2
F:
c
R R'
f:
0 c f(0)
Clearly, f is not a homeomorphism onto its image equipped with the relative topol-
ogy because f (U) is not an open subset of f (R) C R2 for a suitable open neighbour-
hood U of the point 0 E R.
(ii) Suppose that f : M - N is a proper map, that is, the pre-images of compact
sets are compact. Then (M, f) is a closed imbedded submanifold of N. In particular,
this occurs if M is a compact manifold.
(iii) Suppose that dim M = dim N. Then (M, f) is an open imbedded submani-
fold of N. O
for any p E P. Then P can be provided with a manifold structure so that (P, ip) is
a submanifold of M of dimension
dimP=dimM-dimN+dimQ.
If (g, Q) is an imbedding, then there is a unique manifold structure on P such that
(P, ip) is an imbedded submanifold of M. 0
Proof. For the proof, the reader is referred to [186], p.31. QED
Example 1.1.4. Let (M, f, N) be a fibred manifold. Then each fibre f-I (q) is a
closed imbedded submanifold of M of dimension dim M - dim N.
Remark 1.1.5. Imbedded submanifolds appear also in connection with the follow-
ing typical situations.
12 CHAPTER 1. FIBRED MANIFOLDS
P
is commutative. If h is an imbedding, then g is smooth.
(ii) The other case is concerned with extension of smooth functions. Let f
M ' N be an imbedding and let f (M) be closed in N. Let g E COD(M). Then
there exists g` E COD(N) such that the diagram
Mf
\
N
R
is commutative.
1 Unless otherwise stated, we assume I > 0, i.e., fibred manifolds with discrete
fibres are not considered. I
As we know from the diagram (1.1.2), the total space Y admits an atlas of charts,
called fibred charts, with the following property. For any fibred chart (U, w), there
is a chart (ir(U), t/i) of X such that the diagram
U - (-a, a)" x (-a, a)' C R'+"
I I pri
where (r'', r) are the Cartesian coordinates on R"*", are said to be a fibred coor-
dinate system (or simply fibred coordinates) in U. Note that (xa) is a coordinate
system in 7r(U) C X.
The coordinate charts (U; constitute a fibred coordinate atlas of Y whose
transition functions
I For the sake of simplicity, a domain U of a fibred coordinate chart (U; xa, y')
will not be specified if there is no danger of confusion. 1
0a:7r-1(Ua)-4UaxV,
called the trivialization maps, over Ua, such that the diagram
7r-1(U.)U. X V
,r l pry
U.
Given such a fibre bundle Y - X and its bundle atlas 'P = ((U., V).)), we have
the collection of diffeomorphisms
'P
UanUpXV , UanUpxV
pr, f pr, (1.2.1)
UanUp
14 CHAPTER 1. FIBRED MANIFOLDS
The maps pp are called the transition functions of the bundle atlas T, and satisfy
the cocycle condition
W-1 (U.) Uo X V
ir lfpr,
U.
We have the following useful criterion for a fibred manifold to be a fibre bundle.
A more complete relation between fibred manifolds and fibre bundles is given by
Proposition 2.5.1. This involves the notion of an Ehresmann connection.
The Cartesian product manifold
pri:XxV
is a fibre bundle called the trivial bundle.
THEOREM 1.2.3. Any fibre bundle over a contractible base is trivial ([1701, p.53).
0
By a local section of a fibred manifold (or a surjection) 7r : Y - X is meant
a map s : U -, Y of an open subset U of X into Y such that it o s = Id U. In
particular, when U = X we refer to s as a global section or simply a section.
Proof. If a local section through each y E Y exists, then the tangent map T,r is a
surjection at y and, consequently, n is a submersion. The converse assertion follows
immediately from Theorem 1.1.1 (ii). QED
It may happen that a fibred manifold has no global section. We have the following
well-known theorem.
Henceforth, S(Y) denotes the set of global sections of a fibred manifold YX.
A fibred morphism between two fibred manifolds 7r : Y -i X and ir' : Y' -' X'
is a pair of maps 9; : Y - Y' and f : X -' X' such that the diagram
Y__ Y'
*1 ! *' (1.2.4)
X I-X'
is commutative, i.e., 0 sends fibres onto fibres. In brief, we will say that (1.2.4) is
a fibred morphism
4': Y - Y'
f
over f and, if f = Id X, then
9i:Y-Y
x
is a fibred morphism over X.
1.2. FIBRED MANIFOLDS 17
of s(X) by -.
THEOREM 1.2.6. If 4' : Y -+ Y' is a fibred morphism of constant rank, then
Im 4s and Ker,.4' of 0 with respect to the above-mentioned section s' are fibred
submanifolds of Y' and Y, respectively. 0
Roughly speaking, the fibre of f'Y over a point x' E X' is that of Y over the point
f (x) E X. If a : Y -i X is a fibre bundle, so is f* Y.
Note that the projection pre : f'Y Y is a fibred morphism
f'Y Y
pr 1 I * (1.2.6)
X' --aX
I
over f .
Given a coordinate chart (U'; x") on X' and a fibred coordinate chart (U; xA, y')
of Y such that f (U') C a(U), then (U'; x'", y`) is a fibred coordinate chart on f'Y.
Lets : U -+ Y be a local section of the fibred manifold n : Y - X. If
U' = f-'(U) is non-empty, we can define the pull-back section f's : U' - f'Y by
the relation
f s(x') = (x', s o f (x')).
In particular, every global section s of Y X yields the corresponding global
section f's of the pull-back f'Y -. X'.
The composition of fibred manifolds Y -' Z and Z - X is obviously a fibred
manifold
w : Y-WYZ Z-4 X (1.2.7)
such that the diagram
Y z
x
is commutative. It is called a composite fibred manifold.
If Y -, Z and Z - X are fibre bundles, so is the composition Y - X (see
Remark 2.5.3).
Dealing with the composite manifold (1.2.7), we use the fibred coordinates
Y (x" z, y')
.YZ I
Z (xa,zp) (1.2.8)
*zx 1
X (x")
1.2. FIBRED MANIFOLDS 19
where (x", z') are fibred coordinates on Z -' X. This means that the transition
functions z' --" (x', za) do not depend on the coordinates y'.
Example 1.2.4. Let a : Y - X and a' : Y' - X be fibred manifolds over the
same base X. Their fibred product
YxY'
x
over X is the composite fibred manifold
or 7r''Y-eY'-'X.
TX Tf TX'
WX -XI
1 l
X-L. X,
20 CHAPTER 1. FIBRED MANIFOLDS
The following two assertions on composite fibred manifolds are useful in appli-
cation to field theory.
s=goh (1.2.10)
Y
9r t.
h(X) - - X
g(h(x)) = s(x), PE X.
h-Y `per Y
prl 1f ,r (1.2.1 1)
X
0
1.3. VECTOR AND AFFINE BUNDLES 21
Remark 1.3.1. A vector bundle is a fibre bundle whose structure group is the
general linear group GL(V). e
Here {e;} is a fixed basis for the typical fibre V of Y and (e'- (x)) is the fibre basis
(the frame) for the fibre Y= of Y which is associated with the bundle atlas T.
A morphism of vector bundles 4' : Y -- Y' is defined as a fibred morphism over
f whose restriction 4s : Y. -e Y' to each fibre of Y is a linear map. It is called a
linear bundle morphism over f.
DEFINITION 1.3.2. Let 4' : Y Y' be an injective vector bundle morphism over
X. We say that (Y, 4') is a vector subbundle of Y' X.
Using Proposition 1.1.3 (i), one can show that every vector subbundle of a vector
bundle is a dosed imbedded submanifold.
22 CHAPTER 1. FIBRED MANIFOLDS
PROPOSITION 1.3.3. If Y -. X and Y' -' X are vector bundles and 4' : Y - Y' is a
linear bundle morphism over X of constant rank, then the image of 4' and the kernel
Ker of 4' with respect to the zero section 6 of Y' -e X are vector subbundles of
Y' X and Y -i X, respectively. 0
There are the following standard ways to construct vector bundles from given
ones.
YxY'
x
x R.
Let Y -' X and Y' - X be vector bundles with typical fibres V and V',
respectively. Their Whitney sum YY is a vector bundle over X with the
typical fibre V V.
Let Y X and Y' X be vector bundles with typical fibres V and V',
respectively. Their tensor product Y Y' is a vector bundle over X with the
typical fibre V V'.
The associated linear bundle coordinates are the induced coordinates (a-%) with
respect to the holonomic frames {8a} in tangent spaces T=X. Their transition
functions read
a
i'a = 0X i".
The tangent bundle TX is a fibre bundle with the structure group GL(dim X, R).
1.3. VECTOR AND AFFINE BUNDLES 23
The cotangent bundle of X is the dual T'X of TX. It is equipped with the
induced coordinates (ia) with respect to holonomic coframes {dz} dual of {aa}.
Their transition functions read
z I'
All the fibres Y of Y are affine spaces modelled over the corresponding fibres
F. of Y.
There is a bundle atlas { (U1 t/i) } whose local trivializations
U.
Remark 1.3.3. An affine bundle is a fibre bundle with the structure group GA(V)
of affine automorphisms of V.
Let Y x Y' be the fibred product of two affine bundles Y -. X and Y' -. X
x
which are modelled over the vector bundles Y - X and Y - X, respectively. This
product, called the Whitney sum, is also an affine bundle modelled over V 7.
X
When dealing with an affine bundle, we use affine bundle coordinates (z', y`)
induced in it-'(U0) by the local trivialization (1.3.2) and by the choice of an origin
in V and a basis {ei} for the vector space V. Then (xa,V) are the vector bundle
coordinates in Y'(U0) induced by the local trivialization (1.3.2) and by the choice
of the same basis {e;} for V.
Example 1.3.4. Every vector bundle has a natural structure of an affine bundle.
In particular, the tangent bundle TX of a manifold X has the natural structure of
an affine bundle which is called the affine tangent bundle of X.
(1.3.3)
X
4',(y) = y - s(x), y E Y.
An affine bundle morphism between two affine bundles a : Y X and 7T': Y' -+
X' is a fibred morphism
Y-Y'
'lX f X, l,r (1.3.4)
YAP'
71 1 r (1.3.5)
X - X,
1.4. TANGENT BUNDLES OF FIBBED MANIFOLDS 25
DEFINITION 1.3.5. Let Y -' Y' be an injective affine bundle morphism over X.
We say that (Y, 0) is an affine subbundle of Y' --+ X. 0
It is readily seen that, if (Y, 4') is an affine subbundle of Y' -, X, then (Y,4) is
a vector subbundle of r : Y -+ X. It follows immediately that (Y,4') is a closed
imbedded submanifold of Y'.
The following assertion is a corollary of Theorem 1.2.6 and Proposition 1.3.3.
PROPOSITION 1.3.6. If Y X and Y' -' X are affine bundles and 4' : Y - Y' is
an affine bundle morphism over X of constant rank, then the image of 4' is an affine
subbundle of Y' X modelled over the vector bundle Imp X. Let s: X - Y'
be a global section such that s'(X) C Im4'. Then the kernel Ker,4 of 4' with
respect to s' is an affine subbundle of Y - X modelled over the vector bundle
Ker4 - X. 0
Remark 1.3.5. The situation considered in this remark often occurs. Let Y'- X
be an affine bundle modelled over a vector bundle V - X. Let Y C Y' be an affine
subbundle modelled over a vector bundle V - X. Assume that 7 is the Whitney
sum of V and a complementary vector bundle Z X. Then one can easily verify
that the affine bundle Y' X decomposes in the Whitney sum
Y'=YED Z.
x
_ 8x'
(X-1, 0, x , V),
26 CHAPTER 1. FIBRED MANIFOLDS
A glance at the transformation law (1.4.1) shows that the tangent bundle TY -.
Y has the vector subbundle
VY = KerTi
given by the coordinate relation 0 (see the diagram (1.2.9)). This subbundle,
called the vertical tangent bundle, consists of vectors tangent to fibres of Y. It
is provided with the induced coordinates (a, y', y') with respect to the holonomic
fibre bases {8;}.
Let T4i : TY -' TY' be the tangent map to a fibred morphism 4i : Y Y'. Its
restriction
V4i = T'F o ivy : VY -+ VY', (1.4.2)
y"oVY= v ,
is a linear bundle morphism of vertical tangent bundles over 'F. The morphism
(1.4.2) is called the vertical tangent map Wt.
The vertical cotangent bundle V'Y Y of Y is defined as the vector bundle
dual of the vertical tangent bundle VY -' Y. We will denote by {ay'} the fibre
bases for V'Y which are dual of the fibre bases {8;} for VY. The comparison of the
transformation law
ay"
= m ayt
of {ay'} with the transformation law
0--Y (1.4.3b)
1.4. TANGENT BUNDLES OF FIBRED MANIFOLDS 27
pr2:VYx(YxTX)-YxTX.
Y X X
8aH8A+1"x8
of (1.4.3a) and the dual splitting
r : V'Y Y T'Y, (1.4.6)
a: VY-ya'V=Y
Y
xV
X
(1.4.7)
28 CHAPTER 1. FIBRED MANIFOLDS
Fibred coordinates (z, y') of the fibred manifold Y -' X are called adapted to
the vertical splitting (1.4.7) if the induced coordinates of the vertical tangent bundle
VY take the form
y`=Vea
where (z, V) are bundle coordinates of V. In this case, coordinate transformations
of the coordinates y' are independent of the coordinates y'.
Example 1.4.3. A vector bundle Y X has the canonical vertical splitting
IVY Tr'Y.
The linear bundle coordinates of Y are adapted to this vertical splitting so that
= y`.
Also an affine bundle Y modelled over a vector bundle V has the canonical
vertical splitting
The affine bundle coordinates of Y are adapted to this splitting so that y' = y'.
Note that the tangent functor T preserves algebraic structures of fibred mani-
folds. In particular, if Y - X is a vector bundle, so is TY - X. If Y - X is
an affine bundle modelled over a vector bundle V -y X, then TY X is an affine
bundle modelled over the vector bundle TY X.
YMZ. ZM. X
(1.2.7). For the sake of simplicity, we denote by YZ the fibred manifold Y Z.
Accordingly, VYZ is the vertical tangent bundle of Y -. Z. It is a subbundle of
the vertical tangent bundle VY -. Y. In the fibred coordinates (1.2.8), these two
subbundles of TY are characterized as follows:
VY = {za,z,y',A = O,.i'},
VZY = {z", zP, y`, i'' = O, i' = O, y' }.
1.5. VECTOR AND MULTIVECTOR FIELDS 29
VYVUVZ
I !
YnLZ Z
.Z.,
X
and the following exact sequence of vector bundles over Y:
0-'VYz'VY-iYxVZ-O.
z
(1.4.8)
=vjdf
on M. Then the Lie bracket of vector fields is the bilinear map
LH,,,.lf = Vf E C(M).
The well-known properties of the Lie bracket are immediately deduced from this
definition. In particular, if v = va8a and u = u8, then
[V, U]" = v
'
-- 8u
8z"
uX 'd A
8z"
0
30 CHAPTER 1. FIBRED MANIFOLDS
Y- - TY
TV
I I
X ux
where u'' are local functions on X, and u' are local functions on Y. Projectable
vector fields form the Lie subalgebra P(Y) C T(Y).
A projectable vector field u on a fibred manifold Y is said to be vertical if it
projects over the zero vector field ux = 0 on X. The set of vertical vector fields on
Y is the Lie subalgebra V(Y) C P(Y).
Example 1.5.3. The vertical vector field v = y'8; on a vector bundle Y - X is
called Liouville's field.
32 CHAPTER 1. FIBRED MANIFOLDS
Remark 1.5.4. In accordance with Remark 1.5.2, every projectable vector field u
on a fibred manifold Y defines a local 1-parameter group G of local diffeomorphisms
of Y. It is readily observed that elements Gt of this group are local fibred auto-
morphisms of Y over local diffeomorphisms of X whose generator is the projection
ux of u on X. If u is a vertical vector field on Y, this is the generator of a local
1-parameter group of vertical automorphisms of Y.
T . ( M ) _ T (M), m = dim M.
which generalizes the Lie bracket of vector fields as follows [17, 1821.
Let 01,.. ., 0, and u be vector fields on M. The Lie derivative L of t91 A A10,
along the vector field u is given by the formula
L.(ty1A...At9,)=Et91A...A(U,t9j]A...At9,. (1.5.2)
j.1
The Schouten-Nijenhuis bracket (1.5.1) is a unique local type extension of the Lie
derivative (1.5.2) which satisfies the condition
t9 =
t9a,...a.8a, A ... A 8a,, V = va,...e.8o, A ... A 8a.,
[t9, V]SN = t9 * V + (-1)1#11vly * t9,
z E M, a,,8 E T= M, (1.5.5)
w'(a) = w1(z)a8".
A bivector field w whose bracket (1.5.4) vanishes is called a Poisson bivector field.
4A ... A dza'
on M is a section of the skew-symmetric tensor product Ar T'M - M. The 1-forms
are usually called Pfafan forms.
34 CHAPTER 1. FIBRED MANIFOLDS
u ak0a,...>,,...a.dZ"A...ndx
-Ak A...Adz''=
uJ0 _ F, r!
k:1
1
1)!u"4,w,...._,dz' A ... A dz'-'.
(r -
It satisfies the relations
or equivalently
s
g E V 7(M), g = ga"88".
V(M) Y(M)
36 CHAPTER 1. FIBRED MANIFOLDS
2 In fact, the formula (1.6.3) does not require the orientability of M because the
star operator occurs iterated. 1
= + + ... +
A ... A dXA-,
Elements of the tensor product ) (M) T(M) are called the tangent-valued
r-forms
0:
=Ti ,...%'d?n...ndz'-8.
TM-+TM,
: TTM 3 v'--. vJ4(z) E TM, (1.6.7)
T'M T'M,
T, *M 3 v' - m(z)Jv' E T, M. (1.6.8)
BM=dzA8 (1.6.9)
[W, a]FN =
r.s.
1
1 For the sake of simplicity, the F-N bracket will be denoted simply by [., .1. 1
The F-N bracket makes O'(M) T(M) into the graded Lie algebra:
[0411 = (-1)I0II*I+1[1p,01,
(1.6.11)
[m, [+L, 811= [[0, VG1, e1 + (-1)I1Ir0I [+,, [m, ell, (1.6.12)
0,,,b, B E i7'(M) T(M).
Given a tangent-valued form 0, the Nijenhuis differential on O'(M) T(M) is
defined as the morphism
1d9 : a -- dda = [9, a], Vol E D*(M) T(M).
By virtue of (1.6.12), it has the property
I ['+G, d#9]
dm[1G, 9] = [dm'', e] + (-1)I#II
A...Adxa'8;.
Y
o=aadza2,
are termed soldering forms. For instance, let us take Y = TX. Due to the vertical
splitting
VTX = TX x TX,
0: X T'X TX
X
onTX.
The spaces 0'(X) P(Y) and 0'(X) V (Y) are closed under the F-N bracket.
Remark 1.6.6. We mention also the TX-valued forms
0:Y-nT'XTX,
Y
(1.6.13)
0= A ... A d? avi.
1.6. DIFFERENTIAL FORMS ON FIBRED MANIFOLDS 41
It should be emphasized that (1.6.13) are not tangent-valued forms and (1.6.14) are
not exterior forms. They exemplify vector-valued forms.
Given a manifold M and a vector bundle E -' M, a vector-valued r-form on M
is defined to be a morphism
j' : M XT'MTN
on M of the tangent-valued form 0 by the map f . This is a TN-valued r-form on
M.
In particular, let Y - X be a fibred manifold. The pull-backs
a,
and the linear bundle morphisms VY Y VY and V'Y Y V'Y over Y. For instance,
IdVY corresponds to the canonical section
(1.6.16)
by their values and the values of their first order partial derivatives at the point x
of X with respect to any fibred coordinates (a`,y') of Y around s(x).
The equivalence class j.'s is called the first order jet of sections s at the point
XEX.
Let us consider the set
J'Y = U j=s.
zEX
43
44 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
J1Y W". Y
x
There are several equivalent ways to provide the set J'Y (2.1.1) with a manifold
structure.
Remark 2.1.1. In the physics literature, the coordinates ya are often called velocity
coordinates or derivative coordinates.
x
J'YxJ'Y'.
x
Let s : X -+ Y be a (local) section. Then the map x " j=s defines a (local)
section
Y Y, (2.1.8)
'1X X'
IT'
The coordinate expression of J'4' is
With the obvious meaning of the symbols used, the jet prolongation (2.1.8) has
the properties
o 4') = J'q, o J'4', J'(ldY) = IdJ'Y, (2.1.10)
which say that J' is a covariant functor.
If Y -- X is a bundle endowed with an algebraic structure, this algebraic struc-
ture may be inherited by the fibred jet manifold J'Y -. X due to the jet prolonga-
tions of the corresponding morphisms.
Example 2.1.4. For instance, if Y -. X be a vector bundle, so is J'Y X.
Moreover, we have the canonical identification
(J'Y)' J'Y', (2.1.11)
where Y' -e X and WY)' X are the bundles dual of Y X and J'Y -' X,
respectively.
Example 2.1.5. Furthermore, let Y be a vector bundle and () the interior product
xR,
x
r 0 () = 1%t1/i,
2.1. FIRST ORDER JET MANIFOLDS 47
where y' and yi are dual bundle coordinates on Y and Y', respectively, and r is the
canonical coordinate of R. The jet prolongation of () is the linear bundle morphism
J'():J'YxJ'Y'-'T'X
x
x R,
x O J' () = yyi + y'y,,i.
Let Y -. X and Y' -. X be vector bundles and the bilinear bundle morphism
:YXY'-- YY',
yik yi_!k
O =
Example 2.1.6. Let Y be an affine bundle modelled over a vector bundle Y, then
J1Y X is an affine bundle modelled over the vector bundle J'Y -- X.
TJ'Y
(*'*') J'Y TX,
X
c t J1 Ii r i a
(X,y ,ya) X IY (XA'y ,ya,x
which is modelled over the pull-back of VJ'Y over the base J'Y x x TX.
It can be proved [127] that there is a unique affine morphism
J'TY __r_+ TJ'Y
(2.1.14)
I I
J'YxJ'TX-
x
J'YxTX
x
such that:
r o J'Ts = TJ's for each (local) section s: X - Y;
its linear derivative r (1.3.5) restricted to the fibres is the canonical isomor-
phism
VJ'Y = J'VY
V,.o (2.1.15)
VY
2.1. FIRST ORDER JET MANIFOLDS 49
on J'Y where
d = 8,, + yi,a
denote the operators of total derivatives. The vector field (2.1.16) projects onto the
vector field u on Y. For instance, if u is a vertical field on Y X, we have
J'u: J'Y -. VJ'Y C TJ'Y,
J'u=u'8i+daui8;.
Remark 2.1.8. Since J'Y Y is an affine bundle modelled over the vector bundle
J Y (2.1.6), the vertical tangent bundle VyJ'Y of J'Y -. Y admits the canonical
splitting
VyJ'Y = J'Y x JAY = J'Y x(T'X VY) C VJ'Y. (2.1.17)
Y Y JtY
As in (1.4.8), we have the exact sequence of vector bundles over J'Y:
iJ'YxVY-'0. (2.1.18)
There are the following two canonical morphisms of the jet manifold J'Y into
tensor bundles which enable us to handle jets as tangent-valued forms.
(i) Given the jet manifold J'Y, there is a unique bundle monomorphism
A:J'YtiT'XTY, (2.1.19)
such that
AoJ's=Ts
for any section s of the fibred manifold Y X.
Note that the image A(J'Y) -, Y is an affine subbundle of the vector bundle
T'XVYcrXTY.
Y Y
In particular, the affine bundle structure of J'Y - Y can be deduced from the
canonical monomorphism A (2.1.19).
(ii) The complementary bundle monomorphism to A,
8=9`8,=(dy'-y;,dz'')8i,
is called the contact I -jet form. The image 9(J'Y) Y of J'Y is an affine sub-
bundle of the vector bundle
T'YVY-
Y
V
which is characterized by the coordinate conditions y'; = b.
Remark 2.1.9. For the sake of simplicity, we will often identify the jet manifold
J'Y with its images under the morphisms (2.1.19) and (2.1.20).
The canonical morphisms (2.1.19) and (2.1.20) can be viewed as the morphisms
The morphism (2.1.21) determines the canonical horizontal splitting of the pull-
back
J'Y x TY = A(TX) J VY, (2.1.23)
8a+y'0 =x''(ea+y'8i)+(yt-xlya)ai,
and the corresponding splitting of the exact sequence (1.4.3a) lifted over J'Y.
Similarly, the morphism (2.1.22) yields the dual canonical horizontal splitting of
the pull-back
J'Y x T'Y = T'X O(V'Y), (2.1.24)
Y J'Y
xadx'' + y,dy' _ (xA + y;ya)dx" + 1,;(dy' - yad?),
and the corresponding splitting of the exact sequence (1.4.3b) lifted over J'Y.
Example 2.1.10. Let u be a vector field on a fibred manifold Y -' X. Its pull-back
over J'Y is defined as the morphism
7rr*u:
The pull-back iro'u has the same coordinate expression u = uAOA + u'8; as u, but
this is not a vector field on J'Y. Using the canonical splitting (2.1.23), we obtain
the splitting
Tf0'u = UH + UV,
I u''8a+u'8;=ua(8a+y;,88)+(u'-u"ya)8,. (2.1.25)
In brief, we say that (2.1.25) is the canonical horizontal splitting of the vector field
U.
Let 0 be an exterior 1-form on Y and iro'q5 its pull-back over J'Y. The canonical
splitting (2.1.24) leads to the canonical horizontal splitting of the form it O:
7ro''o _ OH + 4v,
Fadx'' + q'dy' = (&a + ya0+)dx'' + q;(dy' - yadx' )-
Example 2.1.11. Let r be a global section of the jet bundle J'Y -, Y. Substitut-
ing the tangent-valued form
Aor=dxa(O +r'a8;)
52 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
in the canonical splitting (2.1.23), we obtain the familiar splitting (1.4.5) of the
exact sequence (1.4.3a) by means of a connection I' on Y - X.
Accordingly, substitution of the tangent-valued form
0oF=(dy'-I"adx%)8;
in the canonical splitting (2.1.24) leads to the dual splitting (1.4.6) of the exact
sequence (1.4.3b) by means of a connection r on Y -' X.
(X ,?/',YA,?%,Y;")-
Denoting by iri the canonical projection J'J'Y -' J'Y, we have the following
commutative diagram
where
The morphisms (2.2.1) and (2.2.2) provide the repeated jet manifold J'J'Y with
two different affine bundle structures with respect to the base J'Y.
The projection lrlI : J'J'Y - J'Y is an affine bundle modelled over the
vector bundle
On the other hand, J'ao : J'J'Y - J'Y is an affine bundle (see Example
(2.1.6) whose underlying vector bundle
Note that there is no canonical identification of these affine structures, but this
is induced by the choice of a symmetric linear connection on X (see Proposition
2.6.1).
Taking the affine difference of the images of J'J'Y by J'iro and all over Y, we
obtain the following fibred morphism over Y:
S1:J'J'Y-T'XVY,
Y
whose coordinate expression follows at once from (2.2.1) and (2.2.2). The kernel of
S1 defines the canonical affine subbundle
J2Y .
J'J'Y
J'Y
of J'J'Y which is characterized by the coordinate conditions
This subbundle is called the sesquiholonomic jet manifold. The underlying vector
bundle of J2Y -a J'Y is
J'Y=J2Y ED XT'XVY,
JIY
I
yiy.
This subbundle is called the second order jet manifold of Y - X. The induced
adapted coordinates of JPY are denoted by
where
are the total derivatives and ya are given by the expression (2.1.5).
Thereby, we have the following affine bundle monomorphisms over J'Y:
The second order jet manifold J2Y can also be seen as the union
Jay = U j=3,
SEX
where j=s are the equivalence lasses of (local) sections s of Y X which are
defined by the conditions
s' E j=s s' E j=s and 8a,,s^(x) = 8s(x),
with respect to any fibred coordinates (xA, y') of Y X around s(x). In the
coordinates (2.2.6), we have
where the canonical projection 7r ? : J2Y -' J'Y is an affine bundle modelled over
the vector bundle
J2YJ'Y
W2 / o 1 / 1!
X4- Y
11
commutes.
If s : X -. Y is a (local) section, then the map
J2s:x_-. j=s
is a (local) section of the fibred manifold J2Y -- X. It is called the second order
jet prolongation of s. The diagrams
3 = J's;
J'I:X _J2YCJ'J'Y;
J11: X -' J2Y C J'J'Y.
0
56 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Let Y X and Y' - X' be fibred manifolds and 0 : Y -' Y' a fibred morphism
over a diffeomorphism 1 : X - X'. One can consider the first order jet prolon-
gation of the fibred morphism J'+ (2.1.8). By definition, this is the repeated jet
prolongation
J2Y.J'Y,
JIY +J'Y'
YY'
1 I
X -L X'
where J4 is an affine bundle morphism over J'4'.
Of course, J2 like J1 (see (2.1.10)) is a covariant functor. Some properties of J2
should be recalled.
Let Y - X and Y' -+ X be two fibred manifold over the same base X. Then
the fibred morphisms
pr1:YxY'-.Y and pr2:YxY'- Y'
induce the canonical fibred isomorphism
J2(YxY')Q! J2YxJ2Y'.
x x
2.2. SECOND ORDER JET MANIFOLDS 57
Remark 2.2.2. Let Y -. X be a fibred manifold. Then JZY has three vertical
subspaces
In particular, there is the following exact sequence (1.4.8) of vector bundles over
JZY which are associated with the composite fibration J2Y JlY X:
0,VJ,yJ2Y_.VJ2Y-+J2Y x
VJ1Y (see (2.1.15)), we have the canonical isomorphism
V".2 \f
V J2Y = J2V Y
VY
J2Y -, J'Y 1
(s." y" 14, i sr y'+ yai) 0 '\ = (xa> yi> Ya., i-\r ya' xar 4Ai").
58 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
J'Y
A=dz-\ da=da''(8a+ya8.+ya"8;).
The complementary morphism of A is
J2Y x TJ'Y e. VJ'Y
JAY
(2.2.8)
J'Y
2.3 Connections
There are several equivalent definitions of a connection on a fibred manifold.
(A) A connection on a fibred manifold Y - X is the choice of a splitting I' of
the exact sequence (1.4.3a), i.e.,
r
O---- VY--+TY=.YxTX -.0 (2.3.1)
2.3. CONNECTIONS 59
or the dual splitting of the exact sequence (1.4.3b). It follows that a connection r
is a section
r:YxTX -TY, (2.3.2)
(xa y' xa y') o r = (xa y` xa ra` xa)
of the affine bundle (1.4.4) which is a linear morphism over both Y and TX. The
local functions rA on Y are said to be the components of the connection r or the
connections parameters with respect to the fibred coordinates (xA, y').
The image of Y x TX by the connection r defines the horizontal subbundle
HY C TY which splits TY as follows:
TY=HYVY, (2.3.3)
X -T'X TX
x
r=dx"(Oa+IxtO,), I
which projects onto the canonical tangent-valued form Ox (1.6.9) on X. Therefore,
one can think of such a form r as being another definition of a connection on Y - X.
60 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
(C') Given the splitting (2.3.1), the dual splitting of the exact sequence (1.4.3b)
reads
r
0-'Y xT'X'T'Y-.V'Y----
X Y
0.
Then, every connection r on Y -' X is represented by the vertical-valued form
F: Yev V'YVYr T'YVY, (2.3.6)
where 0y = dy' 8; is the canonical section (1.6.16). This form is given by the
coordinate expression
r = (dy' - I"adx'') 8;.
(D) Within the framework of jet formalism, a connection r on a fibred manifold
Y -+ X is defined as a section of the affine jet bundle J'Y -. Y, that is,
I:Y-J1Y,
(yl, y', ya) r = (xA, y', (2.3.7)
The equivalence of this definition with those given above has been observed in
Example 2.1.11 (see also [167], p.146).
It is an immediate consequence of the definition (D) that connections on a fibred
manifold Y X exist and form an affine space modelled over the vector space of
soldering forms on Y -+ X.
I Following Remark 2.1.9, we will often identify sections (2.3.7) of a jet bundle
with tangent-valued forms (2.3.5) or (2.3.6).
on Y. It is readily observed that this is a vertical vector field given by the coordinate
expression
R(u,v) = uxv'`R'x.
R'4, =8xr-80 r'a+r'x8,r-ria, q,. (2.3.12)
62 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
R:Y-+AT'XVY,
Y
(2.3.13)
R=2R`a,,d?Adx"8
called the curvature of the connection I' (see (2.4.8) for another definition of curva-
ture).
Remark 2.3.1. The concept of curvature leads to important integrability condi-
tions. The following conditions are equivalent.
The lifting
UET(X) .--I'UEP(Y)
is a Lie algebra morphism.
There exists a (local) integral section s of the connection r through any point
yEY.
where (xA,y') and (x', y'") are fibred coordinates on Y and Y', respectively.
(ii) Given a fibred manifold Y X, let f : X' X be a map. Let Y' = f'Y
X' be the pull-back of Y - X. Every connection r on Y - X induces a connection
r' on Y' X' called the pull-back of the connection of r with respect to f . Indeed,
using the projection (1.2.6), we obtain the linear morphism
r':TY'(xY`') Y,xTYiIariY'xVY=VY'
Y Y
over Y'. Since pre : Y' Y restricts to the identity on each fibre, it follows that
r'I vy, = Id VY'. Hence, r' is a connection on the fibred manifold Y' -. X'. The
connection parameters 17. of 1" are given by
r"a = (ra o prz)aa f a. (2.3.15)
Let IT be the curvature of the pull-back connection V. Then we have
R':Y'-.AT'X'VY',
Y'
C is reducible to I ;
Tiy(HY) = HY'(;,,(y), where HY C TY and HY' C TY' are the horizontal
subbundles determined by r and V, respectively;
for each vector field u E T(X), the vector fields r u and Vu are iy-related,
that is,
Y ATXVY
Y
IdViy
1
Y'a+AT'X VY'
Y0
J'YxJ'Y'J10
x
T'X xR
rx r I (,Id)
1
YxY'
x
-.0 X xR
where 6 is the global zero section of the cotangent bundle T'X. The connection I"
is called the dual connection of I'. It has the coordinate expression
where (xa, yj) are the fibred coordinates on Y' dual of those on Y.
For instance, a linear connection on the tangent bundle TX reads
For the sake of simplicity, we denote these connections by the same symbol K
and call them a linear connection on a manifold X.
Let Y - X and Y' -' X be vector bundles with linear connections r and r,
respectively. Then the product connection (2.3.14) is the direct sum connection
rron YED Y'.
Let Y - X and Y' - X be vector bundles with linear connections r and
r, respectively. There is a unique linear connection r r on the tensor product
Y Y' -+ X such that the diagram
x
J'YXJlY'! JI(YY')
rxr i i
rr
Yx x Y' - y 0y,
X
commutes. It is called the tensor product connection and has the coordinate ex-
pression
where ra'1 and oa are local functions on X. The coordinate expression of the
associated linear connection is
Va = ra
where (xA, y') are the associated linear bundle coordinates on Y.
2.3. CONNECTIONS 67
Note that the functions oa are not necessarily the components of a global section
of the vector bundle T'X Y - X. However, this is the case of a vector bundle
Y X. Indeed, both the affine connection r (2.3.23) and the associated linear
connection r are connections on the same vector bundle Y -- X, and their difference
is a basic soldering form on Y. Thus, every affine connection on a vector bundle
Y -' X is the sum of a linear connection and a basic soldering form on Y -' X.
In particular, let Y be the tangent bundle TX. Then we have the canonical
basic soldering form o = 0x (1.6.9). The corresponding affine connections
r=K+6x, (2.3.24)
6111
on TX, where K is an arbitrary linear connection (2.3.20) on TX, are called the
Cartan connections.
Given an affine connection I' on a vector bundle Y - X, let us denote by R and
R the curvature of t and r, respectively. They are sections of the vector bundle
Yx(AT'X(& Y)-4Y.
It is readily observed that
R + T,
where the Y-valued 2-form
rr:X-AT'XY,
x
T = 27-AdxA Adx" Oi,,s
T'A A l+ A
t
A h- 7hsAh,
is the torsion of the connection r with respect to the basic soldering form o (see
(2.4.17)).
In particular, for Cartan connections (2.3.24), we have
T : X - AT'X TX,
T = 2,r,',xd? n dx" a,,,
T,V A = K, A - K,, , (2.3.25)
which is a familiar torsion of the linear connection K on TX.
68 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Let
0=auE1Y(X)0P(Y) (2.4.2)
dry _ r! ,., +
+ axe (2. 4 . 4)
d,0=da(uXJo)+(-1)'aAd,u,
40 _ *i + (2.4.5)
Let us further suppose that the base X is oriented and that g is a pseudo-
Riemannian metric on X.
The covariant codifferential associated with r is
where
+ +
vama,...a, = 8a-a,...a. + KAY),, ,..a. +
-(-1)r(
6, : '0" (X) P(Y)
I b, =
0'-' (X) V(Y),
9AP
bed = - (r - 1)I
i a - BQoao,+
i a
R=zdrr=1[I,I']:Y-.XT'XVY. (2.4.8)
The first identity in (2.4.9) follows at once from (2.4.7), and the second from (1.6.11).
