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We investigate some infinite dimensional Lie algebras and their associated Poisson structures which arise from a Lie group action on a manifold. If $G$ is a Lie group, $\g$ its Lie algebra and $M$ is a manifold on which $G$ acts, then the set of smooth maps from $M$ to $\g$ has at least two Lie algebra structures, both satisfying the required property to be a Lie algebroid. We may then apply a {construction} by Marle to obtain a Poisson bracket on the set of smooth real or complex valued functions on $M\times \g^*$. In this paper, we investigate these Poisson brackets. We show that the set of examples include the standard Darboux symplectic structure and the classical Lie Poisson brackets, but is a strictly larger class of Poisson brackets than these. Our study includes the associated Hamiltonian flows and their invariants, canonical maps induced by the Lie group action, and compatible Poisson structures. Our approach is mainly computational and we detail numerous examples. The Lie brackets from which our results derive, arose from the consideration of connections on bundles with zero curvature and constant torsion. We give an alternate derivation of the Lie bracket which will be suited to applications to Lie group actions for applications not involving a Riemannian metric. We also begin a study of the infinite dimensional Poisson brackets which may be obtained by considering a central extension of the Lie algebras., Comment: 37 pages, 6 figures

We study variational systems for space curves, for which the Lagrangian or action principle has a Euclidean symmetry, using the Rotation Minimising frame, also known as the Normal, Parallel or Bishop frame. Such systems have previously been studied using the Frenet-Serret frame. The Rotation Minimising frame has many advantages, however, and can be used to study a wider class of examples. We achieve our results by extending the powerful symbolic invariant calculus for Lie group based moving frames, to the Rotation Minimising frame case. To date, the invariant calculus has been developed for frames defined by algebraic equations. By contrast, the Rotation Minimising frame is defined by a differential equation. In this paper, we derive the recurrence formulae for the symbolic invariant differentiation of the symbolic invariants. We then derive the syzygy operator needed to obtain Noether's conservation laws as well as the Euler-Lagrange equations directly in terms of the invariants, for variational problems with a Euclidean symmetry. We show how to use the six Noether laws to ease the integration problem for the minimising curve, once the Euler-Lagrange equations have been solved for the generating differential invariants. Our applications include variational problems used in the study of strands of proteins, nucleid acids and polymers., Comment: 28 pages, 22 figures

In this second part of the paper, we consider finite difference Lagrangians which are invariant under linear and projective actions of $SL(2)$, and the linear equi-affine action which preserves area in the plane. We first find the generating invariants, and then use the results of the first part of the paper to write the Euler--Lagrange difference equations and Noether's difference conservation laws for any invariant Lagrangian, in terms of the invariants and a difference moving frame. We then give the details of the final integration step, assuming the Euler Lagrange equations have been solved for the invariants. This last step relies on understanding the Adjoint action of the Lie group on its Lie algebra. We also use methods to integrate Lie group invariant difference equations developed in Part I. Effectively, for all three actions, we show that solutions to the Euler--Lagrange equations, in terms of the original dependent variables, share a common structure for the whole set of Lagrangians invariant under each given group action, once the invariants are known as functions on the lattice.

We consider the calculation of Euler--Lagrange systems of ordinary difference equations, including the difference Noether's Theorem, in the light of the recently-developed calculus of difference invariants and discrete moving frames. We introduce the difference moving frame, a natural discrete moving frame that is adapted to difference equations by prolongation conditions. For any Lagrangian that is invariant under a Lie group action on the space of dependent variables, we show that the Euler--Lagrange equations can be calculated directly in terms of the invariants of the group action. Furthermore, Noether's conservation laws can be written in terms of a difference moving frame and the invariants. We show that this form of the laws can significantly ease the problem of solving the Euler--Lagrange equations, and we also show how to use a difference frame to integrate Lie group invariant difference equations. In this Part I, we illustrate the theory by applications to Lagrangians invariant under various solvable Lie groups. The theory is also generalized to deal with variational symmetries that do not leave the Lagrangian invariant. Apart from the study of systems that are inherently discrete, one significant application is to obtain geometric (variational) integrators that have finite difference approximations of the continuous conservation laws embedded \textit{a priori}. This is achieved by taking an invariant finite difference Lagrangian in which the discrete invariants have the correct continuum limit to their smooth counterparts. We show the calculations for a discretization of the Lagrangian for Euler's elastica, and compare our discrete solution to that of its smooth continuum limit., Comment: 45 pages, 6 figures accepted version

In this paper we study symmetry reductions of a class of nonlinear third order partial differential equations $u_t -\epsilon u_{xxt} +2\kappa u_x= u u_{xxx} +\alpha u u_x +\beta u_x u_{xx}$ where $\epsilon$, $\kappa$, $\alpha$ and $\beta$ are arbitrary constants. Three special cases of equation (1) have appeared in the literature, up to some rescalings. In each case the equation has admitted unusual travelling wave solutions: the Fornberg-Whitham equation, for the parameters $\epsilon=1$, $\alpha=-1$, $\beta=3$ and $\kappa=\tfr12$, admits a wave of greatest height, as a peaked limiting form of the travelling wave solution; the Rosenau-Hyman equation, for the parameters $\epsilon=0$, $\alpha=1$, $\beta=3$ and $\kappa=0$, admits a ``compacton'' solitary wave solution; and the Fuchssteiner-Fokas-Camassa-Holm equation, for the parameters $\epsilon=1$, $\alpha=-3$ and $\beta=2$, has a ``peakon'' solitary wave solution. A catalogue of symmetry reductions for equation (1) is obtained using the classical Lie method and the nonclassical method due to Bluman and Cole., Comment: 22 pages, tex, Mathematical and Computer Modelling (to appear)

We investigate the classical and nonclassical reductions of the $2+1$-dimensional sine-Gordon system of Konopelchenko and Rogers, which is a strong generalisation of the sine-Gordon equation. A family of solutions obtained as a nonclassical reduction involves a decoupled sum of solutions of a generalised, real, pumped Maxwell-Bloch system. This implies the existence of families of solutions, all occurring as a decoupled sum, expressible in terms of the second, third and fifth Painlev\'e transcendents, and the sine-Gordon equation. Indeed, hierarchies of such solutions are found, and explicit transformations connecting members of each hierarchy are given. By applying a known B\"acklund transformation for the system to the new solutions found, we obtain further families of exact solutions, including some which are expressed as the argument and modulus of sums of products of Bessel functions with arbitrary coefficients. Finally, we prove the sine-Gordon system has the Painlev\'e property, which requires the usual test to be modified, and derive a non-isospectral Lax pair for the generalised, real, pumped Maxwell-Bloch system., Comment: Tex file 22 pages, figures available from author