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It has been a long standing question how to extend the canonical Poisson bracket formulation from classical mechanics to classical field theories, in a completely general, intrinsic, and canonical way. In this paper, we provide an answer to this question by presenting a new completely canonical bracket formulation of Hamiltonian Classical Field Theories of first order on an arbitrary configuration bundle. It is obtained via the construction of the appropriate field-theoretic analogues of the Hamiltonian vector field and of the space of observables, via the introduction of a suitable canonical Lie algebra structure on the space of currents (the observables in field theories). This Lie algebra structure is shown to have a representation on the affine space of Hamiltonian sections, which yields an affine analogue to the Jacobi identity for our bracket. The construction is analogous to the canonical Poisson formulation of Hamiltonian systems although the nature of our formulation is linear-affine and not bilinear as the standard Poisson bracket. This is consistent with the fact that the space of currents and Hamiltonian sections are respectively, linear and affine. Our setting is illustrated with some examples including Continuum Mechanics and Yang-Mills theory.

We consider nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and the kinetic energy metric. We show how this tensor may be naturally used to derive an almost symplectic description of the reduced dynamics. Moreover, we express sufficient conditions for measure preservation and Hamiltonisation via Chaplygin's reducing multiplier method in terms of the properties of this tensor. The theory is used to give a new proof of the remarkable Hamiltonisation of the multi-dimensional Veselova system obtained by Fedorov and Jovanovi\'c in J. Nonlinear Sci. 2004, and Reg. Chaot. Dyn. 2009., Comment: 44 pages, 1 figure. Second version prepared in accordance to the recommendations of the referees of Nonlinearity where the paper is provisionally accepted

We classify and analyze the stability of all relative equilibria for the two-body problem in the hyperbolic space of dimension 2 and we formulate our results in terms of the intrinsic Riemannian data of the problem., Comment: 27 pages, 7 figures

We consider the Suslov problem of nonholonomic rigid body motion with inhomogeneous constraints. We show that if the direction along which the Suslov constraint is enforced is perpendicular to a principal axis of inertia of the body, then the reduced equations are integrable and, in the generic case, possess a smooth invariant measure. Interestingly, in this generic case, the first integral that permits integration is transcendental and the density of the invariant measure depends on the angular velocities. We also study the Painlev\'e property of the solutions., Comment: 10 pages, 5 figures

It is known that the reduced equations for an axially symmetric homogeneous ellipsoid that rolls without slipping on the plane possess a smooth invariant measure. We show that such an invariant measure does not exist in the case when all of the semi-axes of the ellipsoid have different length., Comment: v2: Minor changes after journal review. This text uses the theory developed in arXiv:1304.1788 for the specific example of a homogeneous ellipsoid rolling on the plane

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 obtain universal models for several types of locally conformal symplectic manifolds via pullback or reduction. The relation with recent embedding results for locally conformal K\"ahler manifolds is discussed., Comment: To appear in Annals of Global Analysis and Geometry

In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical control systems, Discrete Mechanics and extensions to Classical Field Theory within a single framework. Various examples along the discussion illustrate the soundness of the approach., Comment: 41 pages, Survey

In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a Lagrangian submanifold of a symplectic Lie algebroid and we prove that the Lagrangian (Hamiltonian) dynamics on Lie algebroids may be described in terms of Lagrangian submanifolds of symplectic Lie algebroids. The Lagrangian (Hamiltonian) formalism on Lie algebroids permits to deal with Lagrangian (Hamiltonian) functions not defined necessarily on tangent (cotangent) bundles. Thus, we may apply our results to the projection of Lagrangian (Hamiltonian) functions which are invariant under the action of a symmetry Lie group. As a consequence, we obtain that Lagrange-Poincare (Hamilton-Poincare) equations are the Euler-Lagrange (Hamilton) equations associated with the corresponding Atiyah algebroid. Moreover, we prove that Lagrange-Poincare (Hamilton-Poincare) equations are the local equations defining certain Lagrangian submanifolds of symplectic Atiyah algebroids.

The notion of a generalized Lie bialgebroid (a generalization of the notion of a Lie bialgebroid) is introduced in such a way that a Jacobi manifold has associated a canonical generalized Lie bialgebroid. As a kind of converse, we prove that a Jacobi structure can be defined on the base space of a generalized Lie bialgebroid. We also show that it is possible to construct a Lie bialgebroid from a generalized Lie bialgebroid and, as a consequence, we deduce a duality theorem. Finally, some special classes of generalized Lie bialgebroids are considered: triangular generalized Lie bialgebroids and generalized Lie bialgebras., Comment: 32 pages

We study Jacobi structures on the dual bundle $A^\ast$ to a vector bundle $A$ such that the Jacobi bracket of linear functions is again linear and the Jacobi bracket of a linear function and the constant function 1 is a basic function. We prove that a Lie algebroid structure on $A$ and a 1-cocycle $\phi \in \Gamma (A^\ast)$ induce a Jacobi structure on $A^\ast$ satisfying the above conditions. Moreover, we show that this correspondence is a bijection. Finally, we discuss some examples and applications., Comment: 6 pages, To appear in C. R. Acad. Sci. Paris, S\'erie I

Lichnerowicz-Jacobi cohomology and homology of Jacobi manifolds are reviewed. We present both in a unified approach using the representation of the Lie algebra of functions on itself by means of the hamiltonian vector fields. The use of the associated Lie algebroid allows to prove that the Lichnerowicz-Jacobi cohomology and homology are invariant under conformal changes of the Jacobi structure and to stablish the duality between Lichnerowicz-Jacobi cohomology and homology when the modular class vanishes. We also compute the Lichnerowicz-Jacobi cohomology and homology for a large variety of examples.