The identity (2.4.10) is the (generalized) second Bianchi identity (or the homo-
geneous Yang-Mills equation). It is an immediate consequence of the graded Jacobi
identity (1.6.12). We see from (2.4.4) that its coordinate expression is
F I'',8,R .- 0, (2.4.12)
(Av)
Now (2.4.6), (2.4.8) and (1.6.12) yield brR = [R, R]. Then the result follows from
(2.4.13).
In the of gauge theories, (2.4.11) is the (generalized) charge conservation identity.
drR = (brR)adxA 8
(brR)a = -gt V0Rpa,
OQRpa = 8aR{pa + KQ"pR,a + KQ"aR4.y + 0 (2.4.14)
2.4. DIFFERENTIALS AND CODIFFERENTIALS. IDENTITIES 71
In the same manner, given a soldering form or, we define the soldered curvature
P=1d (2.4.15)
p= dxAAde8.,
p0118jo - o8jo.,.
As before, we have the identities
b,o = 0, [P, PI = 0,
dvP = [o, P) = 0,
b;p=0.
The soldered Yang-Mills operator associated with o is
Given a connection I' and a soldering form or, the torsion of 1' with respect to a
is defined as
2
2p,
(2.4.19)
Given a connection r and a soldering form a, the Ricci tensor of r with respect
to a is defined as
r=b,R:Y-eT'XVY, (2.4.21)
r = rad? 0 0j,
op ;
The Ricci tensor, as (2.4.21) shows, is now a basic vector valued 1-form
r:X-T'XY,
r = r'dx" et, (2.4.22a)
ra _ (2.4.22b)
Note that R satisfies the free Yang-Mills equation brR = 0 if and only if
does and r + Err = 0. When the torsion r vanishes, then the equation brR = 0 is
equivalent to the equations &jW = 0 and r = 0.
where
&p *p = fi + KA"pK,,,, - K,,"pKAry. (2.4.24)
For instance, let us consider the case when r is a Cartan connection and K the
Levi-Civita connection of a metric g on X. In this case, the curvature R is given
by the expression (2.4.24) where are the Christoffel symbols (1.6.5).
The curvature (2.4.24) satisfies the well-known identities
VvRAjp + VM&Ap + DAR,,,,p = 0, (2.4.25)
RA,,,p + R8AQ,, + RppaA = 0, (2.4.26)
-R,,AQp = -RApo, (2.4.27)
RA,.ep = (2.4.28)
where
R.%,.$ = g.,RA"p, (2.4.29)
and the symbol VA denotes the covariant derivative with respect to the Levi-Civita
connection, i.e.,
VAR,wp = BAR,,vp + KA"pRv,y + (2.4.30)
KA"-v$ - K.%-,R,,,,''# + K,ryvR,"*p.
74 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
where (2.4.27) and (2.4.28) have been used. It follows that, in the particular case
of a Cartan connection on TX, our definition of the Ricci tensor reduces to the
standard one. As is well known, the Ricci tensor is symmetric, i.e.,
Rpapa = Rpapa.
where R = ra is the scalar curvature. Using (2.4.32) and the second Bianchi identity
(2.4.25), we see that
OAR = 20.,e%.
Hence, as is well known, the Einstein tensor (2.4.34) is divergence-free, i.e., OC", _
0.
2.5. COMPOSITE CONNECTIONS 75
Y!'-z z
w \f wzX (2.5.1)
X
with adapted coordinates (x", za, y`) as in (1.2.8). The jet manifolds J'Z of Z -- X,
J'Yz of Y --+ Z and J'Y of Y - X are equipped with the coordinates
TY
wrz ! I Twyz
Z -LT'X TZ
or, equivalently, the diagram
Y.".J'Y
WYZ I j lwvz
z r J'Z
are commutative. It is readily observed that the commutativity of these diagrams
is equivalent to the condition ' = I a.
76 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Let
A=dx"(8,,+A;,8;)+dzp(8p+A,0;) (2.5.3)
1 y=dxa(Ba+IaOp+(As+API',p,)8,). (2.5.4)
7=Aor. (2.5.5)
In particular, let us consider a vector field r on the base X, its horizontal lift
rr over Z by means of the connection r and, in turn, the horizontal lift A(I'r) of
Fr over Y by means of the connection A. Then A(rr) coincides with the horizontal
lift -yr of r over Y by means of the composite connection ry (2.5.5).
We will use this result to show that, if Y - Z and Z -. Y are fibre bundles, so
where HY C TY is the horizontal subbundle associated with the connection I'. If,
for each path x(t) (to < t < t1) and for any yo E a= '(x(to)), there exists a horizontal
lift y(t) (to < t < t1) such that y(to) = yo, then 1' is called an Ehresmann connection
([83], p.314).
DA=J'YtiJ'YxJ'Y-'T'XVYzCT'XVY,
DA = (yip - Aa - A,za)dxa 8{. (2.5.7)
One can think of the morphism (2.5.7) as being the first order differential operator on
the composite fibred manifold Y -+ X. It is called the vertical covariant differential
relative to the connection A.
Remark 2.5.4. The vertical covariant differential (2.5.7) can be defined also as
DA =przoD,:J'Y-eT'XVY-T'XVY2,
78 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
where D., is the covariant differential (2.3.8) relative to some composite connection
(2.5.5), but it does not depend on specification of 1' and y.
h+Yz = Yzlh(x)
(i) Let Y' - Z X be a composite fibred manifold where Y' -' Z is the vector
bundle dual of Y -' Z. Given the projectable connection (2.5.11) on Y X over
r, there exists a unique connection
7'
on Y' -+ X, projectable over I', such that the following diagram commutes:
J'Y J'z
X J'Y' J'Z x(T'X x R)
z
rxaxid
I I
YxY'
z
ZxR
0
where 6 is the zero section of T'X. We term -y' the dual connection ofy over I'.
(ii) Let Y -' Z -+ X and Y' - Z -+ X be composite fibred manifolds where
Y -, Z and Y' Z are vector bundles. Let -y and ' be connections (2.5.11) on
Y X and Y' -i X, respectively, which are projectable over the same connection
r on Z -+ X. There is a unique connection
on the tensor product Y z Y' - X, which is projectable over I', such that the
diagram
J'YBiz
X J'Y' J' (Y Y')
J1Z
'Yxy
I I
,ey
YXY' YY'
vr:VY-+J'VY,
v r = dxa (8a + ra + 8j I"ay' ), (2.5.13)
80 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Y r J'Y
is commutative. Moreover, yr is linear over r. Then there is the dual connection
of yr over r on the composite fibred manifold V'Y Y -. X:
V'r : V'Y - J'V'Y,
v'r=d?o(BA+r'a (2.5.14)
r`A=1/A
dxA(aa+fta;+fsxa;), (2.6.1)
which projects onto 9x.
Remark 2.6.1. Recalling (2.3.13) and (2.1.6), we see that the curvature R of a
first order connection r on Y -, X is a soldering form on J'Y:
R= a : J'Y --+ AT'X VY 'T'X VyJ'Y,
ily ily
a= 2k,,,dx''06 ,
where VyJ'Y is the vertical tangent bundle of the affine jet bundle J'Y - Y which
admits the vertical splitting (2.1.17).
Every first order connection on a fibred manifold Y -' X gives rise to the second
order one by choosing a symmetric linear connection on X.
The first order jet prolongation J'l' of a connection r on Y - X is a section
of the repeated jet bundle J'iro (2.2.2), but not of r1l. Given a symmetric linear
connection K (2.3.21) on X, one can overcome this difficulty by constructing the
affine involution sK of J'J'Y over J'Y such that
SKOSK=IdJ'J'Y,
J'J'Y J'J'Y
W1I \f Jlxo (2.6.2)
J'Y
Let Y - X be a fibred manifold and K a symmetric linear connection on X.
Using the canonical isomorphism (2.1.15), we obtain
T'X VJ'Y - J'T'X J'VY, (2.6.3)
ily J'Y
which is a linear morphism over J'Y. Moreover, the composition of (2.6.3) with
(2.1.11) leads to the linear isomorphism over J'Y
T'X VJ'Y 3K J'(T'X VY),
JiY Y
between vector bundles (2.2.3) and (2.2.4) associated with the affine bundle struc-
tures Ku and J'ao of J1J1Y, respectively. The following fact now can be easily
proved.
(y r1/,1lar$K=( ryryaryarbA-Ka
0
I'K=8KOJ'I':J'Y--.J'J'Y,
J'Y rK J'J'Y
,0 *rr
1 1
Y
r J'Y
over the first order connection 1'.
1 For the general theory of principal bundles we refer the reader to (103]. 1
Let ap : P -. X be a principal bundle with its structure group a real Lie group
G.
2.7. JETS OF PRINCIPAL BUNDLES 83
One can say that P - X is a general affine bundle modelled over the trivial
group bundle X x G so that
Rc: PxG - P, (2.7.1)
Due to this property, every trivialization morphism trr uniquely determines a local
section za : U. -+ P such that
prz o t/ra o Z. = 1a,
where 1a is the unit element of G. The transformation rules for za read
where pap are transition functions of the atlas Tp. Conversely, the family {(U.,z0)}
of local sections of P which obey (2.7.2) uniquely determines a bundle atlas dip of
P.
Note that the tangent functor T preserves a principal bundle structure. Given
a principal bundle P - X, the fibre bundle TP - TX is a principal bundle
TRR:TP x T(X xC) -+TP
TX
with the structure group TG = C x g,, where gi is the left Lie algebra of left-invariant
vector fields on the group C.
A principal bundle P -' X admits the canonical trivial vertical splitting
a: VP=Pxgi
such that a-' (em) are fundamental vector fields on P corresponding to the basis
elements em of the Lie algebra gi.
84 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Taking the quotient of the tangent bundle TP -. P and the vertical tangent
bundle VP of P by TRc (or simply by C), we obtain the vector bundles
TOP = TP/C, and VOP = V P/C (2.7.3)
Example 2.7.2. Given a local bundle splitting of P, there are the corresponding
local bundle splitting of TOP and VOP. Given the basis for the Lie algebra g,
we obtain the local fibre bases {8", ep} for TOP -+ X and {en} for VOP X such
that
[ev,ea] = cgver,
In contrast with the tangent functor T, the jet functor J' fails to preserve a
principal bundle structure.
2.7. JETS OF PRINCIPAL BUNDLES 85
Let J' P be the first order jet manifold of a principal bundle P X with a
structure Lie group G. The jet prolongation
J'(XxG)=Gx(T'Xgi)
over X which, however, is not necessarily trivial. Hence, J'P -+ X fails to be a
principal bundle in general.
Remark 2.7.3. A principal bundle structure is inherited by jet prolongation of
principal bundles in terms of jets of manifolds (see Proposition 5.3.4).
Bearing in mind that the jet bundle PP -' P is an affine bundle modelled over
the vector bundle
T'XVP-P,
P
let us consider the quotient of the jet bundle PP - P by J' R0. We obtain the
affine bundle
C=J'P/G-X (2.7.5)
Z`=T'X VcP-+X.
Hence, there is the canonical vertical splitting
VC =Cx?7.
x
Remark 2.7.4. It is easily seen that the fibre bundle J' P - C is a principal
bundle with the structure group G. It is canonically isomorphic to the pull-back
J'P=Pc=CxP-i C. (2.7.6)
86 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
Turning now to the quotients (2.7.3), such a connection defines the splitting of the
exact sequence (2.7.7). It is represented by the tangent-valued form
T'X TcP
A/ 1
X " T'X TX
A = dx' (8a + Aaeq), (2.7.9)
7: P-A +T*POVPld
P
-0-*+ T'Pgi
is the familiar 91-valued connection form on the principal bundle P. Given a local
bundle splitting (Ut, z() of P, this form reads
where Op is the canonical gi-valued 1-form on P, {e,} is the basis of 91, and Aa are
local functions on P such that
"Aq
A (pg)Eq = (p)adg' 1(EV)
Al=aaoA
are again the coefficients of the local connection 1-form (2.7.10). In gauge theory,
these coefficients are treated as gauge potentials. We will use this term to refer to
sections A of the fibre bundle C -, X.
FA: X-.A2T'XVcP,
FA = 2 FAr d? A dx" e
'ku
Fa=[8a+Aaeq,8+Aey]'=BaA;-OAA+ A%A, (2.7.11)
Y = (PxV)/G (2.7.12)
where Ip are generators of the representation of the Lie algebra g on V. This is called
the associated principal connection or simply a principal connection on Y X.
In particular, a principal connection A yields a linear connection on the gauge
algebra bundle VcP -+ X. The corresponding covariant derivative VA of a section
e=?epofVCP-,X reads
VAC: X-.T'XVcP,
I VAt = (&c + cAaE)dx" er
If u is a vector field on X, the covariant derivative VAC of along u is simply given
by
V.C = uJV''f = [uJA,C],
where A is the tangent-valued form (2.7.9). In particular, we have
Vaeq = fppQAae,. (2.7.14)
The covariant derivative V" is compatible with the Lie bracket of sections of
VcP - X, that is,
VUA[C, n] = fog E, n] + [C, Vy n]
for any vector field u : X -. TX and sections , n : X - VcP.
Remark 2.7.7. Let P X be a principal fibre bundle with a structure Lie group
C. Then the F-N bracket on O'(P) 0 P(P) is compatible with the canonical action
Rc, and we obtain the induced F-N bracket on 9'(X) S(TOP), where S(TOP) is
the vector space of sections of the vector bundle TcP - X. Recall that S(TcP)
projects onto T(X).
If A E 01(X) 0 S(TcP) is a principal connection as in (2.7.9), the associated
F-N covariant differential is
dA : O'(X) 0 S(TTP) -# O'' (X) 0 S(VcP),
dAO = [A, 01, 0 E Dr(X) 0 S(TcP). (2.7.15)
2.8. CANONICAL PRINCIPAL CONNECTION 89
Note that, on or(X) 0 S(VVP), the differential dA coincides with the covariant
differential relative to the linear connection VA on the vector bundle VIP - X
whose connection parameters are given by (2.7.14).
If 0 = a i; where a E Dr(X) and C E S(VVP), we have the formula
dA4 = da0C+ (-1)"a AVA
which follows from (2.4.3).
Using the covariant differential (2.7.15), we can easily see that the curvature
FA E D2(X) 0 S(VVP) of the connection A, as given in (2.7.11), reads
Just as (2.1.23), it provides the canonical horizontal splitting of TY over J'Y. This
splitting is nicely interpreted in the case of principal bundles [57, 58).
Let P -, X be a principal bundle with a structure Lie group C. Taking the
quotient of (2.8.1) with respect to C, we obtain
CxT0P V0P
(2.8.2)
x
9(8a) _ -a"ep, 9(ep) = ep.
90 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
It follows that the exact sequence (2.7.7) admits the canonical splitting over C.
Let us now consider the pull-back principal bundle Pc (2.7.6) whose structure
group is G. Since
TC TC x T0P
x
(2.8.4)
C
+ aaep, A(8p) = 8p,
A=dx"(8a+aaep)+daa8,a.,
on the principal bundle
It follows that the principal bundle Pc carries the canonical principal connection
given by (2.8.4).
Following (2.7.11), we see that the curvature FA of A is given by
2
FA: C - AT'CVGP,
FA = (daa A dxa + 1 e a,adx" A dam`) e,. (2.8.5)
This is called it the canonical curvature, and its meaning is the following. Let
A : X -- C be a principal connection on the principal bundle P -' X. Then the
pull-back
CxVCP
x
2.8. CANONICAL PRINCIPAL CONNECTION 91
is provided with the canonical linear connection such that the corresponding covari-
ant derivative V is
(see (2.7.14)).
Let dA be the F-N covariant differential associated with A which acts on 0'(C)
S(To(C xX P)) (recall (2.7.15)). Of course, on 0* (C) S(VcP), dA coincides with
the F-N covariant differential associated with the linear connection V given by
(2.8.7) (see Remark 2.7.7). We have
dAFA=A'dAFA=0,
i.e., the (second) Bianchi identity relative to FA (the differential dA have been defined
in (2.7.15)).
0 = iadsa,
dA = d,
FA=S2=dOE n(T'X), 11=d? A d?, (2.8.9)
that is, they are the Liouville form, the familiar exterior differential and the canonical
symplectic form on the cotangent bundle T'X, respectively. 9
92 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
ut : J' C -+ V J'C,
ut = U'49.'% + uaa;'",
uA = dAu = S c;gn.%. + gnyaAS ,
where the expression of ua is given in (2.8.14).
Remark 2.8.4. Let us now fix a principal connection A : X C and study the
lifts defined by it.
If u : X -+ TX is a vector field, then (2.7.9) determines the section
C=uJA: X -'TAP,
C = uAaA + eep, P = AauA.
Its Hamiltonian lift, as in (2.8.12), is
U{ = UAvA + uAaA. ,
ua = 8 A,',u + cp,aAMu' - (a,', - A)8Au9.
Let v : X -. TX be another vector field and
n=vJA: X --'TSP.
Moreover, put
w = [u,v]:X-+TX
94 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
and
FA P,
FA(u, v) = uav"(OAA14 - B,,A;, + c;,AaA,,)e
FA being the curvature of A. Recalling (2.8.13) and (2.8.15), from (2.8.17) we obtain
Let us try to interpret the lifting of ut as its horizontal lift uJ r for a connection
r on the fibre bundle C X.
For this purpose, let us consider a symmetric linear connection K on X and the
linear connection VA induced by A on VCP - X given by (2.7.14). Let r be the
tensor product connection on T'X 0 VcP X induced by K and A. Given the
coordinates (xa, a-, 8'a,,) of J' (T'X (9 VcP), we have
4;A :C-'T'XVcP
introduced in (1.3.3), from the following commutative diagram, we obtain the section
r:C-.J1C
PC J1 J1(T'X VcP)
r1 I
Of course, I' is an afiine morphism over X, i.e., an affine connection on the affine
bundle C X, while the associated linear connection is r. Moreover, it is easily
seen that A is an integral section of r, i.e.,
J'A=roA.
.FoJ'A=FA
for each principal connection A : X -. C. We have
.F= Z,,dx"ndx"e,,
a;, + c'ygaaaF,. (2.8.20)
It is readily observed that (2.8.19) is an affine surjection over C and, hence, its
kernel C+ = Ker8.1 with respect to the zero section
0:C-CxAT'XVcP
x
is an affine subbundle of J'C -e C. Thus, we have the canonical splitting over C:
S=pr,:J'C-'C+, (2.8.22)
Remark 2.8.5. The of iine subbundle C+ -' C is modelled over the vector bundle
x
which is a vector subbundle of
JC=T'XVC-+C.
C
Recall that
VC =CxT'X0VCP.
x
Of course, also the vector part of (2.8.21) is a vector subbundle
CxAT'XVCP --- C
x
of J'C.
In particular, let us consider the affine connection r (2.8.18). Then we obtain the
connection
s=sor:C-.ECJ'C,
S,y, = (BaAI, + 8NAa - ANua) (2.8.23)
-2Ka"n(a
2 - A') - aaaM
where G is a local function on J'Y (see (1.6.6) for the notation). We will denote
the Lagrangian momenta by
n; = 8,' G.
We will use the first variational formula (3.2.8) which provides the canonical
decomposition of the Lie derivative of a Lagrangian density along a projectable
vector field on Y in accordance with the variational task, and thus leads to the Euler-
Lagrange operator and differential conservation laws. Formulas (3.5.15), (3.5.17)
97
98 CHAPTER 3. LAGRANGIAN FORMALISM
and (3.5.25) are basic elements of our analysis of conservation laws, including those
of energy-momentum, in field models.
(J's)(x) = j=s
of the Lie algebras P, of projectable vector fields on the higher order jet manifolds
J'Y.
Remark 3.1.1. If a vector field u on a fibred manifold Y - X is the generator
of a (local) 1-parameter group [4 t] of local fibred automorphisms of Y X (see
Remark 1.5.2), then its r-order jet lift is the generator of the (local) 1-parameter
group of the local fibred automorphisms of the J'Y - X, which are the r-order jet
prolongations J'(bi (5.1.6) of 4N.
of vector spaces 0 of exterior forms on XY. The limit D , of this direct system
exists, and b y r are meant the corresponding monomorphisms D -. Oo,. In
brief, one can say that the limit Oo, consists of all exterior forms defined on the
finite order jet manifolds J*Y which are identified with respect to the pull-back
prolongation.
1 For the sake of simplicity, we will denote the pull-backs 7r; o and 7r of
exterior forms 0 E 0* by the same symbols 0. 1
The limit ) inherits the operations which are preserved by the pull-back pro-
cedure. Thus, Oa, is an exterior Z-graded algebra with respect to operations of the
exterior product and the exterior differentiation.
The important advantage of considering exterior forms on finite order jet mani-
folds as elements of the limit Oa, is that OL is generated locally by the basic forms
dxa and the contact forms
IPA = dJn - ya+nd? 0<I AI.
In particular, the vector subspace Dc, C O:. of exterior s-forms admits the
canonical decomposition
000 = O;'O;0-' ...i7.
100 CHAPTER 3. LAGRANGIAN FORMALISM
da(mAo) =d,,(b)
d.%(dc) =
In particular, we have
f s'Lp,,p = 0 (3.2.1)
N
for any admissible vector field u on Y - X. Here J'u is the jet prolongation (2.1.16)
of the vector field u.
Example 3.2.1 shows that Lagrangian densities fail to be Lepagian forms in gen-
eral. However, one can replace the variational problem for a first order Lagrangian
density L with the variational problem for a Lepagian equivalent pL of L. This is
defined as a Lepagian form on the (r + 1)-order jet manifold P+iY which satisfies
the condition
ho(PL) _=_L.
I s'L = f S* PL
N N
for any section s of Y -' X. It follows that the variational problem for a Lagrangian
density L is equivalent to the variational problem for its Lepagian equivalent pL over
sections s of the fibred manifold Y -' X. Obviously, a section s of Y - X is a
critical section of the variational problem for a Lagrangian density L if the relation
s'JouJdpL = 0 (3.2.4)
I Hereafter, by a critical section we mean just that one satisfying the relation
(3.2.4).
Remark 3.2.4. If s is a critical section, the relation (3.2.4) holds also for an
arbitrary projectable vector field u on Y X.
s
/jay
- al)ypQJv8 'aa7
where R is the curvature of r and g is a metric on X.
of the Lie derivative of L along the first order jet lift of u (or simply along u).
For any Lepagian equivalent pL of L, we have
where
is the second order Euler-Lagrange operator associated with the Lagrangian density
L. Its coefficients b;G are called the variational derivatives.
Hence, the first variational formula (3.2.8) takes the form
In view of the relation (3.2.9), critical sections of the variational problem of a La-
grangian density L satisfy the system of (variational) second-order Euler-Lagrange
equations
01C - (8a + 0.%3% + aaas;8 )a; c = 0. (3.2.14)
Remark 3.2.8. It may happen that the equations (3.2.14) fail to be differential
equations in a strict mathematical sense (see Remark 3.3.11).
It should be noted that different Lagrangian densities L and L' lead to the same
Euler-Lagrange operator EL = EL' if they differ from each other in a Lagrangian
106 CHAPTER 3. LAGRANGIAN FORMALISM
on J'Y -, X. It follows that it obeys the system of first order differential equa-
tions
8j a; (8a3' - 3O'a) = 0, (3.2.17a)
&G-(8a+*a8,+8,,3v"g )8;G+ 8r(8' -Va)=0.
a (3.2.17b)
which leads to the same second order Euler-Lagrange operator on a given coordinate
chart as the Lagrangian density (3.2.23).
It should be emphasized that such a first order Lagrangian density is not globally
defined in general. At the same time, if the functions 7j" are independent of the
coordinates y,', we can take
Let JkY be provided with coordinates (?,IA), 0 <1 A 1< k, as before. There
exists a local coordinate system (e'c, - ) on JkY such that a is given locally (in the
sense of Proposition 1.1.3 (i)) by the system of equations
Given fibred coordinates (x'', y') of Y and (x'', 17) of E, the pull-back (3.3.2) is
provided with the coordinates
over X. We have
0= pr1 o E, E = (4;, Id JkY).
This correspondence leads to another equivalent definition of differential opera-
tors on Y -+ X.
It is easy to see that a differential operator 4' (3.3.4) sends each section s of
Y -. X onto the section 4i o Jks of E X. The mapping
A.: S(Y) - S(E),
I A+:sI. 4ioJks,
r(x) = E(?, &s''(x)), 0:51 E 1< k,
and can be intrinsically defined as 1-contact densities of the variational type on jet
manifolds. Cf. Section 5.5 where the corresponding variational bicomplex is con-
structed. Here we are concerned only with the basic ingredients in this construction.
3.3. EULER-LAGRANGE OPERATORS 111
Let us consider the subspace ill," C 1)o, of k-contact densities on jet manifolds
and the quotient
Ek = fl,k,n/dHfloo -'. (3.3.6)
0"00 =EkdHilkn-'.
00
0
The corresponding projection map
Ek = rk(ilaon)
has the properties
TkOTk=Tk, rkody=0.
It is defined as
1 k,n
(see [12, 611). It should be emphasized that the subspace E, C D ' consists of
1-contact densities 0 which take their values into the tensor bundle (3.3.5), that is,
they are given by the coordinate expression 0 = 4i;6' A w.
where
Iek= rkohk.
It is a simple exact sequence because
JD"*
00 = Kerek E.
Since
d(Kerek) C Kerek+i,
we come to the following commutative diagram
0 0 0 0
1 1 1 1
Dn-1
00
d , fln00
1
a. iln+i
I
Do
a,
1
on+2
00 (3.3.8)
M! ko! e, ! .!
fl 00 -i fl 00 E1-' E2
I I 1 1
0 0 0 0
Its first and second rows are the subcomplexes of the De Rham complex. The
last row
d d c c
00
-JH 00-1 00--
00 (3.3.9)
Op o Op+t = 0, Vp E N,
Hp(B.) = KerOp/ImOp+,
is called the pth homology group of the chain complex B. (3.3.11). The chain
complex (3.3.11) is called exact at an element Bp if H,(B.) = 0. B. is an exact
sequence if it is exact at each element.
A sequence
Since Ek_1 C Stk-',n, the cochain morphisms ek of the complex (3.3.9) take the
form
I ek=Tkodv=jrod, (3.3.13)
where
S=rod (3.3.14)
is the variational map (12, 61] which satisfies the homology rules
6 ob=0, body=0. (3.3.15)
114 CHAPTER 3. LACRANGIAN FORMALISM
where summation is over all multi-indices A, 0 <[ A I. They are called the Euler-
Lagrange map and the Helmholtz-Sonin map, respectively.
Using the spectral sequence (3.3.9), one comes to the following general solution
of the well-known inverse problem of the calculus of variations [12, 42, 94, 174].
DEFINITION 3.3.6. Differential operators which take their values into the tensor
bundle (3.3.5) are called Euler-Lagrange-type operators. These are elements of the
subspace El C D 00 .
3.3. EULER-LAGRANGE OPERATORS 115
In particular, the projection map ri (3.3.7) sends 1-contact densities onto Euler-
Lagrange-type operators. Every Euler-Lagrange operator is obviously an Euler-
Lagrange-type operator.
e2(E) = 1b(E) = 0.
PROPOSITION 3.3.8. In accordance with the relations (3.3.10), any dH-ecact (and,
consequently, exact) Lagrangian density is variationally trivial and every Euler-
Lagrange operator is locally variational.
PROPOSITION 3.3.9. If Y = R'+" - R", the spectral sequence (3.3.9) is exact, that
is,
Since the columns of the diagram (3.3.8) are simple exact sequences, the spectral
a O2,n
00 (3.3.18)
116 CHAPTER 3. LAGRANCIAN FORMALISM
where 6 is the variational map (3.3.14). The complex (3.3.18) is called the variational
sequence. Its homology groups are equal to those of the spectral sequence (3.3.9),
and in particular, it is locally exact in the sense of Proposition 3.3.9.
Example 3.3.5. Since the variational sequence (3.3.18) is locally exact, a local
r-order Lagrangian density Lo is variationally trivial if and only if
Example 3.3.6. Since the variational sequence (3.3.18) is locally exact, every
locally variational operator 6 is locally an Euler-Lagrange operator, that is,
E = bL, (3.3.19)
E: J2Y-+T'YA(n7"X),
E= &0'Aw,
be a second order Euler-Lagrange-type operator. It is locally variational if and only
if
b(E) = [(28; - da88 + dda8;'')&Bt A 0' + (3.3.20)
-dA8J`&BNn +
(8w&-8;"E;)B'aA0']Aw=0.
Then there is a coordinate atlas of the fibred manifold Y X such that, on each
coordinate chart, E is in the form of (3.3.19).
The condition (3.3.20) is equivalent to the following system of equations
Indeed, if these equations hold, then a direct check shows that the condition (3.3.20)
does so too, that is, the operator E is locally variational. Conversely, if the operator .6
3.3. EULER-LAGRANGE OPERATORS 117
takes the local form (3.3.19) on each coordinate chart, then it satisfies the equations
(3.3.21).
It is readily observed, that the equations (3.3.21) represent the coordinate ex-
pression of the condition
r(J2uJdE) = 0, (3.3.22)
where u is an arbitrary vertical vector field on the fibred manifold Y X and J2u
is its second order jet prolongation (2.2.9) [61).
Example 3.3.7. The operator (3.6.32) in the Chern-Simons gauge model, which is
locally associated with the Chern-Simons Lagrangian density, exemplifies a locally
variational, but not variational operator.
We will use the condition (3.3.22) to discover the important relation between
gauge symmetries of Lagrangian densities and those of Euler-Lagrange operators
(see Remark 3.5.7).
Let E be a second order Euler-Lagrange-type operator and u a projectable vector
field on Y - X. It can be proved in a straightforward manner [61) that
LnuE = r[d(uvj9) + (J2u)vJdE), (3.3.23)
where (J2u)v is the vertical part of the vector field J2u. This relation is called the
master equation.
If the operator e is locally variational, it follows from (3.3.22) and (3.3.23) that
L,r,,,E = 6(uvJE) (3.3.24)
for every projectable vector field u on Y X.
Let EL be the Euler-Lagrange operator associated with a first order Lagrangian
density L. By virtue of the first variational formula (3.2.13) and the relation (3.3.15),
the equality (3.3.24) is brought into the form
I L,r.,,Et = (3.3.25)
The following two assertions are immediate corollaries of the formula (3.3.25).
Then the same is true for the associated Euler-Lagrange operator Et, i.e.,
0.
PROPOSITION 3.3.12. Let the morphism 4i (3.3.4) have constant rank. By virtue of
Theorem 1.2.6 (see also [26], p.396), its kernel (1.2.5) is a fibred submanifold of the
fibred manifold JkY -' X and, consequently, it is a k-order differential equation. 0
be a first order E-valued differential operator on Y. Its kernel with respect to the
zero section of E is the set of points of J'Y having the coordinates y = 0 or yz = 0.
Obviously, this set is not a submanifold of J' Y.
be a first order E-valued differential operator. It is easily checked that this differ-
ential operator has constant rank equal to 2. Its kernel with respect to the zero
section of E is the imbedded submanifold of J'Y given by the equation
This is a first order differential equation on the fibre bundle Y which is associated
with the differential operator (3.3.27). This differential equation is also associated
with the differential operator
The kernel of 4' with respect to the zero section of the fibre bundle E coincides
with that of the operator (3.3.27). At the same time, the rank of the operator
4' (3.3.29) fails to be constant. This equals 2 at points of the submanifold (3.3.28)
and equals 3 at others.
From now on, we will consider only those differential operators taking their values
into a vector bundle E X. In this case, one usually considers the kernel Kerb of
4, denoted simply by Ker 4, with respect to the global zero section 0 of the vector
bundle E -, X. If Kert is a fibred submanifold of JkY, we have the differential
equation
REm = Ker 4
120 CHAPTER 3. LAGRANCIAN FORMALISM
Remark 3.3.10. One should distinguish the system of equations (3.3.1) from that
of equations (3.3.30). The first is written with respect to local coordinates on the
domain JkY of a differential operator, whereas the latter is seen with respect to
bundle coordinates on its codomain E.
Classical solutions of these equations are critical sections of the variational prob-
lem for the Lagrangian density L, and they satisfy the Euler-Lagrange equations
(3.2.14).
Remark 3.3.11. Strictly speaking, not every Euler-Lagrange operator leads to
differential Euler-Lagrange equations. Rom now on, we will assume that Euler-
Lagrange equations and other equations which we deal with within the framework
of Lagrangian and Hamiltonian formalisms are differential equations in accordance
with Definition 3.3.1. We will return to these questions in Section 5.7 where the
formal integrability of Yang-Mills equations is examined.
L:J'Y-'A"T'X
be a first order Lagrangian density on J'Y. Let us consider the vertical tangent
map V L to L. Since J'Y - ' Y is an affine bundle, V L yields the linear morphism
over Y.
Given fibred coordinates (xa, y`) of Y, the Legendre bundle (3.4.2) is provided
with the induced coordinates (x", y`, p;), where the coordinates p, have the transi-
tion functions
The Legendre bundle H plays the role of a finite-dimensional phase space of fields
represented by sections of the fibred manifold Y X (see next Chapter). The basic
property of II is that it is provided with the canonical tangent-valued Liouville form
which is given by the canonical monomorphism
e: H-X'T'YTX, (3.4.5)
e=-p,dy'AW8a.
Remark 3.4.2. The subtle point is that the coordinate expression
p; dy' AWa
could not define any global exterior form on n because TX is not a subbundle of
TY.
It should be recalled that the exterior differential d cannot be applied to tangent-
valued forms like (3.4.5).
The tangent-valued Liouville form (3.4.5) and the polysymplectic form (3.4.6)
provide the Legendre bundle n with the canonical polysymplectic structure.
3.4. LAGRANGIAN POLYSYMPLECTIC STRUCTURES 123
The pull-backs of these forms by the Legendre map L equip the jet manifold
J'Y with the polysymplectic structure associated with the Lagrangian density L as
follows.
We have the tangent-valued Liouville form
Contracting BL with the canonical form ) (2.1.19), we obtain the exterior Leg-
endre form on P Y
3L = AJOL : J'Y - i AT'Y,
which is associated with the Lagrangian density L. Then the Poincare-Cartan form
(3.2.6) associated with L is recovered as
HL=9L+L=ir,dy'Awa-7{Lw, xL=7riyi,-G. (3.4.8)
and
r=dx"(ea+f 8;+k8 )
124 CHAPTER 3. LAGRANGIAN FORMALISM
f rj nL = dHL, (3.4.9)
Using the coordinate expressions (3.4.7) and (3.4.8), we find that (3.4.9) is equiv-
alent to
In order to clarify the meaning of (3.4.9), let us consider the following first order
Lagrangian density on the repeated jet manifold J1J'Y:
=L-S,JOL:J'J'Y- A"T'X,
C+(va-ylx)lri,
where S1 is given by (2.2.5). Its associated Euler-Lagrange operator reads
+y;,8;.
It is readily observed that the condition (3.4.9) is equivalent to the one
Imf C KerS1 or CEo=0.
Ez, called the Euler-Lagrange-Cartan operator associated with the Lagrangian
density L, leads to the first order differential equations
0- =KerSZCJ'J'Y
on the fibred jet manifold J1Y -+ X. These are the Cartan equations
Their classical solutions -9 : X - J'Y are solutions of the variational Cartan equa-
tions (3.2.16).
Remark 3.4.3. The Euler-Lagrange-Cartan operator L is the Lagrangian counter-
part of the Hamilton operator within the framework of polysymplectic Hamiltonian
formalism on fibred manifolds (see the relation (4.5.16)). In particular, we will show
that a Lagrangian connection always exists for a hyperregular Lagrangian density
as well as for a semiregular Lagrangian density which admits a weakly associated
Hamiltonian form (see Remark 4.5.8).
i; = d(ai,HL) - AJIiISIL
lEL=(8;-dAO;)G6'nW, (3.4.12)
dA = 8a + y68. + y;,
J'Y -` T'YA(A'T'X)
126 CHAPTER 3. LAGRANCIAN FORMALISM
where
azn:Zy - II
is a 1-dimensional affine bundle modelled on the pull-back
HxXT'X-
x
Il.
3.4. LAGRANCIAN POLYSYMPLECTIC STRUCTURES 127
The fibre bundle (3.4.14) is endowed with the induced coordinates (x' , y', pp , p),
where the coordinate p has the transformation law
8x' GV W
pr = det(ax,,.)(P - avi &N1j). (3.4.16)
I L=irZ4oHL (3.4.18)
IS=pw+p;dy'Awa (3.4.19)
[31, 77] (see Example 4.2.2). It is readily observed that the Poincare-Cartan form
HL is the pull-back of the canonical form S (3.4.19) by the associated Legendre
morphism (3.4.17).
The canonical form (3.4.19) provides the fibre bundle (3.4.14) with the multi-
symplectic structure characterized by the multisymplectic form
In addition to the Legendre bundle II, the fibre bundle Zy is a possible candidate
for a finite-dimensional phase space of fields represented by sections of the fibred
manifold Y - X. We call it the homogeneous Legendre bundle. Hamiltonian
formalism founded on Zy is Hamilton-De Donder formalism [4, 41, 54, 73, 77, 112].
