New Lagrangian Fieldtheory

NEW Li%tIR4NGIAN
4I) d4iii1ILFONI41
IN
fHEUriY
G. Giachetta
L. Mangiarotti
G. SardanashviI3
World Scientific
NEW LAGRANGIAN
AND HAMILTONIAN
METHODS IN
FIELD THEORY
NEW LAGRANGIAN
AND HAMILTONIAN
METHODS IN
FIELD THEORY
G. Giachetta
Univ. Camertno
L. Mangiarotti
Univ Camerino
G. Sardanashvily
Moscow State Univ.
World Scientific
Singapore *Hong Kong
Published by
World Scientific Publishing Co. Pte. Ltd.
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NEW LAGRANGIAN AND HAMILTONIAN METHODS IN FIELD THEORY

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Preface
This book addresses the application of jet manifold formalism to contemporary
classical field theory. This is the natural development of the well-known geometric
formulation of field theory, where classical fields are represented by sections of fibred
manifolds. In mathematics, the theory of differential operators and the calculus of
variations are expressed in terms of jet manifold, which, in field theory, provide the
adequate mathematical language for Lagrangian and Hamiltonian formalisms. In
general, the book considers only first order Lagrangian and Hamiltonian systems
because most contemporary field models are of this type.
Two main peculiarities of the jet formulation of field theory should be empha-
sized. Firstly, jets of fibred manifolds (when sections are identified by a finite number
of terms of their Taylor series) form smooth finite-dimensional manifolds. There-
fore, the dynamics of field systems is defined on finite-dimensional configuration and
phase spaces. Secondly, jet manifolds provide the language of modern differential
geometry to deal with general connections which are represented by sections of jet
bundles. As a consequence, the dynamics of field systems include connections in a
natural way.
When analytical mechanics is seen as a field theory over a 1-dimensional base,
we find a clear illustration of the role of connections. Dynamic, Hamiltonian, and
frame connections are the main ingredients in this formulation.
There are two main geometric models of classical field theory which exhaust all
observable fundamental fields. These are the gauge theory on principal bundles,
including Higgs fields, and the gravitation theory on natural and spinor bundles,
including Dirac's fermion matter. In this book, we do not pretend to give a compre-
hensive description of these models, but to exhibit general methods of investigating
classical field systems within the framework of the jet formalism. In the Lagrangian
formalism, we use the first variational formula of the calculus of variations as the
main tool for discovering the differential conservation laws, including the energy-
momentum ones, in gauge and gravitation theories. In this connection, spinor fields
under deformations of a gravitational field are considered.
v
vi PREFACE
The Hamiltonian counterpart of the Lagrangian formulation of field theory is the

covariant polysymplectic Hamiltonian formalism, where canonical momenta corre-
spond to the derivatives of field functions with respect to all world coordinates, not
only the temporal one. We investigate the relations between Lagrangian and Hamil-
tonian formalisms for a wide class of degenerate systems which include almost all
contemporary field models. The reduction of the polysymplectic Hamiltonian for-
malism over a 1-dimensional base provides the adequate mathematical formulation
of time-dependent Hamiltonian mechanics in a frame-covariant form.
With respect to mathematical prerequisites, the reader is expected to be familiar
with the basics of differential geometry of fibre bundles. In the first two Chapters
of the book, we summarize the relevant material on jet manifolds and connections,
which is enough for physical applications. At the end of the book, a few topics on
jet formalism are reviewed in a more general setting, in order to stimulate further
investigations.
Contents
Preface V
Introduction 1
1 Fibred Manifolds 7
1.1 Immersion and submersion ........................ 8
1.2 Fibred manifolds . .... ............. ........... 12
1.3 Vector and affine bundles ......................... 21
1.4 Tangent bundles of fibred manifolds ........ ... ........ 25
1.5 Vector and multivector fields ....................... 29
1.6 Differential forms on fibred manifolds ..... ....... .. .. .. 33
2 Jet Manifolds and Connections 43
2.1 First order jet manifolds . ........... ............. 43
2.2 Second order jet manifolds ........................ 52
2.3 Connections .... .............. ............ .. 58
2.4 Differentials and codifferentials. Identities ............... 68
2.5 Composite connections .... ..... .. ............... 75
2.6 Second order connections ...... ...... ........ .. .. 80
. ....... .... ........... ..
.
2.7 Jets of principal bundles 82

2.8 Canonical principal connection ..... .... ....... ...... 89
3 Lagrangian Formalism 97
3.1 Technical preliminaries. Higher order jets ................ 98
3.2 The first variational formula .... .. .. .. .. .. . ..... . .. 101
3.3 Euler-Lagrange operators ....... .... .. .. .. ....... 108
3.4 Lagrangian polysymplectic structures . .... .............
Lagrangian conservation laws ..... .... ....... ...... 128
121
3.5
3.6 Conservation laws in gauge theory ... .... ..... ........ 140
3.7 Conservation laws in gravitation theory .... .. .... . .. .. .. 155
vii
viii CONTENTS
3.8 Gauge gravitation theory . .. ... ........... .. ... . .. 172

3.9 Appendix. Gauge mechanics ....................... 204
4 Hamiltonian Formalism 231
4.1 Symplectic structure ........................... 232
4.2 Polysymplectic structure . .. ... .. .. .. ...... . .... .. 241
4.3 Hamiltonian forms .... .. ..... .. .. ....... .... .. 247
4.4 Hamilton equations .... .. ..... .. .. .. ..... .. .. .. 252
4.5 Degenerate systems .... .. ... .. .. .. ..... .. .. .. .. 261
4.6 Quadratic degenerate systems .............. ........ 281
4.7 Affine degenerate systems ................ ........ 296
4.8 Hamiltonian conservation laws ... .... .. .. ... .... .... 301
4.9 Vertical extension of polysymplectic formalism ............. 305
4.10 Appendix. Hamiltonian time-dependent mechanics .......... 308
5 Special Topics 333
5.1 .............................
Higher order jets 333
5.2 Jets of modules ............... ....... ........ 347
5.3 Jets of submanifolds ................ ... ........ 362
5.4 Infinite order jets ............................. 373
5.5 Variational bicomplex ........................... 381
5.6 Geometry of differential equations .................... 386
5.7 Formal integrability .. .... ....... .. .. ... .... .. . . 405
Bibliography 427
Glossary of Symbols 443

Index 449
Introduction
In this book, we follow the geometric formulation of classical field theory, where
fields are represented by sections of fibred manifolds. For instance in gauge theory,
these are principal and associated bundles. Jet manifold formalism enables us to
extend this formulation to the dynamics of classical fields.
As is well known, the theory of differential operators [26, 109, 1521 and the
calculus of variations (see 113, 41, 77, 110, 174) and references therein) are expressed
in terms of jet manifolds. In brief, one can say that k-order jets are equivalence
classes of sections of a fibred manifold Y -+ X which are identified by the values
of the first k + 1 terms of their Taylor series at points of X. The key point is
that the resulting space PY is equipped with a structure of a finite-dimensional
smooth manifold, called the k-order jet manifold of Y -i X. Furthermore, jet
manifolds provide the language for modern differential geometry to deal with general
connections [105, 127, 1671. Every connection I' on a fibred manifold Y -+ X is
represented by a section of the affine jet bundle J'Y Y.
The first two Chapters of the book summarize the relevant material on fibred
and jet manifolds which is enough for the applications. In these Chapters, we con-
sider first and second order jet manifolds which provide the appropriate formulation
of first order Lagrangian and Hamiltonian formalisms. For the sake of convenience
of physical applications, local coordinate expressions are widely used. Of course,
they obey the appropriate transformation rules. Special attention is given to affine
bundles, composite fibred manifolds Y -+ Z -' X, and connections. It should
be emphasized that principal connections on a principal bundle P with a struc-
ture group G are also described by sections of the jet bundle PP --+ P which are
equivariant under the canonical action of G on P. Then they are represented by
sections of the fibre bundle C = J' P/C --+ X. Using this bundle, one can develop
Lagrangian and Hamiltonian formalisms of gauge fields in the same way as for other
fields.
We consider first order Lagrangian and Hamiltonian systems because most con-
temporary field models are of this type. This is not the case of General Relativity.
1
2 INTRODUCTION
However, Hilbert-Einstein Lagrangian density leads to second order Euler-Lagrange

equations (see Remark 3.2.12).
In first order Lagrangian formalism, a Lagrangian density is defined on the first
order jet manifold J'Y, which plays the role of a finite-dimensional configuration
space of sections of Y -, X. We base our analysis of Lagrangian systems on the
first variational formula (3.2.8) which provides the canonical decomposition of the
Lie derivative L along a projectable vector field u
on Y - X. The first term of this decomposition contains the Euler-Lagrange
operator EL associated with L. The second one is the divergence d,,T", which plays
a prominent role in the study of differential conservation laws.
We also give the intrinsic definition of Euler-Lagrange operators as differen-
tial operators of the variational type in terms of the variational bicomplex. It
must be emphasized that Euler-Lagrange equations are not a unique type of equa-
tions met within the framework of Lagrangian formalism. Also considered are Car-
tan equations and Hamilton-De Donder equations, which arise in the framework
of multisymplectic formalism (see Section 3.4 and Remark 3.4.4). Moreover, the
Euler-Lagrange-Cartan operator (3.4.10) associated with the Cartan equations is
the Lagrangian counterpart of the Hamilton operator within the framework of the
Hamiltonian formulation of field theory (see Propositions 4.5.6, 4.5.10 and 4.5.11).
In the case of almost regular Lagrangian densities (see Definition 4.5.13), the Cartan
equations are equivalent to the constrained Hamilton equations (4.5.29) defined on
the Lagrangian constraint submanifold of the phase space. The relations between
Cartan, Hamilton-De Donder, and constrained Hamilton equations are given by
Propositions 3.4.4, 4.5.16, and 4.5.17.
The first variational formula enables us to describe Lagrangian conservation laws
in a unified way. On-shell, it leads to the weak identity
dATA.
If the Lagrangian density L is invariant under the local l-parameter group of gauge
transformations whose generator is the vector field u, the Lie derivative van-
ishes. Then we obtain the weak conservation law dATA -_ 0 of the corresponding
symmetry current T along the vector field u. This symmetry current is not defined
uniquely, but depends on the choice of a Lepagean equivalent of the Lagrangian
density L. Symmetry currents associated with different Lepagean equivalents differ
from each other in a superpotential term.
INTRODUCTION 3
One says that a symmetry current is reduced to a superpotential if, on-shell, it

takes the form
T" = W" + d"U''",
where the term W" is expressed in terms of the variational derivatives of the Lagran-
gian density L and, therefore, vanishes on-shell, while U"'' = -U"". The term U''''
is called a superpotential (see Remark 3.5.5). Nother currents in gauge theory and
the energy-momentum currents in gravitation theory reduce to a superpotential be-
cause the corresponding vector fields u depend on derivatives of parameters of gauge
transformations [52, 67, 1651. Furthermore, in both cases, a superpotential U"'' de-
pends on gauge parameters that guarantee the form-invariance of conservation laws
under gauge transformations.
Since conservation laws are linear in a vector field u, one can consider superpo-
sition of different conservation laws along different vector fields on Y. In particular,
every symmetry current is a superposition of a Nother current along a vertical vec-
tor field and a stress-energy-momentum (SEM) current along a vector field r on X
which gives rise to a vector field on Y. Accordingly, different lifts of r onto Y (e.g.,
by means of different connections on Y -+ X) lead to different SEM currents which
differ from each other in Nother currents.
In gravitation theory on natural bundles Y (e.g., tensor bundles), we have the
canonical lift z on Y of vector fields r on X. These lifts are generators of 1-
parameter groups of general covariant transformations of Y. We observe that, in
General Relativity [148], in Palatini formalism [21], and in metric-affine gravitation
theory [67, 68], the SEM currents reduce to the well-known Komar superpotential
and its generalization (3.7.54).
The difficulties arise in gauge gravitation theory in the presence of Dirac fermion
fields. The corresponding spin structure is associated with a certain gravitational
field, and it is not preserved under general covariant transformations. To overcome
this difficulty, one considers the universal covering bundle LX of the linear frame
bundle LX, whose structure group is the universal covering group UL-(4,R) of the
general linear group GL(4,R) [56, 151, 1721. One can think of LX -, X as being
a universal spin structure because any Riemannian and pseudo-Riemannian spin
structures are subbundles of this fibre bundle, which inherits the general covariant
transformations of the frame bundle LX. As a consequence, we obtain the SEM
conservation law in gauge gravitation theory, where the corresponding SEM current
is also reduced to the generalized Komar superpotential [69, 1661.
4 INTRODUCTION
As an important application of jet formalism, we treat analytical mechanics as a

particular case of field theory over a 1-dimensional base R, and observe that connec-
tions play a prominent role in this formulation. These are dynamic connections on
the jet bundle J'Y -+ Y which correspond to dynamic equations, while connections
on Y -' R define reference frames.
The counterpart of Lagrangian formulation of field theory is (covariant) polysym-
plectic Hamiltonian formalism, where canonical momenta correspond to the deriva-
tives of field functions with respect to all world coordinates, not only the temporal
one [31, 86, 101, 163, 164]. As is well known, applied to field theory, the familiar
symplectic technique takes the form of instantaneous Hamiltonian formalism on an
infinite-dimensional phase space (see Remark 4.2.4). Polysymplectic Hamiltonian
formalism is defined on the finite-dimensional Legendre manifold
11= V'Y (n'T'X),

where V'Y denotes the vertical cotangent bundle of Y, and T'X is the cotangent
bundle of X. This manifold is provided with the canonical polysymplectic form
(4.2.5) which leads to the notion of Hamiltonian connections and Hamiltonian forms.
Every Lagrangian density L on the jet manifold J'Y determines the Legendre
map L of J'Y to 11. If a Lagrangian density is hyperregular (i.e, L is a diffeo-
morphism), Lagrangian and polysymplectic Hamiltonian formalisms are naturally
equivalent. This is not the case of degenerate Lagrangian densities, while in general,
we have a set of Hamiltonian forms associated with the same degenerate Lagran-
gian density. We then study the relations between Lagrangian and Hamiltonian
formalisms for a wide class of semiregular degenerate Lagrangian densities (see Def-
inition 4.5.8). If a Hamiltonian form is associated with L, the solutions of the
corresponding Hamilton equations which live in the Lagrangian constraint space
Q = L(J'Y) yield the solutions of the Cartan and Euler-Lagrange equations for L.
Conversely, we need a family of associated Hamiltonian forms in order to exhaust all
solutions of the Euler-Lagrange equations. Such a complete family certainly exists
in the case of affine and almost regular quadratic Lagrangian densities. These classes
of degenerate field systems are analyzed in detail because most contemporary field
models belong to them.
The 1-dimensional reduction of the polysymplectic Hamiltonian formalism pro-
vides the adequate Hamiltonian formulation of time-dependent mechanics. Its usual
formulation requires a given splitting Y = R x M which, however, is broken by any
INTRODUCTION 5
time-dependent canonical transformation and reference frame transformation, in-

cluding transformations between inertial frames. The field-like approach provides
the frame-covariant formulation of time-dependent mechanics over the phase space
II = V'Y. The main ingredient in this formulation is the canonical 3-form (4.10.13)
which provides the phase space V'Y with a canonical (degenerate) Poisson structure.
Complete connections on Y R define reference frames just as in the Lagrangian
formulation of mechanics.
Though we consider first order Lagrangian and Hamiltonian systems, higher
and infinite order jets are also used. The last Chapter of the book addresses a few
topics regarding these jets. In particular, we briefly review different notions of jets:
the above-mentioned jets of sections of fibred manifolds, jets of modules, jets of
submanifolds and jets of local diffeomorphisms of manifolds. Each of them may find
its corresponding physical application. In particular, first order jets of submanifolds
are suitable for formulating relativistic mechanics (see Example 5.3.5), while jets of
local diffeomorphisms of manifolds provide the standard language for C-structures
[104].
For the convenience of the reader, several mathematical facts are included as
Remarks, thus making our exposition self-contained. The book is provided with a
detailed Index and Glossary of symbols.
Chapter 1
Fibred Manifolds
This and the next Chapters summarize the main notions on fibred manifolds, jet
manifolds and connections which find application in classical field theory. The rel-
evant material is presented in a fairly informal way. It is tacitly assumed that the
reader has some familiarity with the basics of differential geometry [20, 83, 103, 170,
171, 186].
Throughout the book, all maps are smooth, i.e., of lass C, while manifolds
are real, finite-dimensional, Hausdorff, second-countable and, hence, paracompact.
Unless otherwise stated, we assume that manifolds are connected.
We use the standard symbols , V, and A for the tensor, symmetric, and exterior
products, respectively. The interior product (contraction) is denoted by J. By og
are meant the partial derivatives with respect to coordinates with indices 8A.
If M is a manifold, we denote by
7rM:TM -+M and it :T'M - M
its tangent and cotangent bundles, respectively. Given coordinates (z) on M,
they are equipped with the induced coordinates (?,k) and (z", ix) with respect
to the holonomic bases {OA} and {dzA} for the tangent and cotangent spaces to M,
respectively.
Given a manifold map f : M - M', by
Tf :TM -- TO
is meant its tangent map. This has the coordinate expression
(z'", P) o T f = (P, OAP?), fP = z"A - f,
7
8 CHAPTER 1. FIBRED MANIFOLDS
relative to the induced coordinates (z", ia) and (zA, i'a) on M and M', respectively.
The symbol C(M) denotes the space of smooth real functions on a manifold
M.
1.1 Immersions and submersions

In this Section, we consider manifold maps of a particular type, namely, immersions
and submersions, and treat them together in order to emphasize their dual nature.
Let M and N be manifolds of dimensions m and n, respectively. Recall that by
the rank of a map f : M - N at a point p E M is meant the rank of the linear map
Tpf : TTM -+Tf(p)N.
Suppose that f is of maximal rank at p E M. It follows that

m=n . Tpf is an isomorphism;
m<n Tpf is injective;
m > n = Tpf is surjective.

Then f is said to be a local diffeomorphism, an immersion, a submersion at the
point p E M, respectively.
Remark 1.1.1. Since the function p rankp f is a lower semicontinuous function,
then Tpf is of maximal rank also on an open neighbourhood of p.
The following results follow from the inverse function Theorem ((45), p.273).
THEOREM 1.1.1. Let f

(i) If f is a local diffeomorphism at p, then there exists an open neighbourhood
U of p such that f : U -. f (U) is a diffeomorphism onto the open set f (U) C N.
(ii) The map f is an immersion at p if and only if there exist a (cubic) coordinate
chart (U, (p) of M centred at p and a (cubic) coordinate chart (V, i,) of N centred
at f (p) such that the following diagram
U v
'0 1 m
I
(_a,a)m " (_a,a).,
1.1. IMMERSIONS AND SUBMERSIONS 9
Of f o(p-1 : (x',...,z") H (x',...,xm,0,...,0)

is commutative. If f is an immersion at p, then it is locally injective around p.
(iii) The map f is a submersion at p if and only if there exist a (cubic) chart
(U, tp) centred at p and a (cubic) chart (f (U), ib) centred at f (p) such that the
following diagram
U `- (-a, a)" x (-a, a),"-n
! I I pr, (1.1.2)
f (U) - ' (-a, a)"
00f oie-1
: (a1 ,...,xm) -+ (x ,...,2n)
1
is commutative. If f is a submersion at p, it is locally surjective around p. 0

Proof. For the proof, the reader is referred to [186], pp.24-29. QED
DEFINITION 1.1.2. Let f : M -, N be a map.

(i) The map f is said to be a local diffeomorphism [immersion,submersion] if
it is a local diffeomorphism [immersion, submersion) at all points p E M. A local
diffeomorphism and submersion are necessarily open maps, that is, they send open
subsets of M onto open subsets of N.
(ii) The pair (M, f) is said to be a submanifold of N if / is an injective immersion.
The terminology imbedded submanifold is used if f is an open map. Equivalently, it
is a homeomorphism onto f (M) equipped with the relative topology induced from
N. If (M, f) is an imbedded submanifold, the map / is said to be an imbedding.
For the sake of simplicity, we will often identify (M, f) with f (M). If M C N,
its natural injection will be denoted by iM : M - N. We will write M N for
imbeddings.
(iii) The triple (M, f, N) is called a fibred manifold if f is a surjective submersion.
M is the total space, N is the base space, f is the projection (or fibration) and
Mq = f -I (q) is the fibre over q E N. If there is no danger of confusion, a fibred
manifold (M, f, N) will be denoted f : M -, N or simply M -' N. 0
Example 1.1.2. If f is an immersion, then it is locally injective, but not necessarily

injective. For example, let M = R, N = R2 and let f : M N be the following
immersion
R R2
F:
c
Obviously, (R, f) is not a submanifold of R2.
Example 1.1.3. A submanifold which is not an imbedded submanifold is exempli-

fied by the figure
R R'
f:
0 c f(0)
Clearly, f is not a homeomorphism onto its image equipped with the relative topol-
ogy because f (U) is not an open subset of f (R) C R2 for a suitable open neighbour-
hood U of the point 0 E R.
For a submanifold to be an imbedding, the following criteria are required.
PROPOSITION 1.1.3. Let (M, f) be a submanifold of N.

(i) The map f is an imbedding if and only if, for each point p E M, there is a
(cubic) coordinate chart (V, ti) of N centred at f (p) so that f (M) f1 V consists of
all points of V with coordinates
1 m
A glance at the diagram (1.1.1) shows that an immersion f : M -- N is a local

imbedding, that is, every point p E M has an open neighbourhood U C M such
that the restriction f JU : U -+ N is an imbedding.
1.1. IMMERSIONS AND SUBMERSIONS 11
(ii) Suppose that f : M - N is a proper map, that is, the pre-images of compact
sets are compact. Then (M, f) is a closed imbedded submanifold of N. In particular,
this occurs if M is a compact manifold.
(iii) Suppose that dim M = dim N. Then (M, f) is an open imbedded submani-
fold of N. O
A standard way of constructing submanifolds is given, under suitable conditions,

by taking the pre-images of submanifolds.
THEOREM 1.1.4. Let f : M -. N be a smooth map and (Q, g) a submanifold of N

such that P = f -' (g(Q)) is non-empty. Suppose that
Ti(p)N = T f(TpM) +Tg(T9-I(f ,))Q)
for any p E P. Then P can be provided with a manifold structure so that (P, ip) is
a submanifold of M of dimension
dimP=dimM-dimN+dimQ.
If (g, Q) is an imbedding, then there is a unique manifold structure on P such that
(P, ip) is an imbedded submanifold of M. 0
Proof. For the proof, the reader is referred to [186], p.31. QED
Since a point can be thought of as a 0-dimensional manifold, Theorem 1.1.4 has

the following corollary.
COROLLARY 1.1.5. Let q E f(M) and P = f-'(q). If the tangent map Tf is

surjective at any p E P, then (P, ip) is a closed imbedded submanifold of M and
dim P = dim M - dim N. 0
Example 1.1.4. Let (M, f, N) be a fibred manifold. Then each fibre f-I (q) is a
closed imbedded submanifold of M of dimension dim M - dim N.
Remark 1.1.5. Imbedded submanifolds appear also in connection with the follow-
ing typical situations.
(i) Let f : M - N be a (smooth) map factorizing through a submanifold (P, h)

of N, that is, f (M) C h(P). Then there is a unique map g : M P such that the
diagram
P
is commutative. If h is an imbedding, then g is smooth.
(ii) The other case is concerned with extension of smooth functions. Let f
M ' N be an imbedding and let f (M) be closed in N. Let g E COD(M). Then
there exists g` E COD(N) such that the diagram
Mf
\
N
R
is commutative.
1.2 Fibred manifolds

Hereafter, 7r : Y X denotes a fibred manifold with dim X = n and dim Y -
dimX = I (see Definition 1.1.2 (iii)). Example 1.1.4 implies that the fibres Y. _
7r-'(X), x E X, are imbedded submanifolds of Y of dimension 1.
1 Unless otherwise stated, we assume I > 0, i.e., fibred manifolds with discrete
fibres are not considered. I
As we know from the diagram (1.1.2), the total space Y admits an atlas of charts,
called fibred charts, with the following property. For any fibred chart (U, w), there
is a chart (ir(U), t/i) of X such that the diagram
U - (-a, a)" x (-a, a)' C R'+"
I I pri
a(U) -L (-a, a)" C R"

is commutative. The set of functions
(xA=rAop, U`=r$ocQ) A=1,...,n, i=1,...,1,
1.2. FIBBED MANIFOLDS 13
where (r'', r) are the Cartesian coordinates on R"*", are said to be a fibred coor-
dinate system (or simply fibred coordinates) in U. Note that (xa) is a coordinate
system in 7r(U) C X.
The coordinate charts (U; constitute a fibred coordinate atlas of Y whose
transition functions
x" = fA(x'), y" = f`(x'`,yj)

are compatible with the fibration Y - X.
I For the sake of simplicity, a domain U of a fibred coordinate chart (U; xa, y')
will not be specified if there is no danger of confusion. 1
Let V be a manifold. Then a local trivialization of a fibred manifold 7r : Y -. X

with respect to the manifold V is an open covering {Ua} of X together with a family
{0a} of diffeomorphisms
0a:7r-1(Ua)-4UaxV,
called the trivialization maps, over Ua, such that the diagram
7r-1(U.)U. X V
,r l pry
U.
is commutative for each U.-
DEFINITION 1.2.1. A fibred manifold 7r : Y -+ X, together with a manifold V, is

called a fibre bundle if it admits a local trivialization with respect to V, called the
typical fibre of the bundle Y X. The atlas %P _ {(U.,tP0)} is called a bundle
atlas.
Given such a fibre bundle Y - X and its bundle atlas 'P = ((U., V).)), we have
the collection of diffeomorphisms
'P
UanUpXV , UanUpxV
pr, f pr, (1.2.1)
UanUp
whenever U. n Up # 0. Let tfi0(x) denote the restriction of the trivialization map

ipa to the fibre Y= and pop the map of U. n Up into the group of diffeomorphisms of
V which is defined by
pap(x) = t/ia(x) o 'Pj' (x), x E u. n us. (1.2.2)
The maps pp are called the transition functions of the bundle atlas T, and satisfy
the cocycle condition
P.# (X) o pp,r(x) = p< (x), x E U. n Up n U.r.
Let (Ua, 7Pa) be a local trivialization of a fibre bundle it : Y X with a typical

fibre V. There exists an associated fibred coordinate system
(xA=xaoir,y'=vòpr2oQ (1.2.3)
in a neighbourhood of each point y E a-'(U0) which is determined by means of

the trivialization map tP., a coordinate system (xA) of X around x = ir(y), and a
coordinate system (v') of V around pr2 o rlia(y). The coordinates (1.2.3) are called
bundle coordinates.
Remark 1.2.1. Let X and V be manifolds and let Y be a set. Assume that there
is a surjection a : Y -+ X with the following properties.
There exist an open covering {Uo} of X and a collection {z/ia} of bijections

such that the diagram is commutative
W-1 (U.) Uo X V
ir lfpr,
U.
for each Ua.
The maps 0a o 0j' as in (1.2.1) are diffeomorphisms.
Then there is a unique manifold structure on Y for which it : Y -+ X is a fibre

bundle with the typical fibre V and the bundle atlas ((U., 0.)) (183), p.39).
Note that two bundle structures on a manifold Y are said to be equivalent if the
corresponding bundle atlases are equivalent, that is, a union of these atlases is also
a bundle atlas.
1.2. FIBRED MANIFOLDS 15
Example 1.2.2. Given a fibre bundle x : Y - X, there is a standard way to obtain

a fibred manifold which is no longer a fibre bundle. One simply takes
a: Y'=Y\{y}- X
where y is a point of Y. Obviously, the fibres of this fibred manifold are not diffeo-
morphic to each other. At the same time, there are examples of fibred manifolds
whose fibres are diffeomorphic to each other, but they are not fibre bundles.
Given R3 with coordinates (x, y, z), let us consider its open submanifold
Y = R3 \ ({xz = 1, y = 0} U {(0,0,0)}),
and the projection a of Y onto the x-axis. Of course, this is a fibred manifold with
fibres diffeomorphic to R2 \ {(0,0)}. However, 7r: Y -, X is not locally trivial over
a neighbourhood of 0 E R. Indeed, for any open interval I = (-c, c) of the x-axis,
the first homotopy group of 7r-I (I) is different from that of I x (R2 \ {(O, 0))).
We have the following useful criterion for a fibred manifold to be a fibre bundle.
THEOREM 1.2.2. Let it : Y - X be a fibred manifold. If x is a proper map, then

a : Y X is a bundle. In particular, a fibred manifold with a compact total space
is a bundle ([105], p.75). 0
A more complete relation between fibred manifolds and fibre bundles is given by
Proposition 2.5.1. This involves the notion of an Ehresmann connection.
The Cartesian product manifold
pri:XxV
is a fibre bundle called the trivial bundle.
THEOREM 1.2.3. Any fibre bundle over a contractible base is trivial ([1701, p.53).
0
By a local section of a fibred manifold (or a surjection) 7r : Y - X is meant
a map s : U -, Y of an open subset U of X into Y such that it o s = Id U. In
particular, when U = X we refer to s as a global section or simply a section.
PROPOSITION 1.2.4. A surjection x : Y - X is a fibred manifold if and only if

there exists a local section s of 7r : Y -a X passing through each y E Y. 0
Proof. If a local section through each y E Y exists, then the tangent map T,r is a
surjection at y and, consequently, n is a submersion. The converse assertion follows
immediately from Theorem 1.1.1 (ii). QED
By virtue of Proposition 1.1.3 (i), the image s(U) of a local section s : U Y of

a fibred manifold Y -' X is an imbedded submanifold of Y. If s is a global section
of Y - X, then s(X) is a dosed imbedded submanifold of Y.
Remark 1.2.3. Let A be a (closed) subset of X. A smooth local section s of
a : Y - X over A is defined to be the restriction to A of a (smooth) local section
on an open set containing A.
It may happen that a fibred manifold has no global section. We have the following
well-known theorem.
THEOREM 1.2.5. Let Y -, X be a fibre bundle whose typical fibre is diffeomorphic

to a Euclidean space R. Then every (smooth) local section s defined on a closed
subset A of X can be extended to a global section of Y X. In particular, Y -+ X
has always a global section (if we take A = 0) ([170), p. 55).
Henceforth, S(Y) denotes the set of global sections of a fibred manifold YX.
A fibred morphism between two fibred manifolds 7r : Y -i X and ir' : Y' -' X'
is a pair of maps 9; : Y - Y' and f : X -' X' such that the diagram
Y__ Y'
*1 ! *' (1.2.4)
X I-X'
is commutative, i.e., 0 sends fibres onto fibres. In brief, we will say that (1.2.4) is
a fibred morphism
4': Y - Y'
f
over f and, if f = Id X, then
9i:Y-Y
x
is a fibred morphism over X.
An isomorphism of fibred manifolds is a fibred morphism (1.2.4) such that 0 is

a diffeomorphism. A fibred morphism [isomorphism] of Y - X to itself is called an
endomorphism [automorphism]. An automorphism over Id X, is said to be a vertical
automorphism.
A pair (Y, 0) of a fibred manifold Y -. X and a fibred morphism 4' : Y -e Y'
over X is said to be a fibred submanifold of Y' - X if (Y, 0) is a submanifold of Y'.
The following fact is a straightforward consequence of the diagram (1.1.1). For each
y E Y, there exists a fibred chart (U, W) of Y about y with coordinate functions
(z ,...,zn ,y ,...,y)
1 1 !
and a fibred chart (V, 0) of Y' about 0(y) such that

OIP-1
(2l,..., 2n,y1 ,...,yl)'-' (zL,...,zn,y ,...,yl,U,...,U).
1
A fibred imbedding 0 is sometimes termed a (bred monomorphism.

Note that if (Y, 0) is a fibred submanifold of Y', then the restriction (4, 1y Y=)
is a submanifold of the fibre Y.
The following theorem provides useful criteria for an image and pre-image of a
fibred morphism to be fibred submanifolds ([152], p.19).
Let 4) : Y -' Y' be a fibred morphism over X. Given a global section s' of
the fibred manifold Y' X such that s(X) C Im 4', by the kernel of the fibred
morphism 0 with respect to the section s' is meant the pre-image
Ker,.4' = 4-1(s'(X)) (1.2.5)
of s(X) by -.
THEOREM 1.2.6. If 4' : Y -+ Y' is a fibred morphism of constant rank, then
Im 4s and Ker,.4' of 0 with respect to the above-mentioned section s' are fibred
submanifolds of Y' and Y, respectively. 0
Given a fibred manifold Y - X and a map f : X' X, the pull-back fibred

manifold (or simply the pull-back) f'Y is a fibred manifold over X' with the total
space
f'Y = { (z', y) E X' x Y; ir (y) = f (z') )
and the projection
pr1 : f'Y 9 (x', y) '-' z' E V.
Roughly speaking, the fibre of f'Y over a point x' E X' is that of Y over the point
f (x) E X. If a : Y -i X is a fibre bundle, so is f* Y.
Note that the projection pre : f'Y Y is a fibred morphism
f'Y Y
pr 1 I * (1.2.6)
X' --aX
I
over f .
Given a coordinate chart (U'; x") on X' and a fibred coordinate chart (U; xA, y')
of Y such that f (U') C a(U), then (U'; x'", y`) is a fibred coordinate chart on f'Y.
Lets : U -+ Y be a local section of the fibred manifold n : Y - X. If
U' = f-'(U) is non-empty, we can define the pull-back section f's : U' - f'Y by
the relation
f s(x') = (x', s o f (x')).
In particular, every global section s of Y X yields the corresponding global
section f's of the pull-back f'Y -. X'.
The composition of fibred manifolds Y -' Z and Z - X is obviously a fibred
manifold
w : Y-WYZ Z-4 X (1.2.7)
such that the diagram
Y z
x
is commutative. It is called a composite fibred manifold.
If Y -, Z and Z - X are fibre bundles, so is the composition Y - X (see
Remark 2.5.3).
Dealing with the composite manifold (1.2.7), we use the fibred coordinates
Y (x" z, y')
.YZ I
Z (xa,zp) (1.2.8)
*zx 1
X (x")
where (x", z') are fibred coordinates on Z -' X. This means that the transition
functions z' --" (x', za) do not depend on the coordinates y'.
Example 1.2.4. Let a : Y - X and a' : Y' - X be fibred manifolds over the
same base X. Their fibred product
YxY'
x
over X is the composite fibred manifold
or 7r''Y-eY'-'X.
Example 1.2.5. Let 7r : Y -. X be a fibred manifold. Using the tangent map

Ta : TY -+ TX, we obtain the following commutative diagram
Tir,
TY TX
*x (1.2.9)
WY 1
y *+ X
A glance at this diagram shows that TY - X has two composite fibrations
TY-e TX -.X
(xA, y', A, U`)'-' (x )'-' (xA)
and
TY-' Y -`+X
Let 1 be a fibred morphism between the fibred manifolds x : Y X and

n' : Y' -, X'. Then the tangent map T4 : TY -' TY' is a fibred morphism with
respect to both the composite fibrations of TY given above:
TY TY'
Tin I I TWI
TX Tf TX'
WX -XI
1 l
X-L. X,
The following two assertions on composite fibred manifolds are useful in appli-
cation to field theory.
PROPOSITION 1.2.7. Let h : X -* Z and g : Z -' Y be sections of the fibrations

lrzx and xyZ, respectively. Then their composition
s=goh (1.2.10)
is a section of the composite fibred manifold it : Y -. X (1.2.7). Conversely, if

Tryz : Y -i Z is a fibre bundle whose typical fibre is diffeomorphic to a Euclidean
space, then every global section s : X - Y is represented by a composition as in
(1.2.10), where h = 7ryz o s and g : Z Y is an extension of the local section
g : h(X) - Y which is defined by the diagram
Y
9r t.
h(X) - - X
g(h(x)) = s(x), PE X.
This is an immediate consequence of Theorem 1.2.5, since h(X) is a closed imbedded

submanifold of Z.
PROPOSITION 1.2.8. Given the composite fibred manifold (1.2.7), let h : X - Z

be a global section. Then the pull-back MY -+ X of irYz : Y - Z by h is a fibred
submanifold of the fibred manifold it : Y X, as follows from the diagram
h-Y `per Y
prl 1f ,r (1.2.1 1)
X
0
1.3. VECTOR AND AFFINE BUNDLES 21
1.3 Vector and affine bundles

In this Section we recall some basic properties of vector and affine bundles which
we will need for what follows.
DEFINITION 1.3.1. A vector bundle is a fibre bundle 7r : Y -+ X such that:

the typical fibre V and all fibres Y= = 7r-1(x), x E X, are real finite-dimensional
vector spaces;
there is a bundle atlas {(U.,><'')} whose trivialization morphisms V)a restrict

to linear isomorphisms 0.(x) : Y. -i V for each x E UQ.
Remark 1.3.1. A vector bundle is a fibre bundle whose structure group is the
general linear group GL(V). e
By virtue of Theorem 1.2.5, every vector bundle 7r : Y - X has a global section.

In particular, it admits the zero section 0 : X Y defined by 0(x) = 0= E Y. for
each x E X. The set S(Y) of global sections of Y -, X is both a real vector space
and a module over the ring C(X) of smooth functions on X.
When dealing with a vector bundle Y, we use linear bundle coordinates (xA, y`)
(1.2.3) associated with a bundle atlas' = {(U.,0.)} of Y. We have
(Pr2 00-)(Y) = Ve,,
y = y'e;(x), e;(x)
Here {e;} is a fixed basis for the typical fibre V of Y and (e'- (x)) is the fibre basis
(the frame) for the fibre Y= of Y which is associated with the bundle atlas T.
A morphism of vector bundles 4' : Y -- Y' is defined as a fibred morphism over
f whose restriction 4s : Y. -e Y' to each fibre of Y is a linear map. It is called a
linear bundle morphism over f.
DEFINITION 1.3.2. Let 4' : Y Y' be an injective vector bundle morphism over
X. We say that (Y, 4') is a vector subbundle of Y' X.
Using Proposition 1.1.3 (i), one can show that every vector subbundle of a vector
bundle is a dosed imbedded submanifold.
The following assertion is a corollary of Theorem 1.2.6.
PROPOSITION 1.3.3. If Y -. X and Y' -' X are vector bundles and 4' : Y - Y' is a
linear bundle morphism over X of constant rank, then the image of 4' and the kernel
Ker of 4' with respect to the zero section 6 of Y' -e X are vector subbundles of
Y' X and Y -i X, respectively. 0
There are the following standard ways to construct vector bundles from given
ones.
Let Y -. X be a vector bundle with a typical fibre V. By Y X is meant

the dual vector. bundle with the typical fibre V' dual of V. Their interior
product is defined as the fibred morphism over X
YxY'
x
x R.
Let Y -' X and Y' - X be vector bundles with typical fibres V and V',
respectively. Their Whitney sum YY is a vector bundle over X with the
typical fibre V V.
Let Y X and Y' X be vector bundles with typical fibres V and V',
respectively. Their tensor product Y Y' is a vector bundle over X with the
typical fibre V V'.
Example 1.3.2. The tangent bundle 'sx : TX . X of a manifold X is a vector

bundle over X such that, given an atlas {(U., W.)} of X, TX is provided with the
holonomic atlas
'P = {(U.,0G. (1.3.1)
The associated linear bundle coordinates are the induced coordinates (a-%) with
respect to the holonomic frames {8a} in tangent spaces T=X. Their transition
functions read
a
i'a = 0X i".
The tangent bundle TX is a fibre bundle with the structure group GL(dim X, R).
1.3. VECTOR AND AFFINE BUNDLES 23
The cotangent bundle of X is the dual T'X of TX. It is equipped with the
induced coordinates (ia) with respect to holonomic coframes {dz} dual of {aa}.
Their transition functions read
z I'
The tensor products
(TX) (& (T'X)

of tangent and cotangent bundles are called tensor bundles. Given a holonomic
atlas (1.3.1) of TX, they are provided with holonomic coordinates i4;..sk with the
transition functions
az'' ... 8z'- ax" az"k , ,
Tip, az az''1 aeOk'...vk
Given a map f : X - X', the tangent map T f is a linear bundle morphism

of TX to TX'. If f is a diffeomorphism, we have also the linear bundle morphism
T* f : T`X - T'X' over f, called the cotangent map. Its coordinate expression is
a)'At').
1
0T'f = (fe(e), a(a
Let us turn now to affine bundles.
DEFINITION 1.3.4. Let i : Y - X be a vector bundle with a typical fibre V. An

affine bundle modelled over -f : V -+ X is defined as a fibre bundle a : Y -, X whose
typical fibre V is an affine space modelled over V, and the following conditions hold
All the fibres Y of Y are affine spaces modelled over the corresponding fibres
F. of Y.
There is a bundle atlas { (U1 t/i) } whose local trivializations
W-' (U.) 4UxV

x \ 1f pr, (1.3.2)
U.
restrict to affine isomorphisms 0(z) : Y, -a V for each x E U.

Remark 1.3.3. An affine bundle is a fibre bundle with the structure group GA(V)
of affine automorphisms of V.
Let Y x Y' be the fibred product of two affine bundles Y -. X and Y' -. X
x
which are modelled over the vector bundles Y - X and Y - X, respectively. This
product, called the Whitney sum, is also an affine bundle modelled over V 7.
X
When dealing with an affine bundle, we use affine bundle coordinates (z', y`)
induced in it-'(U0) by the local trivialization (1.3.2) and by the choice of an origin
in V and a basis {ei} for the vector space V. Then (xa,V) are the vector bundle
coordinates in Y'(U0) induced by the local trivialization (1.3.2) and by the choice
of the same basis {e;} for V.
Example 1.3.4. Every vector bundle has a natural structure of an affine bundle.
In particular, the tangent bundle TX of a manifold X has the natural structure of
an affine bundle which is called the affine tangent bundle of X.
Theorem 1.2.5 guarantees the existence of global sections of an affine bundle

Y -. X. Every such global section s yields the fibred morphism
(1.3.3)
X
4',(y) = y - s(x), y E Y.
An affine bundle morphism between two affine bundles a : Y X and 7T': Y' -+
X' is a fibred morphism
Y-Y'
'lX f X, l,r (1.3.4)
whose restriction 0.: Y. -+ Yfi:> to each fibre Y. of Y - X is an affine mapping.

The affine bundle morphism (1.3.4) uniquely determines the linear bundle morphism
YAP'
71 1 r (1.3.5)
X - X,
1.4. TANGENT BUNDLES OF FIBBED MANIFOLDS 25
which is called the linear derivative of 4'.
DEFINITION 1.3.5. Let Y -' Y' be an injective affine bundle morphism over X.
We say that (Y, 0) is an affine subbundle of Y' --+ X. 0
It is readily seen that, if (Y, 4') is an affine subbundle of Y' -, X, then (Y,4) is
a vector subbundle of r : Y -+ X. It follows immediately that (Y,4') is a closed
imbedded submanifold of Y'.
The following assertion is a corollary of Theorem 1.2.6 and Proposition 1.3.3.
PROPOSITION 1.3.6. If Y X and Y' -' X are affine bundles and 4' : Y - Y' is
an affine bundle morphism over X of constant rank, then the image of 4' is an affine
subbundle of Y' X modelled over the vector bundle Imp X. Let s: X - Y'
be a global section such that s'(X) C Im4'. Then the kernel Ker,4 of 4' with
respect to s' is an affine subbundle of Y - X modelled over the vector bundle
Ker4 - X. 0
Remark 1.3.5. The situation considered in this remark often occurs. Let Y'- X
be an affine bundle modelled over a vector bundle V - X. Let Y C Y' be an affine
subbundle modelled over a vector bundle V - X. Assume that 7 is the Whitney
sum of V and a complementary vector bundle Z X. Then one can easily verify
that the affine bundle Y' X decomposes in the Whitney sum
Y'=YED Z.
x
1.4 Tangent bundles of fibred manifolds

Let Y - X be a fibred manifold coordinatized by (r", y`). Its tangent bundle TY
is equipped with the corresponding induced coordinates
a
_ 8x'
(X-1, 0, x , V),
A glance at the transformation law (1.4.1) shows that the tangent bundle TY -.
Y has the vector subbundle
VY = KerTi
given by the coordinate relation 0 (see the diagram (1.2.9)). This subbundle,
called the vertical tangent bundle, consists of vectors tangent to fibres of Y. It
is provided with the induced coordinates (a, y', y') with respect to the holonomic
fibre bases {8;}.
Let T4i : TY -' TY' be the tangent map to a fibred morphism 4i : Y Y'. Its
restriction
V4i = T'F o ivy : VY -+ VY', (1.4.2)
y"oVY= v ,
is a linear bundle morphism of vertical tangent bundles over 'F. The morphism
(1.4.2) is called the vertical tangent map Wt.
The vertical cotangent bundle V'Y Y of Y is defined as the vector bundle
dual of the vertical tangent bundle VY -' Y. We will denote by {ay'} the fibre
bases for V'Y which are dual of the fibre bases {8;} for VY. The comparison of the
transformation law
ay"
= m ayt
of {ay'} with the transformation law
dy" _ M dyi + f dx"

of the holonomic coframes {d-c, dy'} for T'Y shows that V'Y fails to be a subbundle
of the cotangent bundle T'Y of Y. At the same time, there is the canonical surjection
T'Y y
V'Y,
xadxa + ycdy' '-' yisy'.
With VY and V'Y, we have the following two exact sequences of vector bundles
over a fibred manifold Y - X:
(I.4.3a)
0--Y (1.4.3b)
1.4. TANGENT BUNDLES OF FIBRED MANIFOLDS 27
where all the morphisms are over Y.

Remark 1.4.1. It is easily observed that the surjection
lrT:TY Y YxTX, (1.4.4)
is an affine bundle modelled over the pull-back vector bundle
pr2:VYx(YxTX)-YxTX.
Y X X
In general, there is no canonical splitting of the exact sequences (1.4.3a) and

(1.4.3b). Every splitting
I:YxTX
X
TY, (1.4.5)
8aH8A+1"x8
of (1.4.3a) and the dual splitting
r : V'Y Y T'Y, (1.4.6)
of (1.4.3b) correspond to the choice of a connection r on the fibred manifold Y - X.

Here the local functions 1',, on Y are the connection parameters of I' (see Section
2.3).
Remark 1.4.2. For the sake of simplicity, we will denote the pull-backs
YxTX
x
and YxT'X
x
simply by TX and T'X.
Vertical tangent bundles of many fibred manifolds are pull-back bundles.
DEFINITION 1.4.1. One says that a fibred manifold Y -, X admits a vertical

splitting if there exists a linear bundle isomorphism
a: VY-ya'V=Y
Y
xV
X
(1.4.7)
where V -' X is a vector bundle. O
Fibred coordinates (z, y') of the fibred manifold Y -' X are called adapted to
the vertical splitting (1.4.7) if the induced coordinates of the vertical tangent bundle
VY take the form
y`=Vea
where (z, V) are bundle coordinates of V. In this case, coordinate transformations
of the coordinates y' are independent of the coordinates y'.
Example 1.4.3. A vector bundle Y X has the canonical vertical splitting
IVY Tr'Y.
The linear bundle coordinates of Y are adapted to this vertical splitting so that
= y`.
Also an affine bundle Y modelled over a vector bundle V has the canonical
vertical splitting
The affine bundle coordinates of Y are adapted to this splitting so that y' = y'.
Note that the tangent functor T preserves algebraic structures of fibred mani-
folds. In particular, if Y - X is a vector bundle, so is TY - X. If Y - X is
an affine bundle modelled over a vector bundle V -y X, then TY X is an affine
bundle modelled over the vector bundle TY X.
Let us now consider the composite fibred manifold
YMZ. ZM. X
(1.2.7). For the sake of simplicity, we denote by YZ the fibred manifold Y Z.
Accordingly, VYZ is the vertical tangent bundle of Y -. Z. It is a subbundle of
the vertical tangent bundle VY -. Y. In the fibred coordinates (1.2.8), these two
subbundles of TY are characterized as follows:
VY = {za,z,y',A = O,.i'},
VZY = {z", zP, y`, i'' = O, i' = O, y' }.
1.5. VECTOR AND MULTIVECTOR FIELDS 29
Considering also the vertical tangent bundle VZ of Z -. X, we obtain the following

commutative diagram
VYVUVZ
I !
YnLZ Z
.Z.,
X
and the following exact sequence of vector bundles over Y:
0-'VYz'VY-iYxVZ-O.
z
(1.4.8)
1.5 Vector and multivector fields

Let M be a manifold. A vector field v on M is defined to be a global section of the
tangent bundle TM - M. The set T(M) of vector fields on M is both a module
over the ring C(M) and a real Lie algebra with respect to the Lie bracket of vector
fields.
Remark 1.5.1. Given a function f E C(M), the Lie derivative of f along a vector
field v on M is the function
=vjdf
on M. Then the Lie bracket of vector fields is the bilinear map
(., .] : T(M) X T(M) - T(M)

defined by the relation
LH,,,.lf = Vf E C(M).
The well-known properties of the Lie bracket are immediately deduced from this
definition. In particular, if v = va8a and u = u8, then
[V, U]" = v
'
-- 8u
8z"
uX 'd A
8z"
0
Let g : M -. N be a diffeomorphism. Then, for every vector field v on M, one

can define a vector field
g.v=Tgovog'
on N, called the push-forward of v by g. The push-forward is obviously a Lie algebra
isomorphism of T(M) onto T(N). If g is a diffeomorphism of M and g.v = v, one
says that v is invariant under g.
Remark 1.5.2. Let us briefly recall the relation between vector fields and 1-
parameter groups of (local) diffeomorphisms.
Let v be a vector field on a manifold M. A curve c in M is said to be an integral
curve of the vector field v if
c=voc
in the domain of c. For every point z E M, there is a unique integral curve c :
(-e, e) -. M of v for some c > 0 such that c(0) = z. This statement follows from
the well-known theorem on solutions of a system of ordinary differential equations
([45], p.283).
Let U C M be an open subset and e > 0 . By a local 1-parameter group of local
diffeomorphisms of M defined on (-e, e) x U is meant a mapping
G:(-e,e)xU-M,
G : (t, z) - Ge(z),
which satisfies the following properties:
(i) for each t E (-e, e), Gt is a diffeomorphism of U onto the open set Gt(U) of
M;
(ii) if t, s, t + s E (-e, e) and z, G,(z) E U, then

Gt+,(z) = Gt O G,(z).
If the mapping G is defined on R x M and satisfies the conditions:

(i') for each t E R, Gt is a diffeomorphism of M,
(ii') for all t, s E R and p E M,
Gt+.(z) = Gt o G.(x).
1.5. VECTOR AND MULTIVECTOR FIELDS 31
then it is called a 1-parameter group of diffeomorphisms of M.

Every local 1-parameter group of local diffeomorphisms Ge defines a vector field
v on U by setting v(z) to be the tangent vector to the curve c(t) = Gt(z) at t = 0.
Conversely, we have the following theorem.
THEOREM 1.5.1. Let v be a vector field on a manifold M. For each z E M, there

exist e > 0, a neighbourhood U of z and a unique local 1-parameter group of local
diffeomorphisms defined on (-c, e) x U which determines v ([1031, p.13).
In brief, v is the generator of a local 1-parameter group of local diffeomorphisms

G of M.
If a vector field v is induced by a 1-parameter group of diffeomorphisms of M,
then v is said to be complete. Note that if C is defined on (-e, e) x M for some
c > 0, then v is complete. In particular, every vector field on a compact manifold is
complete.
Let x : Y X be a fibred manifold. The projection a allows us to define

different types of vector fields on Y.
A vector field u on a fibred manifold Y - X is said to be projectable if it
projects over a vector field ux on X, i.e., the following diagram
Y- - TY
TV
I I
X ux
is commutative. A projectable vector field has the coordinate expression
u = U,8.% + u'8;, ux = u''8a,
where u'' are local functions on X, and u' are local functions on Y. Projectable
vector fields form the Lie subalgebra P(Y) C T(Y).
A projectable vector field u on a fibred manifold Y is said to be vertical if it
projects over the zero vector field ux = 0 on X. The set of vertical vector fields on
Y is the Lie subalgebra V(Y) C P(Y).
Example 1.5.3. The vertical vector field v = y'8; on a vector bundle Y - X is
called Liouville's field.
Remark 1.5.4. In accordance with Remark 1.5.2, every projectable vector field u
on a fibred manifold Y defines a local 1-parameter group G of local diffeomorphisms
of Y. It is readily observed that elements Gt of this group are local fibred auto-
morphisms of Y over local diffeomorphisms of X whose generator is the projection
ux of u on X. If u is a vertical vector field on Y, this is the generator of a local
1-parameter group of vertical automorphisms of Y.
A multivector field t9 of degree r (or simply a r-vector field) on a manifold M is

a section of the skew-symmetric tensor product ATM M of the tangent bundle
of M. It is given by the coordinate expression
t9 = 1'tyal....4aa1 A ... A aa,.
By I V I is meant the degree of t9.

Let us denote by T,(M) the vector space of r-vector fields on M. In particular,
T (M) = T(M). All multivector fields on M form the Z-graded algebra
T . ( M ) _ T (M), m = dim M.
This algebra is provided with the Schouten-Nijenhuis bracket
]sN :1(M) X T,(M) - T+.-1(M), (1.5.1)
which generalizes the Lie bracket of vector fields as follows [17, 1821.
Let 01,.. ., 0, and u be vector fields on M. The Lie derivative L of t91 A A10,
along the vector field u is given by the formula
L.(ty1A...At9,)=Et91A...A(U,t9j]A...At9,. (1.5.2)
j.1
The Schouten-Nijenhuis bracket (1.5.1) is a unique local type extension of the Lie
derivative (1.5.2) which satisfies the condition
[u1 A ... A u,,w]sN = - (-1)j+1u1 A ... A u1 A . A U, A (1.5.3)

J.1
for anyul,...,u,. E T(M) and WET(M).

1.6. DIFFERENTIAL FORMS ON FIBRED MANIFOLDS 33
This bracket has the coordinate expression
t9 =
t9a,...a.8a, A ... A 8a,, V = va,...e.8o, A ... A 8a.,
[t9, V]SN = t9 * V + (-1)1#11vly * t9,
t9 * V = I I I I! (t9W 1....% -10JA01...a.8.%1 A ... A 8k_t A 8a1 A ... A 80.)

19 V
There are the relations
0, V]SN = (-1)1611vl IV, i9]SN,

]t/, t9 A VISN = IV, d]sN A V + (- 1)1"11101+Ield A (v, V]SN,
(_l)Wllai+I"IIV,t9 A V)SN + (-1)lall"I+1' 1[t9, V A V]SN +
(-1)IvIIdI+IvI]v, V A 191SN = 0.
Example 1.5.5. Let w = A8" be a bivector field. We have
[w,w]SN = A8)2 (1.5.4)
Every bivector field w on a manifold M yields the associated bundle morphism

u# : T' M -+ TM defined by
z E M, a,,8 E T= M, (1.5.5)
w'(a) = w1(z)a8".
A bivector field w whose bracket (1.5.4) vanishes is called a Poisson bivector field.
1.6 Differential forms on fibred manifolds

Let M be an m-dimensional manifold. Recall that an exterior r-form
4A ... A dza'
on M is a section of the skew-symmetric tensor product Ar T'M - M. The 1-forms
are usually called Pfafan forms.
Let us denote by IY(M) the vector space of exterior r-forms on a manifold M.

This is also a module over the ring O(M) = C(M). All exterior forms on M
constitute the exterior Z-graded algebra
O'(M) (-D 0,.(M)
r
with respect to the exterior product. The exterior differential d is the first order
differential operator on 0'(M):
d : 0'(M) - D"'(M),
dO = r A dza' A ... de".
It obeys the relations

dod=0,
d(4 A a) = d(*b) A a + (-1)Iml0 A d(a).
Given a map f : M N, by f q is meant the pull- back on M of a form 4 on N

by f which, for 1-forms 0, is defined by the condition
vJf'm(z) =Tf(v)J4(f(z)), Vv ETsM.
We have the relations
f'(0 A a) = f'4 A f'a,

df'.O = f'(dq5)
Contraction of a vector field u = 08, and an r-form 0 on M is given in coordi-
nates by
' (-1)k-1
u ak0a,...>,,...a.dZ"A...ndx
-Ak A...Adz''=
uJ0 _ F, r!
k:1
1
1)!u"4,w,...._,dz' A ... A dz'-'.
(r -
It satisfies the relations
0(u1,...,ur) = u*J ...u1Jo,

uJ(4'Aa)=uJ4Aa+(-1)I#I4AuJa,
(u,ulj4 = ujd(u'J4') - u'Jd(uj0) - 0(u, t1), 0 E D'(M).
Example 1.6.1. Let 11 be a 2-form on M. It defines the linear bundle morphism

S1b : TM - T' M,
I Slb(v) d=d -vJil(z), V E TZM. (1.6.2)
In coordinates, if S2 = zi1,,,,dz' A dz" and v = v"8", then

ft(v) = -f1,,,,v"dz".
One says that Il is of constant rank k if the corresponding morphism (1.6.2) is of
constant rank k. The 2-form is non-degenerate if its rank equals dim M (which is
necessarily even). A closed non-degenerate 2-form is called a symplectic form.
The Lie derivative L, of an exterior form 0 along a vector field u is given by

the expression
LuO = uJdi+d(uj0).
It satisfies the relation
Lu(0Aa) =Lu46 na+0ALo.

Let M be an oriented manifold provided with a non-degenerate pseudo-Riemannian
metric with a signature i9:
z
g E V O'(M), g = ga"dz'' dz",
or equivalently
s
g E V 7(M), g = ga"88".
The associated volume form is
r1= Ig(dz'A...Adz, g=det(ga")
1 We denote the corresponding induced fibre metrics in tensor bundles by the

same symbol g. t
The Hodge star operator is the isomorphism
V(M) Y(M)
defined by the condition

0A*o=aA*0=
Its coordinate expression is
1/2
*dz"' n ... A dzar = (In9 I r)t Ea,...a. ,...r.,,,dz"'+, A ... A da'""
where a is the skew-symmetric Levi-Civita tensor with the component el... = 1.

In particular, we have
* * 40 = (-1)r(m-r)4. , -0 E Dr(M),
*1=17, *1i=(-1)''.
The codifferential 6 acting on exterior forms is defined as
6: SY(M) -+ OT_I (M),
bm = (-1)'++l+i, * d 46 E or(M), (1.6.3)
for each r > 0. In particular, bf = 0 for f E O(M).
2 In fact, the formula (1.6.3) does not require the orientability of M because the
star operator occurs iterated. 1
The property d o d = 0 implies

1bob=0.
Moreover, the following relation holds:
dmA*o - 0A*6a = d(OA*a),
where 0,o E 0'(M). Recalling (1.6.3), one can say that 6 is the adjoint of d, and
vice versa
From (1.6.3) we easily see that the coordinate expression of b is
1 dz1" A ... A dz'r-1
,(pi...Mr = o"" ... / Wa,....1r1

a''...Mr_,). (1.6.4)
I9Iea( I9I
Let K be the Levi-Civita connection on M associated with the metric g. Then

using the well-known identities
K;, = - 2g"(8a9 + 8gva - 89av), (1.6.5)
8a 900 = gaV K,A + g'Ka

191,
KA00 19=
8
we obtain the covariant expression of (1.6.4) which is simply
where V is the covariant derivative relative to K, that is,
= + + ... +
Let Y -. X now be a fibred manifold with fibred coordinates (x, y').

The pull-back of exterior forms on X by ir provides the inclusion ,r' : 0'(X) -
V(Y). Elements of a'(D'(X)) C iD'(Y) are called basic forms on Y. They are
given by the coordinate expression
A ... A dXA-,
where 0a,...a, are local functions on X.

Exterior forms
a
:Y-+ATX, 1 =TA...Adza.,
where are local functions on Y, are said to be the semibasic or horizontal

forms. A horizontal n-form is called the horizontal density.
Remark 1.6.2. In the sequel, we will use the notation
1w=dz'A...Adz", W.%=9.Jw, B.Jwa=w,.a (1.6.6)
Let us turn now to tangent-valued forms.

Elements of the tensor product ) (M) T(M) are called the tangent-valued
r-forms
0:
=Ti ,...%'d?n...ndz'-8.
A tangent-valued 0-form is a vector field.

Example 1.6.3. There is one-to-one correspondence between the tangent-valued
1-forms 0 on a manifold M and the linear bundle morphisms over M
TM-+TM,
: TTM 3 v'--. vJ4(z) E TM, (1.6.7)
T'M T'M,
T, *M 3 v' - m(z)Jv' E T, M. (1.6.8)
In particular, the canonical tangent-valued 1-form
BM=dzA8 (1.6.9)
on M corresponds to the identity morphisms (1.6.7) and (1.6.8).
The space V (M)T(M) of tangent-valued forms is provided with the F}olicher-

NUenhuis bracket (F-N bracket) which generalizes the Lie bracket of vector fields
(105, 128). The F-N bracket reads
I, JFN : D'(M) 0T(M) x D'(M) 0 T(M) -e Dr+,(M) T(M),

(1.6.10)
(Lnanf)u+(-1)'(daAujf)v+(-1)r(vJaAdf)u,
a E Dr(M), 6 E iY(M), u,v E T(M).
[W, a]FN =
r.s.
1
r'Yat...ar-,vBarQA.+,..J1r+. + SQ ar+q...A,+.BX1+14%,...a,)dzA' A ... Adz ,+. e,.,

46 E Or(M) 0T(M), a E 17'(M) 0T(M).
1 For the sake of simplicity, the F-N bracket will be denoted simply by [., .1. 1
The F-N bracket makes O'(M) T(M) into the graded Lie algebra:
[0411 = (-1)I0II*I+1[1p,01,
(1.6.11)
[m, [+L, 811= [[0, VG1, e1 + (-1)I1Ir0I [+,, [m, ell, (1.6.12)
0,,,b, B E i7'(M) T(M).
Given a tangent-valued form 0, the Nijenhuis differential on O'(M) T(M) is
defined as the morphism
1d9 : a -- dda = [9, a], Vol E D*(M) T(M).
By virtue of (1.6.12), it has the property
I ['+G, d#9]
dm[1G, 9] = [dm'', e] + (-1)I#II
Example 1.6.4. If 0 = u is a vector field, the Nijenhuis differential reduces to the

Lie derivative of tangent-valued forms
[u, a] = (uAsa,...". +
sall"VA2
A.8",u" )dz"' A... Adx"' 8,,,
where a E O'(M) T(M).
Let Y -, X be a fibred manifold. We consider the following subspaces of the
space O'(Y) T(Y) of tangent-valued forms on Y:
tangent-valued horizontal forms
0 E O'(X) T(Y),
ds"t A ... A dx"' + J11...J1r8i1 r
where,...", and 0,..." are local functions on Y;

projectable tangent-valued horizontal forms
0 E i7'(X) P(Y) c 17'(X) T(Y),
dx'\- A ...A(x"-+ ",...J1.Vf],
OAP, are local functions on X, while 0are local functions on Y;
vertical-valued horizontal forms
E 0'(X) V(Y) C fl'(X) P(Y)44:Y-AT'XVY,
A...Adxa'8;.
Example 1.6.5. Vertical-valued horizontal 1-forms
Y
o=aadza2,
are termed soldering forms. For instance, let us take Y = TX. Due to the vertical
splitting
VTX = TX x TX,
every tangent-valued 1-form
0: X T'X TX
X
on X determines a soldering form
o : TX (1d- TX x(T'X TX) 25 T'X VTX

X X TX
onTX.
The spaces 0'(X) P(Y) and 0'(X) V (Y) are closed under the F-N bracket.
Remark 1.6.6. We mention also the TX-valued forms
0:Y-nT'XTX,
Y
(1.6.13)
and V'Y-valued forms
0:Y-AT'X0 V'Y, (1.6.14)
0= A ... A d? avi.
It should be emphasized that (1.6.13) are not tangent-valued forms and (1.6.14) are
not exterior forms. They exemplify vector-valued forms.
Given a manifold M and a vector bundle E -' M, a vector-valued r-form on M
is defined to be a morphism
For instance, let f : M - N be a map and a tangent-valued r-form on N.

