One invariant measure and different Poisson brackets for two non-holonomic systems (Q691214)
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scientific article; zbMATH DE number 6111423
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| English | One invariant measure and different Poisson brackets for two non-holonomic systems |
scientific article; zbMATH DE number 6111423 |
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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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0.90318495
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0.8875532
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