Given a Lagrangian density L, let the image ZL of the configuration space J'Y
by the Legendre morphism (3.4.17) be an imbedded subbundle
iL : ZL '-+ Zy
of the fibre bundle Zy -e Y. It is provided with the pull-back De Donder form
oL = iL.
128 CHAPTER 3. LACRANGIAN FORMALISM
of fibred coordinates on Y such that the fibred coordinates of points 4)(y) with
respect to the atlas lP' (3.5.2) are those of points y with respect to the atlas 'P. It
follows that the invariance under passive gauge transformations implies that under
active gauge transformations.
AUT (Y) for the group of all fibred automorphisms of a fibred manifold Y -
X,
Example 3.5.2. Every diffeomorphism f E Diff (X) gives rise to the tangent auto-
morphism T f E AUT (TX) of the tangent bundle TX of X and to the corresponding
automorphisms of tensor bundles.
of fibred manifolds Y and Y' over the same base X. We have the inclusion
Aut (Y) x Aut (Y') - Aut (Y x Y)
X
of groups of vertical gauge transformations. At the same time, a pair (4', 4'), 4> E
AUT (Y), 4i' E AUT (Y'), is a general gauge transformation of the product (3.5.3)
if 0 and V cover the same diffeomorphism of X.
on a fibred manifold Y -' X, every vector field r = TAB,, on X gives rise to the
horizontal vector field
Tr=TJr=r"(ea+r'O1) (3.5.5)
its jet prolongation (2.1.16) on J'Y. This is the generator of the first order jet
prolongation J14 of the local 1-parameter gauge group [4itJ generated by u. Then
the Lie derivative Lj,,,L of a Lagrangian density L on J'Y along Pu (or simply
along u) is equal to zero if and only if L is invariant under the above-mentioned
1-parameter group of gauge transformations, that is,
8auAG+[uAOA+u`8;+(d.,u`-y;,8Au")8;]G= (3.5.7)
are the variational derivatives (3.2.10), while the skew-symmetric functions c,"" cor-
respond to different Lepagian equivalents (3.2.7) of the Lagrangian density L.
On-shell, i.e., on the kernel (3.3.31) of the Euler-Lagrange operator CL,
Lj1,.L (3.5.10)
To = TpWX = -ho(J'uJPL),
is said to be the symmetry current along the vector field u. This current corresponds
to the Lepagian equivalent PL of L.
We say that (3.5.10) is a weak identity associated with the vector field u.
If the Lie derivative Lj,,,L (3.5.6) vanishes, i.e., the strong equality
takes place, the weak identity (3.5.10) becomes the weak conservation law
f s'Tpwa = 0, (3.5.13)
8N
where N is a compact n-dimensional submanifold of X with the boundary ON.
In view of the strong identity (3.2.12), we further limit our consideration to the
Poincar6-Cartan form p,, = HL (3.2.6). In this case, the first variational formula
(3.5.7) reads
(u'-yu")(8;-dab;)G-da(a;(u"y-u')-u''G].
This identity leads on-shell to the weak identity
Lji L dyho(uJ HL), (3.5.15)
0.%u%,C +[u''8a+u'8;+(dau'-
-da[ii(u"y"-u')-u"L],
where
where the term W contains only variational derivatives (3.5.8), i.e., W .:s 0 and
U = U"`jA: J'Y "A2T'X
is a horizontal (n - 2)-form on J'Y -+ X. Then one says that T reduces to the
superpotential U [52, 67, 165).
It should be emphasized that, in this case, a symmetry current assumes the
dH-exact form (3.5.18) on-shell only. Moreover, the equality
T-dHU=W(b;G)=0 (3.5.19)
Example 3.5.6. Let us consider conservation laws for Lagrangian densities which
have the same Euler-Lagrange operator. It should be recalled that they differ from
3.5. LAGRANGIAN CONSERVATION LAWS 135
each other in variationally trivial Lagrangian densities. Let L and L' be different
Lagrangian densities which lead to the same Euler-Lagrange operator EL = EL-.
By Proposition 3.2.2, the first variational formula (3.5.14) and the weak identity
(3.5.15) for L' differ from those for L in the strong identity
dyho(uje) (3.5.21)
where c is a closed n-form on Y. If the Lagrangian densities L and L' have the same
symmetries, i.e.,
Lp ho(e) = 0,
L.nuEL = 0.
ho(e),
where a is a closed n-form on the fibred manifold Y. In this case, the weak trans-
formation law (3.5.15) reads
8au"L+[uAOA+UABA+u'8 A+
(dau' - y'"8au")8; ]L = (u" - ua)8AL + 7r-dA(uA - y' u") +
(u` - y'auA)h,L - dAIir (u"y - u`) - uAL].
Remark 3.5.9. The weak identity (3.5.25) can also be applied when the dynamic
equations are not the Lagrangian ones, but are given by the coordinate expressions
(8,-da6;)G+F,=0,
where F; are local functions on J'Y. It reads
1 The weak identity (3.5.15), the weak conservation law (3.5.17) and the weak
identity in the presence of background fields (3.5.25) are the basic ingredients in our
analysis of differential conservation laws in classical field theory. I
It is easy to see that the weak identity (3.5.15) is linear in the vector field u.
Therefore, one can consider superposition of weak identities (3.5.15) associated with
different vector fields.
For instance, if u and u' are projectable vector fields on Y projecting onto the
same vector field on X, the difference of the corresponding weak identities (3.5.15)
results in the weak identity (3.5.15) associated with the vertical vector field u - u'.
Every projectable vector field u on a fibred manifold Y X, which projects
onto a vector field r on X, can be written as the sum
of a liftr of 7- over Y and a vertical vector field 0 on Y. It follows that the weak
identity (3.5.15) associated with a projectable vector field u can be represented as
the superposition of those associated with f and t9.
138 CHAPTER 3. LAGRANGIAN FORMALISM
10 da(7ri t9')
1 Note that the Nother current (3.5.27) differs in the minus sign from the familiar
one in the physics literature. I
A vector field r on X can be lifted onto the total space Y of a fibred manifold
Y --+ X by means of a connection I' on Y. This lift is the horizontal vector field rr
(3.5.5).
The weak identity (3.5.15) associated with the horizontal vector field rr takes
the form
Tr = -ho(rr1 HL),
I`fir = r"(tr'(y - I") - b0, G).
Example 3.5.10. Let all vector fields r on X be lifted onto Y by means of the same
connection r on Y - X. The weak identity (3.5.28) can be rewritten as follows
rO{[8+r'8j+(8a1"+ BSI")a'']G-da[7r;(I''-F1)+6 L]} 0.
Since this relation takes place for the arbitrary vector field r on X, it is equivalent
to the system of weak equalities
(8 + r,,8j + dATr'v = M, - y)bjG 0,
One can say that the weak identity (3.5.30) does not contain any Nother current.
Y = (P x V)/G (3.6.1)
3.6. CONSERVATION LAWS IN GAUGE THEORY 141
be a P-associated fibre bundle (2.7.12) with a standard fibre V on which the struc-
ture group G of P acts on the left.
By (p] we denote restriction of the canonical morphism
P x V - (P x V)/G
to {p} x V. Then, by definition of Y, we have
[PI(v) = (P9](9-,v)
For the sake of convenience, we will write
vEV.
Remark 3.6.1. In fact, Y (3.6.1) is the fibre bundle canonically associated with
the principal bundle P.
A fibre bundle Y -. X, given by the triple (X, V, 'I') of a base X, a typical fibre
V and a bundle atlas 'P, is called a fibre bundle with a structure group C if C acts
effectively on V on the left and the transition functions p>,p (1.2.2) of the atlas 'V
take their values into the group C. Fibre bundles (X, V, C,'1') and (X, V', C, 4")
with the same structure group C, which may have different typical fibres, are called
associated if the transition functions {pp} and {p'',,,} of the atlases 'Y and 'V',
respectively, belong to the same element of the oohomology group H' (X; C) (see
Remark 3.8.1). Any two associated fibre bundles with the same typical fibre are
isomorphic to each other ([93], p.41), but their isomorphism is not canonical in
general. A fibre bundle Y - X with a structure group C is associated with a
C-principal bundle P -+ X. If Y is canonically associated with P as in (3.6.1), then
Unless otherwise stated, by a P-associated fibre bundle we mean the quotient (3.6.1).
142 CHAPTER 3. LACRANGIAN FORMALISM
JIytct=J'YXJ'C. (3.6.2)
In gauge theory, several classes of gauge transformations are considered [131, 151,
168). By a gauge transformation of a principal bundle P is meant its automorphism
d'p which is equivariant under the canonical action (2.7.1), that is, the diagram
P- R9 P
+P I I P
P-+PR,
Ryo4'p_'PpoR.,
commutes for each 9 E C. This is called a general principal automorphism of P.
Every general principal automorphism of P yields the corresponding automor-
phisms
of the P-associated bundle Y (3.6.1). For the sake of brevity, we will write
There is one-to-one correspondence between the functions f (3.6.6) and the global
sections s of the group bundle
Pc = (P X G)/G, (3.6.7)
whose typical fibre is the group C which acts on itself by the adjoint representation
([85], p.277). There is the canonical fibre-to-fibre action of the group bundle PG on
any P-associated bundle Y:
PCxY -Y,
x
((p, 9) - G, (P, v) . C) _+ (P, 9v) C, dg E G, WE V.
Then, the above-mentioned correspondence is defined by the relation
{ = e'e,, (3.6.8)
Remark 3.6.3. Global sections of the fibre bundle V0P - X form the infinite-
dimensional Lie algebra S(VcP), which is called the gauge Lie algebra A suitable
Sobolev completion turns S(VcP) into the Banach Lie algebra of the gauge Banach
Lie group ti(P) of Remark 3.6.2. Therefore, one can think of the components
P(x) of a principal vector field (3.6.8) as being gauge parameters. The principal
vector fields (3.6.8) are transformed under the generators of gauge transformations
by the adjoint representation given by the Lie bracket
ev = t' y8i.
Accordingly, the principal vector field on the bundle of principal connections C,
which corresponds to the local 1-parameter group [fic] of principal automorphisms
(3.6.4) of C, takes the form
(see (2.8.14)).
Remark 3.6.4. Let us consider a local I-parameter group of general principal
automorphisms [+p] of the principal bundle P - X whose generator is a projectable
G-invariant vector field
t=rAOA+eep: X - T0P
(see Example 2.7.2). Let be the corresponding 1-parameter group of automor-
phisms (3.6.4) of the fibre bundle C X. The generator of [4'c] is the vector field
lc (2.8.12) on C which takes the coordinate form
On-shell, the first variational formula (3.6.13) leads to the weak conservation law
They are equivalent to the weak equality (3.6.15) due to the arbitrariness of the
gauge parameters tP(x).
A glance at the expressions (3.6.15) and (3.6.16) shows that the Nother conser-
vation law and the Nother current both depend on gauge parameters. The weak
identities (3.6.17a) - (3.6.17c) play the role of the necessary and sufficient con-
ditions in order that the weak conservation law (3.6.15) be gauge-covariant, i.e.,
form-invariant under changing gauge parameters. This means that, if the equality
(3.6.15) takes place for gauge parameters 1;, it does so for arbitrary deviations l; +b
of C. Then the conservation law (3.6.15) is also covariant under gauge transfor-
mations, when gauge parameters are transformed by the coadjoint representation
(3.6.9).
Since a matter field Lagrangian does not depend on the derivative coordinates ate,
the Not her superpotential
(3.6.18)
3.6. CONSERVATION LAWS IN GAUGE THEORY 147
f
ON
)wA = 0,
148 CHAPTER 3. LAGRANCIAN FORMALISM
d".F"A = iytir .
Accordingly, the integral relation (3.6.19) is the integral form of the Maxwell equa-
tions. In particular, the well-known relation between the flux of an electric field
through a closed surface and the total electric charge inside this surface is recov-
ered.
Remark 3.6.8. Utiyama theorem. One can regard the strong equalities (3.6.14a)
- (3.6.14c) as conditions of a Lagrangian density L to be gauge-invariant. Let us
study these equations in the case of a Lagrangian density
L : J1C -+ XT'X (3.6.21)
for free gauge fields. Then the equations (3.6.14a) - (3.6.14c) read
Qa,8, L + a',"8;"L) = 0, (3.6.22a)
8q L + cmaa8;'L = 0, (3.6.22b)
8P'L+8p L=0. (3.6.22c)
Let us utilize the coordinates (a, Sx, Y ;x) (2.8.20), (2.8.22), which correspond to
the canonical splitting (2.8.21) of the jet manifold J'C.
With respect to these coordinates, the equation (3.6.22c) reads
O= 0. (3.6.23)
"A
3.6. CONSERVATION LAWS IN GAUGE THEORY 149
J'C f-' C_
c\ /r
n T+X
[25, 58]. Then the equation (3.6.22a) is written as
a a" = 0,
which is the equivalent of gauge-invariance of the Lagrangian density Z.
As a result, the conventional Yang-Mills Lagrangian density LYM of gauge poten-
tials on the configuration space J'C in the presence of a background world metric
g on the base X reads
LYM = 1 9 I w, g= (3.6.25)
Let us turn now to SEM conservation laws in gauge theory. For the sake of
simplicity, we will consider only gauge theory without matter fields. The corre-
sponding Lagrangian density is the Yang-Mills Lagrangian density (3.6.25) on the
jet manifold J'C.
Given a vector field r on X, let B be a principal connection on the principal
bundle P -+ X and
TB = r"(0,% + Baep)
the horizontal lift of r onto P by means of the connection B. This vector field, in
turn, gives rise to the vector field TB (3.6.11) on the bundle of principal connections
C, which reads
I r8 = r-'Ox + (rA(aBa + C;aB) - a"T1'(a0 (3.6.26)
150 CHAPTER 3. LAGRANGIAN FORMALISM
Let us discover the SEM current along the vector field 'ra (3.6.26) [61, 1651.
Since the Yang-Mills Lagrangian density (3.6.25) depends also on a background
pseudo-Riemannian metric g, we will consider the total Lagrangian density
L= J 0 1 w, a = det(o,,,,), (3.6.27)
on the total configuration space J' (C Epa), where EPR is the bundle of pseudo-
X
Riemannian fibre metrics (3.7.18) with coordinates (xa, a"").
Given a vector field T on X, there exists its canonical lift (3.7.7)
T = r 8a + + &TPc")aas
onto EPR C VT'X, which is the generator of a local 1-parameter group of general
covariant transformations of EPR (see Remark 3.7.8). Thus, we have the canonical
lift
7-A8.%
TB = + cy -8,.7-8(a0 - B;)]&,. +
+ 0OTP0'")8'0
of a vector field r on X onto the product C EPR. For the sake of simplicity, we
X
will denote it by the same symbol TB.
The total Lagrangian density (3.6.27), by construction, is invariant under gauge
transformations and general covariant transformations. Hence, its Lie derivative
along the vector field J'TB equals zero. Then we can use the formula (3.5.25). On
the Yang-Mills shell and the background field a'' = g""(x), this reads
0 (8vTgl + 0,,r g" - 8ag0T'')8.0G - dATB,
where
tp (g 1 = 2g"8sCYM
3.6. CONSERVATION LAWS IN CAUCE THEORY 151
Let A be a solution of the Yang-Mills equations. Let us consider the lift (3.6.26)
of the vector field T on X onto C by means of the principal connection B = A. In
this case, the SEM current (3.6.28) reads
T'A oA=r"(toA) 19
The SEM weak identity (3.6.29) on the solution A takes the form
0 --
where
`
Sc = Svar = (&,
y
+ ccgna,S )a:
r
S = r'`(B - A),
is the principal vector field (3.6.10) on C.
where e''" is the skew-symmetric Levi-Civita tensor and k is the coupling constant.
It is readily observed that the Lagrangian density (3.6.31) is not gauge-invariant.
At the same time, Los leads to the gauge-invariant and globally defined differential
operator
kamfle
eLcs = F 9Q` A w. (3.6.32)
We will call e,,, the Euler-Lagrange operator, though it is a locally variational, but
not variational operator. Of course, gauge transformations in the Chern-Simons
model keep the Euler-Lagrange operator (3.6.32), but not the Lagrangian density
(3.6.31), invariant.
In the Chern-Simons model, we have the above-mentioned weak conservation
law (3.5.22), where the total conserved current is the sum of the standard Nother
current plus the additional term as follows.
Let Cc be the principal vector field (3.6.10) on the bundle of principal connections
C X. We obtain
In accordance with Proposition 3.3.11, the Lie derivative (3.6.33) is expressed in the
form
ho(ds),
where
awJ1
is a2-formon C-.X.
3.6. CONSERVATION LAWS IN GAUGE THEORY 153
Hence, the weak identity (3.5.26) in the case of the principal vector field Cc
(3.6.10) leads to the conservation law (3.5.22):
0 -da(TA + oa), (3.6.34)
where
4. 1 amneAcc "au
k
is the Nother current. Furthermore, the conservation law (3.6.34) on the Chern-
Simons shell
5GCs = k a c mnea.rx- = 0
takes the superpotential form
0 -_ dUla),
UAX = 24C
mn
eaAtnam
a
Let us now turn to the SEM conservation law in the Chern-Simons model.
Let r be a vector field on the base X and r8 its canonical lift (3.6.26) onto the
fibre bundle C by means of a principal connection B. Remind that this is a vector
field associated with a local 1-parameter group of general principal automorphisms
of C- X.
Bearing in mind the corresponding transformation law of the term e`w, we
obtain
I+,p;HLcs = aLeaa8o(TB. )a'Hw.
where TB is the SEM current (3.6.28) along the vector field ra.
It follows that the SEM current of the Chern-Simons model is not conserved
because the Lagrangian density (3.6.31) is not gauge-invariant. At the same time,
we have the conservation law (3.6.35) of another quantity.
automorphisms of the fibre bundle C. Though their Lagrangian densities are vari-
ationally trivial, the corresponding strong identities yield superpotential terms (see
Example 3.5.6) when topological Lagrangian densities are added to the Yang-Mills
one.
Let P --+ X be a principal bundle with a structure group G. Recall that the
fibre bundle J1P -, C is also a G-principal bundle (see Example 2.7.4) provided
with the canonical principal connection A (2.8.4) with the curvature FA (2.8.5).
Let I(g) be the algebra of real G-invariant polynomials on the Lie algebra g of
the group G. Then there is the well-known Weil homomorphism of 1(g) into the De
Rham cohomology algebra H+(C,R) (see 1131]). By virtue of this homomorphism,
every k-linear element r E 1(g) is represented by the cohomology class of the closed
characteristic 2k-form r(FA) on C. If A is a section of C -+ X, we have
A'r(FA) = r(FA),
where FA is the strength of A and r(FA) is the corresponding characteristic form on
X.
Let n = dim X be even and let a characteristic n-form r(FA) on C exist. This
is a Lepagian form which defines a gauge-invariant Lagrangian density
Lr = ho(r(FA))
Remark 3.7.2. In classical field theory, if cosmological models are not discussed,
some conditions of causality should be satisfied (see [88]). A compact space-time
does not possess this property because it has closed time-like curves. Every non-
compact manifold admits a non-zero vector field and, as a consequence, a pseudo-
Riemannian metric ([46], p.167). A non-compact 4-dimensional manifold X has a
spin structure if and only if it is parallelizable (i.e., the tangent bundle TX - X
is trivial) [60]. Moreover, this spin structure is unique [7, 60). The orientability of
the manifold is not needed for a pseudo-Riemannian structure and a spin structure
to exist on it. This requirement, and the additional condition of time-orientability,
seem natural if we are not concerned with cosmological models [46]. It should be
noted that also paracompactness of manifolds has a physical reason. A manifold is
156 CHAPTER 3. LACRANCIAN FORMALISM
K = dx " ( 8a + (3. 7. 1 )
Let
xtx:LX - X
be the principal bundle of oriented linear frames in the tangent spaces to a world
manifold X (or simply the frame bundle). Its structure group is
GL4 = GL+(4,R).
Given holonomic frames {8"} in the tangent bundle TX associated with the
holonomic atlas (3.7.3), every element {Ha} of the frame bundle LX takes the form
H. = H%0,.,
where H'`a is a matrix element of the group CL4. These matrix elements constitute
the bundle coordinates
(x
J1
H".),
i =
H a =
a
H a,
,
ata
The frame bundle LX is equipped with the canonical R4-valued 1-form BLx
which has the coordinate expression
where {ta} is a fixed basis for R4 and Ha,, is the inverse matrix of H"..
The frame bundle LX X belongs to the category of natural bundles. Every
diffeomorphism f of X gives rise canonically to the automorphism
LOLx=0.
158 CHAPTER 3. LACRANCIAN FORMALISM
Then the canonical lift z (3.7.7) can be found locally as the horizontal lift of r by
means of this symmetric connection.
One can consider the horizontal lift
A glance at the expression (3.7.7) shows that the generators ,7 of general covariant
transformations (as well as the generators (3.6.12) of principal automorphisms in
gauge theory) depend on the components r'` of the vector fields r (which play the
role of gauge parameters) and their partial derivatives. The main peculiarity of
the SEM conservation laws along these generators is that the corresponding SEM
currents reduce to the sum of a superpotential term and a term which displays itself
in the presence of a background world metric on X.
Such a phenomenon takes place in General Relativity [1481, the Palatini model
[21, 149], metric-affine gravitation theory and gauge gravitation theory [68, 69, 1661.
We will start from tensor field theories which clearly illustrate this phenomenon.
Let T be a tensor bundle (3.7.4) with coordinates (x',yA), where the collective
index A is used:
YA =_ 91 ...ak (3.7.11)
In this notation, the canonical lift z (3.7.7) onto T of a vector field r on X reads
T = r''8a + UAaBfir8A. (3.7.12)
Remark 3.7.7. The expression (3.7.12) is the general form of the canonical lift
of a vector field r on X onto a natural bundle T, when this lift depends only on
the first partial derivatives of the components of r. Therefore, the results obtained
below for tensor fields are also true for every such natural bundle T.
Let L be a Lagrangian density on J'T which is invariant under general covariant
transformations, i.e., L satisfies the strong equality
Ljt7L = 0.
In the coordinate form (3.5.6), this equality reads
8(7G) + uA Opr8AG + r)zrA - yQ 8sr7rA = 0. (3.7.13)
The corresponding weak identity (3.5.17) takes the form
0 dA[7rA(yy r - uAaO,r) -r-,C]. (3.7.14)
Due to the arbitrariness of the gauge parameters r, the equality (3.7.13) is
equivalent to the system of strong equalities
(3.7.15a)
Y.ArO
SaG + uA06AG + d,,(uAair ) = , (3.7.15b)
uAa7rA + uAQ7[A = 0, (3.7.15c)
160 CHAPTER 3. LAGRANGIAN FORMALISM
where
A glance at the expression (3.7.16) shows that, on-shell, the corresponding SEM
current leads to the superpotential form (3.5.18), that is,
`ET = uA;bAGT +
where
I It is readily seen that the SEM superpotential (3.7.17) emerges from the de-
pendence of the canonical lift T (3.7.12) on the derivatives of the components of the
vector field r. This dependence guarantees that the SEM conservation law (3.7.16)
is maintained under general covariant transformations. 1
Let us now consider tensor fields, treated as matter fields, in the presence of a
background pseudo-Riemannian metric on a world manifold X.
Remark 3.7.8. A pseudo-Riemannian metric g on a world manifold X is repre-
sented by a section of the fibre bundle
where by CLX is meant the bundle of all linear frames in TX, and 0(1,3) is the
complete Lorentz group. We will call EPR the metric bundle. Since X is oriented,
the metric bundle is associated with the principal bundle LX of oriented frames in
TX. The typical fibre of EPR is the quotient
CL(4,R)/0(1,3).
3.7. CONSERVATION LAWS IN GRAVITATION THEORY 161
We follow Remark 3.5.8 to obtain the SEM conservation law of tensor fields in
the presence a background metric. The total configuration space is the jet manifold
J I Y of the fibred product
Y = T x EPiz.
x
This product is endowed with coordinates (xA, yA, a"), where we continue to use
the compact notation (3.7.11). Liven a vector field T on X, its canonical lift onto
Y reads
f = 7-.18A + UAQB$T8A + (O"Ta"A + O"TAa,)&Q . (3.7.19)
8AG = 0, (3.7.21 a)
6.0,C
+ uAobAG + d"(uAa A) = y 1rq, (3.7.21b)
uAQ + uAo = 0. (3.7.2lc)
162 CHAPTER 3. LACRANCIAN FORMALISM
On the shell
6AL=0, a,=g'"'(x),
the corresponding weak identity (3.5.25) takes the form
0 - 8.7-8g- - 8ag0 TA)BQpG - (3.7.22)
da[XA(y rQ - uA$o 7.o)
- T"G].
Substituting (3.7.21b) and (3.7.21c) in (3.7.22), we obtain the SEM weak identity
IS
9 I + U" %bAITQ + d, (uAnrATQ)],
where
tN I g I = 2ga"8,,,,G (3.7.24)
and a Lagrangian density L on the jet manifold of this product, the metric crnergy-
momentum tensor is defined to be
t Io 2o, 6""'C'
where b,,,,G are the variational derivatives with respect to the metric coordinates
p'.
A glance at the expression (3.7.23) shows that, on-shell, the SEM current of
tensor fields in the presence of a background pseudo-Riemannian metric is the sum
TA VI
= T" O g l + d,,(u"Q,TQ) (3.7.25)
of the metric energy-momentum tensor (3.7.24) of these fields and the superpotential
(3.7.17). The latter does not contribute to the differential conservation law which
takes the familiar form
VAt-_ 0.
3.7. CONSERVATION LAWS IN GRAVITATION THEORY 163
Given a world connection K, the configuration space J'T'X admits the following
splitting
J'T'X = S+ (T"X x AT* X), (3.7.26)
X
where
S- K -K
is the torsion (2.3.25) of the linear connection K. If a connection K is symmetric,
we have
.F : J'T'X-.T'X x n T'X.
x
Indeed, the standard Lagrangian density of Proca fields in the presence of a
background world metric g and a background world connection K takes the form
r = r"8 -
'5Z
its canonical lift (3.7.9) onto 7' X. The weak identity (3.7.23) for this vector field
reads
0 19 I - 19 I -
da['rt 19 I - kr' 6''G - d(k&07)),
where
19 I =
7r"a r,,,,
- m2g"''kk 19 6,,C p.
Hence, on-shell, the SEM current (3.7.25) of Proca fields in the presence of a back-
ground metric is the sum
EPR C vT'X
equipped with the coordinates (xA, a,,). The jet manifold .PEPR is coordinatized
by (xA, g p, gw, 9aaA)'
The second order Hilbert-Einstein Lagrangian density on the configuration space
J2EPR reads
where
Qcr({`a}(v"o} -
f l 1
-2QQS(Qval+
+ Opav - Q{9v)
ivQl =
This Lagrangian density is linear in the second order derivative coordinates gaa
and leads to the second order Euler-Lagrange operator and to the Poincarc-Cartan
form (3.2.18), which lives on the first order jet manifold J1EPR.
Remark 3.7.11. Let us recall the useful relations
o_ 1 80, 8
ao0
_ a0 8
o 80.0, i9aw,
Let us consider Proca fields from Example 3.7.10 as the matter source of a metric
gravitational field.
166 CHAPTER 3. LAGRANCIAN FORMALISM
The total configuration space of metric gravitational fields and Proca fields is
the second order jet manifold J2Y of the fibred product
Y=T'XxEpa. (3.7.34)
Lp = 47O.Fpfrw - 2rri2g'`''k'ka)
o 1W. (3.7.35)
'e V, a 11
ly
its canonical lift onto the fibred product (3.7.34). Since the Lagrangian densities LHE
(3.7.33) and Lp (3.7.35) are invariant under general covariant transformations, the
Lie derivative of their sum L by the second order jet lift J2T off (3.7.36) vanishes.
Then the first variational formula (3.2.19) leads to the following SEM conservation
law [148]:
A glance at the conservation law (3.7.37) shows that the corresponding SEM
current reduces to the superpotential which is the sum of the Komar superpotential
of metric gravitational fields (106] and the superpotential (3.7.32) of Proca fields.
Since world connections are associated with principal connections on the frame
bundle LX, there is one-to-one correspondence between the world connections and
the sections of the quotient fibre bundle
CK = J'LX/GL4. (3.7.39)
Y=kp A,
u $tv = btbob
f7
Upo A7-kp
f s
8 o -kp 1rs5-k7 9bp
t
The configuration space of the metric-affine gravity is the first order jet manifold
of the fibred product
EPRXCK.
Remark 3.7.13. The jet manifold J'CK admits the canonical splitting (2.8.21). We
will denote the corresponding projection F by R. This projection has the coordinate
expression
We will again consider Proca fields as a matter source of the metric-affine gravity.
Then the total configuration space is the first order jet manifold J'Y of the fibred
product
L = LMA + Lp (3.7.43)
3.7. CONSERVATION LAWS IN GRAVITATION THEORY 169
(3.7.44)
We will assume that LMA factorizes through the curvature (3.7.41) and that it
does not depend on the derivative coordinates aap of a world metric. Then the
following relations take place:
AY B - V_1
(3.7.45)
B,CMA
= a ak 9 (3.7.46)
e
We also have the equalities
a ARY ay B
EAU o =
7rAt4 A9
== B
GMA - ncB ' .y.
c k c
Given a vector field r on a world manifold X, its canonical lift onto the product
(3.7.42) reads
Let the total Lagrangian density L (3.7.43) be invariant under general covariant
transformations, i.e.,
Then, on-shell, the first variational formula (3.5.14) leads to the weak conservation
law
k8,,r) - raG],
where
Due to the arbitrariness of the gauge parameters r", the equality (3.7.47) is
equivalent to the system of strong equalities
8AG=0,
6P
+ 2aP"6"G + u"a6AG - k.60L + d"(w"Au"a - kir"a) - (3.7.50)
(ya 7r,O + k,7r'") = 0,
[(uA, 8A + UAry8Aa),CMA + (O'.y + 2k.y7r`)Gp]86T" = 0, (3.7.51)
7r(A y) = 0, (3.7.52)
where 6,,G, bAG and Of, are the corresponding variational derivatives.
Remark 3.7.14. It is readily observed that the equality (3.7.51) holds owing to the
relation (3.7.46) and to the fact that the Lagrangian density Lp factorizes through
.F. The equality (3.7.52) holds due to the relation (3.7.45).
Substituting the term y.7roA + k"7rfl" from the expression (3.7.50) in the SEM
conservation law (3.7.48), we bring this conservation law into the form
0 -_ -da[2a-'"r6"G + uAarbAG - kTb"G - (3.7.53)
7rAUAoB07 + d"(rra"O)8sT 1+ d"(7rquA,1)T
-
d"(k7r"AT)].
Note that the last term in this expression is precisely the divergence of the super-
potential (3.7.32) of Proca fields.
After separating the variational derivatives, the SEM conservation law (3.7.53)
of the metric-affine gravity and the matter Proca fields leads to the superpotential
form
Remark 3.7.16. Let us emphasize that matter Proca fields do not contribute to
the total superpotential (3.7.54). The corresponding term
-d,,(k7r'`AT)
in the expression (3.7.53) disappears because of dependence of the Lagrangian den-
sity Lp on the torsion (3.7.44). As will be seen later, also in gauge gravitation
theory fermion fields do not contribute to the total SEM current because of their
interaction with a torsion.
Example 3.7.18. It is readily observed that, in the local gauge where the vector
field r is constant, the SEM current of metric-affine gravity (3.7.49) leads to the
canonical energy-momentum tensor
`AMA = (xA"9kw . - 6.LMA)T
This tensor was suggested in order to describe the energy-momentum complex in
the Palatini model (44, 144, 149].
172 CHAPTER 3. LACRANCIAN FORMALISM
for more complicated constructions of topological spaces we refer the reader to the
van Kampen theorem ([381, p.63). Note that, given a group G1 and Abelian groups
G2i G3, ..., there exists a connected (cell) topological space Z with wk(Z) = Gk
(k = 1, 2, ...).
Homotopy groups of topological spaces are homotopic invariants in the sense
that they are the same for homotopic topological spaces. However, it may happen
that non-homotopic topological spaces have the same homotopy groups.
Other homotopic invariants of topological spaces are homology and cohomology
groups. While there are different homology theories, one usually refers to singular
homology and cohomology [37, 48, 82] and to (tech cohomology [47, 931. Here we
are briefly concerned with (tech cohomology.
Let it = {U;)1E1 be an open covering of a paracompact topological space Z. La
us consider a function ' which associates to each (p+ I)-tuple (io,... , ip) of indices
in I such that U,, fl ... fl U;, 0 0 an element of an Abelian group K. One can think
of 0 as being a K-valued function on the set U,, fl ... fl Uy. These functions form
an Abelian group Bp(11, K). Let us consider the cochain morphism
[p+1 _
(6')(i0,... Iip{.1) = L(- 1)k4.(io,...,lk,...tp}1),
k=O
where tk means that the index ik is omitted. One can check that
o'01P =0.
Thence, we have the eocllain complex
...-.BP(U,K)--'P-+ B'(U,K),.-.
(see Remark 3.3.3), and its oohomology groups
HP(il K) = Ker 6P/Im 6P-'
can be defined. Of course, they depend on an open covering U of the topological
space Z. Let if be a refinement of the covering U. Then there exists a homomor-
phism
P(1.1; K) -. HP(U'; K).
One can take the direct limit of the groups HP(U, K) with respect to these homo-
morphisms, where U runs through all open coverings of Z ([931, p.27). This limit is
the pth Oech cohomology group HP(Z; K) of Z with coefficients in K.
For paracompact and second countable manifolds which we deal with, the tech
cohomology groups coincide with the singular cohomology groups ([471 pp.248,285)
and, as was mentioned above, the tech cohomology groups with coefficients in R
coincide with the De R.ham cohomology groups. Note that, in the same manner, the
oohomology group H'(Z; C) of Z with coefficients in a non-Abelian group C can be
defined [93].
In conclusion, let us recall the following isomorphism
H'"(Z x Z'; K) _ E Hk(Z; K) 0 H'(Z'; K) (3.8.1)
k+!-m
for the eohomology groups of the product Z x Z' if K is a field ([481, p.84).
We describe Dirac spinors as follows [36, 150, 156] (see [27, 1181 and references
therein for a general Clifford algebra technique).
Let M be the Minkowski space equipped with the Minkowski metric which reads
q=diag(1,-1,-1,-1)
3.8. GAUGE GRAVITATION THEORY 175
Remark 3.8.2. The complex Clifford algebra C13 3 is isomorphic to the real Clifford
algebra R2,3, whose generating space is RS equipped with the metric
diag(1,-1,-1,-1, 1).
Its subalgebra generated by elements of M C R5 is the real Clifford algebra R,,3.
A spinor space V is defined as a minimal left ideal of C1,3 on which this algebra
acts on the left. We have the representation
7 : M 0 V --+ V, (3.8.2)
'Y(e) =,Y,,,
is not effective, one usually consider its pin and spin subgroups. The subgroup
Pin(1, 3) of C13 3 is generated by elements e E M such that 1)(e, e) = 1. The even
part of Pin(1,3) is the spin group Spin(1,3). Its component of the unity
L. = Spin(1, 3) = SL(2, C)
Recall that L is homeomorphic to RP3 x R3 ([821, p.27). The Lorentz group 1, acts
on the Minkowski space M by the generators
e : v - eve -I = -v + 2 e, e, V E R',
e, e)
Since
z.: P. - LX (3.8.8)
178 CHAPTER 3. LAGRANGIAN FORMALISM
of P. to the frame bundle LX -+ X. More generally, one can define a spin structure
on any vector bundle E -. X ([118], p.80). Then the definition above applies to
the particular case in which E is the cotangent bundle and the fibre metric
in T'X is a pseudo-Riemannian metric. Example 3.8.11 will exhibit a Riemannian
spin structure on X.
Since the hmomorphism L. -. CL4 factorizes through the epimorphism (3.8.5),
every bundle morphism (3.8.8) factorizes through a morphism of P. to some principal
subbundle of the frame bundle LX whose structure group is the proper Lorentz
group L. It follows that the necessary condition for existence of a Dirac spin structure
on X is that the structure group CL4 of LX is reducible to the Lorentz group L.
I From the physics viewpoint, it means that the existence of Dirac's fermion
matter implies the existence of a gravitational field. 1
Remark 3.8.4. G1H-structure. Let us recall some basic notions. Let rrpx :
where
E=P/HEX (3.8.10)
is a P-associated fibre bundle with the typical fibre C/H on which the structure
group C acts naturally on the left, and
PE=P-4P/H (3.8.11)
Proof. Let
10 = {(U0, ),p".p}, za(x) = zp(x)p".hp(x), X E UQ fl Up,
be an atlas of the reduced subbundle P", where za are local sections of P" -. X
and p"p are the transition functions. Given a vertical automorphism + of P, let us
provide the reduced subbundle P"' = 4,(P") with the atlas
Proof. The isomorphism d> determines a C-valued function f on P" given by the
relation
In accordance with the relation (3.6.5), this function defines a principal automor-
phism of P whose restriction to P" coincides with 0. QED
be the associated fibre bundle with a typical fibre V. Let P" be another reduced
subbundle of P which is isomorphic to P", and
Y=(PxV)/C.