Similarly to (1.6.1), one can define the pull-back
j' : M XT'MTN
on M of the tangent-valued form 0 by the map f . This is a TN-valued r-form on
M.
In particular, let Y - X be a fibred manifold. The pull-backs
a,
over Y of tangent-valued forms 0 on X exemplify the TX-valued forms (1.6.13). a
Remark 1.6.7. Similarly to Example 1.6.3, there is one-to-one correspondence

between the global sections of the fibre bundle
V'Y VY - Y (1.6.15)
Y
and the linear bundle morphisms VY Y VY and V'Y Y V'Y over Y. For instance,
IdVY corresponds to the canonical section
(1.6.16)
of the fibre bundle (1.6.15).

Chapter 2
Jet Manifolds and Connections
In this Chapter we will address those aspects of first and second order jet formalism
which are important in physical applications. For a more comprehensive treatment
the reader is referred to [105, 127, 167]. Higher order and infinite order jets are
considered in last Chapter.
Here we are concerned with jets of sections of fibred manifolds, whereas other
notions of jets are dealt with in Chapter 5.
2.1 First order jet manifolds

Given a fibred manifold a : Y X, let us consider the equivalence classes jss,
x E X, of (local) sections s of Y -, X so that sections s and s' belong to the same
class j=s if and only if
Ts IT.x= Ts' IT.x
Roughly speaking, these sections are identified
s' E j.'s b s'(x) = s(x), 8as"(X) = 8as(x),
by their values and the values of their first order partial derivatives at the point x
of X with respect to any fibred coordinates (a`,y') of Y around s(x).
The equivalence class j.'s is called the first order jet of sections s at the point
XEX.
Let us consider the set
J'Y = U j=s.
zEX
43
44 CHAPTER 2. JET MANIFOLDS AND CONNECTIONS
We have the following canonical surjections

WI: J1Y 3 jms"x E X, (2.1.2)
7ro: J'Y 3 j=s'- s(x) E Y (2.1.3)
which form the commutative diagram
J1Y W". Y
x
There are several equivalent ways to provide the set J'Y (2.1.1) with a manifold
structure.
PROPOSITION 2.1.1. Let a fibred manifold Y -i X have an atlas of fibred coor-

dinates (xa, y'). Then the set J'Y can be endowed with an atlas of the adapted
coordinates
(X.%, y', yi,), (2.1.4)
(xA, y',Y.10U.s) = (xi', s'(x),

where the coordinates yA, have the transition functions
8x"
= 8x'a (D + y'8t)y".
yea (2.1.5)
The coordinates (2.1.4) make J'Y into an (n + I + nl)-dimensional manifold called

the first order jet manifold of the fibred manifold Y -, X. 0
Remark 2.1.1. In the physics literature, the coordinates ya are often called velocity
coordinates or derivative coordinates.
The surjection J'Y -. X (2.1.2) is a fibred manifold, whereas the surjection

J'Y - Y (2.1.3) is a fibre bundle. Thus, we have the composite fibred manifold
J'Y- Y - X.
IfY -, X is a bundle, so is J'Y - X.
Furthermore, a glance at the transformation law (2.1.5) shows that J'Y - Y is
an affine bundle, called the jet bundle. It is modelled over the vector bundle
J'Y=T'XvY-.Y, (2.1.6)
2.1. FIRST ORDER JET MANIFOLDS 45
where T'X stands for the pull-back x'T*X.

Example 2.1.2. Let a: Y X and zr: Y' -+ X be two fibred manifolds over the
same base X. Then the fibred morphisms
YxY'-Y'
prl: YxY'--4Y and pre:
x
X
induce the canonical isomorphism
x
J'YxJ'Y'.
x
Example 2.1.3. If a fibred manifold Y -i X is trivial, the fibred jet manifold

J'Y -i X is not necessarily so. Let Y = X x F be a trivial bundle. Then we have
J'Y = T'X OTF.

Y
If Y -+ R" is a trivial bundle, so is J'Y -, R".
Let s : X -+ Y be a (local) section. Then the map x " j=s defines a (local)
section
3 = J18: X -. J'Y, (2.1.7)

(y', ya) o J's = (siW.0.%st(x)),
of the fibred jet manifold J'Y -i X. This is called the first order order jet prolon-
gation (or simply the jet prolongation) of the section s. A section 3 of the fibred
jet manifold J'Y - X is called integrable if it is the jet prolongation (2.1.7) of a
section of Y - X.
Let 44p: Y Y' be a fibred morphism between fibred manifolds Y X and
Y' -. X' over a diffeomorphism f : X -. X'. For any (local) section s of Y - X,
we have the induced (local) section
+.s=0oso f': X'-.Y'.

Then there exists a unique fibred morphism
J10: J'Y -' J'Y'

over j characterized by the condition

J'4;oJ's=J'(4'.s)of
for each (local) section s of Y -+ X. This fibred morphism is called the first order
jet prolongation (or simply the jet prolongation) of 4'. J'4' is both an affine bundle
morphism over the fibred morphism 4, and a fibred morphism over the diffeomor-
phism f as is seen from the diagram
Jiy J'* JIY/
Y Y, (2.1.8)
'1X X'
IT'
The coordinate expression of J'4' is
y' o J'4' = (0;'V + y'8j4'') 88 (2.1.9)
With the obvious meaning of the symbols used, the jet prolongation (2.1.8) has
the properties
o 4') = J'q, o J'4', J'(ldY) = IdJ'Y, (2.1.10)
which say that J' is a covariant functor.
If Y -- X is a bundle endowed with an algebraic structure, this algebraic struc-
ture may be inherited by the fibred jet manifold J'Y -. X due to the jet prolonga-
tions of the corresponding morphisms.
Example 2.1.4. For instance, if Y -. X be a vector bundle, so is J'Y X.
Moreover, we have the canonical identification
(J'Y)' J'Y', (2.1.11)
where Y' -e X and WY)' X are the bundles dual of Y X and J'Y -' X,
respectively.
Example 2.1.5. Furthermore, let Y be a vector bundle and () the interior product
xR,
x
r 0 () = 1%t1/i,
where y' and yi are dual bundle coordinates on Y and Y', respectively, and r is the
canonical coordinate of R. The jet prolongation of () is the linear bundle morphism
J'():J'YxJ'Y'-'T'X
x
x R,
x O J' () = yyi + y'y,,i.
Let Y -. X and Y' -. X be vector bundles and the bilinear bundle morphism
:YXY'-- YY',
yik yi_!k
O =
The jet prolongation of 0 is the bilinear bundle morphism

Jig: J'Y X J'Y' - J' (Y Y'),
yt O J'= yyk + y`y .
Example 2.1.6. Let Y be an affine bundle modelled over a vector bundle Y, then
J1Y X is an affine bundle modelled over the vector bundle J'Y -- X.
Example 2.1.7. Let Y Z X be the composite fibred manifold (1.2.8) with

coordinates (x'',z ,y'). Let us consider the jet manifolds J'Z of Z - X, J'YY of
Y -' Z and J'Y of Y - X. These are coordinatized respectively by
(xA, zP, za), (xA, zP, y', ya, yp), (xA, zP, y', y1)
There exists the canonical morphism
P:J'ZZJ'Yz-+J'Y, (2.1.12)
P('h, jn(:)g) _ .7i (g o h)

yaoP=VA+ypza,
where g and h are sections of the fibred manifolds Y Z and Z X, respectively
([167], p.113).
Assume that irYz : Y Z is a vector bundle. It is easily seen that
J'arYz : J'Y - J'Z (2.1.13)
is also a vector bundle. Accordingly, if Y - Z is an affine bundle modelled over

a vector bundle V Z, then (2.1.13) is an affine bundle modelled over the vector
bundle J'V -. J' Z.
Every vector field u on a fibred manifold Y - X can be lifted to a vector field
on the jet manifold J'Y. This lifting is based on the existence of the canonical
morphism r : J'TY TJ'Y.
Let us note the following two facts:
(i) The jet manifold J'TY is an affine bundle
J'TY 1JIT'l J'Y xx J'TX,

(A)
y` Y W)') (2 y' yap *I I ( llM
which is modelled over the pull-back of J'VY over the base J'Y xx J'TX. This is
an immediate consequence of Remark 1.4.1 and Example 2.1.7.
(ii) Using coordinate transformation laws, one can easily show that the tangent
bundle TJ'Y of the jet manifold J'Y is an affine bundle
TJ'Y
(*'*') J'Y TX,
X
c t J1 Ii r i a
(X,y ,ya) X IY (XA'y ,ya,x
which is modelled over the pull-back of VJ'Y over the base J'Y x x TX.
It can be proved [127] that there is a unique affine morphism
J'TY __r_+ TJ'Y
(2.1.14)
I I
J'YxJ'TX-
x
J'YxTX
x
such that:
r o J'Ts = TJ's for each (local) section s: X - Y;
its linear derivative r (1.3.5) restricted to the fibres is the canonical isomor-
phism
VJ'Y = J'VY
V,.o (2.1.15)
VY
(X." y', y%, #i,?li,) q (xA, y'' Y.1%, V, (0-0.

The coordinate expression of r is
a, yia)
o r = (X., y`, yà, za
(Z yi, yia, -x, yi, , y (1/')a - y(s'`)a)
Let u be a vector field on a fibred manifold Y - X. Its first order jet prolonga-
tion is defined as the vector field
J'u=roJ'u:J'Y-+J'TY-TJ'Y,
I J'u = u-'8a + uiai + (daui - ydau)8; , (2.1.16)
on J'Y where
d = 8,, + yi,a
denote the operators of total derivatives. The vector field (2.1.16) projects onto the
vector field u on Y. For instance, if u is a vertical field on Y X, we have
J'u: J'Y -. VJ'Y C TJ'Y,
J'u=u'8i+daui8;.
Remark 2.1.8. Since J'Y Y is an affine bundle modelled over the vector bundle
J Y (2.1.6), the vertical tangent bundle VyJ'Y of J'Y -. Y admits the canonical
splitting
VyJ'Y = J'Y x JAY = J'Y x(T'X VY) C VJ'Y. (2.1.17)
Y Y JtY
As in (1.4.8), we have the exact sequence of vector bundles over J'Y:
iJ'YxVY-'0. (2.1.18)
There are the following two canonical morphisms of the jet manifold J'Y into
tensor bundles which enable us to handle jets as tangent-valued forms.
(i) Given the jet manifold J'Y, there is a unique bundle monomorphism
A:J'YtiT'XTY, (2.1.19)
J = dxA d,, = dx" (8a + ya8;),

such that
AoJ's=Ts
for any section s of the fibred manifold Y X.
Note that the image A(J'Y) -, Y is an affine subbundle of the vector bundle
which is characterized by the coordinate conditions i' = b. This affine subbundle

is modelled over the vector subbundle
T'XVYcrXTY.
Y Y
In particular, the affine bundle structure of J'Y - Y can be deduced from the
canonical monomorphism A (2.1.19).
(ii) The complementary bundle monomorphism to A,
0: J'Y '-' T'Y V Y, (2.1.20)
8=9`8,=(dy'-y;,dz'')8i,
is called the contact I -jet form. The image 9(J'Y) Y of J'Y is an affine sub-
bundle of the vector bundle
T'YVY-
Y
V
which is characterized by the coordinate conditions y'; = b.
Remark 2.1.9. For the sake of simplicity, we will often identify the jet manifold
J'Y with its images under the morphisms (2.1.19) and (2.1.20).
The canonical morphisms (2.1.19) and (2.1.20) can be viewed as the morphisms
A: J'YxTX 3 (.,8a)-da=88JAETY (2.1.21)

x
and
0 : J'Y x V'Y 9 (.,ay') -. 0` = BJdy' E T'Y. (2.1.22)

Y
The morphism (2.1.21) determines the canonical horizontal splitting of the pull-
back
J'Y x TY = A(TX) J VY, (2.1.23)
8a+y'0 =x''(ea+y'8i)+(yt-xlya)ai,
and the corresponding splitting of the exact sequence (1.4.3a) lifted over J'Y.
Similarly, the morphism (2.1.22) yields the dual canonical horizontal splitting of
the pull-back
J'Y x T'Y = T'X O(V'Y), (2.1.24)
Y J'Y
xadx'' + y,dy' _ (xA + y;ya)dx" + 1,;(dy' - yad?),
and the corresponding splitting of the exact sequence (1.4.3b) lifted over J'Y.
Example 2.1.10. Let u be a vector field on a fibred manifold Y -' X. Its pull-back
over J'Y is defined as the morphism
7rr*u:
The pull-back iro'u has the same coordinate expression u = uAOA + u'8; as u, but
this is not a vector field on J'Y. Using the canonical splitting (2.1.23), we obtain
the splitting
Tf0'u = UH + UV,
I u''8a+u'8;=ua(8a+y;,88)+(u'-u"ya)8,. (2.1.25)
In brief, we say that (2.1.25) is the canonical horizontal splitting of the vector field
U.
Let 0 be an exterior 1-form on Y and iro'q5 its pull-back over J'Y. The canonical
splitting (2.1.24) leads to the canonical horizontal splitting of the form it O:
7ro''o _ OH + 4v,
Fadx'' + q'dy' = (&a + ya0+)dx'' + q;(dy' - yadx' )-
Example 2.1.11. Let r be a global section of the jet bundle J'Y -, Y. Substitut-
ing the tangent-valued form
Aor=dxa(O +r'a8;)
in the canonical splitting (2.1.23), we obtain the familiar splitting (1.4.5) of the
exact sequence (1.4.3a) by means of a connection I' on Y - X.
Accordingly, substitution of the tangent-valued form
0oF=(dy'-I"adx%)8;
in the canonical splitting (2.1.24) leads to the dual splitting (1.4.6) of the exact
sequence (1.4.3b) by means of a connection r on Y -' X.
2.2 Second order jet manifolds

Let Y X be a fibred manifold. Considering the first order jet manifold of the
fibred manifold J'Y -e X, we define the repeated jet manifold J'J'Y. Given the
coordinates (2.1.4) on J'Y, the repeated jet manifold J'J'Y is provided with the
adapted coordinates
(X ,?/',YA,?%,Y;")-
Denoting by iri the canonical projection J'J'Y -' J'Y, we have the following
commutative diagram
J'J'Y J-i J'Y

Nil *o
I 1
where
(x',y',ya) 0in1 = (xA,y`,ya), (2.2.1)
W, y', ya) o J' 7r = (x-1, y',YA) (2.2.2)
The morphisms (2.2.1) and (2.2.2) provide the repeated jet manifold J'J'Y with
two different affine bundle structures with respect to the base J'Y.
The projection lrlI : J'J'Y - J'Y is an affine bundle modelled over the
vector bundle
T'X VJ'Y -e J'Y. (2.2.3)

Jly
2.2. SECOND ORDER JET MANIFOLDS 53
On the other hand, J'ao : J'J'Y - J'Y is an affine bundle (see Example
(2.1.6) whose underlying vector bundle
J'(T'X VY) - J'Y (2.2.4)
differs from (2.2.3).
Note that there is no canonical identification of these affine structures, but this
is induced by the choice of a symmetric linear connection on X (see Proposition
2.6.1).
Taking the affine difference of the images of J'J'Y by J'iro and all over Y, we
obtain the following fibred morphism over Y:
S1:J'J'Y-T'XVY,
Y
(x", y', ll'a) o Sj = (x", y', lla - Y;), (2.2.5)
whose coordinate expression follows at once from (2.2.1) and (2.2.2). The kernel of
S1 defines the canonical affine subbundle
J2Y .
J'J'Y
J'Y
of J'J'Y which is characterized by the coordinate conditions
This subbundle is called the sesquiholonomic jet manifold. The underlying vector
bundle of J2Y -a J'Y is
T'X VyJ'Y -' J'Y,

ily
where VyJ'Y C V J'Y (see (2.1.17)). The induced adapted coordinates on J2Y are
denoted by (xA, y, ya, yW,).
The canonical splitting
T'X VyJ'Y T'X VY = VT'X VY XT'X VY

J1Y JlY ily ily JIY
yields the following splitting of the sesquiholonomic jet manifold:
J'Y=J2Y ED XT'XVY,
JIY
YA = 2(YA +YW + 2(y - yA),
where the subbundle J'Y C fi ' is characterized by the coordinate conditions
I
yiy.
This subbundle is called the second order jet manifold of Y - X. The induced
adapted coordinates of JPY are denoted by
(x', y`, sex, y;,A), (2.2.6)

where the symmetry condition ya is understood. The transition functions of
the coordinates yW read
Of
Y:X &XIJA
where
are the total derivatives and ya are given by the expression (2.1.5).
Thereby, we have the following affine bundle monomorphisms over J'Y:
J2Y JAY J'J'Y. (2.2.7)
The second order jet manifold J2Y can also be seen as the union
Jay = U j=3,
SEX
where j=s are the equivalence lasses of (local) sections s of Y X which are
defined by the conditions
s' E j=s s' E j=s and 8a,,s^(x) = 8s(x),
with respect to any fibred coordinates (xA, y') of Y X around s(x). In the
coordinates (2.2.6), we have
(xA, y', ya, y71) o

j.28
= (XA, s`(x), 8As`(x), OAs'(x)).
There is the composite fibration
where the canonical projection 7r ? : J2Y -' J'Y is an affine bundle modelled over
the vector bundle
JFY = VT'X VY -+ J'Y.

JIY
The following diagram of canonical projections
J2YJ'Y
W2 / o 1 / 1!
X4- Y
11
commutes.
If s : X -. Y is a (local) section, then the map
J2s:x_-. j=s
is a (local) section of the fibred manifold J2Y -- X. It is called the second order
jet prolongation of s. The diagrams
J2Y `-`' J'Y J2Y J'J'Y

J2,' J.. and .n,J1Jl,
X x
are commutative.
Remark 2.2.1. Let 3: X J'Y be a (local) section defining the (local) section
s = ao o3 of Y -- X. The following three facts are equivalent:
3 = J's;
J'I:X _J2YCJ'J'Y;
J11: X -' J2Y C J'J'Y.
0
Let Y X and Y' - X' be fibred manifolds and 0 : Y -' Y' a fibred morphism
over a diffeomorphism 1 : X - X'. One can consider the first order jet prolon-
gation of the fibred morphism J'+ (2.1.8). By definition, this is the repeated jet
prolongation
J'J'o : J'J'Y - J' J'Y'

of the fibred morphism 4'. The morphism J'J'4b is compatible with the inclusions
(2.2.7), that is,
J2Y J2Y ti J'J'Y
J2. 1 1 rjm 1 Pilo
J2YJ2Y ti J'J'Y,
The induced morphisms J2+ and Js4' are called sesquiholonomic and second order
jet prolongations of 0, respectively. We have the commutative diagram
J2Y.J'Y,
JIY +J'Y'
YY'
1 I
X -L X'
where J4 is an affine bundle morphism over J'4'.
Of course, J2 like J1 (see (2.1.10)) is a covariant functor. Some properties of J2
should be recalled.
Let Y - X and Y' -+ X be two fibred manifold over the same base X. Then
the fibred morphisms
pr1:YxY'-.Y and pr2:YxY'- Y'
induce the canonical fibred isomorphism
J2(YxY')Q! J2YxJ2Y'.
x x
If Y X is a vector bundle, so is 7r2 : JZY - X.

Let Y - X be an affine bundle modelled over a vector bundle V -. X. Then
J2Y -+ X is an affine bundle modelled over the vector bundle J2Y X.
Remark 2.2.2. Let Y -. X be a fibred manifold. Then JZY has three vertical
subspaces
VJ1yJ2Y = J2Y X J1Y = J2Y X VT'X VY C Vyf2Y C VJ2Y.

J1Y J1Y J1Y
In particular, there is the following exact sequence (1.4.8) of vector bundles over
JZY which are associated with the composite fibration J2Y JlY X:
0,VJ,yJ2Y_.VJ2Y-+J2Y x
VJ1Y (see (2.1.15)), we have the canonical isomorphism
V".2 \f
V J2Y = J2V Y
VY
W,Y4,Ya,U ,'YI,, I' 4A) (xA,y4,1/`,I& y0,(1l')a,(0W),

where J2VY is the second order jet manifold of the vertical tangent bundle VY -,
X.
Given the fibred manifold J1Y X, let us consider the exact sequence (1.4.3a)
of vector bundles over J'Y:
O - VJ'Y -TJ'Y -. J'Y x TX - 0.
x
Its pull-back over J2Y splits canonically in the following way
fly xx TX -TJ'Y
1
J2Y -, J'Y 1
(s." y" 14, i sr y'+ yai) 0 '\ = (xa> yi> Ya., i-\r ya' xar 4Ai").
Equivalently, we have the affine injection over J'Y

PY ,a. T'X 0 TJ'Y
J1Y
J'Y
A=dz-\ da=da''(8a+ya8.+ya"8;).
The complementary morphism of A is
J2Y x TJ'Y e. VJ'Y
JAY
(2.2.8)
J'Y
which, equivalently, can be seen as a vector-valued form

j2y - T'J'Y V J'Y,
0=0'08j+0'06{'', 0'=dy'-yadx", O =dya-y")dx".
This is called the contact 2 -jet form.
As for first order jet manifolds (see (2.1.14)), we have the affine morphism r
J2TY - TJ2Y. As a consequence, every vector field u on a fibred manifold Y -+ X
gives rise to the vector field
J2u = ua8a + u'8; + (dau' - y"dau")8, + (dau' - y' (2.2.9)
on the second order jet manifold J2Y. This is called the second order jet prolonga-
tion of u.
Several constructions on first and second order jets given above will be general-
ized to higher order jets in Section 5.1.
2.3 Connections
There are several equivalent definitions of a connection on a fibred manifold.
(A) A connection on a fibred manifold Y - X is the choice of a splitting I' of
the exact sequence (1.4.3a), i.e.,
r
O---- VY--+TY=.YxTX -.0 (2.3.1)
2.3. CONNECTIONS 59
or the dual splitting of the exact sequence (1.4.3b). It follows that a connection r
is a section
r:YxTX -TY, (2.3.2)
(xa y' xa y') o r = (xa y` xa ra` xa)
of the affine bundle (1.4.4) which is a linear morphism over both Y and TX. The
local functions rA on Y are said to be the components of the connection r or the
connections parameters with respect to the fibred coordinates (xA, y').
The image of Y x TX by the connection r defines the horizontal subbundle
HY C TY which splits TY as follows:
TY=HYVY, (2.3.3)
x''aa + "O; = A(& + r;,&) + (v' - rn xa)a;.

(B) Given the horizontal splitting (2.3.3), by the same symbol r we will also
denote the projection
r=pr2:TY Y VY,
or
This projection obeys the condition
r Ivy= IdVY. (2.3.4)
Conversely, every morphism r : TY - VY which has the property (2.3.4) defines a

connection on Y - X.
(C) Every linear morphism r over Y (2.3.2) uniquely defines the tangent-valued
semibasic form
Y-LT'XTY
Y
(2.3.5)
I I
X -T'X TX
x
r=dx"(Oa+IxtO,), I
which projects onto the canonical tangent-valued form Ox (1.6.9) on X. Therefore,
one can think of such a form r as being another definition of a connection on Y - X.
(C') Given the splitting (2.3.1), the dual splitting of the exact sequence (1.4.3b)
reads
r
0-'Y xT'X'T'Y-.V'Y----
X Y
0.
Then, every connection r on Y -' X is represented by the vertical-valued form
F: Yev V'YVYr T'YVY, (2.3.6)
where 0y = dy' 8; is the canonical section (1.6.16). This form is given by the
coordinate expression
r = (dy' - I"adx'') 8;.
(D) Within the framework of jet formalism, a connection r on a fibred manifold
Y -+ X is defined as a section of the affine jet bundle J'Y -. Y, that is,
I:Y-J1Y,
(yl, y', ya) r = (xA, y', (2.3.7)
The equivalence of this definition with those given above has been observed in
Example 2.1.11 (see also [167], p.146).
It is an immediate consequence of the definition (D) that connections on a fibred
manifold Y X exist and form an affine space modelled over the vector space of
soldering forms on Y -+ X.
I Following Remark 2.1.9, we will often identify sections (2.3.7) of a jet bundle
with tangent-valued forms (2.3.5) or (2.3.6).
The concept of connection leads directly to the following two constructions.

(i) Since a connection r on a fibred manifold Y -. X is a section of the affinc
bundle J1 Y -. Y, it defines the fibred morphism
Dr:J1Y -T'XVY, (2.3.8)
Dr:z z-Foiro(z), zEJ'Y,
Dr=(ya-f"A)8;,
(see (1.3.3)). One can think of this morphism as being the first order differential
operator on Y. It is called the covariant differential relative to the connection F.
2.3. CONNECTIONS 61
Ifs : X Y is a (local) section, from (2.3.8) we obtain its covariant derivative
Ors= Dr0J's: X _T'X VY,

vrs = (8xs` - I';a o s)dax 8;.
It is easily seen that the following conditions are equivalent:
vrs=0 . J's=ros. (2.3.9)
A (local) section s is said to be an integral section of the connection f if s obeys

the conditions (2.3.9).
PROPOSITION 2.3.1. Let s : X -+ Y be a global section. By virtue of Theorem

1.2.5, there exists a connection r such that s is an integral section of r.
Given a vector field u on X, the contraction
u j vrs = vrs = ux((9xs' - r'a o s)8;

is said to be the covariant derivative of s along the vector field u.
(ii) Let r be a connection on a fibred manifold Y -, X, and let u be a vector
field on its base X. Then from the morphism r (2.3.5) we obtain the following
vector field on Y:
ru=ujr:Y - HY C TY, (2.3.10)

r=ux(8x+r"aa),
which is called the horizontal lift of u by the connection r. Note that ru projects
over u.
Let u, v : X -, TX be two vector fields. Let us compute the vector field
R(u, v) = - r[u, v] + [ru, rv] (2.3.11)
on Y. It is readily observed that this is a vertical vector field given by the coordinate
expression
R(u,v) = uxv'`R'x.
R'4, =8xr-80 r'a+r'x8,r-ria, q,. (2.3.12)
It follows that one can define a VY-valued semibasic 2-form on Y
R:Y-+AT'XVY,
Y
(2.3.13)
R=2Rà,,d?Adx"8
called the curvature of the connection I' (see (2.4.8) for another definition of curva-
ture).
Remark 2.3.1. The concept of curvature leads to important integrability condi-
tions. The following conditions are equivalent.
The lifting
UET(X) .--I'UEP(Y)
is a Lie algebra morphism.
The curvature R of the connection r vanishes identically, i.e., R = 0.
The horizontal subbundle HY C TY is an involutive distribution (i.e., the Lie

bracket of any two horizontal vector fields is again the horizontal one) and,
hence, completely integrable (see Remarks 4.1.2 and 3.9.3).
There exists a (local) integral section s of the connection r through any point
yEY.
Let us consider connections in relations to three important constructions, namely,

those of Cartesian product, pull-back, and reduction.
(i) Let Y -, X and Y' - X be fibred manifolds over the same base X. Let 1' be
a connection on Y X and I" a connection on Y' - X. The product connection
r x I" is the unique connection on the fibred manifold Y Y' -+ X such that the
X
diagram
J'YXJ'Y' J'(YXY')
(r,r) rxr
YxY'
x
2.3. CONNECTIONS 63
is commutative. The product connection has the coordinate expression
r x r' = dx A ( a x+ r;,JW+ ra ), (2 . 3. 14)
where (xA,y') and (x', y'") are fibred coordinates on Y and Y', respectively.
(ii) Given a fibred manifold Y X, let f : X' X be a map. Let Y' = f'Y
X' be the pull-back of Y - X. Every connection r on Y - X induces a connection
r' on Y' X' called the pull-back of the connection of r with respect to f . Indeed,
using the projection (1.2.6), we obtain the linear morphism
r':TY'(xY`') Y,xTYiIariY'xVY=VY'
Y Y
over Y'. Since pre : Y' Y restricts to the identity on each fibre, it follows that
r'I vy, = Id VY'. Hence, r' is a connection on the fibred manifold Y' -. X'. The
connection parameters 17. of 1" are given by
r"a = (ra o prz)aa f a. (2.3.15)
Let IT be the curvature of the pull-back connection V. Then we have
R':Y'-.AT'X'VY',
Y'
R' = n dx'e a;,

2
o Pr2)8afA8Qf, (2.3.16)
where RA,, are components of the curvature R of the connection F. The relation
(2.3.16) shows that R = przR.
(iii) Let iy : Y -+ Y' be a fibred submanifold of a fibred manifold Y' X. Let
r' be a connection on Y' -+ X. If there exists a connection r on Y --+ X such that
the diagram
Y -r,
Toy
'Y 1 !
Y'--T'X TY'
is commutative, we say that r' is reducible (or that it restricts) to the connection
r.
Let r' be a connection on a fibred manifold Y' -, X and r a connection on its
fibred submanifold Y -+ X. Then the following conditions are equivalent:
C is reducible to I ;
Tiy(HY) = HY'(;,,(y), where HY C TY and HY' C TY' are the horizontal
subbundles determined by r and V, respectively;
for each vector field u E T(X), the vector fields r u and Vu are iy-related,
that is,
Tiyofu= I"uoiy. (2.3.17)
Let if be the curvature of a connection I" reducible to a connection r and let

R be that of r. Then the following diagram
Y ATXVY
Y
IdViy
1
Y'a+AT'X VY'
Y0
is commutative. Indeed, if u, v E T(X), then we have
Tiy o [ru,l'v) = [I"u,I''v] o iy

since the property of being iy-related is preserved by the Lie bracket. Hence the
result follows from (2.3.11).
Example 2.3.2. Linear connections. Let r be a connection on a vector bundle
Y - X. We say that I' is a linear connection if f : Y -+ JIY (2.3.7) is a linear
bundle morphism over X. In linear bundle coordinates (x, y') of Y, the connection
parameters of r read
(2.3.18)
where r.%'j are local functions on X.

Note that linear connections are principal connections. Linear connections al-
ways exist (see Remark 2.7.5). They form an affine space modelled over the linear
space of linear soldering forms
Y- T'XVY,
o = oa`;yidx 0 8i,
2.3. CONNECTIONS 65
where oa'j are local functions on X.

The curvature of a linear connection 1' (2.3.18) can be seen as a Y' Y-valued
x
2-form on X, that is,
R = R,,,,';dz" n dx" ays 8;,
aarv i - 8I'a'i + I'ahirvch - rvhiraih

Some standard operations with linear connections should be recalled.
Let Y X be a vector bundle and I' a linear connection (2.3.18) on Y. Then,
there is a unique linear connection I" on the dual vector bundle Y' -- X such that
the following diagram is commutative:
J'YxJ'Y'J10
x
T'X xR
rx r I (,Id)
1
YxY'
x
-.0 X xR
where 6 is the global zero section of the cotangent bundle T'X. The connection I"
is called the dual connection of I'. It has the coordinate expression
I rk. = -raj .y>> (2.3.19)
where (xa, yj) are the fibred coordinates on Y' dual of those on Y.
For instance, a linear connection on the tangent bundle TX reads
K = dx'' (B% + K.%"X" ). (2.3.20)
Accordingly, the dual connection K' on the cotangent bundle T'X is
K' = dxA (8a - (2.3.21)
For the sake of simplicity, we denote these connections by the same symbol K
and call them a linear connection on a manifold X.
I It should be emphasized that the expressions (2.3.20) and (2.3.21) differ in a

minus sign from those used in most of the physics literature. l
Let Y - X and Y' -' X be vector bundles with linear connections r and r,
respectively. Then the product connection (2.3.14) is the direct sum connection
rron YED Y'.
Let Y - X and Y' - X be vector bundles with linear connections r and
r, respectively. There is a unique linear connection r r on the tensor product
Y Y' -+ X such that the diagram
x
J'YXJlY'! JI(YY')
rxr i i
rr
Yx x Y' - y 0y,
X
commutes. It is called the tensor product connection and has the coordinate ex-
pression
(r r)a = FAijyfk + rak* ', (2.3.22)
where (xa, y'k) are bundle coordinates on Y Y' - X.

X
Example 2.3.3. Affine connections. Let Y -p X be an affine bundle modelled

over a vector bundle V - X. A connection r on Y -, X is said to be an affine
connection if r : Y J'Y (2.3.7) is an affine bundle morphism over X.
Affine connections are principal connections, and they always exist (see Remark
2.7.5).
Note that, for any affine connection r : Y -p J'Y, the corresponding linear
derivative r : Y -, J'Y (1.3.5) uniquely defines the associated linear connection on
the vector bundle Y - X.
Using affine bundle coordinates (xA, y') on Y, the condition that r is affine reads
rà = rai;y' + ai, (2.3.23)
where ra'1 and oa are local functions on X. The coordinate expression of the
associated linear connection is
Va = ra
where (xA, y') are the associated linear bundle coordinates on Y.
2.3. CONNECTIONS 67
Note that the functions oa are not necessarily the components of a global section
of the vector bundle T'X Y - X. However, this is the case of a vector bundle
Y X. Indeed, both the affine connection r (2.3.23) and the associated linear
connection r are connections on the same vector bundle Y -- X, and their difference
is a basic soldering form on Y. Thus, every affine connection on a vector bundle
Y -' X is the sum of a linear connection and a basic soldering form on Y -' X.
In particular, let Y be the tangent bundle TX. Then we have the canonical
basic soldering form o = 0x (1.6.9). The corresponding affine connections
r=K+6x, (2.3.24)
6111
on TX, where K is an arbitrary linear connection (2.3.20) on TX, are called the
Cartan connections.
Given an affine connection I' on a vector bundle Y - X, let us denote by R and
R the curvature of t and r, respectively. They are sections of the vector bundle
Yx(AT'X(& Y)-4Y.
It is readily observed that
R + T,
where the Y-valued 2-form
rr:X-AT'XY,
x
T = 27-AdxA Adx" Oi,,s
T'A A l+ A
t
A h- 7hsAh,
is the torsion of the connection r with respect to the basic soldering form o (see
(2.4.17)).
In particular, for Cartan connections (2.3.24), we have
T : X - AT'X TX,
T = 2,r,',xd? n dx" a,,,
T,V A = K, A - K,, , (2.3.25)
which is a familiar torsion of the linear connection K on TX.
2.4 Differentials and codifferentials. Identities

Since connections on fibred manifolds are represented by tangent-valued forms, one
can apply the Fr licher-Nijenhuis bracket (1.6.10) in order to discover several im-
portant identities involving connections.
By virtue of (2.3.5), a connection r on a fibred manifold Y - X is an object
I' E D'(X) P(Y) projected onto the canonical form
Ox E D'(X) T(X).
The F N covariant differential associated with r is defined to be the Nijenhuis dif-
ferential
dr :17.(X) P(Y) - D." (X) V(Y),
dr-O,= [r,m], O E Or(X) P(Y).
It has the property
dr [46, TGJ = [dr-0, tbJ + (-1)1 1 [0, drtG] . (2.4.1)
Let
0=auE1Y(X)0P(Y) (2.4.2)
be a projectable tangent-valued r-form. Then from (1.6.10) we obtain the important

formula
dr4=da0ur+(-1)raAdru, (2.4.3)
where ur is the vertical part of u determined by the connection r, i.e.,

u = I'uX + ur, uX = Tir o u.
The coordinate expression of (2.4.3) is
dry _ r! ,., +
+ axe (2. 4 . 4)
+I7I8i0A,...a. - 8,I"aA dx" A ... A dx - 8i.

In the same manner, given a soldering form o E D'(X) 0 V(Y) on Y - X, the
soldered differential associated with o is defined as
d, : D'(X) P(Y) D'+'(X) V(Y)4d,4,
_ [a, 01, 0 E X(X) 0 P(Y).

2.4. DIFFERENTIALS AND CODIFFERENTIALS. IDENTITIES 69
Of course, the property (2.4.1) holds. If 0 is as in (2.4.2), we have
d,0=da(uXJo)+(-1)'aAd,u,
40 _ *i + (2.4.5)
8ioa0a,...a.)dz-' A tea' A ... A dTx 8i.
Let us further suppose that the base X is oriented and that g is a pseudo-
Riemannian metric on X.
The covariant codifferential associated with r is
br : O'(X) P(Y) - il'-'(X) V(Y),

br= Cdr*. (2.4.6)
Recalling the coordinate expression (2.4.4), we obtain

a
bra _ - (rg + (2.4.7)
A... A dx'%--1 8i,
where
+ +
vama,...a, = 8a-a,...a. + KAY),, ,..a. +
and K is the Levi-Civita connection (1.6.5) of the metric g.

Similarly, given a soldering form a, the soldered codifferential associated with a
and g is
-(-1)r(
6, : '0" (X) P(Y)
I b, =
0'-' (X) V(Y),
9AP
bed = - (r - 1)I
i a - BQoao,+
i a
_, )dx-' A dxal A ... A
We will apply covariant and soldered differentials and oodifferentials to obtain

various objects [127, 1401.
We first have the following equivalent definition of the curvature R of a connec-

tion 1', originally defined in (2.3.13), that is,
R=zdrr=1[I,I']:Y-.XT'XVY. (2.4.8)
The connection r and its curvature R satisfy the identities

brI' = 0, [R, R] = 0, (2.4.9)
drR = jr, R] = 0, (2.4.10)
brR = 0. (2.4.11)
The first identity in (2.4.9) follows at once from (2.4.7), and the second from (1.6.11).
The identity (2.4.10) is the (generalized) second Bianchi identity (or the homo-
geneous Yang-Mills equation). It is an immediate consequence of the graded Jacobi
identity (1.6.12). We see from (2.4.4) that its coordinate expression is
F I'',8,R .- 0, (2.4.12)
(Av)
the sum being cyclic over the indices A, p and P.

In order to prove (2.4.11), take
0 E O'(X) V(Y), E O'(X) V(Y).
Then from (1.6.10) and (1.6.3) we obtain the identity
[0,.01= -[0,.01. (2.4.13)
Now (2.4.6), (2.4.8) and (1.6.12) yield brR = [R, R]. Then the result follows from
(2.4.13).
In the of gauge theories, (2.4.11) is the (generalized) charge conservation identity.
The Yang-Mills operator associated with r is defined as

brR:Y-T'XVY.
Its local expression, as follows from (2.4.6), (2.4.7) and (2.3.12), is
drR = (brR)adxA 8
(brR)a = -gt V0Rpa,
OQRpa = 8aR{pa + KQ"pR,a + KQ"aR4.y + 0 (2.4.14)
In the same manner, given a soldering form or, we define the soldered curvature
P=1d (2.4.15)
p= dxAAde8.,
p0118jo - o8jo.,.
As before, we have the identities
b,o = 0, [P, PI = 0,
dvP = [o, P) = 0,
b;p=0.
The soldered Yang-Mills operator associated with o is
b,p:Y - T'X0VY, (2.4.16)
boP = (bgp)%dXA 8.,

os
Given a connection I' and a soldering form or, the torsion of 1' with respect to a
is defined as
2
Its coordinate expression, as follows from (2.4.4) or (2.4.5), is
r = (8ao,, + N,,Bjo',, - .,o)dxa A dx" 8;. (2.4.17)
There is the (generalized) first Bianchi identity
drr = 4a = [R, of = -d, R. (2.4.18)
No w let I, = I' + o. Then we have the important relations
2p,
(2.4.19)
as follows from (2.4.8), (2.4.15) and (2.4.16).

Example 2.4.1. In particular, let Y - X be a vector bundle and r an affine

connection on it. Then, recalling (2.3.23), we have
r=r+a,
p=0, r= r, R=T+r.
Note that a is a basic soldering form. Hence, p = 0 as (2.4.15) shows. Fom (2.4.12)
we see that the second Bianchi identity d4R = 0 takes the form
E (B&RP'j + ra"jR,,,,'ii + ra`hRA,,"i) = 0. (2.4.20)
(w)
On the other hand, the first Bianchi identity (2.4.18) reads
d, +drr=0.
Given a connection r and a soldering form a, the Ricci tensor of r with respect
to a is defined as
r=b,R:Y-eT'XVY, (2.4.21)
r = rad? 0 0j,
op ;
As before, let iv = r + a. Then from (2.4.19) and (2.4.21) we obtain

r'=r+b,p+b,r,
brR' = brR+r' +brp+brr,
which give some basic relations involving the Ricci tensor, the Yang-Mills operator,
the soldered curvature and the torsion.
Suppose that the soldered curvature p and the torsion r vanish. Then we have
R' = R and r' = r. Moreover, suppose that brR = 0. Then we obtain brR = 0.
Example 2.4.2. Let Y X be a vector bundle and r an affine connection on Y.
Then, recalling (2.3.23), we have
r=i'+a,
6,r 0,
brR=brR+r+brr.
The Ricci tensor, as (2.4.21) shows, is now a basic vector valued 1-form
r:X-T'XY,
r = r'dx" et, (2.4.22a)
ra _ (2.4.22b)
Note that R satisfies the free Yang-Mills equation brR = 0 if and only if
does and r + Err = 0. When the torsion r vanishes, then the equation brR = 0 is
equivalent to the equations &jW = 0 and r = 0.
Example 2.4.3. In particular, let Y = TX be the tangent bundle. The torsion r

vanishes in the case of a Cartan connection 1'. It follows that a Cartan connection
r satisfies the equation brR = 0 if and only if R = 0 and r = 0. Note that the
expressions (2.4.22a) and (2.4.22b) become
r = r"d? O , (2.4.23a)
ra = -g" RpA"b, (2.4.23b)
where
&p *p = fi + KA"pK,,,, - K,,"pKAry. (2.4.24)
For instance, let us consider the case when r is a Cartan connection and K the
Levi-Civita connection of a metric g on X. In this case, the curvature R is given
by the expression (2.4.24) where are the Christoffel symbols (1.6.5).
The curvature (2.4.24) satisfies the well-known identities
VvRAjp + VM&Ap + DAR,,,,p = 0, (2.4.25)
RA,,,p + R8AQ,, + RppaA = 0, (2.4.26)
-R,,AQp = -RApo, (2.4.27)
RA,.ep = (2.4.28)
where
R.%,.$ = g.,RA"p, (2.4.29)
and the symbol VA denotes the covariant derivative with respect to the Levi-Civita
connection, i.e.,
VAR,wp = BAR,,vp + KA"pRv,y + (2.4.30)
KA"-v$ - K.%-,R,,,,''# + K,ryvR,"*p.
We see that (2.4.30) coincides with (2.4.14).

The identity (2.4.25) is the second Bianchi identity which follows from (2.4.20);
while (2.4.26) is the first Bianchi identity; identities (2.4.27) imply that R is a 2-
form on X which takes its values into AT'X. The last identity (2.4.28) results from
(2.4.26) and (2.4.27). This shows that R is a self-adjoint operator on AT'X.
From (2.4.14), (2.4.29) and (2.4.30), we obtain
= -9pOpRepva, (2.4.31)
where (2.4.28) is used. On the other hand, from (2.4.23b) we obtain
907ra = R',.%, (2.4.32)
where (2.4.27) and (2.4.28) have been used. It follows that, in the particular case
of a Cartan connection on TX, our definition of the Ricci tensor reduces to the
standard one. As is well known, the Ricci tensor is symmetric, i.e.,
Rpapa = Rpapa.
This follows at once from (2.4.28).

Using the second Bianchi identity (2.4.25), (2.4.31) and (2.4.32), we obtain the
important identity
g 'V Rap&A = V.Rp9pa - V RpapA. (2.4.33)
As a consequence of (2.4.33), we come to the equivalence of the free Yang-Mills

equations for the Cartan connection I' and the free Einstein equations, i.e.,
6rR=0 a r=0.
Recall that the Einstein tensor is defined as
Ca = r", -
Z
R, (2.4.34)
where R = ra is the scalar curvature. Using (2.4.32) and the second Bianchi identity
(2.4.25), we see that
OAR = 20.,e%.
Hence, as is well known, the Einstein tensor (2.4.34) is divergence-free, i.e., OC", _
0.
2.5. COMPOSITE CONNECTIONS 75
2.5 Composite connections

Throughout this Section, we will refer to a composite fibred manifold
Y!'-z z
w \f wzX (2.5.1)
X
with adapted coordinates (x", za, y`) as in (1.2.8). The jet manifolds J'Z of Z -- X,
J'Yz of Y --+ Z and J'Y of Y - X are equipped with the coordinates
W, zP, 4), W, -1, , FA, yp), W, x, V, 4, A),

respectively (see Example 2.1.7).
We will now consider relations between connections on the fibred manifolds Z
X,Y-+Zand
Remark 2.5.1. Let
'y=dx" (8A+ yP\Op
be a connection on the composite fibred manifold Y - X and
r = dx" 0 (8A + raiP) (2.5.2)
a connection on the fibred manifold Z -+ X. We say that the connection ry is

projectable over the connection r if the diagram
TY
wrz ! I Twyz
Z -LT'X TZ
or, equivalently, the diagram
Y.".J'Y
WYZ I j lwvz
z r J'Z
are commutative. It is readily observed that the commutativity of these diagrams
is equivalent to the condition ' = I a.
Let
A=dx"(8,,+A;,8;)+dzp(8p+A,0;) (2.5.3)
be a connection on the fibred manifold Y -. Z. Given a connection r (2.5.2) on

Z -. X, the canonical morphism p (2.1.12) enables us to obtain a connection ry on
Y -' X in accordance with the diagram
J'ZxJ'Y2_f.J'Y
z
(r,A)
I I"
ZxY
x
Y
This connection, called the composite connection, reads
1 y=dxa(Ba+IaOp+(As+API',p,)8,). (2.5.4)
Obviously, 7 is projectable over T.

Remark 2.5.2. An equivalent definition of a composite connection is the following.
Let A and I' be connections as before. Then their composition
r)
Y x TX Y x TZ - TY
x z
is the composite connection ry (2.5.4) on the composite fibred manifold Y - X. In
brief, we will write
7=Aor. (2.5.5)
In particular, let us consider a vector field r on the base X, its horizontal lift
rr over Z by means of the connection r and, in turn, the horizontal lift A(I'r) of
Fr over Y by means of the connection A. Then A(rr) coincides with the horizontal
lift -yr of r over Y by means of the composite connection ry (2.5.5).
We will use this result to show that, if Y - Z and Z -. Y are fibre bundles, so
Remark 2.5.3. Ehresmann connections. Let zr : Y X be a fibred manifold

and I' a connection on it. Let t I- x(t) and t h- y(t) be smooth maps in X and Y,
respectively. Then t '-. y(t) is called a horizontal lift of x(t) if
ir(y(t)) = x(t), jc(t) E Hy(,)Y, t E R,
where HY C TY is the horizontal subbundle associated with the connection I'. If,
for each path x(t) (to < t < t1) and for any yo E a= '(x(to)), there exists a horizontal
lift y(t) (to < t < t1) such that y(to) = yo, then 1' is called an Ehresmann connection
([83], p.314).
PROPOSITION 2.5.1. A fibred manifold is a fibre bundle if and only if it admits an

Ehresmann connection ([83), p.314). 0
Let now Y -e Z - X be a composite fibred manifold where Y - Z and
Z X are fibre bundles. These bundles admit Ehresmann connections A and t,
respectively, whose composition is easily proved to be an Ehresmann connection.
Hence, Y -, X is a fibre bundle.
Every connection A (2.5.3) on the fibred manifold Y -e Z determines a splitting
of the exact sequence (1.4.8) by restricting A to Y x VZ, that is,
z
VY=(YXVZ)VYzi (2.5.6)
,Y8o + 0'84 = '(8y + A'n8;) + (y' - Af )8;.

Note that only the connection parameters A, (and not AA') are involved in the
splitting (2.5.6).
Using this splitting and the canonical morphism p (2.1.12), we obtain the mor-
phisms
A:J'Y--eJ'ZXYit
(x.,z ,y`,zXP,yi,) o A = (x,#,y',za, A' +Ayza),
and
DA=J'YtiJ'YxJ'Y-'T'XVYzCT'XVY,
DA = (yip - Aa - A,za)dxa 8{. (2.5.7)
One can think of the morphism (2.5.7) as being the first order differential operator on
the composite fibred manifold Y -+ X. It is called the vertical covariant differential
relative to the connection A.
Remark 2.5.4. The vertical covariant differential (2.5.7) can be defined also as
DA =przoD,:J'Y-eT'XVY-T'XVY2,
where D., is the covariant differential (2.3.8) relative to some composite connection
(2.5.5), but it does not depend on specification of 1' and y.
Now, let h be a global section of the fibred manifold Z - X. The restriction
h+Yz = Yzlh(x)
is an imbedded fibred submanifold

ih:Yh=h'Yz-- Y (2.5.8)
of Y -' X as the diagram (1.2.11) shows. Note that

VVYh=VYZIv"-
Given a connection A (2.5.3) on Y -+ Z, its pull-back (2.3.15) on Yh -' X reads
At, = dxh (8 + [Ai o h + (A, o h)8,,hn]8;). (2.5.9)
It is readily observed that the covariant differential

DA,, : J'Yh -' T'X VY", (2.5.10)
DA. = (ya - Aa o h - (A, o h)8hh')dxa a;,
relative to At, coincides with the restriction of the vertical covariant differential DA
(2.5.7) to J'ih(J'Yh) C J'Y.
Now, let I' be a connection on Z X and let -y = A o r be the composition
(2.5.5). Then it follows from (2.3.17) that the connection -y is reducible to the
connection Ah if and only if the section h is an integral section of t, i.e.,
By virtue of Proposition 2.3.1, such a connection r always exists.

Let Y -+ Z - X be a composite fibred manifold where Y Z is a vector
bundle. Let a connection
7=dxA0(OA+Iaap+AAtjy38,) (2.5.11)
on Y -+ X be a linear morphism over the connection t on Z -+ X. The follow-

ing constructions generalize the notions of a dual connection and a tensor product
connection on a vector bundle.
(i) Let Y' - Z X be a composite fibred manifold where Y' -' Z is the vector
bundle dual of Y -' Z. Given the projectable connection (2.5.11) on Y X over
r, there exists a unique connection
7'
on Y' -+ X, projectable over I', such that the following diagram commutes:
J'Y J'z
X J'Y' J'Z x(T'X x R)
z
rxaxid
I I
YxY'
z
ZxR
0
where 6 is the zero section of T'X. We term -y' the dual connection ofy over I'.
(ii) Let Y -' Z -+ X and Y' - Z -+ X be composite fibred manifolds where
Y -, Z and Y' Z are vector bundles. Let -y and ' be connections (2.5.11) on
Y X and Y' -i X, respectively, which are projectable over the same connection
r on Z -+ X. There is a unique connection
170 ,'=dzA0 (2.5.12)
on the tensor product Y z Y' - X, which is projectable over I', such that the
diagram
J'YBiz
X J'Y' J' (Y Y')
J1Z
'Yxy
I I
,ey
YXY' YY'
is commutative. This is called the tensor product connection over r.

Example 2.5.5. Let r : Y - J'Y be a connection on a fibred manifold Y - X.
Then, by virtue of the canonical isomorphism VJ'Y = J'VY, the vertical tangent
map vr: VY -. VJ'Y defines the connection
vr:VY-+J'VY,
v r = dxa (8a + ra + 8j I"ay' ), (2.5.13)
on the composite fibred manifold VY -+ Y - X. This is called the vertical con-

nection to r. Of course, the connection yr projects onto r, i.e., the diagram
VY vr.JIVY
1 !
Y r J'Y
is commutative. Moreover, yr is linear over r. Then there is the dual connection
of yr over r on the composite fibred manifold V'Y Y -. X:
V'r : V'Y - J'V'Y,
v'r=d?o(BA+r'a (2.5.14)
which is called the covertical connection to r.

Note that, if Y X is a vector bundle [an affine bundle] and r is a linear [shine]
connection on Y - X, the connection (2.5.13) is the product connection adapted
to the canonical vertical splitting of VY.
2.6 Second order connections

Let Y - X be a fibred manifold. A second order connection I' on Y . X is defined
as a first order connection on the fibred manifold ir' : J'Y -' X, that is, this is a
section of the affine bundle 7rij : J'J'Y J'Y:
f: J'' Y - J' J' Y,
W, y , y11, A, y' ) o r = (X-" yi, /L fA, flo,
where a and k are local functions on J'Y.
A second order connection r on the fibred manifold Y - X is said to be sesqui-
holonomic [holonomic] if it takes its values into the subbundle J2Y [J2Y] of J'J'V.
We have the coordinate equality
rÀ=1/A
which characterizes a sesquiholonomic connection and the additional condition

2.6. SECOND ORDER CONNECTIONS 81
which characterizes a holonomic connection.

Equivalently, a second order connection I' can be given as a TJ'Y-valued semiba-
sic 1-form on J'Y
ily F
T'X TJ'Y,
J1 Y
dxA(aa+fta;+fsxa;), (2.6.1)
which projects onto 9x.
Remark 2.6.1. Recalling (2.3.13) and (2.1.6), we see that the curvature R of a
first order connection r on Y -, X is a soldering form on J'Y:
R= a : J'Y --+ AT'X VY 'T'X VyJ'Y,
ily ily
a= 2k,,,dx''06 ,
where VyJ'Y is the vertical tangent bundle of the affine jet bundle J'Y - Y which
admits the vertical splitting (2.1.17).
Every first order connection on a fibred manifold Y -' X gives rise to the second
order one by choosing a symmetric linear connection on X.
The first order jet prolongation J'l' of a connection r on Y - X is a section
of the repeated jet bundle J'iro (2.2.2), but not of r1l. Given a symmetric linear
connection K (2.3.21) on X, one can overcome this difficulty by constructing the
affine involution sK of J'J'Y over J'Y such that
SKOSK=IdJ'J'Y,
J'J'Y J'J'Y
W1I \f Jlxo (2.6.2)
J'Y
Let Y - X be a fibred manifold and K a symmetric linear connection on X.
Using the canonical isomorphism (2.1.15), we obtain
T'X VJ'Y - J'T'X J'VY, (2.6.3)
ily J'Y
which is a linear morphism over J'Y. Moreover, the composition of (2.6.3) with
(2.1.11) leads to the linear isomorphism over J'Y
T'X VJ'Y 3K J'(T'X VY),
JiY Y
W,1/1,1/A, SIA, V;,X) 0 3K = (x-', V, VX 1 x I V1.% - KA Jr,), (2.6.4)

between vector bundles (2.2.3) and (2.2.4) associated with the affine bundle struc-
tures Ku and J'ao of J1J1Y, respectively. The following fact now can be easily
proved.
PROPOSITION 2.6.1. Let K be a symmetric linear connection on X. Then there is

a unique affine involution (2.6.2) of J'J1Y whose linear derivative is 3K (2.6.4). Its
coordinate expression is
(y r1/,1lar$K=( ryryaryarbA-Ka
0
Let I' : Y - J'Y be a connection on Y -' X and K be a symmetric linear

connection on TX. Then I' gives rise to the second order connection
I'K=8KOJ'I':J'Y--.J'J'Y,
rK = dxa (8,, + I8 A + y.,a,r,, + Ka(U'v - l'(2.6.5)

which is an affine morphism
J'Y rK J'J'Y
,0 *rr
1 1
Y
r J'Y
over the first order connection 1'.
2.7 Jets of principal bundles

The main object under consideration here is the fibre bundle C = J'P/G whose
sections are principal connections on a principal bundle P X with a structure
Lie group C.
1 For the general theory of principal bundles we refer the reader to (103]. 1
Let ap : P -. X be a principal bundle with its structure group a real Lie group
G.
2.7. JETS OF PRINCIPAL BUNDLES 83
One can say that P - X is a general affine bundle modelled over the trivial
group bundle X x G so that
Rc: PxG - P, (2.7.1)
R9:p.pg, pEP, 9EC,

is the free transitive action of G on P on the right.
A principal bundle P is equipped with a bundle atlas Wp = {(U0,0Q)} whose
trivialization morphisms
t4p: Trp' (Ua) -+ Ua x C
obey the condition

pre 0 V). o R. = g o prz o V). , Vg E G.
Due to this property, every trivialization morphism trr uniquely determines a local
section za : U. -+ P such that
prz o t/ra o Z. = 1a,
where 1a is the unit element of G. The transformation rules for za read
zp(x) = za(x)Pap(x), x E v. n Up, (2.7.2)
where pap are transition functions of the atlas Tp. Conversely, the family {(U.,z0)}
of local sections of P which obey (2.7.2) uniquely determines a bundle atlas dip of
P.
Note that the tangent functor T preserves a principal bundle structure. Given
a principal bundle P - X, the fibre bundle TP - TX is a principal bundle
TRR:TP x T(X xC) -+TP
TX
with the structure group TG = C x g,, where gi is the left Lie algebra of left-invariant
vector fields on the group C.
A principal bundle P -' X admits the canonical trivial vertical splitting
a: VP=Pxgi
such that a-' (em) are fundamental vector fields on P corresponding to the basis
elements em of the Lie algebra gi.
Taking the quotient of the tangent bundle TP -. P and the vertical tangent
bundle VP of P by TRc (or simply by C), we obtain the vector bundles
TOP = TP/C, and VOP = V P/C (2.7.3)
over X. Sections of TOP - X are C-invariant vector fields on P, while sections

of VOP -. X are C-invariant vertical vector fields on P. Hence, the typical fibre of
VOP -+ X is the right Lie algebra g of the right-invariant vector fields on the group
0. The group G acts on this typical fibre by the adjoint representation.
The Lie bracket of vector fields on P goes to the quotient by G and defines the
Lie bracket of sections of the vector bundles TOP -. X and VcP X. It follows
that VOP - X is a Lie algebra bundle, the gauge algebra bundle in the terminology
of gauge theories, whose fibres are Lie algebras isomorphic to the right Lie algebra
gofG.
Example 2.7.1. When P = X x G is trivial (e.g., C is an abelian group), we have
VcP=X xTG/C=X xg.
Example 2.7.2. Given a local bundle splitting of P, there are the corresponding
local bundle splitting of TOP and VOP. Given the basis for the Lie algebra g,
we obtain the local fibre bases {8", ep} for TOP -+ X and {en} for VOP X such
that
[ev,ea] = cgver,
where c;, are the right structure constants of C. If

C rl : X TcP,
t=E"a"+eer, 17 =7f,9,.+7f ev,
are sections, the coordinate expression of their bracket is
It, n] = (e"on" - if8 ")a" + (S"a"nr - ,17"aaf + etn)e,. (2.7.4)
In contrast with the tangent functor T, the jet functor J' fails to preserve a
principal bundle structure.
Let J' P be the first order jet manifold of a principal bundle P X with a
structure Lie group G. The jet prolongation
J'Ro: J'P x J'(X xG)-+J'P

of the canonical action (2.7.1) brings the fibre bundle J' P - X into a general affine
bundle modelled over the group bundle
J'(XxG)=Gx(T'Xgi)
over X which, however, is not necessarily trivial. Hence, J'P -+ X fails to be a
principal bundle in general.
Remark 2.7.3. A principal bundle structure is inherited by jet prolongation of
principal bundles in terms of jets of manifolds (see Proposition 5.3.4).
Bearing in mind that the jet bundle PP -' P is an affine bundle modelled over
the vector bundle
T'XVP-P,
P
let us consider the quotient of the jet bundle PP - P by J' R0. We obtain the
affine bundle
C=J'P/G-X (2.7.5)
modelled over the vector bundle
Z`=T'X VcP-+X.
Hence, there is the canonical vertical splitting
VC =Cx?7.
x
Remark 2.7.4. It is easily seen that the fibre bundle J' P - C is a principal
bundle with the structure group G. It is canonically isomorphic to the pull-back
J'P=Pc=CxP-i C. (2.7.6)
In the case of a principal bundle P -, X, the exact sequence (1.4.3a) can be

reduced to the exact sequence
O-,VcP-TcP-TX -0. (2.7.7)
by taking the quotient with respect to the action of the group C.

A principal connection A on a principal bundle P X is defined as a section
A : P -+ J'P which is equivariant under the action (2.7.1) of the group C on P,
that is,
J'R9oA=AoR9, VgEG. (2.7.8)
Turning now to the quotients (2.7.3), such a connection defines the splitting of the
exact sequence (2.7.7). It is represented by the tangent-valued form
T'X TcP
A/ 1
X " T'X TX
A = dx' (8a + Aaeq), (2.7.9)
where Aa are local functions on X.

On the other hand, due to the property (2.7.8), there is obvious one-to-one
correspondence between the principal connection on a principal bundle P -, X and
the global sections of the fibre bundle C - X (2.7.5), which is therefore called the
bundle of principal connections.
Remark 2.7.5. An immediate consequence of this definition is that, by virtue of
Theorem 1.2.5, principal connections on a principal bundle exist.
Remark 2.7.6. Let a principal connection on the principal bundle P --+ X be

represented by the vertical-valued form A (2.3.6). Then the form
7: P-A +T*POVPld
P
-0-*+ T'Pgi
is the familiar 91-valued connection form on the principal bundle P. Given a local
bundle splitting (Ut, z() of P, this form reads
"A =Op -Adxaeq,

where Op is the canonical gi-valued 1-form on P, {e,} is the basis of 91, and Aa are
local functions on P such that
"Aq
A (pg)Eq = (p)adg' 1(EV)
The pull-back zf4 of 7 over Ut is the well-known local connection 1 -form
At = -Aadxa eq, (2.7.10)
where Al = o zf are local functions on X.

It is readily observed that the coefficients Al of this form are precisely the co-
efficients of the form (2.7.9). Moreover, given a bundle atlas of P, the bundle of
principal connections C is equipped with the associated bundle coordinates (x'', a,)
such that, for any section A of C --, X, the local functions
Al=aaoA
are again the coefficients of the local connection 1-form (2.7.10). In gauge theory,
these coefficients are treated as gauge potentials. We will use this term to refer to
sections A of the fibre bundle C -, X.
The curvature FA of the principal connection A (or the strength of A) is the

V0P-valued 2-form on X
FA: X-.A2T'XVcP,
FA = 2 FAr d? A dx" e
'ku
Fa=[8a+Aaeq,8+Aey]'=BaA;-OAA+ A%A, (2.7.11)
whose coordinate expression follows from (2.7.4).

