Topological classification of the Goryachev integrable systems in the rigid body dynamics: non-compact case (Q1703313)

The motion of a rigid body in an ideal fluid can be described by Kirchhoff equations. There is a special completely integrable case which is called the Goryachev case. This problem can be regarded from the algebraic point of view as a family of Hamiltonian systems on \(e(3)\) with Hamiltonian of the form: \[ H=\frac{1}{2}(s^2_1+s^2_2+2s^2_3)+\frac{c}{2}(r^2_1-r^2_2)+\frac{b}{2r^2_3}, \] where \(s_i,r_i\) are the natural coordinates on \(e(3)\). The case \(b\geq 0\) was studied earlier in other papers (see for example [the author, Sb. Math. 207, No. 1, 113--139 (2016; Zbl 1347.37106); translation from Mat. Sb. 207, No. 1, 123--150 (2016)] and [\textit{A. T. Fomenko} and The author, J. Geom. Phys. 87, 115--133 (2015; Zbl 1358.37097)]). In this paper the case \(b<0\) is considered. There is a general theory of topological classification of completely integrable Hamiltonian systems developed by A. T. Fomenko. In the present paper the author describes the topology of the Liouville foliation of the given system in case \(b<0\) in terms of Fomenko invariants for all regular isoenergy surfaces. All the singularities of the given foliation are described completely.