0
e=*
QED
Y=(PxV)/C^_-(PhxV)/H=Y".
However, if P" 34 P"', the P"- and P-associated bundle structures on Y are not
equivalent. Indeed, given bundle atlases Th of P" and I "' of P", the union of the
associated ati'ases of Y has necessarily G-valued transition functions between the
charts from W" and %P"'.
ET = LX/L, (3.8.13)
called the tetrad bundle. This is an LX-associated fibre bundle with the typical
fibre GL4/L. Since the group CL4 is homotopic to its maximal compact subgroup
SO(4) and the proper Lorentz group is homotopic to its maximal compact subgroup
SO(3), the quotient CL,,/L is homotopic to the Stiefel manifold
411(4,1; R) = SO(4)/SO(3) = S3
([170], p.33) and it is homeomorphic to the topological space S3 x R'. The fibre
bundle (3.8.13) is the two-fold covering of the metric bundle EPR (3.7.18). Its global
sections are called the tetrad fields.
Remark 3.8.5. In gravitation theory, a pseudo-Riemannian metric g and a tetrad
field h are usually identified with a physical gravitational field. At the same time,
there are gravitational models where a physical gravitational field is described by
an "effective" metric which differs from the geometric one [123].
Since X is parallelizable, any two Lorentz subbundles LhX and are iso-
morphic to each other. It follows that, by virtue of Proposition 3.8.5, there exists
a vertical bundle automorphism E Gau(LX) which sends L"X onto L"X. The
associated vertical automorphism 4 Pr the fibre bundle ET -' X transforms the
tetrad field h into the tetrad field h'.
Every tetrad field h defines an associated Lorentz atlas 41" _ ((UC, z,')) of LX
such that the corresponding local sections z' of the frame bundle LX take their
values into the Lorentz subbundle f)'X.
Given a Lorentz atlas W", the pull-back
of the canonical form 0j.x (3.7.5) by a local section z' is said to be a (local) tetrad
form. The tetrad form (3.8.14) determines the tetrad coframes
in the cotangent bundle T'X. These coframes are associated with the Lorentz atlas
V
The coefficients h of the tetrad form and the inverse matrix elements
hQ = SQ o zh (3.8.16)
are called the tetrad functions. Given a Lorentz atlas W", the tetrad field h can
be represented by the family of tetrad functions {hQ}. In particular, we have the
well-known relation
g = ha 0 hnab,
9;_ --hahb
gl
ab ,
between the tetrad functions and the metric functions of the corresponding pseudo-
Riemannian metric g : X -e Epa.
Remark 3.8.6. Since a world manifold X is assumed to be parallelizable, it admits
global tetrad forms (3.8.14).
In the general case of a manifold X provided with a Lorentz structure, there also
exists a Lorentz atlas such that the temporal tetrad form h is globally defined. This
is a consequence of the fact that the Lorentz group L is reducible to its maximal
compact subgroup SO(3) and, therefore, there exists an SO(3)-principal subbundle
LQX C LhX C LX, called a space-time structure. The corresponding global section
of the quotient fibre bundle L"X/SO(3) - X with the typical fibre R3 is a 3-
dimensional spatial distribution FX C TX on X. Its generating 1-form written
relative to a Lorentz atlas is precisely the global tetrad form h (160). We then have
the corresponding space-time decomposition
TX=FX0NF,
where NF is the 1-dimensional fibre bundle defined by the tetrad frame h = ho8M.
In particular, if the generating form h is exact, the space-time decomposition obeys
Hawking's condition of stable causality [88].
Given a tetrad field It, let LhX be the corresponding reduced Lorentz subbun-
dle. Since X is non-compact and parallelizable, the principal bundle L"X can be
extended uniquely (up to autornorphisms) to a L,-principal bundle P" X [60).
We have the principal bundle morphism
z":Ph-LhXCLX
184 CHAPTER 3. LAGRANGIAN FORMALISM
zh o Rs = R.,(s), V9 E L.
This is an h-associated pseudo-Riemannian spin structure on a world manifold. We
will call P' the h-associated principal spinor bundle.
Note also that every Lorentz atlas {z,) of LX gives rise to an atlas of
the principal spinor bundle P".
Let us consider the L"X-associated fibre bundle of Minkowski spaces
MhX = (LhX X M)/L = (P" x M)/L, (3.8.17)
and the P^-associated spinor bundle
S"=(P"xV)/L (3.8.18)
DA,, _ (VA
A - 0 8A,
3.8. GAUGE GRAVITATION THEORY 185
The first order differential Dirac operator is defined on S" by the composition
yA C A, = h.(-Y')AD(ye - I abALabAny)
Remark 3.8.7. The spinor bundle Sh is a complex fibre bundle with a real structure
group over a real manifold. Of course, one can regard such a fibre bundle as the real
one. In particular, the jet manifold j I Sh with coordinates (x", yA, ya) is defined as
usual.
The h-associated spinor bundle Sh is equipped with the fibre spinor metric
ah:S"xSh-.R,
x
ah(v, v) = 2 (v+ryti + v'+ryv), V, t/ E Sh.
Using this metric and the Dirac operator (3.8.21), one can define the Dirac Lagran-
gian density on J'S" in the presenceof a background tetrad field h and a background
connection Ah on S" as
La:JIS"-,AT'X,
Lh = [ah(iDh(w), w) - rnah(w, w)1 h A ... A h3, w E J'Sh.
Its coordinate expression is
At the same time, every principal connection K on the frame bundle LX defines a
Lorentz connection K" on an L-principal subbundle L h X as follows.
It is readily observed that the Lie algebra of the general linear group CL4 is the
direct sum
e(CL4) = 9(L) m
3.8. GAUGE GRAVITATION THEORY 187
of the Lie algebra g(L) of the Lorentz group and a subspace m such that
ad(l)(m) C m, `dl E L.
where {ebk) is the basis of the Lie algebra of the group CL4. Then, the Lorentz part
of this form is precisely the local connection 1-form of the connection Kh on L"X.
We have
1 (3.8.25)
AA b = (7h - rlkh,)(OAhk - k
One can use the connection (3.8.26) in order to obtain a horizontal lift onto S"
of a vector field r on X. This lift reads
r7"h,,)(BAItk
rK,, = rABA + 9Ta(Yjkbh - - h1kKA"v)LbAByB8A. (3.8.27)
188 CHAPTER 3. LAGRANGIAN FORMALISM
They are not equivalent because no isomorphism of S" onto S" can obey the
condition
It follows that every Dirac fermion field must be described in a pair with a certain
tetrad (gravitational) field. We thus observe the phenomenon of symmetry breaking
in gauge gravitation theory which exhibits the physical nature of gravity as a Higgs
field [160]. The goal is to describe the totality of fermion-gravitation pairs.
Remark 3.8.10. All spin structures on a manifold X which are related to the
two-fold universal covering groups possess the following two properties [84].
Let P -+ X be a principal bundle whose structure group C has the fundamental
group a, (C) = Z2. Let d be the universal covering group of C.
1. The topological obstruction to the existence of a G-principal bundle P - X
covering the bundle P - X is given by the tech cohomology group H2(X; Z2) of X
with coefficients in Z2. Roughly speaking, the principal bundle P defines an element
of H2(X; Z.2) which must be zero so that P -+ X can give rise to P -. X.
2. Non-equivalent lifts of P -+ X to G-principal bundles are classified by ele-
ments of the tech cohomology group HI (X; Z2).
In particular, the well-known topological obstruction to the existence of a Rie-
mannian spin structure (see Example 3.8.11) and a pseudo-Riemannian spin struc-
ture is the second Stiefel-Whitney class w2(X) E H2(X; Z2) of X ([118], p.82).
In the case of 4-dimensional non-compact manifolds, all Riemannian and pseudo-
Riemannian spin structures are equivalent [7, 60).
ER = LX/SO(4) - X,
Example 3.8.12. Universal spin structure. The group GL4 is not simply-
connected. Its first homotopy group is
ai(GL4) = xi(SO(4)) = 72
([82], p.27). Therefore, GL4 admits the universal two-fold covering group GL4 such
that the diagram
UL-4 -. GL4
(3.8.29)
Spin(4) -i SO(4)
is commutative [91, 118, 151, 172].
A universal spin structure on X is defined as a pair of a CL4-principal bundle
LX X and a principal bundle morphism
LX
X
3.8. GAUGE GRAVITATION THEORY 191
LX -. LX
1 (3.8.30)
1
Pg - LgX
for any Riemannian metric gR [151, 1721.
Since the group CL4 is homotopic to the group Spin(4), there is one-to-one corre-
spondence between the non-equivalent universal spin structures and non-equivalent
Riemannian spin structures [172]. In our case, all universal spin structures as well
as the Riemannian ones are equivalent.
The group CL4 has finite-dimensional representations, but its spinor represen-
tation is infinite-dimensional (91, 1451. Elements of this representation are called
world spinors, and their field model has been developed (see [911 and references
therein).
At the same time, the following procedure enables us not to exceed the scope of
standard fermion models.
Let us consider the commutative diagram
LX s-+ LX
(3.8.31)
ER
and the composite fibre bundle
LX - ER -: X,
where LX -, ER is a Spin(4)-principal bundle. For each pseudo-Riemannian met-
ric On, the restriction of the Spin(4)-principal bundle LX - ER to gR(X) C ER is
isomorphic to a gR-associated principal spinor bundle P9 (see Remark 3.8.4). There-
fore, the diagram (3.8.31) is said to be the universal Riemannian spin structure.
Let us consider the composite spinor bundle
S. ER -+ X, (3.8.32)
composite spinor bundle (3.8.32) which project onto gR, that is, 7rsr o s = gR (see
Remark 3.8.13).
In order to relate this model to the above-mentioned model of world spinors, let
us note that the total space S of the spinor bundle (3.8.32) has the structure of a
fibre bundle which is associated with the GL4-principal bundle LX - X and whose
typical fibre is the quotient
(UL-4 X VE)/Spin(4) (3.8.33)
(see Remark 3.8.14). Then, a morphism of the quotient (3.8.33) to the spin represen-
tation space of the group UL-4 yields the corresponding morphism of the composite
spinor bundle (3.8.32) to the GL4-associated bundle of world spinors.
The construction above on composite fibre bundles illustrates the standard de-
scription of spontaneous symmetry breaking in gauge theories where matter fields
admit only exact symmetry transformations [159, 1621.
Remark 3.8.13. Spontaneous symmetry breaking. Spontaneous symmetry
breaking is a quantum phenomenon. In classical field theory, spontaneous symmetry
breaking is modelled by classical Higgs fields. In gauge theory on a principal bundle
P - X, the necessary condition for spontaneous symmetry breaking to take place is
the reduction of the structure group G of this principal bundle to a dosed subgroup
H of exact symmetries [96, 99, 146, 1781. The topological obstructions to this
reduction has been discussed in Remark 3.8.4. Higgs fields are described by global
sections h of the quotient fibre bundle E = P/H - X (3.8.10).
In accordance with Theorem 3.8.2, the set of Higgs fields h is in bijective corre-
spondence with the set of reduced H-principal subbundles Ph of P. Given such a
subbundle Ph, let
Yh = (Ph X V)/H (3.8.34)
be the associated fibre bundle with a typical fibre V which admit a representation
of the group H of exact symmetries, but not the whole symmetry group G. Its
sections describe matter fields in the presence of the Higgs fields h.
In general, the fibre bundle Y' (3.8.34) is not associated (see Proposition 3.8.3)
or canonically associated (see Remark 3.6.1) with other H-principal subbundles Ph'
of P. It follows that, in this case, V-valued matter fields can be represented only
by pairs with Higgs fields. The goal is to describe the totality of these pairs (sh, h)
for all Higgs fields.
3.8. GAUGE GRAVITATION THEORY 193
Let us consider the composite fibre bundle (3.8.9) and the composite fibre bundle
YEM E X (3.8.35)
be a fibre bundle associated with the H-principal subbundle P" of P. There is the
canonical injection
ih:Y"=(P"xV)/H--+Y
over X whose image is the restriction
h'Y = (h'P x V)/H
of the fibre bundle Y -' E to h(X) C E, i.e.,
ih(Y") = 7rrE(h(X)) (3.8.37)
Then every global section Sh of the fibre bundle Y" corresponds to the global
section ihosh of the composite fibre bundle (3.8.35). Conversely, every global section
s of the composite fibre bundle (3.8.35) which projects onto a section h = iryE os of
the fibre bundle E -+ X takes its values into the subbundle ih(Y") C Y in accordance
with the relation (3.8.37). Hence, there is one-to-one correspondence between the
sections of the fibre bundle Y" (3.8.36) and the sections of the composite fibre bundle
(3.8.35) which cover h.
Thus, it is precisely the composite fibre bundle (3.8.35) whose sections describe
the above-mentioned totality of pairs (s", h) of matter fields and Higgs fields in
gauge theory with broken symmetries [159, 164].
The feature of the dynamics of field systems on composite fibre bundles consists
in the following. Let the composite fibre bundle Y (3.8.35) be provided with coordi-
nates (x, an, y'), where (x, a') are bundle coordinates of the fibre bundle E -, X.
Let
The operator (3.8.39) possesses the following important property. Given a global
section h of E - X, its restriction
Dh=DAEOJ'ih:J'Y"-+T'XVYh, (3.8.40)
Dh=dz"(ya-Aa-Am8"h'")8;,
to Yh is precisely the familiar covariant differential relative to the principal connec-
tion
At, = dz" [8" + (Am 8"h"' + A;,)8;]
on the fibre bundle Y" - X which is induced by the principal connection (3.8.38)
on the fibre bundle Y - E ([1031, p.81).
Thus, we may construct a Lagrangian density on the jet manifold J'Y of a
composite fibre bundle which factorizes through DA, that is,
Remark 3.8.14. The total space of the composite fibre bundle Y - X (3.8.35)
has the structure of the P-associated bundle
Y = (P x (C x V)/H)/G,
where the elements (p, g, v) and (pab, b''g, a-'v) for all a E H and b E G are
identified. Its typical fibre is the quotient (C x V)/H of the product G x V by
identification of the elements (g, v) and (ag, a 'v) for all a E H. The group G act
on this typical fibre by the rule
In particular, if the typical fibre V of the composite fibre bundle Y X admits the
action of the group C, these two bundle structures on Y are equivalent. 9
3.8. GAUGE GRAVITATION THEORY 195
Let us turn now to fermion fields in gauge gravitation theory, basing our consid-
eration on the following two facts.
is trivial.
0
Proof. The restriction of the universal covering group GL4 GL4 to the Lorentz
group L C CL4 is obviously a covering space of L. Let us show that this is the
universal covering space. Indeed, any non-contractible cycle in GL4 belongs to some
subgroup SO(3) C GL4 and the restriction of the covering bundle UL-4 -, CL4
to SO(3) is the universal covering of SO(3). Since the proper Lorentz group is
homotopic to its maximal compact subgroup SO(3), its universal covering space
belongs to GL4. QED
Following Example 3.8.12, let us consider the universal spin structure LX -' X.
It is unique since X is parallelizable. In virtue of Proposition 3.8.9, we have the
196 CHAPTER 3. LACRANCIAN FORMALISM
commutative diagram
LX - LX
Ih
L^X
for each tetrad field h (see also [56]). It follows that the quotient EX IL. is precisely
the quotient Dr (3.8.13) so that there is the commutative diagram
LX -i LX
(3.8.43)
F_r
By analogy with the diagram (3.8.31), the diagram (3.8.43) is said to be the
universal Dirac (pseudo-Riemannian) spin structure. We have the composite fibre
bundle
LX - Fr X, (3.8.44)
EM=(LX x M)/L- Dr
associated with the L-principal bundle LX -. ET. Since the frame bundle LX and
the fibre bundle P1, (3.8.42) are trivial, the fibre bundle EM -' Dr is also trivial.
Hence, it is isomorphic to the pull-back
F.r T'X. (3.8.45)
x
Since the fibre bundle F.r - X is trivial, the fibre bundle EM is isomorphic to
the trivial bundle of Minkowski spaces over the product S3 x R' x X. It follows
that the set of non-equivalent spin structures on the bundle EM is in bijective corre-
spondence with the cohomology group H' (S3 x R' x X; Z2) ((118], p.82). Since the
cohomology group Hl (S3; Z2) is trivial and a spin structure on S3 is unique (40], one
can show that non-equivalent spin structures on EM are classified by elements of the
cohomology group HI (X; Z') and, consequently, by non-equivalent spin structures
on X. It follows that the spin structure (3.8.43) on the fibre bundle EM is unique.
3.8. CA UGE GRAVITATION THEORY 197
where
S = (LX x V)/L.
is the spinor bundle S -+ E.r associated with the L.-principal bundle LX -+ E.r.
Given a tetrad field h, there is the canonical isomorphism
ih:S''=(PhxV)/L.- (h'LX xV)/L.
of the h-associated spinor bundle Sh (3.8.18) onto the restriction h'S of the spinor
bundle S -. Esr to h(X) C Dr. Then, every global section sh of the spinor bundle
Sh corresponds to the global section ih o sh of the composite spinor bundle (3.8.46).
Conversely, every global section s of the composite spinor bundle (3.8.46) which
projects onto the tetrad field h takes its values into the subbundle ih(Sh) C S.
Let the frame bundle LX - X be provided with a holonomic atlas (3.7.3)
and the principal bundles LX -+ Fir and LX -. Dr have the associated atlases
(z,", U.) and {zz = z" o z,, UL}. With these atlases, the composite spinor bundle S
is equipped with the bundle coordinates (x'', a;, y'l), where (', a;) are coordinates
of ET such that aQ are the matrix components of the group element (TIC o zj(a),
a E U., aEX (a) E Uc. For each section h of we have
Restricted to h(X) C F.r, this representation recovers the morphism ryh (3.8.20).
Using this representation, one can construct the total Dirac operator on the
composite spinor bundle S as follows.
Since the fibre bundles which make up the composite fibre bundle (3.8.44) are
trivial, let us consider a principal connection AE (3.8.38) on the L.-principal bundle
LX -, ET given by the local connection 1-form
(Aabdx-' + Akabdok)
AE = Lab, (3.8.48)
where
Arab (nkaQa _
2
`a)a"Ka".,
Aab
= 2 (71 C, - r/k6BN (3.8.49)
on the spinor bundle S - E'r. Let h be a global section of ET X and S' the
restriction of the bundle S -. Err to h(X). It is easily seen that the restriction of
the spin connection (3.8.50) to Sh is precisely the spin connection (3.8.27).
The connection (3.8.50) yields the first order differential operator DAs (2.5.7) on
the composite spinor bundle S X, and reads
The corresponding restriction Dr, (3.8.40) of the operator DAs (3.8.51) to J1Sh C
J'S recovers the familiar covariant differential on the h-associated spinor bundle
Sh X relative to the spin connection (3.8.27).
3.8. GAUGE GRAVITATION THEORY 199
Combining (3.8.47) with (3.8.51), we obtain the first order differential operator
yB o D = Qn7o8A
WA - 4
Q - nkap)( k - QkKav)L6AcUC],
on the composite spinor bundle S X. One can think of 1) as being the total Dirac
operator on S because, for every tetrad field h, the restriction of D to J'S" C J'S
is exactly the Dirac operator Dh (3.8.21) on the h-associated spinor bundle S" in
the presence of the background tetrad field h and the spin connection (3.8.27).
The total configuration space of this model is the jet manifold J'Y of the fibred
product
Y=CKXS (3.8.53)
Ay : Y-JEY-JES,
Ay = dxa (8,, + AaobLA ByBOA) + dog (0, + AbL ByBoA), (3.8.54)
2
Using the connection (3.8.54), we obtain the first order differential operator
Dy:J'YT'XS,
DY = &x'' ]ea (,7kbQ - n1-Q)( a.P %k - Q,kAv)LbA8yB]8A' (3.8.55)
4
200 CHAPTER 3. LAGRANCIAN FORMALISM
L = LMA + LD (3.8.57)
where o' = and ay is the pull-back of the fibre spinor metric as onto the
fibre bundle Y -' (CK x E.r). Its coordinate expression is
,CE)
= { 2av (yA1(77)AB(y1 - 4 (nkao - akkav)L6Bcf) -
(y aX+A -
4
nka)(aak
- akka"v)yCL.+bCA(77)ABYB] - (3.8.58)
_a j, a = det(ow)
myA(7)AB?} I
8k + 8kG a - 0,
that is, the Dirac Lagrangian density (3.8.58) depends only on the torsion (3.7.44)
of a world connection.
Let us turn now to general covariant transformations.
3.8. GAUGE GRAVITATION THEORY 201
LX LX
LX - - LX
LI
where t is the holonomic bundle automorphism of LX (3.7.6) induced by f [39).
The associated morphism of the spinor bundle S (3.8.46) is given by the relation
S -. S
4.
I I
X . X
Accordingly, there exists a canonical lift Ts onto S of every vector field r on X.
The goal is to find its coordinate expression. Difficulties arise because the tetrad
coordinates a; of Dr depend on the choice of an atlas of the bundle LX -, Er.
Therefore, non-canonical vertical components appear in the coordinate expression
of T.
A comparison with the canonical lift (3.7.19) of a vector field r onto the metric
bundle EPR shows that a similar canonical lift of r onto the tetrad bundle ET takes
the form
8M
fE = raOA + + Q 84- (3.8.59)
ear p
202 CHAPTER 3. LAGRANCIAN FORMALISM
The term Q;a is the above-mentioned non-canonical part of the lift (3.8.59).
Let us consider a horizontal lift of the vector field iE onto the spinor bundle
S - E by means of the spin connection (3.8.50). It reads
rs = raaa + 8L9 +
acp
Qi"t(+Ikba, _ qC6s
-Lab-aa 8o + L,bAByBaA +
fy=T+t9,
f = r.ax + S'ra"" ', + (3.8.61)
Its canonical part 7 (3.8.61) is the generator of a local 1-parameter group of general
covariant transformations of the fibre bundle Y, whereas the vertical vector field i9
3.8. GAUGE GRAVITATION THEORY 203
L.n,LD = 0. (3.8.62)
LJI LMA = 0, Lj,TLD = 0. (3.8.63)
The relation (3.8.62) leads to the Nother conservation law. Let us analyse the
equalities (3.8.63) in order to obtain the SEM conservation law of the metric-affine
gravity and fermion fields.
Using the compact notation, let us rewrite the vector field f (3.8.61) in the form
=7-08 + 0,,7-"ff.' 8
800
+ (uAQ807 + 8pT)8A.
Due to the arbitrariness of the functions r, the equalities (3.8.63) lead to the strong
equalities
and
ota=o;8e.
0
0 S: -da[8A1CMA(yo7- - uA0a007.
- uAa ,
.o) - (3.8.67)
8JCD
(89Taa - 0KT) + OyAA
y7_
+ Ay AT - TAC).
OJ
80D
204 CHAPTER 3. LAGRANCIAN FORMALISM
in (3.8.65), in (3.8.67), we bring this conservation law into the superpotential form
0 rz -da[2a4Tbw,G + (k"",,b a'G - + (3.8.68)
b""G8"T - dd(&"G)T + d"(xvaa(8vT - kvvr))] -
(80
da[ 8GDa.1'+
a 8GD a" 8 T .
Sex. a) " ]
In virtue of the relations (3.8.66), the last term in the expression (3.8.68) vanishes,
that is, neither fermion fields nor Proca fields contribute to the superpotential. It
follows that the SEM conservation law (3.8.67) leads to the form (3.5.18), where U
is the generalized Komar superpotential (3.7.54).
Thus, one could say that the generalized Komar superpotential (3.7.54) appears
to be a universal superpotential for gravitation models.
When dealing with the event space Y, we will always use fibred charts (U; t,
compatible with the fibration (3.9.1).
Let J1 Y be the first order jet manifold of the fibred manifold Y it Its
coordinates will be denoted by (t, y', y;). The canonical morphism (2.1.19) takes the
form
a-1
&j ,
206 CHAPTER 3. LAGRANGIAN FORMALISM
we can extend the endomorphism (3.9.3) to the tangent bundle TJ'Y in accordance
with the diagram
VJ'Y 0 VJ'Y
I v(8e) = -yi&,, y(O) = 8;, v(t9=0.
This is called the vertical endomorphism, which inherits the property v o v = 0.
The transpose of the endomorphism v is
T'J'Y .T'J'Y,
v;-(d-t) -=O, v'(dy{) = 0, v'(dy') _ t9= dal' - yidt,
v'ov'=0.
Using the endomorphism v', one can introduce the vertical exterior differential
dd = v'd (3.9.5)
acting on the exterior algebra of forms on J'Y. For example, let ! be a function on
J'Y. Then we have
dd! = Of ;.
80
A connection on the event space Y - R of a mechanical system is given by
a section r of the jet bundle J'Y Y. In accordance with Remark 3.9.2, it is
represented by the vector field
(3.9.6)
on Y which is the horizontal lift of the standard vector field 8; on R by means of
the connection r.
Obviously, connections on the fibred manifold Y -' R are curvature-free connec-
tions.
Remark 3.9.3. Curvature-free connections. Recall that every connection r on
a fibred manifold Y - X, by definition, yields the horizontal distribution r(TX) C
TY (2.3.3) on Y. It is generated by horizontal lifts
,r=T"(aa+Ia8;)
3.9. APPENDIX. GAUGE MECHANICS 207
Given a horizontal foliation on Y --* X, there exists the associated atlas of fibred
coordinates (xa, y') of Y such that every leaf of this foliation is locally generated by
the equations y' =const. and the transition functions y' - y"(y') are independent of
the base coordinates xa [29]. This is called the atlas of constant local trivializations.
Two such atlases are said to be equivalent if their union is also an atlas of constant
local trivializations. They are associated with the same horizontal foliation.
B. Dames of reference
In accordance with Remark 2.3.1, every connection on a fibred manifold Y -, R
defines a horizontal foliation on Y - R. Its leaves are integral curves of the vector
208 CHAPTER 3. LAGRANGIAN FORMALISM
field (3.9.6). The corresponding Pfaffian system is locally generated by the forms
(dy' - r'dt). There exists an atlas of constant local trivializations such that r= at
relative to the associated coordinates. These coordinates are called adapted to r.
The vector field (3.9.6) reduces to the vector field 01 relative to the coordinates
associated with this trivialization.
ar : Y -+ Y/Gr = M, (3.9.9)
where M is the configuration space with respect to the frame r. This projection,
together with the projection Y -' R, defines a trivialization
Y=RxM. (3.9.10)
QED
Remark 3.9.4. It follows that the fibred manifold Y --+ R is a fibre bundle if
and only if there exists a complete connection r on Y. In this case, Y R is
automatically trivial since the base R is contractible.
VY ATM
I I
Y -'
*r
M
We define the observed motion with respect to the frame r as
Then its velocity er : I - TM can be canonically identified with the relative velocity
(3.9.7) which coincides with (3.9.8) relative to the coordinates adapted to the frame
r.
210 CHAPTER 3. LAGRANCIAN FORMALISM
Extending this construction to the jet manifold J1Y, we obtain the following
diagram
J'Y (`'yamr) R x TM
! 1
Y RxM
\(t,wr)
t if pr'
R
which, in the adapted coordinates, simply reads (t,y',ye)'-' yi).
C. Dynamic equations
Let J2Y be the second order jet manifold of Y -' R provided with fibred coor-
dinates (t, yt, yi, y`a). Let c : I - Y be a motion. Its second order jet prolongation
is denoted by c : I - J2Y. We then have the diagram
I'-- R
where J2Y - P Y is an affine bundle modelled on the vector bundle
VYJ'Y = J'Y Y VY J'Y. (3.9.11)
Note that
VJ.YJ2Y = j2y X VY C TJ2Y.
Y
There is the canonical splitting (2.2.8) of the tangent space TJ'Y over JPY:
J2Y x TJ'Y = R VJ'Y,
Y fly
0: J2Y x TJ'Y - V J'Y, (3.9.12)
J'Y
t {
3.9. APPENDIX. GAUGE MECHANICS 211
J2Y JYTJ'Y,
(t)y', yt, yu) '-' (t, y', yt,1, 2/' = ya yt = YD. (3.9.13)
I e =8 (3.9.14)
where the horizontal line bundle over J'Y is precisely the trivial bundle generated
by the nowhere vanishing vector field (3.9.14).
Recalling (3.9.11), we can define the covariant differential VC associated with
as the affine morphism
where a,, = 0E o c is called the (absolute) acceleration of the motion c with respect
to C. Its coordinate expression is
VY d'=x'oc,
I.11 Y
/1
a, = (i' - ` o c)8{.
(3.9.18)
Recall that solutions of the dynamic equation t are the motions c such tha
c =1: o c. Then these solutions can be equivalently characterized as the motions c
with the zero acceleration a, = 0, i.e., geodesics.
212 CHAPTER 3. LAGRANGIAN FORMALISM
c=e+f, f :J'Y---VyJ'YCTJ'Y,
where the vertical vector field f acquires the meaning of a force. One may think of
f as being an external force acting on the system . The resulting motions c will no
longer be geodesics of C because they satisfy the equation
ac= foe,
but they are geodesics of n.
D. Dynamic connections
Let us consider the first jet manifold J'' J'Y of the affine bundle J'Y Y. The
adapted coordinates on JyJ'Y are (NA,yi,It ,), where we use the compact notation
(y = t). Since J'Y - Y is affine, so is Jy' J'Y - Y, modelled over the vector
bundle JyVY - Y.
A connection
I 7=dy''hA=dy''(8a+ (3.9.20)
It is easily seen that there is one-to-one correspondence between the shine dy-
namic connections ry and the linear connections K on the tangent bundle TY such
that Ka,, = 0. In particular, we may consider symmetric affine connections ry such
that 'ykav = -Y',,.
Contracting J'Y C TY with T*Y, we obtain from (3.9.20) the following affine
morphism ri over J'Y
J'yJ'Y j2y
ry`A
J'Y
A
A-77 =of + AM,
This enables us to obtain a dynamic equation f, from the arbitrary dynamic con-
nection ry. In coordinates, we have
if y is symmetric.
Using (3.9.20), we can associate with the equation C,, (3.9.23) the vector field
,y =8t+ylg8.+O8k=ho +yih
It lives in the horizontal subbundle HJ'Y C TJ'Y of ry spanned by the horizontal
fields h.,:
In fact, f,, is the unique dynamic equation belonging to the horizontal subbundle
HJ'Y -. J'Y.
214 CHAPTER 3. LAGRANGIAN FORMALISM
vr=o;
r is geodesic, i.e., vrr = 0 and or = o.
Let us consider the jet prolongation J'r (2.1.16) of the vector field r. It reads
Pr = r"a" + drkaE.
Since the condition (3.9.26) takes the form
r"a"rk=for,
we obtain the formula
J'rIr=ciIr
or, equivalently, the restriction jr 'Ir takes its values into the horizontal subbundle
HJ1Y of the connection y.
Let 'y be a dynamic connection. Then, using the horizontal vector fields ha given
by (3.9.20), we define
(3.9.28)
p:J'Y-iV'YVY,
p = pi dy' 0 ak, pk = (R,Jyi + III), (3.9.29)
Remark 3.9.6. Let 7 be a dynamic equation with connection coefficients '. Then
t rr
=8;+ i81, ' at, (3.9.30)
is a local basis for the vector fields on J'Y. It is easily seen that the dual basis is
dt, t= dy` - yedt, 'y = dye - 7odt - (3.9.31)
We have seen that a dynamic connection 7 on the affine bundle J'Y -' Y gives
rise to a dynamic equation f, : J'Y -. J2Y. In fact, this is the unique dynamic
equation belonging to the horizontal subbundle HJ'Y c TJ'Y determined by the
connection 7. Conversely, given any dynamic equation : J'Y - J2Y, we will
show that, necessarily, f = C., for some dynamic connection 7.
LEMMA 3.9.4. Let C : J'Y J2Y be a dynamic equation. Then a induces the
following involution If of the vertical tangent bundle VJ'Y - J'Y:
VJ'Y VJ'Y,
k
it(8f) _ -8; - te8k it(8;) = 8;.
0
Proof. Let
u=a'8;+6{8;
be a vertical vector field on J'Y -, R. Set
It(u)=(,vuj-v[C,u):J'Y-VJ'Y,
3.9. APPENDIX. GAUGE MECHANICS 217
where hi is a local basis for the subbundle HH C VJ'Y. Note that HH J1Y is
canonically isomorphic to Vy J' Y - J' Y:
Hf -4 VyJ'Y
I
hi Of.
J'Y
From the splitting (3.9.15), we obtain the following:
Setting
18k
h = 8a + y8k, 70 = e - 7jkYt', 7i = 2 (3.9.33)
we see that there are two equivalent local bases for HP Y, namely and {h.,}
defined in (3.9.33). Of course, HJ'Y C TJ'Y is the horizontal subbundle of a
dynamic connection 7 whose connection coefficients are -. In fact, (3.9.33) shows
that t _ ,.
Moreover, we deduce from (3.9.33) that the map f *-+ 7 f is injective, i.e., if
7f = 7C, then the dynamic equations f and ( coincide. However, not every dynamic
connection 7 is of the type 7 = 7f for a dynamic equation .
070 + (3.9.34)
ole
218 CHAPTER 3. LAGRANCIAN FORMALISM
Proof. The condition (3.9.34) follows immediately from (3.9.33) by taking the
partial derivative along the coordinate yy:
o 2ry; - 2 1, -rya.
Conversely, let y satisfy (3.9.34) and Then, taking the partial derivative of
(3.9.23), we obtain
8pf,k
= 0)0 +
ayt t by" -yk = 2?;`
(3.9.35)
Y
T= Tkdy ak,
Then the condition (3.9.34) is equivalent to yal. = yy. The symmetric connection
corresponding to (3.9.37) is
__ = 2(.y + yam).
1
Every dynamic connection y on the affine bundle J'Y Y induces the vertical
connection Vy (2.5.13) on the composite fibre bundle
VyJ'Y.J'Y-.Y. (3.9.38)
VYJ'Y-J''VYJ'Y
ya, )
I I
J'Y JYJ'Y
i i1, i
(U11, 1/i0,
Uu) 0 Vy = (ya, Ui,
c
Note that J'' VyJ'Y = VyJyl J'Y -+ Jy' J'Y is a vector bundle and that Vy is a
linear morphism over y.
Actually, since J'Y -y Y is an affine bundle, the vector bundle VyJ'Y - J1Y
is equipped with a linear connection y whose coefficients are
Jle 0. (3.9.39)
Here 'V stands for the covariant derivative associated with IF. The connection Vy
on the composite fibre bundle (3.9.38) is the composition Vy ='y o y (2.5.4) of the
connections y and 'y on J1Y - Y and VyJ'Y - J'Y, respectively.
In particular, suppose that -y is affine as in (3.9.37). Then y has the associated
linear connection defined on VY -, Y, that is,
1 = 731J. (3.9.40)
Recalling (3.9.2), it is clear that the induced linear connection (3.9.39) on VyJ'Y -
J'Y is precisely the pull-back of the linear connection (3.9.40).
220 CHAPTER 3. LAGRANCIAN FORMALISM
L=Gdt,
L function a Lagrangian.
Its fibre derivative defines the Legendre map (3.4.1):
p,oL=a,=OC, (3.9.42)
where (t, y{, p,) are the holonomic coordinates on V* Y. Using again the fibre deriva-
tive of L, we obtain the symmetric tensor
C:J'Y-+V'YV'Y,
G,j = 8{aj. (3.9.43)
,01,=4,Ldy:
6L=dd8C-8,G=Gjiyia+O,,ryi+8,i,-OC.
Note that this expression differs in minus sign from (3.2.10). As we know, 6L is an
affine morphism over J'Y. Since
VvJ'Y_J'YYVY,
EL, can be also seen as the affine morphism over J'Y
J2Y . V'J'Y
(3.9.45)
JIY
3.9. APPENDIX. GAUGE MECHANICS 221
It follows that
k l atk
`
S ' Gif + Gik73k + Gjk i = 0, 7i = 28pi
S , (3.9.47)
and
(3.9.48)
where
G, !G-,., +
CC
G at yi + a k,
i
hi 7r
a7Cj j + G,k"Ii .
Note the presence in the identity (3.9.47) of coefficients ryk of the symmet-
ric dynamic connection y determined by the dynamic equation = eL according
to (3.9.36). The linear connection 'y (3.9.39) induced by -y on the vector bundle
V,J1Y -a J'Y can be introduced, and the covariant derivative VVG of G can be
computed. Indeed, C is a tensor defined on the vector bundle VyJ'Y J1Y
equipped precisely with the covariant derivative V, and C is a vector field on the
base J'Y. From (3.9.39) we see that
Hence, we obtain
C=Ct:J1Y-J2Y.
3.9. APPENDIX. GAUGE MECHANICS 223
Then, if 0 denotes the induced covariant derivative on the vertical tangent bundle
VyJ'Y - J'Y, the following compatibility condition holds [711:
where Gi; = G;i are local functions on J'Y which satisfy the symmetry property,
that is,
OGi;
&yk
= 8Gk
f},,; i (3.9.50)
7k = i0
419
+pi,k
ayt ay',
=
.