Let now
Y = (PxV)/G (2.7.12)
be a fibre bundle associated with the principal bundle P X whose structure

group G acts on the typical fibre V of Y on the left. Let us recall that the quotient
in (2.7.12) is defined by identification of the elements (p, v) and (pg, g-'v) for all
g E C. For short, we will say that (2.7.12) is a P-associated fibre bundle.
As is well known, the principal connection A (2.7.9) induces the corresponding

connection on the P-associated fibre bundle (2.7.12). If Y is a vector bundle, this
connection takes the form
A=ds"(8a+AP lpB;), (2.7.13)
where Ip are generators of the representation of the Lie algebra g on V. This is called
the associated principal connection or simply a principal connection on Y X.
In particular, a principal connection A yields a linear connection on the gauge
algebra bundle VcP -+ X. The corresponding covariant derivative VA of a section
e=?epofVCP-,X reads
VAC: X-.T'XVcP,
I VAt = (&c + cAaE)dx" er
If u is a vector field on X, the covariant derivative VAC of along u is simply given
by
V.C = uJV''f = [uJA,C],
where A is the tangent-valued form (2.7.9). In particular, we have
Vaeq = fppQAae,. (2.7.14)
The covariant derivative V" is compatible with the Lie bracket of sections of
VcP - X, that is,
VUA[C, n] = fog E, n] + [C, Vy n]
for any vector field u : X -. TX and sections , n : X - VcP.
Remark 2.7.7. Let P X be a principal fibre bundle with a structure Lie group
C. Then the F-N bracket on O'(P) 0 P(P) is compatible with the canonical action
Rc, and we obtain the induced F-N bracket on 9'(X) S(TOP), where S(TOP) is
the vector space of sections of the vector bundle TcP - X. Recall that S(TcP)
projects onto T(X).
If A E 01(X) 0 S(TcP) is a principal connection as in (2.7.9), the associated
F-N covariant differential is
dA : O'(X) 0 S(TTP) -# O'' (X) 0 S(VcP),
dAO = [A, 01, 0 E Dr(X) 0 S(TcP). (2.7.15)
2.8. CANONICAL PRINCIPAL CONNECTION 89
Note that, on or(X) 0 S(VVP), the differential dA coincides with the covariant
differential relative to the linear connection VA on the vector bundle VIP - X
whose connection parameters are given by (2.7.14).
If 0 = a i; where a E Dr(X) and C E S(VVP), we have the formula
dA4 = da0C+ (-1)"a AVA
which follows from (2.4.3).
Using the covariant differential (2.7.15), we can easily see that the curvature
FA E D2(X) 0 S(VVP) of the connection A, as given in (2.7.11), reads
FA= 2dAA= I[A,A].
2.8 Canonical principal connection

This Section is devoted to the jet manifold J'C of the bundle of principal connections
C - X and the canonical connection on this fibre bundle. In gauge theory, the jet
manifold J'C plays the role of a configuration space of gauge potentials.
Remark 2.8.1. Given the coordinates (x,a) of C, the jet manifold J'C of C is
equipped with the adapted coordinates (x", a, at ).
Given a fibred manifold Y -+ X, let us recall the complementary morphism
(2.1.20) written in the form
0:J'YYx TY -.VY, (2.8.1)
Just as (2.1.23), it provides the canonical horizontal splitting of TY over J'Y. This
splitting is nicely interpreted in the case of principal bundles [57, 58).
Let P -, X be a principal bundle with a structure Lie group C. Taking the
quotient of (2.8.1) with respect to C, we obtain
CxT0P V0P
(2.8.2)
x
9(8a) _ -a"ep, 9(ep) = ep.
It follows that the exact sequence (2.7.7) admits the canonical splitting over C.
Let us now consider the pull-back principal bundle Pc (2.7.6) whose structure
group is G. Since
V0(CxP)=CxVGP, T0(CxP)=TCxT0P, (2.8.3)

X x x x
we can interpret (2.8.2) as a principal connection
TC TC x T0P
x
(2.8.4)
C
+ aaep, A(8p) = 8p,
A=dx"(8a+aaep)+daa8,a.,
on the principal bundle
It follows that the principal bundle Pc carries the canonical principal connection
given by (2.8.4).
Following (2.7.11), we see that the curvature FA of A is given by
2
FA: C - AT'CVGP,
FA = (daa A dxa + 1 e a,adx" A dam`) e,. (2.8.5)
This is called it the canonical curvature, and its meaning is the following. Let
A : X -- C be a principal connection on the principal bundle P -' X. Then the
pull-back
A' FA = FA, (2.8.6)
is the curvature of the connection A.

Remark 2.8.2. A consequence of the existence of the canonical principal connection
on Pc is that the vector bundle
CxVCP
x
is provided with the canonical linear connection such that the corresponding covari-
ant derivative V is
0.%j Ve, = c'ygaper, &,'j Veo = 0 (2.8.7)
(see (2.7.14)).
Let dA be the F-N covariant differential associated with A which acts on 0'(C)
S(To(C xX P)) (recall (2.7.15)). Of course, on 0* (C) S(VcP), dA coincides with
the F-N covariant differential associated with the linear connection V given by
(2.8.7) (see Remark 2.7.7). We have
A E 0'(C) S(Tc(C x P)),

A = dx'` (8,, + apep) + dap 8 , (2.8.8)
FA = 2dAA = I[A A) E 02(C) S(1/VP),

dFA=dAFA=0,
where the last equation is the (second) Bianchi identity relative to FA (recall (2.4.10)).
Using (2.8.7), one can verify this identity directly.
Note that, from (2.8.6) and (2.8.8) we obtain
dAFA=A'dAFA=0,
i.e., the (second) Bianchi identity relative to FA (the differential dA have been defined
in (2.7.15)).
Example 2.8.3. In particular, let us consider the trivial principal bundle P =

X x R -, X. Then C = T'X -- X is the affine cotangent bundle, and principal
connections on P are precisely 1-forms on X. The canonical connection A, the F-N
covariant differential dA and the curvature reduce to
0 = iadsa,
dA = d,
FA=S2=dOE n(T'X), 11=d? A d?, (2.8.9)
that is, they are the Liouville form, the familiar exterior differential and the canonical
symplectic form on the cotangent bundle T'X, respectively. 9
This Example shows that the bundle C X is in a sense a generalization of the

cotangent bundle T'X -' X. Indeed, just as T'X carries the canonical symplectic
form (2.8.9), in the same manner C does the canonical VaP-valued 2-form (2.8.5).
Recall that, given a vector field u : X -' TX, its canonical lift it : T'X -. TTX
(3.7.9) is uniquely determined by the equation
1z10 = -d(uJO), (2.8.10)
and has the coordinate expression
U = u"a" - Xa"u"a".
This is also called a Hamiltonian lift. The meaning of (2.8.10) is that we define
actually a R-Lie algebra representation of T(X) into ? (T'X), the Lie algebra of
projectable Hamiltonian vector fields over T'X.
The generalization of this representation by means of the canonical curvature
FA is of basic importance in gauge theories.
Let C : X - TAP be a section projected onto a vector field u on X. Using
(2.8.2), we obtain the morphism over X
i.e., as (2.8.3) shows, a section of V0(C xX P) -. C. Then the equation

u(JFA = -d(1;J9) (2.8.11)
uniquely determines a vector field ut : C TC projectable over u. Simple compu-
tations lead to
e = u"a" + e'eo, u = u"a",
uu = u"a" + uaa;, (2.8.12)
One can think of (2.8.11) as being the definition of a projectable Hamiltonian

vector field on C, and can write of E 74(C). We have
u1(,n1 = [ut, t4,J, Ve, ii E S(TcP). (2.8.13)
Thereby, ?(C) is a Lie algebra. In particular, there is the subalgebra 74(C) C
74(C) of the vertical Hamiltonian vector fields on C:
1; E S(VcP), ug E 74(C),
FU( u., = a"{' + cr aTV7. (2.8.14)
= ,
Since VC = C xX VcP C TC, we can write
ug=Ve:C--+VC, CES(VcP), (2.8.15)
where V is the covariant derivative (2.8.7).

Using the jet lift (2.1.16), we obtain the jet prolongation of the vector field
(2.8.12) over J'C (we continue to use the same symbol u()
uE : J'C TJ'C,
uE = uAaA + ua8; + uaa;,
ua =8a cc,a& - (2.8.16)

aj,,,au" + dp,a, -
where uj, is given as in (2.8.12). In particular, when E S(V0P), (2.8.16) reduces
to
ut : J' C -+ V J'C,
ut = U'49.'% + uaa;'",
uA = dAu = S c;gn.%. + gnyaAS ,
where the expression of ua is given in (2.8.14).
Remark 2.8.4. Let us now fix a principal connection A : X C and study the
lifts defined by it.
If u : X -+ TX is a vector field, then (2.7.9) determines the section
C=uJA: X -'TAP,
C = uAaA + eep, P = AauA.
Its Hamiltonian lift, as in (2.8.12), is
U{ = UAvA + uAaA. ,
ua = 8 A,',u + cp,aAMu' - (a,', - A)8Au9.
Let v : X -. TX be another vector field and
n=vJA: X --'TSP.
Moreover, put
w = [u,v]:X-+TX
and
Then we see from (2.3.12) and (2.7.11) that
[f, n] = C + FA (u, v), (2.8.17)
where FA(u, v) is the section
FA P,
FA(u, v) = uav"(OAA14 - B,,A;, + c;,AaA,,)e
FA being the curvature of A. Recalling (2.8.13) and (2.8.15), from (2.8.17) we obtain
[uu, u,,] = uC + V [FA (U, v)].
Let us try to interpret the lifting of ut as its horizontal lift uJ r for a connection
r on the fibre bundle C X.
For this purpose, let us consider a symmetric linear connection K on X and the
linear connection VA induced by A on VCP - X given by (2.7.14). Let r be the
tensor product connection on T'X 0 VcP X induced by K and A. Given the
coordinates (xa, a-, 8'a,,) of J' (T'X (9 VcP), we have
r:T'X VCP -. J1(T'X VcP),

.,4,or=-K,,x +cygavA%.
Using the fibred morphism
4;A :C-'T'XVcP
introduced in (1.3.3), from the following commutative diagram, we obtain the section
r:C-.J1C
PC J1 J1(T'X VcP)
r1 I
C ". T'X VCP
Iaa,, o r = ra,, = OAA + cy,nPA,, - -Ate) + cygAxA9. (2.8.18)

Of course, I' is an afiine morphism over X, i.e., an affine connection on the affine
bundle C X, while the associated linear connection is r. Moreover, it is easily
seen that A is an integral section of r, i.e.,
J'A=roA.
The canonical curvature FA (2.8.5) can be seen in a slightly different way.

Namely, there is a horizontal VCP-valued 2-form on J'C:
J'C-AT'X VcP (2.8.19)
which satisfies the condition
.FoJ'A=FA
for each principal connection A : X -. C. We have
.F= Z,,dx"ndx"e,,
a;, + c'ygaaaF,. (2.8.20)
It is readily observed that (2.8.19) is an affine surjection over C and, hence, its
kernel C+ = Ker8.1 with respect to the zero section
0:C-CxAT'XVcP
x
is an affine subbundle of J'C -e C. Thus, we have the canonical splitting over C:
J'C=C+C_=C+(Cx T'XVcP), (2.8.21)
a = 2 (aa + aa - cpgaAQ) + 2 (a4, - Q'A +a,Q

The corresponding canonical projections are
S=pr,:J'C-'C+, (2.8.22)
S,' = 2 (aa + aa - cygaaaN),

and pr2 =.F/2 (2.8.19).
Remark 2.8.5. The of iine subbundle C+ -' C is modelled over the vector bundle
x
which is a vector subbundle of
JC=T'XVC-+C.
C
Recall that
VC =CxT'X0VCP.
x
Of course, also the vector part of (2.8.21) is a vector subbundle
CxAT'XVCP --- C
x
of J'C.
Remark 2.8.6. Let r : C -e J'C be a connection on the bundle of principal

connections C - X. Then s o r is a C+-valued connection on C -i X which
satisfies the condition
(S o r)a - (s o r); ,a + cygnaa,, = 0.
In particular, let us consider the affine connection r (2.8.18). Then we obtain the
connection
s=sor:C-.ECJ'C,
S,y, = (BaAI, + 8NAa - ANua) (2.8.23)
-2Ka"n(a
2 - A') - aaaM
which has the property

SoA=SoJ'A.
Chapter 3
Lagrangian formalism
We will limit our study to first order Lagrangian formalism, since most contemporary
field models are described by first order Lagrangian densities. This, however, is
not the case of the Hilbert-Einstein Lagrangian density in General Relativity which
belongs to the particular class of second order Lagrangian densities leading to second
order Euler-Lagrange equations (see Remark 3.2.12).
From the mathematical point of view, first order Lagrangian formalism is free
from the ambiguities which are present in the higher order one [77]. For it the
finite-dimensional configuration space of fields represented by sections s of a fibred
manifold Y X is the first order jet manifold J'Y of Y. A first order Lagrangian
density on J'Y is defined as a horizontal density
L:J'Y - A"7-X, n=dim X.
Given fibred coordinates (xa, y`) of Y X and the corresponding adapted coordi-
nates (x", y', ya) of J'Y, a Lagrangian density reads
L = Gw, w = dx'...dx,
where G is a local function on J'Y (see (1.6.6) for the notation). We will denote
the Lagrangian momenta by
n; = 8,' G.
We will use the first variational formula (3.2.8) which provides the canonical
decomposition of the Lie derivative of a Lagrangian density along a projectable
vector field on Y in accordance with the variational task, and thus leads to the Euler-
Lagrange operator and differential conservation laws. Formulas (3.5.15), (3.5.17)
97
98 CHAPTER 3. LAGRANGIAN FORMALISM
and (3.5.25) are basic elements of our analysis of conservation laws, including those
of energy-momentum, in field models.
3.1 Technical preliminaries. Higher order jets

Though our consideration is restricted to first order Lagrangian theory, we will
occasionally appeal to higher order jets for the sake of completeness. Referring the
reader to Chapter 5 for a detailed exposition, here we summarize only the relevant
material on higher and infinite order jets.
In brief, one can say that the r-order jet manifold J'Y of a fibred manifold
Y -+ X comprises the equivalence classes f.s, x E X, of sections s of Y - X
identified by values of the first r + I terms of their Taylor series at the point x.
There is the inverse system
of higher order jet manifolds J'Y.

Given fibred coordinates of Y -. X, the r-order jet manifold J'Y is
endowed with the adapted coordinates (xa,yX), 0 <I A 1< r, where the multi-index
A denotes a collection of numbers I A 1= k, modulo permutations. By
A + E is meant the collection
A + E = (14 ... \Ia,...al)

modulo permutations. This differs from the union of collections
AE = (ak ... ai)

where indices A and a are not permuted. We will use the compact notation
BA = BAk o ... O OA1, A = (Ak ...,\I). (3.1.1)
Every section s of a fibred manifold Y X has the r-order jet prolongation to

the section
(J's)(x) = j=s
of the fibred jet manifold J'Y - X.

3.1. TECHNICAL PRELIMINARIES. HIGHER ORDER JETS 99
Every projectable vector field u on Y X admits the r-orderjet lift Fu (4.6.34)

over the r-order jet manifold FY of Y -. X. This is a projectable vector field on
XY (see Definition 5.1.4). We have the inverse system
T,ro Ttr Tr;-, Pr T,''+t
of the Lie algebras P, of projectable vector fields on the higher order jet manifolds
J'Y.
Remark 3.1.1. If a vector field u on a fibred manifold Y - X is the generator
of a (local) 1-parameter group [4 t] of local fibred automorphisms of Y X (see
Remark 1.5.2), then its r-order jet lift is the generator of the (local) 1-parameter
group of the local fibred automorphisms of the J'Y - X, which are the r-order jet
prolongations J'(bi (5.1.6) of 4N.
There is the direct system

-01 -12 x;+r.
of vector spaces 0 of exterior forms on XY. The limit D , of this direct system
exists, and b y r are meant the corresponding monomorphisms D -. Oo,. In
brief, one can say that the limit Oo, consists of all exterior forms defined on the
finite order jet manifolds J*Y which are identified with respect to the pull-back
prolongation.
1 For the sake of simplicity, we will denote the pull-backs 7r; o and 7r of
exterior forms 0 E 0* by the same symbols 0. 1
The limit ) inherits the operations which are preserved by the pull-back pro-
cedure. Thus, Oa, is an exterior Z-graded algebra with respect to operations of the
exterior product and the exterior differentiation.
The important advantage of considering exterior forms on finite order jet mani-
folds as elements of the limit Oa, is that OL is generated locally by the basic forms
dxa and the contact forms
IPA = dJn - ya+nd? 0<I AI.
In particular, the vector subspace Dc, C O:. of exterior s-forms admits the
canonical decomposition
000 = O;'O;0-' ...i7.
Elements of il00'-k are called k-contact forms. Elements of D'A,

00 n = dim X, are
said to be k-contact densities.
We denote by hk the k-contact projection
hk : JD' . ok;'-k, k < s.
For instance, the horizontal projection ho : 0'00 - O;;' is given by
dxa'-' ds", d y A F-' ya+AdxA, 0:51
Accordingly, the exterior differential on il:,, is decomposed into the sum

d=dH+dv
of the horizontal differential dH and the vertical differential dv such that
d : ilk,.-k ilk+l .-k ilk'-k+l
00 00 00
ilk.&-k+1
W
d ilk'-k
00
dv : ilkm-k
00 ok+l,s-k
ca
They have the homology properties

dHdH = 0, dvdv = 0, dvdf + dHdv = 0.
We also have the relation
hood=dH Oho.
In order to obtain coordinate expressions of the above operators, let us introduce
the total derivative
I (3.1.2)
where summation is over all multi-indices A, 0 <1 A 1. It acts on exterior forms

oA, o E O , by the rules
da(mAo) =d,,(b)
d.%(dc) =
Similarly to (3.1.1), we use the compact notation

dA=dak o...oda A = (Ak...A,).
3.2. THE FIRST VARIATIONAL FORMULA 101
Then the horizontal differential dH is given by the local expression
dHO = dxA A da(0), 4' E! ea,. (3.1.3)
dHf = dafdx'', f E Do.,

da(dx") = 0, d1(dx) = 0,
da(dyn) = dy`''+A, dHdyA = dxa A dy;,+A, 0 <1 A I,

da(01A) = 84A, dHO = dam'' A B'a+A, 0 <I A I
Accordingly, the vertical differential has the properties
dvf =e"fen, 0:5I A I, f E0D,

dv (dx') = 0,
dvdy' = -d? A dya+A, 40A = 0.
3.2 The first variational formula

Here we will not study the calculus of variations in depth, but will recall only some
basic notions. Our goal is the first variational formula (3.2.13).
We will follow the standard formulation of the variational problem where "defor-
mations" of sections of a fibred manifold Y -+ X are induced by local 1-parameter
groups of local fibred automorphisms of Y over Id X [13, 110, 1741.
Let N be an n-dimensional compact submanifold of X with the boundary ON.
A vertical vector field u on Y X is called an admissible vector field if it vanishes
on a neighbourhood of 7r-1 (ON).
A section s of the fibred manifold Y -+ X is said to be a critical section of the
variational problem for an exterior n-form p on J'Y if and only if
f s'Lp,,p = 0 (3.2.1)
N
for any admissible vector field u on Y - X. Here J'u is the jet prolongation (2.1.16)
of the vector field u.
I For the sake of simplicity, ifs is a section of Y X, we denote the pull-backs

(fs)'0 of forms 0 on J'Y by s',. 1
102 CHAPTER 3. LACRANGIAN FORMALISM
Using the relation

Lri.p = d(J'ujp) + (J'ujdp),
one can bring the functional (3.2.1) into the form
I s'LjiLp = I I s'(J'ujdp), (3.2.2)

N ON N
where the first term in the right-hand side of (3.2.2) equals zero if u is an admissible
vector field. However, it may happen that the relation (3.2.2) is not appropriate for
the variational task because the second term in the right-hand side of it can depend
on the derivatives of components of the vector field u, and can therefore contribute
to the integral over the boundary ON.
Example 3.2.1. For instance, let L = Lw be a first order Lagrangian density on
the jet manifold J'Y. We have
s'(J'ujdL) = s'(u'OjL + dau`8;'G)w. (3.2.3)
The second term in the expression (3.2.3) can be rewritten as
dau'8,"Gw = da(u'8, L)w - u'da(8, G)w.
This contains an exact form which contributes to the boundary integral.
It follows that the condition
s'(J'ujdp) = 0
is fitted on critical sections if, for any section s, the form s'(J'ujdp) depends on
the components of the vector field u, but not on their derivatives. Exterior n-forms
p which possess this property are the Lepagian forms.
There are several definitions of Lepagian forms [110]. We will mention the fol-
lowing equivalent conditions for an exterior n-form p on the r-order jet manifold
J'Y to be a Lepagian form.
For each projectable vector field ur on J'Y, the horizontal projection ho(u,.J dp)
depends on the iro-projection of %. onto Y only.
For every vertical vector field ur on the jet bundle J'Y - Y, p obeys the
relation
ho(u.jdp) = 0.
Example 3.2.2. Every closed form on J'Y is obviously a Lepagian form.
Example 3.2.1 shows that Lagrangian densities fail to be Lepagian forms in gen-
eral. However, one can replace the variational problem for a first order Lagrangian
density L with the variational problem for a Lepagian equivalent pL of L. This is
defined as a Lepagian form on the (r + 1)-order jet manifold P+iY which satisfies
the condition
ho(PL) _=_L.
Example 3.2.3. Every Lepagian form p on PY is a Lepagian equivalent of the

(k < r)-order Lagrangian density L = ha(p).
If PL is a Lepagian equivalent of L, we have the equality
I s'L = f S* PL
N N
for any section s of Y -' X. It follows that the variational problem for a Lagrangian
density L is equivalent to the variational problem for its Lepagian equivalent pL over
sections s of the fibred manifold Y -' X. Obviously, a section s of Y - X is a
critical section of the variational problem for a Lagrangian density L if the relation
s'JouJdpL = 0 (3.2.4)
holds for any vertical vector field u on Y -+ X.
I Hereafter, by a critical section we mean just that one satisfying the relation
(3.2.4).
Remark 3.2.4. If s is a critical section, the relation (3.2.4) holds also for an
arbitrary projectable vector field u on Y X.
PROPOSITION 3.2.1. Every r-order Lagrangian density has Lepagian equivalents

on J''-'Y (see [77, 112]). 0
In particular, a first order Lagrangian density has Lepagian equivalents on J'Y.
Hereafter, we will limit our attention to this kind of Lepagian equivalents of first
order Lagrangian densities.
Example 3.2.5. Lepagian equivalents on J'Y of the zero Lagrangian density L = 0

are contact forms given by the local expressions
8 + c,;"'8) (3.2.5)
po = A wv + X,
where c;"' = -c? are skew-symmetric local functions on Y and X is a (k > 1)-
contact form on J'Y (see [77]).
Lepagian equivalents of a first order Lagrangian density L form an affine space

modelled over the linear space of the Lepagian equivalents (3.2.5) of the zero La-
grangian density. One usually chooses the Poincar6-Cartan form
HL : J'Y - T'Y A (A1T'X), (3.2.6)
HL=Cw+a;O'AW.%,
as the origin of this affine space. Then the general coordinate expression for a
Lepagian equivalent of a first order Lagrangian density L reads
PL=HL 6'+cAw,+X. (3.2.7)
Example 3.2.6. In particular, if a fibred manifold Y - X is equipped with a

connection I' and a fibre metric
a:Y - VV'Y,
one can set
s
/jay
- al)ypQJv8 'aa7
where R is the curvature of r and g is a metric on X.
Remark 3.2.7. In comparison with other Lepagian equivalents, the PoincarE-

Cartan form is a semibasic form on the jet bundle J'Y -. Y, and it possesses some
essential peculiarities. Moreover, it is the Lagrangian counterpart of Hamiltonian
forms in polysymplectic Hamiltonian formalism on fibred manifolds (see Chapter
4).
Let PL be a Lepagian equivalent of a first order Lagrangian density L. Given a

projectable vector field u on Y, the first variational formula provides the canonical
decomposition
LriuL = ho(J'ujdp,) + hod(J'u1 pL) (3.2.8)
of the Lie derivative of L along the first order jet lift of u (or simply along u).
For any Lepagian equivalent pL of L, we have
ho(J'ujdPt) = UVJEL, (3.2.9)
where
uv = (uJO`)a = (u` - uAva)a:

is the vertical part of the canonical horizontal splitting (2.1.25) of u over J'Y, and
EL : J2Y - T'Y A (AT'X),
EL = (a; - daa; )LO' A w = 6;,C6' A w, (3.2.10)
is the second order Euler-Lagrange operator associated with the Lagrangian density
L. Its coefficients b;G are called the variational derivatives.
Hence, the first variational formula (3.2.8) takes the form
LriuL = uvJEL + deho(J'uJPL), (3.2.11)

where do is the horizontal differential (3.1.3). Furthermore, it is readily observed
that
dyho(JiuJPo) = 0, (3.2.12)
if po is a Lepagian equivalent (3.2.5) of the zero Lagrangian density. Therefore, we

can restrict our attention to the PoincarE-Cartan form pL = HL. Since HL is a
semibasic form on the jet bundle J'Y -+ Y, we have
LjiuL = uvJEL +dyho(uJHt) (3.2.13)
In view of the relation (3.2.9), critical sections of the variational problem of a La-
grangian density L satisfy the system of (variational) second-order Euler-Lagrange
equations
01C - (8a + 0.%3% + aaas;8 )a; c = 0. (3.2.14)
Remark 3.2.8. It may happen that the equations (3.2.14) fail to be differential
equations in a strict mathematical sense (see Remark 3.3.11).
It should be noted that different Lagrangian densities L and L' lead to the same
Euler-Lagrange operator EL = EL' if they differ from each other in a Lagrangian
density Lo whose Euler-Lagrange operator EL. is equal to zero. Such a Lagrangian

density is called variationally trivial.
Example 3.2.9. Lagrangian densities of topological field models are examples of
variationally trivial Lagrangian densities (3.2.15) (see Example 3.6.10).
PROPOSITION 3.2.2. A first order Lagrangian density Lo is variationally trivial if

and only if
Lo = ho(e) (3.2.15)
where a is a closed n-form on the fibred manifold Y -+ X [110]. 0
Remark 3.2.10. Since J'Y - Y is an affine bundle, the De Rham cohomologies

of J'Y coincide with those of Y [13]. Thus, every closed exterior form on J'Y is
the sum of the pull-back of a closed form on Y and an exact form on J'Y.
By virtue of Proposition 3.3.8, every exact form on J'Y is a Lepagian equivalent

of a variationally trivial first order Lagrangian density. It follows that every closed
form a on the jet manifold J'Y is a Lepagian equivalent of a variationally trivial
first order Lagrangian density. In particular, if L is a Lagrangian density and pL, is
its Lepagian equivalent, then the Lepagian form pl, + e is the Lepagian equivalent
of the Lagrangian density
L' = L + ho(e)
which leads to the same Euler-Lagrange operator as L. For instance, L' = L if c is
a contact form.
Remark 3.2.11. One can consider the first order differential equations on the first
order jet manifold J'Y - X instead of the second order ones on Y X. For
instance, let us consider the variational problem for the Poincar6-Cartan form HL
(3.2.6) over sections 3 of the fibred jet manifold J'Y - X. By definition, a critical
section -9 of this variational problem satisfies the relation
3'(uJdHt) = 0 (3.2.16)
for all vertical vector fields

u = u`8; + u8;
on J'Y -, X. It follows that it obeys the system of first order differential equa-
tions
8j a; (8a3' - 3O'a) = 0, (3.2.17a)
&G-(8a+*a8,+8,,3v"g )8;G+ 8r(8' -Va)=0.
a (3.2.17b)
These are called the (variational) Cartan equations.
Remark 3.2.12. Reduced second order Lagrangian densities. Let us con-

sider second order Lagrangian densities on the second order jet manifold J2Y of Y
which, however, lead to second order Euler-Lagrange equations.
In Remark 4.4.8, there is an example of a first order Lagrangian density which
yields first order Euler-Lagrange equations.
A second order Lagrangian density L on J2Y has Lepagian equivalents on the
third order jet manifold J3Y. In particular, the associated Poincare-Cartan form
HL is uniquely defined and given by the coordinate expression
L&,]Awl. (3.2.18)
Let u be a projectable vector field on the fibred manifold Y X. In the second

order case, the first variational formula (3.2.13) is written as
uv j HL) (3.2.19)
where
EL = (8; - d,,8" + ddA8;`'')G6' A w (3.2.20)
is the 4th-order Euler-Lagrange operator.

Let us consider a second order Lagrangian density L whose Euler-Lagrange oper-
ator EL (3.2.20) reduces to the second order one [111]. This happens if the associated
Poincard-Cartan form HL (3.2.18) is defined on the first order jet manifold J'Y.
This is the case of a Lagrangian density L which meets the conditions
8ip8""G = 0, (3.2.21)
(&8" -8;8j%)L=0. (3.2.22)
The relation (3.2.21) means that such a Lagrangian density is linear in the co-
ordinates y',,,,, i.e., it is given by the local expressions
L = (G' + ir;ày,',,,)w, (3.2.23)
108 CHAPTER 3. LACRANCIAN FORMALISM
where C and a;`" are local functions on J'Y.

By virtue of the relation (3.2.22) and Remark 4.4.2, there exists a local horizontal
form 4 = O''wa on J'Y - X such that
Then let us consider the local form

a=HL - dO.
This is a Lepagian equivalent of the local first order Lagrangian density
L, = ho(v) = L - hod4
which leads to the same second order Euler-Lagrange operator on a given coordinate
chart as the Lagrangian density (3.2.23).
It should be emphasized that such a first order Lagrangian density is not globally
defined in general. At the same time, if the functions 7j" are independent of the
coordinates y,', we can take
'0 = 4 0(4 - (3.2.24)

where r is a connection on Y -. X. The form (3.2.24) is globally defined, and we
obtain the first order Lagrangian density
Li = L - dA[7r; "(y
which leads to the same second order Euler-Lagrange operator as (3.2.23).
3.3 Euler-Lagrange operators

For the sake of completeness, we are concerned below with some basic notions of
the geometric theory of differential operators and differential equations. We refer
the reader to Section 5.6 for a more complete exposition of this theory. The goal is
to describe the Euler-Lagrange operators as differential operators of the variational
type in a straightforward manner.
DEFINITION 3.3.1. Let Y -+ X be a fibred manifold, and I = dim Y - dim X. A

system of k-order partial differential equations on Y - X is defined to be a closed
fibred submanifold it of the fibred manifold JkY -+ X. 0
3.3. EULER-LAGRANGE OPERATORS 109
I For the sake of brevity, we will often call ! a differential equation. 1
Let JkY be provided with coordinates (?,IA), 0 <1 A 1< k, as before. There
exists a local coordinate system (e'c, - ) on JkY such that a is given locally (in the
sense of Proposition 1.1.3 (i)) by the system of equations
eA(z , YO = 0, A = 1, ... , (3.3.1)
A differential equation 0- is said to be

determined if codim(! = 1;
overdetermined if codimlE > 1;
underdetermined if codimt < 1.

By a classical solution of a differential equation it on Y -. X is meant a (local)
section s of Y -. X such that its k-order jet prolongation J's takes its values into
One usually considers differential equations to be associated with differential

operators.
There are several equivalent definitions of (non-linear) differential operators. We
can start from the following.
DEFINITION 3.3.2. Let Y - X and E -+ X be fibred manifolds, which are assumed

to have global sections. A k-order E-valued differential operator on a fibred manifold
Y - X is defined to be a section C of the pull-back fibred manifold
pre:Ey=Ex JkY - JkY. (3.3.2)
Given fibred coordinates (x'', y') of Y and (x'', 17) of E, the pull-back (3.3.2) is
provided with the coordinates
(?,y'E,17), 0 <I E I< k.

There is one-to-one correspondence between the sections
Jl= : JkY Eye roe = (3.3.3)
110 CHAPTER 3. LAGRANCIAN FORMALISM
of the fibred manifold (3.3.2) and the fibred morphisms
14i : JkY -- E (3.3.4)
over X. We have
0= pr1 o E, E = (4;, Id JkY).
This correspondence leads to another equivalent definition of differential opera-
tors on Y -+ X.
DEFINITION 3.3.3. Let Y X and E X be fibred manifolds as before. A fibred

morphism PY - E over X is called a k-order E-valued differential operator on
the fibred manifold Y -, X.
It is easy to see that a differential operator 4' (3.3.4) sends each section s of
Y -. X onto the section 4i o Jks of E X. The mapping
A.: S(Y) - S(E),
I A+:sI. 4ioJks,
r(x) = E(?, &s''(x)), 0:51 E 1< k,
is said to be the standard form of a differential operator.

Remark 3.3.1. Usually, differential operators are defined when fibred manifolds
Y -# X and E X are vector bundles. However, this is not the case of gauge
theory where the bundle of principal connections C (2.7.5) is not a vector bundle. At
the same time, almost all differential operators met in field theory (e.g., the Euler-
Lagrange operators) take their values into subbundles of tensor bundles 'A T'Y -
X. Such differential operators are represented by exterior forms E (3.3.3) on jet
manifolds of Y - X.
Let us turn now to Euler-Lagrange operators on a fibred manifold Y X.
These take their values into the tensor bundle
T'Y A ("T'X), (3.3.5)
and can be intrinsically defined as 1-contact densities of the variational type on jet
manifolds. Cf. Section 5.5 where the corresponding variational bicomplex is con-
structed. Here we are concerned only with the basic ingredients in this construction.
Let us consider the subspace ill," C 1)o, of k-contact densities on jet manifolds
and the quotient
Ek = fl,k,n/dHfloo -'. (3.3.6)
PROPOSITION 3.3.4. The quotient Ek (3.3.6) is the complement of the subspace

dy(ila,"-1) C 17;," [1801, that is,
0"00 =EkdHilkn-'.
00
0
The corresponding projection map
Ek = rk(ilaon)
has the properties
TkOTk=Tk, rkody=0.
It is defined as
1 k,n
where r is the operator given by the coordinate expression

Jr(.0) 0<IAI,
= (-1)JA10' A [dA(8ij0)] ,
which acts on contact densities 0 E il;' [12, 1801.
Example 3.3.2. In the case of 1-contact densities E D',",
00 we have
Iri(0) = (-1)IAIdn(0, )B' Aw (3.3.7)
(see [12, 611). It should be emphasized that the subspace E, C D ' consists of
1-contact densities 0 which take their values into the tensor bundle (3.3.5), that is,
they are given by the coordinate expression 0 = 4i;6' A w.
Building on Proposition 3.3.4, let us consider the short exact sequence

-e"-+ Ek -i 0,
where
Iek= rkohk.
It is a simple exact sequence because
JD"*
00 = Kerek E.
Since
d(Kerek) C Kerek+i,
we come to the following commutative diagram
0 0 0 0
1 1 1 1
Ker ho -e Ker ho Ker el - Ker e2

1
Dn-1
00
d , fln00
1
a. iln+i
I
Do
a,
1
on+2
00 (3.3.8)
M! ko! e, ! .!
fl 00 -i fl 00 E1-' E2
I I 1 1
0 0 0 0
Its first and second rows are the subcomplexes of the De Rham complex. The
last row
d d c c
00
-JH 00-1 00--
00 (3.3.9)
is also a enchain complex, that is,

El o dH = 0, Ek+1 0 ek = 0. (3.3.10)
This complex is called the spectral sequence.

Remark 3.3.3. Let us recall briefly the basic notions of homology and cohomology
of complexes [22, 124).
A sequence
0 .L Bo 4' B,4 ....---Bp.t' ... (3.3.11)

of Abelian groups Bp and homomorphisms 8p is said to be a chain complex if
Op o Op+t = 0, Vp E N,
that is, Im Op}1 C Ker 8p. The quotient
Hp(B.) = KerOp/ImOp+,
is called the pth homology group of the chain complex B. (3.3.11). The chain
complex (3.3.11) is called exact at an element Bp if H,(B.) = 0. B. is an exact
sequence if it is exact at each element.
A sequence
0--.B0 0 B' 6'....a Bpi... (3.3.12)
of Abelian groups Bp and homomorphisms lP is said to be a cochain complex if

l"o6" =0, VpEN.
The pth cohomology group of the cochain complex B' (3.3.12) is the quotient
H'(B') = Kerb'/Imdp-'.
The De Rham complex of exterior forms on a manifold M
exemplifies a cochain complex, whose cohomology group H"(M) is called the Dc

Rham pth cohomology group. It is the quotient of the space of closed p-forms by
the subspace of exact p-forms.
Since Ek_1 C Stk-',n, the cochain morphisms ek of the complex (3.3.9) take the
form
I ek=Tkodv=jrod, (3.3.13)
where
S=rod (3.3.14)
is the variational map (12, 61] which satisfies the homology rules
6 ob=0, body=0. (3.3.15)
In particular, the cochain morphisms e, and e2 take the explicit form
I ei(ZW) = (-1)IAtdA(8C)8' Aw,

1 ez(dk' A w) = 1 [8"0;9',, A6' + (-1)1A19' A dA(8; 461)] A w,
where summation is over all multi-indices A, 0 <[ A I. They are called the Euler-
Lagrange map and the Helmholtz-Sonin map, respectively.
DEFINITION 3.3.5. Given a horizontal density L = Gw on a finite order jet manifold

J'Y -' X (i.e., an r-order Lagrangian density), the exterior form
EL, = el(L) = b(L), (3.3.16)
EL = (-1)'AidA(8; G)9' Aw, 0 <) A I< r,
is called the Euler-Lagrange form associated with the r-order Lagrangian density
L. This form is the 2r-order differential operator (3.3.3), and the corresponding
morphism
Et : J''Y -. T'Y A (" T' X) (3.3.17)
is called the Euler-Lagrange operator associated with L.
I Now, we will identify the notions of an Euler-Lagrange form and an Euler-

Lagrange operator. I
In particular, if L is a first order Lagrangian density on the jet manifold J'Y,

the operator (3.3.17) is the second order Euler-Lagrange operator (3.2.10).
Remark 3.3.4. Remarks 3.2.12 and 4.4.8 show that the Euler-Lagrange operator
associated with an r-order Lagrangian density may be of the order < 2r. In this case,
the Euler-Lagrange form (3.3.16) is a pull-back of an exterior form on a (< 2r)-order
jet manifold.
Using the spectral sequence (3.3.9), one comes to the following general solution
of the well-known inverse problem of the calculus of variations [12, 42, 94, 174].
DEFINITION 3.3.6. Differential operators which take their values into the tensor
bundle (3.3.5) are called Euler-Lagrange-type operators. These are elements of the
subspace El C D 00 .
In particular, the projection map ri (3.3.7) sends 1-contact densities onto Euler-
Lagrange-type operators. Every Euler-Lagrange operator is obviously an Euler-
Lagrange-type operator.
DEFINITION 3.3.7. An Euler-Lagrange-type operator E is said to be a locally

variational operator if
e2(E) = 1b(E) = 0.
PROPOSITION 3.3.8. In accordance with the relations (3.3.10), any dH-ecact (and,
consequently, exact) Lagrangian density is variationally trivial and every Euler-
Lagrange operator is locally variational.
The obstruction for a locally variational operator to be the Euler-Lagrange one

lies in the non-zero cohomology group
H"+' = KerE2/Imel
of the complex (3.3.9) at the element El. Since the columns of the diagram (3.3.8)
are simple exact sequences, one may deduce the cohomology groups of the complex
(3.3.9) from the cohomology groups of the first two rows of the diagram (3.3.8) (see
Remark 5.5.1). In particular, the following assertion can be easily proved.
PROPOSITION 3.3.9. If Y = R'+" - R", the spectral sequence (3.3.9) is exact, that
is,
Kerei = Imdy, Imek = Kerek+1

(see (42, 1801).
I It follows that the above-mentioned obstruction for a locally variational oper-

ator to be the Euler-Lagrange one is topological, but not algebraic. I
Since the columns of the diagram (3.3.8) are simple exact sequences, the spectral
10-R i700 " ... i7,"-'

ao
eH
il"
00
-. D''"
6
00
-
sequence (3.3.9) can be regarded as a subcomplex of the cochain complex
a O2,n
00 (3.3.18)
where 6 is the variational map (3.3.14). The complex (3.3.18) is called the variational
sequence. Its homology groups are equal to those of the spectral sequence (3.3.9),
and in particular, it is locally exact in the sense of Proposition 3.3.9.
Example 3.3.5. Since the variational sequence (3.3.18) is locally exact, a local
r-order Lagrangian density Lo is variationally trivial if and only if
Lo = df(hoo) = hods o E Or'

By virtue of Proposition 3.2.2 and Remark 3.2.10, each dosed form on J'Y is a
Lepagian equivalent of a variationally trivial first order Lagrangian density.
Example 3.3.6. Since the variational sequence (3.3.18) is locally exact, every
locally variational operator 6 is locally an Euler-Lagrange operator, that is,
E = bL, (3.3.19)
where L is a local Lagrangian density. For instance, let
E: J2Y-+T'YA(n7"X),
E= &0'Aw,
be a second order Euler-Lagrange-type operator. It is locally variational if and only
if
b(E) = [(28; - da88 + dda8;'')&Bt A 0' + (3.3.20)
-dA8J`&BNn +
(8w&-8;"E;)B'aA0']Aw=0.
Then there is a coordinate atlas of the fibred manifold Y X such that, on each
coordinate chart, E is in the form of (3.3.19).
The condition (3.3.20) is equivalent to the following system of equations
8;& - B;E; - E; + d,,da8;'& = 0,

8;&+2d8""&=0, (3.3.21)
Indeed, if these equations hold, then a direct check shows that the condition (3.3.20)
does so too, that is, the operator E is locally variational. Conversely, if the operator .6
takes the local form (3.3.19) on each coordinate chart, then it satisfies the equations
(3.3.21).
It is readily observed, that the equations (3.3.21) represent the coordinate ex-
pression of the condition
r(J2uJdE) = 0, (3.3.22)
where u is an arbitrary vertical vector field on the fibred manifold Y X and J2u
is its second order jet prolongation (2.2.9) [61).
Example 3.3.7. The operator (3.6.32) in the Chern-Simons gauge model, which is
locally associated with the Chern-Simons Lagrangian density, exemplifies a locally
variational, but not variational operator.
We will use the condition (3.3.22) to discover the important relation between
gauge symmetries of Lagrangian densities and those of Euler-Lagrange operators
(see Remark 3.5.7).
Let E be a second order Euler-Lagrange-type operator and u a projectable vector
field on Y - X. It can be proved in a straightforward manner [61) that
LnuE = r[d(uvj9) + (J2u)vJdE), (3.3.23)
where (J2u)v is the vertical part of the vector field J2u. This relation is called the
master equation.
If the operator e is locally variational, it follows from (3.3.22) and (3.3.23) that
L,r,,,E = 6(uvJE) (3.3.24)
for every projectable vector field u on Y X.
Let EL be the Euler-Lagrange operator associated with a first order Lagrangian
density L. By virtue of the first variational formula (3.2.13) and the relation (3.3.15),
the equality (3.3.24) is brought into the form
I L,r.,,Et = (3.3.25)
The following two assertions are immediate corollaries of the formula (3.3.25).
PROPOSITION 3.3.10. Let a first order Lagrangian density L be invariant under

a 1-parameter group of fibred automorphisms of Y - X whose generator is a
projectable vector field u on Y, i.e,
0.
Then the same is true for the associated Euler-Lagrange operator Et, i.e.,
0.
PROPOSITION 3.3.11. Let an Euler-Lagrange operator Et associated with a first

order Lagrangian density L be invariant under a 1-parameter group of fibred auto-
morphisms of Y X whose generator is a projectable vector field u on Y. Then
LJi L is a variationally trivial Lagrangian density. By virtue of Proposition 3.2.2,
we have
ho(e), (3.3.26)
where a is a dosed n-form on the fibred manifold Y. O
Let us return to differential equations.
Let 4 be a k-order differential operator. Given a global sections of the fibred
manifold E - X such that s C Im 4), by the kernel of the differential operator 0
with respect to the section !is meant the kernel Ker;4 (1.2.5) of the fibred morphism
(3.3.4) with respect to s. If this kernel is a fibred submanifold of JkY - X, it is a
k-order differential equation
t# = Ker;4),
called the differential equation associated with the differential operator 0.
2 Obviously, not every differential operator leads to a differential equation. I
The following condition is sufficient for a kernel of a differential equation to be

a differential equation.
PROPOSITION 3.3.12. Let the morphism 4i (3.3.4) have constant rank. By virtue of
Theorem 1.2.6 (see also [26], p.396), its kernel (1.2.5) is a fibred submanifold of the
fibred manifold JkY -' X and, consequently, it is a k-order differential equation. 0
Example 3.3.8. Let us consider the fibre bundle Y = R2 -, R with coordinates

(x, y) and the fibre bundle E = R2 R with coordinates (x, y). Let
go 4'= Vy.
3.3. EULER-LAGRANCE OPERATORS 119
be a first order E-valued differential operator on Y. Its kernel with respect to the
zero section of E is the set of points of J'Y having the coordinates y = 0 or yz = 0.
Obviously, this set is not a submanifold of J' Y.
This is a typical example of a differential operator which does not lead to a

differential equation.
The following example shows that a differential equation may be associated with
different differential operators.
Example 3.3.9. Let us consider the fibre bundle Y = R2 -' R coordinatized by
(x, y) and the fibre bundle E = R3 R coordinatized by (x, 5, z-). Let
yo4'=y=+x, z'o4=y=+x (3.3.27)
be a first order E-valued differential operator. It is easily checked that this differ-
ential operator has constant rank equal to 2. Its kernel with respect to the zero
section of E is the imbedded submanifold of J'Y given by the equation
4E = {(x, y, y=) E R3 ; y= + x = 0}. (3.3.28)
This is a first order differential equation on the fibre bundle Y which is associated
with the differential operator (3.3.27). This differential equation is also associated
with the differential operator
yo4/=y(y:+x), zoo=y:+x. (3.3.29)
The kernel of 4' with respect to the zero section of the fibre bundle E coincides
with that of the operator (3.3.27). At the same time, the rank of the operator
4' (3.3.29) fails to be constant. This equals 2 at points of the submanifold (3.3.28)
and equals 3 at others.
From now on, we will consider only those differential operators taking their values
into a vector bundle E X. In this case, one usually considers the kernel Kerb of
4, denoted simply by Ker 4, with respect to the global zero section 0 of the vector
bundle E -, X. If Kert is a fibred submanifold of JkY, we have the differential
equation
REm = Ker 4
given locally by coordinate relations

E(?,yE')=0, a=1,...,dimE-dim X. (3.3.30)
Remark 3.3.10. One should distinguish the system of equations (3.3.1) from that
of equations (3.3.30). The first is written with respect to local coordinates on the
domain JkY of a differential operator, whereas the latter is seen with respect to
bundle coordinates on its codomain E.
Let us consider Euler-Lagrange equations associated with Euler-Lagrange oper-

ators.
Given a k-order Euler-Lagrange operator (3.3.16), if its kernel is a fibred sub-
manifold of the jet manifold J"Y, we have the system of k-order Euler-Lagrunge
equations written in the coordinate form (3.3.30) as
I
(-1)JAidA(8"G) = 0.
In particular, let Ey be the second order Euler-Lagrange operator (3.2.10) asso-
ciated with a Lagrangian density L. Then the corresponding system of the second
order differential Euler-Lagrange equations is a fibred submanifold of J2Y -, X
given by the coordinate relations
(8;-da8;)G=0. (3.3.31)
Classical solutions of these equations are critical sections of the variational prob-
lem for the Lagrangian density L, and they satisfy the Euler-Lagrange equations
(3.2.14).
Remark 3.3.11. Strictly speaking, not every Euler-Lagrange operator leads to
differential Euler-Lagrange equations. Rom now on, we will assume that Euler-
Lagrange equations and other equations which we deal with within the framework
of Lagrangian and Hamiltonian formalisms are differential equations in accordance
with Definition 3.3.1. We will return to these questions in Section 5.7 where the
formal integrability of Yang-Mills equations is examined.
An important advantage of Euler-Lagrange equations should be emphasized. In

accordance with Propositions 3.3.10 and 3.3.11, these equations inherit gauge sym-
metries of a Lagrangian density, while the first variational formula (3.2.11) enables
us to examine differential conservation laws on solutions of these equations (see
Section 3.5).
3.4. LAGRANCIAN POLYSYMPLECTIC STRUCTURES 121
3.4 Lagrangian polysymplectic structures

The Cartan equations (3.2.17a) - (3.2.17b) associated with the Euler-Lagrange-
Cartan operator (3.4.10), but not the Euler-Lagrange ones are the Lagrangian coun-
terpart of the Hamilton equations in Hamiltonian field theory. Let us consider a
polysymplectic structure on the configuration space J'Y of first order Lagrangian
formalism which leads to these differential equations and this differential operator.
This structure fails to be canonical, but depends on the choice of a Lagrangian
density.
Let
L:J'Y-'A"T'X
be a first order Lagrangian density on J'Y. Let us consider the vertical tangent
map V L to L. Since J'Y - ' Y is an affine bundle, V L yields the linear morphism
J'Y x(T'X x(nT'X)

over J'Y and the corresponding morphism
L : J1Y V'Y (AT*X) TX (3.4.1)
over Y.
DEFINITION 3.4.1. The fibre bundle
R=V'Y(A"T'X)TX V'YY(i'T'X) (3.4.2)
over Y is called the Legendre bundle. 0
Given fibred coordinates (xa, y`) of Y, the Legendre bundle (3.4.2) is provided
with the induced coordinates (x", y`, p;), where the coordinates p, have the transi-
tion functions
p' = det(8x') 8s P; (3.4.3)
In these coordinates, the morphism (3.4.1) reads
(x-',y',Pi) 0 L = V,1/',v; ) (3.4.4)

It is called the Legendre map associated with the Lagrangian density L.

Remark 3.4.1. A Lagrangian density L is said to be regular if the associated
Legendre map L is a local difeomorphism, that is,
det('O'G) # 0.
A Lagrangian density L is called hyperregular if L is a diffeomorphism.
The Legendre bundle H plays the role of a finite-dimensional phase space of fields
represented by sections of the fibred manifold Y X (see next Chapter). The basic
property of II is that it is provided with the canonical tangent-valued Liouville form
which is given by the canonical monomorphism
e: H-X'T'YTX, (3.4.5)
e=-p,dy'AW8a.
Remark 3.4.2. The subtle point is that the coordinate expression
p; dy' AWa
could not define any global exterior form on n because TX is not a subbundle of
TY.
It should be recalled that the exterior differential d cannot be applied to tangent-
valued forms like (3.4.5).
DEFINITION 3.4.2. There is a unique TX-valued (n + 2)-form f2 on Ii such that

the relation
f2J46
= -d(ej()
holds for any exterior 1-form o on X. This form is called the polysymplectic form.
It is given by the coordinate expression
fI=dp; Ady'AW8a. (3.4.6)
The tangent-valued Liouville form (3.4.5) and the polysymplectic form (3.4.6)
provide the Legendre bundle n with the canonical polysymplectic structure.
3.4. LAGRANGIAN POLYSYMPLECTIC STRUCTURES 123
The pull-backs of these forms by the Legendre map L equip the jet manifold
J'Y with the polysymplectic structure associated with the Lagrangian density L as
follows.
We have the tangent-valued Liouville form
BL = Z'9: J'Y -, ''T'YTX,

Y
1BL = -7r;`dy' A w 8,,,
and the polysymplectic form associated with the Lagrangian density L
fIL = L'S2 : J'Y - "A2T'J'Y TX,

Y
I Sl, = d7r, A dy$ A w 8,,. (3.4.7)
Contracting BL with the canonical form ) (2.1.19), we obtain the exterior Leg-
endre form on P Y
3L = AJOL : J'Y - i AT'Y,
which is associated with the Lagrangian density L. Then the Poincare-Cartan form
(3.2.6) associated with L is recovered as
HL=9L+L=ir,dy'Awa-7{Lw, xL=7riyi,-G. (3.4.8)
Applying the exterior differential to the Poincare-Cartan form HL and bearing in

mind that dHL = 0, we find that
dHL = EL + dv#L,
EL=diA,+dvL,
where EL is the second order Euler-Lagrange operator (3.2.10) associated with L.
Let J'J'Y be the repeated jet manifold of Y - X with coordinates
(xa, y41 ya, gAI YAA),
and
r=dx"(ea+f 8;+k8 )
a second order connection (2.6.1) on Y -. X.
DEFINITION 3.4.3. A second order connection is said to be a Lagrangian connec-

tion for the Iagrangian density L if it obeys the condition
f rj nL = dHL, (3.4.9)
where HL is the PoincarF-Cartan form associated with L. 0
Using the coordinate expressions (3.4.7) and (3.4.8), we find that (3.4.9) is equiv-
alent to
(Da - y.%) 7r, = 0,

AL - Ban; - i 81r; - Nk,e; a; + y;)B;,r, = 0.
In order to clarify the meaning of (3.4.9), let us consider the following first order
Lagrangian density on the repeated jet manifold J1J'Y:
=L-S,JOL:J'J'Y- A"T'X,
C+(va-ylx)lri,
where S1 is given by (2.2.5). Its associated Euler-Lagrange operator reads
SE : J'J'Y -+T'J'Y A(A" 7- X),

EZ = [(81L -dart; + 8,1r1'( - B; ar (J#,, - yj,)dya) n (3.4.10)
+y;,8;.
It is readily observed that the condition (3.4.9) is equivalent to the one
Imf C KerS1 or CEo=0.
Ez, called the Euler-Lagrange-Cartan operator associated with the Lagrangian
density L, leads to the first order differential equations
0- =KerSZCJ'J'Y
on the fibred jet manifold J1Y -+ X. These are the Cartan equations
at, rip ( - yt) = 0, (3.4.11a)

AL - darr; + (j - ya)8{7r." = 0. (3.4.11b)
3.4. LACRANCIAN POLYSYMPLECTIC STRUCTURES 125
Their classical solutions -9 : X - J'Y are solutions of the variational Cartan equa-
tions (3.2.16).
Remark 3.4.3. The Euler-Lagrange-Cartan operator L is the Lagrangian counter-
part of the Hamilton operator within the framework of polysymplectic Hamiltonian
formalism on fibred manifolds (see the relation (4.5.16)). In particular, we will show
that a Lagrangian connection always exists for a hyperregular Lagrangian density
as well as for a semiregular Lagrangian density which admits a weakly associated
Hamiltonian form (see Remark 4.5.8).
Let us write the Euler-Lagrange-Cartan operator E as an exterior form on the

repeated jet manifold J'J'Y. We have
i; = d(ai,HL) - AJIiISIL
where A is now the affine monomorphism over J'Y:
A : J'J'Y T'X TJ'Y,

JLY
A=dx"(8a+rAOi+yaar)
The restriction of L to the sesquiholonomic jet manifold Y2Y defines the first order
Euler-Lagrange operator
EL : JAY JYT'Y A (AnT'Y),
lEL=(8;-dAO;)G6'nW, (3.4.12)
dA = 8a + y68. + y;,
This, in turn, is restricted to the second order Euler-Lagrange operator c associated

with a Lagrangian density L, as is illustrated by the diagram
J'J'Y L T'J'Y A (AT'X)
J2Y T'Y A (A'T'X)

11
J'Y -` T'YA(A'T'X)
Strictly speaking, the first order Euler-Lagrange operator is not a differential

operator. At the same time, its kernel
KerEtCJ1YCJ1J1Y
defines a system of first order differential equations given by the coordinate expres-
sions
ya - ya = 01 (3.4.13a)
(3.4.13b)
which are called the first order Euler-Lagrange equations.

As an immediate consequence of Remark 2.2.1, the first order Euler-Lagrange
equations (3.4.13a) - (3.4.13b) are equivalent to the second order Euler-Lagrange
equations (3.3.31), and represent the familiar first order reduction of the second
order Euler-Lagrange equations.
It is easily seen that the first order Euler-Lagrange equations (3.4.13a) - (3.4.13b)
(and consequently the second order ones (3.3.31)) are equivalent to the Cartan
equations (3.4.11a) - (3.4.11b) on the integrable sections of J'Y -+ X. They are
completely equivalent to the Cartan equations in the case of a regular Lagrangian
density.
Remark 3.4.4. Hamilton-De Donder formalism. By definition, the Poincare-
Cartan form HL (3.4.8) yields the fibred morphism HL over Y of the jet bundle
J1Y -. Y to the fibre bundle
Zy =T'Y A(fl'T'X). (3.4.14)
This is termed the Legendre morphism associated with HL.

A glance at (3.4.2) and (3.4.14) shows that there is the exact sequence of fibre
bundles
0-eHxnT'XtiZy
x
-II-O, (3.4.15)
where
azn:Zy - II
is a 1-dimensional affine bundle modelled on the pull-back
HxXT'X-
x
Il.
3.4. LAGRANCIAN POLYSYMPLECTIC STRUCTURES 127
The fibre bundle (3.4.14) is endowed with the induced coordinates (x' , y', pp , p),
where the coordinate p has the transformation law
8x' GV W
pr = det(ax,,.)(P - avi &N1j). (3.4.16)
Relative to these coordinates, the morphisms NL and azn read
(p: , P) o HL = (W ;', G - r;' y), (3.4.17)

Pi'oazn=pi.
Then we have the useful relation
I L=irZ4oHL (3.4.18)
between the Legendre map L and the Legendre morphism HL.

The fibre bundle Zy (3.4.14) is equipped with the canonical exterior n-form given
by the coordinate expression
IS=pw+p;dy'Awa (3.4.19)
[31, 77] (see Example 4.2.2). It is readily observed that the Poincare-Cartan form
HL is the pull-back of the canonical form S (3.4.19) by the associated Legendre
morphism (3.4.17).
The canonical form (3.4.19) provides the fibre bundle (3.4.14) with the multi-
symplectic structure characterized by the multisymplectic form
Oz = dE = dp; A dy' n w + dp n w. (3.4.20)
In addition to the Legendre bundle II, the fibre bundle Zy is a possible candidate
for a finite-dimensional phase space of fields represented by sections of the fibred
manifold Y - X. We call it the homogeneous Legendre bundle. Hamiltonian
formalism founded on Zy is Hamilton-De Donder formalism [4, 41, 54, 73, 77, 112].
Given a Lagrangian density L, let the image ZL of the configuration space J'Y
by the Legendre morphism (3.4.17) be an imbedded subbundle
iL : ZL '-+ Zy
of the fibre bundle Zy -e Y. It is provided with the pull-back De Donder form
oL = iL.
By analogy with the Cartan equations (3.2.16), the corresponding Hamilton-De

Donder equations for sections r of the fibred manifold ZL - X are written as
r (uJdrt) = 0, (3.4.21)
where u is an arbitrary vertical vector field on ZL -i X. To obtain an explicit

form of the Hamilton-De Donder equations (3.4.21), one should substitute solutions
ya(xi`, y`, pi l), C(x &, y`, p{ , p) of the equations
pi = a; (x', y', y),

p = (x'', y', v") - x. (x'', ,', i )ya (3.4.22)
in the Cartan equations (3.2.16).
If a Lagrangian density is regular, the equations (3.4.22) have a unique solution
and the Hamilton-De Donder equations take the coordinate form
and are equivalent to the Cartan equations. If a Lagrangian density is degenerate,

the equations (3.4.22) may admit different solutions or no solution at all. More can
be said in the following case.
PROPOSITION 3.4.4. Let the Legendre morphism HL : J'Y --4 ZL be a submersion.

Then a section 3 of J'Y X is a solution of the Cartan equations (3.2.16) if and
only if HL o li is a solution of the Hamilton-De Donder equations (3.4.21) [77). 0
3.5 Lagrangian conservation laws

The first variational formula (3.2.13) provides us with the standard procedure for
discovering differential conservation laws in field models. The main formulas are
(3.5.15), (3.5.17) and (3.5.25).
By a differential conservation law in field theory on a fibred manifold Y - X is
meant a relation
d(s'T) = 0 (3.5.1)
3.5. LACRANGIAN CONSERVATION LAWS 129
where T = TAwa is a horizontal (n - 1)-form (a current) on the configuration space

J'Y andsisasectionofY -X.
The relation (3.5.1) is called a strong conservation law if it holds for all sections
s of the fibred manifold Y -. X, whereas (3.5.1) is said to be a weak conservation
law if it takes place only on solutions of field equations.
I The symbol ";z:;" stands for weak identities. I
The first variational formula leads to a conservation law when a Lagrangian

density is invariant under 1-parameter groups of gauge transformations.
Remark 3.5.1. Gauge transformations. In field theory on fibred manifolds,
by an active gauge transformation is meant a fibred automorphism 4) (1.2.4) of a
fibred manifold Y - X over a diffeomorphism / of its base X. Transformations
of atlases of fibred coordinates of Y X are called passive gauge transformations.
The relation between active and passive gauge transformation is the following.
Let 4) be a fibred automorphism of Y -' X. Given an atlas _ {(U0,00)} of
fibred coordinates on Y, there exists the atlas
1Y'={U;=-(U.), 0Q=too4 1} (3.5.2)
of fibred coordinates on Y such that the fibred coordinates of points 4)(y) with
respect to the atlas lP' (3.5.2) are those of points y with respect to the atlas 'P. It
follows that the invariance under passive gauge transformations implies that under
active gauge transformations.
I Unless otherwise stated, by gauge transformations are meant active gauge

transformations. Z
We will use the following notation:
AUT (Y) for the group of all fibred automorphisms of a fibred manifold Y -
X,
Aut (Y) for the group of fibred automorphisms of Y -' X over X,
Diff (X) for the group of diffeomorphisms of X.

Automorphisms of Y - X over X are said to be vertical gauge transformations,

whereas elements of AUT (Y) are called general gauge transformations. Obviously,
the group Aut (Y) of vertical gauge transformations is the kernel of the natural
homomorphism AUT (Y) -' Diff (X).
At the same time, a diffeomorphism f E Diff (X) of X does not necessarily give
rise to a fibred morphism of Y -' X. When that happens, we call such a lift of
f E Diff (X) onto Y the horizontal lift.
Example 3.5.2. Every diffeomorphism f E Diff (X) gives rise to the tangent auto-
morphism T f E AUT (TX) of the tangent bundle TX of X and to the corresponding
automorphisms of tensor bundles.
Example 3.5.3. Let us consider the fibred product

Y X Y' (3.5.3)
of fibred manifolds Y and Y' over the same base X. We have the inclusion
Aut (Y) x Aut (Y') - Aut (Y x Y)
X
of groups of vertical gauge transformations. At the same time, a pair (4', 4'), 4> E
AUT (Y), 4i' E AUT (Y'), is a general gauge transformation of the product (3.5.3)
if 0 and V cover the same diffeomorphism of X.
To discover differential conservation laws, let us consider only 1-parameter groups

of gauge transformations.
1 That means we consider gauge transformations homotopic to the identity mor-

phism. 1
Recall that every 1-parameter group of diffeomorphisms of a manifold M defines

a complete vector u field on M, and vice versa. Moreover, one can think of any
vector field on M as being the generator of a local 1-parameter group of local
diffeomorphisms of the manifold M (see Remark 1.5.2).
Accordingly, every 1-parameter gauge group [4's] C AUT (Y) of automorphisms
of Y -+ X yields a projectable vector field
u = UAOA + u`8; (3.5.4)
3.5. LAGRANGIAN CONSERVATION LAWS 131
on Y -+ X, which is the generator of [40_]. It projects onto the vector field r =

08" on X which is the generator of the 1-parameter group [jfJ C Diff (X) of
diffeomorphisms of X. Conversely, every projectable vector field (3.5.4) on a fibred
manifold Y -+ X is the generator of a local 1-parameter gauge group of local
automorphisms of Y .
In particular, a vertical vector field u on Y -. X is the generator of a local
1-parameter group of local vertical automorphisms of Y - X.
Remark 3.5.4. Given a connection
on a fibred manifold Y -' X, every vector field r = TAB,, on X gives rise to the
horizontal vector field
Tr=TJr=r"(ea+r'O1) (3.5.5)
on Y (see (2.3.10)). Accordingly, the local 1-parameter group of local diffeomor-

phisms of X generated by the vector field r gives rise to the local 1-parameter
group of local automorphisms of Y - X generated by the vector field (3.5.5).
Let u be a projectable vector field on a fibred manifold Y -. X and
J'u = u" 8A + u'8; + (daub -
its jet prolongation (2.1.16) on J'Y. This is the generator of the first order jet
prolongation J14 of the local 1-parameter gauge group [4itJ generated by u. Then
the Lie derivative Lj,,,L of a Lagrangian density L on J'Y along Pu (or simply
along u) is equal to zero if and only if L is invariant under the above-mentioned
1-parameter group of gauge transformations, that is,
J'4 L = L, Vt E (-E, E).
Such gauge transformations are called invariant transformations.

