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In this paper we investigate the behavior of the sigma function over the family of cyclic trigonal curves $X_s$ defined by the equation $y^3 =x(x-s)(x-b_1)(x-b_2)$ in the affine $(x,y)$ plane, for $s\in D_\varepsilon:=\{s \in \mathbb{C} | |s|<\varepsilon\}$. We compare the sigma function over the punctured disc $D_\varepsilon^*:=D_\varepsilon\setminus\{0\}$ with the extension over $s=0$ that specializes to the sigma function of the normalization $X_{\hat{0}}$ of the singular curve $X_{s=0}$ by investigating explicitly the behavior of a basis of the first algebraic de Rham cohomology group and its period integrals. We demonstrate, using modular properties, that sigma, unlike the theta function, has a limit. In particular, we obtain the limit of the theta characteristics and an explicit description of the theta divisor translated by the Riemann constant., Comment: 48 pages

We construct the explicit solution of the initial value problem for sequences generated by the general Somos-6 recurrence relation, in terms of the Kleinian sigma-function of genus two. For each sequence there is an associated genus two curve $X$, such that iteration of the recurrence corresponds to translation by a fixed vector in the Jacobian of $X$. The construction is based on a Lax pair with a spectral curve $S$ of genus four admitting an involution $\sigma$ with two fixed points, and the Jacobian of $X$ arises as the Prym variety Prym$(S,\sigma)$., Comment: Proof of main theorem clarified and typos corrected from version 1

We study geometric and algebraic geometric properties of the continuous and discrete Neumann systems on cotangent bundles of Stiefel varieties $V_{n,r}$. The systems are integrable in the non-commutative sense, and by applying a $2r\times 2r$--Lax representation, we show that generic complex invariant manifolds are open subsets of affine (non-compact) Prym varieties on which the complex flow is linear. The characteristics of the varieties and the direction of the flow are calculated explicitly. Next, we construct a family of (multi-valued) integrable discretizations of the Neumann systems and describe them as translations on the Prym varieties, which are written explicitly in terms of divisors of points on the spectral curve. It appears that the systems inherit or naturally generalize the basic properties of the classical Neumann system on $S^{n-1}$ and, therefore, of the Jacobi--Mumford systems: the structure of the Lax matrices, the spectral curve, the equations of motion, linearization on Abelian varieties, and, in the discrete case, the formula for the translation on them., Comment: 46 pages, linearization of the flow is added

The classical Euler--Poinsot case of the rigid body dynamics admits a class of simple but non-trivial integrable generalizations, which modify the Poisson equations describing the motion of the body in space. These generalizations possess first integrals which are polynomial in the angular momenta. We consider the modified Poisson equations as a system of linear equations with elliptic coefficients and show that all the solutions of it are single-valued. By using the vector generalization of the Picard theorem, we derive the solutions explicitly in terms of sigma functions of the corresponding elliptic curve. The solutions are accompanied with a numerical example. We also compare the generalized Poisson equations with % some generalizations of the classical 3rd order Halphen equation., Comment: 30 pages

The equations of motion of a mechanical system subjected to nonholonomic linear constraints can be formulated in terms of a linear almost Poisson structure in a vector bundle. We study the existence of invariant measures for the system in terms of the unimodularity of this structure. In the presence of symmetries, our approach allows us to give necessary and sufficient conditions for the existence of an invariant volume, that unify and improve results existing in the literature. We present an algorithm to study the existence of a smooth invariant volume for nonholonomic mechanical systems with symmetry and we apply it to several concrete mechanical examples., Comment: 37 pages, 3 figures; v3 includes several changes to v2 that were done in accordance to the referee suggestions

We consider a family of genus 2 hyperelliptic curves of even order and obtain explicitly the system of 5 linear ODEs for periods of the corresponding Abelian integrals of first, second, and third kind, as functions of the parameters of the curves. The system is an extention of the well studied Picard--Fuchs equations for periods of complete integrals of first and second kind on odd hyperelliptic curves. The periods we consider are linear combinations of the action variables of several integrable systems, in particular the generalized Neumann system with polynomial separable potentials. Thus the solutions of the extended Picard--Fuchs equations can be used to study various properties of the actions.

We consider integrable generalizations of the spherical pendulum system to the Stiefel variety $V(n,r)=SO(n)/SO(n-r)$ for a certain metric. For the case of V(n,2) an alternative integrable model of the pendulum is presented. We also describe a system on the Stiefel variety with a four-degree potential. The latter has invariant relations on $T^*V(n,r)$ which provide the complete integrability of the flow reduced on the oriented Grassmannian variety $G^+(n,r)=SO(n)/SO(r)\times SO(n-r)$., Comment: 14 pages

We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane., Comment: 25 pages, 7 figures. This article uses some introductory material from arXiv:1109.3210