(3.9.51)
k ki I LqSk
741 =2 ft['
Using the linear connection I? induced by ry on the vector bundle VyJ'Y J'Y,
we require that also the compatibility condition (3.9.49) holds.
Hereafter, a Newtonian system is denoted by the triplet (Y,G,'y) .
Proposition 3.9.6 may be reformulated by saying that, given a regular Lagrangian
we can associate with it a Newtonian system (Y, C, -y) where G is given by (3.9.43)
224 CHAPTER 3. LAGRANCIAN FORMALISM
where u, 1/ are vector fields on J1Y, v is the vertical endomorphism (3.9.4) and y
is the vertical projection (3.9.32). It is easily seen that the local expression of w.r is
C7jw1-0, C =er
A direct computation from (3.9.52) shows that
dw, G, + Gk-t, + Gkj7i )dt A 7' A $' + aGij 7' A 19' A 7k + (3.9.53)
aylk
)7'A19' ABk+GkpjdtAt9'At9'+
e
where pf has been defined in (3.9.29) and we use the local basis (3.9.31).
Suppose that the first two terms in (3.9.53) vanish identically (i.e., (Y, C, 7) is
a Newtonian system). Then also the third term in (3.9.53) vanishes identically.
Indeed, by taking the partial derivative of (3.9.47) with respect to yk, we obtain
8G;j + 8Gt j 7k + G &y _ _ 02C. _ 02G.2
O2 GiJ _ 14 _ h_
8yk Bpi V i8 V, -
(RWth
Wit,
7.
h _ BCij7kh
8 e`
- 8C;k 7jh - Cih v8bi/j
The assertion follows from the symmetry properties (3.9.50) and (3.9.51).
Recalling (3.9.27), we see that the last term in (3.9.53) can be rewritten as follows
8k
Ghj(h. 7k )f A 19' A = (Cu,R,"kj + GjhlRk + GkkR% )19' A 19' A 19k.
6
3.9. APPENDIX. GAUGE MECHANICS 225
PROPOSITION 3.9.7. The triplet (Y, G, -y) is a Newtonian system if and only if
and, hence,
OG h BCjh BGkh h OCth h 0614 Ph- BGhk h
Pjh - Pi + P; - Pk + V; 8A Pj =
OTC .,e e e
PROPOSITION 3.9.10. Let (Y, G, ry) be a Newtonian system. Then the following
two conditions are equivalent (711:
(i) w, is a closed form, i.e.,
dw, = 0; (3.9.55)
(ii) the symmetry property (3.9.54) holds, i.e.,
A Newtonian system (Y, C, ry) for which the condition (3.9.55) or, equivalently,
(3.9.56) holds is said to be a Lagrangian system.
Using -y and G, we can define the following Euler-Lagrange type operator E(f)
= e.):
VyJ'Y V'J'Y
V(
J2Y
Recalling (3.9.48), we deduce from (3.9.52) that the following conditions are
equivalent:
3.9. APPENDIX. GAUGE MECHANICS 227
PROPOSITION 3.9.11. Let (Y, G, ry) be a Lagrangian system, i.e., such that dw,. = 0.
Then the condition (3.9.58) holds.
Proof. There exists a local 1-form around each point of J'Y such that
0 = adt + ;O + rycry{, d4 = w,,, (3.9.59)
where a, A and ryi are local functions on J'Y. By computing dO from (3.9.59) and
using (3.9.52), we see that
87:_0
8" 8y
It follows that there exists a local function A on J1Y such that
dJ _ (f \)dt + (h{ - \)O + 7t8i + f = fr
Note that we have used the duality between the bases (3.9.30) and (3.9.31). Setting
Vi dA, we obtain
= ,r, 6' + Gdt, it _ h, A, G = a - f A. (3.9.60)
228 CHAPTER 3. LAGRANGIAN FORMALISM
dt/'=dq= [biC-
7iAt9t+(h;
a t t
G as defined in (3.9.60) provides the sheaf of local Lagrangians associated
with (Y, G, -y). QED
Remark 3.9.9. Of course, the sheaf L is not unique. Let C be another sheaf of
local Lagrangians associated with (Y, C, y). Setting X = C - L, it is easily seen
that
X = xiar, + Xo, e;xi - axt = 0, eixi - aixo = 0,
where xA are local functions on Y. Equivalently, x is a sheaf of closed local 1-forms
on Y, that is,
X=XAdp", dx=0.
In particular, we have Hu = Ht + X.
G. Conservation laws
Let L be a Lagrangian (3.9.41) on J'Y. 1b obtain differential conservation laws,
we use the first variational formula (3.2.13) of the calculus of variations (see Section
3.5).
Let us consider conservation laws along a vector field
on Y -, R. Then we have
LJy,L = (J'uJdC)dt = (u8i + ui8i + dtu`8;)Ldt,
3.9. APPENDIX. GAUGE MECHANICS 229
and the first variational formula (3.2.13) takes the coordinate form
J'uJdL = (ui - u`ye)(8; - dt8;)L - dt`, (3.9.62)
where
where
, o0, dTr
dt
oC=L(Tr,
we obtain
LtTr = -Lj,rL.
Thus, Tr is a first integral of the dynamic system if and only if
LjtrL = 0.
Chapter 4
Hamiltonian Formalism
Here we will follow the notation of the previous Chapter. Unless otherwise stated,
by Y - X is meant a fibred manifold over an n-dimensional base with fibred
coordinates (xa, y').
This Chapter deals with the polysymplectic Hamiltonian formalism defined on
the Legendre bundle
lI=AT'XV'YTX
Y Y
(4.0.1)
over a fibred manifold Y, which is coordinatized by (xA, y`, p, ). Recall that every
Lagrangian density L on the configuration space J'Y of the first order Lagrangian
field theory induces the Legendre map L (3.4.1) of J'Y to II. This morphism takes
the form
pp oL=B;'G
which shows that the Legendre bundle (4.0.1) is a natural n-dimensional generaliza-
tion of a phase space of symplectic formalism [31, 64, 86, 101, 161, 162). Moreover,
polysymplectic Hamiltonian formalism applied to fibre bundles Y R over a 1-
dimensional base R leads to the adequate geometric formulation of Hamiltonian
time-dependent mechanics (see Section 4.10).
If a Lagrangian density is hyperregular, polysymplectic Hamiltonian formalism
is equivalent to the Lagrangian one. We will concentrate on the relations between
Lagrangian and polysymplectic Hamiltonian formalisms in the case of non-regular
systems [65, 163, 164, 190).
231
232 CHAPTER 4. HAMILTONIAN FORMALISM
[w, w] = 0,
that is, it is a Poisson bivector field (or simply a Poisson bivector) (see Example
1.5.5). A manifold Z equipped with a Poisson bivector w is called a Poisson manifold
(Z, w).
4.1. SYMPLECTIC STRUCTURE 233
for every pair (f, g) of functions on Y and for each point y E Y, the restriction
of the function { f o a, g o a} to the fibre it-1(y) is constant;
DEFINITION 4.1.3. Given a function f on a Poisson manifold (Z, w), the image
1Of=w*df, Of=w&-a'f
of its differential of by the morphism wp is called the Hamiltonian vector field of f .
0
I
t 9 fidg = { f, g} (4.1.5)
This relation provides the set of Hamiltonian vector fields with a Lie algebra struc-
ture. Using (4.1.4) and (4.1.6), one can show that
T iu= nKer0,.
i
Let AT denote the ideal of the exterior algebra O'(Z) which is generated by sections
of T.
PROPOSITION 4.1.4. A smooth distribution T is involutive if and only if the ideal
AT is a differential ideal, i.e., d(AT) C AT ([186J, p.74). o
In view of this fact, involutive distributions are also called completely integrable
distributions.
[97, 155]. Note that leaves of a foliation fail to be imbedded submanifolds in general.
For instance, every submersion 7r : Z - X defines a foliation on Z whose leaves
are the fibres x-'(x), x E X.
Every nowhere vanishing vector field u on a manifold Z defines a l-dimensional
involutive distribution on Z. Its integral manifolds are the integral curves of u. In
virtue of Corollary 4.1.6, around each point z E Z, there exist local coordinates
(z', ... , z") such that u is given by
8
U 8z,.
236 CHAPTER 4. HAMILTONIAN FORMALISM
PROPOSITION 4.1.8. For any point z of a Poisson manifold, there exists a coordinate
system
i k
In canonical coordinates (4.1.8), the Poisson bracket (4.1.3) takes the form
0109 01,19
0-ow"', = 6.1.
In canonical coordinates, we have
Sl = dpi A dy', w=
8, n
Example 4.1.3. Let M be a manifold with coordinates (y') and PM its cotangent
bundle provided with the holonomic coordinates (y', p;). The cotangent bundle 7M
is equipped with the canonical symplectic form
In = dpi A dy' (4.1.10)
1B=prdy'.
Furthermore, for every closed 2-form 0 on M, the form Sl + 0 is also a symplectic
form on T' M.
The canonical symplectic form (4.1.10) plays a fundamental role in view of Dar-
boux's theorem ([1201, p.135). This theorem is an immediate consequence of Propo-
sition 4.1.8 and Proposition 4.1.9.
(y'r... IY"Ipl,...,N)
such that the symplectic form fl has the coordinate expression (4.1.10) on U. 13
238 CHAPTER 4. HAMILTONIAN FORMALISM
L6Sl = d(t9JQ) = 0;
=-t9,J$1, t9,=OfO;-O,ft .
where 1., .]SN is the Schouten-Nijenhuis bracket (1.5.3). This operation has the ho-
mology property ws = 0 [182]. Let 19 and v be multivectors. There is defined the
bracket
[19, v]w = -[rW, v]SN,
which has the property
[19, v1w = _(_l) roII I [v,191w
- w([O, v])
This bracket is graded skew-commutative on the quotient T.(M)/t (T.(M)).
If the bivector w on a manifold M is non-degenerate, i.e., M is a symplectic
manifold, it defines an isomorphism TM - T'M. Using the Schouten-Nijenhuis
bracket of multivectors, one can then construct a bracket of differential forms [138].
In the general case, we have the homomorphism
00(al, . , at) = (- l)k0(wtlal, .,Oak), 4 E ilk(M),
w(00) _ -wd(dd).
Let us consider the operator
bw=wJ od - dowJ (4.1.11)
on the exterior algebra D'(M) [108, 182], and recall that the contraction of multi-
vectors and exterior forms is
(,tl A... At9k)J0=19kJ...t9 Jm
The operator bw (4.1.11) is related to the operator iu by the formula
(CV)J0 = i9j(6w0) + (-1)kbw(t9J-0), VV E Ok(M), Vi9 E Tk_,(M).
The corresponding bracket of exterior forms is defined to be
ilk(M) x Y(M) _ ilk+,-l(M),
v}w = (6..O) A o + (-1)"01.0 A (bwo) - bw(.0 A o). (4.1.12)
This bracket has the properties
(.0, a). = (-1)"01101(a,0)w,
(_1)101Q01-0{0, {ti,}w}w + (-1)"0100"-1){a,
{9,O)w)w +
(-1)10"(10"-1-){O, {0,Q)w1w
= 0,
y
({0,Q)w) = [00, W U1SN
240 CHAPTER 4. HAMILTONIAN FORMALISM
or
wr:iD'(M) T(M)
is a lie algebra homomorphism
,ur({m, a}) = [ 0 0 ,0 a ]-
The relation of the bracket (4.1.13) to the Poisson bracket (4.1.3) is the following
do& +6 od=0
that leads to the formula
OXIA
Ox,
p'; = det( Txwpj . (4.2.2)
8x') 8y' 8x
These coordinates are compatible with the composite fibration (4.2.1) and are linear
bundle coordinates on the vector bundle 11 - Y. We will call them the canonical
coordinates.
I The tangent-valued Liouville form (4.2.4) and the polysymplectic form (4.2.5)
provide the Legendre bundle lI (4.0.1) with the polysymplectic structure. I
Example 4.2.1. Let Y -. R be a fibre bundle over X = R with coordinates (t, y').
It is readily observed that the corresponding Legendre bundle is the phase space
II = V'Y, coordinatized by (t, y', p,), of time-dependent mechanics (see Section
4.10). The polysymplectic form (4.2.5) on this phase space reads
St=dp;ndy'Adt88.
This form cannot be contracted to the familiar exterior symplectic form if transfor-
mations of pi and y' depend on the temporal coordinate t.
This Example shows that the polysymplectic form (4.2.5) fails to be the straight-
forward n-dimensional generalization of the canonical symplectic 2-form. Such a
generalization is provided by a multisymplectic form 1100, 134].
Example 4.2.2. Multisymplectic structure. Let M be an m-dimensional ma-
nifold with coordinates (za). Consider the fibre bundle
AT'M- M
of exterior k-forms on M. It is coordinatized by (z",pA) where A = (A, < ... < A,)
are multi-indices of the length I A 1= k. The manifold AT'M is equipped with the
canonical exterior k-form a defined by the relation
t
84>i tom' ice; ice'
= 0, (4 . 2 . 11 a)
W, 0XV 814 W3
4 ox - p ,, j ' = 6k6." (4 .2 . 11b)
9yk
of ft' v r, 80'
8yJ 8yk = 0. (4.2.1 lc)
81/11 &Y,
4.2. POLYSYMPLECTIC STRUCTURE 245
r=r,(y)dy'Aw8a
is a section of II - Y such that, for each exterior 1-form 0 on X, the form
is closed. Actually, one can show that, if n > 1, every polysymplectic automorphism
is a semidirect product of such kind of morphisms. The example dim Y = dim X + I
illustrates this fact as follows.
Example 4.2.3. If dim Y = dim X + 1, the relation (4.2.1 la) reads
8p 8y'
8j? 8 y ' =o
8p" 8PP 8p" 8p
If we assume that 1/ = yoO depends on the momenta pa, then det(TO) must be equal
to zero and, consequently, 4) is not an automorphism. It follows that polysymplectic
automorphisms are compatible with the fibration II - Y. Then, it is not difficult
to show that they take the above mentioned form. .
nA' T* N V'YN -. N
YN
e=e,Jy'"o, "o=Boj(J.
The natural contraction of u E T,S(YN) with e E T, S(YN) is given by the integral
uJe =
IN u(x)Je(x).
Let us consider the fibred manifold Zy - X (4.2.8) and let ZN denote its
restriction to N. The space S(ZN) of sections of ZN - N possesses the induced
fibration S(ZN) -, S(YN). It is the space S(ZN) which could play the role of an
infinite-dimensional phase space in instantaneous Hamiltonian formalism.
Let E be the canonical form (4.2.9) and nz the multisymplectic form (4.2.10)
on Zy. Let us introduce the corresponding forms . and fl on S(ZN). For every
r E S(ZN) and u, v E T,.S(ZN), they are defined by the relations
uJ=(r) = I r'(uJE),
N
vJuJfl(r) = Ir'(vJuJf z)
N
S'=yo r, a= pa or,
R,
4.3. HAMILTONIAN FORMS 247
The form f2, however, fails to be symplectic because of a non-trivial kernel. For
example, 1) vanishes on elements
TS(ZN)9u+up.
This difficulty is overcome by symplectic reduction as follows.
: S(ZN) -+ S(ZN)/Ker 5
removes the momentum p and the spatial momenta p;'2'3. Relative to the canonical
coordinates (S', P,) of T'S(YN), this morphism reads
P;oC=lt,.
zy-.n-.o, (4.3.1)
where
nzn : Zy -+ n (4.3.2)
248 CHAPTER 4. HAMILTONIAN FORMALISM
DEFINITION 4.3.1. Let h be a section of the fibre bundle (4.3.2). Then the pull-back
H=h'E:H-AT'Y, (4.3.3)
H = p; dy` A wa - ?{w,
H=7{w:II-XT'X (4.3.5)
Proof. The proof is based on the fact that the affine bundle (4.3.2) is modelled
over the pull-back vector bundle
fI x AT'X -- TI.
x
QED
COROLLARY 4.3.3. Every Hamiltonian form on the Legendre bundle R admits the
decomposition
Hr = Hr - P; caw.
J'Y,
y
bao4'=4'%(9), 9E11, (4.3.7)
250 CHAPTER 4. HAMILTONIAN FORMALISM
over Y. Its composition with the canonical morphism (2.1.19) yields the bundle
morphism
Y r
represented by the TY-valued I-form
is a Hamiltonian map. Conversely, every Hamiltonian map 4) : II -' J'Y yields the
associated connection
ro=$o0
on Y - X, where 0 is the global zero section of the Iegendre bundle n - Y. In
particular, we have
r = r.
H: 11 JIY,
yaoH=B'87i. (4.3.10)
0
Proof. The vertical tangent map VH of the morphism H (4.3.3) defines the linear
morphism
VH:VU-+ T'Y
4.3. HAMILTONIAN FORMS 251
VH=ap; dy'Aw,,-dp;
OP,
w
of the fibre bundle
V'llXT'Y-+f1.
n
After natural contractions, this section becomes the section
VH=(dy'- dx-%)8,
of the pull-back
11x(T'YVY) 11.
This represents the Hamiltonian map (4.3.10) of IT to the jet manifold J'Y consid-
ered as an affine subbundle of T'Y VY. QED
f,, =HOO
onY -+X.
In particular, we have
1,/Nr=1',
where H. is the 1-lamiltonian form (4.3.4) associated with the connection r on
Y -+X.
COROLLARY 4.3.6. Every Hamiltonian form (4.3.6) admits the canonical splitting
H = Hr,, - H. (4.3.11)
A
252 CHAPTER 4. HAMILTONIAN FORMALISM
PROPOSITION 4.3.7. Every Hamiltonian map (4.3.7) represented by the form (4.3.8)
on n defines the associated Hamiltonian form
Ho = 0J 9 = pi dy' A wa - p; (4.3.12)
In particular, if
Hg = H,
then H = Hr for a connection I' on Y.
n 4
lily
I
Y
oJ'arny=Y,'.
is closed.
Y xX A'T'X - X
and the covertical connection V'r to r (2.5.14) on the vertical cotangent bundle
V'Y X. Since the connections r x K and V'r are linear connections over r,
their tensor product (4.4.3) is well defined. The connection (4.4.2) on II X, by
construction, projects onto the connection I' on Y - X.
The connection I'' (4.4.2) obeys the relation
rJn = d(I'J19).
It follows that [' is a Hamiltonian connection.
Using the relation (4.4.6), we find that the second term in the right-hand side
of the expression (4.4.1) is a closed form. Then, in accordance with the relative
Poincar6 lemma ([1], p.69), this expression is brought locally into the form
7J S2 = d(p, dy' Awa - 9-4w) = dH.,, (4.4.7)
where 4% is a local function on f1 such that
7a = 7.t = -ax-
Remark 4.4.2. Relative Poincard lemma. Let us consider the vector space
R'" x R" with the Cartesian coordinates (q', za). Let ilk denote the vector space of
exterior k-forms on R' x R". Recall that there exists the homotopy operator
H:JDk-
doH+Hod= ldiOk,
[2, 186]. Let
0=wnw,
be an exact (r + n)-form on R' x R". Then, 0 is brought into the form
0=donw,
where o is an (r - 1)-form on R'" x R". By analogy with the explicit form of the
homotopy operator ([2], p.118), this form is defined by the relation
i
v,_,J...viJu,,J...u1J(a(z)Aw)= f tr_1[u_j1...v,1u"1...uiJzJ*(tz)]dt,
0
v;ERn, u,ER", tER, ZER-xR".
Indeed, it is easy to check that
Given a connection r on the fibred manifold Y X, the local form H., in the
expression (4.4.7) can be written as
H.,=Hr-7'{rw,
4.4. HAMILTON EQUATIONS 255
where
is the pull-back of the polysymplectic form 12 (4.2.5) onto J'II. Here we have used
the canonical morphism (2.1.21)
J'IIxTX
II
- J'IlxTll,
yn
8a "- 8a + Yi 0i + P.P%A'
eH = KerEH II (4.4.9)
256 CHAPTER 4. HAMILTONIAN FORMALISM
This affine bundle is modelled over the vector subbundle of the vector bundle
T'X VII - lI, (4.4.11)
DEFINITION 4.4.4. The first order differential equations (!H (4.4.9) are called the
Hamilton equations for the Hamiltonian form H on the Legendre bundle II. 0
Remark 4.4.3. A glance at the Hamilton operator (4.4.8) shows that polysymplec-
tic Hamiltonian forms may be considered modulo closed forms since closed forms do
not make any contribution to the Hamilton operator.
Since the subbundle eH (4.4.9) is affine, it always admits a global section ry. Any
such section is a connection on 11 --+ X which meets the condition
CH Oy=0.
This condition takes the form
7J1E = W. (4.4.13)
It follows that every connection on II - X which takes its values into the Hamilton
equations (1H is a Hamiltonian connection.
(4.4.14)
(4.4.15)
By the equation (4.4.14), every Hamiltonian connection 'y for a Hamiltonian form
H satisfies the relation
J'anyo'y=H, (4.4.16)
ojf2 = 0,
and take their values into the subbundle (4.4.12) of the vector bundle (4.4.11).
Consequently, it is sufficient to have a general solution of the equations (4.4.17) and
to find a particular solution of the equations (4.4.14) - (4.4.15) in order to obtain
all Hamiltonian connections associated with a given Hamiltonian form H.
258 CHAPTER 4. HAMILTONIAN FORMALISM
Example 4.4.4. If n = 1, the equations (4.4.17) have evidently only the zero solu-
tion. Consequently, there always exists a unique Hamiltonian connection associated
with a given Hamiltonian form.
Bart (4.4.19b)
4.4. HAMILTON EQUATIONS 259
I J'(7rn'or)=9 or (4.4.20)
Remark 4.4.7. Note that the Hamilton equations (4.4.19a) - (4.4.19b) can be
introduced without appealing to the Hamilton operator. They are equivalent to the
relation
r'(uJdH) = 0 (4.4.21)
which is assumed to hold for any vertical vector field u on II X. The Hamilton
equations (4.4.21) are similar to the Cartan equations (3.2.16). It is so because the
Poincarc-Cartan form is the Lagrangian counterpart of a Hamiltonian form.
Remark 4.4.8. Liven a Hamiltonian form H (4.3.3) on the Legendre fibred mani-
fold II X, let us consider the Lagrangian density
a
LH=(pcya-x)w (4.4.22)
on the jet manifold J'll. It does not depend on the velocity coordinates gla. It
is readily observed that the Poincar6-Cartan form HL (3.2.6) of the Lagrangian
density (4.4.22) coincides with the Hamiltonian form H, and the Euler-Lagrange
operator (3.2.10) for the Lagrangian density LH is precisely the Hamilton operator
EH (4.4.8) for the Hamiltonian form H. As a consequence, the first order Euler-
Lagrange equations for LH are equivalent to the Hamilton equations for H.
Note that (4.4.22) exemplifies a first order Lagrangian density which leads to a
first order Euler-Lagrange operator.
260 CHAPTER 4. HAMILTONIAN FORMALISM
for the Cauchy problem or, to be more precise, for the general Cauchy problem since
the coefficients S.1b depend on the variable functions 0 in general [116). Here 0 is a
compact notation for the field functions r' and r; . However, the characteristic form
det(S,' bcx,), ca E R,
of this system fails to be different from zero for any ca. One can overcome this
difficulty as follows.
Let us single a local coordinate x' out and replace the equations (4.4.19a) with
the equations
air' = a17{,
The systems (4.4.23) and (4.4.19b) have the standard form for the Cauchy problem
with the initial conditions
r'(x) _ 0'(x7,
PROPOSITION 4.4.7. If r' and are solutions of the Cauchy problem (of class Cl)
for the equations (4.4.23) and (4.4.19b) with the initial conditions (4.4.24), they
satisfy the equations (4.4.19a). 0
x1
8ar'(x) = J 8,8ifds+O.,.P(x') _
0
f 0,81'Wds + 8a9i(x), a 1.
0
Thus, in order to formulate the Cauchy problem for the Hamilton equations in
polysymplectic Hamiltonian formalism, one should single a one of the coordinates
out and consider the system of equations (4.4.23) and (4.4.19b).
L:J'YYH,
peoL=7l.
The associated Lagrangian and Hamiltonian systems are characterized by the dia-
gram
n
L i L (4.5.1)
Jl y L 11
which fails to commute in general, that is,
Let
Q =
denote the image of the configuration space J1Y by the Legendre map. Following the
terminology of constraint theory, we call Q a Lagrangian constraint space or simply
a constraint space. We will see that all Hamiltonian counterparts of solutions of the
Euler-Lagrange equations live in the Lagrangian constraint space.
Unless otherwise stated, we regard Q as a subset of II without a manifold struc-
ture.
DEFINITION 4.5.1. Given a Lagrangian density L on J'Y, a Hamiltonian map
4b: II -. J1 Y is called associated with L if
L o 4) IQ= Id Q, (4.5.2)
Remark 4.5.2. It follows that, given a Hamiltonian map 4) associated with the
Lagrangian density L, a point q E II belongs to the Lagrangian constraint space if
and only if
pi (q) = 8; C(x", N', V,x(q)) (4.5.3)
H IQ=,b Q, (4.5.5)
H IQ= H'HL, IQ, (4.5.6)
H(q) = p"c3,h(q) - C(x", y`, &A' ((9)), q E Q, (4.5.7)
Proof. The proof of (4.5.5) and (4.5.6) is straightforward; (4.5.7) is deduced from
(4.5.2) and (4.5.6). QED
Note that, unless otherwise stated, all objects are defined on the whole Legendre
bundle II and their restriction to Q means only that their values at the points Q C 11
are considered. To overcome this difficulty, we can narrow the class of Hamiltonian
forms related to a given Lagrangian density.
H= (4.5.8)
L o l IQ= Id Q, (4.5.9a)
H = Hjl + (4.5.9b)
A
264 CHAPTER 4. HAMILTONIAN FORMALISM
and
The latter is the equality (4.5.7) which now holds on the whole Legendre bundle 11.
At the same time, the relation (4.5.6) remains true at the points of the constraint
space Q only.
Acting on both sides of the equality (4.5.11) by the exterior differential, we obtain
the relations
det(88,87{) IQ96 0
Example 4.5.3. Let L = 0 be the zero Lagrangian density. In this case, the
Lagrangian constraint space is
Q = 0(Y),
where 6 is the canonical zero section of the Legendre bundle II Y. The condition
(4.5.2) is trivially satisfied by every Hamiltonian map. Hence, any Hamiltonian form
(4.3.12) is weakly associated with the zero Lagrangian density. At the same time,
4.5. DEGENERATE SYSTEMS 265
the Hamiltonian forms associated with L = 0 must obey additionally the condition
(4.5.11) which takes the form
7= p&f{
These are the Hamiltonian forms Hr (4.3.4).
Now, let us investigate the relations between the equations in the Lagrangian
formalism and its polysymplectic Hamiltonian counterpart in accordance with the
jet extension
J'n
JIP J'J'Y
J1z I
Iz
J'J'Y'a J'n
of the diagram (4.5.1). Let us recall the coordinate expressions
and
a i a 1 a
(PiryrPi)0J
as=as+i a;+Y,pa;
Note that, if -y is a Hamiltonian connection for the Hamiltonian form H, the
composition J' JI o -y takes its values
(U,1/) o J' H o 'r = (&W, M ,,*H)
into the sesquiholonomic subbundle JAY of the repeated jet manifold J'J'Y.
Example 4.5.5. Let us start from a hyperregular Lagrangian density, i.e., when the
Legendre map L is a diffeomorphism. In this case, the Lagrangian formalism and
the polysymplectic Hamiltonian formalism are equivalent. If a Lagrangian density
L is hyperregular, there always exists a unique associated and weakly associated
Hamiltonian form
H = Hi_, + L-''L.
The corresponding Hamilton map (4.3.10) is the diffeomorphism H = L-' as well
as its first order jet prolongation J'H:
J'LoJ'1 =IdJ'fI.
Contemporary field models are almost never regular. Hereafter, we restrict our
consideration to semiregular Lagrangian densities.
HIQ=H'IQ
Moreover, the Poinear6-Cartan form HL (3.2.6) for L is the pull-back
HL = L'H,
(ri a - G)rv = ?i(x", pf )w, (4.5.18)
Proof. Let u be a vertical vector field on the jet bundle J'Y - Y. If u takes its
values into the kernel Ker TL of the tangent morphism to L, it is easy to see that
LVHL=0,
where L. is the Lie derivative with respect to u. Hence, the Poincarb-Cartan form
HL for a semiregular Lagranglan density L is constant on the connected pre-image
L''(q) of each point q E Q. Then results follow from (4.5.6). QED
Remark 4.5.6. Note that the Hamilton operators of Hamiltonian forms in Propo-
sition 4.5.9 do not necessarily coincide at points of Q because of the derivatives of
these forms which are present in the expression (4.4.8).
4.5. DEGENERATE SYSTEMS 269
Remark 4.5.7. Example 4.5.3 shows that the Hamiltonian forms associated with a
Lagrangian density take quite a specific form outside the Lagrangian constraint space
Q. Indeed, the condition (4.5.9b) rigidly restricts the arbitrariness of these forms
on a neighbourhood of Q. For instance, let H be a Hamiltonian form associated
with a semiregular Lagrangian density L. Substituting this condition in (4.5.18),
we obtain
at every point of R\Q. Let us assume that the constraint space Q is given locally
by the equations p; = 0 where (3;') is a subset of the coordinates (pi) and p; are
the remaining ones. Then the relation (4.5.19) takes the form
'Pp) = hw'z*'O'&P) -
Using this relation, one can show that, if the Hamiltonian density 71 is an analytic
function in the momentum coordinates at a point q E Q, then it is an affine function
in the coordinates pi around q.
For example, let Y be the fibre bundle R3 RZ with coordinates (x', x2, y). The
jet manifold P Y Y and the Legendre bundle 17 over Y are equipped with coordinates
(xl, x2, yr yl, y2) and (x', x2, y, pl, p2), respectively. Let
1
G= (yl )2w. (4.5.20)
PIoL=Yi,
p2oL=0.
The corresponding constraint space Q consists of the points with the coordinate
p2 = 0. Hamiltonian forms associated with the Lagrangian density (4.5.20) are
given by the expression
where c(xl , x2, y) is an arbitrary function. These Hamiltonian forms are affine in
the momentum coordinate p2. 0
270 CHAPTER 4. HAMILTONIAN FORMALISM
or
?10 L) = 0,
8;r,( -B,xoL)-(OC+(O;x)oL)=.0.
Using the equality (4.5.21), one can extend the relation (4.5.16) (but not neces-
sarily the relation (4.5.17))
s=irnyor
of the fibred manifold Y --+ X satisfies the second order Euler-Lagrange equations,
while its first order jet prolongation
's =llor=J's
obeys the Cartan equations (3.2.17a) - (3.2.17b). 0
equations (3.2.17a) - (3.2.17b). By virtue of the relation (4.4.20), we have 's = J's.
Hence, s is a classical solution of the second order Euler-Lagrange equations. QED
Proof. The Hamilton equations (4.4.19a) hold in virtue of the condition (4.5.23).
Using the relations (4.5.21) and (4.5.23), the Hamilton equations (4.4.19b) are
brought into the Cartan equations (3.2.17b):
daa; os=-(8;l)oLo38floLo3)8;io3+8Cos=
(8,s' - s)8{aj" o 3 + 8;G o 3.
QED
COROLLARY 4.5.12. Let a solution 3 of the Cartan equations obey the condition
(4.5.23) for a Hamiltonian form weakly associated with a semiregular Lagrangian
density L. In accordance with Propositions 4.5.10 and 4.5.11, its projection iro o3
onto Y is a solution of the second order Euler-Lagrange equations.
This Corollary provides a solution of the so-called "second order equation" prob-
lem in the case of semiregular Lagrangian densities [18, 76].
Given a degenerate Lagrangian density, there are obviously solutions of the Car-
tan equations which are not solutions of the Hamilton equations. At the same time,
one may consider a set of Hamiltonian forms associated with a degenerate Lagran-
gian density in order to exhaust all solutions of the second order Euler-Lagrange
equations.
Example 4.5.10. Let L = 0. This Lagrangian density is semiregular. Its Euler-
Lagrange equations come to the identity 0 = 0. Every section s of the fibred
manifold Y X is a solution of these equations. Given a section s, let I' be
a connection on Y such that s is its integral section. The Hamiltonian form 11r
(4.3.4) is associated with L, and the Hamiltonian map Hr satisfies the relation
(4.5.23). The corresponding Hamilton equations have the solution
r=L0Jls,
r{ =s{, rt =0.
Proof. Given a point q E Q, let (2a', y, p{) be local coordinates in some open
neighbourhood of q. Since the rank of the Legendre morphism Z is constant, one
can select a maximal subset of the coordinates ya so that the equations
a= 8L
_' 8G
274 CHAPTER 4. HAMILTONIAN FORMALISM
we obtain
G = 3(y:)3.
The associated Legendre map reads
p o L = y=. (4.5.27)
Therefore, let us separate a part of the Hamilton equations which are defined on
the Lagrangian constraint space Q when L is an almost regular Lagrangian density.
Given an almost regular Lagrangian density, let us assume that the fibred ma-
nifold
L:J'Y-+Q
has a global section. In accordance with Theorem 1.2.5, this section can be extended
to a Hamiltonian map : II - J'Y which is associated with L. This guarantees
the existence of global Hamiltonian forms weakly associated with L.
Let
HQ = i4 H (4.5.28)
PROPOSITION 4.5.15. For any Hamiltonian form H weakly associated with the
almost regular Lagrangian density L, every solution r of the Hamilton equations
which lives in the constraint space, i.e., r : X - Q is a solution of the constrained
Hamilton equations (4.5.29). 0
Proof. For any vertical vector field uq on Q -. X, the vector field Tiq(uq) is
obviously a vertical vector field on fl -+ X. Then we have
r'(uQJdllq) = r'(ugJiQdH) = r'(Tiq(uq)JdH) = 0
276 CHAPTER 4. HAMILTONIAN FORMALISM
u=u`01+u;BA
on f1 -. X is tangent to Q if and only if u satisfies the equations
-(O;O," G + OP .C8A7{)u' + (6i6 - OkB; G88,1,?{)u = 0.
Proof. Let H be a Hamiltonian form weakly associated with L and h the corre-
sponding section of the fibre bundle Zy - II. This section yields the morphism
The morphism hq does not depend on the choice of H. This is a section of the fibre
bundle Zy - II over Q C Il, i.e.,
azn o hQ = Id Q. (4.5.32)
Moreover, we have
HL = hq o L, (4.5.33)
it follows that
*znaL
ZL-'Q
Ij'ohQ
The Propositions 3.4.4, 4.5.16 and 4.5.17 give the relations between Cartan,
Hamilton-De Donder and constrained Hamilton equations when a Lagrangian den-
sity is almost regular in accordance with Definition 4.5.13.
Example 4.5.13. Hamiltonian systems on composite manifolds. An inter-
esting example of a degenerate field system is furnished by a Hamiltonian system
on a composite fibred manifold
Y (4.5.35)
This is the case of gauge models with spontaneously broken symmetries (see Remark
3.8.13) and gauge gravitation theory.
Let the composite fibred manifold (4.5.35). have the coordinates (x", a"', yi),
where (x", a') are fibred coordinates on the fibred manifold E -, X. Let
AE = d? 0 (8 + A8i) + dam (8,n + A;n8i) (4.5.36)
be a connection on the fibred manifold Y -' E. Recall that such a connection defines
the splitting
VY = VYE (Y x VE), (4.5.37)
Y E
+ O"Om = (Eli - A;na'")8; + om(8m +
Using this splitting, one can construct the first order differential operator
The Dirac Lagrangian density (3.8.58) of gauge gravitation theory is of this type.
Let us consider an associated Hamiltonian system. The Legendre bundle fI over
the composite fibred manifold Y (4.5.35) is coordinatized by
a i a
(x , a-, y , Pmo i).
4.5. DEGENERATE SYSTEMS 279
(4.5.40)
compatible with this splitting. These coordinates, however, are not canonical.
Note that, given a global section h of the fibred manifold E X, the submani-
fold
0m = hm(x), (4.5.41)
Pm = 0
of the Legendre bundle II is isomorphic to the Legendre bundle n' over the restric-
tion Y' = h'Y of the fibred manifold Y E to h(X) C E.
Let the composite fibred manifold Y be provided with the composite connection
A=dxA[8. +f,"",am+(A;nf'a +Aa)8;]
(2.5.4) defined by the connection AE (4.5.36) on Y - E and by the connection
r = dxa. (8a + r;,'8m)
on E X. Relative to the coordinates (4.5.40), every Hamiltonian form on the
Legendre bundle II (4.5.39) is given by the expression
H = (P; dy` + A wa - (4.5.42)
[Pi Aa + Pm r-% + i(e' a-, V, M, lei AW,
where
aAi+
a
arm
Pm A = Pi A'+ aPi Pm
A ,r,-.