We have
[BauaG + (u-%O.% + u'8; + (daub (3.5.6)
The first variational formula (3.2.11) provides the canonical decomposition of

the Lie derivative (3.5.6) in accordance with the variational task. In coordinates,
this decomposition reads
8auAG+[uAOA+u`8;+(d.,u`-y;,8Au")8;]G= (3.5.7)
(u' - y,,u")(8; - dab; )G -

dA[ir (u"y'" - u') - uaG - d"(ci (y,,u - tO))],
where
b;G = (8; - )G (3.5.8)
are the variational derivatives (3.2.10), while the skew-symmetric functions c,"" cor-
respond to different Lepagian equivalents (3.2.7) of the Lagrangian density L.
On-shell, i.e., on the kernel (3.3.31) of the Euler-Lagrange operator CL,
biG = (8, - dab; )G = 0, (3.5.9)
the first variational formula (3.5.7) leads to the weak identity
Lj1,.L (3.5.10)
OAuAG + [u-,9.% + u'8; + (d,,u` - y' 8Au")8; ]G

-da[rr{ (u"y - u') - uaG - d"(d '(y..u - u'))],
where
To = TpWX = -ho(J'uJPL),
is said to be the symmetry current along the vector field u. This current corresponds
to the Lepagian equivalent PL of L.
We say that (3.5.10) is a weak identity associated with the vector field u.
If the Lie derivative Lj,,,L (3.5.6) vanishes, i.e., the strong equality
takes place, the weak identity (3.5.10) becomes the weak conservation law
0 dyho(J'u1 PL), (3.5.12)
0 -da[1r (u"y" - u{) - u''G - d"(c'`"(y,,u - u'))],

of the symmetry current 't (3.5.11) along the vector field u.
3.5. LAGRANCIAN CONSERVATION LAWS 133
The weak identity (3.5.12) leads to the differential conservation law

0 = -d(s'To)
on solutions s of the Euler-Lagrange equations (3.2.14). This differential conserva-
tion law implies the integral conservation law
f s'Tpwa = 0, (3.5.13)
8N
where N is a compact n-dimensional submanifold of X with the boundary ON.
In view of the strong identity (3.2.12), we further limit our consideration to the
Poincar6-Cartan form p,, = HL (3.2.6). In this case, the first variational formula
(3.5.7) reads
8auAf- + [ua8a + u8; + (dau' - V 8au")8; ]L = (3.5.14)
(u'-yu")(8;-dab;)G-da(a;(u"y-u')-u''G].
This identity leads on-shell to the weak identity
Lji L dyho(uJ HL), (3.5.15)
0.%u%,C +[u''8a+u'8;+(dau'-
-da[ii(u"y"-u')-u"L],
where
T = Taws = -ho(uJ HL), (3.5.16)

TA =ff:(u"y'
M -u')-u.'G,
is the symmetry current along the vector field u, which corresponds to the Poincar6-
Cartan form.
If the Lie derivative Ljt4L vanishes, we have the weak conservation law
0 -_ dyho(uJ HL), (3.5.17)
10 -_ -dA(,r (u"y,', - u') - UAL]
of the symmetry current T (3.5.16) along the vector field u.

Remark 3.5.5. Superpotential. Note that the symmetry current Tp in the weak
identity (3.5.10) is not uniquely defined, but with the accuracy of an arbitrary dij-
closed form. At the same time, its dependence on the vector fields u corresponding
to different gauge transformations should be the same. The currents Tp (3.5.11)

associated with different Lepagian equivalents possess this property. Indeed, they
differ from each other in the dy-closed form
-ho(J'ujpo) = dHa, a = -e(y.,u" - u')wA

where po is a Lepagian equivalent (3.2.5) of the zero Lagrangian density. This differ-
ence may be significant if one examines integral conservation laws, where different
Lepagian equivalents lead to different fluxes through a 2-codimensional surface.
It may happen that a symmetry current T- can be put into the form
= W + d1U = (WA + dU" (3.5.18)
where the term W contains only variational derivatives (3.5.8), i.e., W .:s 0 and
U = U"`jA: J'Y "A2T'X
is a horizontal (n - 2)-form on J'Y -+ X. Then one says that T reduces to the
superpotential U [52, 67, 165).
It should be emphasized that, in this case, a symmetry current assumes the
dH-exact form (3.5.18) on-shell only. Moreover, the equality
T-dHU=W(b;G)=0 (3.5.19)
is a combination of the Euler-Lagrange equations b;G = 0.

If a symmetry current T reduces to a superpotential, the integral conservation law
(3.5.13) becomes tautological. At the same time, the superpotential form (3.5.18)
of T implies the following integral relation
f s'TAWA = f s'U' 1,,a, (3.5.20)

N^-' ON-1
where Nn"' is a compact oriented (n - 1)-dimensional submanifold of X with the
boundary 8N-'. One can think of this relation as being a part of the Euler-
Lagrange equations written in an integral form.
Superpotentials are met with in gauge theory and in gravitation theory, where
generators of gauge transformations depend on derivatives of gauge parameters.
Example 3.5.6. Let us consider conservation laws for Lagrangian densities which
have the same Euler-Lagrange operator. It should be recalled that they differ from
3.5. LAGRANGIAN CONSERVATION LAWS 135
each other in variationally trivial Lagrangian densities. Let L and L' be different
Lagrangian densities which lead to the same Euler-Lagrange operator EL = EL-.
By Proposition 3.2.2, the first variational formula (3.5.14) and the weak identity
(3.5.15) for L' differ from those for L in the strong identity
dyho(uje) (3.5.21)
where c is a closed n-form on Y. If the Lagrangian densities L and L' have the same
symmetries, i.e.,
Lp ho(e) = 0,
the contribution -u j e of the strong identity (3.5.21) to the symmetry current

(3.5.17) is not tautological (see Example 3.6.10 on topological field theories).
Remark 3.5.7. One distinguishes between invariant transformations and general-

ized invariant transformations [13, 110, 1741. An automorphism $ of a fibred mani-
fold Y X is called a generalized invariant transformation if 4) preserves the Euler-
Lagrange operator EL, but not necessarily the Lagrangian density L. For instance,
gauge transformations in the Yang-Mills gauge theory are invariant transformations,
whereas they are generalized invariant transformations in the Chern-Simons gauge
model (see Example 3.6.9).
Let us consider conservation laws in the case of generalized invariant transfor-
mations. Let L be a Lagrangian density and EL the associated Euler-Lagrange
operator. Let u be a projectable vector field on Y -e X, which is the generator of
a local 1-parameter group of generalized invariant transformations, that is,
L.nuEL = 0.
Then, in accordance with (3.3.26), we have
ho(e),
where a is a closed n-form on the fibred manifold Y. In this case, the weak trans-
formation law (3.5.15) reads
ho(c) _- duho(uj HL),

In particular, if e = da is an exact form, we obtain the weak conservation law

0 dgho(uJ HL - a). (3.5.22)
Remark 3.5.8. Background fields. Background fields, which do not live in

the dynamic shell (3.5.9), break conservation laws as follows. Let us consider the
product
Yto,,=YxY' (3.5.23)
of a fibred manifold Y with coordinates whose sections are dynamic fields,

and a fibred manifold Y' with coordinates (x, yA), whose sections are background
fields which take the background values
=.0B(x), Y AB = Ba0B(x)
YB
A Lagrangian density L is defined on the total configuration space J'Y,,,,,.

Let u be a projectable vector field on Y,a which projects also onto Y' because
gauge transformations of background fields do not depend on the dynamic ones.
This vector field takes the coordinate form
u = u"(x)8a + uA(x", yB)8A + u'(x", yB, yi)8,. (3.5.24)
Substitution of (3.5.24) in (3.5.14) leads to the first variational formula in the

presence of background fields
8au"L+[uAOA+UABA+u'8 A+
(dau' - y'"8au")8; ]L = (u" - ua)8AL + 7r-dA(uA - y' u") +
(u` - y'auA)h,L - dAIir (u"y - u`) - uAL].
Then the following weak identity
BAUAL + [uA8. + uAOA + u8 + (dauA -

(dau' - y"8au")8i ]C - (uA - ya ua)8AL + 1r-da(uA - yN u") -
dA[ir (u"y,, - u') - u"L)
holds on the shell (3.5.9).
3.5. LACRANGIAN CONSERVATION LAWS 137
By construction, total Lagrangian densities L are usually invariant under gauge

transformations of the product (3.5.23). In this case, we obtain the weak identity
in the presence of background fields
(uA - yu)8AG + 7r da(uA - y u) dA[7ri (uy (3.5.25)
Remark 3.5.9. The weak identity (3.5.25) can also be applied when the dynamic
equations are not the Lagrangian ones, but are given by the coordinate expressions
(8,-da6;)G+F,=0,
where F; are local functions on J'Y. It reads
F, -4 [1r (uy - u') - uAG].
1 The weak identity (3.5.15), the weak conservation law (3.5.17) and the weak
identity in the presence of background fields (3.5.25) are the basic ingredients in our
analysis of differential conservation laws in classical field theory. I
It is easy to see that the weak identity (3.5.15) is linear in the vector field u.
Therefore, one can consider superposition of weak identities (3.5.15) associated with
different vector fields.
For instance, if u and u' are projectable vector fields on Y projecting onto the
same vector field on X, the difference of the corresponding weak identities (3.5.15)
results in the weak identity (3.5.15) associated with the vertical vector field u - u'.
Every projectable vector field u on a fibred manifold Y X, which projects
onto a vector field r on X, can be written as the sum
of a liftr of 7- over Y and a vertical vector field 0 on Y. It follows that the weak
identity (3.5.15) associated with a projectable vector field u can be represented as
the superposition of those associated with f and t9.
In the case of a vertical vector field t9 = 6'8 on Y -, X, the weak identity

(3.5.15) takes the form
[08, + dafl'8; ]G su da(tr{,9 ). (3.5.26)
In field theory, vertical gauge transformations describe internal symmetries. If a

Lagrangian density is invariant under internal symmetries, we have the Not her con-
servation law
10 da(7ri t9')
of the Nother current
T = -t91 HL, (3.5.27)
The well-known example of a Nother conservation law is that in gauge theory of

principal connections (see next Section).
1 Note that the Nother current (3.5.27) differs in the minus sign from the familiar
one in the physics literature. I
A vector field r on X can be lifted onto the total space Y of a fibred manifold
Y --+ X by means of a connection I' on Y. This lift is the horizontal vector field rr
(3.5.5).
The weak identity (3.5.15) associated with the horizontal vector field rr takes
the form
8Mr'`G + [r"8 + r"18;

I'',,) + (da (r1",,) - It (3.5.28)
-dal7r4 r"(y - - 6Nr"GJ.
The corresponding symmetry current (3.5.16) along zr reads
Tr = -ho(rr1 HL),
I`fir = r"(tr'(y - I") - b0, G).
This current is called the stress-energy-momentum (SEM) current relative to the

connection 1' [55, 79, 67, 165).
3.5. LAGRANCIAN CONSERVATION LAWS 139
To discover SEM conservation laws, one may choose different connections on

Y - X (e.g., different connections for different vector fields r on X or different
connections for different solutions of the Euler-Lagrange equations). It is readily
seen that the SEM currents relative to different connections r and C differ from
each other in the Nother current (3.5.27) along the vertical vector field
0 = l" (110 - 1 )8j.
Example 3.5.10. Let all vector fields r on X be lifted onto Y by means of the same
connection r on Y - X. The weak identity (3.5.28) can be rewritten as follows
rO{[8+r'8j+(8a1"+ BSI")a'']G-da[7r;(I''-F1)+6 L]} 0.
Since this relation takes place for the arbitrary vector field r on X, it is equivalent
to the system of weak equalities
(8 + r,,8j + dATr'v = M, - y)bjG 0,
where 1r' are components of the tensor

Tr = -ho(r1 HL) ='r'dx" WA,
I TrA-rj(8-r)-bG.
This is called the SEM tensor relative to the connection r.
Example 3.5.11. If we choose the local trivial connection (I o) = 0, the SEM

weak identity (3.5.28) takes the form
8G -djo', (3.5.29)
TOa aj G,
where To-;, is the canonical energy-momentum tensor. Though it is not a true

tensor, the weak identity (3.5.30) on solutions s of the Euler-Lagrange equations is
well defined:
,C 0
8) +
(3.5.30)
8(8 8t' (To-%j, O s) 0.
This results from the SEM weak identity (3.5.28) when, for every solution s, we
choose the connection r which has s as its integral section, i.e.,
r'NOs=8s'.
One can say that the weak identity (3.5.30) does not contain any Nother current.
Note that, in gravitation theory on natural bundles T X (e.g., tensor bundles),

we have the canonical horizontal lift of vector fields on X onto T (see Section 3.7).
This lift, under certain conditions, can be represented locally as a horizontal lift
(3.5.5). The corresponding symmetry current is also called a SEM current.
3.6 Conservation laws in gauge theory

An extensive literature is devoted to gauge theory (see [131] and references therein).
In this book (see Sections 2.7 and 2.8), we give a brief outline of the geometric
basics of gauge theory of principal connections. Section 5.7 is devoted to formal
integrability of the Yang-Mills equations, while in this Section, we will study Nother
conservation laws and SEM conservation laws in gauge theory.
Let P -. X be a principal bundle with a structure Lie group G (or simply a
G-principal bundle. In a gauge model with a symmetry group G, gauge potentials
are identified with principal connections on the principal bundle P, while matter
fields are represented by sections of fibre bundles associated with P. Here we will
consider only gauge theory with unbroken symmetries. The reader is referred to
Remarks 3.8.4 and 3.8.13 for the mathematical picture of spontaneous symmetry
breaking.
A principal connection on a principal bundle P -i X is defined as an equivariant
connection A on P (see relation (2.7.9)). Hence, there is one-to-one correspondence
between the principal connections on P -' X and the global sections of the bundle
of principal connections C - X (2.7.5). Given a bundle atlas 'I" of P, this fibre
bundle is provided with the bundle coordinates (xa,a' such that, for every section
A of C,
I aoA=A
are the coefficients of the local connection 1-form A on X (2.7.10) with respect to
the atlas V. The first order jet manifold J'C of the fibre bundle C is equipped
with coordinates (z A, aa, aa).
Let
Y = (P x V)/G (3.6.1)
3.6. CONSERVATION LAWS IN GAUGE THEORY 141
be a P-associated fibre bundle (2.7.12) with a standard fibre V on which the struc-
ture group G of P acts on the left.
By (p] we denote restriction of the canonical morphism
P x V - (P x V)/G
to {p} x V. Then, by definition of Y, we have
[PI(v) = (P9](9-,v)
For the sake of convenience, we will write
vEV.
Remark 3.6.1. In fact, Y (3.6.1) is the fibre bundle canonically associated with
the principal bundle P.
A fibre bundle Y -. X, given by the triple (X, V, 'I') of a base X, a typical fibre
V and a bundle atlas 'P, is called a fibre bundle with a structure group C if C acts
effectively on V on the left and the transition functions p>,p (1.2.2) of the atlas 'V
take their values into the group C. Fibre bundles (X, V, C,'1') and (X, V', C, 4")
with the same structure group C, which may have different typical fibres, are called
associated if the transition functions {pp} and {p'',,,} of the atlases 'Y and 'V',
respectively, belong to the same element of the oohomology group H' (X; C) (see
Remark 3.8.1). Any two associated fibre bundles with the same typical fibre are
isomorphic to each other ([93], p.41), but their isomorphism is not canonical in
general. A fibre bundle Y - X with a structure group C is associated with a
C-principal bundle P -+ X. If Y is canonically associated with P as in (3.6.1), then
every atlas T p = {(Q., za) } of P canonically determines the associated atlas

of Y
'I' = {(U0,0o(x) = [za(x)]-');
every automorphism of a principal bundle P yields the corresponding auto.

morphism (3.6.3) of the P-associated fibre bundle (3.6.1).
Unless otherwise stated, by a P-associated fibre bundle we mean the quotient (3.6.1).
Every principal connection A on P - X yields the associated principal connec-

tion (2.7.13) on the associated vector bundle Y - X. This connection reads
A=dx''(8a+Aa p8,).
In physical applications, a P-associated fibre bundle is called a matter bundle. The
total configuration space of a gauge model with unbroken symmetries is the product
JIytct=J'YXJ'C. (3.6.2)
In gauge theory, several classes of gauge transformations are considered [131, 151,
168). By a gauge transformation of a principal bundle P is meant its automorphism
d'p which is equivariant under the canonical action (2.7.1), that is, the diagram
P- R9 P
+P I I P
P-+PR,
Ryo4'p_'PpoR.,
commutes for each 9 E C. This is called a general principal automorphism of P.
Every general principal automorphism of P yields the corresponding automor-
phisms
pEP, vEV, (3.6.3)
of the P-associated bundle Y (3.6.1). For the sake of brevity, we will write
Oy : (P x V)/C -+ (4'p(P) x V)/C.

General principal automorphisms 0 of the principal bundle P determine also the
corresponding automorphisms
J'P/G J'4p(J'P)/G (3.6.4)
of the bundle of principal connections C 199].

'Ib obtain the Nother conservation laws, we will consider only vertical auto-
morphisms of the principal bundle P, which are called principal automorphisms, or
simply gauge transformations if there is no danger of confusion.
Remark 3.6.2. Every principal automorphism of a principal bundle P is repre-

sented as
+P(P) = PI (P), PEI', (3.6.5)
where f is a G-valued equivariant function on P, i.e.,
f (P9) = 9-'I(P)9, Vg E C. (3.6.6)
There is one-to-one correspondence between the functions f (3.6.6) and the global
sections s of the group bundle
Pc = (P X G)/G, (3.6.7)
whose typical fibre is the group C which acts on itself by the adjoint representation
([85], p.277). There is the canonical fibre-to-fibre action of the group bundle PG on
any P-associated bundle Y:
PCxY -Y,
x
((p, 9) - G, (P, v) . C) _+ (P, 9v) C, dg E G, WE V.
Then, the above-mentioned correspondence is defined by the relation
(s(7rpx (P), P) '-' PI (P)

It follows that principal automorphisms of a principal bundle P -. X with
a structure group G form the group Gau(P) C Aut (P), called the gauge group,
which is isomorphic to the group of global sections of the group bundle (3.6.7). A
suitable Sobolev completion (see [3]) makes the gauge group into a Banach Lie group
\aai(P) ([131], p.151).
Let be a C-invariant vertical vector field on a principal bundle P corresponding

to a local 1-parameter group [+P] of principal automorphisms of P. We will call
e a principal vector field. Recall one-to-one correspondence between the principal
vector fields on P and the sections of the gauge algebra bundle VcP -, X (2.7.3).
In the notation of Example 2.7.2, a principal vector field reads
{ = e'e,, (3.6.8)
where {ep} is the basis of the Lie algebra g.

Remark 3.6.3. Global sections of the fibre bundle V0P - X form the infinite-
dimensional Lie algebra S(VcP), which is called the gauge Lie algebra A suitable
Sobolev completion turns S(VcP) into the Banach Lie algebra of the gauge Banach
Lie group ti(P) of Remark 3.6.2. Therefore, one can think of the components
P(x) of a principal vector field (3.6.8) as being gauge parameters. The principal
vector fields (3.6.8) are transformed under the generators of gauge transformations
by the adjoint representation given by the Lie bracket
e : t - [t', f] = 4,C iV ep, C, e E S(V0P).

Accordingly, gauge parameters are changed by the coadjoint representation
(3.6.9)
Given a principal vector field C (3.6.8) on P, the corresponding principal vector

field on the P-associated fibre bundle Y X, which corresponds to the (local)
1-parameter group [-iPy] of principal automorphisms (3.6.3) of Y, reads
ev = t' y8i.
Accordingly, the principal vector field on the bundle of principal connections C,
which corresponds to the local 1-parameter group [fic] of principal automorphisms
(3.6.4) of C, takes the form
cc = (8vf' + 46,')8; (3.6.10)
(see (2.8.14)).
Remark 3.6.4. Let us consider a local I-parameter group of general principal
automorphisms [+p] of the principal bundle P - X whose generator is a projectable
G-invariant vector field
t=rAOA+eep: X - T0P
(see Example 2.7.2). Let be the corresponding 1-parameter group of automor-
phisms (3.6.4) of the fibre bundle C X. The generator of [4'c] is the vector field
lc (2.8.12) on C which takes the coordinate form
ICc = ra8., + (8, + c; aCP - a,70;r'`)8; , (3.6.11)

where fP are gauge parameters.
A principal vector field on the product C Y reads

X
kvc = (8C' + c9-PaL )& + ?J,8 = (t48S + 74S )8A, (3.6.12)
where the collective index A is used

uy""8A = 6P8T , un 8A = c ,,a8; + p8{.
A Lagrangian density L on the configuration space (3.6.2) is said to be gauge-
invariant if the strong equality
Lj'frcL = 0
holds for every principal vector field C (3.6.8) [177].
In this case, the first variational formula (3.5.14) leads to the strong equality
0 = (t4CP + 7b"08,,e)6AG + da1(up"CP + 71p"P84P)aAA], (3.6.13)
where SAG are the variational derivatives of L and

dA = 8 + aPj8p + ya8i.
Due to the arbitrariness of gauge parameters C"(x), this equality is equivalent to
the following system of strong equalities:
) = 0,
1"bAG + d,,(up" (3.6.14a)
u""bAL + dA(vp"aA) + t i = 0, (3.6.14b)
4 A7rA + 4"7rA = 0. (3.6.14c)
Remark 3.6.5. Substituting (3.6.14b) and (3.6.14c) in (3.6.14a), we obtain the

well-known constraint conditions of the variational derivatives of a gauge-invariant
Lagrangian density:
4bAL - d, (up""bAL) = 0.
On-shell, the first variational formula (3.6.13) leads to the weak conservation law
10 ft dA [(t4e + t4"8"P)ir ] (3.6.15)

of the Nother current

(3.6.16)
Accordingly, the equalities (3.6.14a) - (3.6.14c) on-shell lead to the familiar

Wither identities for a gauge invariant Lagrangian density L:
d,644A) -- 0, (3.6.17a)
da(t4'`7rA) + U47rA -- 0, (3.6.17b)
t4A7 + t4'`7rA = 0. (3.6.17c)
They are equivalent to the weak equality (3.6.15) due to the arbitrariness of the
gauge parameters tP(x).
A glance at the expressions (3.6.15) and (3.6.16) shows that the Nother conser-
vation law and the Nother current both depend on gauge parameters. The weak
identities (3.6.17a) - (3.6.17c) play the role of the necessary and sufficient con-
ditions in order that the weak conservation law (3.6.15) be gauge-covariant, i.e.,
form-invariant under changing gauge parameters. This means that, if the equality
(3.6.15) takes place for gauge parameters 1;, it does so for arbitrary deviations l; +b
of C. Then the conservation law (3.6.15) is also covariant under gauge transfor-
mations, when gauge parameters are transformed by the coadjoint representation
(3.6.9).
1 Thus, dependence of the Nother current on gauge parameters guarantees that

the Nother conservation law is maintained under gauge transformations. 1
It is easily seen that the equalities (3.6.17a) - (3.6.17c) are not independent.
In fact, (3.6.17a) is a consequence of (3.6.17b) and (3.6.17c). This reflects the fact
that, in accordance with the strong equalities (3.6.14b) and (3.6.14c), the Nother
current (3.6.16) is brought into the superpotential form (3.5.18):
TA = et4 6AG - d(fr+:'7rA)
where the superpotential is
Since a matter field Lagrangian does not depend on the derivative coordinates ate,
the Not her superpotential
(3.6.18)
depends on the gauge potentials only.

We have the corresponding integral relation (3.5.20), which reads
f s 9-'ma = J s'(i)ww,, (3.6.19)
N-, aN-1
where N' ' is a compact oriented (n - 1)-dimensional submanifold of X with the
boundary 8N"''. One can think of (3.6.19) as being the integral relation between
the symmetry current (3.6.16) and the gauge field generated by this current. In
the electromagnetic theory, the similar relation between an electric current and the
electromagnetic field generated by this current is well known (see Example 3.6.7).
In comparison with (3.6.19), this relation, however, is free from gauge parameters
due to the peculiarity of Abelian gauge models.
Remark 3.6.6. It should be emphasized that the superpotential form of the Wither
current (3.6.16) is caused by the fact that principal vector fields (3.6.12) depend on
derivatives of gauge parameters.
Example 3.6.7. Electromagnetic field. In gauge theory with an Abelian sym-

metry group G, one can take the Nother current and the Nother conservation law
not depending on gauge parameters.
Let us consider the electromagnetic theory, where
a = U(1), f'(y) = iy'.
In this case, a gauge parameter t is not changed under gauge transformations as
follows from the coadjoint representation law (3.6.9). Therefore, one can put, e.g.,
= 1. Then the Nother current (3.6.16) takes the form
T' = -u'7rA
Since the group G is Abelian, this current (3.6.20) does not depend on gauge po-
tentials and it is invariant under gauge transformations. We have
TA = -iy1irf . (3.6.20)
It is easy to see that T, under the sign change, is the familiar electric current of
matter fields, while the Nother conservation law (3.6.15) is precisely the equation of
continuity. The corresponding integral equation of continuity (3.5.13) reads
f
ON
)wA = 0,
where N is a compact n-dimensional submanifold of X with the boundary ON.

Though the Nother current T (3.6.20) is expressed in the superpotential form
V = -b-,C + dUA,
the equation of continuity is not tautological. This equation is independent of an
electromagnetic field generated by the electric current (3.6.20) and it is therefore
treated as the strong conservation law.
When = 1, the electromagnetic superpotential (3.6.18) takes the form
U'`"=W.A=---F"A,
where F is the electromagnetic strength. The corresponding equality (3.5.19) is

precisely the system of Maxwell equations
d".F"A = iytir .
Accordingly, the integral relation (3.6.19) is the integral form of the Maxwell equa-
tions. In particular, the well-known relation between the flux of an electric field
through a closed surface and the total electric charge inside this surface is recov-
ered.
Remark 3.6.8. Utiyama theorem. One can regard the strong equalities (3.6.14a)
- (3.6.14c) as conditions of a Lagrangian density L to be gauge-invariant. Let us
study these equations in the case of a Lagrangian density
L : J1C -+ XT'X (3.6.21)
for free gauge fields. Then the equations (3.6.14a) - (3.6.14c) read
Qa,8, L + a',"8;"L) = 0, (3.6.22a)
8q L + cmaa8;'L = 0, (3.6.22b)
8P'L+8p L=0. (3.6.22c)
Let us utilize the coordinates (a, Sx, Y ;x) (2.8.20), (2.8.22), which correspond to
the canonical splitting (2.8.21) of the jet manifold J'C.
With respect to these coordinates, the equation (3.6.22c) reads
O= 0. (3.6.23)
"A
Then the equation (3.6.22b) takes the form

aG _ 0. (3.6.24)
aa
A glance at the equations (3.6.23) and (3.6.24) shows that the gauge-invariant La-
grangian density (3.6.21) factorizes through the strength F of gauge potentials, i.e.,
J'C f-' C_
c\ /r
n T+X
[25, 58]. Then the equation (3.6.22a) is written as
a a" = 0,
which is the equivalent of gauge-invariance of the Lagrangian density Z.
As a result, the conventional Yang-Mills Lagrangian density LYM of gauge poten-
tials on the configuration space J'C in the presence of a background world metric
g on the base X reads
LYM = 1 9 I w, g= (3.6.25)
where aC is a non-degenerate G-invariant metric in the Lie algebra of g and a is a

coupling constant.
Let us turn now to SEM conservation laws in gauge theory. For the sake of
simplicity, we will consider only gauge theory without matter fields. The corre-
sponding Lagrangian density is the Yang-Mills Lagrangian density (3.6.25) on the
jet manifold J'C.
Given a vector field r on X, let B be a principal connection on the principal
bundle P -+ X and
TB = r"(0,% + Baep)
the horizontal lift of r onto P by means of the connection B. This vector field, in
turn, gives rise to the vector field TB (3.6.11) on the bundle of principal connections
C, which reads
I r8 = r-'Ox + (rA(aBa + C;aB) - a"T1'(a0 (3.6.26)
Let us discover the SEM current along the vector field 'ra (3.6.26) [61, 1651.
Since the Yang-Mills Lagrangian density (3.6.25) depends also on a background
pseudo-Riemannian metric g, we will consider the total Lagrangian density
L= J 0 1 w, a = det(o,,,,), (3.6.27)
on the total configuration space J' (C Epa), where EPR is the bundle of pseudo-
X
Riemannian fibre metrics (3.7.18) with coordinates (xa, a"").
Given a vector field T on X, there exists its canonical lift (3.7.7)
T = r 8a + + &TPc")aas
onto EPR C VT'X, which is the generator of a local 1-parameter group of general
covariant transformations of EPR (see Remark 3.7.8). Thus, we have the canonical
lift
7-A8.%
TB = + cy -8,.7-8(a0 - B;)]&,. +
+ 0OTP0'")8'0
of a vector field r on X onto the product C EPR. For the sake of simplicity, we
X
will denote it by the same symbol TB.
The total Lagrangian density (3.6.27), by construction, is invariant under gauge
transformations and general covariant transformations. Hence, its Lie derivative
along the vector field J'TB equals zero. Then we can use the formula (3.5.25). On
the Yang-Mills shell and the background field a'' = g""(x), this reads
0 (8vTgl + 0,,r g" - 8ag0T'')8.0G - dATB,
where
TB = + cy a.B,a, - a;,,) + Ovr(a - BB)] - (3.6.28)
is the SEM current along the vector field (3.6.26).

This weak identity can be written in the form
0_- 8aT"tN j g 1- T"(,,0a)tp j g I- dATB, (3.6.29)
where are the Christoffel symbols (1.6.5) of g and
tp (g 1 = 2g"8sCYM
3.6. CONSERVATION LAWS IN CAUCE THEORY 151
is the metric energy-momentum tensor of gauge potentials (see Remark 3.7.9). We

then have the relation
tN 19 I = b.Cym.
Let A be a solution of the Yang-Mills equations. Let us consider the lift (3.6.26)
of the vector field T on X onto C by means of the principal connection B = A. In
this case, the SEM current (3.6.28) reads
T'A oA=r"(toA) 19
The SEM weak identity (3.6.29) on the solution A takes the form
0-{,,Pa}(t.' o I - da[(ty o A) I g I].

Thus, it leads to the familiar covariant conservation law
V,((t o A) I -g J) = 0, (3.6.30)
where V is the covariant derivative with respect to the Levi-Civita connection

of the background metric g.
Note that, in the case of an arbitrary principal connection B, the corresponding
SEM weak identity (3.6.29) differs from (3.6.30) in the Nother conservation law
0 --
where
`
Sc = Svar = (&,
y
+ ccgna,S )a:
r
S = r'`(B - A),
is the principal vector field (3.6.10) on C.
It should be emphasized that, in order to obtain the covariant conservation law

(3.6.30), the gauge invariance of the Lagrangian density (3.6.25) has been used. 1
Example 3.6.9. Chern-Simons gauge model. The Chern-Simons gauge model

on a 3-dimensional base manifold X3 [19, 131) is an example where a Lagrangian
density is not gauge-invariant. In this model, gauge transformations are generalized
invariant transformations, but not invariant transformations (see Remark 3.5.7). As
a consequence, the Nother current (3.6.16) is not conserved, and we have the con-
servation law (3.5.22). Moreover, neither is the SEM current conserved, though the
Chern-Simons Lagrangian density (as well as Lagrangian densities of other topo-

logical field models) is independent of a background metric.
Let p __+ X3 be a principal bundle with structure group a semisimple Lie group
C, and let C X' be the bundle of principal connections with coordinates (x", aa).
The Chern-Simons Lagrangian density fails to be globally defined on the configu-
ration space J'C, but it is given on each bundle chart by the coordinate expression
Los = (fL - 3aaa,.)w, (3.6.31)
where e''" is the skew-symmetric Levi-Civita tensor and k is the coupling constant.
It is readily observed that the Lagrangian density (3.6.31) is not gauge-invariant.
At the same time, Los leads to the gauge-invariant and globally defined differential
operator
kamfle
eLcs = F 9Q` A w. (3.6.32)
We will call e,,, the Euler-Lagrange operator, though it is a locally variational, but
not variational operator. Of course, gauge transformations in the Chern-Simons
model keep the Euler-Lagrange operator (3.6.32), but not the Lagrangian density
(3.6.31), invariant.
In the Chern-Simons model, we have the above-mentioned weak conservation
law (3.5.22), where the total conserved current is the sum of the standard Nother
current plus the additional term as follows.
Let Cc be the principal vector field (3.6.10) on the bundle of principal connections
C X. We obtain
Ljif,Lcs = kOfEn",%C'aa"w. (3.6.33)
In accordance with Proposition 3.3.11, the Lie derivative (3.6.33) is expressed in the
form
ho(ds),
where
awJ1
is a2-formon C-.X.
Hence, the weak identity (3.5.26) in the case of the principal vector field Cc
(3.6.10) leads to the conservation law (3.5.22):
0 -da(TA + oa), (3.6.34)
where
4. 1 amneAcc "au
k
is the Nother current. Furthermore, the conservation law (3.6.34) on the Chern-
Simons shell
5GCs = k a c mnea.rx- = 0
takes the superpotential form
0 -_ dUla),
UAX = 24C
mn
eaAtnam
a
Let us now turn to the SEM conservation law in the Chern-Simons model.
Let r be a vector field on the base X and r8 its canonical lift (3.6.26) onto the
fibre bundle C by means of a principal connection B. Remind that this is a vector
field associated with a local 1-parameter group of general principal automorphisms
of C- X.
Bearing in mind the corresponding transformation law of the term e`w, we
obtain
I+,p;HLcs = aLeaa8o(TB. )a'Hw.
The corresponding conservation law takes the form
0 -- -dA[T.B + )ap), (3.6.35)
where TB is the SEM current (3.6.28) along the vector field ra.
It follows that the SEM current of the Chern-Simons model is not conserved
because the Lagrangian density (3.6.31) is not gauge-invariant. At the same time,
we have the conservation law (3.6.35) of another quantity.
Example 3.6.10. Zbpological gauge models. Let us consider Lagrangian den-

sities of topological gauge models which are invariant under the general principal
automorphisms of the fibre bundle C. Though their Lagrangian densities are vari-
ationally trivial, the corresponding strong identities yield superpotential terms (see
Example 3.5.6) when topological Lagrangian densities are added to the Yang-Mills
one.
Let P --+ X be a principal bundle with a structure group G. Recall that the
fibre bundle J1P -, C is also a G-principal bundle (see Example 2.7.4) provided
with the canonical principal connection A (2.8.4) with the curvature FA (2.8.5).
Let I(g) be the algebra of real G-invariant polynomials on the Lie algebra g of
the group G. Then there is the well-known Weil homomorphism of 1(g) into the De
Rham cohomology algebra H+(C,R) (see 1131]). By virtue of this homomorphism,
every k-linear element r E 1(g) is represented by the cohomology class of the closed
characteristic 2k-form r(FA) on C. If A is a section of C -+ X, we have
A'r(FA) = r(FA),
where FA is the strength of A and r(FA) is the corresponding characteristic form on
X.
Let n = dim X be even and let a characteristic n-form r(FA) on C exist. This
is a Lepagian form which defines a gauge-invariant Lagrangian density
Lr = ho(r(FA))
on the jet manifold J1 C. The Euler-Lagrange operator associated with Lr vanishes

identically. Then, for every projectable vector field u on C, we have the strong
equality
L.n.ho(r(FA)) = dnho(J1uJr(FA)
If u = Cc is a principal vector field (3.6.10) on C, this equality takes the form
0 = dyho(J1uJr(FA))
For instance, let dim X = 4 and the group C be semisimple. Then the charac-
teristic Chern-Pontryagin 4-form is
r(FA)=amn AFP'.
This is the Lepagian equivalent of the Chern-Pontryagin Lagrangian density
L=
;w
of the topological Yang-Mills theory.
3.7. CONSERVATION LAWS IN GRAVITATION THEORY 155
3.7 Conservation laws in gravitation theory

There are several approaches to discover energy-momentum conservation laws in
gravitation theory. In contrast with infinite-dimensional instantaneous Hamiltonian
formalism [23, 89, 117], we are here concerned with Lagrangian field theory, where
the energy-momentum of gravity is treated as a peculiar Nother current [9, 21, 69,
91, 92, 166] or a Belinfante-Rosenfeld-like tensor [87, 79, 173].
Gravitation theory is formulated on fibre bundles T X, called natural bundles,
which admit the canonical horizontal lift T of any vector field r on X. One can
think of this canonical lift as being the generator of a local 1-parameter group of
general covariant transformations of the fibre bundle 7'. We will examine the SEM
conservation laws in gravitation theory along such canonical lifts of vector fields on
X.
Remark 3.7.1. The reader is referred to [105] for a detailed outline of the category
of natural bundles. By a natural bundle we will here call a fibre bundle T -- X
which admits a canonical horizontal lift of any local diffeomorphism of its base X.
Tensor bundles exemplify natural bundles.
1 Throughout the rest of this Chapter, by a manifold X is meant a 4-dimensional

manifold. This is assumed to be non-compact, orientable and, unless otherwise
stated, parallelizable in order that a pseudo-Riemannian metric, a spin structure
and a causal space-time structure can exist on it (60, 189J. Moreover, an orientation
on X is chosen. I
Remark 3.7.2. In classical field theory, if cosmological models are not discussed,
some conditions of causality should be satisfied (see [88]). A compact space-time
does not possess this property because it has closed time-like curves. Every non-
compact manifold admits a non-zero vector field and, as a consequence, a pseudo-
Riemannian metric ([46], p.167). A non-compact 4-dimensional manifold X has a
spin structure if and only if it is parallelizable (i.e., the tangent bundle TX - X
is trivial) [60]. Moreover, this spin structure is unique [7, 60). The orientability of
the manifold is not needed for a pseudo-Riemannian structure and a spin structure
to exist on it. This requirement, and the additional condition of time-orientability,
seem natural if we are not concerned with cosmological models [46]. It should be
noted that also paracompactness of manifolds has a physical reason. A manifold is
paracompact if and only if it admits a Riemannian structure ([130]; [103], p.271).
A manifold X obeying the above-mentioned conditions is called a world manifold.

Accordingly, a linear connection and a fibre metric on the tangent and cotangent
bundles of X are said to be a world connection and a world metric. The coordinate
expressions of world connections on TX and T'X are respectively:
K = dx " ( 8a + (3. 7. 1 )
K' d? 0 (8,, (3. 7. 2 )
Remark 3.7.3. Unless otherwise stated, a coordinate atlas Tx = { (Uc, Ot) } of X

and, hence, the corresponding holonomic bundle atlas
'T = {(U(,TC)) (3.7.3)
of the tangent bundle TX is assumed to be fixed.
Let
xtx:LX - X
be the principal bundle of oriented linear frames in the tangent spaces to a world
manifold X (or simply the frame bundle). Its structure group is
GL4 = GL+(4,R).
A world manifold X, by definition, is parallelizable if and only if the frame

bundle LX X is trivial and, consequently, it admits a global section, called a
frame field.
Unless otherwise stated, T denotes a fibre bundle associated with LX, e.g., a
tensor bundle
T=(TX)((&' T'X). (3.7.4)
Principal connections on the frame bundle LX and the associated connections on

the LX-associated bundles T are also called world connections.
Given holonomic frames {8"} in the tangent bundle TX associated with the
holonomic atlas (3.7.3), every element {Ha} of the frame bundle LX takes the form
H. = H%0,.,
where H'à is a matrix element of the group CL4. These matrix elements constitute
the bundle coordinates
(x
J1
H".),
i =
H a =
a
H a,
,
ata
of LX, in which, the canonical action (2.7.1) of CL4 on LX reads
R9 : H"a I 11"69ba, 9 E CLL.
The frame bundle LX is equipped with the canonical R4-valued 1-form BLx
which has the coordinate expression
OLx = Ha"dx" & ta, (3.7.5)
where {ta} is a fixed basis for R4 and Ha,, is the inverse matrix of H"..
The frame bundle LX X belongs to the category of natural bundles. Every
diffeomorphism f of X gives rise canonically to the automorphism
H'a) i-' (f" (x), Of " HP.) (3.7.6)
of LX and, consequently, to the corresponding automorphisms (3.6.3) of the asso-

ciated bundles T. These automorphisms are called the general covariant transfor-
mations or the holonomic automorphisms.
Example 3.7.4. If 7' = TX is the tangent bundle, f = T f is the familiar tangent
map to the diffeomorphism f. If T = T'X is the cotangent bundle, 1= T' f is the
cotangent map (see Example 1.3.2).
We will denote the group of holonomic autornorphisrns by HOL(X) C AUT (LX).

This is isomorphic to Diff(X).
The lift (3.7.6) leads to the canonical horizontal lift T of every vector field T on
X onto the principal bundle LX and the associated fibre bundles. The canonical
lift of r onto LX is defined by the relation
LOLx=0.
We have the corresponding canonical lift

...a-
T = T"8" + [8 ,,T
a, V -a- L9
xp1...pk + Bp,T x pz...pk - ...J (3.7.7)
9i...A
of r onto the tensor bundle (3.7.4) and, in particular, the lifts
'r = T"8, + (3.7.8)
onto the tangent bundle TX and
T` = T"8, - 8pr"i (3.7.9)

a71-0-
onto the cotangent bundle T'X.

The bundle of principal connections on LX admits the canonical lift (3.7.40) of
vector fields on X.
Remark 3.7.5. If a vector field r on X is complete, so is its canonical lift F.
Remark 3.7.6. If a vector field r is non-vanishing at a point x E X, then there

exists a local symmetric linear connection K around x for which r is an integral
section
Then the canonical lift z (3.7.7) can be found locally as the horizontal lift of r by
means of this symmetric connection.
One can consider the horizontal lift
TK = T"(8a + Kapiapp) (3.7.10)
of a vector field r on X onto TX and the associated bundles by means of any

world connection K. This is the generator of a local 1-parameter group of non-
holonomic automorphisms of these bundles. Non-holonomic automorphisms of the
frame bundle are met with in the gauge theory of the general linear group CL4 191].
Note that the lifts (3.7.8) and (3.7.10) were treated as generators of the gauge group
of translations in the pioneer gauge gravitation models (see [90, 96] and references
therein).
A glance at the expression (3.7.7) shows that the generators ,7 of general covariant
transformations (as well as the generators (3.6.12) of principal automorphisms in
gauge theory) depend on the components r'` of the vector fields r (which play the
role of gauge parameters) and their partial derivatives. The main peculiarity of
the SEM conservation laws along these generators is that the corresponding SEM
currents reduce to the sum of a superpotential term and a term which displays itself
in the presence of a background world metric on X.
Such a phenomenon takes place in General Relativity [1481, the Palatini model
[21, 149], metric-affine gravitation theory and gauge gravitation theory [68, 69, 1661.
We will start from tensor field theories which clearly illustrate this phenomenon.
Let T be a tensor bundle (3.7.4) with coordinates (x',yA), where the collective
index A is used:
YA =_ 91 ...ak (3.7.11)
In this notation, the canonical lift z (3.7.7) onto T of a vector field r on X reads
T = r''8a + UAaBfir8A. (3.7.12)
Remark 3.7.7. The expression (3.7.12) is the general form of the canonical lift
of a vector field r on X onto a natural bundle T, when this lift depends only on
the first partial derivatives of the components of r. Therefore, the results obtained
below for tensor fields are also true for every such natural bundle T.
Let L be a Lagrangian density on J'T which is invariant under general covariant
transformations, i.e., L satisfies the strong equality
Ljt7L = 0.
In the coordinate form (3.5.6), this equality reads
8(7G) + uA Opr8AG + r)zrA - yQ 8sr7rA = 0. (3.7.13)
The corresponding weak identity (3.5.17) takes the form
0 dA[7rA(yy r - uAaO,r) -r-,C]. (3.7.14)
Due to the arbitrariness of the gauge parameters r, the equality (3.7.13) is
equivalent to the system of strong equalities
(3.7.15a)
Y.ArO
SaG + uA06AG + d,,(uAair ) = , (3.7.15b)
uAa7rA + uAQ7[A = 0, (3.7.15c)
where
bAG = (OA - d,,bw)G
are the variational derivatives (3.2.10).

Substituting the relations (3.7.15b) and (3.7.15c) in the weak identity (3.7.14),
we obtain the SEM conservation law
0 da[uAQ6AGr + d,,(uAQ7rAr)]. (3.7.16)
A glance at the expression (3.7.16) shows that, on-shell, the corresponding SEM
current leads to the superpotential form (3.5.18), that is,
ÈT = uA;bAGT +
where
UTPA = uAQ7rAr (3.7.17)
is the SEM superpotential of tensor fields.
I It is readily seen that the SEM superpotential (3.7.17) emerges from the de-
pendence of the canonical lift T (3.7.12) on the derivatives of the components of the
vector field r. This dependence guarantees that the SEM conservation law (3.7.16)
is maintained under general covariant transformations. 1
Let us now consider tensor fields, treated as matter fields, in the presence of a
background pseudo-Riemannian metric on a world manifold X.
Remark 3.7.8. A pseudo-Riemannian metric g on a world manifold X is repre-
sented by a section of the fibre bundle
EPR = GLX/0(1,3), (3.7.18)
where by CLX is meant the bundle of all linear frames in TX, and 0(1,3) is the
complete Lorentz group. We will call EPR the metric bundle. Since X is oriented,
the metric bundle is associated with the principal bundle LX of oriented frames in
TX. The typical fibre of EPR is the quotient
CL(4,R)/0(1,3).
This quotient space is homotopic to the Crassmann manifold 0(4,3;R) and it is

homeomorphic to the topological space RP3 x R', where R.P3 is the 3-dimensional
real projective space ([151], p.164).
For the sake of simplicity, we will often identify the metric bundle with an open
subbundle of the tensor bundle
EPR C 'TX.
It is equipped with coordinates (xa, a""). By a,,, are meant the components of the
inverse matrix and o = det(a,,,,).
We follow Remark 3.5.8 to obtain the SEM conservation law of tensor fields in
the presence a background metric. The total configuration space is the jet manifold
J I Y of the fibred product
Y = T x EPiz.
x
This product is endowed with coordinates (xA, yA, a"), where we continue to use
the compact notation (3.7.11). Liven a vector field T on X, its canonical lift onto
Y reads
f = 7-.18A + UAQB$T8A + (O"Ta"A + O"TAa,)&Q . (3.7.19)
Let a total Lagrangian density L on J'V be invariant under general covariant

transformations, that is,
Lj,TL = 0 (3.7.20)
for any vector field f (3.7.19).
1 Unless otherwise stated, we assume that Lagrangian densities do not depend

on the derivative coordinates aa"" of a world metric. 1
Due to the arbitrariness of the gauge parameters T, the equality (3.7.20) is

8AG = 0, (3.7.21 a)
6.0,C
+ uAobAG + d"(uAa A) = y 1rq, (3.7.21b)
uAQ + uAo = 0. (3.7.2lc)
On the shell
6AL=0, a,=g'"'(x),
the corresponding weak identity (3.5.25) takes the form
0 - 8.7-8g- - 8ag0 TA)BQpG - (3.7.22)
da[XA(y rQ - uA$o 7.o)
- T"G].
Substituting (3.7.21b) and (3.7.21c) in (3.7.22), we obtain the SEM weak identity
0 ^ 8aT"t 19 I - T"{,,6a)t0 -'I g I - (3.7.23)
IS
9 I + U" %bAITQ + d, (uAnrATQ)],
where
tN I g I = 2ga"8,,,,G (3.7.24)
is the metric energy-momentum tensor of tensor fields.

Remark 3.7.9. Given a product
YXEPR
X
and a Lagrangian density L on the jet manifold of this product, the metric crnergy-
momentum tensor is defined to be
t Io 2o, 6""'C'
where b,,,,G are the variational derivatives with respect to the metric coordinates
p'.
A glance at the expression (3.7.23) shows that, on-shell, the SEM current of
tensor fields in the presence of a background pseudo-Riemannian metric is the sum
TA VI
= T" O g l + d,,(u"Q,TQ) (3.7.25)
of the metric energy-momentum tensor (3.7.24) of these fields and the superpotential
(3.7.17). The latter does not contribute to the differential conservation law which
takes the familiar form
VAt-_ 0.
At the same time, if a metric field is dynamic, the metric energy-momentum

tensor (3.7.24) vanishes on-shell. This is the phenomenon of "hidden" energy, which
displays itself only in the presence of a background metric.
Example 3.7.10. Proca field. We will take a Proca field as an example of a
tensor matter field. Proca fields are described by sections of the cotangent bundle
T = M. Their configuration space is the jet manifold J1T'X, coordinatized by
(x , k, k,a), where k,, = i,, are the induced coordinates on T'X. The jet bundle
J1T'X -. T'X is modelled over the pull-back bundle
T'X X(T'X) -.T'X.
Given a world connection K, the configuration space J'T'X admits the following
splitting
J'T'X = S+ (T"X x AT* X), (3.7.26)
X
where S+ is an affine bundle modelled over the vector bundle
T'X X((T'X) - T"X

(see Example 4.6.5). In coordinates, this splitting reads
k,,,, = 2 (Sav + .FFa,,)

(3.7.27)
S,, = k,,,, + k - (3.7.28)
where
S- K -K
is the torsion (2.3.25) of the linear connection K. If a connection K is symmetric,
we have
F,,,, = k,,,, - (3.7.29)
Let us consider the relation (3.7.15c). In coordinates Sp) associated with

the splitting (3.7.26), it takes the form
IMP
0.
OSw
It follows that, in order to be invariant under general covariant transformations, the

Lagrangian density of Proca fields must factorize through the morphism
.F : J'T'X-.T'X x n T'X.
x
Indeed, the standard Lagrangian density of Proca fields in the presence of a
background world metric g and a background world connection K takes the form
LP = 2m2f P- kka[ 19 Iw. (3.7.30)

7
Let us consider the SEM conservation law of Proca fields in the presence of a
background world metric g when K is the Levi-Civita connection of g. Let r be a
vector field on the base X and
r = r"8 -
'5Z
its canonical lift (3.7.9) onto 7' X. The weak identity (3.7.23) for this vector field
reads
0 19 I - 19 I -
da['rt 19 I - kr' 6''G - d(k&07)),
where
19 I =
7r"a r,,,,
- m2g"''kk 19 6,,C p.
Hence, on-shell, the SEM current (3.7.25) of Proca fields in the presence of a back-
ground metric is the sum
P = r"t 19 I - d(kir' r) (3.7.31)
of their metric energy-momentum tensor and the superpotential
UPS" _ -k7r' r. (3.7.32)

Let us now examine SEM conservation laws in dynamic gravitational models. In

this Section we are concerned with General Relativity and metric-affine gravitation
theory. The next Section will be devoted to gauge gravitation theory.
In General Relativity, gravity is described by a pseudo-Riemannian metric and
its Lagrangian density is the Hilbert-Einstein Lagrangian density. This is a second
order Lagrangian density whose Euler-Lagrange operator reduces to a second order
differential operator (see Remark 3.2.12).
Thus, the configuration space of General Relativity is the second order jet ma-
nifold J2EPR of the metric bundle EPR. In this model, it is convenient to consider
the metric bundle as an open subbundle of the tensor bundle
EPR C vT'X
equipped with the coordinates (xA, a,,). The jet manifold .PEPR is coordinatized
by (xA, g p, gw, 9aaA)'
The second order Hilbert-Einstein Lagrangian density on the configuration space
J2EPR reads
LHE = 2-000Rve i 9 Ire (3.7.33)
where
R (2 (oP011 + ovQs - 0'1100v - 6000M) +
Qcr({à}(v"o} -
f l 1
-2QQS(Qval+
+ Opav - Q{9v)
ivQl =
This Lagrangian density is linear in the second order derivative coordinates gaa
and leads to the second order Euler-Lagrange operator and to the Poincarc-Cartan
form (3.2.18), which lives on the first order jet manifold J1EPR.
Remark 3.7.11. Let us recall the useful relations
o_ 1 80, 8
ao0
_ a0 8
o 80.0, i9aw,
Let us consider Proca fields from Example 3.7.10 as the matter source of a metric
gravitational field.
The total configuration space of metric gravitational fields and Proca fields is
the second order jet manifold J2Y of the fibred product
Y=T'XxEpa. (3.7.34)
On this configuration space, the Lagrangian density of Proca fields is given by

the expression (3.7.30) where the background world metric g"v is replaced with the
metric coordinates o', and F is given by the expression (3.7.29). We have
Lp = 47O.Fpfrw - 2rri2g'`''k'ka)
o 1W. (3.7.35)
The total Lagrangian density L is the sum of the Hilbert-Einstein Lagrangian

density (3.7.33) and the Lagrangian density of Proca fields (3.7.35).
The associated Poincare-Cartan form on the first order jet manifold J'Y reads
HL=HHE+ Hp,
where
Hp = (Cp - Tr1Mk>v)w + aadk,, A wA,
'e V, a 11
ly
and HHE is given by the following expression [111]:
HHE ,l-K I -al (oMO."oCO({y.M}{O6} -

(oMoa9 _ oO{9,}daw) Awa]
Let r be a vector field on X and

f = T'Ba - 80r'k 8 (3.7.36)
its canonical lift onto the fibred product (3.7.34). Since the Lagrangian densities LHE
(3.7.33) and Lp (3.7.35) are invariant under general covariant transformations, the
Lie derivative of their sum L by the second order jet lift J2T off (3.7.36) vanishes.
Then the first variational formula (3.2.19) leads to the following SEM conservation
law [148]:
0 da{2o,1r"6aG - rkb" G + (3.7.37)

dM(2K I(ra"VvrM - o""OVTA) - k, ir"arJ}.
Io
3.7. CONSERVATION LAWS IN GRAVI"IA77ON Th EORY 167
A glance at the conservation law (3.7.37) shows that the corresponding SEM
current reduces to the superpotential which is the sum of the Komar superpotential
UK" - zK O I /OAvOvrv - O"OvT-A) (3.7.38)
of metric gravitational fields (106] and the superpotential (3.7.32) of Proca fields.
Z Note that, in comparison with the expression (3.7.31), the energy-momentum

current of Proca fields in the presence of a dynamic metric field reduces to a super-
potential only. Z
Let us turn now to SEM conservation laws in metric-affine gravitation theory

[68, 166].
Remark 3.7.12. In rnetric-affine gravitation theory, gravity is described by a
pseudo-Riemannian metric g and a world connection K on X. The reader is referred
to [137, 91, 139] for a general formulation of this gravitational model and to [43, 91]
for a study of its solutions.
Since world connections are associated with principal connections on the frame
bundle LX, there is one-to-one correspondence between the world connections and
the sections of the quotient fibre bundle
CK = J'LX/GL4. (3.7.39)
We call this the bundle of world connections.

With respect to the holonomic frames in TX, the bundle CK is provided with
the coordinates (x', kA".) so that, for any section K of CK - X,
ka"a o K = Ka"a
are the coefficients of the world connection K (3.7.1).
The bundle of world connections CK (3.7.39) admits the canonical horizontal lift
/c : J'LX/CL, -. J'J(J'LX)/CL,,
of any diffeomorphism / of X and, consequently, the canonical lift
T = T8 + 8s'r"k,,v - i9,,T"kvQ + Opsel8k Qp

(3.7.40)
of any vector field r on X.

For the sake of simplicity, let us utilize the compact notation
T = T-ABA + (U 0007 + UAQPO$pT)OA
for the lift (3.7.40), where
Y=kp A,
u $tv = btbob
f7
Upo A7-kp
f s
8 o -kp 1rs5-k7 9bp
t
The configuration space of the metric-affine gravity is the first order jet manifold
of the fibred product
EPRXCK.
This configuration space is equipped with the adapted coordinates
(xA,ot9 ,kpa,aAoB ,kAp a)
Remark 3.7.13. The jet manifold J'CK admits the canonical splitting (2.8.21). We
will denote the corresponding projection F by R. This projection has the coordinate
expression
RApp = kApB - k,,a o + kptkAs8 - kA tkpt$. (3.7.41)
It is readily observed that, if K is a section of CK - X, then R o .1'K is the

curvature (2.4.24) of the world connection K.
We will again consider Proca fields as a matter source of the metric-affine gravity.
Then the total configuration space is the first order jet manifold J'Y of the fibred
product
Y = T'X EPR X CK. (3.7.42)

X
The total Lagrangian density 1, on this configuration space is the sum
L = LMA + Lp (3.7.43)
of a metric-affine Lagrangian density LMA and the Lagrangian density (3.7.35) of

Proca fields, where 1:;,,, is given by the expression (3.7.27) and
(3.7.44)
We will assume that LMA factorizes through the curvature (3.7.41) and that it
does not depend on the derivative coordinates aap of a world metric. Then the
following relations take place:
AY B - V_1
(3.7.45)
B,CMA
= a ak 9 (3.7.46)
e
We also have the equalities
a ARY ay B
EAU o =
7rAt4 A9
== B
GMA - ncB ' .y.
c k c
Given a vector field r on a world manifold X, its canonical lift onto the product
(3.7.42) reads
r" 8 - 8rk 8 + (a" a"

(uAQ0Or + uAo8s1,r)8A.
Let the total Lagrangian density L (3.7.43) be invariant under general covariant
transformations, i.e.,
Lj,T(LMA + Lp) = 0. (3.7.47)
Then, on-shell, the first variational formula (3.5.14) leads to the weak conservation
law
0 da[an(y r - uAQa5r - UAQ B"BT) + (3.7.48)
k8,,r) - raG],
where
TM A' = it (y ro - uAoO5r - uAe 8ipr) (3.7.49)
is the SEM current of the metric-affine gravity.

Due to the arbitrariness of the gauge parameters r", the equality (3.7.47) is
8AG=0,
6P
+ 2aP"6"G + u"a6AG - k.60L + d"(w"Au"a - kir"a) - (3.7.50)
(ya 7r,O + k,7r'") = 0,
[(uA, 8A + UAry8Aa),CMA + (O'.y + 2k.y7r`)Gp]86T" = 0, (3.7.51)
7r(A y) = 0, (3.7.52)
where 6,,G, bAG and Of, are the corresponding variational derivatives.
Remark 3.7.14. It is readily observed that the equality (3.7.51) holds owing to the
relation (3.7.46) and to the fact that the Lagrangian density Lp factorizes through
.F. The equality (3.7.52) holds due to the relation (3.7.45).
Substituting the term y.7roA + k"7rfl" from the expression (3.7.50) in the SEM
conservation law (3.7.48), we bring this conservation law into the form
0 -_ -da[2a-'"r6"G + uAarbAG - kTb"G - (3.7.53)
7rAUAoB07 + d"(rra"O)8sT 1+ d"(7rquA,1)T
-
d"(k7r"AT)].
Note that the last term in this expression is precisely the divergence of the super-
potential (3.7.32) of Proca fields.
After separating the variational derivatives, the SEM conservation law (3.7.53)
of the metric-affine gravity and the matter Proca fields leads to the superpotential
form
0 a -da[2a4`T6"G + (k"aryb a"G - k,,b"-%G - !c yb v'G)T +

6o"G8"T - d"(&"G)T + r - vT))]r
where the SEM current on-shell reduces to the generalized Komar superpotential
UMA"a k , T).
I
= (3.7.54)
Remark 3.7.15. We can rewrite the superpotential (3.7.54) as

UMAW = 2 BGMA (DVTa
+ ST),
8R"
where D is the covariant derivative relative to the connection and is the

torsion (3.7.44) of this connection.
Remark 3.7.16. Let us emphasize that matter Proca fields do not contribute to
the total superpotential (3.7.54). The corresponding term
-d,,(k7r'ÀT)
in the expression (3.7.53) disappears because of dependence of the Lagrangian den-
sity Lp on the torsion (3.7.44). As will be seen later, also in gauge gravitation
theory fermion fields do not contribute to the total SEM current because of their
interaction with a torsion.
Example 3.7.17. Let us consider the Hilbert-Einstein Lagrangian density

LHE = Z-R I o Iw,
R
in the metric-affine gravitation model. Then the generalized Komar superpotential
(3.7.54) comes to the Kornar superpotential (3.7.38) if we substitute the Levi-Civita
connection
Let us generalize this example by considering the Lagrangian density

LPL = f (R) Ira Iw,
where f(R) is a real polynomial function of the scalar curvature R. In the case of a
symmetric connection, we reobtain the superpotential
UPL'À =
Of I a I (7 DpT, -
OR
of the Palatini model [21].
Example 3.7.18. It is readily observed that, in the local gauge where the vector
field r is constant, the SEM current of metric-affine gravity (3.7.49) leads to the
canonical energy-momentum tensor
ÀMA = (xA"9kw . - 6.LMA)T
This tensor was suggested in order to describe the energy-momentum complex in
the Palatini model (44, 144, 149].
3.8 Gauge gravitation theory

There is an extensive literature on gauge gravitation theory (see [11, 91, 96, 139,160]
and references therein). We here consider the SEM conservation law in gauge grav-
itation theory. Difficulties arise because of the presence of Dirac fermion fields.
The key point is that the Dirac spinor bundles over a world manifold are not pre-
served under general covariant transformations. To overcome this difficulty, we will
consider the universal spin structure on a world manifold, based on the two-fold uni-
versal covering group CL. [56, 118, 151, 172]. It admits the canonical horizontal lift
(3.8.60) of vector fields on a world manifold X. The goal is the SEM conservation
law (3.8.67) of the metric-affine gravity and Dirac fields.
Remark 3.8.1. Homotopy and homology. Let us first recall some basic notions
of homotopy theory [82, 1881. Application of this theory to fibre bundles is based
on the following two facts.
Let Y X be a principal bundle. Let f, and f2 be two mappings of a manifold

Z to X. If these mappings are homotopic, the pull-back bundles flY -. Z
and f2Y - Z are isomorphic ((170], p.53).
The De Rham cohomology groups H'(M) of a paracompact manifold M are

isomorphic to the (tech oohomology groups H'(M,R) with coefficients in R
([93], p.37). This isomorphism enables us to represent characteristic classes of
principal bundles as the De Rham cohomology classes of characteristic exterior
forms expressed in terms of principal connections (51, 1311 (see Remark 3.6.10).
Continuous maps f and f of a topological space Z to a topological space Z' are

said to be homotopic if there is a continuous map
g: (0, 1) xZ- Z'

whose restriction to {0} x Z [{1} x Z] coincides with f [f']. The set of equivalence
classes of homotopic maps Z -- Z' is denoted by a(Z, Z'). The topological spaces
Z and Z' are called homotopically equivalent or simply homotopic if there exist
mappings f : Z -+ Z' and g : Z' -. Z such that g o f is homotopic to the identity
map Id Z, and fog is homotopic to Id V. In particular, a topological space is called
contractible if it is homotopic to one of its points. For instance, Euclidean spaces
Rk are contractible.
3.8. GAUGE GRAVITATION THEORY 173
Let (Sk, a) be a k-dimensional sphere and let a E Sk be a point. Let us consider

the set of equivalence classes of homotopic maps of Sk to a topological space Z which
sends a onto a fixed point b of Z'. If Z is pathwise connected this set does not depend
on the choice of a and b, and one can talk about the set 7rk(Z) of equivalence classes
of homotopic maps Sk - Z. This set can be provided with a group structure, and
is called the kth homotopy group of the topological space Z. The homotopy groups
7rk> (Z) are always Abelian, while the first homotopy group 7rj(Z) is also known as
the fundamental group of Z. By 7ro(Z) is denoted the set of pathwise connected
components of Z. Let us bear in mind that a manifold is pathwise connected if and
only if it is connected.
A topological space Z is said to be p-connected if it is pathwise connected and
its homotopy groups 7rk<p(Z) are trivial. A 1-connected space is also called simply
connected. A contractible topological space is p-connected for any p E N.
There is the important relation for the homotopy groups of the product of topo-
logical spaces:
7rk(Z X Z') = 7rk(Z) x 7rk(Z').
for more complicated constructions of topological spaces we refer the reader to the
van Kampen theorem ([381, p.63). Note that, given a group G1 and Abelian groups
G2i G3, ..., there exists a connected (cell) topological space Z with wk(Z) = Gk
(k = 1, 2, ...).
Homotopy groups of topological spaces are homotopic invariants in the sense
that they are the same for homotopic topological spaces. However, it may happen
that non-homotopic topological spaces have the same homotopy groups.
Other homotopic invariants of topological spaces are homology and cohomology
groups. While there are different homology theories, one usually refers to singular
homology and cohomology [37, 48, 82] and to (tech cohomology [47, 931. Here we
are briefly concerned with (tech cohomology.
Let it = {U;)1E1 be an open covering of a paracompact topological space Z. La
us consider a function ' which associates to each (p+ I)-tuple (io,... , ip) of indices
in I such that U,, fl ... fl U;, 0 0 an element of an Abelian group K. One can think
of 0 as being a K-valued function on the set U,, fl ... fl Uy. These functions form
an Abelian group Bp(11, K). Let us consider the cochain morphism
lP:Bp(U,K) B;+'(1.1, K),

[p+1 _
(6')(i0,... Iip{.1) = L(- 1)k4.(io,...,lk,...tp}1),
k=O
where tk means that the index ik is omitted. One can check that
o'01P =0.
Thence, we have the eocllain complex
...-.BP(U,K)--'P-+ B'(U,K),.-.
(see Remark 3.3.3), and its oohomology groups
HP(il K) = Ker 6P/Im 6P-'
can be defined. Of course, they depend on an open covering U of the topological
space Z. Let if be a refinement of the covering U. Then there exists a homomor-
phism
P(1.1; K) -. HP(U'; K).
One can take the direct limit of the groups HP(U, K) with respect to these homo-
morphisms, where U runs through all open coverings of Z ([931, p.27). This limit is
the pth Oech cohomology group HP(Z; K) of Z with coefficients in K.
For paracompact and second countable manifolds which we deal with, the tech
cohomology groups coincide with the singular cohomology groups ([471 pp.248,285)
and, as was mentioned above, the tech cohomology groups with coefficients in R
coincide with the De R.ham cohomology groups. Note that, in the same manner, the
oohomology group H'(Z; C) of Z with coefficients in a non-Abelian group C can be
defined [93].
In conclusion, let us recall the following isomorphism
H'"(Z x Z'; K) _ E Hk(Z; K) 0 H'(Z'; K) (3.8.1)
k+!-m
for the eohomology groups of the product Z x Z' if K is a field ([481, p.84).
We describe Dirac spinors as follows [36, 150, 156] (see [27, 1181 and references
therein for a general Clifford algebra technique).
Let M be the Minkowski space equipped with the Minkowski metric which reads
q=diag(1,-1,-1,-1)
with respect to a basis {e} of M.

