One invariant measure and different Poisson brackets for two non-holonomic systems (Q691214): Difference between revisions

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One invariant measure and different Poisson brackets for two non-holonomic systems
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    One invariant measure and different Poisson brackets for two non-holonomic systems (English)
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    30 November 2012
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    The author discusses the rolling of a ball over a sphere. The main emphasis is on two special cases: the Chaplygin system and the Borisov-Mamaev-Fedorov system. The framework of bi-hamiltonian geometry is used to derive a family of Poisson brackets associated with the corresponding invariant measure. Separation of variables and the application of Jacobi's method are also discussed. In contrast to approaches based on a Hamiltonization, no time reparametrizations are required.
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    nonholonomic system
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    Poisson bracket
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    invariant measure
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    bi-hamiltonian geometry
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