(4.5.44)
for sections of the Legendre fibred manifold fI" - X of the fibred manifold Y"
endowed with the connection
Ah=dx''[8a+(A'oh8ahm+Aaoh)8;]
(2.5.9). Equations (4.5.45) are the Hamilton equations corresponding to the Hamil-
tonian form
where a, b and c are local functions on Y. The associated Legendre map reads
P: oL=afyN+b;. (4.6.2)
Proof. If q E Q, the system of linear algebraic equations (4.6.2) for yi, has solu-
tions which form an affine space modelled over the linear space of solutions of the
homogeneous linear algebraic equations
0=a,'jY,
where V. are bundle coordinates of the vector bundle T'X 0 VY. QED
Y Y
Pi 0 T = j' Upi
282 CHAPTER 4. HAMILTONIAN FORMALISM
of the Legendre map with respect to 0(Y) is an affne subbundle of the jet bundle
J'Y -. Y, which is modelled over the vector bundle
on Y X which takes its values into Ker L. With this connection, the Lagrangian
density (4.6.1) can be brought into the form
Y - 1~
For instance, if the Lagrangian density (4.6.1) is regular, the connection (4.6.3) is a
unique solution of the algebraic equations (4.6.4).
v: i1-+T'XVY, (4.6.5)
Loaoiq=iq.
13
4.6. QUADIZZ.ATIC DEGENERATE SYSTEMS 283
(4.6.6)
The matrix 4.j' is symmetric with respect to the indices A and B = i . After
diagonalization, this matrix has non-vanishing Components aAA, A E I. Then a
solution of the equations (4.6.6) takes the form
a = aoZoa. (4.6.8)
Further on, by a is meant (4.6.7). If the Lagrangian density (4.6.1) is regular, the
map (4.6.5) is uniquely determined by the equations (4.6.6). QED
The connection (4.6.3) and the map (4.6.5) play a prominent role in the con-
struction below.
11 = Ker a Q, (4.6.10)
0, o fl
P;=(P-a10 + [a j avl>k1
284 CHAPTER 4. HAMILTONIAN FORMALISM
uQ = u48, + a'.Oappaukua
is a vertical vector field on the constraint space Q - X.
Given the linear map a (4.6.5) and the connection r (4.6.3), let us consider the
affine Hamiltonian map
4) P + a : fI J1 Y, (4.6.12)
`pa = r, (y) + aV ,
where I' is the Hamiltonian map (4.3.9). By the very definition of o, this Hamil-
tonian map satisfies the condition (4.5.2), where L is the Legendre map (4.6.2).
Thence, the corresponding Hamiltonian form H (4.5.4) is weakly associated with
the Lagrangian density (4.6.1). It reads
This Hamiltonian form H satisfies the condition (4.5.8), and, thus, is associated
with the quadratic Lagrangian density (4.6.1).
Remark 4.6.1. The Hamiltonian form (4.6.13) is quadratic in the momentum
coordinates p; . At the same time, it becomes affine on Kera in accordance with
Remark 4.5.7.
or
Dart = aid
where
Dar`=aar`-(Fos)a
is the covariant derivative relative to the connection t.
With the splitting (4.6.9), we have the surjections
S=pr,:J1Y-+KerL, (4.6.15)
S:Y.,\~ya-o (akj`yN+br),
and
With respect to these surjections, the Hamilton equations (4.6.14) break In the
following two parts:
SoJ's=I'os, (4.6.17)
VAr' = a i't (ak1 arl + bk),
and
FoJ's=aor, (4.6.18)
ik v ik a
a = Ork.
+bk)
The Hamilton equations (4.6.17) are independent of the canonical momenta rk
and play the role of gauge-type conditions. Moreover, for every section s of the
fibred manifold Y -. X (in particular, for every solution of the second order Euler--
Lagrange equations), there exists a connection 1' (4.6.3) such that the equation
(4.6.17) holds. Indeed, let 1" be a connection on Y X whose integral section is
s. Put
I' =So r,
r = ";, - as (akf r" + bk
286 CHAPTER 4. HAMILTONIAN FORMALISM
In this case, the Hamiltonian map (4.6.12) satisfies the relation (4.5.23) for s, i.e.,
4)0LoJ's=J's.
Thence, the Hamiltonian forms (4.6.13) constitute a complete family. The Hamilto-
nian forms from this family differ from each other only in the connections r (4.6.3)
which lead to the different gauge-type conditions (4.6.17).
It follows that the equations (4.6.17) are the additional conditions which make
the Hamilton equations differ from the constrained Hamilton equations (4.5.29).
PROPOSITION 4.6.6. For every Hamiltonian form H (4.6.13), the Hamilton equa-
tions (4.4.19b) and (4.6.18) restricted to the constraint space Q are equivalent to
the constrained Hamilton equations (4.5.29) (or (4.5.30)). 0
Proof. In accordance with the decomposition (4.6.11) of a vertical vector field u on
the Legendre fibred manifold 11 -- X, the constrained Hamilton equations (4.5.30)
take the form
r'(a;jAaj8afdH) = 0, (4.6.19a)
r'(O;JdH) = 0. (4.6.19b)
The equations (4.6.19b) are obviously the Hamilton equations (4.4.19b) for H. Bear-
ing in mind the relations (4.6.4) and (4.6.8), one can easily bring the equations
(4.6.19a) into the form (4.6.18). QED
LEMMA 4.6.8. Let 8 be a classical solution of the Cartan equations for the almost
regular Lagrangian density L (4.6.1). Let go be a section of T'X VY - X which
4.6. QUADRATIC DEGENERATE SYSTEMS 287
takes its values into KerI and projects onto s = it o g. Then the sum 3 +lo over
Y is also a solution of the Cartan equations.
r= Los= Lo(s+so).
QED
Remark 4.6.2. Thus, we may say the following about the gauge-type freedom of
the Cartan equations for almost regular quadratic Lagrangian densities. By analogy
with gauge theory, let us call gauge-type class the pre-image.F-' (z) of every point
3 E Im(u o L).
(S o Il o L) (Z) E
ll(Q) C J'Y
'\f
Q
This representative does not coincide with z in general. Accordingly, we can speak
about gauge-type classes of solutions of the Cartan equations which differ from each
other in sections 36 from Lemma 4.6.8. The corresponding gauge-type condition for
solutions of the Cartan equations is the modification
So%10Lo3=So3, (4.6.20)
Sot/=SoJ'(rtoos). (4.6.21)
The condition (4.6.20) selects a particular solution of the Cartan equations from a
gauge-type class. In contrast with (4.6.20), the relation (4.6.21) is a condition on
sections of the fibred manifold Y - X. One can think of it as being the gauge-type
condition on solutions of the Euler-Lagrange equations. 9
288 CHAPTER 4. HAMILTONIAN FORMALISM
Example 4.6.3. Gauge theory. We here follow the notation of Section 3.6. Let
P - X be a principal bundle with a structure group C. Gauge theory of principal
connections on P -, X is described by the degenerate quadratic Lagrangian density
(3.6.25) on the first order jet manifold J'C of the bundle C -. X (2.7.5) of principal
connections. Therefore, its polysymplectic Hamiltonian formulation may follow the
general procedure for models with degenerate quadratic Lagrangian densities. The
peculiarity of gauge theory consists in the fact that the splittings (4.6.9) and (4.6.10)
of configuration and phase spaces are canonical.
Let C and J' C be provided with the coordinates (x`, a%) and (x , as , a,,),
respectively. The configuration space J'C of gauge theory admits the canonical
splitting (2.8.21), i.e.,
J'C=C+C-=C+(CxkT'XVGP), (4.6.22)
lrnc:H-C,
H=AT'XTX[Cx(4.6.26)
This is endowed with the canonical coordinates (x, aa, pm'). The Legendre bundle
11 (4.6.26) admits the canonical splitting
l1= II+ H_, (4.6.27)
The Legendre map associated with the Lagrangian density (4.6.25) takes the
form
PM,`a)oLYM=0, (4.6.28a)
&I o LyM = e 2am g1-gA0 ,01 91. (4.6.28b)
Q = LYM(J'C) = IL.
r: C C+, (4.6.29)
I - l JA 644491 0.
a
Given a symmetric linear connection K on X, every principal connection B on
the principal bundle P - X gives rise to the connection i'B : C - C+ (2.8.23) such
that
I'ao13=SoJ'B.
It reads
C,r(aaB.+aBa)]-KA".(aa-Bp)
290 CHAPTER 4. HAMILTONIAN FORMALISM
xrM = 4
e ac 9
The Hamilton equations (4.6.33) and (4.6.28b) are similar to the equations
(4.6.17) and (4.6.18), respectively. The Hamilton equations (4.6.28b) and (4.6.34)
restricted to the constraint space (4.6.28a) are precisely the constrained Hamilton
equations (4.5.29) for the constrained Hamiltonian form Hq (4.6.32), and they are
equivalent to the Yang-Mills equations for a gauge potential
A=iriicor.
Different Iamiltonian forms HB lead to different equations (4.6.33). The equa-
tion (4.6.33) is independent of canonical momenta, and is precisely the gauge-type
condition (4.6.17):
l'BoA=SoJ'A.
4.6. QUADRATIC DEGENERATE SYSTEMS 291
A glance at this condition shows that, given a solution A of the Yang-Mills equations,
there always exists a Hamiltonian form HB (e.g., HB.A) which obeys the condition
(4.5.23), i.e.,
HB0LY,yoJ'A=J'A.
It follows that the Hamiltonian forms HB (4.6.31) parameterized by principal con-
nections B constitute a complete family.
It should be emphasized that the gauge-type condition (4.6.33) differs from the
familiar gauge conditions in gauge theory which single out a representative of each
gauge coset (with the accuracy to Gribov's ambiguity). Namely, if a gauge potential
A is a solution of the Yang-Mills equations, there exists a gauge conjugate potential
A' which is also a solution of the same Yang Mills equations and satisfies a given
gauge condition. At the same time, not every solution of the Yang-Mills equations is
a solution of the system of the Yang-Mills equations and a certain gauge condition.
In other words, there are solutions of Yang Mills equations which are not singled
out by the gauge conditions known in gauge theory. In this sense, this set of gauge
conditions is not complete. In gauge theory, this lack is not essential since one can
think of all gauge conjugate potentials as being physically equivalent, but not in the
case of other constraint field theories, e.g., that of Proca fields (see Example 4.6.5).
Within the framework of the polysymplectic Hamiltonian description of quadratic
Lagrangian systems, there is a complete set of gauge-type conditions in the sense
that, for any solution of the Euler-Lagrange equations, there exists a system of
Hamilton equations equivalent to these Euler-Lagrange equations and a supplemen-
tary gauge-type condition which this solution satisfies.
In gauge theory where gauge conjugate solutions are treated physically equiva-
lent, one may replace the equation (4.6.33) by a condition on the quantity
Example 4.6.3 shows that the main ingredients in gauge theory are not directly
related with the gauge invariance property, but are common for field models with
292 CHAPTER 4. HAMILTONIAN FORMALISM
degenerate quadratic Lagrangian densities. In order to illustrate this fact clearly, let
us compare the gauge-invariant model of electromagnetic fields with that of Proca
fields.
Example 4.6.4. Electromagnetic fields. For the sake of simplicity, let X be the
flat Minkowski space with the Minkowski metric
VIP=X4xR.
The corresponding bundle of principal connections C (2.7.5) with coordinates (x', a,,)
is an affine bundle modelled over the cotangent bundle
The finite-dimensional configuration space of electromagnetic potentials is the
jet bundle J'C C modelled over the pull-back tensor bundle
Z`=TOXxC-.C.
x
The canonical splitting (4.6.22) of J1C is
Z+ = VT'X x C.
X
Relative to the adapted coordinates (x), a, aa,,) on J'C, the splitting (4.6.35) reads
1
acv. = (S4 + a()) + a1)1
2
For any section A of C -* X, we find that
(4.6.36)
LE 16rrV
The finite-dimensional phase space of electromagnetic theory is the Legendre
bundle
n= (AT-X (&TX TX) x C,
x
equipped with the canonical coordinates (x-, a, a"). With respect to these co-
ordinates, the Legendre morphism associated with the Lagrangian density (4.6.36)
reads
pi`i o LE = 0, (4.6.37a)
Pt l 0 LE = (4.6.37b)
Example 4.6.5. Proca fields. The model of massive vector Proca fields (see
Example 3.7.10) is a degenerate field theory which is similar to the electromagnetic
one, but without the gauge invariance property.
294 CHAPTER 4. HAMILTONIAN FORMALISM
Recall that Proca fields are represented by sections of the cotangent bundle
T'X. The finite-dimensional configuration space of Proca fields is the jet bundle
J'T'X - T'X with coordinates (x", k,,, k.%), modelled over the pull-back tensor
bundle
T'X x TX - TX. (4.6.41)
On the Minkowski space X, the Lagrangian density (3.7.30) of Proca fields looks
like the electromagnetic one (4.6.36) minus the mass term, i.e.,
It is almost regular.
The finite-dimensional phase space of Proca fields is the Legendre bundle
f= AT*XTXTX x T'X,
x
equipped with the holonomic coordinates (x", kp, p"P).
With respect to these coordinates, the Legendre morphism associated with the
Lagrangian density (4.6.42) takes the form
p(A) o LP = 0, (4.6.43a)
1
0,01o LP = _ (4.6.43b)
V7 pfup,
We have
KerLP=VT'XxT'X
x
and
Q = AT'X (A TX) x T'X,
P(4) = 0.
and
n = [AT'X (V TX)] Q,
T*X
p1" = p(Av) + P1>01.
Let us consider connections on the cotangent bundle T'X taking their values
into Ker Lp. Bearing in mind that K = 0 on the Minkowski space X, we can write
every such connection as
r = dxa (3 +
where 0 _ ta,.d? 8p is a symmetric soldering form on T'X. By analogy with the
case of electromagnetic fields, it suffices to take the connections
On the constraint space (4.6.43a), the equations (4.6.43b) and (4.6.45) are precisely
the constrained Hamilton equations (4.5.29), and they are supplemented by the
gauge-type condition (4.6.44). At the same time, one may replace (4.6.44) with a
certain condition on the quantity
aar,, +
where b and c are local functions on Y. The associated Legendre map takes the
form
p, oL=b;. (4.7.2)
J1Y rQCII
Y
b=b,wAdy$,
where Q = b(Y) is the image of the section b of the Legendre bundle 17 -, Y.
Clearly, the Lagrangian density (4.7.1) is almost regular.
4.7. AFFINE DEGENERATE SYSTEMS 297
Let I' be an arbitrary connection on the fibred manifold Y -' X and f the
associated Hamiltonian map (4.3.9). This Hamiltonian map satisfies the condition
(4.5.2), where L is the Legendre morphism (4.7.2). Let us consider the Hamiltonian
form (4.5.4) corresponding to f. It reads
H = Hr +LoI'=p;dy'Awa-(p; -b;)I"aw+ao, (4.7.3)
It follows that the Hamilton equations (4.4.19a) for the Hamiltonian form H reduce
to the gauge-type condition
Bar' = I'a,
where Emit is the bundle of pseudo-Riemannian metrics (3.7.18) and CK is the bundle
of world connections (3.7.39). This configuration space is equipped with coordinates
(x:a kvQ+Da
QQ Q QQ Q
kaQ)
Let us recall that aQ o g = gQ are the metric functions of g for any section g of
EPR - X, while k,,Q o K = KN# are the components of a world connection K for
any section K of CK --4 X.
298 CHAPTER 4. HAMILTONIAN FORMALISM
11=IIEx11c
x
of the Legendre bundles IIE - EPR and l1c - CK. It is equipped with the adapted
coordinates
(aa , o ap , ka d,, p)
p+ app a
o LHE
2K
(? - boo) I0 , (4.7.7)
the corresponding connection (4.6.30) on the bundle CK. Let K' be a symmetric
world connection which induces the corresponding connection on the bundle EPR of
pseudo-Riemannian metrics. On the fibre bundle EPR X CK -, X, we then have the
connection
l9
a = .\
Kaa eep
x'p
+Kaeaac,
I',p = 1'Kw0 + RK1rap,
4.7. AP PINE DEGENERATE SYSTEMS 299
RKAvp, (4.7.10)
8,.(Kap - kA$) + av(KAp - kAp) - KKp) - (4.7.11)
kA`$K + k, $KAe - 0.
It is readily observed that, for a given world metric g and a world connection k,
there always exist world connections K' and K such that the gauge-type conditions
(4.7.9a), (4.7.10) and (4.7.11) hold (e.g., K' is the Levi-Civita connection of g and
K = k). It follows that the Hamiltonian forms (4.7.8) constitute a complete family.
Being restricted to the constraint space (4.7.7), the Hamilton equations (4.7.9c)
and (4.7.9d) take the form
where
Dagg = 8agwe - kag,ag'.
Substituting the equation (4.7.10) in the equation (4.7.12), we obtain the Einstein
equations
R,, - g0pR = 0.
The equation (4.7.13) is the equation for torsion and non-metricity terms of the
connection In the absence of matter sources, it admits the well-known solution
D.e = Vgg',
where V. is an arbitrary covector field corresponding to the projective freedom
[70, 158).
Example 4.7.2. Dirac fermion fields. The Lagrangian density (3.8.22) of Dirac
fermion fields in the presence of a background tetrad field h and a background spin
connection A is affine in the velocity coordinates y.. Let us find a complete family
of Hamiltonian forms associated with this Lagrangian density.
Let S" be an h-associated spinor bundle (3.8.18). The Legendre bundle over S"
is the pull-back
n,=AT'XTXS"',
sib
where by S" -+ X is meant the dual of S" X. This Legendre bundle is provided
with the canonical coordinates (e, yA, pA).
For the sake of simplicity, let us consider Dirac fermion fields on a flat Minkowski
space when hN = d.
The Legendre map associated with the Dirac Lagrangian density (3.8.22) is
(4.7.14)
P=A=
YA
+A =, A
These relations define the Lagrangian constraint subspace of the Legendre bundle
r1,.
4.8. IIAMILTONIAN CONSERVATION LAWS 301
S=SAdx"8A
is a soldering form on S" X (which is not necessarily linear). Then the Hamilto-
nian forms (4.7.3) associated with the Lagrangian density (3.8.22) read
dyA
HS (1/ + A 7{sw, (4.7.15)
Ns = y8Av BAF} + myA
where
A, 8 = I Ar"LOhAB.
and the equations for the components yA and p+A. The equation (4.7.16a) and
the conjugate equation for yA imply that a solution r is an integral section for the
connection A + S on the spinor bundle S". It follows that the Hamiltonian forms
(4.7.15) constitute a complete family.
On the constraint space (4.7.14), the equation (4.7.16b) reads
on the jet manifold J'11. We have mentioned that the Poincar6-Cartan form HL
of the Lagrangian density (4.8.1) coincides with the Hamiltonian form H, while
the Euler-Lagrange operator for Lv is precisely the Hamilton operator ER for H.
Then we will follow the standard procedure describing differential conservation laws
in Lagrangian formalism (see Section 3.5), and apply the first variations) formula
(3.2.11) to the Lagranglan density (4.8.1) [165).
In accordance with the canonical lift (3.7.7), every projectable vector field
u = u"8 + u18t
Z It follows that the Hamiltonian form H and the Lagrangian density LX have
the same gauge symmetries. 1
W=pill-iir
(4.3.6) of a Hamiltonian form H, the Lie derivative (4.8.3) takes the form
In the case of the vector field is (4.8.2) and the Lagrangian density LH (4.8.1),
the first variational formula (3.2.11) takes the form
8,,(u?{) - u; 8afi + p; 8au' = -(u` - y,,u)(pa; + 8,7i) +
(-8cu'4 - 8,up; + 8,,uAp - k;u')(ya - 8'a7i) -
da[p; (8,,?lu" - u') - uA(p; 87i - N)].
On the shell (4.4.10a) - (4.4.10b), this identity reads
of the current
1. = pi (u87{ - u') - u''(p; 87{ (4.8.8)
0 x
There is the following relation between differential conservation laws in Lagran-
gian and Hamiltonian formalisms.
PROPOSITION 4.9.1. In virtue of the bundle isomorphism (4.9.1), there exists the
bundle isomorphism over VY
!!vy ^- VH,
7=dx"(a+78i+7ia'a),
7 = afc, Tai
obeys the Hamilton equations for the Hamiltonian form (4.9.2), i.e.,
7=atxv=vr
Tai = -arty =
7=afv=OV0,
Tai = -aixv = -avairc.
QED
4.9. VERTICAL EXTENSION OF POLYSYMPLECTIC FORMALISM 307
,H =Pir'a+jIr
relative to a connection r on Y -. X, then we have the splitting
NV=P;r'a-1!'(-P;8,F)+8vjf
with respect to the lift f (4.4.2) of I' onto II -+ X.
Note that the Hamiltonian form Hv (4.9.2) can be also obtained in the following
way. Given the fibre bundle Zy 11 (3.4.14), let us consider the vertical tangent
bundle VZ of Z --+ X with coordinates
(xA,y',Pi,Ry',P;)P)
It is provided with the canonical form
1=v=Pw+P,dy'nwa-y'dp; nwa,
Hv = (Vh)'Ev,
where V h : VII - V Z is the vertical tangent map of h.
Remark 4.9.2. One can use also the form Ev+d(y'p{) Awa since the form d(y'p) A
wa is well behaved.
(x.,y',ya,y',lla).
Given a Lagrangian density L on J1Y, let us consider the Lagrangian density
1.v=pr20VL:VJ'Y-+hT'X, (4.9.3)
Lv = 8vL = (y'8s + y{a); )G,
on VJ1Y. Then the variational derivatives
b,Lv=b;L=O
308 CHAPTER 4. HAMILTONIAN FORMALISM
Lv VJ'Y vYVf,
P, =O{Zv=7f{,
P: =8y7r;a.
Hv=VH:VII-YVJ'Y,
pa = 8.%?lv = 8;,71, ira = 8y8'a?l.
Proof. If Q is a fibred submanifold of II, the relation (4.5.9a) takes the form
Lo///oiQ=iQ.
Then the corresponding vertical tangent morphism satisfies the relation
VLoVHoViQ=ViQ.
The relation (4.5.9b) for Hy reduces to the relation (4.5.13) for H. QED
are broken by any time-dependent canonical transformation and any reference frame
transformation, including transformations of inertial frames.
Here we continue to describe time-dependent mechanics as a particular field
theory, when the event space Y is a fibred manifold over R [18, 32, 164]. Then
the 1-dimensional reduction of polysymplectic Hamiltonian formalism provides the
adequate mathematical formulation of time-dependent Hamiltonian mechanics on
the Legendre bundle
11 = V'Y -4 Y. (4.10.1)
The main ingredients in this formulation are: (i) the canonical 3-form (4.10.13)
which provides the phase space V'Y with the canonical Poisson structure, (ii) con-
nections on Y -' R which define reference frames (see Section 3.9), and (iii) Hamil-
tonian connections whose integral sections are solutions of the Hamilton equations.
Let us emphasize the following essential peculiarities of time-dependent Hamil-
tonian mechanics in comparison with the symplectic one.
Y = R x M, (4.10.2)
Recall that 8j and dt are the standard vector field and the standard 1-form on
R, respectively.
Remark 4.10.1. Throughout this Section, the fibration Y -, R is once for all.
This, however, is not the case of relativistic mechanics whose description requires
formalism of jets of submanifolds (am Example 5.3.5).
i2z=dpAdt+dpmAdy'. (4.10.6)
The corresponding Poisson bracket on the space COD(T'Y) of functions on T'Y reads
t''=V'1'=dt(8t+1"8i-8fl''ppOi) (4.10.11)
V'1'Jf2 = dHr,
Hr = p;dy' - pit" dt. (4.10.12)
A=Ajdt,
A=dp, Ady'Adt, (4.10.13)
d(uJA) = 0 (4.10.14)
Try=Bt+ry'8;+ryi8' (4.10.15)
I 7J0 = r,JA.
QED
horizontal foliation on V'Y -. R. Its leaves are the integral curves of the horizontal
lift (4.10.15) of 88 by y.
DEFINITION 4.10.2. The vector field r., (4.10.15) which obeys the condition (4.10.14)
is said to be a locally Hamiltonian horizontal vector field
Given the canonical form A (4.10.13), every function f on V'Y defines the
corresponding Hamiltonian vector field t9f (4.10.9) by the relation
It9fJA=dfndt.
Then the Poisson bracket (4.10.8) is recovered by the condition
DEFINITION 4.10.3. Vertical vector fields t9 on V'Y -+ R which satisfy the condition
(4.10.17) are called locally Hamiltonian vector fields.
Locally Hamiltonian horizontal vector fields r., constitute an of lne space mod-
elled over the linear space of locally Hamiltonian vector fields t9. Using the decom-
position
ry=yr+t9dt, (4.10.16)
where I' is a connection on Y - R, one can show that every closed form r.,JA on
V'Y -. R is exact.
Indeed, let us consider a vertical vector field 19 on V'Y - R such that the form
t9JA is closed, i.e.,
d(t91 A) = 0. (4.10.17)
It is easily seen that t9J A takes the form or A dt, where or is a 1-form. Every closed
2-form a n dt on V'Y is exact. It is an immediate consequence of the isomorphism
(3.8.1) of the De Rharn cohomology groups. In accordance with the relative Poinear6
lemma (see Remark 4.4.2), the condition (4.10.17) implies that locally
t9JA=dfAdt.
314 CHAPTER 4. HAMILTONIAN FORMALISM
C. Hainiltonian forms
PROPOSITION 4.10.5. Given the locally Hamiltonian forms H., and H.,., their
difference
a=H,,-H,.,
(r,-r,.)JA=da,
is a 1-form on V'Y such that the 2-form a A dt is closed since
d(a A dt) = da A dt = 0
and, consequently, exact. In accordance with the relative Poincare lemma, this
condition implies that
a = fdt + dg, (4.10.18)
of the Liouville form (4.10.5) on T'Y by a section h of the fibre bundle T'Y
V'Y.
PROPOSITION 4.10.7. For any Hamiltonian form H on the Legendre bundle V'Y,
there exists a unique Hamiltonian connection -fm on V'Y - R such that
Try,, JA=dH.
0
Proof. The Hamilton operator ,6.q (4.4.8) on the Legendre bundle V'Y - R reads
Cy : i'v'y - XT'V'Y,
E.t = dH - !Z = [(yt' - 8'7- )dp: - (pa + 8,f)dy'] A dt,
where
is the pull-back of the canonical form 0 (4.10.10) onto J'V'Y (see Definition 4.3.4).
The kernel of this Hamilton operator is the system of first order differential Hamilton
equations
y; = 8'?{, (4.10.21a)
-8;l (4.10.21b)
on V'Y. It is the image of the section
-y,, = dt (88 + 8`NO; - 0i7{8') (4.10.22)
The classical solutions of the Hamilton equations (4.10.21a) - (4.10.21b) are the
integral sections of the associated Hamiltonian connection (4.10.22) or, equivalently,
the integral curves of the vector field
Iru = 8t + 8`718 - 8,7{8' (4.10.23)
which is the horizontal lift of the standard vector field 8, on R by means of the
connection (4.10.22).
A glance at this expression shows that the Hamilton evolution equation in time-
dependent mechanics does not reduce to the Poisson bracket. This fact may be
relevant to the quantization problem. The second term in the right-hand side of the
equation (4.10.26) remains classical.
Remark 4.10.3. Given the canonical Poisson structure (4.10.8) on the Legen-
dre bundle V'Y, one can consider the generalized Poisson bracket {.,.},, (4.1.12)
on the exterior algebra t)'(V'Y) or the bracket {.,.}d (4.1.14) on the quotient
1'(V'Y)/dT'(V'Y). In particular, the generalized Poisson bracket (4.1.12) of two
Hamiltonian forms H and H' reads
D. Prosymploctic structure
Besides the canonical Poisson structure, the phase space V'Y of time-dependent
mechanics may be provided with presymplectic and contact structures which, how-
ever, are specified by the choice of a Hamiltonian form H.
By definition, a Hamiltonian form H is the pull-back H = h'E" of the Liouville
form (4.10.5) by a section h of the fibre bundle T'Y - V'Y. Accordingly, its
differential
E. Contact structure
Let us recall some basic notions.
0 A (d0)m 96 0
EJ0 = 1, EJdO = 0.
where
m in
f = E zm+i am+if + f, 9 = E .tm++8m+i9 + 9.
i=1 i=1
Let us turn now to Hamiltonian forms on the Legendre bundle V'Y (4.10.1).
Proof. Since the horizontal Hamiltonian vector field TH (4.10.23) is nowhere van-
ishing, the condition H A (dH)m 34 0 is equivalent to the condition
(THJH)(dH)m = [M(dH)m & 0.
T,,J(1l A (dH)m) =
The result follows because the form (dH)m (4.10.27) is nowhere vanishing. QED
Remark 4.10.5. To make [%] everywhere different from zero, one may add an
exact form (e.g., the form cdt, c =const.) to H. For instance, the Hamiltonian form
Hr (4.10.12) is not a contact form since [71] = 0, but the equivalent form Hr - dt,
where [7{J = 1, is so. 0
Given a Hamiltonian form H, let the function [N] be nowhere vanishing so that
H is a contact form. The corresponding Reeb vector field reads
EH = [7{]-irH. (4.10.29)
320 CHAPTER 4. HAMILTONIAN FORMALISM
F. Canonical transformations
In contrast with the (n > 1) polysymplectic case, canonical transformations in
time-dependent mechanics are not compatible with the fibration V'Y - Y.
The bundle coordinates on V'Y - R are called canonical if they are canonical
for the Poisson structure (4.10.8). Canonical coordinate transformations satisfy the
relations
Oil i ay, _ 0P', BY,
-- 0,
aPi OPk aPk OPi
0
a ask
a i 19y" OM W
i/
OPi a aV OPk
By definition, the holonomic coordinates on V'Y are canonical coordinates. Ac-
cordingly, holonomic automorphisms
Pi H P; IV Pi (4.10.30)
of the Legendre bundle V'Y -' Y induced by the vertical automorphisms of Y -' R
are also canonical.
Proof. Let Vo Y be the fibre of V'Y - R at the point 0 E R. Then canonical coor-
dinates of VO Y dragged along integral curves of the complete vector field rr satisfy
the statement of the proposition. FYom the physical viewpoint, these coordinates
are the initial values of the canonical variables. QED
yi=0, Pa=0.
- ay,
ryy=p,
2 ryp=a. (4.10.31)
Example 4.10.7. Let us consider the 1-dimensional oscillator with respect to the
same coordinates. The Hamiltonian form and the Hamiltonian connection of this
system read
= 2 (P' + y2),
'Yy = P, .yr = -y. (4.10.32)
4.10. APPENDIX. HAMILTONIAN TIME-DEPENDENT MECHANICS 323
Note that any Hamiltonian form H can be locally brought into the form where
?{ = 0 by local canonical coordinate transformations.
It should be emphasized that canonical automorphisms do not send Hamiltonian
forms onto Hamiltonian forms in general.
Let !I be a Hamiltonian form (4.10.19) on V* Y. Given a canonical automorphism
p, we have
d(p'11 - H) = 0.
It follows that
p'!!-H=dS,
where S is a local function on V'Y. We can write locally
p'H = pidpi - W o pdt.
Then the corresponding coordinate relations read
8'S = PAP. - pi,
8'S = Pi8'P',
%'-x=p8p'-BSS.
Taken on the graph
Do = {(q, p(q)) E V'Y X V'Y)
of the canonical automorphism, the function S plays the role of a local generating
function. ior instance, if the graph A. is coordinatized by (t, yi, y'i), we obtain the
familiar expression
1-i' - 71 = 88S(t,yi,j)
Example 4.10.8. The holonomic morphisms (4.10.30) admit locally the generating
function
5(t,Y'J'pi) = 1t(t,IMP, -
324 CHAPTER 4. HAMILTONIAN FORMALISM
Let us turn now to the Hamilton evolution equation and its splitting (4.10.26).
Let the connection r in the expression (4.10.26) be a complete connection on
the fibre bundle Y -. R. Then there exist holonomic coordinate transformations
which bring the Hamiltonian evolution equation (4.10.26) into the familiar Poisson
bracket form
should be recalled.
Let A be the canonical 3-form (4.10.13) on the Legendre bundle V-Y. Its pull-
back by the Legendre map L (3.9.42) reads
AL =LOA =da,Ady'Adt.
By means of AL, every vertical vector field
19=1918;+918,
0 = (.O1dy' + dyy) A dt
4.10. APPENDIX. HAMILTONIAN TIME-DEPENDENT MECHANICS 325
79i =
77' = + 0i7rk)J.
t9fj1lL=dfAdt.
Then the Poisson bracket
The vertical vector field 191 (4.10.33) is the Hamiltonian vector field of the function
f with respect to the Poisson structure (4.10.34).
In particular, if the Lagrangian C is hyperregular, that is, the Legendre map
is a diffeomorphism, the Poisson structure (4.10.34) is obviously isomorphic to the
Poisson structure (4.10.8) on the phase space V'Y.
The Poisson structure (4.10.34) defines the corresponding symplectic foliation
on J'Y which coincides with the fibration J1Y - It. The symplectic form on the
leaf J' Y of this foliation is f1i = dire A dyi (183).
The configuration space J1Y of time-dependent mechanics can be also provided
with an L-dependent presymplectic structure. This is the exterior differential
Let Y -+ R be an event bundle, V'Y the phase space and J'Y the configuration
space of time-dependent mechanics.
Let us recall that a Hamiltonian form H on V'Y is said to be associated with a
Lagrangian C on JIY if H obeys the conditions
It is called weakly associated if (4.10.35b) takes place only at points of the Lagran-
gian constraint space Q.
If a Lagrangian C is hyperregular, there exists a unique Hamiltonian form asso-
ciated with C.
If a Lagrangian C is semiregular (see Definition 4.5.8), all Hamiltonian forms
associated with C (if they exist) coincide on the Lagrangian constraint space Q, and
the Poincare-Cartan form HL is the pull-back (4.5.18) of any such a Hamiltonian
form If by the Legendre map L. In accordance with Propositions 4.5.10 and 4.5.11, if
H is a l larniltonian form associated with a semiregular Lagrangian C, every solution
of the corresponding Hamilton equations which lives in the Lagrangian constraint
space Q yields a solution of the Lagrange equations for C. At the same time, to
exhaust all solutions of the Lagrange equations, one must consider a complete family
(if it exists) of Hamiltonians associated with C.
4.10. APPENDIX. HAMILTONIAN TIME-DEPENDENT MECHANICS 327
Let G be an almost regular Lagrangian (see Definition 4.5.13) and HQ the con-
strained Hamiltonian form (4.5.28) on the Lagrangian constraint space Q, which is
an imbedded subbundle of the Legendre bundle V'Y -. Y. Then the constrained
Hamilton equations (4.5.29) for HQ admit all solutions of the Cartan equations for
G (see Proposition 4.5.16).
In the spirit of well-known Cotay's algorithm for analyzing constrained systems
in symplectic mechanics [16, 75], the Lagrangian constraint space Q plays the role
of the primary constraint space. However one has to apply this algorithm to each
Hamiltonian form H weakly associated with a Lagrangian C. If C is semiregular, all
these Hamiltonian forms coincide with each other on Q, but not the corresponding
horizontal Hamiltonian vector fields (4.10.23).
The necessary condition for a local solution of the Hamilton equations for a Ha-
miltonian form H to live in the Lagrangian constraint space Q is that the horizontal
Hanmiltoriian vector field ry (4.10.23) is tangent to Q at some point of Q. Given a
Hamiltonian form H weakly associated with G, we can express this condition in the
explicit form
pt = a;G(t, yi, Mn), (4.10.36a)
(a, + 01%a; - a,?ia') jd(p; - O C(i, y', acre)) = 0. (4.10.36b)
The equation (4.10.36a) is the coordinate expression of the relation (4.10.35a), and
can be taken as the equation of the Lagrangian constraint space Q. The equation
(4.10.36b) requires that the vector field ry is tangent to Q at a point with coordinates
(t,y',pi)
In particular, one can apply the description of the quadratic degenerate systems
in Section 4.6 to those in time-dependent mechanics. Note that, since Hamiltonians
in time-dependent mechanics are not functions on a phase space, we cannot apply to
them the well-known analysis of the normal forms [24] (e.g., quadratic Hamiltonians
in symplectic mechanics [6]).
I. Conservation laws and integrals of motion
In autonomous mechanics, an integral of motion, by definition, is a function on
the phase space whose Poisson bracket with a Hamiltonian is equal to zero. This
notion cannot be extended to time-dependent mechanics because the Hamiltonian
evolution equation (4.10.26) is not reduced to the Poisson bracket.
In Section 3.8 we have studied conservation laws in Lagrangian mechanics. To
discover conservation laws within the framework of Hamiltonian formalism, let us
328 CHAPTER 4. HAMILTONIAN FORMALISM
consider the Lagrangian (4.4.22) on JI V'Y (165], and apply the first variational
formula (3.2.13) to it.
Given a vector field (3.9.61) on the event bundle Y, its lift u (4.8.2) onto the
phase space V'Y reads
u u`8'+u'8;-Auip;8`, u`=0,1.
As a particular case of the weak identity (4.8.6), we have
-wait - u'8tf + pcdtu' dt(-p;u' + ut7{) (4.10.37)
In the case of a vertical vector field u, where u' = 0, this transformation -law
leads to the weak equality
8,% dtpt.