Let C1,3 be the complex Clifford algebra generated by elements of M. This is
the complexified quotient of the tensor algebra M of M by the two-sided ideal
generated by elements
ee'+e e-2ri(e,e') E M, e,e' E M.
Remark 3.8.2. The complex Clifford algebra C13 3 is isomorphic to the real Clifford
algebra R2,3, whose generating space is RS equipped with the metric
diag(1,-1,-1,-1, 1).
Its subalgebra generated by elements of M C R5 is the real Clifford algebra R,,3.
A spinor space V is defined as a minimal left ideal of C1,3 on which this algebra
acts on the left. We have the representation
7 : M 0 V --+ V, (3.8.2)
'Y(e) =,Y,,,
of elements of the Minkowski space M C C13 3 by the Dirac 7-matrices on V. The

explicit form of this representation depends on the choice of the minimal left ideal
V of C1,3. Different ideals lead to equivalent representations (3.8.2).
The spinor space V is provided with the spinor metric
a(v, v) = (Tiv + V'v) = 2 (v+7v' + v'+ryv), (3.8.3)

2
since the element e E M satisfies the conditions
(e)+ = CO, (ee)+ = e0e, Ve E M.
By definition, the Clifford group G1,3 consists of the invertible elements 1, of

the real Clifford algebra R1,3 such that the inner automorphisms defined by these
elements preserve the Minkowski space M C R1,3, that is,
1,e11 =1(e), e E M, (3.8.4)
where I is a Lorentz transformation of M.

Thus, we have an epimorphism of the Clifford group G1,3 onto the Lorentz group
O(1, 3). Since the action (3.8.4) of the Clifford group on the Minkowski space M
is not effective, one usually consider its pin and spin subgroups. The subgroup
Pin(1, 3) of C13 3 is generated by elements e E M such that 1)(e, e) = 1. The even
part of Pin(1,3) is the spin group Spin(1,3). Its component of the unity
L. = Spin(1, 3) = SL(2, C)
is the well-known two-fold universal covering group
zL : L. L = L./Z2, Z2 = {1, -1}, (3.8.5)
of the proper Lorentz group

L = S0(1, 3).
Recall that L is homeomorphic to RP3 x R3 ([821, p.27). The Lorentz group 1, acts
on the Minkowski space M by the generators
Lab`d = ri.abb - 77Li6;. (3.8.6)
Remark 3.8.3. The generating elements e E M, ri(e, e) = 1, of the group Pin(1, 3)

act on the Minkowski space by the adjoint representation which is the composition
e : v - eve -I = -v + 2 e, e, V E R',
e, e)
of the total reflection of M and the reflection across the hyperplane

el = {w E M; 17(e, W) = 0}
which is perpendicular to e with respect to the metric n in M. By the well-known
Cartan-Dieudonnb theorem, every element of the pseudo-orthogonal group 0(p, q)
can be written as a product of r < p + q reflections across hyperplanes in the vector
space RP" ([118], p.17). In particular, the group Spin(1, 3) consists of the elements
of Pin(1,3) which are an even number of reflections of M. The epimorphism of
Spin(1, 3) onto the Lorentz group SO (1, 3) and the epimorphism (3.8.5) are defined
by the fact that elements e and -e of M determine the same reflection of M across
the hyperplane el = (-e).
The Clifford group C,,3 acts on the spinor space V by left multiplications
GO -3 1,:v- 1,v, VEV.
3.8. CAUCE CRAVI7ATION THEORY 177
This action preserves the representation (3.8.2), i.e.,
7(lM l,V) = 47(M 0 V).

The spin group L. acts on the spinor space V by means of the generators
Lab = [Y., 7b] (3.8.7)

4
Since
this action preserves the spinor metric (3.8.3).

Let us now consider a bundle of Minkowski spaces MX - X over a world
manifold X. By definition, this is a fibre bundle with the structure group SO(1, 3).
This bundle is extended to the bundle of Clifford algebras CX with fibres C2X
generated by the fibres M=X of the fibre bundle MX [14, 157]. CX is a fibre bundle
with the structure group Aut(Ct,s) of inner automorphisms of the Clifford algebra
C1,3. This structure group is reducible to the Lorentz group SO(1, 3) and, of course,
the bundle of Clifford algebras CX contains the subbundle MX of the generating
Minkowski spaces. However, CX does not necessarily contain a spinor subbundle
because a spinor subspace V of C1,3 is not stable under inner automorphisms of
C1,3. As was shown [15, 157], the above-mentioned spinor subbundle SM exists if
the transition functions of CX can be lifted from AutC1,3 to CL1,3. This agrees
with the usual conditions of existence of a spin structure.
The bundle MX of Minkowski spaces must be isomorphic to the cotangent

bundle T'X for sections of the spinor bundle SM to describe Dirac fermion fields
on a world manifold X. In other words, we should consider a spin structure on the
cotangent bundle T'X of X [118].
There are several almost equivalent definitions of a spin structure on a world

manifold X [7, 14, 92, 118]. A Dirac (or pseudo-Riemannian) spin structure on a
world manifold X is said to be a pair (P., z.) of an L.-principal bundle P. - X and
a principal bundle morphism
z.: P. - LX (3.8.8)
of P. to the frame bundle LX -+ X. More generally, one can define a spin structure
on any vector bundle E -. X ([118], p.80). Then the definition above applies to
the particular case in which E is the cotangent bundle and the fibre metric
in T'X is a pseudo-Riemannian metric. Example 3.8.11 will exhibit a Riemannian
spin structure on X.
Since the hmomorphism L. -. CL4 factorizes through the epimorphism (3.8.5),
every bundle morphism (3.8.8) factorizes through a morphism of P. to some principal
subbundle of the frame bundle LX whose structure group is the proper Lorentz
group L. It follows that the necessary condition for existence of a Dirac spin structure
on X is that the structure group CL4 of LX is reducible to the Lorentz group L.
I From the physics viewpoint, it means that the existence of Dirac's fermion
matter implies the existence of a gravitational field. 1
Remark 3.8.4. G1H-structure. Let us recall some basic notions. Let rrpx :
P X be a principal bundle with a structure group C, and let H be a closed Lie

subgroup of C. We have the composite fibre bundle
P -i P/H -+ X, (3.8.9)
where
E=P/HEX (3.8.10)
is a P-associated fibre bundle with the typical fibre C/H on which the structure
group C acts naturally on the left, and
PE=P-4P/H (3.8.11)
is a principal bundle with the structure group H (1103], p.57).

One says that the structure group C of a principal bundle P is reducible to a Lie
subgroup H if there exists a principal subbundle P" of P with the structure group
H. This subbundle is called a reduced C1H-structure (74, 104, 191].
Note that in [74, 104], the authors are concerned with reduced structures on
the frame bundle LX. This notion is generalized to an arbitrary principal bundle
in [191]. In [74], a reduced structure is restricted to a monomorphism of a given
principal bundle P - X with a structure group H to the principal frame bundle LX.
Thereby, only isomorphic CL(4,R)1H-structures are considered. The set of these
structures is in bijective correspondence with the group Gau(LX) (see Propositions

3.8.4 and 3.8.5).
Let us recall the following two theorems.
THEOREM 3.8.1. A structure group G of a principal bundle P is reducible to

its closed subgroup H if and only if P has an atlas V p with H-valued transition
functions ([1031, p.53).
Given a reduced subbundle Ph of P, such an atlas eY is defined by a family of

local sections {z0} which take their values into Ph.
THEOREM 3.8.2. There is one-to-one correspondence
Ph = 7r-:(h(X))
between the reduced 11-principal subbundles Ph of P and the global sections h of
the quotient fibre bundle P/I1 - X ([103], p.57).
Given such a section h, let us consider the restriction h* FE (1.2.11) of the H-
principal bundle PE (3.8.11) to h(X) C E. This is an H-principal bundle over X
([103], p.60), which is isomorphic to the reduced subbundle Ph of P.
In general, there are topological obstructions to the reduction of a structure
group of a principal bundle to its subgroup. In accordance with Theorem 1.2.5, the
structure group C of a principal bundle P is always reducible to its dosed subgroup
H, if the quotient C/H is homeomorphic to a Euclidean space Rk.
PROPOSITION 3.8.3. In this case, all H-principal subbundles of P are isomorphic
to each other as H-principal bundles ([170], p.56).
In particular, a structure group C of a principal bundle is always reducible to its

maximal compact subgroup H since the quotient space C/H is homeomorphic to
a Euclidean space ([170], p.59). It follows that there is one-to-one correspondence
between the equivalence classes of C-principal bundles and those of If-principal
bundles if H is a maximal compact subgroup of C [93, 1701. In particular, this
is the case of GL(n,R)- and 0(n)-principal bundles as well as of GI.+(n,R)- and
80(n)-principal bundles.
PROPOSITION 3.8.4. Every vertical principal automorphism + E Gau(P) of the
principal bundle P X sends an 11-principal subbundle Ph onto an isomorphic
H-principal subbundle Phi.
Proof. Let
10 = {(U0, ),p".p}, za(x) = zp(x)p".hp(x), X E UQ fl Up,
be an atlas of the reduced subbundle P", where za are local sections of P" -. X
and p"p are the transition functions. Given a vertical automorphism + of P, let us
provide the reduced subbundle P"' = 4,(P") with the atlas
'ph' = {(U., zo'), pop}

determined by the local sections
Z!, =A oza
of P"' - X. Then it is readily observed that
p' p(X) = p p(x), x E U. (I Up.
QED
PROPOSITION 3.8.5. Conversely, let two reduced subbundles P" and PW of a

principal fibre bundle P be isomorphic to each other as H-principal bundles, and
$ : P" P"' be an isomorphism. Then, 40 is extended to a principal automorphism
of P. 13
Proof. The isomorphism d> determines a C-valued function f on P" given by the
relation
Pf (P) = +(P), PEP".

Obviously, this function is H-equivariant. Its prolongation to a G-equivariant func-
tion on P is defined to be
f (pg) = g 'f (P)g, p E P", g E C.
In accordance with the relation (3.6.5), this function defines a principal automor-
phism of P whose restriction to P" coincides with 0. QED
Given a reduced subbundle P" of a principal bundle P, let

Y" = (P" X V)/H (3.8.12)
be the associated fibre bundle with a typical fibre V. Let P" be another reduced
subbundle of P which is isomorphic to P", and
Y"' = (P"' x V)/H

The fibre bundles Y" and Y"' are isomorphic, but not canonically isomorphic in
general.
PROPOSITION 3.8.6. Let P" be an H-principal subbundle of a C-principal bundle

P. Let Y be the P"-associated bundle (3.8.12) with a typical fibre V. If V carriers a
representation of the whole group C, the fibre bundle Y" is canonically isomorphic
to the P-associated fibre bundle
Y=(PxV)/C.
0
Proof. Every element of Y can be represented as (p, v) G, p E P". Then the

desired isomorphism is
e=*
QED
It follows that, given an H-principal subbundle P" of P, any P-associated fibre

bundle Y with the structure group G is canonically equipped with a structure of the
P"-associated fibre bundle Y" with the structure group H. Briefly, we can write
Y=(PxV)/C^_-(PhxV)/H=Y".
However, if P" 34 P"', the P"- and P-associated bundle structures on Y are not
equivalent. Indeed, given bundle atlases Th of P" and I "' of P", the union of the
associated ati'ases of Y has necessarily G-valued transition functions between the
charts from W" and %P"'.
Since a world manifold X is assumed to be parallelizable, the structure group

CL4 of the frame bundle LX is obviously reducible to the Lorentz group L. The
corresponding L-principal subbundle (or simply the Lorentz subbundle) is denoted
by L"X, and is said to be a Lorentz structure.
By virtue of Theorem 3.8.2, there is one-to-one correspondence between the L,

principal subbundles L"X of LX and the global sections h of the quotient fibre
bundle
ET = LX/L, (3.8.13)
called the tetrad bundle. This is an LX-associated fibre bundle with the typical
fibre GL4/L. Since the group CL4 is homotopic to its maximal compact subgroup
SO(4) and the proper Lorentz group is homotopic to its maximal compact subgroup
SO(3), the quotient CL,,/L is homotopic to the Stiefel manifold
411(4,1; R) = SO(4)/SO(3) = S3
([170], p.33) and it is homeomorphic to the topological space S3 x R'. The fibre
bundle (3.8.13) is the two-fold covering of the metric bundle EPR (3.7.18). Its global
sections are called the tetrad fields.
Remark 3.8.5. In gravitation theory, a pseudo-Riemannian metric g and a tetrad
field h are usually identified with a physical gravitational field. At the same time,
there are gravitational models where a physical gravitational field is described by
an "effective" metric which differs from the geometric one [123].
Since X is parallelizable, any two Lorentz subbundles LhX and are iso-
morphic to each other. It follows that, by virtue of Proposition 3.8.5, there exists
a vertical bundle automorphism E Gau(LX) which sends L"X onto L"X. The
associated vertical automorphism 4 Pr the fibre bundle ET -' X transforms the
tetrad field h into the tetrad field h'.
Every tetrad field h defines an associated Lorentz atlas 41" _ ((UC, z,')) of LX
such that the corresponding local sections z' of the frame bundle LX take their
values into the Lorentz subbundle f)'X.
Given a Lorentz atlas W", the pull-back
h" 0 t, = zch'Ol x = /iadza t, (3.8.14)
of the canonical form 0j.x (3.7.5) by a local section z' is said to be a (local) tetrad
form. The tetrad form (3.8.14) determines the tetrad coframes
h" = h',(x)dx, x E Uc, (3.8.15)

3.8. CAUCE GRAVITATION THEORY 183
in the cotangent bundle T'X. These coframes are associated with the Lorentz atlas
V
The coefficients h of the tetrad form and the inverse matrix elements
hQ = SQ o zh (3.8.16)
are called the tetrad functions. Given a Lorentz atlas W", the tetrad field h can
be represented by the family of tetrad functions {hQ}. In particular, we have the
well-known relation
g = ha 0 hnab,
9;_ --hahb
gl
ab ,
between the tetrad functions and the metric functions of the corresponding pseudo-
Riemannian metric g : X -e Epa.
Remark 3.8.6. Since a world manifold X is assumed to be parallelizable, it admits
global tetrad forms (3.8.14).
In the general case of a manifold X provided with a Lorentz structure, there also
exists a Lorentz atlas such that the temporal tetrad form h is globally defined. This
is a consequence of the fact that the Lorentz group L is reducible to its maximal
compact subgroup SO(3) and, therefore, there exists an SO(3)-principal subbundle
LQX C LhX C LX, called a space-time structure. The corresponding global section
of the quotient fibre bundle L"X/SO(3) - X with the typical fibre R3 is a 3-
dimensional spatial distribution FX C TX on X. Its generating 1-form written
relative to a Lorentz atlas is precisely the global tetrad form h (160). We then have
the corresponding space-time decomposition
TX=FX0NF,
where NF is the 1-dimensional fibre bundle defined by the tetrad frame h = ho8M.
In particular, if the generating form h is exact, the space-time decomposition obeys
Hawking's condition of stable causality [88].
Given a tetrad field It, let LhX be the corresponding reduced Lorentz subbun-
dle. Since X is non-compact and parallelizable, the principal bundle L"X can be
extended uniquely (up to autornorphisms) to a L,-principal bundle P" X [60).
We have the principal bundle morphism
z":Ph-LhXCLX
over X such that
zh o Rs = R.,(s), V9 E L.
This is an h-associated pseudo-Riemannian spin structure on a world manifold. We
will call P' the h-associated principal spinor bundle.
Note also that every Lorentz atlas {z,) of LX gives rise to an atlas of
the principal spinor bundle P".
Let us consider the L"X-associated fibre bundle of Minkowski spaces
MhX = (LhX X M)/L = (P" x M)/L, (3.8.17)
and the P^-associated spinor bundle
S"=(P"xV)/L (3.8.18)
called hereafter the h-associated spinor bundle.

By virtue of Proposition 3.8.6, the fibre bundle MX (3.8.17) is isomorphic to
the cotangent bundle
T'X (L"X x M)/L = MhX. (3.8.19)
Then there exists the representation
I 7h:T'X S"=(Ph X (M V))/L,-(P"x7(MV (3.8.20)
of covectors on X by the Dirac 7-matrices on elements of the spinor bundle S".

Relative to an atlas {zc} of P" and the associated Lorentz atlas {z = zh o zo}
of LX, the representation (3.8.20) reads
Y'(7h(h v)) =7AByB(v), v E Sz,
where yA are the corresponding bundle coordinates of S", and h are the tetrad
coframes (3.8.15). For brevity, we can write
h = 7h (h) = 7
dx'' = 7h (dx") = h;7.

Sections s" of the h-associated spinor bundle S" (3.8.18) describe Dirac fermion
fields in the presence of the tetrad field h. Indeed, let At, be a principal connection
on S", and let
DAs : J'S" - TeX 0
s S",
DA,, _ (VA
A - 0 8A,
be the corresponding covariant differential (2.3.8), where

VSh=ShxSh.
X
The first order differential Dirac operator is defined on S" by the composition
Dh = 7h o DA,, : J'S" -y T'T07 Sh 7_S h] (3.8.21)
yA C A, = h.(-Y')AD(ye - I abALabAny)
Remark 3.8.7. The spinor bundle Sh is a complex fibre bundle with a real structure
group over a real manifold. Of course, one can regard such a fibre bundle as the real
one. In particular, the jet manifold j I Sh with coordinates (x", yA, ya) is defined as
usual.
The h-associated spinor bundle Sh is equipped with the fibre spinor metric
ah:S"xSh-.R,
x
ah(v, v) = 2 (v+ryti + v'+ryv), V, t/ E Sh.
Using this metric and the Dirac operator (3.8.21), one can define the Dirac Lagran-
gian density on J'S" in the presenceof a background tetrad field h and a background
connection Ah on S" as
La:JIS"-,AT'X,
Lh = [ah(iDh(w), w) - rnah(w, w)1 h A ... A h3, w E J'Sh.
,Ch = ha[y,+e(7'Y)AU(ya - 2Aa"L,.b"cyc) - (3.8.22)
(b A - 2AA myA(7)Aeye} det(h).
Remark 3.8.8. Spin connections. Note that there is one-to-one correspondence

between the principal connections, called spin connections, on the h-associated prin-
cipal spinor bundle P" and the principal connections, called Lorentz connections,
on the L-principal bundle L"X as follows.
Let us first recall the following theorem ([1031, p.79).
THEOREM 3.8.7. Let P - X and P - X be principle bundles with structure

groups C' and C, respectively. Let 4) : P -+ P be a principal bundle morphism over
X with the corresponding homomorphism C -- C. For every principal connection
A' on P', there exists a unique principal connection A on P such that T4) sends the
horizontal subspaces of A' onto the horizontal subspaces of A. 0
It follows that every principal connection
Ah = dx" (8a + 2 Aaabeb) (3.8.23)
on P^ defines a principal connection on L"X which is given by the same expression

(3.8.23). Conversely, the pull-back zpwA on P" of the connection form WA of a
Lorentz connection Ah on L"X is equivariant under the action of group L. on Ph
and, consequently, it is a connection form of a spin connection on P".
In particular, the Levi-Civita connection of a pseudo-Riemannian metric g gives
rise to the spin connection with the components
A,,ab
= r)"ha(Baltk - h'(,\14,,)) (3.8.24)
on the g-associated spinor bundle S9.

In gauge gravitation theory, Lorentz connections are treated as gauge potentials
associated with the Lorentz group. At the same time, every world connection K on
a world manifold X defines a spin connection on any h-associated principal spinor
bundle P". This enables us to reduce gauge gravitation theory to metric-affine
gravitation theory in the presence of Dirac fermion fields 169, 166).
Note that, in accordance with Theorem 3.8.7, every Lorentz connection Ah
(3.8.23) on a reduced Lorentz subbundle L"X of LX induces a world connection K
(3.7.1) on LX whose coefficients are
KA" = ItkOah"k + r1k ha"hk,Aaa.
At the same time, every principal connection K on the frame bundle LX defines a
Lorentz connection K" on an L-principal subbundle L h X as follows.
It is readily observed that the Lie algebra of the general linear group CL4 is the
direct sum
e(CL4) = 9(L) m
of the Lie algebra g(L) of the Lorentz group and a subspace m such that
ad(l)(m) C m, `dl E L.
Let WK be a connection form of a world connection K on LX. Then, by the well-

known theorem ((103], p.83), the pull-back on L"X of the g(L)-valued component
wL of WK is a connection form of a principal connection Kh on the reduced Lorentz
subbundle L"X. To obtain the connection parameters of Kh, let us consider local
connection 1-forms of the connection K with respect to a Lorentz atlas 4+" of LX
given by the tetrad forms h. This reads
2 *WK = KabkdxA (9 ebk,

KAbk = -h.BAhk +
where {ebk) is the basis of the Lie algebra of the group CL4. Then, the Lorentz part
of this form is precisely the local connection 1-form of the connection Kh on L"X.
We have
1 (3.8.25)
AA b = (7h - rlkh,)(OAhk - k
If K is a Lorentz connection Ah, then obviously Kh = Ah.

The connection Kh on L"X given by the local connection 1-form (3.8.25) defines
the corresponding spin connection on S"
1 Kh = dxA (8A + (7! hp - ill-hb)(8Ahk - hkKa"v)LbAB198A), (3.8.26)

4
where Lb are the generators (3.8.7) [69, 166]. Such a connection has been considered
in [5, 154, 179].
Substituting the spin connection (3.8.26) in the Dirac operator (3.8.21) and the
Dirac Lagrangian density (3.8.22), we obtain a description of Dirac fermion fields
in the presence of arbitrary linear connection on a world manifold, not only of the
Lorentz type. .
One can use the connection (3.8.26) in order to obtain a horizontal lift onto S"
of a vector field r on X. This lift reads
r7"h,,)(BAItk
rK,, = rABA + 9Ta(Yjkbh - - h1kKA"v)LbAByB8A. (3.8.27)
Moreover, we have the canonical horizontal lift
r49.% + 1(ih -,i h)(ra8Ahk - hk8r)Lb"eal 8A (3.8.28)
of vector fields r on X onto the h-associated spinor bundle S".

Remark 3.8.9. To construct the canonical lift (3.8.28), one can write the canonical
lift of r on the frame bundle LX with respect to a Lorentz atlas *" and take its
Lorentz part. Another way is the following. Let us consider a local non-vanishing
vector field r and a local world symmetric connection K for which r is an integral
section (see Remark 3.7.6). The horizontal lift (3.8.27) of r by means of this con-
nection is given by the expression (3.8.28). In a straightforward manner, one can
check that (3.8.28) is a well-behaved lift of any vector field r on X.
The canonical lift (3.8.28) is brought into the form
T = r{} - (i7kbhN - hb)I? V "e L ab"BYBVA,

4
where r{} is the horizontal lift (3.8.27) of r by means of the spin Levi-Civita con-
nection (3.8.24) of the tetrad field h, and are the covariant derivatives of r
relative to the same Levi-Civita connection. This is precisely the Lie derivative of
spinor fields described in [53, 107].
The canonical lift (3.8.28) fails to be a generator of general covariant transforma-

tions because it does not involve transformations of tetrad fields. To define general
covariant transformations of spinor bundles, we should consider spinor structures
associated with different tetrad fields. The difficulties arise because, though the
principal bundles L"X and L"X are isomorphic, the associated structures of bun-
dles of Minkowski spaces MIX and M"'X (3.8.19) on the cotangent bundle T'X
are not equivalent (see Remark 3.8.4). As a consequence, the representations -11, and
,y". (3.8.20) for different tetrad fields h and h' are not equivalent [160, 164]. Indeed,
let
V = tdxP = taha = t' hja,
be an element of T'X. Its representations ry" and -y" (3.8.20) read
'yh(t*) = to'y = tha-',

'Yh'(t*) = t'ta = th'a-fa
They are not equivalent because no isomorphism of S" onto S" can obey the
condition
7"'(t*) = dt' E T'X.
It follows that every Dirac fermion field must be described in a pair with a certain
tetrad (gravitational) field. We thus observe the phenomenon of symmetry breaking
in gauge gravitation theory which exhibits the physical nature of gravity as a Higgs
field [160]. The goal is to describe the totality of fermion-gravitation pairs.
Remark 3.8.10. All spin structures on a manifold X which are related to the
two-fold universal covering groups possess the following two properties [84].
Let P -+ X be a principal bundle whose structure group C has the fundamental
group a, (C) = Z2. Let d be the universal covering group of C.
1. The topological obstruction to the existence of a G-principal bundle P - X
covering the bundle P - X is given by the tech cohomology group H2(X; Z2) of X
with coefficients in Z2. Roughly speaking, the principal bundle P defines an element
of H2(X; Z.2) which must be zero so that P -+ X can give rise to P -. X.
2. Non-equivalent lifts of P -+ X to G-principal bundles are classified by ele-
ments of the tech cohomology group HI (X; Z2).
In particular, the well-known topological obstruction to the existence of a Rie-
mannian spin structure (see Example 3.8.11) and a pseudo-Riemannian spin struc-
ture is the second Stiefel-Whitney class w2(X) E H2(X; Z2) of X ([118], p.82).
In the case of 4-dimensional non-compact manifolds, all Riemannian and pseudo-
Riemannian spin structures are equivalent [7, 60).
Example 3.8.11. Riemannian spin structure. Let us consider spin structures

on Riemannian manifolds. Let X be an arbitrary 4-dimensional oriented manifold.
The structure group CL4 of the frame bundle LX is reducible to the maximal
compact subgroup SO(4) because the quotient CL4/SO(4) is homeomorphic to the
Euclidean space R10. It follows that a Riemannian metric gR, represented by a
section of the quotient fibre bundle
ER = LX/SO(4) - X,
always exists on a manifold X. The corresponding SO(4)-principal subbundle L9X

is called a Riemannian structure on X.
Given two different Riemannian metrics gR and g'R on X, the corresponding

SO(4)-principal subbundles L9X and of LX are isomorphic as SO(4)-principal
bundles (see Proposition 3.8.3).
To introduce a Riemannian spin structure, one can consider the complex Clifford
algebra C4,0 which is generated by elements of the vector space R4 equipped with
the Euclidean metric [27, 118]. The corresponding spinor space VR is a minimal left
ideal of C40 0 provided with a Hermitian bilinear form. The spin group is Spin(4)
which is the two-fold universal covering group of the group SO(4), and is isomorphic
to SU(2)SU(2) ([34], p.430).
Let us assume that the second Stiefel-Whitney class w2(X) of X vanishes. A
Riemannian spin structure on a manifold X is defined as a pair of a Spin(4)-principal
bundle P. X and a principal bundle morphism z. of P. to LX. Since such a
morphism factorizes through a bundle morphism
zy:P.-+L9X
for a Riemannian metric 9R, this spin structure is a gR-associated spin structure.
We will denote the corresponding gR-associated principal spinor bundle by P-9. All
these bundles on a 4-dimensional manifold X are isomorphic [7].
Example 3.8.12. Universal spin structure. The group GL4 is not simply-
connected. Its first homotopy group is
ai(GL4) = xi(SO(4)) = 72
([82], p.27). Therefore, GL4 admits the universal two-fold covering group GL4 such
that the diagram
UL-4 -. GL4
(3.8.29)
Spin(4) -i SO(4)
is commutative [91, 118, 151, 172].
A universal spin structure on X is defined as a pair of a CL4-principal bundle
LX X and a principal bundle morphism
LX
X
[39, 151, 1721. There is the commutative diagram
LX -. LX
1 (3.8.30)
1
Pg - LgX
for any Riemannian metric gR [151, 1721.
Since the group CL4 is homotopic to the group Spin(4), there is one-to-one corre-
spondence between the non-equivalent universal spin structures and non-equivalent
Riemannian spin structures [172]. In our case, all universal spin structures as well
as the Riemannian ones are equivalent.
The group CL4 has finite-dimensional representations, but its spinor represen-
tation is infinite-dimensional (91, 1451. Elements of this representation are called
world spinors, and their field model has been developed (see [911 and references
therein).
At the same time, the following procedure enables us not to exceed the scope of
standard fermion models.
Let us consider the commutative diagram
LX s-+ LX
(3.8.31)
ER
and the composite fibre bundle
LX - ER -: X,
where LX -, ER is a Spin(4)-principal bundle. For each pseudo-Riemannian met-
ric On, the restriction of the Spin(4)-principal bundle LX - ER to gR(X) C ER is
isomorphic to a gR-associated principal spinor bundle P9 (see Remark 3.8.4). There-
fore, the diagram (3.8.31) is said to be the universal Riemannian spin structure.
Let us consider the composite spinor bundle
S. ER -+ X, (3.8.32)
where S ER is the spinor bundle associated with the Spin(4)-principal bundle

LX -, ER. Then, whenever On is a Riemannian metric on X, the sections of the
spinor bundle SO associated with the principal spinor bundle Pg from the commu-
tative diagram (3.8.30) are in bijective correspondence with the sections s of the
composite spinor bundle (3.8.32) which project onto gR, that is, 7rsr o s = gR (see
Remark 3.8.13).
In order to relate this model to the above-mentioned model of world spinors, let
us note that the total space S of the spinor bundle (3.8.32) has the structure of a
fibre bundle which is associated with the GL4-principal bundle LX - X and whose
typical fibre is the quotient
(UL-4 X VE)/Spin(4) (3.8.33)
(see Remark 3.8.14). Then, a morphism of the quotient (3.8.33) to the spin represen-
tation space of the group UL-4 yields the corresponding morphism of the composite
spinor bundle (3.8.32) to the GL4-associated bundle of world spinors.
The construction above on composite fibre bundles illustrates the standard de-
scription of spontaneous symmetry breaking in gauge theories where matter fields
admit only exact symmetry transformations [159, 1621.
Remark 3.8.13. Spontaneous symmetry breaking. Spontaneous symmetry
breaking is a quantum phenomenon. In classical field theory, spontaneous symmetry
breaking is modelled by classical Higgs fields. In gauge theory on a principal bundle
P - X, the necessary condition for spontaneous symmetry breaking to take place is
the reduction of the structure group G of this principal bundle to a dosed subgroup
H of exact symmetries [96, 99, 146, 1781. The topological obstructions to this
reduction has been discussed in Remark 3.8.4. Higgs fields are described by global
sections h of the quotient fibre bundle E = P/H - X (3.8.10).
In accordance with Theorem 3.8.2, the set of Higgs fields h is in bijective corre-
spondence with the set of reduced H-principal subbundles Ph of P. Given such a
subbundle Ph, let
Yh = (Ph X V)/H (3.8.34)
be the associated fibre bundle with a typical fibre V which admit a representation
of the group H of exact symmetries, but not the whole symmetry group G. Its
sections describe matter fields in the presence of the Higgs fields h.
In general, the fibre bundle Y' (3.8.34) is not associated (see Proposition 3.8.3)
or canonically associated (see Remark 3.6.1) with other H-principal subbundles Ph'
of P. It follows that, in this case, V-valued matter fields can be represented only
by pairs with Higgs fields. The goal is to describe the totality of these pairs (sh, h)
for all Higgs fields.
Let us consider the composite fibre bundle (3.8.9) and the composite fibre bundle
YEM E X (3.8.35)
where Y --+ E is the fibre bundle

Y = (PxV)/H
associated with the H-principal bundle PE (3.8.11). Given a global section h of the
fibre bundle E --+ X (3.8.11), let
Yh = (P" x V)/H (3.8.36)
be a fibre bundle associated with the H-principal subbundle P" of P. There is the
canonical injection
ih:Y"=(P"xV)/H--+Y
over X whose image is the restriction
h'Y = (h'P x V)/H
of the fibre bundle Y -' E to h(X) C E, i.e.,
ih(Y") = 7rrE(h(X)) (3.8.37)
Then every global section Sh of the fibre bundle Y" corresponds to the global
section ihosh of the composite fibre bundle (3.8.35). Conversely, every global section
s of the composite fibre bundle (3.8.35) which projects onto a section h = iryE os of
the fibre bundle E -+ X takes its values into the subbundle ih(Y") C Y in accordance
with the relation (3.8.37). Hence, there is one-to-one correspondence between the
sections of the fibre bundle Y" (3.8.36) and the sections of the composite fibre bundle
(3.8.35) which cover h.
Thus, it is precisely the composite fibre bundle (3.8.35) whose sections describe
the above-mentioned totality of pairs (s", h) of matter fields and Higgs fields in
gauge theory with broken symmetries [159, 164].
The feature of the dynamics of field systems on composite fibre bundles consists
in the following. Let the composite fibre bundle Y (3.8.35) be provided with coordi-
nates (x, an, y'), where (x, a') are bundle coordinates of the fibre bundle E -, X.
Let
AE=dxA(O +A;,O,)+da'"(8,"+Am8i) (3.8.38)

be a principal connection on the fibre bundle Y E. This connection defines the

splitting (2.5.6) of the vertical tangent bundle VY and leads to the vertical covariant
differential (2.5.7) which reads
DA =dx"(ya-Aa-Ama )8;. (3.8.39)
The operator (3.8.39) possesses the following important property. Given a global
section h of E - X, its restriction
Dh=DAEOJ'ih:J'Y"-+T'XVYh, (3.8.40)
Dh=dz"(ya-Aa-Am8"h'")8;,
to Yh is precisely the familiar covariant differential relative to the principal connec-
tion
At, = dz" [8" + (Am 8"h"' + A;,)8;]
on the fibre bundle Y" - X which is induced by the principal connection (3.8.38)
on the fibre bundle Y - E ([1031, p.81).
Thus, we may construct a Lagrangian density on the jet manifold J'Y of a
composite fibre bundle which factorizes through DA, that is,
L: J'Y T)+T'X VYE -. T'X. (3.8.41)
Remark 3.8.14. The total space of the composite fibre bundle Y - X (3.8.35)
has the structure of the P-associated bundle
Y = (P x (C x V)/H)/G,
where the elements (p, g, v) and (pab, b''g, a-'v) for all a E H and b E G are
identified. Its typical fibre is the quotient (C x V)/H of the product G x V by
identification of the elements (g, v) and (ag, a 'v) for all a E H. The group G act
on this typical fibre by the rule
In particular, if the typical fibre V of the composite fibre bundle Y X admits the
action of the group C, these two bundle structures on Y are equivalent. 9
Let us turn now to fermion fields in gauge gravitation theory, basing our consid-
eration on the following two facts.
PROPOSITION 3.8.8. The L-principal bundle
Pl, = GL4 - CL4/L (3.8.42)
is trivial.
Proof. In accordance with the classification theorem ([1701, p.99), a C-principal

bundle over an n-dimensional sphere S" is trivial if the homotopy group 7rn_1(G) is
trivial. The base space Z = GL4/L of the principal bundle (3.8.42) is homeomorphic
to S3 x R'. Let us consider the morphism f, of S3 into Z, f,(p) = (p,0), and the
pull-back L-principal bundle fl PL S. Since L is homeomorphic to RP3 x R3
and or2(L) = 0, this bundle is trivial. Let fz be the projection of Z onto S3.
Then, the pull-back L-principal bundle fs (f 1 PL) - Z is also trivial. Since the
composition fi o f2 of Z into Z is homotopic to the identity morphism of Z, the
bundle fs (fi P1,) Z is equivalent to the bundle Pi, ([170], p.53). It follows that
the bundle (3.8.42) is also trivial. QED
PROPOSITION 3.8.9. As in (3.8.29), we have the commutative diagram

CL4 -, GL4
0
Proof. The restriction of the universal covering group GL4 GL4 to the Lorentz
group L C CL4 is obviously a covering space of L. Let us show that this is the
universal covering space. Indeed, any non-contractible cycle in GL4 belongs to some
subgroup SO(3) C GL4 and the restriction of the covering bundle UL-4 -, CL4
to SO(3) is the universal covering of SO(3). Since the proper Lorentz group is
homotopic to its maximal compact subgroup SO(3), its universal covering space
belongs to GL4. QED
Following Example 3.8.12, let us consider the universal spin structure LX -' X.
It is unique since X is parallelizable. In virtue of Proposition 3.8.9, we have the
commutative diagram
LX - LX
Ih
L^X
for each tetrad field h (see also [56]). It follows that the quotient EX IL. is precisely
the quotient Dr (3.8.13) so that there is the commutative diagram
LX -i LX
(3.8.43)
F_r
By analogy with the diagram (3.8.31), the diagram (3.8.43) is said to be the
universal Dirac (pseudo-Riemannian) spin structure. We have the composite fibre
bundle
LX - Fr X, (3.8.44)
where LX -+ F.r is an L.-principal bundle.

The universal Dirac spin structure (3.8.43) can be regarded as the L.-spin struc-
ture on the bundle of Minlaowski spaces
EM=(LX x M)/L- Dr
associated with the L-principal bundle LX -. ET. Since the frame bundle LX and
the fibre bundle P1, (3.8.42) are trivial, the fibre bundle EM -' Dr is also trivial.
Hence, it is isomorphic to the pull-back
F.r T'X. (3.8.45)
x
Since the fibre bundle F.r - X is trivial, the fibre bundle EM is isomorphic to
the trivial bundle of Minkowski spaces over the product S3 x R' x X. It follows
that the set of non-equivalent spin structures on the bundle EM is in bijective corre-
spondence with the cohomology group H' (S3 x R' x X; Z2) ((118], p.82). Since the
cohomology group Hl (S3; Z2) is trivial and a spin structure on S3 is unique (40], one
can show that non-equivalent spin structures on EM are classified by elements of the
cohomology group HI (X; Z') and, consequently, by non-equivalent spin structures
on X. It follows that the spin structure (3.8.43) on the fibre bundle EM is unique.
3.8. CA UGE GRAVITATION THEORY 197
Following the general procedure of describing spontaneous symmetry breaking

in Remark 3.8.13, let us consider the composite spinor bundle
S Fr M. X, (3.8.46)
where
S = (LX x V)/L.
is the spinor bundle S -+ E.r associated with the L.-principal bundle LX -+ E.r.
Given a tetrad field h, there is the canonical isomorphism
ih:S''=(PhxV)/L.- (h'LX xV)/L.
of the h-associated spinor bundle Sh (3.8.18) onto the restriction h'S of the spinor
bundle S -. Esr to h(X) C Dr. Then, every global section sh of the spinor bundle
Sh corresponds to the global section ih o sh of the composite spinor bundle (3.8.46).
Conversely, every global section s of the composite spinor bundle (3.8.46) which
projects onto the tetrad field h takes its values into the subbundle ih(Sh) C S.
Let the frame bundle LX - X be provided with a holonomic atlas (3.7.3)
and the principal bundles LX -+ Fir and LX -. Dr have the associated atlases
(z,", U.) and {zz = z" o z,, UL}. With these atlases, the composite spinor bundle S
is equipped with the bundle coordinates (x'', a;, y'l), where (', a;) are coordinates
of ET such that aQ are the matrix components of the group element (TIC o zj(a),
a E U., aEX (a) E Uc. For each section h of we have
(aa o h)(x) = ha(x),

where h; (x) are the tetrad functions (3.8.16).
The composite spinor bundle S is equipped with the fibre spinor metric
as(v, v') = 2(v+ryv' + z/+7v), 7rst(v) = 7rsE(v )

Since the fibre bundle of Minkowski spaces EM -+ Er is isomorphic to the pull-
back bundle (3.8.45), there exists the representation
ryE : T'X S = (LX x (M V))/L. - (LX x ry(M V))/L. = S (3.8.47)
jx'' = 7E(dx'') = so-y".

Restricted to h(X) C F.r, this representation recovers the morphism ryh (3.8.20).
Using this representation, one can construct the total Dirac operator on the
composite spinor bundle S as follows.
Since the fibre bundles which make up the composite fibre bundle (3.8.44) are
trivial, let us consider a principal connection AE (3.8.38) on the L.-principal bundle
LX -, ET given by the local connection 1-form
(Aabdx-' + Akabdok)
AE = Lab, (3.8.48)
where
Arab (nkaQa _
2
à)a"Ka".,
Aab
= 2 (71 C, - r/k6BN (3.8.49)
and K is a world connection on X. We choose this connection because of the

following properties.
The principal connection (3.8.48) defines the associated spin connection
As = dx' 0 (8 + A%GbLabAByBOA) + dok (8N + (3.8.50)

Z
ANabLbAByBBA)
on the spinor bundle S - E'r. Let h be a global section of ET X and S' the
restriction of the bundle S -. Err to h(X). It is easily seen that the restriction of
the spin connection (3.8.50) to Sh is precisely the spin connection (3.8.27).
The connection (3.8.50) yields the first order differential operator DAs (2.5.7) on
the composite spinor bundle S X, and reads
DAs : J'S - T'X O S,
DAs = dxk 0 [ya - i (Aaab + ANabo' )LabAByBJOA = (3.8.51)

1
dx" (ya - (rltba _ 17bou)( 01 k - okKa"v)LabAByBJOA
@
The corresponding restriction Dr, (3.8.40) of the operator DAs (3.8.51) to J1Sh C
J'S recovers the familiar covariant differential on the h-associated spinor bundle
Sh X relative to the spin connection (3.8.27).
Combining (3.8.47) with (3.8.51), we obtain the first order differential operator
D=7EoD: J'S-+T'X S -i S, (3.8.52)

FIT
yB o D = Qn7o8A
WA - 4
Q - nkap)( k - QkKav)L6AcUC],
on the composite spinor bundle S X. One can think of 1) as being the total Dirac
operator on S because, for every tetrad field h, the restriction of D to J'S" C J'S
is exactly the Dirac operator Dh (3.8.21) on the h-associated spinor bundle S" in
the presence of the background tetrad field h and the spin connection (3.8.27).
1 It follows that gauge gravitation theory reduces to a model of the metric-affine

gravity and Dirac fermion fields. 1
The total configuration space of this model is the jet manifold J'Y of the fibred
product
Y=CKXS (3.8.53)
where CK is the bundle of world connections (3.7.39). It is provided with coordinates

(x", o;, k6, yA),
Let JEY denote the first order jet manifold of the fibre bundle Y -' Dr. This
fibre bundle can be provided with the spin connection
Ay : Y-JEY-JES,
Ay = dxa (8,, + AaobLA ByBOA) + dog (0, + AbL ByBoA), (3.8.54)
where Ab is given by the expression (3.8.49) and
Ahab =- (nkbo _ 77 0,,b
2
Using the connection (3.8.54), we obtain the first order differential operator
Dy:J'YT'XS,
DY = &x'' ]ea (,7kbQ - n1-Q)( a.P %k - Q,kAv)LbA8yB]8A' (3.8.55)
4
and the total Dirac operator

Dy=7EODy:J'Y- T'XS S, (3.8.56)
ET
YB
o DY =
0,n1'aBA [YA
- 4 (ea,. - nk'ob)(ak - akka",.)L bACyc],
on the fibre bundle Y X.
Given a section K : X CK, the restrictions of the spin connection Ay (3.8.54),
the operator Dy (3.8.55) and the Dirac operator Dy (3.8.56) to the pull-back K'Y
are exactly the spin connection (3.8.50) and the operators (3.8.51) and (3.8.52),
respectively.
The total Lagrangian density on the configuration space J'Y of the metric-affine
gravity and fermion fields is the sum
L = LMA + LD (3.8.57)
of a metric-affine Lagrangian density

vvynoa
LMA (R A $, a'), ovY = oav ,
and the Dirac Lagrangian density
LD = [ay(iD(w), w) - mas(w, w)]a A ... A o3, w E J'S,
where o' = and ay is the pull-back of the fibre spinor metric as onto the
fibre bundle Y -' (CK x E.r). Its coordinate expression is
,CE)
= { 2av (yA1(77)AB(y1 - 4 (nkao - akkav)L6Bcf) -
(y aX+A -
4
nka)(aak
- akka"v)yCL.+bCA(77)ABYB] - (3.8.58)
_a j, a = det(ow)
myA(7)AB?} I
It is readily observed that
8k + 8kG a - 0,
that is, the Dirac Lagrangian density (3.8.58) depends only on the torsion (3.7.44)
of a world connection.
Let us turn now to general covariant transformations.
Since a world manifold X is parallelizable and the universal spin structure is

unique, the GL4-principal bundle LX -. X as well as the frame bundle LX admits
the canonical lift of any diffeomorphism f of the base X. This lift is defined by the
commutative diagram
LX LX
LX - - LX
LI
where t is the holonomic bundle automorphism of LX (3.7.6) induced by f [39).
The associated morphism of the spinor bundle S (3.8.46) is given by the relation
is equivariant, this is a fibre-to-fibre automorphism of the bundle S Dr

over the canonical automorphism 4i of the LX-associated tetrad bundle Dr - X
(3.8.13) induced by the diffeomorphism f of X. Thus, we have the commutative
diagram of general covariant transformations of the spinor bundle S:
S -. S
4.
I I
X . X
Accordingly, there exists a canonical lift Ts onto S of every vector field r on X.
The goal is to find its coordinate expression. Difficulties arise because the tetrad
coordinates a; of Dr depend on the choice of an atlas of the bundle LX -, Er.
Therefore, non-canonical vertical components appear in the coordinate expression
of T.
A comparison with the canonical lift (3.7.19) of a vector field r onto the metric
bundle EPR shows that a similar canonical lift of r onto the tetrad bundle ET takes
the form
8M
fE = raOA + + Q 84- (3.8.59)
ear p
where the terms Q obey the condition
(Q;ae + Q;ob Mob = 0.
The term Q;a is the above-mentioned non-canonical part of the lift (3.8.59).
Let us consider a horizontal lift of the vector field iE onto the spinor bundle
S - E by means of the spin connection (3.8.50). It reads
ASS = raaa + a"ea: a

+
)a,(49"T
- KavrV)(LbAByBBA+ L.+AByA8B) +
8
`` aBc + 4Qk(rlkea - nka)(L"ABYBOA +
Moreover, following Remark 3.8.9, we obtain the desired canonical lift of r onto S:
Ts = r" 8,, + (3.8.60)

8 1 (kb 7 A +aB
+ 4Qk n - +I lab) (LbAayBBA + L+
as syA ),
Q` aa"
which can be written in the form
rs = raaa + 8L9 +
acp
Qi"t(+Ikba, _ qC6s
-Lab-aa 8o + L,bAByBaA +
where L,bd,, are the generators (3.8.6).

The corresponding total vector field on the fibred product Y (3.8.53) reads
fy=T+t9,
f = r.ax + S'ra"" ', + (3.8.61)
8Ar" k,, . - 8r%A + 8pr)

8k wA
4Qk(n"s - fJ"Pa)[-Ledad8a.11 + L bAByB8A + L.+AByAOB].
Its canonical part 7 (3.8.61) is the generator of a local 1-parameter group of general
covariant transformations of the fibre bundle Y, whereas the vertical vector field i9
is the generator of a local 1-parameter group of principal (Lorentz) automorphisms

of the fibre bundle S E.
By construction, the Dirac Lagrangian density (3.8.57) obeys the relations
L.n,LD = 0. (3.8.62)
LJI LMA = 0, Lj,TLD = 0. (3.8.63)
The relation (3.8.62) leads to the Nother conservation law. Let us analyse the
equalities (3.8.63) in order to obtain the SEM conservation law of the metric-affine
gravity and fermion fields.
Using the compact notation, let us rewrite the vector field f (3.8.61) in the form
=7-08 + 0,,7-"ff.' 8
800
+ (uAQ807 + 8pT)8A.
Due to the arbitrariness of the functions r, the equalities (3.8.63) lead to the strong
equalities
OGMA + 20P6OLMA + 1LAQbAGMA + d (i1LAQ) = UV GMA (3.8.64)
and
bQLD + y v tQ + 80 Oaa` + BALpu0 (3.8.65)

k
ID a + 8LD_A
Z/ +
8LD +
+ VOA I
04
where
ota=o;8e.
0
We also have the relations (3.7.45), (3.7.46) and

8LD _ 8LD
(3.8.66)
'8k-x-. 87a:#
The corresponding SEM conservation law reads
0 S: -da[8A1CMA(yo7- - uA0a007.
- uAa ,
.o) - (3.8.67)
8JCD
(89Taa - 0KT) + OyAA
y7_
+ Ay AT - TAC).
OJ
80D
Substituting the term V 88GMA in (3.8.64), and the term

OLD 0"811D 8GD Y.+
80O ac + W,9 + "MAA
in (3.8.65), in (3.8.67), we bring this conservation law into the superpotential form
0 rz -da[2a4Tbw,G + (k"",,b a'G - + (3.8.68)
b""G8"T - dd(&"G)T + d"(xvaa(8vT - kvvr))] -
(80
da[ 8GDa.1'+
a 8GD a" 8 T .
Sex. a) " ]
In virtue of the relations (3.8.66), the last term in the expression (3.8.68) vanishes,
that is, neither fermion fields nor Proca fields contribute to the superpotential. It
follows that the SEM conservation law (3.8.67) leads to the form (3.5.18), where U
is the generalized Komar superpotential (3.7.54).
Thus, one could say that the generalized Komar superpotential (3.7.54) appears
to be a universal superpotential for gravitation models.
3.9 Appendix. Gauge mechanics

The usual formulation of time-dependent mechanics implies a splitting Y = R x M
of the event manifold Y and the corresponding splittings R x T'M and R x TM
of phase and configuration spaces (see [18, 33, 49, 119, 135, 143] and references
therein).
Here we describe Lagrangian mechanics in a frame-free form as the particular
case of Lagrangian field theory when the event space Y is a fibred manifold over a 1-
dimensional base R. The main ingredients in this formulation are a connection on the
event fibred manifold Y - R which is a reference frame and a dynamic connection
on the jet bundle J'Y Y which is associated with a dynamic equation.
A. Fibred manifolds over R
As is well known, classical Newtonian systems are described by an event space
Y which is stratified over R, that is, Y is equipped with the global Newtonian time
t:Y-R (3.9.1)
with dt # 0 everywhere on Y. Thus Y is a fibred manifold over R (but not necessarily
a fibre bundle).
3.9. APPENDIX. GAUGE MECHANICS 205
Remark 3.9.1. Hereafter, the base R is parameterized by the coordinates t with

the transition functions e = t+oonst. Relative to these coordinates, R is equipped
with the standard vector field 8t and the standard 1-form dt, which is also the
volume element on R.
When dealing with the event space Y, we will always use fibred charts (U; t,
compatible with the fibration (3.9.1).
Let J1 Y be the first order jet manifold of the fibred manifold Y it Its
coordinates will be denoted by (t, y', y;). The canonical morphism (2.1.19) takes the
form
A : J'Y - TY, J = at + yi8{.

It is easy to see that the affine jet bundle P Y - Y is modelled on the vertical
tangent bundle JAY = VY.
Remark 3.9.2. For the sake of simplicity, we will often identify J' Y with the
corresponding subbundle of TY.
The corresponding splitting of the vertical tangent bundle VyJ'Y of J'Y - Y

reads
a:VyJ1Y-J'YxVY, a(8{) = A. (3.9.2)
In this case, the exact sequence (2.1.18) takes the form
a-1
0-+VyJ1Y 4VJ1Y `4J1YYX VY-.0.

Hence, we obtain the following endomorphism of VJ'Y:
v=i0 1o7rv, (3.9.3)
v(80 = 81" v(8i) = 0,
which obeys the condition v o v = 0.
Using the contact I -jet form 0 (2.1.20) and the corresponding morphism
J1Y x TY - - VyJ1Y,
Y
6 {8t 4
at
a
&j ,
we can extend the endomorphism (3.9.3) to the tangent bundle TJ'Y in accordance
with the diagram
TJ'Y - . VyJ'Y -TJ'Y

(3.9.4)
VJ'Y 0 VJ'Y
I v(8e) = -yi&,, y(O) = 8;, v(t9=0.
This is called the vertical endomorphism, which inherits the property v o v = 0.
The transpose of the endomorphism v is
T'J'Y .T'J'Y,
v;-(d-t) -=O, v'(dy{) = 0, v'(dy') _ t9= dal' - yidt,
v'ov'=0.
Using the endomorphism v', one can introduce the vertical exterior differential
dd = v'd (3.9.5)
acting on the exterior algebra of forms on J'Y. For example, let ! be a function on
J'Y. Then we have
dd! = Of ;.
80
A connection on the event space Y - R of a mechanical system is given by
a section r of the jet bundle J'Y Y. In accordance with Remark 3.9.2, it is
represented by the vector field
(3.9.6)
on Y which is the horizontal lift of the standard vector field 8; on R by means of
the connection r.
Obviously, connections on the fibred manifold Y -' R are curvature-free connec-
tions.
Remark 3.9.3. Curvature-free connections. Recall that every connection r on
a fibred manifold Y - X, by definition, yields the horizontal distribution r(TX) C
TY (2.3.3) on Y. It is generated by horizontal lifts
,r=T"(aa+Ia8;)
onto Y of vector fields r = r10% on X. The associated Pfaffian system is locally

generated by the forms (dy' - I''adxa).
Note that the horizontal distribution I'(TX) is involutive if and only if r is a
curvature-free connection (see Remark 2.3.1).
By virtue of Theorem 4.1.5, the horizontal distribution defined by a curvature-
free connection is completely integrable. The corresponding foliation on Y is transver-
sal to the foliation defined by the fibration it : Y -, X. It is called the horizontal
foliation, and its leaf through a point y E Y is defined locally by an integral section
sy of the connection r through y. Conversely, let Y admit a horizontal foliation
such that, for each point y E Y, the leaf of this foliation through y is locally defined
by a section sy of Y - X through y. Then, the map
r(y) = j;sy, ir(y) = x.
is well defined. This is a curvature-free connection on Y.
COROLLARY 3.9.1. There is one-to-one correspondence between the curvature-free

connections and the horizontal foliations on a fibred manifold Y - X. O
Given a horizontal foliation on Y --* X, there exists the associated atlas of fibred
coordinates (xa, y') of Y such that every leaf of this foliation is locally generated by
the equations y' =const. and the transition functions y' - y"(y') are independent of
the base coordinates xa [29]. This is called the atlas of constant local trivializations.
Two such atlases are said to be equivalent if their union is also an atlas of constant
local trivializations. They are associated with the same horizontal foliation.
COROLLARY 3.9.2. There is one-to-one correspondence between the curvature-free

connections r on a fibred manifold Y -, X and the equivalence lasses of atlases
of constant local trivializations of Y such that ia = 0 relative to the coordinates of
the corresponding atlas. 0
B. Dames of reference
In accordance with Remark 2.3.1, every connection on a fibred manifold Y -, R
defines a horizontal foliation on Y - R. Its leaves are integral curves of the vector
field (3.9.6). The corresponding Pfaffian system is locally generated by the forms
(dy' - r'dt). There exists an atlas of constant local trivializations such that r= at
relative to the associated coordinates. These coordinates are called adapted to r.
I A connection r: Y -' J'Y on Y -. R is called a reference frame (or simply a

frame) on Y. I
Given a frame I', we obtain the associated splitting
TY=RVY,
pr : TY VY, Pr(8i) = -08,, Pr(8i) = 8;,
and the dual injection
V'Y Y T'Y,
pr(dl}) = r'(i) = >9i = dy' - r'dt.
The restriction of pr to J'Y C TY leads to the covariant differential
J'YIVY, ,i e--r. ye-r, (3.9.7)
pros=c-roc:I- VY.
Here c : I - Y is a (local) section of Y R and c : I - J'Y is its first order jet
prolongation.
One can think of Or o c as being the relative velocity of the motion c with
respect to the frame r. Note that Vr o c vanishes identically if and only if c is an
integral section of r. The coordinate expression of Vr o c is
pros=oc)8{, c'=yòc,
or, simply,
Vroc=L"O, c' =a'0c, (3.9.8)
if the coordinates are adapted to r.
A connection on a fibred manifold r on Y -' R is said to be complete if the
horizontal vector field (3.9.6) is complete.
PROPOSITION 3.9.3. Every trivialization of Y - R defines a complete connection.

Conversely, every complete connection on Y R defines a trivialization Y = R x M.
The vector field (3.9.6) reduces to the vector field 01 relative to the coordinates
associated with this trivialization.
Proof. Every trivialization of Y - R defines a one-parameter group of vertical

isomorphisms of Y -. R, and hence a complete connection. Conversely, let r be
a complete connection on Y - R. The vector field r (3.9.6) is the generator of a
1-parameter group Gr which acts freely on Y. The orbits of this action are of course
the integral sections of r. Hence we obtain a projection
ar : Y -+ Y/Gr = M, (3.9.9)
where M is the configuration space with respect to the frame r. This projection,
together with the projection Y -' R, defines a trivialization
Y=RxM. (3.9.10)
QED
Remark 3.9.4. It follows that the fibred manifold Y --+ R is a fibre bundle if
and only if there exists a complete connection r on Y. In this case, Y R is
automatically trivial since the base R is contractible.
Different complete frames lead to different trivializations (3.9.10) which differ

from each other in projections (3.9.9).
Let r be a complete connection. Restricting the tangent map Tar : TY -. TM
to the vertical tangent bundle VY, we obtain the following isomorphism over 7rr:
VY ATM
I I
Y -'
*r
M
We define the observed motion with respect to the frame r as
Then its velocity er : I - TM can be canonically identified with the relative velocity
(3.9.7) which coincides with (3.9.8) relative to the coordinates adapted to the frame
r.
Extending this construction to the jet manifold J1Y, we obtain the following
diagram
J'Y (`'yamr) R x TM
! 1
Y RxM
\(t,wr)
t if pr'
R
which, in the adapted coordinates, simply reads (t,y',ye)'-' yi).
C. Dynamic equations
Let J2Y be the second order jet manifold of Y -' R provided with fibred coor-
dinates (t, yt, yi, yà). Let c : I - Y be a motion. Its second order jet prolongation
is denoted by c : I - J2Y. We then have the diagram
I'-- R
where J2Y - P Y is an affine bundle modelled on the vector bundle
VYJ'Y = J'Y Y VY J'Y. (3.9.11)
Note that
VJ.YJ2Y = j2y X VY C TJ2Y.
Y
There is the canonical splitting (2.2.8) of the tangent space TJ'Y over JPY:
J2Y x TJ'Y = R VJ'Y,
Y fly
0: J2Y x TJ'Y - V J'Y, (3.9.12)
J'Y
t {
We can obtain from (3.9.12) the following affine injection
J2Y JYTJ'Y,
(t)y', yt, yu) '-' (t, y', yt,1, 2/' = ya yt = YD. (3.9.13)
A dynamic equation f is defined to be a section of the affine bundle J'Y -+ J'Y.

Using the canonical injection (3.9.13), f can be seen as the vector field
I e =8 (3.9.14)
on J'Y. It is characterized by the conditions

dt jC = 1, v(C) = 0,
where v is the endomorphism (3.9.4).