We study integrable geodesic flows on Stiefel varieties $V_{n,r}=SO(n)/SO(n-r)$ given by the Euclidean, normal (standard), Manakov-type, and Einstein metrics. We also consider natural generalizations of the Neumann systems on $V_{n,r}$ with the above metrics and proves their integrability in the non-commutative sense by presenting compatible Poisson brackets on $(T^*V_{n,r})/SO(r)$. Various reductions of the latter systems are described, in particular, the generalized Neumann system on an oriented Grassmannian $G_{n,r}$ and on a sphere $S^{n-1}$ in presence of Yang-Mills fields or a magnetic monopole field. Apart from the known Lax pair for generalized Neumann systems, an alternative (dual) Lax pair is presented, which enables one to formulate a generalization of the Chasles theorem relating the trajectories of the systems and common linear spaces tangent to confocal quadrics. Additionally, several extensions are considered: the generalized Neumann system on the complex Stiefel variety $W_{n,r}=U(n)/U(n-r)$, the matrix analogs of the double and coupled Neumann systems., Comment: 39 pages, to appear in Mathematische Zeitschrift

We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincar\'e--Suslov equations. In the 2-dimensional case, when the constraint is realized by a blade attached to the body, the system provides a hydrodynamic generalization of the Chaplygin sleigh, whose dynamics are studied in detail. Namely, the equations of motion are integrated explicitly and the asymptotic behavior of the system is determined. It is shown how the presence of the fluid brings new features to such a behavior., Comment: 20 pages, 7 figures

The paper revises the explicit integration of the classical Steklov--Lyapunov systems via separation of variables, which was first made by F. K\"otter in 1900, but was not well understood until recently. We give a geometric interpretation of the separating variables and then, applying the Weierstrass hyperelliptic root functions, obtain explicit theta-function solution to the problem. We also analyze the structure of its poles on the corresponding Abelian variety. This enables us to obtain a solution for an alternative set of phase variables of the systems that has a specific compact form., Comment: 21 pages, 4 figures

We consider the problem of integrability of the Poisson equations describing spatial motion of a rigid body in the classical nonholonomic Suslov problem. We obtain necessary conditions for their solutions to be meromorphic and show that under some further restrictions these conditions are also sufficient. The latter lead to a family of explicit meromorphic solutions, which correspond to rather special motions of the body in space. We also give explicit extra polynomial integrals in this case. In the more general case (but under one restriction), the Poisson equations are transformed into a generalized third order hypergeometric equation. A study of its monodromy group allows us also to calculate the "scattering" angle: the angle between the axes of limit permanent rotations of the body in space.

The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with nonholonomic constraints and introducing suitable discrete constraints, we construct a discretization of the n-dimensional generalization of the Chaplygin sphere problem, which preserves the same first integrals as the continuous model, except the energy. We then study the discretization of the classical 3-dimensional problem for a class of special initial conditions, when an analog of the energy integral does exist and the corresponding map is given by an addition law on elliptic curves. The existence of the invariant measure in this case is also discussed., Comment: This is a contribution to the Vadim Kuznetsov Memorial Issue on Integrable Systems and Related Topics, published in SIGMA (Symmetry, Integrability and Geometry: Methods and Applications) at http://www.emis.de/journals/SIGMA/

This paper is part of a program that aims to understand the connection between the emergence of chaotic behaviour in dynamical systems in relation with the multi-valuedness of the solutions as functions of complex time $\tau$. In this work we consider a family of systems whose solutions can be expressed as the inversion of a single hyperelliptic integral. The associated Riemann surface ${\mathcal R}$ is known to be an infinitely sheeted covering of the complex time plane, ramified at an infinite set of points whose projection in the $\tau$-plane is dense. The main novelty of this paper is that the geometrical structure of these infinitely sheeted Riemann surfaces is described in great detail, which allows to study global properties of the flow such as asymptotic behaviour of the solutions, periodic orbits and their stability or sensitive dependence on initial conditions. The results are then compared with a numerical integration of the equations of motion. Following the recent approach of Calogero, the real time trajectories of the system are given by paths on $\mathcal R$ that are projected to a circle on the complex plane $\tau$. Due to the branching of $\mathcal R$, the solutions may have different periods or may not be periodic at all.

We show that the Suslov nonholonomic rigid body problem can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a Hamiltonian form by means of Chaplygin reducing multiplier. Since we deal with Chaplygin systems in the local sense, the invariant manifolds of the integrable examples are not necessary tori., Comment: minor changes, to appear in Letters in Mathematical Physics

We propose a simple method of explicit description of families of closed geodesics on a triaxial ellipsoid $Q$ that are cut out by algebraic surfaces in ${\mathbb R}^3$. Such geodesics are either connected components of spatial elliptic curves or rational curves. Our approach is based on elements of the Weierstrass--Poncar\'e reduction theory for hyperelliptic tangential covers of elliptic curves and the addition law for elliptic functions. For the case of 3-fold and 4-fold coverings, explicit formulas for the cutting algebraic surfaces are provided and some properties of the corresponding geodesics are discussed., Comment: 15 figures