In the case of the horizontal lift fi (4.10.15), the weak identity (4.10.37) takes
the form
-8tf - r'8tn + pdtl'' st, -dtxr,
where ? r = it - pt1'' is the Hamiltonian function in the splitting (4.10.20).
The following assertion is a particular case of Proposition 4.8.1.
Therefore, we can treat ?{r as the energy function with respect to the frame I'.
In particular, if I" = 0, we obtain the well-known energy conservation law
8t?{ dth,
which is the Hamiltonian variant of the Lagrangian one (3.9.67).
over J' Y.
Due to the isomorphism (4.10.39), one can think of II as being both the Legendre
bundle over the configuration space J'Y and the configuration space over the phase
space V'Y. Hence, the spaceII can be utilized as the unified configuration and
phase space of joint Lagrangian and Hamiltonian formalism.
Remark 4.10.9. In connection with this, note that, according to [10, 133, 1811, the
dynamics of an autonomous mechanical system described by a degenerate Lagran-
gian G on TM is governed by a differential equation on T'M generated by due
to the canonical diffeomorphism between MM and T'TM (see Remark 4.9.1).
330 CHAPTER 4. HAMILTONIAN FORMALISM
The manifold n is equipped with coordinates (t, y', yl, pa, pi), where (y', pti) and
(y' , pi) are canonically conjugate pairs. The space II is endowed with the canonical
form (4.10.13) which reads
A = (dpti A dy' + dpi A dy,) A dt = dt(dpi A dy' A dt), (4.10.40)
where
dt=Ot+yl,8i+p 0'
is the total derivative. The corresponding Poisson bracket (4.10.8) takes the form
Of Og Of Og _ Og Of _ Og Of
{ f' 9 }v = (4.10.41)
apt, V + OR BV apt. 8y' OA 8yi
It is readily verified that the canonical form (4.10.40) and, consequently, the
Poisson bracket (4.10.41) are invariant under the transformations of II which are
jet prolongations of the canonical automorphism of V'Y. I
Let
dty' = (4 . 10 . 42 a)
dtpi = (4.10.42c)
dips (4.10.42d)
which look like the Lagrange equations for the "Lagrangian" ?{. Though it is not
a true Lagrangian, one can put
?f = -Ly + dt(p I"),
whenever Ly is a Lagrangian on J' Y. Then the equations (4.10.43a) - (4.10.43b) are
equivalent to the Lagrange equations for the Lagrangian Ly on J'Y. However, their
solutions fail to be solutions of the corresponding Hamilton equations (4.10.42a)
- (4.10.42d) in general. This illustrates the fact that solutions of the Hamilton
equations (4.10.42a) - (4.10.42d) are necessarily solutions of the Lagrange equations
(4.10.43a) - (4.10.43b), but the converse is not true.
To give a unified Hamiltonian-Lagrangian picture, let us consider the Hamilto-
nian form
day' _ f, (4.10.45a)
-n
dsp+ - Pi + 8 , (4 . 10. 45 c)
dep = -d
Oh n + + 04 . (4 . 10 .45d )
a
ay, 81l' 5'
Using the relations (4.5.9a) and (4.5.12), one can show that solutions of the Hamil-
ton equations (4.10.21a) - (4.10.21b) for the Hamiltonian form Hn which live in
the Lagrangian constraint space Ly(J'Y) C V'Y are solutions of the equations
(4.10.45a) - (4.10.45d).
Now let us consider the Lagrange equations (4.10.43a) - (4.10.43b) for the Ha-
miltonian (4.10.44). They read
In accordance with Proposition 4.5.11, every solution of the Lagrange equations for
the Lagrangian Gy such that the relation (4.5.23) holds are solutions of the equations
(4.10.46a) - (4.10.46b).
In particular, if the Lagrangian Gy is hyperregular, the equations (4.10.46a) -
(4.10.46b) and the equations (4.10.45a) - (4.10.45d) are equivalent to the Lagrange
equations for Ly and the Hamilton equations for an associated Hamiltonian form.
Chapter 5
Special topics
This Chapter is devoted to a few topics on higher order and infinite order jet for-
malisms which are involved in different constructions of the calculus of variations
and field theory.
Note that there are two main approaches to jet formalism. The geometric one
define jets as equivalence classes of sections of a fibred manifold and, more generally,
as equivalence classes of submanifolds which have a contact of some order. Within
the framework of the algebraic approach, the notion of jets of modules is basic. The
overlap of these two jet machineries lies in jets of sections of vector bundles.
We have observed that it is convenient to call into play the infinite order jet ma-
chinery in order to describe finite order dynamic systems. We follow the pragmatic
approach to the calculus in infinite order jets when the algebraic limits of objects on
finite order jet manifolds are considered [42, 109, 180, 184]. This prevents us from
the specification of a manifold structure on the infinite order jet space which is not
a well behaved smooth manifold [13, 174, 1751-
333
334 CHAPTER 5. SPECIAL TOPICS
collection
A+ E= (A,...Alak...a,)
modulo permutations, while AE denotes the union of collections
AE = (A,... Aiak...a,),
where the sum is taken over all collections A, 0 <1 A 1. Here by 0 is meant the
algebra of exterior forms on J'Y. The following relations hold
[da, dQ] = 0,
In contrast with the partial derivatives 8,,, the total derivatives have the coordinate
transformation law
9XA
da = d.
DEFINITION 5.1.1. The r-order jet space J'Y of sections of a fibred manifold
Y -+ X (or simply the r-order jet space of Y X) is defined to be the union
U is
VEX
of the equivalence classes 9=s of sections s of Y so that sections s and s' belong to
the same equivalence class 2s if and only if
In brief, one can say that sections of Y - X are identified by the r + 1 terms of
their Teylor series at points of X. Of course, the particular choice of a coordinate
atlas does not matter for this definition.
There are several equivalent ways in order to provide the jet space JkY with a
manifold structure. They lead to the following result.
PROPOSITION 5.1.2. Given an atlas of fibred coordinates (XA, y') of a fibred mani-
fold Y -y X, the r-order jet space FY of Y is endowed with an atlas of the adapted
coordinates
The coordinates (5.1.2) bring the set J'Y into a smooth manifold of finite di-
mension
7rr:
A glance at the transition function (5.1.3) when I A I= r shows that the fibration
Remark 5.1.2. To introduce higher order jet manifolds, one can use the construc-
tion of the repeated jet manifolds. Let us consider the first-order jet manifold J'J'Y
of the fibred manifold XY X, provided with the adapted coordinates
(x",ye,yaA), I A I< r.
There are the following bundle morphisms
Ja;_1 : J'J'Y -+ J'J'-'Y, y o Jir;_1 = y1, I A I< r - 1,
P; : J' J'Y J'-'Y, yAA o P: = y%+A, IAI < r - 1.
Their affinc difference over J'''Y is the r-order Spencer morphism
VJ''1Y,
aA0Sr=4A-ya+A,
i
IAI<
where VJ'''Y is the vertical tangent bundle of the fibred manifold J'-'Y - X.
The kernel of the r-order Spencer morphism Sr is the r-order sesquiholonomic jet
manifold J'+'Y coordinatized by
(x", ye, y'), IAI< r, I E I= r.
We have the chain of fibred monomorphisms
Jr+'Y --4.7"+'Y - J'J'Y.
Hereafter, we will identify the jet manifolds J'+'Y and J'+'Y with their images in
J'J'Y.
Remark 5.1.3. Following Remark 5.1.2, one can consider the r-order jet manifold
J'J'Y of the fibred manifold J'Y - X with coordinates
(x", y6), IAI<r, IEI<r.
5.1. HIGHER ORDER JETS 337
In the calculus in r-order jets, we have the r-order jet prolongation functor Jk
such that, given fibred manifolds Y and Y' over X, every fibred morphism $ :
Y Y' over a diffeomorphism f of X admits the r-order jet prolongation to the
morphism
Jr,b : J'Y 9 f.8 s-+ j*.(.) (() o s o f -') E J'Y' (5.1.6)
pr2:YxV'-.Y'
X
induce the canonical fibred isomorphism
J'(YxY')-J'YxJ'Y'.
x x
LEMMA 5.1.3. Let 3 be a section of the fibred manifold JTY - X. Then, the
following conditions are equivalent:
"A =
OJ-iA,
0<IAJ<r.
It follows that 3 = J'(iro o s). QED
Given the k-order jet manifold JkY of Y -- X, there exists the canonical fibred
morphism
over
u = uO,, + Uc
5.1. HIGHER ORDER JETS 339
on a fibred manifold Y -+ X has the following k-order jet lift to the vector field on
Jky:
Jku = r(k) o Jku : jky - TJkY, (5.1.8)
Jku=uAOA+ui8i+u;,e;, 0<IAI<_k,
ua+A = dAun -1l+Aaau, 0 <I A 1< k.
In particular, the k-order jet lift (5.1.8) of a vertical vector field on Y X is a
vertical vector field on JkY - X due to the isomorphism (5.1.7).
Example 5.1.5. A vector field on J'Y which is vertical with respect to some
fibration J'Y J'-'Y is obviously a projectable vector field on J'Y.
Let us denote by Pk the vector space of projectable vector fields on the jet
manifold JkY. It is easily seen that P, are Lie algebras and that the morphisms
T7rk, k < r, constitute the inverse system
PROPOSITION 5.1.5. The k-order jet lift (5.1.8) is the Lie algebra monomorphism
of the Lie algebra Po of vector fields on Y X to the Lie algebra Pt of projectable
vector fields on JkY such that [13, 174]
T7rk(J'u) = Jku o Irk. (5.1.10)
The jet lift Jku (5.1.8) is said to be an integrable vector field on JkY. Every
projectable vector field on J'Y is decomposed into the sum
u, = JJT7rp(ur) +vr
340 CHAPTER 5. SPECIAL TOPICS
of the integrable vector field J4T7ra(ur) and the vector field v, which is vertical with
respect to a fibration "Y - Jr-kY.
Every exterior form 0 on the jet manifold JAY has the lift to the pull-back form
akt+" 0 on the jet manifold Jk+Y. Let ilk be the vector space of exterior forms on
the jet manifold JAY. We have the direct system
LAX-+Oo (5.1.11)
where OX and 0 are the vector spaces of exterior forms on X and Y respectively.
The subsystem of (5.1.11) is the direct system
-- 1I Oo ' .... "_', or ...
flo(X) O0
of the rings of real smooth functions ilk = C(JkY) on the jet manifolds JkY.
Thence, one can think of (5.1.11) as being the direct system of left Ok-modules.
The inverse system (5.1.9) of the Lie algebras of projectable vector fields and
the direct system (5.1.11) of the modules of exterior forms are defined for any finite
order r. These sequences admits the limits for r -. oo in the category of Lie algebras
and in that of modules respectively, thus leading to the concept of infinite order jets
(see Section 5.4).
We have the exact sequences
0 VJkY ti TJkY - TX x JkY - 0, (5.1.12)
x
0 JkY x T'X TJkY -. V *JkY 0, (5.1.13)
x
of vector bundles over JAY. In general, they have not a canonical splitting, but
their pull-backs over Jk+' split canonically due to the following canonical bundle
monomorphisms over JAY:
and
where the sums are taken over all collections of multi-indices A, I A I< k. The
morphism (5.1.15) is called the contact k -jet form. The components
(5.1.16)
of the contact k-jet form (5.1.15) are called the contact forms.
The monomorphisms (5.1.14) and (5.1.15) yield the fibred monomorphisms over
Jk+'Y
A(k) : TX x Jk+'Y c-+TJtcY x Jk+'Y, (5.1.17)
X JkY
and
These morphisms split the exact sequences (5.1.12) and (5.1.13) over Jk+'Y and
define the canonical horizontal splittings of the pull-backs
lrk+"7. JkY = !(,t) (TX
x J+' Y) (D V JkY, (5.1.19)
J r
+ E YYOi = a"(8,, + ye+AB+ } + EM - y'a+A)8",
and
7rk+i.7.. Jky =
G 9(k)(V*JkY x Jk+1y), (5.1.20)
Jk+1Y JkY
Uk:Jk+'Y-.JkY- TJkY
over Jk+'Y of any vector field uk on JY admits the canonical splitting
where h040 is a semibasic 1-form on Jk+'Y, while h1o takes its values into Im B(k).
DEFINITION 5.1.6. An exterior 1-form 46 on the jet manifold JkY is called a contact
1-form if its pull-back sk+''O over Jk+'Y takes its values into the image Im9(k+1)
of the monomorphism (5.1.18).
DEFINITION 5.1.7. Let Ck be the ideal of the algebra ilk of exterior forms on JkY
which is generated by the contact 1-forms on JkY. This ideal comprises the exterior
products of contact 1-forms and arbitrary exterior forms on JkY. Its elements are
called contact forms on the jet manifold JkY, and Ck is said to be the ideal of contact
forms.
The ideal Ck of contact forms is a module over the ring of smooth functions on
JkY. Its Pfalfian system is locally generated by the contact forms OX, I A (< k,
(5.1.16).
It is easily verified that the pull-back irkk+` 0 of every contact form on the jet
manifold JkY onto Jk+'Y is also a contact form. Hence, we have the direct system
of left 0 modules
w ,4. *.
C1 4 C2 2,... + C.
The ideal Ck defines the smooth Cartan distribution CJkY C TJkY of the di-
mension
m
(n+k- 1)!
--I)!
k! (n
on the jet manifold JkY. This comprises the elements ofTJkY which are annihilated
by contact 1-forms. Its fibres CgJkY C TQJkY, q E JkY, are called the Cartan
subspaces.
The ideal Ck of contact forms fails to be a differential ideal since d8X, I A (= k-1,
are not contact forms. It follows that the Cartan distribution CJCY is not completely
integrable.
Remark 5.1.6. Since the obstruction for the ideal CJ." Z to be differential lies only
in the forms O)), (A (= k - 1, the limit of the direct system (5.1.11) has not this
defect.
5.1. HIGHER ORDER JETS 343
PROPOSITION 5.1.8. An exterior form .0 on the jet manifold JkY is a contact form
if and only if its pull-back ro onto the base X by means of any integrable section
r of JkY - X is equal to zero.
Thus, one can say that images of integrable sections of the fibration JkY -. X
constitute a complete family of integral manifolds of the Cartan distribution on
JkY. They are called k-order Cartan manifolds. It follows that the Cartan subspace
CgJkY of the tangent space TgJkY at a point q E J4Y is the linear envelope of the
tangent spaces to all k-order Cartan manifolds passing through q.
Remark 5.1.7. Cartan manifolds play the role of classical solutions of systems of
partial differential equations in the calculus in jets. Obviously, they do not exhaust
all types of integral manifolds of Cartan distributions (see 11091).
Several constructions of the calculus in higher order jets seem more natural if one
follows the algebraic definition of jets. Given a module P over a commutative ring A,
the modules 3k(P) of k-order jets of the module P are defined in an algebraic way
(see next Section). The relation of this algebraic notion to the above-mentioned
geometric definition is based on the well-known duality between the category of
vector bundles over a manifold X and that of projective modules over the ring
C(X). It means that, if P is the module of sections of a vector bundle Y - X,
then the modules 3k(P) of k-order jets of the module P are represented by sections
of the fibre bundles which are exactly the flbred jet manifolds JIY X introduced
above in a geometric way.
We will meet below several examples of sequences of fibre bundles and modules.
These are the Spencer sequences.
Remark 5.1.8. Spencer sequences. Let P be a module over a commutative ring
A. Let n P be the skew symmetric k-tensor product of P and v P the symmetric
k-tensor product of P.
344 CHAPTER 5. SPECIAL TOPICS
s:p,...pk- Pp'= 1
pt...p.
k.
where the sum is taken over all permutations (al, - - , 7k) of the collection of numbers
(1, -, k). By a is denoted the operation of alternation. These operations are A-
module morphisms.
The Spencer operator is defined as
b:(plV...VprV...Vpk)(q'A...Agm),__.
where by p? is meant that the element p' is omitted. It is a homology operator, i.e.,
bob=0.
Thence, we have the complex
called the k-order standard Spencer complex. It is easy to check that the standard
Spencer complex is exact.
The generalization of the Spencer complex (5.1.22) is the complex
where E is a A-module.
In particular, let P be the module O'(X) of sections of the cotangent bundle
T'X of a manifold X over the ring D(X) of real smooth functions on X. Then
A:
P is the module Dt(X) of exterior m.-forms on X and
6kX = VD'(X)
is the module of sections of the symmetric tensor bundle
In this case, the (k < n)-order Spencer complex (5.1.22) takes the form
U - 6kX 6 ... 6k--x 017-(X) ... flk(X) o,
(-1) (5.1.24)
SE6k-'"X17'"(X), IA I=k-m-1,
with respect to the induced coordinates on TX. We also have the corresponding
sequence of the tensor bundles
where the Spencer operator (5.1.21) is given by the expression similar to (5.1.24):
Ck,...um+ b= I A I= k - m - 1.
s = J'(ik-1 o s).
si,A = 8.%3"A, I A I < k,
of the vector bundle J' J" Y - X. The sections 3 and s take their values into the
same fibres of the affine bundle J'Jk-'Y - J'-'Y. Therefore, their difference can
be identified with a section of the vector bundle
VJk-'Y Tex,
Jk-'Y
which is isomorphic to the pull-back
(J"-'Y T'X) x Jk-'Y,
x x
since Y -. X is a vector bundle. Furthermore, let 6 be the global zero section of the
vector bundle Jk-'Y -+ X. Then, we have the bundle monomorphism of the fibre
bundle
Jk-'Y T*X -.X (5.1.26)
346 CHAPTER 5. SPECIAL TOPICS
A glance at the coordinate expression (5.1.29) shows that, in virtue of the Lemma
5.1.3, the kernel of the morphism (5.1.27) consists of the integrable sections of
JkY X. Hence, there is the short exact sequence
Sm+1k( i
`S) A,u,...Qr-&m+t (5.1.33)
Jk-my('T`X) - X.
In particular, Sl = pk. S,kn+1
It is easy to see that the morphisms are similar to the Spencer operators
(5.1.24), and obey the homology rule
k
$kt+1 0 p.
Hence, the sequence (5.1.31) is a complex, called the well-known k-order Spencer
complex of the module 3(Y) of sections of a vector bundle Y -' X. The morphisms
(5.1.33) are called the Spencer morphisms.
The Spencer complex (5.1.31) exemplifies a sequence that has the same structure
as the standard Spencer complex (5.1.22).
Let us denote by Diff ,(P, Q) the set of s-order linear differential operators from
P to Q. It is endowed with the A-bimodule structure (5.2.1). By definition, there
is the bimodule monomorphism
Let us denote the module Diff ,(A, Q) simply by Diff ,(Q), and consider the
morphism
This morphism is an s-order differential operator on the right module Diff ; (Q),
and a 0-order operator on the left module Diff -(Q).
PROPOSITION 5.2.2. For any differential operator A E Diff-(P, Q), there exists
the unique homomorphism
fa : P -+ Diff, (Q),
[fo(P)](a) = A(a - P), Va E A,
fo
P - Diff , (Q)
DEFINITION 5.2.3. The first order differential operators 8 from A to Q which obey
the rule
The derivations 8 constitute the submodule D(Q) of the left A-module Diff i (Q).
There exists also the R-module injection
but Im i fails to be a right A-submodule of Diff i (Q). It is easily seen that a first
order differential operator A belongs to Im i if and only if
D(0)=0(1)=0.
Thence, we have the short exact sequence of R-modules
Let us apply the derivation functor (5.2.4) to the injection (5.2.3). The composi-
tion a(DiIf , (Q)) comprises the derivations of A with values into the right A-module
Diff -(Q). They, by definition, satisfy the condition
(aa')*8= (a*8)*a'+(a'*8)*a.
Let us consider the composition 0(0(Q)), where 0(Q) is is thought of as a left A-
module. Its elements satisfy the condition
(aa') * 8= a'(a*8)+a(a'*8).
Then, it is easily verified that the intersection
02(Q) = o(o(Q)) n a(Diff -(Q))
consists of those elements of a(Diff -,(Q)) which obey the relation
a*(a *(9)=a'*(a* 8).
This is a left A-module. As a consequence, we obtain the following chain of R-
module morphisms
s
ak-m(Diiff m// \Q)) ' ... Diff k (Q) `' Q 0, (5.2.6)
352 CHAPTER 5. SPECIAL TOPICS
where
Sk m ok-m(Dlffm(Q)) ak-.n-i(Diff'n(Q))
-m-1(Diff,n+1(Q))
SAO: =Dk.
Sk o Sk-+1 = 0.
DEFINITION 5.2.5. The module of k-order jets of the A-module P (or simply a jet
module) is defined to be the quotient e(P) of A P by k+t. 0
Besides the module structure induced by (5.2.7), the k-order jet module 3k(P)
admits also the A-module structure given by the multiplication
b * (a p mod k+') = a (b . p) mod i'+'.
We will denote the k-order jet module with respect to this multiplication by 3.'(P).
5.2. JETS OF MODULES 353
P 3'(P)
\-. .
3'+`(P)
are commutative ([109], p.15). The epimorphisms (5.2.10) constitute the inverse
system
Given the repeated jet module 38(3k(P)), there exists the homomorphism
Qsk : 3s+k(P) y 3'(3k(P)),
k 3k(P)
IP
J.+w J. .
1 +
3s+k(P) 3'(3k(P))
354 CHAPTER 5. SPECIAL TOPICS
Q
is commutative. 0
Proof. The proof is based on the following fact ([1091, p.13). Let h E HomA(A
P, Q) and
a:!'3p--'apEAP.
Then, we obtain
QED
The correspondence A '' f defines the isomorphism
Hom A (3'(P), Q) = Diff ; (PI Q). (5.2.11)
This isomorphism means that the jet module 3'(P) is the representative object of
the functor
Diff; (P,.) : Q -i Diff; (P,Q).
Let us now find the representative object of the derivation functor
ak : Q ak(Q)- (5.2.12)
Let us consider the modules of jets 3'(A) of the ring A. We will denote them simply
by 3'. In the case of 3', the isomorphism (5.2.11) leads to the one
Hom A (3', Q) = Diff ; (Q). (5.2.13)
Remark 5.2.4. The module 3' can be provided with the structure of a commutative
algebra with respect to the multiplication
aJ'(b) x a'J'(b') = aa'J'(bb').
5.2. JETS OF MODULES 355
In particular, the algebra a' consists of the elements a b modulo the relations
ab+ba=ab1+1ab. (5.2.15)
i,:A-3'
given by the expression (5.2.14) and the quotient
Oi = 3'/Im ii.
d':AL
is a derivation of A. 0
d'(ba)= 1ba-ba1=ba+ab-ba1-ab1
= bd'a + ad'b.
QED
It is easy to see that the A-module O1 is generated by the elements d(a), while
the morphism (5.2.14) is a monomorphism of Ol into 3' which splits the exact
sequence
356 CHAPTER 5. SPECIAL TOPICS
PROPOSITION 5.2.8. Let us define the modules Ok as the skew tensor products of
the R-modules 01. There is the isomorphism
The isomorphism (5.2.18) shows that the module OA: is the representative object
of the derivation functor (5.2.12).
One can use the isomorphisms (5.2.2), (5.2.11), (5.2.13) and (5.2.18) in order to
obtain several relations involving jet modules.
The relations
3'(P)=3:0 P. (5.2.19)
Recall that the tensor product of modules is endowed with the module structure
(5.2.7).
The similar relations lead to the isomorphism
where ak(Diff -(Q)) is a left A-module. It means that 31(Ok) is the representative
object of the composite functor
D,t(Diff Q - Ok(Diff -(Q)).
Hence, the morphism
which is a complex.
Building on the De Rham complex (5.2.21), one can introduce the homomor-
phisms
Sk-m : 3k(Ok-m-1) - 3k-L(OA:,)
which are defined by the requirement that the diagram
-, y/
3k(Ok-m-1)
S4_*y
_ 3k-1(Ok-m) -...
sl[
Ok
Jkt (5.2.22)
I
Ok-m-1 d
Ok-m - ... _d Ok
is commutative.
The upper row of the diagram (5.2.22) is called the Spencer 3-sequence. Since
3k(.) are generated by Im Jk, this is a complex. It is related to the Spencer sequence
of differential operators (5.2.6) by the isomorphisms
3'(Ok)P=38. 0OkP=3'(P)Ok,
358 CHAPTER 5. SPECIAL TOPICS
one can bring the Spencer complex (5.2.22) into the complex
S,kn(Jk-.n+l (a)p 0)
= Jk-m(a)Sm(P -0), pE 3k-,n+1 aEA.
The complex (5.2.23) is called the Spencer complex of the module P.
Let us turn now to the case when A is the ring >;)(X) of smooth functions on a
manifold X.
To obtain a geometric realization of the modules over the ring O(X) by the
modules of sections of vector bundles, we should restrict our consideration to the
subcategory of the geometric modules.
nu-P
zEX
For the sake of brevity, one can say that the geometric modules over .O(X) are
those whose elements are defined only by their values at points of the manifold X.
There is the functor
P - P/zEX
n up
from the category of all i7(X)-modules into the category of the geometric modules.
Moreover, if P and Q are geometric modules, then so are Diff k(P, Q), 0k(P) and
3k(P). It follows that the functors Diff k(P, .), 8* and Jk are representable in the
category of geometric modules. They are exact in this category.
Hereafter, we will consider only geometric O(X)-modules. Then, the relation
between algebraic and geometric approaches to jets is based on the following iden-
tifications [109].
5.2. JC'1 S OP MODULES 359
The module Ol coincide with the module 17' (X) of 1-forms on X in virtue of
the duality condition (5.2.17).
The modules of jets 3k(P) are identified with the modules 3"(Y) of sections
of the corresponding jet bundles JkY X of the vector bundle Y -. X.
Every 330(X')-module P' of sections of a vector bundle Y' -. X' can be con-
sidered as a O(X)-module by the rule
0(X') P. (5.2.25)
O0(X)
Example 5.2.7. In the geometric description of jets, one can obtain coordinate
expressions of different algebraic constructions, e.g., the coordinate expressions of
the morphisms Sk_{ (5.2.24) which constitute the Spencer complex (5.2.23).
Let Y -. X be a vector bundle provided with fibred coordinates (x', Y% and let
(xa, yX) be the adapted coordinates (5.1.2) of the k-order jet manifold JkY of Y.
We consider the Spencer complex (5.2.23) of the module P = 3(Y) of sections of
the bundle Y - X.
Let 3k(Y) be the O(X)-module of sections of the vector bundle JkY - X.
Each element 3 of 3k(Y) takes the local form
F ex'sa,
a
where d are elements of O(X) and sa are sections of the vector bundle Y - X.
Let us calculate S, . By virtue of the relation (5.2.24), we have
By a similar way, one can obtain the coordinate expression of the morphism St:
where s is a section of the fibre bundle J'-'Y T'X. One can check directly that
Szk o I=0.
A glance at the expressions (5.2.26) and (5.2.27) shows that the Spencer complex
(5.2.23) of the module d(Y) of sections of the vector bundle Y -+ X is exactly the
Spencer complex (5.1.31).
THEOREM 5.2.10. In the category of the geometric modules, the Spencer complex
(5.2.23) (and, in particular, the Spencer complex (5.1.31)) is exact, that is,
ImS, =KerSk.,
Proof. We refer to ([109], p.30) for a detailed proof which is based on the following
assertion. QED
yn=0, if 0<IAI<k-1,
3Al =?/A, if I A1=k,
Remark 5.3.1. In fact, the definition of the k-order jet JS]* of submanifolds involves
only local properties of submanifolds around the point z E Z.
The union
U (S];, k > 0, (5.3.1)
sEZ
J,nZ = Z.
of jets [S]; is said to be the k-order jet manifold of the m-codimensional submanifolds
of Z . It can be provided with a manifold structure as follows.
Let Y - X be an (m + n)-dimensional fibred manifold over an n-dimensional
base X and 4i be an imbedding of Y into Z. Then there is the natural injection
Jk4i : JkY
j=s'-' [S]k(8(Z)), S = Im (0 o s), (5.3.2)
5.3. JET'S OF SUBMANIFOLDS 363
Proof. The proof is based on the fact that, given a submanifold S C Z which
belongs to the jet [S]k, there exist a neighbourhood U. of the point z and the
tubular neighbourhood Us of S n Us so that the fibration Us - S n Us takes place.
It means that every jet [S] lives in a chart of the above-mentioned type. Later,
we will describe these charts and the corresponding transition functions in explicit
form. QED
V q+1 = 0 +1
.
.... V- = x .
XA=?() , yf =f,(zll,U)
Remark 5.3.2. If S C Z is an imbedded submanifold which belongs to the jet
class (S];, there exist an open neighbourhood U. of Z E Z and a coordinate chart
(xa, y') (5.3.5) which cover U. so that s n u, is given by the coordinate relations
yi =
and
Given the coordinate atlas (5.3.5) of the manifold J.* Z, the k-order jet manifold
JmZ of Z is endowed with the atlas of coordinates
4= d (5.3.9)
5.3. JETS OF SUBMANIFOLDS 365
The transformation rules for the higher order jet coordinates VA can be obtained
inductively by the rule
d
d d
-dx+yoai1,
1d d,r- y1ai1,
d ar#1.
Applying this operator toy and x`, we obtain
i0=1P+J/oy, a#1,
ro_-1
0=yv+g.,Y11
I=yiyi
Hence, the coordinate transformations of 1-order jets read
1 ye = - ya -o Y.
z'
Ji
1
= 1l17,
__
yr,
1
Y!
yo = Y.
o
- 1l11
(5.3.13)
366 CHAPTER 5. SPECIAL TOPICS
They are defined on the overlap of charts of the coordinates (ia`, y , ya) and (x", y1, y)
where
yi 96 0, yi 34 0.
It is readily observed that the coordinate transformation laws of zo and zf/V are
the same.
Note that the similar morphism R4- RP4 provides the projective space RP4
with the standard coordinate charts.
The morphism (5.3.17) is a surjection. Let us assume that the tangent bundle
is provided with a pseudo-Riemannian metric g and Q, C TZ is the hyperboloid
given by the relation
=1, ,L=0,1,2,3.
The union of these hyperboloids over Z
Q:=Q+UQ-
Q=aU
is Lite union of two connected imbedded subbundles of TZ. Then the restriction of
the morphism (5.3.17) to each of this subbundle is an injection of Q into JJZ.
Let us consider the image of this injection in the fibre of J3Z over a point z E Z.
There are coordinates (z, z;) in a neighbourhood around z such that the pseudo-
Riemarnnian metric g(z) at z takes the form
g(z) = diag(1, -1, -1, -1).
In this coordinates the hyperboloid Q, C TZ is given by the relation
E(it)2
(Z)2 - = 1.
i
This is Lite union of the subsets Qt where z > 0 and Q; where z < 0. The image
p(Q,) is given by the coordinate relation
E(zo) < 1.
From Lite physical viewpoint, this relation means that 3-velocities are bounded in
accordance with Special Relativity.
of the tangent space TY whose intersections with the vertical tangent space V5Y is
the zero vector.
Note that, generalizing the notion of connections on a fibred manifold, one may
treat global sections of the bundle (5.3.15) as the so called preoonnections on the
manifold Z [141]. By virtue of the well-known theorem ([931, p.57), if such a pre-
connection r exists, its image r(Z) in the tangent bundle TZ -i Z is a vector
subbundle of TZ with the structure group GL(n; R). The quotient TZ/I'(Z) is also
a vector bundle with the structure group GL(m; R). We have the decomposition
TZ = r(z) TZ/r(Z),
which can be treated as the horizontal splitting with respect to the preconnection
r by analogy with the horizontal splitting with respect to a connection on a fibred
manifold.
However, it should be emphasized that, since JI.Z fails to be an affine bundle,
preconnections do not constitute an affine space. Preconnections on an arbitrary
manifold Z fail to exist (1170], p.144).
Definition 5.3.1 of jets of submanifolds does not provide for jets of n-dimensional
submanifolds of an n-dimensional manifold Z. Jets of this type are widely known
due to their application to study of G-structures [104, 155].
The union
JZ,U [gz];
of the jets [9z]s over Z is said to be the k-order jet prolongation of the manifold Z.
Example 5.3.7. Let Z = R" and z = 0. Then the jets [gJ E JJR" constitute the
group with multiplication defined by the composition of jets
JoR" = CL(n;R).
For instance, the jet bundle Jo Z - Z is exactly the principal linear frame
bundle LZ with the structure group CL(n;R). Its elements are linear frames on the
manifold Z. Similarly, one can think of elements of the bundle JO *Z Z as being
k-order frames on the manifold Z.
Remark 5.3.8. Cartan distribution. Let us consider briefly the Cartan distribu-
tions C(Jnk,Z) on the jet manifolds of jets of m - codimensional submanifolds
of a manifold Z . Their particular case are the Cartan distributions CJkY on the
jet manifolds JkY of sections of a fibred manifolds Y - X that we have consid-
ered above. Integral submanifolds of C(J,kZ) play the role of classical solutions of
differential equations defined on a manifold Z.
The contact 1-forms on the jet manifold JcY of sections of a fibred manifold
Y X have been introduced by means of the canonical splitting (5.1.20) of the
pull-back irk+"'T*JkY (see Definition 5.1.6). In the case of jets of submanifolds,
there is no such a canonical splitting.
Civen a coordinate chart (5.3.8) of the k-order jet bundle of m-codimensional
submanifolds of a manifold Z, let us consider the of local 1-forms
which is generated by the local forms
The elements of this module will be called the local contact forms.
LEMMA 5.3.5. Transition functions between the coordinate charts (5.3.8) of the jet
manifold send local contact forms onto local contact forms. 0
5.3. JETS OF SUBMANIFOLDS 371
Proof. It suffices to check this fact in the case of the transition functions (5.3.14)
and (5.3.12). The first case is obvious since (5.3.14) are fibred coordinate trans-
formations. The second case is verified by the following direct calculations. We
have
E+ Adx + idxl - (
1E I
MEd
- lli dam') MA)de
- 1-b11d-dxi dyl = 2A gE di g1.
JEI_JAI E bt dz
QED
Building on this Lemma, we can give the following definition of contact forms
on the jet bundle J,' ,Z.
DEFINITION 5.3.6. A 1-form on the jet bundle JmZ is called a contact 1-form if it
is a local contact 1-form with respect to any coordinate chart (5.3.8) on JmZ. Let
us denote by O(J,k,Z) the ideal of the Z-graded algebra of exterior forms on
JmZ which is generated by the contact 1-forms. This ideal comprises the exterior
products of contact 1-forms and arbitrary exterior forms on JmZ. Its elements are
called the contact forms on JmZ.
JkldY:JkY --
This is an imbedding onto a dense open set in JmY. Let O(JknY) be the ideal of
contact forms on J,kAY. Then the pull-backs on JkY of contact forms on are
obviously the contact forms on JkY which generate the ideal Ck of contact forms on
JkY
It is easily observed that the pull-back pkt+" 9 on the jet bundle Jm+'Z of every
contact form on the jet bundle JknZ is also a contact form. Hence, we have the
direct system
The ideal O(Jk,Z) of contact forms fails to be a differential ideal, that is,
d(O(J'Z)) it O(J' Z)
because dOA, I A 1= k - 1, are not contact forms. Hence, the Cartan distribution
is not an involutive distribution, and therefore it does not satisfy the con-
ditions of the Frobenius theorem. It follows that the Cartan distribution does not
possess integral manifolds of maximal dimension in general. At the same time, there
are n-dimensional integral manifolds of the Cartan distribution as follows.
Let
is:S --+Z
be an n-dimensional imbedded submanifold of Z. There exists the imbedding
Jkis : S - (5.3.18)
Its image JSk is said to be the k-order jet prolongation of a submanifold S. It is easy
to see that the pull-back Jkis'O on JSk of any contact form 0 on J.' Z vanishes, and
so JSk is an n-dimensional integral manifold of called the k-order Cartan
manifold. It follows that the image of the tangent morphism
TJkis : TS TJk,Z
5.4. INFINITE ORDER JETS 373
to the morphism (5.3.18) belongs to the Cartan distribution C(J4Z). This is called
the Cartan subspace. Similar to the Cartan subspaces of the Cartan distribution
CJkY on the jet manifolds JkY, the Cartan subspace of the tangent space TgJJZ
to the jet manifold JmZ at a point q E Jk.Z is the linear envelope of the tangent
spaces TQJSI to all k-order Cartan manifolds through q.
-01
...J'-'Y'x'-1 1'Y ... (5.4.1)
for any k;
the diagrams
JY
Jky J'Y
xk
r
The projective limit exists. It is called the infinite order jet space. This space
consists of those elements
(... , qi, ... , qj, ...), qi E J'Y, gj E J1Y,
of the Cartesian product
JkY
k
which satisfy the relations
qi=7r(gj),
for allj>i.
Thus, elements of the infinite order jet space JY really represent 00-jets j.18
of local sections of Y -i X. These sections belong to the same jet j. 's if and only
if their Taylor series at a point x E X coincide with each other.
Remark 5.4.1. It is dear that JODY is the projective limit of the inverse subsystem
of (5.4.1) which starts from any finite order J'Y. For the sake of simplicity, we will
denote sometimes r = 0 for Y and r = 0 for X.