A dynamic equation a can be regarded as a holonomic connection on the fibred
manifold J'Y -' R. It induces the splitting
TJ'Y = R VJ'Y, (3.9.15)
Jay
where the horizontal line bundle over J'Y is precisely the trivial bundle generated
by the nowhere vanishing vector field (3.9.14).
Recalling (3.9.11), we can define the covariant differential VC associated with
as the affine morphism
JAY - VYJ'Y, ya'-' yit - Ci. (3.9.16)
If c : I - Y is a motion, we obtain the following splitting

c=Coe+V oC, (3.9.17)
where a,, = 0E o c is called the (absolute) acceleration of the motion c with respect
to C. Its coordinate expression is
VY d'=x'oc,
I.11 Y
/1
a, = (i' - ` o c)8{.
(3.9.18)
Recall that solutions of the dynamic equation t are the motions c such tha
c =1: o c. Then these solutions can be equivalently characterized as the motions c
with the zero acceleration a, = 0, i.e., geodesics.
There is another consequence of J2Y - J'Y being an affine bundle. Given a

dynamic equation , any other dynamic equation S can be written in a unique way
as
c=e+f, f :J'Y---VyJ'YCTJ'Y,
where the vertical vector field f acquires the meaning of a force. One may think of
f as being an external force acting on the system . The resulting motions c will no
longer be geodesics of C because they satisfy the equation
ac= foe,
but they are geodesics of n.
D. Dynamic connections
Let us consider the first jet manifold J'' J'Y of the affine bundle J'Y Y. The
adapted coordinates on JyJ'Y are (NA,yi,It ,), where we use the compact notation
(y = t). Since J'Y - Y is affine, so is Jy' J'Y - Y, modelled over the vector
bundle JyVY - Y.
A connection
-Y: J'Y -. J .J'Y,

(?, V" Aid 7 = (y" yi, ?'i,), (3.9.19)
on the jet bundle J'Y - Y is called a dynamic connection, and is represented by

the tangent-valued form (2.3.5) which reads
I 7=dy''hA=dy''(8a+ (3.9.20)
In particular, let us consider an affine dynamic connection y, that is, (3.9.19) is

an affine morphism over Y:
J'Y --- '_+ J'yJ'Y
yu0 7=='Ykao+2 yll (3.9.21)
where the connection coefficients, are local functions on Y.

It is easily seen that there is one-to-one correspondence between the shine dy-
namic connections ry and the linear connections K on the tangent bundle TY such
that Ka,, = 0. In particular, we may consider symmetric affine connections ry such
that 'ykav = -Y',,.
Contracting J'Y C TY with T*Y, we obtain from (3.9.20) the following affine
morphism ri over J'Y
J'yJ'Y j2y
ryÀ
J'Y
A
A-77 =of + AM,
This enables us to obtain a dynamic equation f, from the arbitrary dynamic con-
nection ry. In coordinates, we have
'Y J'Y ~ J'J'Y,

J1Y - J2Y, I yet57=4=-T+ &, (3.9.23)
In particular, if y is affine as in (3.9.21), we obtain the equation
r = 'Y yiyj + (-A +'Y." )yi + Yoo,

which reduces to
= 7 jyiyi + 2'Ytkoy4 + 700
if y is symmetric.
Using (3.9.20), we can associate with the equation C,, (3.9.23) the vector field
,y =8t+ylg8.+O8k=ho +yih
It lives in the horizontal subbundle HJ'Y C TJ'Y of ry spanned by the horizontal
fields h.,:
TJ'Y = HJ'Y VYJ'Y,

JlY
8a=ha-'8k, 8;=8;. (3.9.24)
In fact, f,, is the unique dynamic equation belonging to the horizontal subbundle
HJ'Y -. J'Y.
Let c : I - Y be a motion and c : I - J2Y C TJ'Y. Then, according to

(3.9.24), c admits the canonical splitting into horizontal and vertical parts, which
coincides with (3.9.17). Thus, we have
c=t,roc+a,,, ac:I - VY,
4=( - oC)ak=(ck-ryooe-('y'oc)e)ak,
where a, is the acceleration of c with respect to ry. The geodesics of -y are precisely
the solutions of the associated dynamic equation f,, i.e., c = lry o c.
Remark 3.9.5. Let ry be a connection on J'Y -e Y and r : Y -' J'Y a reference
frame. The covariant differential of r with respect to ry is
vr=J'I'-yor:Y--.T'YVY, (3.9.25)
yr = varkdya ak, vark=aark - ryaor.

Now suppose that a motion c is an integral curve of r, i.e., e = r o c. Recalling
(3.9.22), we see that
c=tloJyroc.
Thus, if yr = 0 (i.e., r is autoparallel with respect to ry), we obtain
c=f7oJyroc=poryoroc=cot,
and, hence, c is necessarily a geodesic of -j-
A reference frame r all of whose integral curves are geodesics of -y is called a

geodesic reference frame (with respect to -y). We have seen that, if r is autoparallel,
then it is geodesic. The condition for r to be geodesic is
Vrr=rjyr=o, (3.9.26)
ra(OAF-ryaor)=o, r= 1.
Using the canonical projection T'Y -, V'Y, we can cut dt away from (3.9.25) and
obtain the spatial covariant differential Vr of r (with respect to ry), that is,
Vr:Y-V'YVY,
Vr = v{I'kdyi ak.
It is easily seen that the following two conditions are equivalent:
vr=o;
r is geodesic, i.e., vrr = 0 and or = o.
Let us consider the jet prolongation J'r (2.1.16) of the vector field r. It reads
Pr = r"a" + drkaE.
Since the condition (3.9.26) takes the form
r"a"rk=for,
we obtain the formula
Thus, r is geodesic if and only if
J'rIr=ciIr
or, equivalently, the restriction jr 'Ir takes its values into the horizontal subbundle
HJ1Y of the connection y.
Let 'y be a dynamic connection. Then, using the horizontal vector fields ha given
by (3.9.20), we define
RAM = ha ryN - h rya = - 87M + rya y &7e (3.9.27)
which are local functions on J'Y. Then the curvature R of ry is defined as
(3.9.28)
R= 2Rxkdy" Ady" 8k = (2R,',dy' Adyi + Ro)dt Ady') 08k.

Contracting J'Y C TY with T'Y in (3.9.28) and then cutting dt away, we obtain
the tensor
p:J'Y-iV'YVY,
p = pi dy' 0 ak, pk = (R,Jyi + III), (3.9.29)
to be used in the sequel.

Remark 3.9.6. Let 7 be a dynamic equation with connection coefficients '. Then
t rr
=8;+ i81, ' at, (3.9.30)
is a local basis for the vector fields on J'Y. It is easily seen that the dual basis is
dt, t= dy` - yedt, 'y = dye - 7odt - (3.9.31)
As we will see, given a dynamic connection 'y, it is sometimes convenient to deal

with the non-holonomic bases (3.9.30) and (3.9.31). For example, using the forms
7i, we can express the vertical projection associated with 7 and denoted by the same
symbol -y as
-y: J'Y --- TJ'Y 0 VyJ'Y, 7 = 718;. (3.9.32)
Of course, (3.9.32) provides another equivalent definition of the connection 7.
We have seen that a dynamic connection 7 on the affine bundle J'Y -' Y gives
rise to a dynamic equation f, : J'Y -. J2Y. In fact, this is the unique dynamic
equation belonging to the horizontal subbundle HJ'Y c TJ'Y determined by the
connection 7. Conversely, given any dynamic equation : J'Y - J2Y, we will
show that, necessarily, f = C., for some dynamic connection 7.
LEMMA 3.9.4. Let C : J'Y J2Y be a dynamic equation. Then a induces the
following involution If of the vertical tangent bundle VJ'Y - J'Y:
VJ'Y VJ'Y,
k
it(8f) _ -8; - te8k it(8;) = 8;.
0
Proof. Let
u=a'8;+6{8;
be a vertical vector field on J'Y -, R. Set
It(u)=(,vuj-v[C,u):J'Y-VJ'Y,
where v is the endomorphism (3.9.4). The result immediately follows. QED
The involution If splits VJ'Y in the following way

VJ'Y = Ht VyJ'Y,
JY
hr=8,+2 8kr
where hi is a local basis for the subbundle HH C VJ'Y. Note that HH J1Y is
canonically isomorphic to Vy J' Y - J' Y:
Hf -4 VyJ'Y
I
hi Of.
J'Y
From the splitting (3.9.15), we obtain the following:
TJ'Y = R VJ'Y = HJ'Y VyJ'Y,

JlY J1 Y
HJ1Y = R H.
J1Y
Setting
18k
h = 8a + y8k, 70 = e - 7jkYt', 7i = 2 (3.9.33)
we see that there are two equivalent local bases for HP Y, namely and {h.,}
defined in (3.9.33). Of course, HJ'Y C TJ'Y is the horizontal subbundle of a
dynamic connection 7 whose connection coefficients are -. In fact, (3.9.33) shows
that t _ ,.
Moreover, we deduce from (3.9.33) that the map f *-+ 7 f is injective, i.e., if
7f = 7C, then the dynamic equations f and ( coincide. However, not every dynamic
connection 7 is of the type 7 = 7f for a dynamic equation .
PROPOSITION 3.9.5. Let y be a dynamic connection as in (3.9.19). Then we have

7 = 7f for a dynamic equation C : J'Y -+ JPY according to (3.9.33) if and only if
the connection coefficients 7a satisfy the following condition
070 + (3.9.34)
ole
Proof. The condition (3.9.34) follows immediately from (3.9.33) by taking the
partial derivative along the coordinate yy:
o 2ry; - 2 1, -rya.
Conversely, let y satisfy (3.9.34) and Then, taking the partial derivative of
(3.9.23), we obtain
8pf,k
= 0)0 +
ayt t by" -yk = 2?;`
where we used (3.9.34). The result immediately follows. QED
A dynamic connection -y which satisfies the condition (3.9.34) is said to be sym-

metric. Note that a symmetric connection ry satisfies the following symmetry prop-
erty
(3.9.35)
Remark 3.9.7. Let ry be an arbitrary dynamic connection (3.9.19). Let t; = Ch be

the associated dynamic equation (3.9.23), i.e., `k = 'Yu +-tikyi. According to (3.9.33),
we can associate with the following symmetric connection
atk _*Y,
l 1 k 0 10 ) k - `k (3.9.36)
ayt at
We can define the torsion T of the connection ry in the following way
Y
T= Tkdy ak,
Tt _ yjk - & t - vayt yj = 2(,yt - -, )

aLOA: ,/ l k
We see that 'y=.= if and only if T = 0.

In particular, let -y be an affine connection (3.9.21), i.e.,
7a = 7Jk10 +jEl' (3.9.37)

Then the condition (3.9.34) is equivalent to yal. = yy. The symmetric connection
corresponding to (3.9.37) is
__ = 2(.y + yam).
1
Every dynamic connection y on the affine bundle J'Y Y induces the vertical
connection Vy (2.5.13) on the composite fibre bundle
VyJ'Y.J'Y-.Y. (3.9.38)
This connection is projectable over -y and is given by
VYJ'Y-J''VYJ'Y
ya, )
I I
J'Y JYJ'Y
i i1, i
(U11, 1/i0,
Uu) 0 Vy = (ya, Ui,
c
Note that J'' VyJ'Y = VyJyl J'Y -+ Jy' J'Y is a vector bundle and that Vy is a
linear morphism over y.
Actually, since J'Y -y Y is an affine bundle, the vector bundle VyJ'Y - J1Y
is equipped with a linear connection y whose coefficients are
Jle 0. (3.9.39)
Here 'V stands for the covariant derivative associated with IF. The connection Vy
on the composite fibre bundle (3.9.38) is the composition Vy ='y o y (2.5.4) of the
connections y and 'y on J1Y - Y and VyJ'Y - J'Y, respectively.
In particular, suppose that -y is affine as in (3.9.37). Then y has the associated
linear connection defined on VY -, Y, that is,
1 = 731J. (3.9.40)
Recalling (3.9.2), it is clear that the induced linear connection (3.9.39) on VyJ'Y -
J'Y is precisely the pull-back of the linear connection (3.9.40).
E. Lagrangians and connections

Let us consider a first order Lagrangian density of a mechanical system
L=Gdt,
L function a Lagrangian.
Its fibre derivative defines the Legendre map (3.4.1):
p,oL=a,=OC, (3.9.42)
where (t, y{, p,) are the holonomic coordinates on V* Y. Using again the fibre deriva-
tive of L, we obtain the symmetric tensor
C:J'Y-+V'YV'Y,
G,j = 8{aj. (3.9.43)
The Poincare-Cartan form HL (3.2.6) associated with L is the 1-form on J'Y

defined as
Hj, = d. L + Gdt : J'Y -+ T'Y, (3.9.44)

HL = a,dy` - (irill', - G)dt,
where we used the vertical exterior differential do (3.9.5).
The Euler-Lagrange operator EL (3.2.10) associated with the Lagrangian G reads
,01,=4,Ldy:
6L=dd8C-8,G=Gjiyia+O,,ryi+8,i,-OC.
Note that this expression differs in minus sign from (3.2.10). As we know, 6L is an
affine morphism over J'Y. Since
VvJ'Y_J'YYVY,
EL, can be also seen as the affine morphism over J'Y
J2Y . V'J'Y
(3.9.45)
JIY
In particular, a Lagrangian G is regular if and only if the Euler-Lagrange operator

is an affine isomorphism (3.9.45). Equivalently G, which is a symmetric tensor on
the vertical bundle VyJ'Y J'Y, must be non-degenerate, i.e., it must induce an
isomorphism between VyJ'Y and VyJ'Y:
wily + wily
J'Y
b:
a regular Lagrangian. Then, as is clear from (3.9.45), the kernel of Cl,
uniquely determines a dynamic equation _ CL given by
C:J'Y J2Y,
C;kCk = -8,a; - 8,ay.1 + 8;G. (3.9.46)

Using the covariant derivative Vt (3.9.16) associated with the dynamic equation C,
we obtain the relation
VyJ'Y VyJ'Y
viL 'ale,,
J'Y
EL=boVt.
Then, given a motion c : I - Y , we have
bone=CL-C,
where a,, is the acceleration of c (3.9.17). In other words, EL o c is the acceleration of
the motion c expressed in covariant terms. Thus, the motion c satisfies the Lagrange
equations, i.e., L o c = 0 if and only if c is a geodesic of C = Cl,.
Remark 3.9.8. Note that G is a mass tensor and not merely a geometric dimen-
sionless tensor. Indeed, while a,, is a true acceleration, b o a< has the dimension of a
force.
Taking the partial derivative of (3.9.43) with respect to yi, we obtain

ac;k k ak a27r; air; azn; h ar,
It follows that
k l atk
`
S ' Gif + Gik73k + Gjk i = 0, 7i = 28pi
S , (3.9.47)
and
(3.9.48)
where
G, !G-,., +
CC
G at yi + a k,
i
hi 7r
a7Cj j + G,k"Ii .
Note the presence in the identity (3.9.47) of coefficients ryk of the symmet-
ric dynamic connection y determined by the dynamic equation = eL according
to (3.9.36). The linear connection 'y (3.9.39) induced by -y on the vector bundle
V,J1Y -a J'Y can be introduced, and the covariant derivative VVG of G can be
computed. Indeed, C is a tensor defined on the vector bundle VyJ'Y J1Y
equipped precisely with the covariant derivative V, and C is a vector field on the
base J'Y. From (3.9.39) we see that
OEdy, = (c + ftl yi)dy`' = 7kdy,.
Hence, we obtain
VVCij = . Gij + Gik'yj + Gkj'yi .
Thus, the identity (3.9.47) means that the compatibility condition VG = 0 is

satisfied.
We have proved the following.
PROPOSITION 3.9.6. Let C be a regular Lagrangian and G the corresponding (non-

degenerate) mass tensor. Moreover, let -y be the symmetric dynamic connection on
J'Y -. Y determined by the dynamic equation
C=Ct:J1Y-J2Y.
Then, if 0 denotes the induced covariant derivative on the vertical tangent bundle
VyJ'Y - J'Y, the following compatibility condition holds [711:
C. Gif G,,t_yik +Gk17'ik = 0. (3.9.49)
F. Newtonian and Lagrangian systems

The concept of Newtonian system is basic in the scheme of classical mechanics.
It is characterized by the following three ingredients:
(i) a fibred manifold t : Y R , where t is the absolute time;
(ii) a Riemannian mass metric C on the vertical bundle VyJ'Y J'Y, i.e.,
G: J'Y -' V'YV'Y, G = G,,dx` dxt,
Y
where Gi; = G;i are local functions on J'Y which satisfy the symmetry property,
that is,
OGi;
&yk
= 8Gk
f},,; i (3.9.50)
note that (3.9.50) here is assumed as an independent hypothesis;

(iii) a symmetric connection ry on the affine bundle J'Y Y.
As we know from (3.9.34) and (3.9.35), the connection coefficients of ry satisfy
the identities
7k = i0
419
+pi,k
ayt ay',
=
.
(3.9.51)
Denoting by C the dynamic equation associated with ry, we have
k ki I LqSk
741 =2 ft['
Using the linear connection I? induced by ry on the vector bundle VyJ'Y J'Y,
we require that also the compatibility condition (3.9.49) holds.
Hereafter, a Newtonian system is denoted by the triplet (Y,G,'y) .
Proposition 3.9.6 may be reformulated by saying that, given a regular Lagrangian
we can associate with it a Newtonian system (Y, C, -y) where G is given by (3.9.43)
and 7 is the symmetric connection determined by the dynamic equation

(3.9.46).
Let -y be a (symmetric) dynamic connection and G a mass metric tensor. Then
we can define the following 2-form over J1 Y:
I u') = G(7u, vi') - G(-fu, vu'),
where u, 1/ are vector fields on J1Y, v is the vertical endomorphism (3.9.4) and y
is the vertical projection (3.9.32). It is easily seen that the local expression of w.r is
c = G.37' A s', (3.9.52)

7'=dye-7odt-7ndy", 19' =dyi- yjdt.
Note that wy has maximal rank and
C7jw1-0, C =er
A direct computation from (3.9.52) shows that
dw, G, + Gk-t, + Gkj7i )dt A 7' A $' + aGij 7' A 19' A 7k + (3.9.53)
aylk
)7'A19' ABk+GkpjdtAt9'At9'+
e
Ghj(h. - 7k)O A 19i A 19k,
where pf has been defined in (3.9.29) and we use the local basis (3.9.31).
Suppose that the first two terms in (3.9.53) vanish identically (i.e., (Y, C, 7) is
a Newtonian system). Then also the third term in (3.9.53) vanishes identically.
Indeed, by taking the partial derivative of (3.9.47) with respect to yk, we obtain
8G;j + 8Gt j 7k + G &y _ _ 02C. _ 02G.2
O2 GiJ _ 14 _ h_
8yk Bpi V i8 V, -
(RWth
Wit,
7.
h _ BCij7kh
8 e`
- 8C;k 7jh - Cih v8bi/j
The assertion follows from the symmetry properties (3.9.50) and (3.9.51).
Recalling (3.9.27), we see that the last term in (3.9.53) can be rewritten as follows
8k
Ghj(h. 7k )f A 19' A = (Cu,R,"kj + GjhlRk + GkkR% )19' A 19' A 19k.
6
Thus, we have proved the following.
PROPOSITION 3.9.7. The triplet (Y, G, -y) is a Newtonian system if and only if
dw., = G;kpjdt A 1 A 0 + G (Gu,Rk + GfhR4 + GkhR )t9A tV A 0.
1 It should be emphasized that the property of (Y, G, y) to be a Newtonian

system is expressed in terms of the curvature of the symmetric connection ry. 2
LEMMA 3.9.8. Let y be a symmetric dynamic connection. Then the following

identity holds
8pkk8._3pk
591- V
0
Proof. It easily follows from (3.9.27), (3.9.29) and the properties (3.9.51). QED
From this lemma we obtain the following corollary.
COROLLARY 3.9.9. Let ry be a symmetric dynamic connection and G a mass metric

satisfying the symmetry property (3.9.50). Suppose that
G{kpj = Gfkp{ . (3.9.54)
Then the following cyclic identity holds:
G,AR" + Gj.%Vt + GkARjt = 0.
Proof. The relation (3.9.54) leads to

BG,h pk -B P,% = G,h Bpi - Gik04
i ft1k
and, hence,
OG h BCjh BGkh h OCth h 0614 Ph- BGhk h
Pjh - Pi + P; - Pk + V; 8A Pj =
OTC .,e e e
-3(C;hRkj + GjhR4 + GkhRj;)

The result follows immediately. QED
PROPOSITION 3.9.10. Let (Y, G, ry) be a Newtonian system. Then the following
two conditions are equivalent (711:
(i) w, is a closed form, i.e.,
dw, = 0; (3.9.55)
(ii) the symmetry property (3.9.54) holds, i.e.,
C,hpj = GjhP. (3.9.56)
A Newtonian system (Y, C, ry) for which the condition (3.9.55) or, equivalently,
(3.9.56) holds is said to be a Lagrangian system.
Using -y and G, we can define the following Euler-Lagrange type operator E(f)
= e.):
VyJ'Y V'J'Y
V(
J2Y
E(t)=0oVE, & (f)=G;k(yu-tk)

Now let G : J'Y -. R be a Lagrangian. In fact, G denotes a sheaf of local
Lagrangians on J'Y (see Remark 3.9.9). Recalling the definition of the Poincard-
Cartan form HL given in (3.9.44), we can easily see that its differential dHL satisfies
the following identity
dHL = [6;G - (v'u - e')[dt A 0 + ry' A t9j + (h; irj)19' A t9j.
Recalling (3.9.48), we deduce from (3.9.52) that the following conditions are
equivalent:
the sheaf C defines a global Euler-Lagrange operator EL and
-'L = CM; (3.9.57)
the sheaf C defines a global form dHL and
dHL = w.,. (3.9.58)
Note that the sheaf C also defines a global mass tensor

8a; 02C
In particular, all the local Lagrangians of the sheaf G are regular.

Under the equivalent conditions (3.9.57) or (3.9.58), since dw, = 0, the triplet
(Y, G, 'y) is a Lagrangian system. We have already met an example of a Lagrangian
system determined by a unique global Lagrangian G according to Proposition 3.9.6.
Note that the condition dw, = 0 implies the condition (3.9.57) or, equivalently,
(3.9.58). Thus, a Lagrangian system is characterized by the equivalent conditions
(3.9.57) or (3.9.58).
PROPOSITION 3.9.11. Let (Y, G, ry) be a Lagrangian system, i.e., such that dw,. = 0.
Then the condition (3.9.58) holds.
Proof. There exists a local 1-form around each point of J'Y such that
0 = adt + ;O + rycry{, d4 = w,,, (3.9.59)
where a, A and ryi are local functions on J'Y. By computing dO from (3.9.59) and
using (3.9.52), we see that
87:_0
8" 8y
It follows that there exists a local function A on J1Y such that
dJ _ (f \)dt + (h{ - \)O + 7t8i + f = fr
Note that we have used the duality between the bases (3.9.30) and (3.9.31). Setting
Vi dA, we obtain
= ,r, 6' + Gdt, it _ h, A, G = a - f A. (3.9.60)
Actually, t/i is precisely the Poincar6-Cartan form associated with L. Indeed, we

have
dt/'=dq= [biC-
7iAt9t+(h;
a t t
G as defined in (3.9.60) provides the sheaf of local Lagrangians associated
with (Y, G, -y). QED
Remark 3.9.9. Of course, the sheaf L is not unique. Let C be another sheaf of
local Lagrangians associated with (Y, C, y). Setting X = C - L, it is easily seen
that
X = xiar, + Xo, e;xi - axt = 0, eixi - aixo = 0,
where xA are local functions on Y. Equivalently, x is a sheaf of closed local 1-forms
on Y, that is,
X=XAdp", dx=0.
In particular, we have Hu = Ht + X.
G. Conservation laws
Let L be a Lagrangian (3.9.41) on J'Y. 1b obtain differential conservation laws,
we use the first variational formula (3.2.13) of the calculus of variations (see Section
3.5).
Let us consider conservation laws along a vector field
u = u`8e + ui8i, ut = 0, 1, (3.9.61)
on Y -, R. Then we have
LJy,L = (J'uJdC)dt = (u8i + ui8i + dtu`8;)Ldt,
and the first variational formula (3.2.13) takes the coordinate form
J'uJdL = (ui - u`ye)(8; - dt8;)L - dt`, (3.9.62)
where
Z = ,q(utyy - ui) - utL (3.9.63)
is the current along the vector field u.

On-shell, the first variational formula (3.9.62) leads to the weak identity
J'uJdL -_ -dtT. (3.9.64)
If the Lie derivative Lj' L vanishes, we have the conservation law
0 ~. -dt[7r{(uty - u') - utL].

This is brought into the differential conservation law
0 - (iri o c(u'8tci - u' o c) - ut G o c)

jj
on solutions c of the Lagrange equations. A glance at this expression shows that, in
mechanics, the conserved current (3.9.63) plays the role of a first integral of motion.
Every symmetry current (3.9.63) along a vector field u (3.9.61) on Y can be

represented as a superposition of the Nother current along a vertical vector field u,
where uu = 0, and of the energy current along the horizontal vector field r (3.9.6)
[50].
If u is a vertical vector field, the weak identity (3.9.64) reads
(u'8i + dtu'8; )L -- dt(ir u').

If the Lie derivative of L along u equals zero, we have the integral of motion T = wiui.
In the case of the horizontal vector field r (3.9.6), the weak identity (3.9.64)
takes the form
(8t + I" 8i + d*I"811)L = -dt(ii(ye - I'i) - L), (3.9.65)
where
Tr=iri(2 -I'')-L (3.9.66)

is the energy function with respect to the frame I'.

Remark 3.9.10. With respect to the coordinates adapted to r, the energy conser-
vation law (3.9.65) takes the familiar form
8,G = -dc(ir y - C). (3.9.67)
Example 3.9.11. Let C be a regular Lagrangian and l; = CL the dynamic equation

determined by L as in (3.9.46). Then, since
, o0, dTr
dt
oC=L(Tr,
we obtain
LtTr = -Lj,rL.
Thus, Tr is a first integral of the dynamic system if and only if
LjtrL = 0.
Chapter 4
Hamiltonian Formalism
Here we will follow the notation of the previous Chapter. Unless otherwise stated,
by Y - X is meant a fibred manifold over an n-dimensional base with fibred
coordinates (xa, y').
This Chapter deals with the polysymplectic Hamiltonian formalism defined on
the Legendre bundle
lI=AT'XV'YTX
Y Y
(4.0.1)
over a fibred manifold Y, which is coordinatized by (xA, y`, p, ). Recall that every
Lagrangian density L on the configuration space J'Y of the first order Lagrangian
field theory induces the Legendre map L (3.4.1) of J'Y to II. This morphism takes
the form
pp oL=B;'G
which shows that the Legendre bundle (4.0.1) is a natural n-dimensional generaliza-
tion of a phase space of symplectic formalism [31, 64, 86, 101, 161, 162). Moreover,
polysymplectic Hamiltonian formalism applied to fibre bundles Y R over a 1-
dimensional base R leads to the adequate geometric formulation of Hamiltonian
time-dependent mechanics (see Section 4.10).
If a Lagrangian density is hyperregular, polysymplectic Hamiltonian formalism
is equivalent to the Lagrangian one. We will concentrate on the relations between
Lagrangian and polysymplectic Hamiltonian formalisms in the case of non-regular
systems [65, 163, 164, 190).
231
232 CHAPTER 4. HAMILTONIAN FORMALISM
4.1 Symplectic structure

In this Section we summarize the basic notions of symplectic geometry which will
be needed in the sequel [2, 6, 120, 182].
Let Z be a manifold. A Jacobi bracket (or a Jacobi structure) on Z is defined
as a bilinear map
C(Z) X C(Z) 9 (f,9) {f,9} E C(Z),

where C is the space of real smooth functions on Z. This map, by definition,
satisfies the following conditions:
(Al) {g, f } = -(f, g} (skew-symmetry),
(A2) (f, {g, h)) + {g, {h, f } } + {h, {f, gj) = 0 (Jacobi identity),
(A3) the support of (f, g) is contained in the intersection of the supports of f
and g.
PROPOSITION 4.1.1. Every Jacobi bracket on a manifold Z is uniquely defined in

accordance with the relation
{f, 9} = w(df,d9) +uJ(fd9 - 9df) (4.1.1)
by a pair of a vector field u and a bivector field w on Z such that

Law = 0, [w, w] = 2u A w (4.1.2)
[102, 122, 132]. o
Example 4.1.1. Taking w = 0, every vector field u on a manifold Z defines the

Jacobi bracket (4.1.1). The relations (4.1.2) are obviously satisfied.
The Jacobi bracket (4.1.1) with u = 0 is said to be a Poisson bracket. According

to (4.1.2), a bivector field won a manifold Z provides a Poisson structure if it meets
the condition
[w, w] = 0,
that is, it is a Poisson bivector field (or simply a Poisson bivector) (see Example
1.5.5). A manifold Z equipped with a Poisson bivector w is called a Poisson manifold
(Z, w).
4.1. SYMPLECTIC STRUCTURE 233
Besides the conditions (Al - A3), the Poisson bracket
{f,9} = w(df,d9) (4.1.3)
satisfies also the Leibniz rule
{h, fg} = {h,f}g+ f{h,g}. (4.1.4)
A Poisson structure defined by a Poisson bivector w is said to be regular if the

associated morphism 0 : T'Z -. TZ (1.5.5) has constant rank. Hereafter, by a
Poisson structure we mean a regular Poisson structure.
Note that there are no pull-back or push-forward operations of Poisson structures
by manifold maps in general. The following assertion deals with Poisson projections,
whereas Theorem 4.1.7 is concerned with Poisson injections.
PROPOSITION 4.1.2. Let (Z, w) be a Poisson manifold and 7r : Z Y a projection.

The following properties are equivalent:
for every pair (f, g) of functions on Y and for each point y E Y, the restriction
of the function { f o a, g o a} to the fibre it-1(y) is constant;
there exists a Poisson structure on Y for which it is a Poisson morphism.
If such a Poisson structure exists, it is unique ([1201, p.116). 0
DEFINITION 4.1.3. Given a function f on a Poisson manifold (Z, w), the image
1Of=w*df, Of=w&-a'f
of its differential of by the morphism wp is called the Hamiltonian vector field of f .
0
The Hamiltonian vector field t9 f, by definition, obeys the relation
I
t 9 fidg = { f, g} (4.1.5)
for any function g on Z. It is easy to see that
[1f,19g[ = I9{f.g} (4.1.6)

This relation provides the set of Hamiltonian vector fields with a Lie algebra struc-
ture. Using (4.1.4) and (4.1.6), one can show that
(Le.w)(df,dg) =,9hJd{f,g} - {t9h14f,g} - {f,t9hjdg} = 0.

It follows that every Hamiltonian vector field is the generator of a local 1-parameter
group of automorphisms of the Poisson manifold (Z, w).
The values of all Hamiltonian vector fields at all points of Z constitute the
characteristic distribution of the Poisson manifold (Z, w). In virtue of the relation
(4.1.6), this distribution is involutive.
Remark 4.1.2. Distributions. Let Z be an m-dimensional manifold. Recall that
a k-codimensional smooth distribution T on Z is defined as a subbundle of rank
m - k of the tangent bundle TZ. A smooth distribution T is said to be involutive
if [u, u'J is a section of T, whenever u and u' are sections of T.
Let T be a k-codimensional distribution on Z. Its annihilator T' is a k-
dimensional subbundle of T'Z called the Pfafan system. It means that, on a
neighbourhood U of every point z E Z, there exist k linearly independent sections
01,. . . , Ok of T' such that
T iu= nKer0,.
i
Let AT denote the ideal of the exterior algebra O'(Z) which is generated by sections
of T.
PROPOSITION 4.1.4. A smooth distribution T is involutive if and only if the ideal
AT is a differential ideal, i.e., d(AT) C AT ([186J, p.74). o
Note that, given an involutive k-codimensional distribution T on Z, the quotient

TZ/T is a k-dimensional vector bundle, called the normal bundle of T. There is
the exact sequence
0 T TZ -- TZ/T - 0. (4.1.7)
Given a fibred manifold Y - X, its vertical tangent bundle VY exemplifies an

involutive distribution on Y. In this case, the exact sequence (4.1.7) is precisely the
exact sequence (1.4.3a).
A connected submanifold N of the manifold Z is called an integral manifold
of a distribution T on Z if the tangent spaces to N belong to the fibres of this
distribution at each point of N. Unless otherwise stated, by an integral manifold

we mean an integral manifold of maximal dimension, equal to dimension of T. An
integral manifold N is called maximal if there is no other integral manifold which
contains N.
THEOREM 4.1.5. Let T be a smooth involutive distribution on Z. For any point

z E Z, there exists a unique maximal integral manifold of T passing through z
([186], p.75).
In view of this fact, involutive distributions are also called completely integrable
distributions.
COROLLARY 4.1.6. Every point z E Z has an open neighbourhood U which is a

domain of a coordinate chart (z',... , z"') such that the restrictions of T and T' to
U are generated by the m - k vector fields
a 8
(7Z1 I
... 18zm-k
and the k Pfaffian forms dzm-k+',... , dzm respectively.
It follows that integral manifolds of an involutive distribution form a foliation.

Let us recall that a k-codimensional foliation on a m-dimensional manifold Z is
a partition of Z into connected leaves F1 with the following property. Every point
of Z has an open neighbourhood U which is a domain of a coordinate chart (z)
such that, for every leaf F1, the connected components of F, fl U are described by
the equations
zm-k+l = const., z"' = const.
[97, 155]. Note that leaves of a foliation fail to be imbedded submanifolds in general.
For instance, every submersion 7r : Z - X defines a foliation on Z whose leaves
are the fibres x-'(x), x E X.
Every nowhere vanishing vector field u on a manifold Z defines a l-dimensional
involutive distribution on Z. Its integral manifolds are the integral curves of u. In
virtue of Corollary 4.1.6, around each point z E Z, there exist local coordinates
(z', ... , z") such that u is given by
8
U 8z,.
Let us turn to the characteristic distribution generated by Hamiltonian vector

fields. We have the following theorem.
THEOREM 4.1.7. The characteristic distribution of a Poisson manifold (Z, w) is

completely integrable. The Poisson structure induces the symplectic structures on
leaves of the corresponding foliation of Z ([1821, p.26), which is therefore called a
symplectic foliation. 0
Recalling that a 2-form 11 on a manifold Z is called presymplectic if it is dosed,

a presymplectic form fl is said to be symplectic if it is non-degenerate (see Example
1.6.1). A manifold Z equipped with a symplectic [presymplectic] form is said to be
a symplectic [presymplectic] manifold.
The symplectic foliation admits the adapted coordinates described in Corollary
4.1.6. Moreover, one can choose these coordinates in such a way to bring the Poisson
bracket in the following canonical form ([182] p.29;[187]).
PROPOSITION 4.1.8. For any point z of a Poisson manifold, there exists a coordinate
system
i k
in a neighbourhood of z such that
{y',yi} = {py,pj} = {y',z} = {pi,z} = {za,z"} =0, {p;,yi} =6;. (4.1.8)
These coordinates are called canonical coordinates. 0
In canonical coordinates (4.1.8), the Poisson bracket (4.1.3) takes the form
0109 01,19
A Poisson structure is called non-degenerate if wr is an isomorphism. In this case,

the Poisson bivector w is non-degenerate and defines the corresponding symplectic
form Cl on Z given by the relation (4.1.9). A non-degenerate Poisson structure can
exist only on an even-dimensional manifold.
PROPOSITION 4.1.9. On every even-dimensional manifold Z, there is the one-to-

one correspondence between the symplectic forms 11 and the Poisson bivectors w in
accordance with the equalities
I w(O, a) = Sl(wrO, waa), 11(t9, V) = W(flb6, Slbv), (4.1.9)
0,a E O'(Z), t9,v E V'(Z),

(see relations (1.5.5) and (1.6.2)) [121). C3
The equalities (4.1.9) take the coordinate form
0-ow"', = 6.1.
In canonical coordinates, we have
Sl = dpi A dy', w=
8, n
Example 4.1.3. Let M be a manifold with coordinates (y') and PM its cotangent
bundle provided with the holonomic coordinates (y', p;). The cotangent bundle 7M
is equipped with the canonical symplectic form
In = dpi A dy' (4.1.10)
and the canonical Liouville form
1B=prdy'.
Furthermore, for every closed 2-form 0 on M, the form Sl + 0 is also a symplectic
form on T' M.
The canonical symplectic form (4.1.10) plays a fundamental role in view of Dar-
boux's theorem ([1201, p.135). This theorem is an immediate consequence of Propo-
sition 4.1.8 and Proposition 4.1.9.
THEOREM 4.1.10. Let (Z,11) be a symplectic manifold. Each point of Z has an

open neighbourhood U which is the domain of a canonical coordinate chart
(y'r... IY"Ipl,...,N)
such that the symplectic form fl has the coordinate expression (4.1.10) on U. 13
The notion of a Hamiltonian vector field on a symplectic manifold may be refor-

mulated as follows.
DEFINITION 4.1.11. A vector field 0 on a symplectic (or presymplectic) manifold

(Z, fl) is said to be locally Hamiltonian [Hamiltonian] if the form t9JS1 is closed
[exact]. 0
As an immediate consequence of this definition, we find that:
a vector field t9 is locally Hamiltonian if and only if it is an infinitesimal

symplectomorphism, that is,
L6Sl = d(t9JQ) = 0;
a vector field 0 is Hamiltonian if and only if it is a Hamiltonian vector field in

accordance with Definition 4.1.3, i.e. t9 = t9j, where
=-t9,J$1, t9,=OfO;-O,ft .
Remark 4.1.4. Generalized Poisson structure. Different generalizations of the

Poisson structure have been suggested.
In particular, it seems natural to consider a multivector field w on M in order
to introduce the multibracket
f1,...,fk atjl' akfk
of k functions on M [8, 95, 176]. In particular, the multibracket of n functions on

an n-dimensional manifold X can be given by the relation
A)w_X411A...Adfn.
A different way is to extend the Poisson bracket given by a bivector field w to

multivectors and differential forms.
Let T.(M) be a Z-graded algebra of multivector fields on a manifold M. Let us
introduce the operation
tDt9
= = [W, VISN,
where 1., .]SN is the Schouten-Nijenhuis bracket (1.5.3). This operation has the ho-
mology property ws = 0 [182]. Let 19 and v be multivectors. There is defined the
bracket
[19, v]w = -[rW, v]SN,
which has the property
[19, v1w = _(_l) roII I [v,191w
- w([O, v])
This bracket is graded skew-commutative on the quotient T.(M)/t (T.(M)).
If the bivector w on a manifold M is non-degenerate, i.e., M is a symplectic
manifold, it defines an isomorphism TM - T'M. Using the Schouten-Nijenhuis
bracket of multivectors, one can then construct a bracket of differential forms [138].
In the general case, we have the homomorphism
00(al, . , at) = (- l)k0(wtlal, .,Oak), 4 E ilk(M),
w(00) _ -wd(dd).
Let us consider the operator
bw=wJ od - dowJ (4.1.11)
on the exterior algebra D'(M) [108, 182], and recall that the contraction of multi-
vectors and exterior forms is
(,tl A... At9k)J0=19kJ...t9 Jm
The operator bw (4.1.11) is related to the operator iu by the formula
(CV)J0 = i9j(6w0) + (-1)kbw(t9J-0), VV E Ok(M), Vi9 E Tk_,(M).
The corresponding bracket of exterior forms is defined to be
ilk(M) x Y(M) _ ilk+,-l(M),
v}w = (6..O) A o + (-1)"01.0 A (bwo) - bw(.0 A o). (4.1.12)
This bracket has the properties
(.0, a). = (-1)"01101(a,0)w,
(_1)101Q01-0{0, {ti,}w}w + (-1)"0100"-1){a,
{9,O)w)w +
(-1)10"(10"-1-){O, {0,Q)w1w
= 0,
y
({0,Q)w) = [00, W U1SN
In particular, the bracket (4.1.12) of 1-forms reads
{0, Loea - L0,.0 - d(w(4, a)) (4.1.13)
or
{0, a}. = wrOJda - OaJdO + d(w(*b, a)).
It provides O'(M) with a Lie algebra structure such that
wr:iD'(M) T(M)
is a lie algebra homomorphism
,ur({m, a}) = [ 0 0 ,0 a ]-
The relation of the bracket (4.1.13) to the Poisson bracket (4.1.3) is the following
{d/, dg}w = d{ f, g}.
The operator &, (4.1.11) obeys the equality
do& +6 od=0
that leads to the formula
d{m,a}. = -{dO,a}. - (-1)NI{0,da},,.
Then the bracket
{0,a}d = -(dgf,a)w (4.1.14)
can be introduced (28, 138]. This bracket is graded skew-commutative
{0, a}d = (-1)101b1{a, O}d
on the quotient iO'(M)/dil'(M).

4.2. POLYSYMPLECTIC STRUCTURE 241
4.2 Polysymplectic structure

Let Y - X be a fibred manifold and n _. Y the Legendre bundle (4.0.1). By the
Legendre fibred manifold we will mean the fibration n - X. Thus, we have the
composite fibration
'lrnx = n o any : 11 Y - X. (4.2.1)
Given fibred coordinates (?, y') on the fibred manifold Y - X and the holo-
nomic coordinates (zA,A) and (xa,ia) of the bundles TX and T'X, respectively,
the Legendre bundle (4.0.1) is equipped with an atlas of holonomic coordinates
with the transition functions
OXIA
Ox,
p'; = det( Txwpj . (4.2.2)
8x') 8y' 8x
These coordinates are compatible with the composite fibration (4.2.1) and are linear
bundle coordinates on the vector bundle 11 - Y. We will call them the canonical
coordinates.
1 One can think of p; as being the momentum coordinates of momenta of field

functions with respect to all world coordinates. 1
There are the following canonical morphisms:
the bundle isomorphism over Y
inn V'Y ("A-IT'X),
in : (xA, y{, pi) ''-' p; ay` A wa, (4.2.3)
where {dy'} are the fibre bases for the vertical cotangent bundle V'Y of Y;
the bundle monomorphism over Y
9 : IT
Y 'TT'Y TX, (4.2.4)
9 : (x\, V, p,) '--. -p, dy' A w,& Ok,

which defines the tangent-valued Liouville form (3.4.5) on the Legendre bundle
n.
Let us recall that the polysymplectic form

St=dp, Ady'Aw8,, (4.2.5)
on II is defined as a unique TX-valued (n + 2)-form on II such that the relation

ft1 0 = -d(ej 0)
holds for any exterior 1-form 0 on X (see Definition 3.4.2).
I The tangent-valued Liouville form (4.2.4) and the polysymplectic form (4.2.5)
provide the Legendre bundle lI (4.0.1) with the polysymplectic structure. I
Example 4.2.1. Let Y -. R be a fibre bundle over X = R with coordinates (t, y').
It is readily observed that the corresponding Legendre bundle is the phase space
II = V'Y, coordinatized by (t, y', p,), of time-dependent mechanics (see Section
4.10). The polysymplectic form (4.2.5) on this phase space reads
St=dp;ndy'Adt88.
This form cannot be contracted to the familiar exterior symplectic form if transfor-
mations of pi and y' depend on the temporal coordinate t.
This Example shows that the polysymplectic form (4.2.5) fails to be the straight-
forward n-dimensional generalization of the canonical symplectic 2-form. Such a
generalization is provided by a multisymplectic form 1100, 134].
Example 4.2.2. Multisymplectic structure. Let M be an m-dimensional ma-
nifold with coordinates (za). Consider the fibre bundle
AT'M- M
of exterior k-forms on M. It is coordinatized by (z",pA) where A = (A, < ... < A,)
are multi-indices of the length I A 1= k. The manifold AT'M is equipped with the
canonical exterior k-form a defined by the relation
u j...u,Je(p) = pE kT'M, u, E T,(AT'M).

9=Epa,...4dz''
A
where the sum is over all multi-indices A.

The exterior differential d6 of this form is the (k + 1)-symplectic form
am = de = E dP,,,...,,, A dz''' A ... Adz" 4
A
which belongs to the class of multisymplectic forms [134]. If k = 1, d9 is the familiar

symplectic form on the cotangent bundle T' M.
A diffeomorphism 4) of the manifold ATOM is said to be a multisymplectic
d i f f e o m o r p h i s m if it preserves the canonical multisymplectic form, i.e., 4 dO = de.
It appears that multisymplectic diffeomorphisms have much simpler structure than
do symplectic ones.
Recall that, given the tangent space Tp(AT'M) to the manifold ATOM at a
point p, its subspace Wp is a Lagmngian subspace if dO lw,= 0 and if Wp is maximal
in the lattice of subspaces with this property. Lagrangian subspaces constitute the
Lagrangian distribution We C T(AkTM) on the manifold ATOM. It easily observed
that, if k > 1, this is precisely the vertical tangent bundle V(AT'M) of the fibre
bundle ATOM -. M. This distribution is obviously integrable, and its leaves are
the fibres of the fibre bundle ATOM -- M.
Every multisymplectic diffeomorphism must preserve the Lagrangian distribu-
tion associated with the multisymplectic form dO. It follows that k-multisymplectic
diffeomorphisms are fibred morphisms of the bundle of k-forms ATOM M. It can
be proved that, if 4) is a multisymplectic diffeomorphism, then 0 decomposes as a
semidirect product of a holonomic automorphism of the fibre bundle ATOM - M
and an afline morphism
P-- P + r(((P)), p E ATOM, (4.2.7)

where r is a closed k-form on M [134].
Let Y X now be a fibred manifold over a (1 < n)-dimensional base X. Let
us consider the canonical form 6 (4.2.6) on the bundle AT'Y of n-forms on Y. Let
Zy =TOY A("A'T'X) (4.2.8)
be the homogeneous Legendre bundle introduced in Remark 3.4.4. It is equipped
with coordinates (x', y', pi', p), where the coordinate p has the transformation law
P' = det(ax,v)(P- Bv:Ox"

The canonical bundle monomorphism over Y
iz : T'Y A (AIT'X) AT'Y

yields the pull-back form iz6 on Zy which is precisely the canonical form
=pv+p,dy'Awa (4.2.9)
(3.4.19) on Zy. This is the reason why the exterior differential

f 1z = dp A w + dp, A dy' A 1.s, (4.2.10)
of this form is also called a multisymplectic form [771.

In particular, if Y R is the fibre bundle from Example 4.2.1, the multisymplec-
tic form (4.2.10) leads to the canonical symplectic form
f2z=dpAdt+dppAdy'
on the cotangent bundle T'Y of Y.
The multisymplectic diffeomorphisms 4, of the bundle ATY -+ Y, which keep
the image iz(Zy) C ART-Y, induce automorphisms of the bundle Zy -' Y,
which preserve the multisymplectic form (4.2.10) on Zy. Every 4'z decomposes as a
semidirect product of a holonomic automorphism of the fibre bundle Zy - Y over
a bundle morphism of Y X and an affine morphism (4.2.7) where p E Zy and
r : Y Zy is a closed form.
In conclusion, let us mention also the vector-valued symplectic form defined
on the frame bundle LX over a manifold X. It is the exterior differential of the
canonical form OLx (3.7.5) [56, 1471.
Similarly to Example 4.2.2, an automorphism + of the Legendre bundle lI is said

to be a polysymplectic (or canonical) automorphism if $ preserves the polysymplec-
tic form Cl (4.2.5). A polysymplectic automorphism obeys the following coordinate
relations
t
84>i tom' ice; ice'
= 0, (4 . 2 . 11 a)
W, 0XV 814 W3
4 ox - p ,, j ' = 6k6." (4 .2 . 11b)
9yk
of ft' v r, 80'
8yJ 8yk = 0. (4.2.1 lc)
81/11 &Y,
It is easily justified that the set of polysymplectic automorphisms includes: (i)

holonomic automorphisms of the Legendre bundle II _Y induced by bundle mor-
phisms of Y - X (their coordinate expression is (4.2.2)) and (ii) the affine mor-
phisms
9 --. 4 + r(1rny(9)), 4 En,

where
r=r,(y)dy'Aw8a
is a section of II - Y such that, for each exterior 1-form 0 on X, the form
rJ xnx( = r; (y)q A(x)dy' A w
is closed. Actually, one can show that, if n > 1, every polysymplectic automorphism
is a semidirect product of such kind of morphisms. The example dim Y = dim X + I
illustrates this fact as follows.
Example 4.2.3. If dim Y = dim X + 1, the relation (4.2.1 la) reads
8p 8y'
8j? 8 y ' =o
8p" 8PP 8p" 8p
If we assume that 1/ = yoO depends on the momenta pa, then det(TO) must be equal
to zero and, consequently, 4) is not an automorphism. It follows that polysymplectic
automorphisms are compatible with the fibration II - Y. Then, it is not difficult
to show that they take the above mentioned form. .
l From now on we will consider only holonomic coordinates (4.2.2) on fl. I
Remark 4.2.4. Instantaneous Hamiltonian formalism. Using the multi-

symplectic structure on the homogeneous Legendre bundle Zy Y; one can ob-
tain the instantaneous Iiamiltonian formulation of field theory in terms of infinite-
dimensional symplectic spaces [78).
Let Y - X be a fibred manifold and N an (n-1)-dimensional imbedded compact
submanifold of X which may be treated as a Cauchy hypersurface. There always
exist local coordinates (x, x) of X so that the hypersurface N is locally defined by
the coordinate relation x = 0. By YN is meant the restriction of the fibred manifold

Y to N C X.
Recall that S(Y) denotes the space of sections s of Y. Accordingly, the symbol
S(YN) stands for the set of restrictions of sections of Y - X to N. Note that, being
completed in appropriate Sobolev topology, the space S(YN) becomes a smooth
infinite-dimensional manifold [3, 131]. It may be coordinatized by local functions
S' = y' o s, S E S(YN).
The tangent space T,S(YN) to S(YN) at a section s of YN -+ N is defined as the

set of sections u of the vertical tangent bundle VYN -+ N which cover s. Similarly,
the cotangent space T;S(YN) to S(YN) consists of sections of the bundle
nA' T* N V'YN -. N
YN
which cover s. In adapted coordinates, an element e E T,S(YN) reads
e=e,Jy'"o, "o=Boj(J.
The natural contraction of u E T,S(YN) with e E T, S(YN) is given by the integral
uJe =
IN u(x)Je(x).
Let us consider the fibred manifold Zy - X (4.2.8) and let ZN denote its
restriction to N. The space S(ZN) of sections of ZN - N possesses the induced
fibration S(ZN) -, S(YN). It is the space S(ZN) which could play the role of an
infinite-dimensional phase space in instantaneous Hamiltonian formalism.
Let E be the canonical form (4.2.9) and nz the multisymplectic form (4.2.10)
on Zy. Let us introduce the corresponding forms . and fl on S(ZN). For every
r E S(ZN) and u, v E T,.S(ZN), they are defined by the relations
uJ=(r) = I r'(uJE),
N
vJuJfl(r) = Ir'(vJuJf z)
N
Relative to the coordinates
S'=yo r, a= pa or,
R,
4.3. HAMILTONIAN FORMS 247
these forms are written as

ma(r) = f II,dR' wb,
N
f2(r) = f dli, AdR' oro.

N
The form f2, however, fails to be symplectic because of a non-trivial kernel. For
example, 1) vanishes on elements
TS(ZN)9u+up.
This difficulty is overcome by symplectic reduction as follows.
PaoPosrrloN 4.2.1. The quotient S(ZN)/Kerfl is canonically isomorphic to the

cotangent bundle T'S(YN) endowed with the canonical symplectic structure (78). 13
Roughly speaking, the mapping
: S(ZN) -+ S(ZN)/Ker 5
removes the momentum p and the spatial momenta p;'2'3. Relative to the canonical
coordinates (S', P,) of T'S(YN), this morphism reads
P;oC=lt,.
4.3 Hamiltonian forms

Given the Legendre bundle 11 over a fibred manifold Y - X, let us recall the exact
sequence
zy-.n-.o, (4.3.1)
where
nzn : Zy -+ n (4.3.2)
is an affine bundle over II with 1-dimensional fibres.
DEFINITION 4.3.1. Let h be a section of the fibre bundle (4.3.2). Then the pull-back
H=h'E:H-AT'Y, (4.3.3)
H = p; dy` A wa - ?{w,
of the canonical form -E on Zy by h is called the polysymplectic Hamiltonian form

(or simply the Hamiltonian form).
The exterior differential of the Hamiltonian form (4.3.3) is the pull-back

dH = h'SlZ
over II of the multisymplectic form (4.2.10).
Example 4.3.1. Let
r=dXA(aa+r1a,)
be a connection on the fibred manifold Y X. Hence, we have the splitting
r:V'Y-T'Y,
of the exact sequence (1.4.3a). Then r also yields splitting

hr: 11 -'ZY,
hr :p;ay'wasp;dy'AWA-p;ràw,
of the exact sequence (4.3.1). It follows that every connection r on the fibred
manifold Y -. X defines the Hamiltonian form
HP =h*r=,
Hr =p;dy'Awa-p;r'aw, (4.3.4)
on the Legendre bundle H.
Example 4.3.2. Let us consider the fibre bundle Y -. R as in Example 4.2.1. In

this case, a Hamiltonian form reads
H = pidy' - Ndt,
that coincides with the well-known Poincare-Cartan integral invariant of time-

dependent mechanics [6].
PROPOSITION 4.3.2. Hamiltonian forms on II constitute an affine space modelled

over the linear space of horizontal densities
H=7{w:II-XT'X (4.3.5)
on fI X. They are called Hamiltonian densities. 0
Proof. The proof is based on the fact that the affine bundle (4.3.2) is modelled
over the pull-back vector bundle
fI x AT'X -- TI.
x
QED
It means that, if H is a Hamiltonian form and If is a horizontal density (4.3.5),

then H - H is also a Hamiltonian form. Conversely, if H and H' are Hamiltonian
forms, their difference H - H' is a Hamiltonian density (4.3.5).
Proposition 4.3.2 and Example 4.3.1 lead to the following.
COROLLARY 4.3.3. Every Hamiltonian form on the Legendre bundle R admits the
decomposition
H=Hr -Hr=p;dy'Awa-p r w-??rw, (4.3.6)
where r is a connection on Y -. X. Given another connection r' = r + o, where o

is a soldering form on Y, we have
Hr = Hr - P; caw.
Moreover, every Hamiltonian form admits a canonical decomposition as follows.

We mean by a Hamiltonian map any bundle morphism
J'Y,
y
bao4'=4'%(9), 9E11, (4.3.7)
over Y. Its composition with the canonical morphism (2.1.19) yields the bundle
morphism
Y r
represented by the TY-valued I-form
4, = dx" (Oa + 4ia(4)8:) (4.3.8)
on the Legendre bundle n -i Y.

Example 4.3.3. Let r be a connection on Y - X. Then, the composition
roirny:n - Y- JlY,
dxa(8a+PAO,), (4.3.9)
is a Hamiltonian map. Conversely, every Hamiltonian map 4) : II -' J'Y yields the
associated connection
ro=$o0
on Y - X, where 0 is the global zero section of the Iegendre bundle n - Y. In
particular, we have
r = r.
PROPOSITION 4.3.4. Every Hamiltonian form H on the Legendre bundle II -+ Y

defines the associated Hamiltonian map
H: 11 JIY,
yaoH=B'87i. (4.3.10)
0
Proof. The vertical tangent map VH of the morphism H (4.3.3) defines the linear
morphism
VH:VU-+ T'Y
over Y. Therefore, it can be represented by the section
VH=ap; dy'Aw,,-dp;
OP,
w
of the fibre bundle
V'llXT'Y-+f1.
n
After natural contractions, this section becomes the section
VH=(dy'- dx-%)8,
of the pull-back
11x(T'YVY) 11.
This represents the Hamiltonian map (4.3.10) of IT to the jet manifold J'Y consid-
ered as an affine subbundle of T'Y VY. QED
COROLLARY 4.3.5. Every Hamiltonian form H on the Legendre bundle fI -+ Y

determines the associated connection
f,, =HOO
onY -+X.
1,/Nr=1',
where H. is the 1-lamiltonian form (4.3.4) associated with the connection r on
Y -+X.
COROLLARY 4.3.6. Every Hamiltonian form (4.3.6) admits the canonical splitting
H = Hr,, - H. (4.3.11)
A
The following assertion generalizes Example 4.3.1.
PROPOSITION 4.3.7. Every Hamiltonian map (4.3.7) represented by the form (4.3.8)
on n defines the associated Hamiltonian form
Ho = 0J 9 = pi dy' A wa - p; (4.3.12)
where 9 is the tangent-valued Liouville form (4.2.4).
In particular, if
Hg = H,
then H = Hr for a connection I' on Y.
4.4 Hamilton equations

Hamilton equations in symplectic mechanics are the equations of integral curves of
Hamiltonian vector fields. Hamilton equations in polysymplectic Hamiltonian for-
malism are the equations of integral sections of Hamiltonian connections as follows.
Let J'n be the first order jet manifold of the Legendre fibred manifold n -- X.
It is equipped with the adapted fibred coordinates
(i-1,y',pi,y,,vil)-
We have the commutative diagram
J'n".!! J'Y
n 4
lily
I
Y
oJ'arny=Y,'.
DEFINITION 4.4.1. A connection

7 = dxa (OA + 7a8; + 7 8,)
on the Legendre fibred manifold n - X is said to be a Hamiltonian connection if
the exterior form
7J fI = dp; A dy' A wa - (7adp; - nw (4.4.1)
4.4. HAMILTON EQUATIONS 253
is closed.
Example 4.4.1. Every connection r on a fibred manifold Y - X gives rise to the

connection
r=dx''[8 +ri(y)a;+ (4.4.2)
on the Legendre fibred manifold II - X, where K is a symmetric linear connection

(3.7.1) on X. Due to the isomorphism (4.2.3), the connection (4.4.2) is constructed
as follows. It is the tensor product
r=(rxK)V'r (4.4.3)
over r of the product connection r x K on the pull-back
Y xX A'T'X - X
and the covertical connection V'r to r (2.5.14) on the vertical cotangent bundle
V'Y X. Since the connections r x K and V'r are linear connections over r,
their tensor product (4.4.3) is well defined. The connection (4.4.2) on II X, by
construction, projects onto the connection I' on Y - X.
The connection I'' (4.4.2) obeys the relation
rJn = d(I'J19).
It follows that [' is a Hamiltonian connection.
1 Thus, Hamiltonian connections always exist on the Legendre fibred manifold

II -- X, and every connection r on Y -' X gives rise to a Hamiltonian connection
onH - X.l
It is easily observed that a connection ry on the fibred manifold n - X is a
Hamiltonian connection if and only if y satisfies the conditions
a;, - a, rya = 0, (4.4.4)
t ; - 0. '-em, = 0, (4.4.5)
19371 +aa';=0. (4.4.6)
Using the relation (4.4.6), we find that the second term in the right-hand side
of the expression (4.4.1) is a closed form. Then, in accordance with the relative
Poincar6 lemma ([1], p.69), this expression is brought locally into the form
7J S2 = d(p, dy' Awa - 9-4w) = dH.,, (4.4.7)
where 4% is a local function on f1 such that
7a = 7.t = -ax-
Remark 4.4.2. Relative Poincard lemma. Let us consider the vector space
R'" x R" with the Cartesian coordinates (q', za). Let ilk denote the vector space of
exterior k-forms on R' x R". Recall that there exists the homotopy operator
H:JDk-
doH+Hod= ldiOk,
[2, 186]. Let
0=wnw,
be an exact (r + n)-form on R' x R". Then, 0 is brought into the form
0=donw,
where o is an (r - 1)-form on R'" x R". By analogy with the explicit form of the
homotopy operator ([2], p.118), this form is defined by the relation
i
v,_,J...viJu,,J...u1J(a(z)Aw)= f tr_1[u_j1...v,1u"1...uiJzJ*(tz)]dt,
0
v;ERn, u,ER", tER, ZER-xR".
Indeed, it is easy to check that
d(o(z) A w) = f j (t'm(tz))dt =,O(z).

0
Given a connection r on the fibred manifold Y X, the local form H., in the
expression (4.4.7) can be written as
H.,=Hr-7'{rw,
where 7Irw is a local horizontal density on II - X. In accordance with Proposition

4.3.2, it follows that H, defines the local section
h,: (xa, y%, pi) '-' (2, y', Pi , p

of the fibre bundle Zy -, II, i.e., Hr is a local Hamiltonian form. Thus, we have
proved the following.
PROPOSITION 4.4.2. For every Hamiltonian connection ry on the Legendre fibred

manifold II -. X, there exists a local Hamiltonian form H in a neighbourhood of
each point q E II such that
Let us formulate the converse assertion.
DEFINITION 4.4.3. The Hamilton operator EH for a Hamiltonian form H on the

Legendre fibred manifold II -' X is defined to be the first order differential operator
"A1
Efr : J' II -y T' II,

EH=dH - St= ((y;,-8a71)dpi -(Pai+8,7l)dy'JAw, (4.4.8)
where
SZ = dp, A dy' A wa + pa,dy' A w - y, dpi A w
is the pull-back of the polysymplectic form 12 (4.2.5) onto J'II. Here we have used
the canonical morphism (2.1.21)
J'IIxTX
II
- J'IlxTll,
yn
8a "- 8a + Yi 0i + P.P%A'
and the natural contractions.
A glance at the expression (4.4.8) shows that the Hamilton operator EH is an

affine morphism over ll of constant rank. Thereby, its kernel is an affine subbundle
eH = KerEH II (4.4.9)
of the jet bundle J'fI - R which is given by the coordinate relations

ya (4.4.10a)
pxA, (4.4.10b)
This affine bundle is modelled over the vector subbundle of the vector bundle
T'X VII - lI, (4.4.11)
which is defined by the coordinate relations

0,; = 0 (4.4.12)
with respect to the fibre coordinates ;) on (4.4.11).

Since 0-H (4.4.9) is an affine subbundle, it is a closed imbedded submanifold of
the fibred manifold J'fI - X and, therefore, is a system of first order differential
equations on fl X in accordance with Definition 3.3.1.
DEFINITION 4.4.4. The first order differential equations (!H (4.4.9) are called the
Hamilton equations for the Hamiltonian form H on the Legendre bundle II. 0
Remark 4.4.3. A glance at the Hamilton operator (4.4.8) shows that polysymplec-
tic Hamiltonian forms may be considered modulo closed forms since closed forms do
not make any contribution to the Hamilton operator.
Since the subbundle eH (4.4.9) is affine, it always admits a global section ry. Any
such section is a connection on 11 --+ X which meets the condition
CH Oy=0.
This condition takes the form
7J1E = W. (4.4.13)
It follows that every connection on II - X which takes its values into the Hamilton
equations (1H is a Hamiltonian connection.
DEFINITION 4.4.5. A Hamiltonian connection 7 on the Legendre fibred manifold

II - X is said to be associated with a Hamiltonian form H if -y obeys the relation
(4.4.13). O
Thus, we have proved the following.
PROPOSITION 4.4.6. Every Hamiltonian form on the Legendre bundle f1 has an

associated Hamiltonian connection. 0
We have the equations of a Hamiltonian connection associated with a given

Hamiltonian form:
(4.4.14)
(4.4.15)
By the equation (4.4.14), every Hamiltonian connection 'y for a Hamiltonian form
H satisfies the relation
J'anyo'y=H, (4.4.16)
where H is the Hamiltonian map (4.3.10). It projects onto the connection rH

on Y - X associated with the Hamiltonian form H. We have the commutative
diagram
A glance at the equations (4.4.15) shows that there is a set of Hamiltonian

connections associated with the same Hamiltonian form H. They differ from each
other in soldering forms o on fI -+ X which obey the equations
ojf2 = 0,
oa=0, 'a M=0, (4.4.17)
and take their values into the subbundle (4.4.12) of the vector bundle (4.4.11).
Consequently, it is sufficient to have a general solution of the equations (4.4.17) and
to find a particular solution of the equations (4.4.14) - (4.4.15) in order to obtain
all Hamiltonian connections associated with a given Hamiltonian form H.
Example 4.4.4. If n = 1, the equations (4.4.17) have evidently only the zero solu-
tion. Consequently, there always exists a unique Hamiltonian connection associated
with a given Hamiltonian form.
Example 4.4.5. Let us find the expression of a Hamiltonian connection for a

Hamiltonian form H when a fibred manifold Y - X admits the vertical splitting
VYQ5 YxY (4.4.18)
x
and, in the coordinates adapted to this splitting, the Hamiltonian density H in the
canonical splitting (4.3.11) of H depends on the momentum coordinates only.
Let y' be coordinates on Y adapted to the splitting (4.4.18). It means that
transformation laws of the holonomic coordinates y' of VY and Pi of V'Y do not
depend on y'. Consequently, the transformation law of the corresponding momen-
tum coordinates p; of the Legendre bundle H X also are independent of y'.
If there is the splitting (4.4.18), every Hamiltonian map 4s (4.3.7) defines the
connection 'y, on the Legendre fibred manifold II -' X which is given by the ex-
pression
7m = d? (8a + 4ia8; + (-8j45;,p; + Kap)Y1
with respect to the coordinates adapted to the splitting. Here K is a symmetric
linear connection on X. In particular, we have -rr = r, where I' is the connection
(4.4.2).
Let H be a Hamiltonian form which satisfies the above-mentioned requirement
and H the associated Hamiltonian map. Then, the connection
-yp = dx'' f 8a + 8.-%1i8; + (-8j8 ?ip;` + K.%" p7 -
defined by N is a Hamiltonian connection associated with the Hamiltonian form H.
A classical solution of the Hamilton equations (4.4.9), by definition, is a section

r of the Legendre fibred manifold H -, X such that its jet prolongation J'r takes
its values into the kernel of the Hamilton operator Ey (4.4.8). Then, r satisfies the
differential equations
Bar' (4.4.19a)
Bart (4.4.19b)
Every integral section J'r = ry o r of a Hamiltonian connection ry associated

with a Hamiltonian form H is a classical solution of the corresponding Hamilton
equations. Conversely, if r is a global solution of the Hamilton equations (4.4.19a)
- (4.4.19b) for a Hamiltonian form H, there exists an extension of this solution
J'r : r(X) - J' 1I to a Hamiltonian connection which has r as an integral section.
Substituting J'r in (4.4.16), we obtain the identity
I J'(7rn'or)=9 or (4.4.20)
for every classical solution r of the Hamilton equations.

Remark 4.4.6. It may happen that the Hamilton equations (4.4.9) for a Hamilto-
nian form H have no classical solution through a given point q E H.
Remark 4.4.7. Note that the Hamilton equations (4.4.19a) - (4.4.19b) can be
introduced without appealing to the Hamilton operator. They are equivalent to the
relation
r'(uJdH) = 0 (4.4.21)
which is assumed to hold for any vertical vector field u on II X. The Hamilton
equations (4.4.21) are similar to the Cartan equations (3.2.16). It is so because the
Poincarc-Cartan form is the Lagrangian counterpart of a Hamiltonian form.
Remark 4.4.8. Liven a Hamiltonian form H (4.3.3) on the Legendre fibred mani-
fold II X, let us consider the Lagrangian density
a
LH=(pcya-x)w (4.4.22)
on the jet manifold J'll. It does not depend on the velocity coordinates gla. It
is readily observed that the Poincar6-Cartan form HL (3.2.6) of the Lagrangian
density (4.4.22) coincides with the Hamiltonian form H, and the Euler-Lagrange
operator (3.2.10) for the Lagrangian density LH is precisely the Hamilton operator
EH (4.4.8) for the Hamiltonian form H. As a consequence, the first order Euler-
Lagrange equations for LH are equivalent to the Hamilton equations for H.
Note that (4.4.22) exemplifies a first order Lagrangian density which leads to a
first order Euler-Lagrange operator.
Remark 4.4.9. The Cauchy problem. The system of Hamilton equations

(4.4.19a) - (4.4.19b) has the standard form
Sob(x, 4))ea41 = f. (X, -0)
for the Cauchy problem or, to be more precise, for the general Cauchy problem since
the coefficients S.1b depend on the variable functions 0 in general [116). Here 0 is a
compact notation for the field functions r' and r; . However, the characteristic form
det(S,' bcx,), ca E R,
of this system fails to be different from zero for any ca. One can overcome this
difficulty as follows.
Let us single a local coordinate x' out and replace the equations (4.4.19a) with
the equations
air' = a17{,
dia'a7{ = daa17[, A # 1, (4.4.23)
The systems (4.4.23) and (4.4.19b) have the standard form for the Cauchy problem
with the initial conditions
r'(x) _ 0'(x7,
r" (x) = Wi (XI),

aar'=8j,7{, '\ 01, (4.4.24)
on a local hypersurface S of X transversal to coordinate lines x'.
PROPOSITION 4.4.7. If r' and are solutions of the Cauchy problem (of class Cl)
for the equations (4.4.23) and (4.4.19b) with the initial conditions (4.4.24), they
satisfy the equations (4.4.19a). 0
Proof. The proof is standard ([116], p.28). If x is a point of an open neighbourhood

of the point x' E S, we have the relations
r'(x) = f a,7Ws + {(x'),

0
4.5. DEGENERATE SYSTEMS 261
x1
8ar'(x) = J 8,8ifds+O.,.P(x') _
0
f 0,81'Wds + 8a9i(x), a 1.
0
The statement can be extended to analytic functions. QED
Thus, in order to formulate the Cauchy problem for the Hamilton equations in
polysymplectic Hamiltonian formalism, one should single a one of the coordinates
out and consider the system of equations (4.4.23) and (4.4.19b).
4.5 Degenerate systems

This Section is devoted to the relations between polysymplectic Hamiltonian formal-
ism and Lagrangian formalism when a Lagrangian density is degenerate. The main
peculiarity of these relations consists in the fact that there is a set of Hamiltonian
forms associated with the same degenerate Lagrangian density.
Given a fibred manifold Y X, let H be a Hamiltonian form on the Legendre
bundle II over Y and H the corresponding Hamiltonian map (4.3.10). Let L be a
Lagrangian density on the jet manifold J1Y of Y and L the corresponding Legendre
map
L:J'YYH,
peoL=7l.
The associated Lagrangian and Hamiltonian systems are characterized by the dia-
gram
n
L i L (4.5.1)
Jl y L 11
which fails to commute in general, that is,
Loi#IdH and HoLOIdJ'Y.

Only if the Legendre map L is a diffeomorphism, does a Lagrangian system meet

necessarily a unique equivalent Hamiltonian system such that the associated Hamil-
tonian map is the inverse diffeomorphism j? = L-1 (see Example 4.5.5).
Remark 4.5.1. It follows that, when the Legendre map is regular at a point, a local
Lagrangian system on an open neighbourhood of this point has the equivalent local
Hamiltonian system. In order to keep this local equivalence in case of degenerate
Lagrangian densities, one may require that the image L(J1Y) of the configuration
space contains all points where the Hamiltonian map H is regular.
Let
Q =
denote the image of the configuration space J1Y by the Legendre map. Following the
terminology of constraint theory, we call Q a Lagrangian constraint space or simply
a constraint space. We will see that all Hamiltonian counterparts of solutions of the
Euler-Lagrange equations live in the Lagrangian constraint space.
Unless otherwise stated, we regard Q as a subset of II without a manifold struc-
ture.
DEFINITION 4.5.1. Given a Lagrangian density L on J'Y, a Hamiltonian map
4b: II -. J1 Y is called associated with L if
L o 4) IQ= Id Q, (4.5.2)
IP; (q) = 8; qEQ.

0
Remark 4.5.2. It follows that, given a Hamiltonian map 4) associated with the
Lagrangian density L, a point q E II belongs to the Lagrangian constraint space if
and only if
pi (q) = 8; C(x", N', V,x(q)) (4.5.3)
DEFINITION 4.5.2. We say that a Hamiltonian form H is weakly associated with a

Lagrangian density L if it is of the following type:
H=H,+4)'L (4.5.4)
where' is a Hamiltonian map associated with L and Hm is the Hamiltonian form

(4.3.12) associated with +. 0
PROPOSITION 4.5.3. If a Hamiltonian form H is weakly associated with a Lagran-

gian density L, the following relations hold:
H IQ=,b Q, (4.5.5)
H IQ= H'HL, IQ, (4.5.6)
H(q) = p"c3,h(q) - C(x", y`, &A' ((9)), q E Q, (4.5.7)
where 1-!I, is the Poincare-Cartan form (3.2.6). 0
Proof. The proof of (4.5.5) and (4.5.6) is straightforward; (4.5.7) is deduced from
(4.5.2) and (4.5.6). QED
Note that, unless otherwise stated, all objects are defined on the whole Legendre
bundle II and their restriction to Q means only that their values at the points Q C 11
are considered. To overcome this difficulty, we can narrow the class of Hamiltonian
forms related to a given Lagrangian density.
DEFINITION 4.5.4. Let H be a Hamiltonian form (4.5.4) weakly associated with a

Lagrangian density L. We say that H is associated with L if
H= (4.5.8)
An equivalent definition is the following.
DEFINITION 4.5.5. A Hamiltonian form H is said to be associated with a Lagran-

gian density L if H satisfies the relations
L o l IQ= Id Q, (4.5.9a)
H = Hjl + (4.5.9b)
A
The relations (4.5.9a) and (4.5.9b) have the coordinate expressions
I (q) = 8; C(e,Y',8ax(q)), q E Q, (4.5.10)
and
?l =8?{ - G(xA, y{, 8a7i). (4.5.11)
The latter is the equality (4.5.7) which now holds on the whole Legendre bundle 11.
At the same time, the relation (4.5.6) remains true at the points of the constraint
space Q only.
Acting on both sides of the equality (4.5.11) by the exterior differential, we obtain
the relations
8,.H(q) = -(8vG)(x,p,8i q E Q, (4.5.12)
8f(q) = -(8;G)(x"'1li, -H(q}) q E Q, (4.5.13)
(PC - (arc) (e, V, - 8a?i))8`8Q?{ = 0. (4.5.14)
A glance at the relation (4.5.14) shows that:
the condition (4.5.9a) is a corollary of (4.5.9b) if the Hamiltonian map H is

regular
det(88,87{) IQ96 0
at all points of the constraint space Q,
the Hamiltonian map H is non-regular outside the Lagrangian constraint space

Q in accordance with Remark 4.5.1.
Example 4.5.3. Let L = 0 be the zero Lagrangian density. In this case, the
Lagrangian constraint space is
Q = 0(Y),
where 6 is the canonical zero section of the Legendre bundle II Y. The condition
(4.5.2) is trivially satisfied by every Hamiltonian map. Hence, any Hamiltonian form
(4.3.12) is weakly associated with the zero Lagrangian density. At the same time,
the Hamiltonian forms associated with L = 0 must obey additionally the condition
(4.5.11) which takes the form
7= p&f{
These are the Hamiltonian forms Hr (4.3.4).
There exist Lagrangian densities which do not possess associated Hamiltonian

forms defined everywhere on the Legendre bundle H.
Example 4.5.4. Let Y be the bundle R2 R with coordinates (x, y). The jet
manifold J'Y = R3 and the Legendre bundle H = R3 with coordinates (x,y,y2)
and (x, y, p), respectively. Put
G = exp y=.
The corresponding Legendre map reads

poL=expys-
It follows that the Lagrangian constraint space Q is given by the coordinate relation
p > 0. This is an open subbundle of the Legendre bundle, and L is a diffeomor-
phism of J'Y onto Q. Hence, there is a unique Hamiltonian form H on Q which is
associated and weakly associated with L. It reads
l = p(ln p - 1).
This Hamiltonian form, however, fails to be smoothly extended to II.
Now, let us investigate the relations between the equations in the Lagrangian
formalism and its polysymplectic Hamiltonian counterpart in accordance with the
jet extension
J'n
JIP J'J'Y
J1z I
Iz
J'J'Y'a J'n
of the diagram (4.5.1). Let us recall the coordinate expressions
(y;,,c J'H = da8,,l),

da=8+y;,8J+p;,j8y,
and
a i a 1 a
(PiryrPi)0J
as=as+i a;+Y,pa;
Note that, if -y is a Hamiltonian connection for the Hamiltonian form H, the
composition J' JI o -y takes its values
(U,1/) o J' H o 'r = (&W, M ,,*H)
into the sesquiholonomic subbundle JAY of the repeated jet manifold J'J'Y.
Example 4.5.5. Let us start from a hyperregular Lagrangian density, i.e., when the
Legendre map L is a diffeomorphism. In this case, the Lagrangian formalism and
the polysymplectic Hamiltonian formalism are equivalent. If a Lagrangian density
L is hyperregular, there always exists a unique associated and weakly associated
Hamiltonian form
H = Hi_, + L-''L.
The corresponding Hamilton map (4.3.10) is the diffeomorphism H = L-' as well
as its first order jet prolongation J'H:
J'LoJ'1 =IdJ'fI.
PROPOSITION 4.5.6. Let L be a hyperregular Lagrangian density and H the asso-

ciated Hamiltonian form. The following relations hold:
HL, = L-H, (4.5.15)
EZ = (A)-EH, (4.5.16)
Eu = (J'JJ)'ee, (4.5.17)
where EN is the Hamilton operator (4.4.8) for H and Ey is the Euler-Lagrange-
Cartan operator (3.4.10). O
The proof is straightforward.

A glance at (4.5.6) and (4.5.15) shows that the PoincarA-Cartan form is the
Lagrangian counterpart of the Hamiltonian forms (4.3.6), whereas the Lagrangian
counterpart of the Hamilton operator is the Euler-Lagrange-Cartan operator 81
(3.4.10).
In particular, if 7 is a Hamiltonian connection for the associated Hamiltonian

form H, then the composition J' H o ry takes its values into the kernel of the Euler-
Lagrange-Cartan operator Cl; (more exactly, in the kernel of the first order Euler-
Lagrange operator E, (3.4.12)), that is, J'Ho-yoL is a Lagrangian connection for L.
Conversely, if I' is a Lagrangian connection for L, then J' L o -y o ft is a Hamiltonian
one. This proves the following assertion.
PROPOSITION 4.5.7. Let L be a hyperregular Lagrangian density and H the asso-

ciated Hamiltonian form.
(i) Let r : X 17 be a solution of the Hamilton equations (4.4.19a) - (4.4.19b)
for the Hamiltonian form H. Then, the section
s=7rnyor
of the fibred manifold Y -, X is a solution of the second order Euler-Lagrange
equations (3.2.14), while its first order jet prolongation
s=/-/or=J's
satisfies the Cartan equations (3.2.17a) - (3.2.17b).
(ii) Conversely, if a section -s of the fibred jet manifold J'Y -' X is a solution
of the Cartan equations (3.2.176) - (3.2.17b), the section
r=Los
of the Legendre fibred manifold II -, X satisfies the Hamilton equations (4.4.19a)
- (4.4.19b).
It follows that, given a hyperregular Lagrangian density, there is one-to-one

correspondence between the solutions of the second order Euler-Lagrange equations
(and, consequently, of the Cartan equations) and the solutions of the Hamilton
equations of the associated Hamiltonian form.
In the case of a regular Lagrangian density L, the Lagrangian constraint space
Q is an open subbundle of the Legendre bundle II Y. If Q 34 II, an associated
Hamiltonian form fails to be defined everywhere on n in general (see Example 4.5.4).
At the same time, an open constraint subbundle Q can be provided with the pull-
back polysymplectic structure with respect to the imbedding Q F-+ H, so that we
may restrict our consideration to Hamiltonian forms on Q. If a regular Lagrangian
density is additionally semiregular (see Definition 4.5.8), the associated Legendre
morphism is a diffeomorphism of J'Y onto Q and, on Q, we can recover all results

true for hyperregular Lagrangian densities.
Contemporary field models are almost never regular. Hereafter, we restrict our
consideration to semiregular Lagrangian densities.
DEFINITION 4.5.8. A Lagrangian density L is called semiregular if the pre-image

L'' (q) of any point q of the Lagrangian constraint space Q is a connected subman-
ifold of J'Y. 0
This notion of degeneracy is most appropriate in order to study the relations

between solutions of Euler-Lagrange and Hamilton equations [161, 190].
PROPOSITION 4.5.9. All Hamiltonian forms weakly associated with a semiregular

Lagrangian density L (if they exist) coincide with each other at the points of the
Lagrangian constraint space Q:
HIQ=H'IQ
Moreover, the Poinear6-Cartan form HL (3.2.6) for L is the pull-back
HL = L'H,
(ri a - G)rv = ?i(x", pf )w, (4.5.18)
of any weakly associated Hamiltonian form H by the Legendre morphism L. O
Proof. Let u be a vertical vector field on the jet bundle J'Y - Y. If u takes its
values into the kernel Ker TL of the tangent morphism to L, it is easy to see that
LVHL=0,
where L. is the Lie derivative with respect to u. Hence, the Poincarb-Cartan form
HL for a semiregular Lagranglan density L is constant on the connected pre-image
L''(q) of each point q E Q. Then results follow from (4.5.6). QED
Remark 4.5.6. Note that the Hamilton operators of Hamiltonian forms in Propo-
sition 4.5.9 do not necessarily coincide at points of Q because of the derivatives of
these forms which are present in the expression (4.4.8).
Remark 4.5.7. Example 4.5.3 shows that the Hamiltonian forms associated with a
Lagrangian density take quite a specific form outside the Lagrangian constraint space
Q. Indeed, the condition (4.5.9b) rigidly restricts the arbitrariness of these forms
on a neighbourhood of Q. For instance, let H be a Hamiltonian form associated
with a semiregular Lagrangian density L. Substituting this condition in (4.5.18),
we obtain
(ir o H - P, )aax = x(x", yi, 7r; o H) - x(x", Eli, Pi) (4.5.19)
at every point of R\Q. Let us assume that the constraint space Q is given locally
by the equations p; = 0 where (3;') is a subset of the coordinates (pi) and p; are
the remaining ones. Then the relation (4.5.19) takes the form
'Pp) = hw'z*'O'&P) -
Using this relation, one can show that, if the Hamiltonian density 71 is an analytic
function in the momentum coordinates at a point q E Q, then it is an affine function
in the coordinates pi around q.
For example, let Y be the fibre bundle R3 RZ with coordinates (x', x2, y). The
jet manifold P Y Y and the Legendre bundle 17 over Y are equipped with coordinates
(xl, x2, yr yl, y2) and (x', x2, y, pl, p2), respectively. Let
1
G= (yl )2w. (4.5.20)
This Lagrangian density is semiregular. The associated Legendre map reads
PIoL=Yi,
p2oL=0.
The corresponding constraint space Q consists of the points with the coordinate
p2 = 0. Hamiltonian forms associated with the Lagrangian density (4.5.20) are
given by the expression
H = PAdy A W.% - [2 (p1)s + c(xI, x', y)p2] ,
where c(xl , x2, y) is an arbitrary function. These Hamiltonian forms are affine in
the momentum coordinate p2. 0
Let H be a Hamiltonian form weakly associated with a semiregular Lagrangian

density L. Acting by the exterior differential on the relation (4.5.18), we obtain the
equality
(ya - Oax o L)dar; Aw - (8,L + A. (x o L))dy Aw = 0 (4.5.21)
or
?10 L) = 0,
8;r,( -B,xoL)-(OC+(O;x)oL)=.0.
Using the equality (4.5.21), one can extend the relation (4.5.16) (but not neces-
sarily the relation (4.5.17))
I ei = (J' L)'CH (4.5.22)
to semiregular Lagrangian densities. This relation enables us to extend Proposition

4.5.7 (i) also to Iamiltonian forms associated with semiregular Lagrangian densities.
PROPOSITION 4.5.10. Let a section r of the Legendre fibred manifold 11 X be a

classical solution of the Hamilton equations (4.4.9) for a Hamiltonian form H weakly
associated with a semiregular Lagrangian density L. If r lives in the constraint space
Q, the section
s=irnyor
of the fibred manifold Y --+ X satisfies the second order Euler-Lagrange equations,
while its first order jet prolongation
's =llor=J's
obeys the Cartan equations (3.2.17a) - (3.2.17b). 0
Proof. Put s = H o r. Since r(X) C Q, then

r=Lo J'r=J'LoJ'3.
If r is a solution of the Hamilton equations, the exterior form EH vanishes at points
of Jlr(X). Hence, the pull-back form EL = (J'L)'EH vanishes at points J's(X).
It follows that the section y of the fibred jet manifold J'Y -, X obeys the Cartan
equations (3.2.17a) - (3.2.17b). By virtue of the relation (4.4.20), we have 's = J's.
Hence, s is a classical solution of the second order Euler-Lagrange equations. QED
Remark 4.5.8. In accordance with the relation (4.5.22), if ry is a Hamiltonian

connection for the associated Hamiltonian form H, then the composition J'H o ry
takes its values into the kernel of the Euler-Lagrange-Cartan operator El, that
is, J' H o 7 o L is a Lagrangian connection for L. It follows, that a semiregular
Lagrangian density which has a weakly associated Hamiltonian form always admits
a Lagrangian connection. s
Proposition 4.5.7 (ii), however, must be modified as follows.
PROPOSITION 4.5.11. Given a semiregular Lagrangian density L, let a section 3 of

the fibred jet manifold J'Y -. X be a solution of the Cartan equations (3.2.17a)
- (3.2.17b). Let H be a Hamiltonian form weakly associated with L so that the
associated Hamiltonian map satisfies the condition
IHoLos= J'(apos). (4.5.23)
Then, the section

r=Los,
ri = 7ri (x'1,V , TJa), r`=s`,
of the Legendre fibred manifold fI -+ X is a solution of the Hamilton equations
(4.4.19a) - (4.4.19b) for H.
Proof. The Hamilton equations (4.4.19a) hold in virtue of the condition (4.5.23).
Using the relations (4.5.21) and (4.5.23), the Hamilton equations (4.4.19b) are
brought into the Cartan equations (3.2.17b):
daa; os=-(8;l)oLo38floLo3)8;io3+8Cos=
(8,s' - s)8{aj" o 3 + 8;G o 3.
QED
Remark 4.5.9. Let 33 : X -. J'Y be a solution of the Cartan equations for a

Lagrangian density L. In accordance with the relation (4.4.20), the condition
HoLos=J'(aoo3) (4.5.24)
is necessary in order that L o -9 be a solution of the Hamilton equations.
Propositions 4.5.10 shows that, if H is a Hamiltonian form weakly associated with

a semiregular Lagrangian density L, every solution of the corresponding Hamilton
equations which lives in the constraint space Q yields a solution of the Cartan
equations and the second order Euler-Lagrange equations for L. At the same time,
the condition (4.5.23) is the obstruction to a solution 9 of the Cartan equations from
being a solution of the Hamilton equations.
COROLLARY 4.5.12. Let a solution 3 of the Cartan equations obey the condition
(4.5.23) for a Hamiltonian form weakly associated with a semiregular Lagrangian
density L. In accordance with Propositions 4.5.10 and 4.5.11, its projection iro o3
onto Y is a solution of the second order Euler-Lagrange equations.
This Corollary provides a solution of the so-called "second order equation" prob-
lem in the case of semiregular Lagrangian densities [18, 76].
Given a degenerate Lagrangian density, there are obviously solutions of the Car-
tan equations which are not solutions of the Hamilton equations. At the same time,
one may consider a set of Hamiltonian forms associated with a degenerate Lagran-
gian density in order to exhaust all solutions of the second order Euler-Lagrange
equations.
Example 4.5.10. Let L = 0. This Lagrangian density is semiregular. Its Euler-
Lagrange equations come to the identity 0 = 0. Every section s of the fibred
manifold Y X is a solution of these equations. Given a section s, let I' be
a connection on Y such that s is its integral section. The Hamiltonian form 11r
(4.3.4) is associated with L, and the Hamiltonian map Hr satisfies the relation
(4.5.23). The corresponding Hamilton equations have the solution
r=L0Jls,
r{ =s{, rt =0.
We will say that a family of Hamiltonian forms H associated with a Lagrangian

density L is complete if, for each solution s of the second order Euler-Lagrange
equations, there exists a solution r of the Hamilton equations for a Hamiltonian
form 11 from this family so that s = xny o r. Let L be a semiregular Lagrangian
density. Then, in virtue of Proposition 4.5.11, such a complete family of associated

Hamiltonian forms exists if and only if, for every solution s of the Euler-Lagrange
equations for L, there is a Hamiltonian form H from this family such that the
relation (4.5.23) holds.
Remark 4.5.11. A complete family of Hamiltonian forms associated with a given
Lagrangian density fails to be defined uniquely. For instance, Example 4.5.10 shows
that the Hamiltonian forms (4.3.4) constitute a complete family associated with the
zero Lagrangian density, but this family is not minimal.
Lagrangian densities of field theories are almost regular as a rule. Therefore, let
us consider Lagrangian densities of this type.
DEFINITION 4.5.13. A Lagrangian density L is said to be almost regular if-

the Lagrangian constraint space Q -- Y is a dosed imbedded subbundle iq :
Q U of the Legendre bundle H Y;
the Legendre map L : J'Y Q is a submersion with connected fibres.
An almost regular Lagrangian density, by definition, is semiregular.

PROPOSITION 4.5.14. Let L be an almost regular Lagrangian density. On an open
neighbourhood of U of each point q E Q, there exists a complete family of local
Hamiltonian forms associated with L 1190). 0
Proof. Given a point q E Q, let (2a', y, p{) be local coordinates in some open
neighbourhood of q. Since the rank of the Legendre morphism Z is constant, one
can select a maximal subset of the coordinates ya so that the equations
a= 8L
can be solved for

a = ea(xm,y',pip,
where
v
are the remaining coordinates. Substituting (4.5.25) in the equation
_' 8G
we obtain
' = &"(XU, Y" pip, 4),

where lj play the role of local coordinates of the constraint space Q. For every
section s of Y - X, the Hamiltonian map
X = 0(X",, (4.5.26)
satisfies (4.5.2). The corresponding local Hamiltonian form (4.5.4) satisfies (4.5.8).
Hence, it is associated with L. Given a section s of Y - X, the Hamiltonian map
(4.5.26) obeys the relation (4.5.23). It follows that the local Hamiltonian forms
(4.5.26) constitute a complete family. QED
The example below shows that a complete family of associated Hamiltonian

forms may exist when a Lagrangian density is not necessarily semiregular.
Example 4.5.12. Let Y be the bundle R2 --+ R1 in Example 4.5.4, with coordinates
(z, y). Put
G = 3(y:)3.
The associated Legendre map reads
p o L = y=. (4.5.27)
The corresponding constraint space Q is given by the coordinate relation p > 0. It

fails to be a submanifold of fl. There exist two associated Hamiltonian forms
H+ = pdy - 3p3V2dx,
2
H- = pdy + p3/2
3 to the two different solutions
on Q which correspond
y=f and y=-f

of the equation (4.5.27). They form a complete family.
Thus, we have shown the following.

All solutions of the Hamilton equations which correspond to solutions of the
second order Euler-Lagrange equations live in the Lagrangian constraint space.
Solutions of the same Euler-Lagrange equations correspond to solutions of dif-

ferent Ilarnilton equations in general. We may conclude that, roughly speak-
ing, the Hamilton equations involve some additional conditions in comparison
with the second order Euler-Lagrange equations.
Therefore, let us separate a part of the Hamilton equations which are defined on
the Lagrangian constraint space Q when L is an almost regular Lagrangian density.
Given an almost regular Lagrangian density, let us assume that the fibred ma-
nifold
L:J'Y-+Q
has a global section. In accordance with Theorem 1.2.5, this section can be extended
to a Hamiltonian map : II - J'Y which is associated with L. This guarantees
the existence of global Hamiltonian forms weakly associated with L.
Let
HQ = i4 H (4.5.28)
be the restriction of a Hamiltonian form H weakly associated with L to the con-

straint space Q. In virtue of Proposition 4.5.9, this restriction is uniquely defined,
and HL = L'IIQ. We call (4.5.28) the constrained Hamiltonian form.
For sections r of the fibred manifold Q -' X, we can write the equation
r'(ugJdHq) = 0, (4.5.29)
where ug is an arbitrary vertical vector field on Q X (65, 1641. It is called

the constrained Hamilton equation. These equations fail to be equivalent to the
Hamilton equations restricted to the constraint space Q.
PROPOSITION 4.5.15. For any Hamiltonian form H weakly associated with the
almost regular Lagrangian density L, every solution r of the Hamilton equations
which lives in the constraint space, i.e., r : X - Q is a solution of the constrained
Hamilton equations (4.5.29). 0
Proof. For any vertical vector field uq on Q -. X, the vector field Tiq(uq) is
obviously a vertical vector field on fl -+ X. Then we have
r'(uQJdllq) = r'(ugJiQdH) = r'(Tiq(uq)JdH) = 0
if r is a solution of the Hamilton equations (4.4.21) for the Hamiltonian form H.

QED
In brief, we can identify a vertical vector field uQ on Q -. Y with its image

TiQ(uQ) and can bring the constrained Hamilton equations (4.5.29) into the form
r'(uQJdH) = 0, (4.5.30)
where r is a section of Q X and uQ is an arbitrary vertical vector field on Q -. X.

Using the equation of the Lagrangian constraint space (4.5.3), it is easy to show that
a vertical vector field
u=u`01+u;BA
on f1 -. X is tangent to Q if and only if u satisfies the equations
-(O;O," G + OP .C8A7{)u' + (6i6 - OkB; G88,1,?{)u = 0.
PROPOSITION 4.5.16. A section -3 of J1Y - X is a solution of the Cartan equations

(3.2.16) if and only if L o 3 is a solution of the constrained Hamilton equations
(4.5.29).
Proof. Let uQ be a vertical vector field on Q -+ X. Since L is a submersion, there

is a vertical vector field v on J1 Y - X such that
TLov=uQ.
For instance, v is the horizontal lift of u by means of a connection on the fibred
manifold J1 Y Q. Let a section S : X - J' Y be a classical solution of the Cartan
equations (3.2.16). Then we have
(L o 3)' (uQ j dHQ) = 3'(v jdHL) = 0. (4.5.31)
It follows that the section L o 3 : X - Q is a solution of the equations (4.5.29).

The converse is obtained by running (4.5.31) in reverse, bearing in mind that the
restriction of any vector field v on J1Y to 3(X) is projectable by L. QED
PROPOSITION 4.5.17. The constrained Hamilton equations (4.5.29) are equivalent

to the Hamilton-De Donder equations (3.4.21).
Proof. Let H be a Hamiltonian form weakly associated with L and h the corre-
sponding section of the fibre bundle Zy - II. This section yields the morphism
The morphism hq does not depend on the choice of H. This is a section of the fibre
bundle Zy - II over Q C Il, i.e.,
azn o hQ = Id Q. (4.5.32)
Moreover, we have
HQ = iQH = iQ(h'?) = hQ=-,
whenever 1/ is a Hamiltonian form weakly associated with the Lagrangian density

L. In accordance with the relation (4.5.18), we have
HL = hq o L, (4.5.33)
where HL is the Legendre morphism (3.4.17) associated with the Poincare-Cartan

form H. Substituting (3.4.18) in (4.5.33), we obtain
HL = hQ o zzn o HL.
it follows that
hq o 7rzn I Id iL(ZL) (4.5.34)

zi=
where iL(ZL) = HL(J'Y) is the image of the Legendre morphism HL. A glance at
the relations (4.5.32) and (4.5.34) shows that there is the fibred isomorphism
*znaL
ZL-'Q
Ij'ohQ
over Y. Since HQ = hh_ and ?L = iLE, we have
t/q = (ii' a hq)'-L, L = (wzn o iL)'HQ.

Hence, the Hamilton-De Donder equations (3.4.21) are equivalent to the constrained
Hamilton equations (4.5.29). QED
The Propositions 3.4.4, 4.5.16 and 4.5.17 give the relations between Cartan,
Hamilton-De Donder and constrained Hamilton equations when a Lagrangian den-
sity is almost regular in accordance with Definition 4.5.13.
Example 4.5.13. Hamiltonian systems on composite manifolds. An inter-
esting example of a degenerate field system is furnished by a Hamiltonian system
on a composite fibred manifold
Y (4.5.35)
This is the case of gauge models with spontaneously broken symmetries (see Remark
3.8.13) and gauge gravitation theory.
Let the composite fibred manifold (4.5.35). have the coordinates (x", a"', yi),
where (x", a') are fibred coordinates on the fibred manifold E -, X. Let
AE = d? 0 (8 + A8i) + dam (8,n + A;n8i) (4.5.36)
be a connection on the fibred manifold Y -' E. Recall that such a connection defines
the splitting
VY = VYE (Y x VE), (4.5.37)
Y E
+ O"Om = (Eli - A;na'")8; + om(8m +
Using this splitting, one can construct the first order differential operator
DA = d? (ya - A'A' - A;naa )8i, (4.5.38)
on the composite fibred manifold Y.

Let a Lagrangian density L on the jet manifold J'Y factorize through DA as in
(3.8.41). It means that L depends on the velocity coordinates o only through the
differential operator (4.5.38). Such a Lagrangian density is degenerate, and we have
the constraint
7rm + An7r = 0.
The Dirac Lagrangian density (3.8.58) of gauge gravitation theory is of this type.
Let us consider an associated Hamiltonian system. The Legendre bundle fI over
the composite fibred manifold Y (4.5.35) is coordinatized by
a i a
(x , a-, y , Pmo i).
The horizontal splitting (4.5.37) yields the corresponding splitting

fl = "T'X TX [V'YE (Y x V'E)] (4.5.39)
Y Y Y E
of II Y. Given the splitting (4.5.39), the Legendre bundle II can be provided

with the coordinates
(4.5.40)
compatible with this splitting. These coordinates, however, are not canonical.
Note that, given a global section h of the fibred manifold E X, the submani-
fold
0m = hm(x), (4.5.41)
Pm = 0
of the Legendre bundle II is isomorphic to the Legendre bundle n' over the restric-
tion Y' = h'Y of the fibred manifold Y E to h(X) C E.
Let the composite fibred manifold Y be provided with the composite connection
A=dxA[8. +f,"",am+(A;nf'a +Aa)8;]
(2.5.4) defined by the connection AE (4.5.36) on Y - E and by the connection
r = dxa. (8a + r;,'8m)
on E X. Relative to the coordinates (4.5.40), every Hamiltonian form on the
Legendre bundle II (4.5.39) is given by the expression
H = (P; dy` + A wa - (4.5.42)
[Pi Aa + Pm r-% + i(e' a-, V, M, lei AW,
where
aAi+
a
arm
Pm A = Pi A'+ aPi Pm
A ,r,-.
The corresponding Hamilton equations read

8,,p; = -P; + 8 Am(1'a` + 8. 7i)] - a?i, (4.5.43a)
8AYI = A;, + AWa + 8AIN + ffln, (4.5.43b)
aaPm = -p; (amA;, + Bmlln(I'a + )] - Pn8mr;, (4.5.43c)
8avm = ra + 8a ?{. (4.5.43d)
Let the Hamiltonian form (4.5.42) be associated with a Lagrangian density L on

J'Y which factorizes through the differential operator (4.5.38). Then, the Hamilto-
nian density jiw is independent of the momenta p and the Lagrangian constraint
space reads
In this case, the equation (4.5.43d) reduces to the gauge-type condition
(4.5.44)
independent of the momentum coordinates.

In particular, let us consider such a Hamiltonian system in the presence of a
background field h(x) (e.g., h is a Higgs field or a gravitational field) which is a sec-
tion of the fibred manifold E --: X. Substituting the gauge-type condition (4.5.44)
into the equations (4.5.43a) - (4.5.43b) and restricting them to the submanifold
(4.5.41), we obtain the equations
Sap; = -p; 8;[Aa + A,Bahm[ - Al?, (4.5.45)

Bay' = A;, +
for sections of the Legendre fibred manifold fI" - X of the fibred manifold Y"
endowed with the connection
Ah=dx''[8a+(A'oh8ahm+Aaoh)8;]
(2.5.9). Equations (4.5.45) are the Hamilton equations corresponding to the Hamil-
tonian form
Hh = P, dy' A wa - [P{ Aha +( e, h"'(x), Y', #j r Irm = 0)]w
on II" which is the pull-back of the Hamiltonian form (4.5.42) on II.

In particular, the above construction provides the Hamiltonian description of
gauge models with spontaneous symmetry breaking in Remark 3.8.13. 9
4.6. QUADRATIC DEGENERATE SYSTEMS 281
4.6 Quadratic degenerate systems

The Lagrangian densities of field models are almost always quadratic or affine in the
derivatives of field functions. Gauge theory exemplifies a model with a degenerate
quadratic Lagrangian density, whereas fermion fields are described by the affine one.
In this Section, we obtain the complete families of Hamiltonian forms associated with
almost regular quadratic Lagrangian densities. These Hamiltonian forms are affine
and quadratic in the momentum coordinates. The key point of our consideration is
the splitting of the configuration space J1 Y in the dynamic sector and the gauge one,
which coincides with the kernel of the Legendre map. As an immediate consequence
of this splitting, a part of the Hamilton equations reduces to gauge-type conditions,
independent of the momentum coordinates.
Given a fibred manifold Y - X, let us consider a quadratic Lagrangian density
which has the coordinate expression
L=GW,
G = I a,'` yayl + b ya + c, (4.6.1)
where a, b and c are local functions on Y. The associated Legendre map reads
P: oL=afyN+b;. (4.6.2)
LEMMA 4.6.1. The Lagrangian density (4.6.1) is semiregular. O
Proof. If q E Q, the system of linear algebraic equations (4.6.2) for yi, has solu-
tions which form an affine space modelled over the linear space of solutions of the
homogeneous linear algebraic equations
0=a,'jY,
where V. are bundle coordinates of the vector bundle T'X 0 VY. QED
Let us assume that the Lagrangian density L (4.6.1) is almost regular.

The Legendre map (4.6.2) is an affine morphism over Y. It defines the corre-
sponding linear morphism
Y Y
Pi 0 T = j' Upi
whose image lQ is a linear subbundle of the Legendre bundle TI -. Y. Accordingly,

the Lagrangian constraint space Q, given by the equations (4.6.2), is an affine sub-
bundle of 1I -. Y modelled over Hence, Q - X has a global section. For the
sake of simplicity, let us assume that it is the canonical zero section 0(Y) of II -- Y.
Then Q = Q.
The kernel
Ker L = L-' (0(Y))
of the Legendre map with respect to 0(Y) is an affne subbundle of the jet bundle
J'Y -. Y, which is modelled over the vector bundle
KerL = L '(0(Y)) C 7"X YY.

Then there exists a connection
I1:Y Ker L, (4.6.3)

a.,mr,
,1 + b" (4.6.4)
on Y X which takes its values into Ker L. With this connection, the Lagrangian
density (4.6.1) can be brought into the form
Y - 1~
For instance, if the Lagrangian density (4.6.1) is regular, the connection (4.6.3) is a
unique solution of the algebraic equations (4.6.4).
PROPOSITION 4.6.2. There exists a linear map
v: i1-+T'XVY, (4.6.5)
over Y such that
Loaoiq=iq.
13
4.6. QUADIZZ.ATIC DEGENERATE SYSTEMS 283
Proof. The map (4.6.5) is a solution of the algebraic equations
(4.6.6)
The matrix 4.j' is symmetric with respect to the indices A and B = i . After
diagonalization, this matrix has non-vanishing Components aAA, A E I. Then a
solution of the equations (4.6.6) takes the form
aAA = aAA i UAA' = 0, A34 WE I,
while the remaining components are arbitrary. In particular, there is a solution

1
aAA = aAA' aAB = 0, B 76 A, AEI. (4.6.7)
This solution satisfies the relation
a = aoZoa. (4.6.8)
Further on, by a is meant (4.6.7). If the Lagrangian density (4.6.1) is regular, the
map (4.6.5) is uniquely determined by the equations (4.6.6). QED
The connection (4.6.3) and the map (4.6.5) play a prominent role in the con-
struction below.
PROPOSITION 4.6.3. We have the splitting
J'Y = Ker L Im(a o L), (4.6.9)

Y
ya = [ya - a,(akJ y,, + br)] + [a"' (a 1r + k)),
of the configuration space J'Y.
It follows that, since T and a are linear morphisms, their composition Z o a is a

surjective submersion of II onto Q.
PROPOSITION 4.6.4. There is also the splitting
11 = Ker a Q, (4.6.10)
0, o fl
P;=(P-a10 + [a j avl>k1
of the Legendre bundle II -' Y.
COROLLARY 4.6.5. Every vertical vector field u = u'8; + u, 8j on the Legendre

fibred manifold 11 -+ X admits the decomposition
u = (u - uQ) + uQ, (4.6.11)
ua
= [ui - a' Paf'ukl + [a t ask ukl,
where
uQ = u48, + a'.Oappaukua
is a vertical vector field on the constraint space Q - X.
Given the linear map a (4.6.5) and the connection r (4.6.3), let us consider the
affine Hamiltonian map
4) P + a : fI J1 Y, (4.6.12)
`pa = r, (y) + aV ,
where I' is the Hamiltonian map (4.3.9). By the very definition of o, this Hamil-
tonian map satisfies the condition (4.5.2), where L is the Legendre map (4.6.2).
Thence, the corresponding Hamiltonian form H (4.5.4) is weakly associated with
the Lagrangian density (4.6.1). It reads
H = Ps dy' A wa - [r %(Pp - b') + 2a'jpi Pt - c]w. (4.6.13)
This Hamiltonian form H satisfies the condition (4.5.8), and, thus, is associated
with the quadratic Lagrangian density (4.6.1).
Remark 4.6.1. The Hamiltonian form (4.6.13) is quadratic in the momentum
coordinates p; . At the same time, it becomes affine on Kera in accordance with
Remark 4.5.7.
We aim to show that the Hamiltonian forms (4.6.13) parameterized by connec-

tions r (4.6.3) constitute a complete family.
Given the Hamiltonian form (4.6.13), let us consider the Hamilton equations
(4.4.19a) for sections r of the Legendre fibred manifold fI X. They read
Jts=(P+a)or, s=any or, (4.6.14)
or
Dart = aid
where
Dar`=aar`-(Fos)a
is the covariant derivative relative to the connection t.
With the splitting (4.6.9), we have the surjections
S=pr,:J1Y-+KerL, (4.6.15)
S:Y.,\~ya-o (akj`yN+br),
and
F = prz : J1Y Im(r o L), (4.6.16)

ya a a(aki j" + bk).
With respect to these surjections, the Hamilton equations (4.6.14) break In the
following two parts:
SoJ's=I'os, (4.6.17)
VAr' = a i't (ak1 arl + bk),
and
FoJ's=aor, (4.6.18)
ik v ik a
a = Ork.
+bk)
The Hamilton equations (4.6.17) are independent of the canonical momenta rk
and play the role of gauge-type conditions. Moreover, for every section s of the
fibred manifold Y -. X (in particular, for every solution of the second order Euler--
Lagrange equations), there exists a connection 1' (4.6.3) such that the equation
(4.6.17) holds. Indeed, let 1" be a connection on Y X whose integral section is
s. Put
I' =So r,
r = ";, - as (akf r" + bk
In this case, the Hamiltonian map (4.6.12) satisfies the relation (4.5.23) for s, i.e.,
4)0LoJ's=J's.
Thence, the Hamiltonian forms (4.6.13) constitute a complete family. The Hamilto-
nian forms from this family differ from each other only in the connections r (4.6.3)
which lead to the different gauge-type conditions (4.6.17).
It follows that the equations (4.6.17) are the additional conditions which make
the Hamilton equations differ from the constrained Hamilton equations (4.5.29).
PROPOSITION 4.6.6. For every Hamiltonian form H (4.6.13), the Hamilton equa-
tions (4.4.19b) and (4.6.18) restricted to the constraint space Q are equivalent to
the constrained Hamilton equations (4.5.29) (or (4.5.30)). 0
Proof. In accordance with the decomposition (4.6.11) of a vertical vector field u on
the Legendre fibred manifold 11 -- X, the constrained Hamilton equations (4.5.30)
take the form
r'(a;jAaj8afdH) = 0, (4.6.19a)
r'(O;JdH) = 0. (4.6.19b)
The equations (4.6.19b) are obviously the Hamilton equations (4.4.19b) for H. Bear-
ing in mind the relations (4.6.4) and (4.6.8), one can easily bring the equations
(4.6.19a) into the form (4.6.18). QED
COROLLARY 4.6.7. By virtue of Proposition 4.5.16, a section if of J1Y - X

is a solution of the Cartan equations (3.2.17a) - (3.2.17b) for the almost regular
Lagrangian density (4.6.1) if and only if Lob is a solution of the constrained Hamilton
equations (4.4.19b) and (4.6.18). 0
It follows that the equations (4.6.17) are responsible for the obstruction condition
(4.5.23) on solutions 3 of the Cartan equations for the Lagrangian density (4.6.1) to
provide solutions of the Hamilton equations and the second order Euler-Lagrange
equations. It is readily seen that the equations (4.6.18) do not contribute to this
obstruction condition. If r = Loa, they hold for solutions 3 of the Cartan equations
(3.2.17a).
LEMMA 4.6.8. Let 8 be a classical solution of the Cartan equations for the almost
regular Lagrangian density L (4.6.1). Let go be a section of T'X VY - X which
takes its values into KerI and projects onto s = it o g. Then the sum 3 +lo over
Y is also a solution of the Cartan equations.
Proof. The proof is an immediate consequence of the relation
r= Los= Lo(s+so).
QED
Remark 4.6.2. Thus, we may say the following about the gauge-type freedom of
the Cartan equations for almost regular quadratic Lagrangian densities. By analogy
with gauge theory, let us call gauge-type class the pre-image.F-' (z) of every point
3 E Im(u o L).
Then the rnorphisrn S o 1/ o L determines the representative
(S o Il o L) (Z) E
of the gauge-type class in accordance with the diagram
ll(Q) C J'Y
'\f
Q
This representative does not coincide with z in general. Accordingly, we can speak
about gauge-type classes of solutions of the Cartan equations which differ from each
other in sections 36 from Lemma 4.6.8. The corresponding gauge-type condition for
solutions of the Cartan equations is the modification
So%10Lo3=So3, (4.6.20)
of the Ilarnilton equations (4.6.17), which have the form
Sot/=SoJ'(rtoos). (4.6.21)
The condition (4.6.20) selects a particular solution of the Cartan equations from a
gauge-type class. In contrast with (4.6.20), the relation (4.6.21) is a condition on
sections of the fibred manifold Y - X. One can think of it as being the gauge-type
condition on solutions of the Euler-Lagrange equations. 9
Example 4.6.3. Gauge theory. We here follow the notation of Section 3.6. Let
P - X be a principal bundle with a structure group C. Gauge theory of principal
connections on P -, X is described by the degenerate quadratic Lagrangian density
(3.6.25) on the first order jet manifold J'C of the bundle C -. X (2.7.5) of principal
connections. Therefore, its polysymplectic Hamiltonian formulation may follow the
general procedure for models with degenerate quadratic Lagrangian densities. The
peculiarity of gauge theory consists in the fact that the splittings (4.6.9) and (4.6.10)
of configuration and phase spaces are canonical.
Let C and J' C be provided with the coordinates (x`, a%) and (x , as , a,,),
respectively. The configuration space J'C of gauge theory admits the canonical
splitting (2.8.21), i.e.,
J'C=C+C-=C+(CxkT'XVGP), (4.6.22)
a _ (aa 'gaa,) + 2 (aw - an, + 4ygaa,),

with the corresponding projections
S: J'C - C+, S;A = a;,A + aa - 4oaNa, (4.6.23)
f : J'C - C_, Ja1 = a AA - a +cyoaaa. (4.6.24)
The Yang-Mills Lagrangian density (3.6.25) on this configuration space is
LYM = l 9 w1 g = det(9,w), (4.6.25)
where ac is a non-degenerate C-invariant metric in the dual of the Lie algebra of g,

g is a pscudo-Riemannian metric on X, and e is a coupling constant (see Remark
3.6.8).
The finite-dimensional phase space of gauge theory is the Legendre bundle
lrnc:H-C,
H=AT'XTX[Cx(4.6.26)
This is endowed with the canonical coordinates (x, aa, pm'). The Legendre bundle
11 (4.6.26) admits the canonical splitting
l1= II+ H_, (4.6.27)
= P;,,"'1 + Pm` + Pt) + 2 NO. - P."`).

The Legendre map associated with the Lagrangian density (4.6.25) takes the
form
PM,à)oLYM=0, (4.6.28a)
&I o LyM = e 2am g1-gA0 ,01 91. (4.6.28b)
A glance at this morphism shows that
Ker LyM = C+,
and the Lagrangian constraint space is
Q = LYM(J'C) = IL.
Obviously, Q is an imbedded submanifold of 11, and the Lagrangian density LYM is

almost regular. Accordingly, the canonical splittings (4.6.22) and (4.6.27) are similar
to the splittings (4.6.9) and (4.6.10), respectively, and the corresponding surjections
(4.6.23) and (4.6.24) are exactly the surjections (4.6.15) and (4.6.16), respectively.
Therefore, we can follow the general procedure described above in order to con-
struct a complete family of Hamiltonian forms associated with the Yang Mills La
grangian density (4.6.25).
Let us consider connections Con the fibre bundle C - X which take their values
into Ker L, i.e.,
r: C C+, (4.6.29)
I - l JA 644491 0.
a
Given a symmetric linear connection K on X, every principal connection B on
the principal bundle P - X gives rise to the connection i'B : C - C+ (2.8.23) such
that
I'ao13=SoJ'B.
It reads
re%J, = 2 [O Ba + BaBN - (4.6.30)
C,r(aaB.+aBa)]-KA".(aa-Bp)
Given the connection (4.6.30), the corresponding Hamiltonian form (4.6.13) is
HB=p*'"daAwa-p;"Ie w-xrtiw, (4.6.31)
xrM = 4
e ac 9
It is associated with the Lagrangian density LYM.

Note that, in contrast with the Lagrangian density LYM, the Hamiltonian forms
(4.6.31) fail to be gauge-invariant, whereas the constrained Hamiltonian form (4.5.28)
1
HQ = %HB = pr'"(daN A wa + 2c!a,,a9w) - 7.1rMw (4.6.32)
is so. Here, by gauge transformations are meant automorphisms of the Legendre

bundle ll -. C over C which are induced by gauge automorphisms of the fibre
bundle C -+ X. The corresponding principal vector fields on II X read
fu = (8"e' + , a9,CP)8; - cwCPpr'`8.'%"
(see the expression (4.8.2)).

Given the Hamiltonian form HB, the corresponding Hamilton equations for sec-
tions r of the Legendre fibred manifold II -+ X consist of the equations (4.6.28b)
and the equations
8.%r + 8ra = 2rBr ,), (4.6.33)

8ar,v = a B.Prga") + (4.6.34)
The Hamilton equations (4.6.33) and (4.6.28b) are similar to the equations
(4.6.17) and (4.6.18), respectively. The Hamilton equations (4.6.28b) and (4.6.34)
restricted to the constraint space (4.6.28a) are precisely the constrained Hamilton
equations (4.5.29) for the constrained Hamiltonian form Hq (4.6.32), and they are
equivalent to the Yang-Mills equations for a gauge potential
A=iriicor.
Different Iamiltonian forms HB lead to different equations (4.6.33). The equa-
tion (4.6.33) is independent of canonical momenta, and is precisely the gauge-type
condition (4.6.17):
l'BoA=SoJ'A.
A glance at this condition shows that, given a solution A of the Yang-Mills equations,
there always exists a Hamiltonian form HB (e.g., HB.A) which obeys the condition
(4.5.23), i.e.,
HB0LY,yoJ'A=J'A.
It follows that the Hamiltonian forms HB (4.6.31) parameterized by principal con-
nections B constitute a complete family.
It should be emphasized that the gauge-type condition (4.6.33) differs from the
familiar gauge conditions in gauge theory which single out a representative of each
gauge coset (with the accuracy to Gribov's ambiguity). Namely, if a gauge potential
A is a solution of the Yang-Mills equations, there exists a gauge conjugate potential
A' which is also a solution of the same Yang Mills equations and satisfies a given
gauge condition. At the same time, not every solution of the Yang-Mills equations is
a solution of the system of the Yang-Mills equations and a certain gauge condition.
In other words, there are solutions of Yang Mills equations which are not singled
out by the gauge conditions known in gauge theory. In this sense, this set of gauge
conditions is not complete. In gauge theory, this lack is not essential since one can
think of all gauge conjugate potentials as being physically equivalent, but not in the
case of other constraint field theories, e.g., that of Proca fields (see Example 4.6.5).
Within the framework of the polysymplectic Hamiltonian description of quadratic
Lagrangian systems, there is a complete set of gauge-type conditions in the sense
that, for any solution of the Euler-Lagrange equations, there exists a system of
Hamilton equations equivalent to these Euler-Lagrange equations and a supplemen-
tary gauge-type condition which this solution satisfies.
In gauge theory where gauge conjugate solutions are treated physically equiva-
lent, one may replace the equation (4.6.33) by a condition on the quantity
(S o J' A)a = (8AAM + 8,,A;, -
2 Yang-Mills equations. In particular,

which supplements the
9"(S o JÀ)a,. = a'(x)
recovers the familiar generalized Lorentz gauge condition.
Example 4.6.3 shows that the main ingredients in gauge theory are not directly
related with the gauge invariance property, but are common for field models with
degenerate quadratic Lagrangian densities. In order to illustrate this fact clearly, let
us compare the gauge-invariant model of electromagnetic fields with that of Proca
fields.
Example 4.6.4. Electromagnetic fields. For the sake of simplicity, let X be the
flat Minkowski space with the Minkowski metric
,7 = diag(1, -1, -1, -1).

In gauge theory, electromagnetic potentials are identified with principal connec-
tions on a principal bundle P -, X with the structure group U(1). In this case, the
gauge algebra bundle (2.7.3) is isomorphic to the trivial linear bundle
VIP=X4xR.
The corresponding bundle of principal connections C (2.7.5) with coordinates (x', a,,)
is an affine bundle modelled over the cotangent bundle
The finite-dimensional configuration space of electromagnetic potentials is the
jet bundle J'C C modelled over the pull-back tensor bundle
Z`=TOXxC-.C.
x
The canonical splitting (4.6.22) of J1C is
PC = C+ (X T'X C), (4.6.35)

X
where C+ -, C is an affine bundle modelled over the pull-back symmetric tensor

bundle
Z+ = VT'X x C.
X
Relative to the adapted coordinates (x), a, aa,,) on J'C, the splitting (4.6.35) reads
1
acv. = (S4 + a()) + a1)1
2
For any section A of C -* X, we find that
is the familiar strength of an electromagnetic field.

On the configuration space (4.6.35), the conventional Lagrangian density of elec-

tromagnetic fields is written as
(4.6.36)
LE 16rrV
The finite-dimensional phase space of electromagnetic theory is the Legendre
bundle
n= (AT-X (&TX TX) x C,
x
equipped with the canonical coordinates (x-, a, a"). With respect to these co-
ordinates, the Legendre morphism associated with the Lagrangian density (4.6.36)
reads
piì o LE = 0, (4.6.37a)
Pt l 0 LE = (4.6.37b)
In accordance with the Example, the Hamiltonian forms

H9 = P"da" A wa - p',pra,,w - 7{Ew, (4.6.38)
rBa" = 2(e"Ba +OOB"),

-7rJ?,,T?J%P01a1 P11101,
parameterized by electromagnetic potentials B, are associated with the Lagrangian

density (4.6.36), and constitute a complete family.
Given the Hamiltonian form HB (4.6.38), the corresponding Hamilton equations
consist of the equations (4.6.37b) and the equations
aar" + a"ra = O.A. + a"Ba, (4.6.39)
Sara" = 0. (4.6.40)
On the constraint space (4.6.37a), the equations (4.6.37b) and (4.6.40) reduce to
the Maxwell equations in the absence of matter sources. At the same time, the
equation (4.6.39), independent of canonical momenta, plays the role of a gauge-type
condition discussed in Example 4.6.3. .
Example 4.6.5. Proca fields. The model of massive vector Proca fields (see
Example 3.7.10) is a degenerate field theory which is similar to the electromagnetic
one, but without the gauge invariance property.
Recall that Proca fields are represented by sections of the cotangent bundle
T'X. The finite-dimensional configuration space of Proca fields is the jet bundle
J'T'X - T'X with coordinates (x", k,,, k.%), modelled over the pull-back tensor
bundle
T'X x TX - TX. (4.6.41)
On the Minkowski space X, the Lagrangian density (3.7.30) of Proca fields looks
like the electromagnetic one (4.6.36) minus the mass term, i.e.,
Lp = Lr - Im2rp k kaw. (4.6.42)
It is almost regular.
The finite-dimensional phase space of Proca fields is the Legendre bundle
f= AT*XTXTX x T'X,
x
equipped with the holonomic coordinates (x", kp, p"P).
With respect to these coordinates, the Legendre morphism associated with the
Lagrangian density (4.6.42) takes the form
p(A) o LP = 0, (4.6.43a)
1
0,01o LP = _ (4.6.43b)
V7 pfup,
We have
KerLP=VT'XxT'X
x
and
Q = AT'X (A TX) x T'X,
P(4) = 0.
Following the general procedure describing quadratic degenerate systems, let us

consider the map a (4.6.5):
k,,,, o a = -2rrqu,q,,ppl" 1 ,
where k.,,, are the fibred coordinates on the fibre bundle (4.6.41). Since
Ima = AT'X x T'X

x
and
Kera = AT'X (V TX) xT'X,

x
one can perform the corresponding splitting (4.6.9) of the configuration space
J'T'X = VT'X XT'X,

ka" = 2 (Sa" + k(.%,.) + klapl,
and the splitting (4.6.10) of the phase space
n = [AT'X (V TX)] Q,
T*X
p1" = p(Av) + P1>01.
Let us consider connections on the cotangent bundle T'X taking their values
into Ker Lp. Bearing in mind that K = 0 on the Minkowski space X, we can write
every such connection as
r = dxa (3 +
where 0 _ ta,.d? 8p is a symmetric soldering form on T'X. By analogy with the
case of electromagnetic fields, it suffices to take the connections
rB = dxa (aa + (epBa + OxBp)&],

2 - . X. Then it is readily observed that the Hamiltonian
where B is a section of T'X
forms
IIB = pa"dk,, AWa - pA"rBw - ?{pw,
iip = i{E + 1 Met p`k"kv,
are associated with the Lagrangian density Lp (4.6.36) and constitute a complete
family.
Given the Hamiltonian form HB, the corresponding Hamilton equations for sec-
tions r of the fibre bundle II -+ X consist of the equations (4.6.43b) and the equa-
tions
aarp + L9, r.\ = a"Ba, (4.6.44)
Sara" = - I m2W-r,,. (4.6.45)
On the constraint space (4.6.43a), the equations (4.6.43b) and (4.6.45) are precisely
the constrained Hamilton equations (4.5.29), and they are supplemented by the
gauge-type condition (4.6.44). At the same time, one may replace (4.6.44) with a
certain condition on the quantity
aar,, +
e.g., with the generalized Lorentz gauge condition

a(x).
In contrast with the case of electromagnetic fields, no such condition, however,
is compatible with all physically non-equivalent solutions of the Euler-Lagrange
equations for Proca fields. For instance, the Lorentz gauge condition
7"Aa,,ra = 0
is compatible with the wave solutions.
4.7 Affine degenerate systems

Let us turn now to an affine Lagrangian density which has the coordinate expression
L=Lw,
L=b;ya+c, (4.7.1)
where b and c are local functions on Y. The associated Legendre map takes the
form
p, oL=b;. (4.7.2)
We have the commutative diagram
J1Y rQCII
Y
b=b,wAdy$,
where Q = b(Y) is the image of the section b of the Legendre bundle 17 -, Y.
Clearly, the Lagrangian density (4.7.1) is almost regular.
4.7. AFFINE DEGENERATE SYSTEMS 297
Let I' be an arbitrary connection on the fibred manifold Y -' X and f the
associated Hamiltonian map (4.3.9). This Hamiltonian map satisfies the condition
(4.5.2), where L is the Legendre morphism (4.7.2). Let us consider the Hamiltonian
form (4.5.4) corresponding to f. It reads
H = Hr +LoI'=p;dy'Awa-(p; -b;)I"aw+ao, (4.7.3)
and is associated with the affine Lagrangian density (4.7.1).

This Hamiltonian form is affine in the canonical momenta. The corresponding
Hamiltonian map is
yao%=I"A. (4.7.4)
It follows that the Hamilton equations (4.4.19a) for the Hamiltonian form H reduce
to the gauge-type condition
Bar' = I'a,
whose solutions are integral sections of the connection r.

Conversely, for each section s of the fibred manifold Y - X, there exists a
connection r on Y whose integral section is s. Then, the corresponding Hamiltonian
map (4.7.4) obeys the condition (4.5.23). It follows that the Hamiltonian forms
(4.7.3) parameterized by connections r on the fibred manifold Y -, X constitute a
complete family.
Example 4.7.1. Metric-affine gravity. The metric-affine gravitation theory with
the Hilbert-Einstein Lagrangian density exemplifies an affine degenerate model. We
will follow the notation of Section 3.7.
The total configuration space of metric-affine gravity is
'EPR X 1CK, (4.7.5)
where Emit is the bundle of pseudo-Riemannian metrics (3.7.18) and CK is the bundle
of world connections (3.7.39). This configuration space is equipped with coordinates
(x:a kvQ+Da
QQ Q QQ Q
kaQ)
Let us recall that aQ o g = gQ are the metric functions of g for any section g of
EPR - X, while k,,Q o K = KN# are the components of a world connection K for
any section K of CK --4 X.
Accordingly, the total phase space of metric-affine gravity is the product
11=IIEx11c
x
of the Legendre bundles IIE - EPR and l1c - CK. It is equipped with the adapted
coordinates
(aa , o ap , ka d,, p)
p+ app a
On the configuration space (4.7.5), the Hilbert-Einstein Lagrangian density of

General Relativity reads
LHe = 2K01*Raa11 v 1w, (4.7.6)

R,,,,,@ = kap - kA,,p +
It is affine in the coordinates ka,p, and is independent of the coordinates o.%0 .
The corresponding Legendre morphism is given by the expressions
o LHE
2K
(? - boo) I0 , (4.7.7)
which define the Lagrangian constraint space.