The set JY is provided with the weakest topology such that the surjections
(5.4.2) are continuous. The base of open sets of this topology in JY consists of
pre-images of open subsets of JkY, k = 0,..., under the mappings (5.4.2). This
topology is paracompact and admits smooth partitions of unity
The space JY can be also provided with some kind of a manifold structure,
but it fails to be a well-behaved manifold (174, 1751. At the same time, a wide class
of differentiable objects on JY can be introduced [13, 1741. The procedure is the
following.
At first, smooth functions on JY are defined. A function
f:JY-.R
is said to be of class C if, for every q E JY, there exists a neighbourhood U of
q and a smooth function
f(") : JkY - R
for some k such that
f I U= P) o Irk Iu
5.4. INFINITE ORDER JETS 375
Tirk
are Lie algebra morphisms which constitute the commutative diagrams
P.
Txk f 1 Txr
Pk A.
Tx,k
(5.4.3)
The limit $D Q of this direct system, by definition, obeys the following conditions
[136):
0; -
r
the diagrams
Such a direct limit exists. This is the R-module which is the quotient of the
direct sum
Dk
k
Further on, we will denote the image of Dr in 0 by flr and the elements rr,'#
of Oa, simply by 0.
Remark 5.4.3. The differential calculus in Oa, is formulated in terms of filtered
operators (109].
The R-module D:. possesses the structure of the filtered module as follows. Let
us consider the direct system of the commutative R-algebras of smooth functions
on the jet manifolds FY:
40 0 7'='Yfo4
5.4. INFINITE ORDER JETS 377
for all j > i has the direct limit y in filtered endomorphisms of Da,. If all yk are
monomorphisms [epimorphisms], then y is also a monomorphism [epimorphism].
As a consequence, the following theorem holds ([1361, p.391).
THEOREM 5.4.2. The operation of taking homology groups of a chain and cochain
complexes commutes with the passage to the direct limit. 0
The operations of the exterior product A and the exterior differential d have the
direct limits on fl;,. We will denote them by the same symbols A and d, respectively.
They provide D.. with the structure of a Z-graded algebra:
fla, _ D-O,,,
"Wo
where D'O are the direct limits of the direct systems
" . OM -... Dm'_+ fl
flmx 170 +1 - .. .
of R-modules flm of exterior m-forms on r-order jet manifolds FY.
One calls elements of D' the exterior m-forms on the infinite order jet space.
The familiar relations of a Z-graded algebra take place:
0' A D C O
d:O00 -0'00',
dod=0.
Remark 5.4.4. As a consequence, we have the following cochain complex of exterior
forms on the infinite order jet space
0-In ,Kerd--'n4O0
d+ . (5.4.4)
Let us consider the cohomology group Hm(D:,) of this complex. By virtue of
Theorem 5.4.2, this is isomorphic to the direct limit of the direct system of homo-
morphisms
H'(O) -. H'(D;+l) - .. .
of the oohomology groups H'"(fl;) of the cochain complexes
0 O+KerdDor O' -- d+fl; --- 0, l=dimJ'Y.
378 CHAPTER 5. SPECIAL TOPICS
The cohomology groups H'(),,), m > 0, of such a cochain complex coincide with
the cohomology groups of the De Rham complex of the sheaves of germs
of exterior forms on the jet manifold JTY. The following assertion completes our
consideration of oohomology of the complex (5.4.4).
It follows that the cohomology groups Hm(fla,), m > 0, of the cochain complex
(5.4.4) coincide with the De Rham cohomology groups Hm(Y) of Y X.
I It follows that, in the calculus in infinite order jets, any exterior form on a
finite order jet manifold can be expanded in horizontal and contact forms only. I
of the horizontal differential dH and the vertical differential dv. These are defined
as follows:
I)k+',a ilk,a+1
d : ilk,a
00
- 00 00
ka k,a+1 k,a def k,a
dH :17 Ooo , dH I il prs o d 1000
k,a k+1,' k,a dd
dv : i7 oo dv I O00 k,a
pr, o d I O
5.4. INFINITE ORDER JETS 379
We also have
hood=dHoho.
Though we do not introduce a manifold structure on the infinite order jet space,
the elements of the direct limit 0 can be considered in the coordinate form as
follows.
Let U be the domain of a fibred coordinate chart (U; x", y') of a fibred manifold
Y - X. Let
Ur = (7ro')-'(U)
be the domain of the corresponding coordinate chart of the bundle JrY - Y. One
can repeat the above procedure for the modules ilu, of the exterior forms defined
on Ur and obtain their direct limit 0 (U).
PROPOSITION 5.4.4. There exists the R-module homomorphism of 0a, to 0:.(U).
0
Proof. For every r, we have the R-module homomorphism
=u. : flr --+ 0u,
which sends every exterior form on JY onto its pull-back on U,.. Then there exists
the above-mentioned homomorphism
iu' : 0* -0:(U)
so that the diagram
Or ' t7
D'. o0
iu.
1
0u.. - V". 000(U)
380 CHAPTER 5. SPECIAL TOPICS
9E = d y E - yE+,,dx-%, 0 <I E I .
The reader is referred to Sections 3.1 and 5.1 for the explicit expressions for
operators dy, dv and d,,.
Given an atlas ((U; x", yi) } of fibred coordinates of Y - X, let us consider the
module of exterior forms on infinite order jets Da,(U) for every coordinate chart
(U; xa, y`) of this atlas. We have the following corollary of Proposition 5.4.4.
COROLLARY 5.4.5. Every element 0 of the module Oo, is uniquely defined by the
collection of elements {4u } of the modules Oa,(U), together with the corresponding
rules of coordinate transformations. 0
Further on, we will utilize the coordinate expressions for exterior forms on in-
finite order jets, without specifying the coordinate domain U. One can say that
an object given by a coordinate expression as an element of each module Oa,(U)
is also globally defined if its coordinate form is preserved under the corresponding
coordinate transformations.
5.5. VARIA77ONAL BICOMPLEX 381
0 0
1 1
R R 0
0. ilc(X)
I' 1
JDO,O
00
eve... dvi 1
O'a
00
...
d1
dHI (-1)kdu!
0
di
17n-1X
di
- *.
(-1)kdn
ilk,n-1 dv
00
_ _, .. .
(5.5.1)
0 - 0_(X)
dHI
Do,_ dv ... v 4 k,n .. .
00
7k1
-1
0 Eo Ek
I I
0 0
where, by definition,
Ek = Oko0'n/dyi7;,'n-'
0 (5.5.2)
382 CHAPTER 5. SPECIAL TOPICS
Since all columns and rows of this diagram are complexes, it is called a bioomplex.
PROPOSITION 5.5.1. The quotient Ek, k > 0, (5.5.2) in the bottom row of
the bicomplex (5.5.1) is isomorphic to the complement rk(D'-") of the subspace
dH(D',"-') C D". o
Proof. Later, we will construct the projection operator rk such that
0 = r,O + 40, 0, 0 E (5.5.3)
for any 0 E D;;", and we show that rk o dH = 0. QED
where the sum is taken over all multi-indices A of length 0 <I A 1. The operator r
(5.5.5) can be constructed in a straightforward manner by iterating the reduction
procedure
Given an exterior form 0 (5.5.7), the operator rk (5.5.4) takes the explicit form
k Er
.ml IG r;....-4i>
A ... A BE-'+E.-, A e.--.V'+E.f. A ... A B`"`+Ek A W,
5.5. VARIATIONAL BICOMPLEX 383
Er=E 051E:I5iErl,
of the collection E.
13
we find
rk(To)=E( k
Oil +E, A ... A9 -', A0 +I A... 0w+Ek A
Er= +...+-r
of the collection E there exists the corresponding term in rk(Tr) where A = a+ r
in the expression (5.5.4) and
Er+cc + +
such that their sum is equal to zero since
384 CHAPTER 5. SPECIAL TOPICS
such that their sum is equal to zero. As a consequence, the relation (5.5.8) holds.
QED
that is, the operator Tk (5.5.4) on ) ," is really a projection operator. Thus, Propo-
sition 5.5.1 is proved.
Let us consider the short exact sequence
C"`+k __+00O k -+ Ek ' 0, (5.5.9)
where
ek=Tkohk
is the projection operator and C"+k = Kerek. By virtue of Proposition 5.5.1, the
exact sequence (5.5.9) is simple since we have the decomposition
Dk,"
0 =& 00
dHO'"-1
0
Proof. If
o = do E S)k+1,",
0 E C"+k,
then
o = dH', 0 E SZk+I,n-1'
5.5. VARIATIONAL BICOMPLEX 385
or
0 0 0 0
-- 1 1 1 1
C-1 d, C- d + Cn+l -. Ca+2 - .. .
1 1 1 1
^-1 a 0-., Dn+1
0o 00
D-+2
00 (5.5.10)
1.1 C21
dp
1
DO,-
00
ell
`- E 1 -' _'...
I I I I
0 0 0 0
Its rows are complexes. Since its columns are simple sequences and ER_1 c 011-1,4 ,
we find
ek=rkody.
It is easy to verify that
Remark 5.5.1. Since columns of the diagram (5.5.10) are exact sequences, we have
the following exact sequence of the cohomology groups of its rows
Q124], p.47).
386 CHAPTER 5. SPECIAL TOPICS
the repeated jet bundles JJJ,knZ and the higher order jet bundles J, +'Z, one cannot
perform this prolongation directly. However, if there exists a k-order Cartan mani-
fold JSk tangent to is at a point q E e with an order s, the s-order prolongation of
JSk to the (k + s)-order Cartan manifold JSk+' sends the point q E e C J ,Z into
01 C (Pk+')-'(e) C
which comprises the points (S],kn+, such that JSk is tangent to at pk with
order > s. O
If a differential equation 4E has a classical solution through a point q E 1E, this
point gives rise to an element of every finite order jet prolongation I!(') of the differ-
ential equation . It follows that the necessary condition for a differential equation
i to admit a solution through everyone of its point is that the mappings
Pk' I e(') : $(') --+ e. (5.6.1)
are surjections.
The mappings (5.6.1), however, are neither surjective nor injective in general.
Moreover, it may happen that the set (!(') is not a manifold.
Remark 5.6.2. If PE(') is a smooth submanifold of the jet bundle Jk,,+'Z, then
Given a k-order differential equation i< C JkY over X, let us consider the re-
peated jet manifold
ok : J'JkY -+ JkY. (5.6.2)
(e(+))(r) = LF(&+r)
In particular, it is easily seen that, ifs > 1, the equations (5.6.4) are linear with
respect to the highest order jet variables y& I A I= k + s. Equations of this type
390 CHAPTER 5. SPECIAL TOPICS
are called quasilinear equations. They are almost completely characterized by their
symbols.
where Vr k_1 is the vertical tangent bundle of the affine bundle JAY Jk_'Y. 0
for every point q of the k-order differential equation C JAY, one can say that this
equation is of order < k - 1. Indeed, the equality (5.6.6) takes place if and only if
all functions (5.6.3) are independent of the highest order jet variables yA, I A 1= k.
Recall that the fibration JkY J"-'Y is an affine bundle modelled over the
vector bundle (5.1.4) and, therefore, its vertical tangent bundle admits the canonical
vertical splitting
It is intuitively clear that any differential operator is constructed from linear dif-
ferential operators. The isomorphism (5.2.11) shows that the representative object
of k-order linear differential operators acting on a module P is the module 31(P) of
k-order jets of P. Then the natural generalization of the notion of linear differential
operators to "nonlinear" differential operators or simply to differential operators is
the composition:
VY=YxY
x
(5.6.8)
E:JkY-+Ey, b (5.6.11)
+ : JkY E. (5.6.12)
392 CHAPTER 5. SPECIAL TOPICS
One can think of the k-order prolongation (5.6.14) as being a J'E-valued (s + k)-
order differential operator on Y. This is given by the k-order jet prolongation of the
morphism $A:
where ok, is the monomorphism (5.1.5). Accordingly, the prolonged operator Y')
is represented by a section of the pull-back
(JkE)Y'+k) -e J'+kY
of JkE over J'+kY. At the same time, the following construction enables us to
describe the prolongation (5.6.14) as a section of the k-order jet manifold
Jk r+k J'+kY
Lets be a section of the fibration JkY - X. Then there exist a natural iso-
morphism of the pull-back s Ehk. - X to the fibred manifold E -. X and the
corresponding isomorphisms of the r-order jet manifolds J'(s Ey) to the jet mani-
folds J'E. In accordance with Remark 5.6.3, we have the natural surjection
ss: rE,
a) VI(z)oJ = (U A of (8(Z)), (5.6.17)
be the k-order jet manifold of this pull-back. There exists a section rk of the fibration
(5.6.18) which takes the coordinate expression
rq'A o r if q > 0,
kI) = {xu: (5.6.19)
VAW.'3), if q=01
with respect to the adapted coordinates (5.6.16) of the jet manifold JkYy. In brief,
one can say that the non-zero coordinates of rk read
A G rk = UA.
Note that the section rk given by the coordinate expression (5.6.19) is globally
defined since the transition functions of the coordinates y'i (5.6.16) are independent
394 CHAPTER 5. SPECIAL TOPICS
for any section 3 of J*Y - X. Indeed, the equality (5.6.20) takes place by virtue of
the expressions (5.6.19) and (5.6.17). Since JkY - J11-'Y is an affine bundle mod-
elled over the vector bundle (5.1.4), one can generalize the proof of the uniqueness
condition in the case of a vector bundle Y -. X (see [1091, p. 62) to an arbitrary
fibred manifold Y in a straightforward manner.
Let now Y - X be a vector bundle. In this case, the fibration (5.6.18) is also
a vector bundle. We consider the Spencer morphism Si (5.1.27) of the R-module
3k(Yk) of sections of the bundle (5.6.18) into the R-module 3k-'(YY) O'(J'Y) of
sections of the bundle
Jk''YY T'JkY JkY. (5.6.21)
JkY
ek = Sl (rk) (5.6.22)
by the morphism (5.1.27) is called the universal Cartan element. It takes the coor-
dinate form
ek=[dyfn-ye+adx18:, IAI<k-1,
with respect to the coordinates (5.1.28) of the vector bundle (5.6.21).
Let E -' X be a vector bundle. Just as for the definition of the universal
Cartan element (5.6.22), let us consider the Spencer morphism S1 (5.1.27) of the R-
module 3k(Ey+k) of sections of the bundle (5.6.23) into the R-module 3k-1(Ey k)
)1(J*+kY) of sections of the fibre bundle
Jk-'EE
Let A be a s-order differential operator (5.6.13) and rk(O) the associated section
(5.6.24). Put
6k(O) = S; (rk(A)),
6k(p) _ d(dA, ... da.So) -dada, ... da,Eodxa 8n, I A I<- k -1.
Example 5.6.7. Comparing the expression (5.6.25) with the expression (5.6.19),
we observe that
rk = rk(Id Y).
IEI<k-1,
where the bundle E is naturally coordinatized by (xl, y). Then
The bundle (5.6.27) is precisely the affine cotangent bundle of the jet manifold JkY,
and the Cartan element 91(0) (5.6.26) is a Cartan 1-form on JkY.
Note that, building on Example 5.6.8, one can suggest a different definition of
the contact forms which is equivalent to Definition 5.1.6.
DEFINITION 5.6.12. Let us consider the module of exterior 1-forms on the jet
manifold JkY over the ring of smooth functions on JkY which is generated by the
forms 91(0) (5.6.26) for all (k -1)-order differential operator on sections of a fibred
manifold Y - X with values into the ring O(X) of the smooth functions on X.
Elements of this module are called contact 1-forms on JkY. O
Accordingly, the Cartan distribution on the jet manifold JkY of a fibred manifold
Y -+ X is defined as follows.
DEFINITION 5.6.13. The Cartan subspace or the Cartan planeCgJkY of the tangent
space TgJkY at a point q E JkY, by definition, comprises the vectors v E TgJkY
such that
vJ91(A) = 0
for all D(X)-valued (k - 1)-order differential operators on Y. The distribution
q i-4 CgJkY, by definition, is the Cartan distribution on JAY. O
Now, let us define the symbol of a differential operator (5.6.12). We assume that
E -. X is a vector bundle and that the fibred manifold Y - X admits the vertical
splitting (5.6.8).
Remark 5.6.9. The pull-back fibred manifold (5.6.9) over JkY is also the pull-back
Ey = Ey ' JkxlY
-
JkY
of the fibred manifold Ey ' - Jk-'Y onto JkY. It follows that every section 6 of
the fibred manifold EY -+ JkY is a fibred morphism
l; : JkY Eyk
5.6. GEOMETRY OF DIFFERENTIAL EQUATIONS 397
k!
'k- 1
JkY -+ IE
Jk'IY x
* (5.6.28)
over Irk-1.
DEFINITION 5.6.14. The symbol a(4) of the differential operator 0 (5.6.12) is the
morphism
o(O)=przoVO:J'Yx(YS'X)-E. (5.6.31)
V o+=Sa(X."YE), IEISs,
E V 5CIO(x",y ). (5.6.33)
J!Iak
398 CHAPTER 5. SPECIAL TOPICS
of the vector bundle (5.1.4). It follows that the k-order quasilinear differential
operator 41 is an affine bundle morphism of the affme bundle JkY -+ J"-'Y such
that
(q) - +(q') = u(4')(q - 9') if ir_1(q) = irk-' (q'). (5.6.35)
It is easily seen that the differential operator 4 is quasilinear if and only if the
derivatives
in the expression (5.6.33) are independent of the highest order jet coordinates y'E,
I E 1= k. This, in turn, takes place if the differential operator Em (5.6.11) is linear
in these coordinates.
In particular, all finite order jet prolongations of a differential operator are quasi-
linear operators.
Symbols of the jet prolongations of differential operators can be introduced in a
similar way,.
Given a s-order differential operator (5.6.12) 4', let 4'(k) be its k-order jet pro-
longation (5.6.15). This is a fibred morphism
J'+kY JkE
Pk-, (5.6.36)
*:+:-1 ! !
J,+k-'Y + _ Jk' E
5.6. GEOMETRY OF DIFFERENTIAL EQUATIONS 399
of the fibred morphism 0(k) (5.6.36). Owing to the corresponding vertical splittings
of Vw.'+k_ VY and Vifk_ the morphism (5.6.37) is brought into the form
The symbol a(4 )) of the k-order jet prolongation 10) of a s-order differential
operator 4) is the morphism
because all finite order jet prolongations of a differential operator are quasilinear
differential operators. With respect to the coordinates (xA, y'E) of JkY, (XI, V'E) of
SkX Y, and (x-a, VA) of E SkX, the symbol a(4)i0) (5.6.38) reads
(5.6.39)
Using the Spencer sequence of tensor bundles (5.1.25) and the symbols of the
400 CHAPTER 5. SPECIAL TOPICS
operators (5.6.32) and (5.6.40), one can construct the commutative diagram
0 0
1 I
oo(ilk))
g:5=+kX E=S=X
(5.6.41)
V S= k mX E. S.k-X nT=X
ei = Ker4 (5.6.42)
4 1 of = 0,
where Ei is the section (5.6.11) of the bundle Ey -' JkY. This equality takes the
coordinate form
For instance, it is readily observed that the differential equation f-a associated with
a differential operator $ is quasilinear if and only if t is a quasilinear differential
operator.
PROPOSITION 5.6.16. If a s-order differential equation ee is associated with a
s-order differential operator +, then the k-order jet prolongation e() of eo is a
differential equation associated with the the k-order jet prolongation AV (5.6.14)
of the differential operator Om ([109], p.164). The submanifold iEk) C J'+kY can
be defined by the condition
rk(,&o) I*k) = 0 (5.6.44)
where rk(0+) is the section (5.6.24) of the bundle JkE"' - Jk+,Y from Theorem
5.6.11.
is a surjection.
Proof. The proof is based on the following consideration. Given a point q E 0+k),
let I E J'+k+lY be a point over q, that is, q. We have
Vk)(q) = 0,
402 CHAPTER 5. SPECIAL TOPICS
but
in general. Let
Remark 5.6.10. Note that, if the symbol oq(4 )) is a surjection, then the k-jet
prolongation a k) C J'+kY of the differential equation e c J'Y is transversal to
J'+k-IY at q E e+k) a
the fibre of the bundle J'+kY -
Proof. If the differential equation (! is given by the equalities (5.6.43), the condi-
tion that the vector
V91r%13v=V, I=I=k,
is tangent to . is given by the equations
vJd4 = 0, (5.6.47)
IF4-k 814
5.6. GEOMETRY OF DIFFERENTIAL EQUATIONS 403
Comparison of the expression (5.6.47) with the expression (5.6.33) shows that this
vector v belongs to Kerw(+). The equalities
G.+k = Ker6a(4Vk`)) (5.6.48)
Building on Proposition 5.6.18, one can bring every line of the diagram (5.6.41)
into the exact sequence
where B`+k-m denotes the Kokero(4i(k-'")). Then the following columns can be
added to the diagram (5.6.41) from the left and from the right:
0 0
I 1
cq(O)Id
0-+ GQ/T=X B2nT=X
0 0
The left column in the diagram (5.6.50) is called the Spencer b-sequence of the
differential equation f-. Both columns in the diagram (5.6.50) are complexes and
their oohomologies are related to each other as follows (1109], pp.167-169).
404 CHAPTER 5. SPECIAL TOPICS
Let us denote the column complexes in the diagram (5.6.50) by Ker a, Y, E and
Koker a, respectively. Then, the diagram (5.6.50) takes the form of the sequence of
complexes
0-+Kera-Y-'E-'Kokera-0.
Since the complexes Y and E are exact, there exists the relation
H(k) (Koker a) = H(, )2(Ker a) (5.6.51)
between the cohomology groups H('k)(Kera) of the complex Kera and the cohomol-
ogy groups H(*k)(Kokera) of the complex Kokera.
As a consequence of the relation (5.6.51), we have the following.
Proof. The statement is proved by induction since the item (ii) above for the
diagram (5.6.50) when k = r is the condition of the same item (ii) for the diagram
(5.6.50) when k = r + 1. QED
the morphism
7r,+1 I $(1) : e(1) --
is a surjection;
Proof. The proof is based on the fact that the symbols G( s+k) are vector bundles
over e(k). QED
is a surjection,
(ii) the differential equation ( C J'Y is 2-acyclic,
(iii) the symbol G('+1) is a vector bundle over il, then (I is formally integrable.
0
formal solution of any order > k can be prolonged to a formal solution. A sufficient
condition is obviously that
Then the following important theorem [125, 1261 guarantees the existence of con-
vergent power series solutions for analytic differentials equations satisfying (5.7.1).
In general, a direct check of (5.7.1) is not simple. Nevertheless, there are criteria
which allow us to verify the surjectivity of all maps (5.7.1) in a finite number of
steps. One of such a criterion is the formal integrability of the differential equation.
Theorem 5.6.22, combined with Theorem 5.7.1, leads to the existence of analytic
solutions of analytic quasi-linear differential equations.
The second condition of Theorem 5.6.22 refers to the vanishing of some of
Spencer's cohomology groups (see Definition 5.6.20). Here we replace this condi-
tion with a stronger one, namely,
(ii') for all q E tE there exists a quasi-regular basis of for Glk) at q.
This means the following. Let X E X and (X.), 1 < A < n, be a basis for TX,
and (0A) is the dual basis for T'X. We denote by kI TTX the subspace of vk 7 X
spanned by B' V ... V 90k with j + 1 < p, < ... < pk < n. For every q E it, let us
define
(VY)y,
where x = zrk(y) and y = iro(q). One says that (Xa) is a quasi-regular basis for C)
at gif
n-l
dim(G(k+l))g = dim(G(k))g + dim(G(k))g.i (5.7.2)
where * is the Hodge operator and JA,O : X A T'X VQP is the current. In
coordinates, they read
8,,( I9IF:")- I9Ie, AaF;"+ 191Py?i`=0, (5.7.7a)
where
JA,O=-P**1'A,O,
JA,O=- I9IP:1I''Yiaae, (5.7.10)
where 0 is the zero section of "Al T'M VIP %nT'X E* X. A pair (A, 0)
formed by a principal connection A : X C and a scalar field 0 : X - E is
a solution of the field equations (5.7.6a) - (5.7.6b) if and only if its second order
prolongation (j2A, jsm) : X - J2Y takes values into .
5.7. FORMAL INTEGRABILITY 409
T'XY-+'A'T'XVCPAT'XE'
o(4;):2V
(5.7.13)
be the symbol of 4). In coordinates (xA, uj,,,, v,,) on V T'X OF, we find from (5.7.8)
- (5.7.10), (2.7.11) and (5.7.5) that
Note that the symbol a(4i) is constant along the fibers of J'Y X, and is the
direct sum
a(4>)=a(V*F)ED a(V *'y) (5.7.16)
a(V*F):VT'XT'XVeP
and
a(V *'Y) : VT*X E - AT'X E'.
Here V * F and V *,y denote the Yang-Mills and scalar field operators, respectively.
One can easily check that a(V * F) is determined by the following composition
of morphisms
2
V T'XT'XV0P+T'XVGP+ n'T'XVVP, (5.7.17)
for every a, ,B, y E 7" X, and q is the tensor product morphism of the Hodge operator
on X and the metric isomorphism on VCP induced by h. The other symbol a(V *.y)
is the tensor product of the metric isomorphism between E and E' induced by k
and the morphism
I9IW, (5.7.19)
410 CHAPTER 5. SPECIAL TOPICS
Proof. We show that both o(V * F) and o(V * y) are surjective morphisms. For
every x E X, let (dx') be an orthonormal basis of T=X, i.e.,
g(dxa, dx) = 0, if A jt,
g(dx', dx") = 1, if A = .
Their solutions can be easily found, e.g., -y = gdx' and a = 0 = 1/f dx with
,u # A. Hence, C is surjective. Since n is an isomorphism, o(V * F) is surjective.
The surjectivity of o(V * y) is evident. QED
4si11:J3Y-J1 (n'T'XVVPnT'XE').
We see from (5.6.36) and (5.7.11) that
U.1 (VA
= * FA - JA,m), 7:(VA * ,yA,m)) (5.7.20)
where (x", ua,,,A, v..,,,) is the standard chart of V T'X V. Moreover, we see that
a(00) = a((0 * F)i>) 0,((0
where
a((0 * F)(')) : V T'X T'X V0P -+ T'X %\' T'X VcP
and
a((0*F)W'W):VT'XE-+T'XXT'XE'
are the first order prolongations of the symbols of the Yang-Mills and scalar field
operators, respectively. In accordance with the previous notation, we denote the
kernel of a(4)(1)) by C3.
Next we will show that the conditions (i) and (iii) of Theorem 5.6.22 hold. Let
A : X -+ C be a principal connection and let
%P
: J'( A'T'X VVP) -A' T'X VVP
be the morphism (over X) corresponding to the operator of covariant differentiation
with respect to A, i.e.,
WA(3 O) = (VAO)(x) (5.7.23)
f o r every x E X and e v e r y section 0 : X ", ' T X VIP. Recalling (5.7.3), we
have
'PA : (xA, e; , 8ve.) '-+ (xA, &0 - c'yAaei ).
Note that '@A is a linear morphism, and its symbol
a(%P):T'Xni
is precisely the wedge product. Moreover, a(WY) does not depend on the connection
A. For the sake of brevity, let us denote-by the same symbol o(*) the morphism
0,(T):7'X(n17'XVZP9AT'XE')-AT'X0
VZP
defined as the composition of a('P) with the natural projection onto the first factor,
i.e.,
Proof. Note that this sequence decomposes into two the following two sequences:
for all a,,6 and b E T'X. Let (dx") be an orthonormal basis for T= X, X E X. Then
the equations
o((V*ry)('))(aV$Vb)=dxAw, 1<A<n,
are solved by a = Q = dx and b = !g'dx', * A. As for the other sequence,
from (5.7.21) we find
is given by
oi(aV flV7(9 6) = 2g(a,0)^y(& 6 +29(a,,y)Q6 +29(/3,7)a6 -
g(a, 6) J 3 V y - 9(f, b)a V -y - g(-y, b)a V 0,
and
a=, b= 69(,) P.
respectively. Obviously a(*) is a surjective morphism. Therefore the lemma is
proved. QED
we find that
a,('P) o E 1 o -0) jjA, 7z0) = (P*V A * 7A,*)(x),
and the result follows by using the field equation (5.7.6b). The first of the above
identities is a well-known identity involving the curvature of the connection, whereas
the other is a consequence of the unitarity of the representation of G on V QED
E= er i--+ ua = e'is a;
As one can easily verify,
LEMMA 5.7.5. For every q E if there exists a quasi-regular basis of for G'
atq. 0
Proof. Let q E it and let (dxa) be an orthonormal basis of T=X where x = ir'(q).
We have the following dimension counting:
dim(G')gj _
[(n-j)(2-j+1) _ 1J(nd+m), 1 < j <n-2, (5.7.25)
[n(n2
dim (G')q = 1) - 1](n d + m), (5.7.26)
n3 + 3n6' - 4n
dim (G3)q = (n d + m) + d. (5.7.27)
(
n+2 -n](nd+m)+d=
3 /
n3+3n2-4n(nd+m)+d.
6
It follows that
n-I
dim (C2)g + F dim (C2)o,j =
j=1
j)(n
- 1](nd+m)+
(n(n21)
- 11(nd+m)+d,
j=I
and, since
nZ (n-j)(n-j+1) n3-n-6
2 6
J-1
we find
n-1
n3 + 3n2 - 4n (nd
dim (G2)g + E dim (C2)ga = + m) + d = dim ((3)9.
j=1
6
QED
Summarizing the discussion above, we have shown that the differential equation
(5.7.12) is involutive and, hence, formally integrable. Now let us assume that the
principal bundle P -+ X and the metric g of X are analytic. Then it (5.7.12) is an
analytic differential equation and Theorem 5.7.1 leads us directly to the following
theorem.
THEOREM 5.7.6. Let the principal bundle P X and the metric g be analytic.
For any x E X there is an analytic solution (actually different analytic solutions)
(A, 0) of the differential equation (5.7.12) over a neighbourhood of x. 0
r: JOE - VT'X,
r = 2r dxm V dx,
rv = aQrYv - 8r:,, + r0srsv - rjrQov. (5.7.29)
e:VT'X -VT'X
418 CHAPTER 5. SPECIAL TOPICS
Then
1
9"(uxw - 29a"9a$ua$) = (1 - n/2)ga"ua"
and, hence,
G:JzE VT'X
defined by
G=eor.
Clearly C is quasi-linear, and its corresponding symbol is the morphism over E
a(G):VT'XVT'X -.VT'X
given by
a(G) = e o a(r).
Since we are concerned with interaction between gravitational and gauge fields,
the total fibre bundle is the fibred product
x
5.7. FORMAL INTEGRABILITY 419
Let h be a metric in the Lie algebra of G such that the adjoint representation is
orthogonal. Then the Einstein-Yang-Mills (EYM) equations are
T: ExJ'C--'vT'X,
M
1
2TT,, = gaoF11,
where F, 'O has been defined in (5.7.8). We easily see from (5.7.3) and (5.7.31) that
locally the equations (5.7.32a), (5.7.32b) read
Let us define
A'T'XV,P,
4'j:g,j:A) = (G(g) + Ag - T(g, A), VA * F'(A))(x),
for every a E X, (g, A) : X Y. A section (g, A) : X Y is a solution of the
EYM differential equations if and only if D(j2g, j2 A) = 0. According to (5.6.42), we
define
(5.7.35)
Here
Y=vT'XT'XVcP
is the vector bundle associated with Y - X.
The linear morphism
If 1 < A, , v < n are different from each other, then, using (5.7.30), we find
o(r)(g, dx" V dx" dx" V dx") = -g""dx" V dx". (5.7.37)
If A 0 , then
0(r)(g, dx" V dx" dx" V dx") = -g""dx" V dx" - g""dx" V dx".
Choosing 1 < a, 8, ry < n different from each other, we easily see that
where
a(G(')):VT'XVT'X -T'X VT'X
and
a(O*F'(')):VT'XT'XV0P- T'XnA'T'XVv'P
are the symbols of the first order prolongation of the Einstein operator C and the
Yang-Mills operator V * F, respectively.
To verify the conditions (i) and (iii) of theorem 5.6.22, we will introduce the
following morphisms over J'Y:
2
J'(VT'X) - T'X,
,,i(j=9,j.'u) = div9u (5.7.39)
and
02 : J'(A'T'X VVP) - AT'X VVP,
02 (A (x), j:8) = (V AO) (x), (5.7.40)
and
a(02): TX0A'T'X0VVP-"T'XVVP,
a(+/)(a 0) = a n 0.
A corollary of the following lemma is that 63 = Kera(0)) is a vector bundle.
Proof. Let q E iE and let (g, A) : X - Y be a section such that q = (jzg, j=A). Let
us consider
C-1 0O(1)(j.3g,j:A) E T=X (V 7=X A 1TX (VVP):).
Since fi(1) is quasi-linear, the fibre (f-M), is not empty if and only if
e-1 1 0 (1)(?sg,jjA) E Ian (
or, owing to the previous Lemma, if and only if
a(iGi) (D 0'(02) o E 1 0 -0)(jg,j:A) = 0.
5.7. FORMAL INTECRABILITY 423
Since (5.7.39) and (5.7.40) are linear morphisms, this relation is equivalent to
V11 0i o t(')(7:g,j:A) = 0.
We have
'i ED 0204'(')(j:g,j=A) =
0i t(j:(G(g) + Ag - T(g, A)), j=(V A * F(A))) _
(div9(G(g) + VAVA
T(g, A))(x), * F(A)(x)).
Using the Bianchi identity div9G(g) = 0, the charge conservation identity VAVA
F(A) = 0 [129], and the identity div9g = 0, which holds since V9 is the Levi-Civita
connection of g, the above relation yields
Since the equation (5.7.33b) is identically satisfied on (!, the result follows from
(5.7.28) QED
LEMMA 5.7.11. If n > 3, then for every q E 1E there is a quasi-regular basis for
T.2(q)X for C2 at q. 0
Proof. Let q = (j=g, j=A) and let (dr) be a g-orthonormal basis of T=X. We have
the following dimension counting whose proof will be given below:
dim (C2),,.-, = n + d, (5.7.42)
[(n - j)(2 - j + 1) ][n(n
di m (G2)g, = - 2 1) + n d], (5 . 7 . 43)
1<j<n-2,
di m (G2)q = [ n(n 2 1) - 1 ][ n(n 1)
+ n d],
2 ( 5 . 7 . 44 )
( (n 2) - n][ n(n2+ 1)
di m (G3)q = + nd ] + n + d. ( 5 . 7 . 45 )
3
424 CHAPTER 5. SPECIAL TOPICS
Therefore,
n-1
dim (G2)q + > dim (G2)q.i
i-I
j)(n j+ 1) - 1J(n(n2 1) +redj+m+d.
E
i=0
we find that
"-1 n3+3n2-4n n(n+1)
dim (G2)q + E dim (G2)ga = 6 2 ( + ndJ + n + d,
i=1
We have shown that the EYM differential equation (5.7.34) is involutive. It fol-
lows that, if the principal bundle P -' X is real analytic, then the EYM differential
equation is analytic and Theorem 5.7.1 leads to the following result.
THEOREM 5.7.12. Let the principal bundle P -+ X be real analytic. Then for every
q E 41 there is an analytic section (g, A) : U C X - Y over a neighbourhood U of
x = ir2(q) such that (g, A) is a solution of the EYM equations and (j=g, j=A) = q.
0
Now we prove (5.7.42)-(5.7.45). Let us first prove (5.7.42). By definition,
(C2)q.n-1 = Ker(v(4i)q.n-t),
where
2,n-1 n-1
0,(4i)q,n-1 : V T=X Ys -+ v'7-.X n T=X (VVP)Z
n-1
2,V
is the restriction of the symbol (5.7.35) to T=X Y=. From (5.7.30) and (5.7.18)
we find
2 2 a 0, if.A=n
o (r)q,n-1(V dx 0 V dx) _ -gnn dxa - gA 2
V
dxn, if ,\ n
5.7. FORMAL INTEGRABILITY 425
2
1(V dxn dxa V dx'`) _
0, ifA=nor p = n, A 14 I1
1-gdz'Vde, if A O n, # n, A Vt
2 0 ifA=n
Cc.- 1(V dxn dxa) = 2gnndxa, if A 54 n.
To prove (5.7.43), let us go back to the proof of Lemma 5.7.8. It is easily seen
that the morphism
427
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443
444 GLOSSARY OF SYMBOLS
17 Jk, 353
H, 249 J2Y, 53
J24), 56 0,340
jr, 4i337 D;, 99
ills, 43 D , 375
j:s, 54 D ;, 377
jrs, 374 0k#-k, 378
L, 176 Rc, 83
L, 122 Ra, 62
Tr, 138
'r, 139 r, 58
'1o, 132 r, 65
Tf, 7 ru,251
ToP, 84 I', 80
T(M), 29 ru, 61
T ,(M), 32 r 1", 66
T.(M), 32 r r', 66
t", 162 r x r', 62
Up, 164 Om, 110
V-Y, 26 352
v r, 80 348
VcP, 84 0,122
VyJ1Y, 49 8k, 394
GLOSSARY OF SYMBOLS 441
ir', 44
vol, 44 Ors, 61
52 Ors, 61
V t, 211
*, 348
449
450 INDEX