Using the whole set of connections on the fibre bundle EpR X CK X, one
can construct the complete family of Hamiltonian forms (4.7.3) associated with the
Lagrangian density (4.7.6). However, it suffices to consider its following subset.
Let K be a world connection and
2lkaCkVefp - keka`p + 8,X% 'p +

k,,`SKi e + e- K(a`v)(kep - Kep)
the corresponding connection (4.6.30) on the bundle CK. Let K' be a symmetric
world connection which induces the corresponding connection on the bundle EPR of
pseudo-Riemannian metrics. On the fibre bundle EPR X CK -, X, we then have the
connection
l9
a = .\
Kaa eep
x'p
+Kaeaac,
I',p = 1'Kw0 + RK1rap,
4.7. AP PINE DEGENERATE SYSTEMS 299
where RK is the curvature of the world connection K. The corresponding Hamilto-

nian form (4.7.3) is
HIIE = p''.PdkY p) A WA - HHEW,

7111E = ppa(Ka so`p +
KAaò`) + p1oprKAvp + (4.7.8)
It is associated with the Lagrangian density LHE. The corresponding Hamilton

equations for a world metric g and a world connection k read
03Agp = Ka s9`p + Kasag`, (4.7.9a)

UAk,, p = I'KAyp + RKAvp, (4.7.9b)
aAPap = -P 8Ko` - p'Koè + K (RKs - 29pRK) 19 I, (4.7.9c)
5AP'p = phI`kp. - pl'"1 spkr` + (4.7.9d)

p('IV )l Kp` - P("Y).OK,`
The I Iarnilton equations (4.7.9a) and (4.7.9b) are independent of momenta and,
consequently, reduce to the gauge-type condition (4.7.4). In accordance with the
canonical splitting (4.6.22) of J1CK, the gauge-type condition (4.7.9b) breaks in two
parts
RKAvp, (4.7.10)
8,.(Kap - kA$) + av(KAp - kAp) - KKp) - (4.7.11)
kA`$K + k, $KAe - 0.
It is readily observed that, for a given world metric g and a world connection k,
there always exist world connections K' and K such that the gauge-type conditions
(4.7.9a), (4.7.10) and (4.7.11) hold (e.g., K' is the Levi-Civita connection of g and
K = k). It follows that the Hamiltonian forms (4.7.8) constitute a complete family.
Being restricted to the constraint space (4.7.7), the Hamilton equations (4.7.9c)
and (4.7.9d) take the form
(11K0 - 29agRK) 19 I = 0, (4.7.12)

9p(ka"
1)(v'--g9p) - 66D.,(v/91) - - / A) - (4.7.13)
9Ap(kvA - kA") - 69Ap(kAu, - kyPA)l - 0,
where
Dagg = 8agwe - kag,ag'.
Substituting the equation (4.7.10) in the equation (4.7.12), we obtain the Einstein
equations
R,, - g0pR = 0.
The equation (4.7.13) is the equation for torsion and non-metricity terms of the
connection In the absence of matter sources, it admits the well-known solution
D.e = Vgg',
where V. is an arbitrary covector field corresponding to the projective freedom
[70, 158).
Example 4.7.2. Dirac fermion fields. The Lagrangian density (3.8.22) of Dirac
fermion fields in the presence of a background tetrad field h and a background spin
connection A is affine in the velocity coordinates y.. Let us find a complete family
of Hamiltonian forms associated with this Lagrangian density.
Let S" be an h-associated spinor bundle (3.8.18). The Legendre bundle over S"
is the pull-back
n,=AT'XTXS"',
sib
where by S" -+ X is meant the dual of S" X. This Legendre bundle is provided
with the canonical coordinates (e, yA, pA).
For the sake of simplicity, let us consider Dirac fermion fields on a flat Minkowski
space when hN = d.
The Legendre map associated with the Dirac Lagrangian density (3.8.22) is
(4.7.14)
P=A=
YA
+A =, A
These relations define the Lagrangian constraint subspace of the Legendre bundle
r1,.
4.8. IIAMILTONIAN CONSERVATION LAWS 301
Given a background spin connection A, any connection on the bundle S" is

represented by the sum A + S, where
S=SAdx"8A
is a soldering form on S" X (which is not necessarily linear). Then the Hamilto-
nian forms (4.7.3) associated with the Lagrangian density (3.8.22) read
dyA
HS (1/ + A 7{sw, (4.7.15)
Ns = y8Av BAF} + myA
where
A, 8 = I Ar"LOhAB.
The corresponding Hamilton equations consist of the equations
0011A+ = 1,+A BA + S+,,A, (4.7.16a)

(9,1 PA = -PBA,,BA - (Pa - 7rg)8ASN - my8(7e)BA - (4.7.16b)
i a
2S C(7 I )CA,
and the equations for the components yA and p+A. The equation (4.7.16a) and
the conjugate equation for yA imply that a solution r is an integral section for the
connection A + S on the spinor bundle S". It follows that the Hamiltonian forms
(4.7.15) constitute a complete family.
On the constraint space (4.7.14), the equation (4.7.16b) reads
81, = -1r A,%BA - mye(7)BA - ZS,c(7s?'")CA (4.7.17)
Substituting (4.7.16a) in (4.7.17), we obtain the familiar Dirac equation.
4.8 Hamiltonian conservation laws

To obtain the conservation laws within the framework of Hamiltonian formalism, it
is convenient to go back to Remark 4.4.8.
Given a Hamiltonian form H (4.3.3) on the fibred Legendre manifold 11 -, X,

let us consider the Lagrangian density
L,, = ( VA, - 7i)w (4.8.1)
on the jet manifold J'11. We have mentioned that the Poincar6-Cartan form HL
of the Lagrangian density (4.8.1) coincides with the Hamiltonian form H, while
the Euler-Lagrange operator for Lv is precisely the Hamilton operator ER for H.
Then we will follow the standard procedure describing differential conservation laws
in Lagrangian formalism (see Section 3.5), and apply the first variations) formula
(3.2.11) to the Lagranglan density (4.8.1) [165).
In accordance with the canonical lift (3.7.7), every projectable vector field
u = u"8 + u18t
on the fibred manifold Y - X gives rise to the vector field
I u = u"8,. + uu8c + (-8iuf 4 - 8upi + 8ruAp(`)8ia (4.8.2)
on the Legendre bundle 11 Y. Then we have
I L 11 = Li, LN = (-uc8tf - 8,,(uii) - u,a8a7{ + pi 8au`)w. (4.8.3)
Z It follows that the Hamiltonian form H and the Lagrangian density LX have
the same gauge symmetries. 1
Remark 4.8.1. Given the splitting
W=pill-iir
(4.3.6) of a Hamiltonian form H, the Lie derivative (4.8.3) takes the form
p; ([8a + r Oi, u)j - [8a + I'ca8i, uJT;,)w - (4.8.4)

(8,,um?ir + uJd7?r)w) (4.8.5)
where [., .) is the Lie bracket of vector fields.

4.8. HAMILTONIAN CONSERVATION LAWS 303
In the case of the vector field is (4.8.2) and the Lagrangian density LH (4.8.1),
the first variational formula (3.2.11) takes the form
8,,(u?{) - u; 8afi + p; 8au' = -(u` - y,,u)(pa; + 8,7i) +
(-8cu'4 - 8,up; + 8,,uAp - k;u')(ya - 8'a7i) -
da[p; (8,,?lu" - u') - uA(p; 87i - N)].
On the shell (4.4.10a) - (4.4.10b), this identity reads
-U1(9,W - 8(u7{) - 4a.*%' i + p, 8au' - (4.8.6)

da[p; (87{u - u`) - uA(p, 87i - 7i)].
If L,,,;,/.ll = 0, we obtain the weak conservation law
O;zz -da[p, (u8'7{ - u') - u"(p;`8,,7i - 7i)]w (4.8.7)
of the current
1. = pi (u87{ - u') - u''(p; 87{ (4.8.8)
On solutions r of the Hamilton equations (4.4.19a) - (4.4.19b), the weak equality

(4.8.7) leads to the weak differential conservation law
0 x
There is the following relation between differential conservation laws in Lagran-
gian and Hamiltonian formalisms.
PROPOSITION 4.8.1. Let a Hamiltonian form H be associated with a semiregular

Lagrangian density L. Let r be a solution of the Hamilton equations (4.4.19a) -
(4.4.19b) for ii which lives in the Lagrangian constraint space Q. Let s = any or
be the corresponding solution of the second order Euler-Lagrange equations for L
so that the relation (4.5.23) holds, that is,
%//oL0J's=J's
(see Propositions 4.5.10 and 4.5.11). Then, for any projectable vector field u on the
fibre bundle Y -+ X, we have
t(r) = T (Y or), ` (L o Js) = T(s), (4.8.9)

where T is the current (3.5.16) on J'Y and T is the current (4.8.8) on It 0

Proof. The proof follows from the relations (4.5.10), (4.5.11) and (4.5.18). QED
In particular, let u = u'8; be a vertical vector field on Y - X. Then the Lie
derivative L ,-,H (4.8.4) takes the form
L;,H = (p [8 + I"a8;,u]' - uJd?ir)w.
The corresponding current (4.8.8) reads
to = -u'p;-
Let r = r-A% be a vector field on X and
TA
R% + 17A)
its horizontal lift onto Y by means of a connection r on Y -' X. In this case, the
weak identity (4.8.6) takes the form
- (8,. + r8, - pi 8t I", 0 )fir + pA R'% 2e -da7lrA,,,
where the current (4.8.8) reads
71ra = .r'1'=ra" = 7-P (p;8?ir - b(p; ?(4.8.10)
Zr)).
The relations (4.8.9) show that, on the Lagrangian constraint space Q, the current
(4.8.10) can be treated as the Hamiltonian SEM current relative to the connection
r.
In particular, let us consider the weak identity (4.8.6) when the vector field u on
lI is the horizontal lift of a vector field r on X by means of a Hamiltonian connection
on II - X which is associated with the Hamiltonian form H. We have
u = r'(e,, + 8;,xa; + ;8a).
In this case, the corresponding SEM current reads
' _ -ra(p; 8',,?{ - 71), (4.8.11)
and the weak identity (4.8.6) takes the form
-8,,N + d,% (p-,% 8'?{) 80 W, 8'a?{ - 7{). (4.8.12)
A glance at the expression (4.8.12) shows that the SEM current (4.8.11) is not
conserved, but we can write the weak identity
-8,,,% + d %
8,aN - - N)] 0.
This is exactly the Hamiltonian form of the canonical energy-momentum conserva-

tion law (3.5.29) in Lagrangian formalism.
4.9. VERTICAL EXTENSION OF POLYSYMPLECTIC FORMALISM 305
4.9 Vertical extension of polysymplectic formalism

By analogy with the BRS generalization of mechanics [80, 81], the vertical extension
of polysymplectic Hamiltonian formalism, developed in this Section, is a preliminary
step toward its BRS quantization.
Given a bundle Y -. X, let us consider its vertical tangent bundle VY with
coordinates We will show that polysymplectic Hamiltonian formalism
for sections of Y X is naturally extended to Hamiltonian formalism for sections
ofVY - X.
The Legendre bundle (4.0.1) over VY -e X is
Ilvy = V'VY (nYT'X)
with coordinates (za, y, y', q; , v;).

Remark 4.9.1. Let us consider the fibre bundles TT'X and T'TX. Given bolo-
nomic coordinates (z`,pa) on T'X and (?,v) on TX, these bundles are provided
with the coordinates (za, p,,, z'', Pa) and (zx, va, xa, A%), respectively. By inspection
of the coordinate transformation laws, one can show that there is the isomorphism
71 "X 25 7'*f'X, pa +6.%, Pa
of these bundles over TX (see also [35] and [101], p.63).

Given a fibred manifold Y -. X, a similar isomorphism between the fibre bundles
VV'Y and V'VY over VY takes place. In the holonomic coordinates (z,`,y',pp) on
V'Y and (zA, y', v{) on VY, this isomorphism reads
VV'Y V'VY, pi .vi, A -0j. (4.9.1)
PROPOSITION 4.9.1. In virtue of the bundle isomorphism (4.9.1), there exists the
bundle isomorphism over VY
!!vy ^- VH,
where (x `, y`, p; , y', P;) are the coordinates on V H. 0

We will use the compact notation

,
ai=8yi, a'a= 8v=Y
One can develop Hamiltonian formalism on the Legendre bundle [Ivy by analogy
with that on II. The vertical bundle VII is endowed with the canonical polysym-
plectic form
I Av = [dP; Ady'+dp{ Ady'] Awaa,

whose coordinate expression is maintained under holonomic transformations of the
composite bundle VII - 11 -. Y.
PROPOSITION 4.9.2. Let 7 be a Hamiltonian connection on R associated with a

Hamiltonian form H (4.3.6). Then, the vertical connection V7 (2.5.13) is a Hamil-
tonian connection associated with the Hamiltonian form
!I v = (Pi dal' - y'dp,) A wa - hvw, (4.9.2)
IN-V = av11 _ (U'ai + P: aa)n,

on Vfl. O
Proof. Liven the Hamiltonian connection
7=dx"(a+78i+7ia'a),
7 = afc, Tai
it is easily seen that the vertical connection
V ,y = dx" [e + 7a; + 7;8'a + 8v76; + 8v70'aà]
obeys the Hamilton equations for the Hamiltonian form (4.9.2), i.e.,
7=atxv=vr
Tai = -arty =
7=afv=OV0,
Tai = -aixv = -avairc.
QED
4.9. VERTICAL EXTENSION OF POLYSYMPLECTIC FORMALISM 307
In particular, given the splitting
,H =Pir'a+jIr
relative to a connection r on Y -. X, then we have the splitting
NV=P;r'a-1!'(-P;8,F)+8vjf
with respect to the lift f (4.4.2) of I' onto II -+ X.
Note that the Hamiltonian form Hv (4.9.2) can be also obtained in the following
way. Given the fibre bundle Zy 11 (3.4.14), let us consider the vertical tangent
bundle VZ of Z --+ X with coordinates
(xA,y',Pi,Ry',P;)P)
It is provided with the canonical form
1=v=Pw+P,dy'nwa-y'dp; nwa,
whose expression is maintained under holonomic coordinate transformations. Let

H = WE, where h is a section of the fibre bundle Zy -, H. Then we have
Hv = (Vh)'Ev,
where V h : VII - V Z is the vertical tangent map of h.
Remark 4.9.2. One can use also the form Ev+d(y'p{) Awa since the form d(y'p) A
wa is well behaved.
We now turn to the vertical extension of Lagrangian formalism on J'Y to the

configuration space VJ'Y = J'VY provided with coordinates
(x.,y',ya,y',lla).
Given a Lagrangian density L on J1Y, let us consider the Lagrangian density
1.v=pr20VL:VJ'Y-+hT'X, (4.9.3)
Lv = 8vL = (y'8s + y{a); )G,
on VJ1Y. Then the variational derivatives
b,Lv=b;L=O
recover the second order Euler-Lagrange equations (3.3.31).

The Lagrangian density (4.9.3) yields the Legendre map
Lv VJ'Y vYVf,
P, =O{Zv=7f{,
P: =8y7r;a.
Conversely, the Hamiltonian form Hv (4.9.2) on VII determines the Hamiltonian

map
Hv=VH:VII-YVJ'Y,
pa = 8.%?lv = 8;,71, ira = 8y8'a?l.
PROPOSITION 4.9.3. Given a Lagrangian density L, let the Lagrangian constraint

space Q be a fibred submanifold Q -e Y of the Legendre bundle II Y. If a
Hamiltonian form H is associated with the Lagrangian density L, the Hamiltonian
form Hv is associated with the Lagrangian density Lv. 0
Proof. If Q is a fibred submanifold of II, the relation (4.5.9a) takes the form
Lo///oiQ=iQ.
Then the corresponding vertical tangent morphism satisfies the relation
VLoVHoViQ=ViQ.
The relation (4.5.9b) for Hy reduces to the relation (4.5.13) for H. QED
4.10 Appendix. Hamiltonian time-dependent mechanics

There is an extensive literature on autonomous Hamiltonian mechanics phrased in
terms of symplectic geometry (2, 6, 85, 1201. Its standard example is a mechanical
system whose phase space is the cotangent bundle of a manifold M.
The usual formulation of time-dependent Hamiltonian mechanics just as the
Lagrangian one requires a given splitting Y = R x M of the event manifold Y and the
corresponding splitting R x T'M of the phase space V *Y. These splittings, however,
4.10. APPENDIX. HAMILTONIAN TIME-DEPENDENT MECHANICS 309
are broken by any time-dependent canonical transformation and any reference frame
transformation, including transformations of inertial frames.
Here we continue to describe time-dependent mechanics as a particular field
theory, when the event space Y is a fibred manifold over R [18, 32, 164]. Then
the 1-dimensional reduction of polysymplectic Hamiltonian formalism provides the
adequate mathematical formulation of time-dependent Hamiltonian mechanics on
the Legendre bundle
11 = V'Y -4 Y. (4.10.1)
The main ingredients in this formulation are: (i) the canonical 3-form (4.10.13)
which provides the phase space V'Y with the canonical Poisson structure, (ii) con-
nections on Y -' R which define reference frames (see Section 3.9), and (iii) Hamil-
tonian connections whose integral sections are solutions of the Hamilton equations.
Let us emphasize the following essential peculiarities of time-dependent Hamil-
tonian mechanics in comparison with the symplectic one.
The canonical Poisson structure on a phase space of time-dependent mechanics

is degenerate.
A 1-larniltonian is not a function on a phase space. As a consequence, the

evolution equation is not reduced to a Poisson bracket, and integrals of motion
cannot be defined as functions in involution with a Hamiltonian.
l-lamiltonian and Lagrangian formulations of time-dependent mechanics are

equivalent only in the case of hyperregular Lagrangians. A degenerate La-
grangian admits a set of associated Hamiltonians none of which describes the
whole mechanical system given by this Lagrangian.
We will follow the notation of Section 3.9. Here, we assume that Y - R is a

fibre bundle. Given a trivialization
Y = R x M, (4.10.2)
we have the corresponding splittings of the configuration and phase spaces
J'Y = R x TM, (4.10.3)

11=RxT'M. (4.10.4)
Recall that 8j and dt are the standard vector field and the standard 1-form on
R, respectively.
Remark 4.10.1. Throughout this Section, the fibration Y -, R is once for all.
This, however, is not the case of relativistic mechanics whose description requires
formalism of jets of submanifolds (am Example 5.3.5).
A. Canonical Poisson structure

A Poisson structure is an important ingredient in many constructions of classical
and quantum mechanics. The Legendre bundle V'Y of time-dependent mechanics
is provided with the canonical Poisson structure as follows.
Let (t, y') be coordinates on Y -+ R. Then the Legendre bundle V'Y is equipped
with the holonomic coordinates (t,y',A), while the first order jet manifold J'V'Y
of V'Y - R is coordinatized by (t, y', pi, yie, pa).
Let us consider the homogeneous fibre bundle Zy = T'Y (4.2.8) with coordinates
(t, y', pi, p). It possesses the canonical form (4.2.9), which is the Liouville form
_=pdt +pdy+, (4.10.5)
and the canonical form (4.2.10), which is the symplectic form
i2z=dpAdt+dpmAdy'. (4.10.6)
The corresponding Poisson bracket on the space COD(T'Y) of functions on T'Y reads
{f, g) = & f0c9 - e9&f + 8' f 8,g - 8'gOi f . (4.10.7)
Let us consider the subspace of C(T'Y) which comprises the pull-backs of

functions on V'Y by the projection T'Y - V'Y. It is easily seen that this subspace
is closed under the Poisson bracket (4.10.7). By virtue of Proposition 4.1.2, there
exists the canonical Poisson structure
I {f,9}v = 8'f8i9 - 8'98if (4.10.8)
on V'Y induced by (4.10.7). The corresponding Poisson bivector on V'Y is vertical

with respect to the fibration V'Y -+ R, and reads
w"=0, wij=0, w'1=1.

Since the rank of w is constant, the Poisson structure (4.10.8) is regular. It is

obviously degenerate.
Given the Poisson bracket (4.10.8), the Hamiltonian vector field t9 j of a function
f on V'Y is defined by the relation (4.1.5), i.e.,
{f,9}v = t9jjdg, 9 E C(V'Y).
It is the vertical vector field
1+9,=8'f0i-eif8` (4.10.9)
on V'Y - R. Thus, the characteristic distribution of the Poisson structure (4.10.8)

is precisely the vertical tangent bundle VV'Y of V'Y - R.
In accordance with Theorem 4.1.7, this Poisson structure defines the symplectic
foliation on V'Y which coincides with the fibration V'Y - R. Furthermore, a
glance at the bracket (4.10.8) shows that the holonomic coordinates on
V'Y are exactly the canonical coordinates (4.1.8) for the Poisson structure (4.10.8).
The symplectic forms on the fibres of V'Y -, R are the pull-backs
0c=dpiAdy'
of the canonical symplectic form on the typical fibre TM of V'Y - R with respect
to trivialization morphisms [30).
B. Canonical polysymplectic structure
The I'oisson structure (4.10.8) can be introduced in a different way.
The Legendre bundle V'Y (4.10.1) admits the canonical polysymplectic form
(4.2.5) which reads
SZ=dpiAdy'Adt08,. (4.10.10)
Following general polysymplectic formalism, we say that a connection

-y=dt(A+ry'i%+7;8')
on the Lcgendre bundle V'Y R is Hamiltonian if the exterior form ryJl is closed.
A connection y is Hamiltonian if and only if ry obeys the conditions (4.4.4) - (4.4.6)
which now take the form
8'- - Y,1. = 0,
A7j - 8j'Yi = 0,
83ry`+0'1j=0.
As in Example 4.4.1, we observe that every connection 1' = dt 0 (8t + I18i) on

the fibre bundle Y -. R gives rise to the Hamiltonian connection which coincides
with the covertical connection
t''=V'1'=dt(8t+1"8i-8fl''ppOi) (4.10.11)
(2.5.1 4) on V'Y. We then have
V'1'Jf2 = dHr,
Hr = p;dy' - pit" dt. (4.10.12)
Th e polysymplectic form (4.10.10) defines the canonical closed 3-form
A=Ajdt,
A=dp, Ady'Adt, (4.10.13)
on the Legendre bundle V'Y.

The canonical forms 11 (4.10.10) and A (4.10.13) on V'Y can be seen on the
same footing as follows.
PROPOSITION 4.10.1. Let u be a vector field on V'Y - R projected onto the

standard vector field 8t on R. This vector field obeys the relation
d(uJA) = 0 (4.10.14)
if and only if u is the horizontal lift
Try=Bt+ry'8;+ryi8' (4.10.15)
of the standard vector field 8t on R by means of a Hamiltonian connection ry on

V'Y -yR. o
Proof. It is readily observed that
I 7J0 = r,JA.
QED
Every connection 'y on the fibre bundle V'Y - R is a curvature-free connection

(see Remark 3.9.3). By virtue of Proposition 2.3.1, such a connection defines a
horizontal foliation on V'Y -. R. Its leaves are the integral curves of the horizontal
lift (4.10.15) of 88 by y.
DEFINITION 4.10.2. The vector field r., (4.10.15) which obeys the condition (4.10.14)
is said to be a locally Hamiltonian horizontal vector field
Given the canonical form A (4.10.13), every function f on V'Y defines the
corresponding Hamiltonian vector field t9f (4.10.9) by the relation
It9fJA=dfndt.
Then the Poisson bracket (4.10.8) is recovered by the condition
{f, g}vdt = 9Jt9i1A.
DEFINITION 4.10.3. Vertical vector fields t9 on V'Y -+ R which satisfy the condition
(4.10.17) are called locally Hamiltonian vector fields.
Locally Hamiltonian horizontal vector fields r., constitute an of lne space mod-
elled over the linear space of locally Hamiltonian vector fields t9. Using the decom-
position
ry=yr+t9dt, (4.10.16)
where I' is a connection on Y - R, one can show that every closed form r.,JA on
V'Y -. R is exact.
Indeed, let us consider a vertical vector field 19 on V'Y - R such that the form
t9JA is closed, i.e.,
d(t91 A) = 0. (4.10.17)
It is easily seen that t9J A takes the form or A dt, where or is a 1-form. Every closed
2-form a n dt on V'Y is exact. It is an immediate consequence of the isomorphism
(3.8.1) of the De Rharn cohomology groups. In accordance with the relative Poinear6
lemma (see Remark 4.4.2), the condition (4.10.17) implies that locally
t9JA=dfAdt.
C. Hainiltonian forms
DEFINITION 4.10.4. A 1-form H on the Legendre bundle V'Y is called a locally

Hamiltonian form if
r,JA = dH
for a connection -y on V'Y - R.
In particular, Hr (4.10.12) is a Hamiltonian form. There is obviously one-to-one

correspondence between the Hamiltonian connections and the locally Hamiltonian
forms considered throughout modulo dosed forms.
PROPOSITION 4.10.5. Given the locally Hamiltonian forms H., and H.,., their
difference
a=H,,-H,.,
(r,-r,.)JA=da,
is a 1-form on V'Y such that the 2-form a A dt is closed since
d(a A dt) = da A dt = 0
and, consequently, exact. In accordance with the relative Poincare lemma, this
condition implies that
a = fdt + dg, (4.10.18)
where f and g are local functions on V'Y.
DEFINITION 4.10.6. Following Definition 4.3.1, by a Hamiltonian form H on the

Legendre bundle V'Y is called the pull-back
!I = h* S" = p;dy` -1idt, (4.10.19)
of the Liouville form (4.10.5) on T'Y by a section h of the fibre bundle T'Y
V'Y.
Remark 4.10.2. Given trivializations (4.10.2) of Y R and (4.10.4) of V'Y - R,

the Hamiltonian form (4.10.19) is the well-known Poincar6-Cartan integral invariant
of time-dependent mechanics [6]. However, if a trivialization of Y R is not fixed,

the Hamiltonian g{ in the expression (4.10.19) is not a function (see (4.10.20)).
As in the polysymplectic case, any connection r on Y R defines the Hamil-

tonian form Hr (4.10.12) on V'Y, and every Hamiltonian form on V'Y admits the
splitting
H = pdy' - Ndt = p;dy' - (pj * +?Lr)dt, (4.10.20)
where I' is a connection on Y R and fr is a function on V'Y.

Hamiltonian forms on V'Y constitute an affine space modelled over the linear
space of functions on V'Y (see Proposition 4.3.2). Then it follows from the splitting
(4.10.16) and Proposition 4.10.5 that every locally Hamiltonian form H., is a Hamil-
tonian form locally in the sense that, in a neighbourhood of every point q E V'Y,
the form H.r coincides with the pull-back of the Liouville form E on V'Y by the
local section
(t, y', R) '-' (t, y`, pi, P = -Pi" + I)

of T'Y V'Y, where f is a local function on V'Y (see (4.10.18) and Proposition
4.4.2). In particular, every locally Hamiltonian form admits the splitting (4.10.20)
locally.
The converse assertion is the following.
PROPOSITION 4.10.7. For any Hamiltonian form H on the Legendre bundle V'Y,
there exists a unique Hamiltonian connection -fm on V'Y - R such that
Try,, JA=dH.
0
Proof. The Hamilton operator ,6.q (4.4.8) on the Legendre bundle V'Y - R reads
Cy : i'v'y - XT'V'Y,
E.t = dH - !Z = [(yt' - 8'7- )dp: - (pa + 8,f)dy'] A dt,
where
52 = dpi A dy' + pttdy' A dt - y'dpti A dt

is the pull-back of the canonical form 0 (4.10.10) onto J'V'Y (see Definition 4.3.4).
The kernel of this Hamilton operator is the system of first order differential Hamilton
equations
y; = 8'?{, (4.10.21a)
-8;l (4.10.21b)
on V'Y. It is the image of the section
-y,, = dt (88 + 8`NO; - 0i7{8') (4.10.22)
of the jet bundle J'V'Y -+ V'Y which is a Hamiltonian connection on V'Y - R

for the Hamiltonian form H. QED
The classical solutions of the Hamilton equations (4.10.21a) - (4.10.21b) are the
integral sections of the associated Hamiltonian connection (4.10.22) or, equivalently,
the integral curves of the vector field
Iru = 8t + 8`718 - 8,7{8' (4.10.23)
which is the horizontal lift of the standard vector field 8, on R by means of the
connection (4.10.22).
DEFINrrION 4.10.8. A locally Hamiltonian vector field r1H = rH associated with a

Hamiltonian form H is called the Hamiltonian horizontal vector field. 0
Horizontal Hamiltonian vector fields TH (4.10.23) form an affine space modelled

over the linear space of Hamiltonian vector fields (4.10.9).
The horizontal Hamiltonian vector field (4.10.23) satisfies the relations
r11JH=pi8'fl-H=(H], (4.10.24)
TuJdH = 0.
With a Hamiltonian form H (4.10.20) and the corresponding horizontal Hamil-
tonian vector field rH (4.10.23), we have the Hamilton evolution equation
dil,f = 1-HJ4f = (8, + 8'H81- (4.10.25)
on functions on the Legendre bundle V'Y. Substituting a classical solution of the

Hamilton equations (4.10.21a) - (4.10.21b) in (4.10.25), we obtain the time evolution
of the function f.
Given the splitting (4.10.20) of a Hamiltonian form H, the Hamilton evolution

equation (4.10.25) is brought into the form
duef = 8ef + (1"8, - 8,r'p,O') f + {Zr, 7f }v. (4.10.26)
A glance at this expression shows that the Hamilton evolution equation in time-
dependent mechanics does not reduce to the Poisson bracket. This fact may be
relevant to the quantization problem. The second term in the right-hand side of the
equation (4.10.26) remains classical.
Remark 4.10.3. Given the canonical Poisson structure (4.10.8) on the Legen-
dre bundle V'Y, one can consider the generalized Poisson bracket {.,.},, (4.1.12)
on the exterior algebra t)'(V'Y) or the bracket {.,.}d (4.1.14) on the quotient
1'(V'Y)/dT'(V'Y). In particular, the generalized Poisson bracket (4.1.12) of two
Hamiltonian forms H and H' reads
(11, ll'}w = py(8'7{' - 8'f)dt.
D. Prosymploctic structure
Besides the canonical Poisson structure, the phase space V'Y of time-dependent
mechanics may be provided with presymplectic and contact structures which, how-
ever, are specified by the choice of a Hamiltonian form H.
By definition, a Hamiltonian form H is the pull-back H = h'E" of the Liouville
form (4.10.5) by a section h of the fibre bundle T'Y - V'Y. Accordingly, its
differential
d/1= (dp, + 8{fdt) A (dy' - 8'fdt)

is the pull-back h'Sl2 of the symplectic form (4.10.6). It is a presymplectic form of
constant rank 2m since the form
(dll )m = (dpi A dy')m - m(dp, A dy')m-' A df A dt (4.10.27)
is obviously nowhere vanishing. However, every locally Hamiltonian vector fields uH

on V'Y with respect to the presymplectic form dH (i.e., uHJdH must be closed) is
proportional to the horizontal Hamiltonian vector field rH (4.10.23).
Remark 4.10.4. Let ry be a connection on V'Y - R and r, the corresponding

horizontal vector field (4.10.15). The 2-form r.,JA is presymplectic if and only if ry
is a Harniltonian connection.
E. Contact structure
Let us recall some basic notions.
DEFINITION 4.10.9. Given a (2m + 1)-dimensional manifold Z, a contact form on

Z is defined as a 1-form 0 such that
0 A (d0)m 96 0
everywhere on Z. The pair (Z, 0) is called a contact manifold. 0
A manifold Z equipped with a contact form 0 is orientable, and 0 A (0)", is a

volume element. The exterior differential dO of a contact form 0 is a presymplectic
form.
The following assertion is a variant of the well-known Darboux theorem ([120),
p.288).
THEOREM 4.10.10. Let (Z, 0) be a (2m + 1)-dimensional contact manifold. Every

point z of Z has an open neighbourhood U which is the domain of a coordinate
chart (z, ... , z2"`) such that the contact form 0 has the local expression
m
0 = dz - zm+'dz`
on U. 't'hese coordinates are called Darboux's coordinates. 0
A contact form on an odd-dimensional manifold generates the Jacobi bracket as

follows.
PROPOSrI'ION 4.10.11. Let 0 be a contact form on Z. There exists a unique

nowhere vanishing vector field E on Z such that
EJ0 = 1, EJdO = 0.
This is called the Reeb vector field of 0 ((120), p.291). 0

Relative to Darboux's coordinates, the Reeb vector field reads E = 80.
PROPOSITION 4.10.12. Every contact form 0 on an odd-dimensional manifold Z

yields the associated Jacobi structure on Z. It is defined by the Reeb vector field E
of 0 and by the bivector field w such that
wjO = 0, w1bjd0 = -(i0 - (EJO)0) (4.10.28)
for every 0 E O1(Z) [132].
Relative to Darboux's coordinates, the Jacobi structure (4.10.28) reads
{f,9} _ (am+i9aif -++f8i9) + (9alf - fao9),

i=1
where
m in
f = E zm+i am+if + f, 9 = E .tm++8m+i9 + 9.
i=1 i=1
Let us turn now to Hamiltonian forms on the Legendre bundle V'Y (4.10.1).
PROPOSITION 4.10.13. The Hamiltonian form (4.10.11) is a contact form if the

function [7{] (4.10.24) nowhere vanishes [120).
Proof. Since the horizontal Hamiltonian vector field TH (4.10.23) is nowhere van-
ishing, the condition H A (dH)m 34 0 is equivalent to the condition
(THJH)(dH)m = [M(dH)m & 0.
T,,J(1l A (dH)m) =
The result follows because the form (dH)m (4.10.27) is nowhere vanishing. QED
Remark 4.10.5. To make [%] everywhere different from zero, one may add an
exact form (e.g., the form cdt, c =const.) to H. For instance, the Hamiltonian form
Hr (4.10.12) is not a contact form since [71] = 0, but the equivalent form Hr - dt,
where [7{J = 1, is so. 0
Given a Hamiltonian form H, let the function [N] be nowhere vanishing so that
H is a contact form. The corresponding Reeb vector field reads
EH = [7{]-irH. (4.10.29)
By virtue of Proposition 4.10.12, we have the associated Jacobi bracket defined by

the Reeb vector field (4.10.29) and by the bivector field wy on V'Y derived from
the relations
wil(0,.)] H = 0, wH(4', )}dH = -(0 - (EH}O)H)

for any 1-form 4 on V'Y [1321. We find
w,,(4,, a) _ 'a; - a{4,, + P:a'EHJO -
where 0, a are arbitrary 1-forms on V'Y. The corresponding Jacobi bracket on

functions on V'Y reads
{f,g}u = wH(q5,u) + EHj (fd9 - 9af) = {f,9}v + J?{]''(g`dHgf - fdHe9),

where {f, g) v is the canonical Poisson bracket (4.10.8) and
f =740if -f, 9=P:a'9-g.

Givers a contact Hamiltonian form H, one can consider also the Jacobi bracket
{f,9}E = [NJ-'(fdH,9 - 9dH,f)

defined by the Reeb vector field EH alone.
F. Canonical transformations
In contrast with the (n > 1) polysymplectic case, canonical transformations in
time-dependent mechanics are not compatible with the fibration V'Y - Y.
DEFINITION 4.10.14. By a canonical automorphism is meant an automorphism p

over R of the fibre bundle V'Y R which preserves the canonical Poisson structure
(4.10.8) on V'Y, that is,
{f op,gop}v=({f,g}v)op.
O
It is easily seen that an automorphism p of V'Y R is canonical if and only if

p preserves the canonical form A (4.10.13) on V'Y, that is,
A=p'A.
The bundle coordinates on V'Y - R are called canonical if they are canonical
for the Poisson structure (4.10.8). Canonical coordinate transformations satisfy the
relations
Oil i ay, _ 0P', BY,
-- 0,
aPi OPk aPk OPi
0
a ask
a i 19y" OM W
i/
OPi a aV OPk
By definition, the holonomic coordinates on V'Y are canonical coordinates. Ac-
cordingly, holonomic automorphisms
Pi H P; IV Pi (4.10.30)
of the Legendre bundle V'Y -' Y induced by the vertical automorphisms of Y -' R
are also canonical.
PROPOSITION 4.10.15. Canonical automorphisms send Hamiltonian connections

onto Hamiltonian connections (and consequently locally Hamiltonian forms onto
locally l larniltonian forms).
Proof. The proof is based on the relation

TP(-rr) = r,(,7),
where y is a connection on V'Y -e R and ry is the horizontal vector field (4.10.15).

If y is a Hamiltonian connection such that
rjA=dH,
we have
rvc_,)1A = (P-')'(r,JA) = d((P-1)'H)

QED
A glance at the relation (4.10.14) shows that each locally Hamiltonian horizon-
tal vector field r,, is the generator of a local 1-parameter group G., of canonical
automorphisms of V'Y R. This leads to the following assertion.
PROPOSITION 4.10.16. Let 'y be a complete Hamiltonian connection on V'Y -+ R.

There exist canonical coordinate transformations which bring all components of ry
to zero, i.e., ry = dy 81. O
Proof. Let Vo Y be the fibre of V'Y - R at the point 0 E R. Then canonical coor-
dinates of VO Y dragged along integral curves of the complete vector field rr satisfy
the statement of the proposition. FYom the physical viewpoint, these coordinates
are the initial values of the canonical variables. QED
In particular, let H be a Hamiltonian form (4.10.20) such that the corresponding

horizontal Hamiltonian vector field Ty (4.10.23) is complete. By virtue of Proposi-
tion 4.10.16, there exist canonical coordinate transformations which bring the Ha-
miltonian 71 into zero. Then the corresponding Hamilton equations reduce to the
equilibrium equations
yi=0, Pa=0.
Example 4.10.6. Let us consider 1-dimensional motion with constant acceleration

a with respect to the coordinates (t, y). The corresponding Hamiltonian form and
the Hamiltonian connection read
- ay,
ryy=p,
2 ryp=a. (4.10.31)
This Hamiltonian connection is complete. The canonical coordinate transformation

ate2
y,=y-Pt+ , Tf =P - at
brings Lite components of the connection (4.10.31) to zero.
Example 4.10.7. Let us consider the 1-dimensional oscillator with respect to the
same coordinates. The Hamiltonian form and the Hamiltonian connection of this
system read
= 2 (P' + y2),
'Yy = P, .yr = -y. (4.10.32)
This Hamiltonian connection is complete. The canonical coordinate transformation

y'= y cost - paint, p' = p cos t + Y sin t
brings the components of the connection (4.10.32) to zero.
Note that any Hamiltonian form H can be locally brought into the form where
?{ = 0 by local canonical coordinate transformations.
It should be emphasized that canonical automorphisms do not send Hamiltonian
forms onto Hamiltonian forms in general.
Let !I be a Hamiltonian form (4.10.19) on V* Y. Given a canonical automorphism
p, we have
d(p'11 - H) = 0.
It follows that
p'!!-H=dS,
where S is a local function on V'Y. We can write locally
p'H = pidpi - W o pdt.
Then the corresponding coordinate relations read
8'S = PAP. - pi,
8'S = Pi8'P',
%'-x=p8p'-BSS.
Taken on the graph
Do = {(q, p(q)) E V'Y X V'Y)
of the canonical automorphism, the function S plays the role of a local generating
function. ior instance, if the graph A. is coordinatized by (t, yi, y'i), we obtain the
familiar expression
1-i' - 71 = 88S(t,yi,j)
Example 4.10.8. The holonomic morphisms (4.10.30) admit locally the generating
function
5(t,Y'J'pi) = 1t(t,IMP, -
Let us turn now to the Hamilton evolution equation and its splitting (4.10.26).
Let the connection r in the expression (4.10.26) be a complete connection on
the fibre bundle Y -. R. Then there exist holonomic coordinate transformations
which bring the Hamiltonian evolution equation (4.10.26) into the familiar Poisson
bracket form
dfut = 811 + {11, f}v.
G. Lagrangian Poisson structure

In contrast with the Legendre bundle V`Y, the configuration space J'Y of time-
dependent mechanics does not possess any canonical Poisson structure in general.
A Poisson structure on J1 Y depends on the choice of a Lagrangian G.
Let .11 Y be provided with coordinates (t, y, yi) as in Section 3.9, and let r be a
Lagrangian (3.9.41). The notation
7r1 = 8,G, GO = 8;88G
should be recalled.
Let A be the canonical 3-form (4.10.13) on the Legendre bundle V-Y. Its pull-
back by the Legendre map L (3.9.42) reads
AL =LOA =da,Ady'Adt.
By means of AL, every vertical vector field
19=1918;+918,
on J'Y . R yields the 2-form

VJAL = {[e'Cj ++91(Ojir1- &irj)jdy' ->9'GfidV } A dt.
If the Lagrangian G is regular, this is one-to-one correspondence. Indeed, given

any 2-form
0 = (.O1dy' + dyy) A dt
on J'Y, the algebraic equations
i3'Gji +79i(8j7ri - 8i7rj)

-t9icji = j
have a unique solution
79i =
77' = + 0i7rk)J.
In particular, every function f on J'Y determines a vertical vector field
t9 f = -(G-')li8t fai + (G-'yi(ei f + (G'')k,.&n

f(8kifi - (4.10.33)
on J'Y R in accordance with the relation
t9fj1lL=dfAdt.
Then the Poisson bracket
If,g)Ldt = 79g)'t9fJCIL, f,9 e C(J'Y), (4.10.34)
can be defined on functions on J'Y, and reads
If, g)L = [(G-)'j + (8n7lk - L)TM')(

,,pp
f8,9 - 8g8jf) +
(8n7rk - f Ojg.
The vertical vector field 191 (4.10.33) is the Hamiltonian vector field of the function
f with respect to the Poisson structure (4.10.34).
In particular, if the Lagrangian C is hyperregular, that is, the Legendre map
is a diffeomorphism, the Poisson structure (4.10.34) is obviously isomorphic to the
Poisson structure (4.10.8) on the phase space V'Y.
The Poisson structure (4.10.34) defines the corresponding symplectic foliation
on J'Y which coincides with the fibration J1Y - It. The symplectic form on the
leaf J' Y of this foliation is f1i = dire A dyi (183).
The configuration space J1Y of time-dependent mechanics can be also provided
with an L-dependent presymplectic structure. This is the exterior differential
diIL = dirt A dyi - d(p;y` - C) A dt

of the Poincar6-Cartan form HL (3.9.44), which is the pull-back of the canonical

symplectic form flz (4.10.6) on the fibre bundle T'Y by the Legendre morphism HL
(3.4.17).
H. Degenerate Lagrangian systems

Following Section 4.5, we can establish the relations between Lagrangian and
Hamiltonian formulations of time-dependent mechanics. From the mathematical
point of view, these formulations are not equivalent when Lagrangians are degen-
erate. born the physical viewpoint, velocities are physical observables in classical
mechanics, whereas momenta are physical observables in quantum mechanics.
I The key point is that a mechanical system described by a degenerate Lagran-

gian appears to be a multi-Hamiltonian constrained system within the framework
of Iiarniltonian formalism. I
Let Y -+ R be an event bundle, V'Y the phase space and J'Y the configuration
space of time-dependent mechanics.
Let us recall that a Hamiltonian form H on V'Y is said to be associated with a
Lagrangian C on JIY if H obeys the conditions
L o Hfq = Idq, Q = L(J'Y), (4.10.35a)

//i,- H = L o H. (4.10.35b)
It is called weakly associated if (4.10.35b) takes place only at points of the Lagran-
gian constraint space Q.
If a Lagrangian C is hyperregular, there exists a unique Hamiltonian form asso-
ciated with C.
If a Lagrangian C is semiregular (see Definition 4.5.8), all Hamiltonian forms
associated with C (if they exist) coincide on the Lagrangian constraint space Q, and
the Poincare-Cartan form HL is the pull-back (4.5.18) of any such a Hamiltonian
form If by the Legendre map L. In accordance with Propositions 4.5.10 and 4.5.11, if
H is a l larniltonian form associated with a semiregular Lagrangian C, every solution
of the corresponding Hamilton equations which lives in the Lagrangian constraint
space Q yields a solution of the Lagrange equations for C. At the same time, to
exhaust all solutions of the Lagrange equations, one must consider a complete family
(if it exists) of Hamiltonians associated with C.
Let G be an almost regular Lagrangian (see Definition 4.5.13) and HQ the con-
strained Hamiltonian form (4.5.28) on the Lagrangian constraint space Q, which is
an imbedded subbundle of the Legendre bundle V'Y -. Y. Then the constrained
Hamilton equations (4.5.29) for HQ admit all solutions of the Cartan equations for
G (see Proposition 4.5.16).
In the spirit of well-known Cotay's algorithm for analyzing constrained systems
in symplectic mechanics [16, 75], the Lagrangian constraint space Q plays the role
of the primary constraint space. However one has to apply this algorithm to each
Hamiltonian form H weakly associated with a Lagrangian C. If C is semiregular, all
these Hamiltonian forms coincide with each other on Q, but not the corresponding
horizontal Hamiltonian vector fields (4.10.23).
The necessary condition for a local solution of the Hamilton equations for a Ha-
miltonian form H to live in the Lagrangian constraint space Q is that the horizontal
Hanmiltoriian vector field ry (4.10.23) is tangent to Q at some point of Q. Given a
Hamiltonian form H weakly associated with G, we can express this condition in the
explicit form
pt = a;G(t, yi, Mn), (4.10.36a)
(a, + 01%a; - a,?ia') jd(p; - O C(i, y', acre)) = 0. (4.10.36b)
The equation (4.10.36a) is the coordinate expression of the relation (4.10.35a), and
can be taken as the equation of the Lagrangian constraint space Q. The equation
(4.10.36b) requires that the vector field ry is tangent to Q at a point with coordinates
(t,y',pi)
In particular, one can apply the description of the quadratic degenerate systems
in Section 4.6 to those in time-dependent mechanics. Note that, since Hamiltonians
in time-dependent mechanics are not functions on a phase space, we cannot apply to
them the well-known analysis of the normal forms [24] (e.g., quadratic Hamiltonians
in symplectic mechanics [6]).
I. Conservation laws and integrals of motion
In autonomous mechanics, an integral of motion, by definition, is a function on
the phase space whose Poisson bracket with a Hamiltonian is equal to zero. This
notion cannot be extended to time-dependent mechanics because the Hamiltonian
evolution equation (4.10.26) is not reduced to the Poisson bracket.
In Section 3.8 we have studied conservation laws in Lagrangian mechanics. To
discover conservation laws within the framework of Hamiltonian formalism, let us
consider the Lagrangian (4.4.22) on JI V'Y (165], and apply the first variational
formula (3.2.13) to it.
Given a vector field (3.9.61) on the event bundle Y, its lift u (4.8.2) onto the
phase space V'Y reads
u u`8'+u'8;-Auip;8`, u`=0,1.
As a particular case of the weak identity (4.8.6), we have
-wait - u'8tf + pcdtu' dt(-p;u' + ut7{) (4.10.37)
for the current

I It = -ptu' + ut7{. (4.10.38)
In the case of a vertical vector field u, where u' = 0, this transformation -law
leads to the weak equality
8,% dtpt.
In the case of the horizontal lift fi (4.10.15), the weak identity (4.10.37) takes
the form
-8tf - r'8tn + pdtl'' st, -dtxr,
where ? r = it - pt1'' is the Hamiltonian function in the splitting (4.10.20).
The following assertion is a particular case of Proposition 4.8.1.
PROPOSITION 4.10.17. Given an event bundle Y -+ R, let a Hamiltonian form

H on the Legendre bundle V'Y be associated with a semiregular Lagrangian G on
J'Y. Let r be a solution of the Hamilton equations (4.10.21a) - (4.10.21b) for H
which lives in the Lagrangian constraint space Q and c the associated solution of
the Lagrange equations for G so that the conditions (4.5.23) are satisfied. Let u be
the vector field (4.5.23) on Y - R. Then, we have
`t(r) = Ì(H or), ''t(Z o J'c) ='1(c),
where T is the current (3.9.63) on J1Y and 'I is the current (4.10.38) on V'Y.
COROLLARY 4.10.18. The Hamiltonian counterpart of the Lagrangian energy func-

tion Tr (3.9.66) in the sense of Proposition 4.10.17 is the Hamiltonian function 7{r
in the splitting (4.10.20).
Therefore, we can treat ?{r as the energy function with respect to the frame I'.
In particular, if I" = 0, we obtain the well-known energy conservation law
8t?{ dth,
which is the Hamiltonian variant of the Lagrangian one (3.9.67).
J. Unified Lagrangian and Hamiltonian formalism

The relations between Lagrangian and Hamiltonian formalisms described above
are broken under canonical transformations if the transition functions y' - y" de-
pend on moments. The following construction enables us to overcome this difficulty.
Given an event bundle Y R, let V'J'Y be the vertical cotangent bundle of
J'Y R with coordinates
(" yi' yi, yi' ii')
and J' V'Y the jet manifold of V'Y R with coordinates
(t, yi, pi, Vii, pa).
PROPOSITION 4.10.19. There is the isomorphism
11 = V'J1 Y = J1V'Y, yi pu, pi, (4.10.39)
over J' Y.
Proof. The isomorphism (4.10.39) can be proved by comparing the transition

functions of the coordinates (yi,y;) and (pi,pu). QED
Due to the isomorphism (4.10.39), one can think of II as being both the Legendre
bundle over the configuration space J'Y and the configuration space over the phase
space V'Y. Hence, the spaceII can be utilized as the unified configuration and
phase space of joint Lagrangian and Hamiltonian formalism.
Remark 4.10.9. In connection with this, note that, according to [10, 133, 1811, the
dynamics of an autonomous mechanical system described by a degenerate Lagran-
gian G on TM is governed by a differential equation on T'M generated by due
to the canonical diffeomorphism between MM and T'TM (see Remark 4.9.1).
The manifold n is equipped with coordinates (t, y', yl, pa, pi), where (y', pti) and
(y' , pi) are canonically conjugate pairs. The space II is endowed with the canonical
form (4.10.13) which reads
A = (dpti A dy' + dpi A dy,) A dt = dt(dpi A dy' A dt), (4.10.40)
where
dt=Ot+yl,8i+p 0'
is the total derivative. The corresponding Poisson bracket (4.10.8) takes the form
Of Og Of Og _ Og Of _ Og Of
{ f' 9 }v = (4.10.41)
apt, V + OR BV apt. 8y' OA 8yi
It is readily verified that the canonical form (4.10.40) and, consequently, the
Poisson bracket (4.10.41) are invariant under the transformations of II which are
jet prolongations of the canonical automorphism of V'Y. I
Let
H = ptidy` + p+dyi - x(t, Y`, Yt, pti, pi)dt

be a Hamiltonian form (4.10.20) on n. The corresponding Hamilton equations
(4.10.21a) - (4.10.21b) read
dty' = (4 . 10 . 42 a)
dtyt' =Bpi, (4.10.42b)
dtpi = (4.10.42c)
dips (4.10.42d)
Substitution of (4.10.42a) in (4.10.42b) and of (4.10.42c) in (4.10.42d) leads to

the equations
&H &H (4. 10. 43a)

dt 0N 8p; ,
Off[
(4.10.43b)
8341 ay,
4.10. APPENDIX. HAMILTONIAN TIMEDEPENDENT MECHANICS 331
which look like the Lagrange equations for the "Lagrangian" ?{. Though it is not
a true Lagrangian, one can put
?f = -Ly + dt(p I"),
whenever Ly is a Lagrangian on J' Y. Then the equations (4.10.43a) - (4.10.43b) are
equivalent to the Lagrange equations for the Lagrangian Ly on J'Y. However, their
solutions fail to be solutions of the corresponding Hamilton equations (4.10.42a)
- (4.10.42d) in general. This illustrates the fact that solutions of the Hamilton
equations (4.10.42a) - (4.10.42d) are necessarily solutions of the Lagrange equations
(4.10.43a) - (4.10.43b), but the converse is not true.
To give a unified Hamiltonian-Lagrangian picture, let us consider the Hamilto-
nian form
H = pudyt + pcdyi - (dt?fn + (piye - ?in) - Ly)dt, (4.10.44)
where Ly is a semiregular Lagrangian on the configuration space J'Y and Hn

is a Hamiltonian form on V'Y associated with Ly. The corresponding Hamilton
equations (4.10.42a) - (4.10.42d) read
day' _ f, (4.10.45a)
dal< ,' = d, 9Hn + ya - 6Hn

8p,
(4 . 10 .45b )
-n
dsp+ - Pi + 8 , (4 . 10. 45 c)
dep = -d
Oh n + + 04 . (4 . 10 .45d )
a
ay, 81l' 5'
Using the relations (4.5.9a) and (4.5.12), one can show that solutions of the Hamil-
ton equations (4.10.21a) - (4.10.21b) for the Hamiltonian form Hn which live in
the Lagrangian constraint space Ly(J'Y) C V'Y are solutions of the equations
(4.10.45a) - (4.10.45d).
Now let us consider the Lagrange equations (4.10.43a) - (4.10.43b) for the Ha-
miltonian (4.10.44). They read
day ' - Mnn = 0 , ( 4 . 10 . 46a)
8Ly 8?{n 8Ly

d<>h (4 . 10 . 46b )
- dtNii --0V - Chi
In accordance with Proposition 4.5.11, every solution of the Lagrange equations for
the Lagrangian Gy such that the relation (4.5.23) holds are solutions of the equations
(4.10.46a) - (4.10.46b).
In particular, if the Lagrangian Gy is hyperregular, the equations (4.10.46a) -
(4.10.46b) and the equations (4.10.45a) - (4.10.45d) are equivalent to the Lagrange
equations for Ly and the Hamilton equations for an associated Hamiltonian form.
Chapter 5
Special topics
This Chapter is devoted to a few topics on higher order and infinite order jet for-
malisms which are involved in different constructions of the calculus of variations
and field theory.
Note that there are two main approaches to jet formalism. The geometric one
define jets as equivalence classes of sections of a fibred manifold and, more generally,
as equivalence classes of submanifolds which have a contact of some order. Within
the framework of the algebraic approach, the notion of jets of modules is basic. The
overlap of these two jet machineries lies in jets of sections of vector bundles.
We have observed that it is convenient to call into play the infinite order jet ma-
chinery in order to describe finite order dynamic systems. We follow the pragmatic
approach to the calculus in infinite order jets when the algebraic limits of objects on
finite order jet manifolds are considered [42, 109, 180, 184]. This prevents us from
the specification of a manifold structure on the infinite order jet space which is not
a well behaved smooth manifold [13, 174, 1751-
5.1 Higher order jets

In this Section, the basics of the calculus in the higher order jets are recalled. Let
us begin with the familiar geometric notion of jets of sections of fibred manifolds
[105, 127, 167).
Remark 5.1.1. We will follow the notation of Section 3.1. Recall that, given fibred
coordinates (ac., y') of a fibred manifold Y -+ X, we use the multi-index A, I A [= r,
for collections of numbers (J1,...J11) modulo permutations. By A + E is meant the
333
334 CHAPTER 5. SPECIAL TOPICS
collection
A+ E= (A,...Alak...a,)
modulo permutations, while AE denotes the union of collections
AE = (A,... Aiak...a,),
where the indices A, and of are not permuted.

Recall the symbol of the total derivatives
d.% :D*-'O7 1,
da = 8a + E YA+a , ,
where the sum is taken over all collections A, 0 <1 A 1. Here by 0 is meant the
algebra of exterior forms on J'Y. The following relations hold
[da, dQ] = 0,
da(q5 A a) d,(4,) A o+ 46 A da(a),

=
d.%(d4) = d(dab).
In contrast with the partial derivatives 8,,, the total derivatives have the coordinate
transformation law
9XA
da = d.
We will use the notation

8A = 8a. o ... o 8,,, dA = da, o ... o dx,, A = 0,...X0.
DEFINITION 5.1.1. The r-order jet space J'Y of sections of a fibred manifold
Y -+ X (or simply the r-order jet space of Y X) is defined to be the union
U is
VEX
of the equivalence classes 9=s of sections s of Y so that sections s and s' belong to
the same equivalence class 2s if and only if
s"(x), 9As`(x) = 8Ad (x), 0 <) A I< r.

5.1. HIGHER ORDER JETS 335
In brief, one can say that sections of Y - X are identified by the r + 1 terms of
their Teylor series at points of X. Of course, the particular choice of a coordinate
atlas does not matter for this definition.
There are several equivalent ways in order to provide the jet space JkY with a
manifold structure. They lead to the following result.
PROPOSITION 5.1.2. Given an atlas of fibred coordinates (XA, y') of a fibred mani-
fold Y -y X, the r-order jet space FY of Y is endowed with an atlas of the adapted
coordinates
(x,yA), 0<IA1<r, (5.1.2)

W, yn) o S = (XA, 00i W),
possessing the following transition functions

ax
YA+A = a,a dvyA (5.1.3)
The coordinates (5.1.2) bring the set J'Y into a smooth manifold of finite di-
mension
Ia- i!(n - 1)!
It is called the r-order jet manifold of the fibred manifold Y X.

The coordinates (5.1.2) are compatible with the natural surjections
7ri : J'Y - JlY

which form the composite fibration
7rr:
with the properties

It
IrAk 0 = 7rAr,
7rrk- 1
A-= 7rr.
0 7rr
A glance at the transition function (5.1.3) when I A I= r shows that the fibration
is an affine bundle modelled over the vector bundle

VT'X VY -y J'-'Y. (5.1.4)
Remark 5.1.2. To introduce higher order jet manifolds, one can use the construc-
tion of the repeated jet manifolds. Let us consider the first-order jet manifold J'J'Y
of the fibred manifold XY X, provided with the adapted coordinates
(x",ye,yaA), I A I< r.
There are the following bundle morphisms
Ja;_1 : J'J'Y -+ J'J'-'Y, y o Jir;_1 = y1, I A I< r - 1,
P; : J' J'Y J'-'Y, yAA o P: = y%+A, IAI < r - 1.
Their affinc difference over J'''Y is the r-order Spencer morphism
VJ''1Y,
aA0Sr=4A-ya+A,
i
IAI<
where VJ'''Y is the vertical tangent bundle of the fibred manifold J'-'Y - X.
The kernel of the r-order Spencer morphism Sr is the r-order sesquiholonomic jet
manifold J'+'Y coordinatized by
(x", ye, y'), IAI< r, I E I= r.
We have the chain of fibred monomorphisms
Jr+'Y --4.7"+'Y - J'J'Y.
Hereafter, we will identify the jet manifolds J'+'Y and J'+'Y with their images in
J'J'Y.
Remark 5.1.3. Following Remark 5.1.2, one can consider the r-order jet manifold
J'J'Y of the fibred manifold J'Y - X with coordinates
(x", y6), IAI<r, IEI<r.
There is the canonical monomorphism

vk,.: J'+kY ti Jr Jky (5.1.5)
given by the coordinate relations

YEA o ark = 2/E+A.
In the calculus in r-order jets, we have the r-order jet prolongation functor Jk
such that, given fibred manifolds Y and Y' over X, every fibred morphism $ :
Y Y' over a diffeomorphism f of X admits the r-order jet prolongation to the
morphism
Jr,b : J'Y 9 f.8 s-+ j*.(.) (() o s o f -') E J'Y' (5.1.6)
of the r-order jet manifolds.

Example 5.1.4. Let Y -, X and Y' - X be two fibred manifolds over the same
base X. Then the fibred morphisms
pr,:YxY'-Y
X
and
pr2:YxV'-.Y'
X
induce the canonical fibred isomorphism
J'(YxY')-J'YxJ'Y'.
x x
The jet prolongation functor is exact. If 4b is injection ]surjection], so is J'+.

The jet prolongation functor also preserves an algebraic structure. In particular,
if Y -+ X is a vector bundle, so is J'Y -. X. If Y - X is an affine bundle modelled
over the vector bundle Y - X, then J'Y X is an affine bundle modelled over
the vector bundle JrY - X.
Every section s of a fibred manifold Y -- X admits the r-order jet prolongation
to the section
(J's)(x) = Zs
of the fibred jet manifold J'Y -+ X. Such a section of JrY - X is called an

integrable section. The following integrability conditions hold.
LEMMA 5.1.3. Let 3 be a section of the fibred manifold JTY - X. Then, the
following conditions are equivalent:
(i) a = J's, where s is a section of Y X,

(ii) J1-3: X J'+'Y,
(iii) J13: X - J"+'Y.
0
Proof. The condition (ii) takes the coordinate form
"A =
OJ-iA,
0<IAJ<r.
It follows that 3 = J'(iro o s). QED
Given the k-order jet manifold JkY of Y -- X, there exists the canonical fibred
morphism
r(k) : JkTY -- TJkY.
over
JkY X JkTX - JkY x TX

x x
whose coordinate expression is
(z", 0:51 A J< k,
yn, ?, A) o r(k) = (x", yn, ?, (y;)A
where the sum is taken over all partitions E + = A and 0 <J 41 J. In particular,
we have the canonical isomorphism over JkY
r(k) : JIVY -. VJkY, (5.1.7)

(?")A =1. o r(k).
As a consequence, every projectable vector field
u = uO,, + Uc
on a fibred manifold Y -+ X has the following k-order jet lift to the vector field on
Jky:
Jku = r(k) o Jku : jky - TJkY, (5.1.8)
Jku=uAOA+ui8i+u;,e;, 0<IAI<_k,
ua+A = dAun -1l+Aaau, 0 <I A 1< k.
In particular, the k-order jet lift (5.1.8) of a vertical vector field on Y X is a
vertical vector field on JkY - X due to the isomorphism (5.1.7).
DEFINITION 5.1.4. A vector field u,. on an r-order jet manifold PY is called

projectable if, for any k < r, there exists a vector field Uk on JkY -' X such that
Uk o Irk = T7rk O u..
Example 5.1.5. A vector field on J'Y which is vertical with respect to some
fibration J'Y J'-'Y is obviously a projectable vector field on J'Y.
Let us denote by Pk the vector space of projectable vector fields on the jet
manifold JkY. It is easily seen that P, are Lie algebras and that the morphisms
T7rk, k < r, constitute the inverse system
PO PI 4- ... Pr_ I T+W- Pr (5.1.9)
of these Lie algebras.
PROPOSITION 5.1.5. The k-order jet lift (5.1.8) is the Lie algebra monomorphism
of the Lie algebra Po of vector fields on Y X to the Lie algebra Pt of projectable
vector fields on JkY such that [13, 174]
T7rk(J'u) = Jku o Irk. (5.1.10)
The jet lift Jku (5.1.8) is said to be an integrable vector field on JkY. Every
projectable vector field on J'Y is decomposed into the sum
u, = JJT7rp(ur) +vr
of the integrable vector field J4T7ra(ur) and the vector field v, which is vertical with
respect to a fibration "Y - Jr-kY.
Every exterior form 0 on the jet manifold JAY has the lift to the pull-back form
akt+" 0 on the jet manifold Jk+Y. Let ilk be the vector space of exterior forms on
the jet manifold JAY. We have the direct system
LAX-+Oo (5.1.11)
where OX and 0 are the vector spaces of exterior forms on X and Y respectively.
The subsystem of (5.1.11) is the direct system
-- 1I Oo ' .... "_', or ...
flo(X) O0
of the rings of real smooth functions ilk = C(JkY) on the jet manifolds JkY.
Thence, one can think of (5.1.11) as being the direct system of left Ok-modules.
The inverse system (5.1.9) of the Lie algebras of projectable vector fields and
the direct system (5.1.11) of the modules of exterior forms are defined for any finite
order r. These sequences admits the limits for r -. oo in the category of Lie algebras
and in that of modules respectively, thus leading to the concept of infinite order jets
(see Section 5.4).
We have the exact sequences
0 VJkY ti TJkY - TX x JkY - 0, (5.1.12)
x
0 JkY x T'X TJkY -. V *JkY 0, (5.1.13)
x
of vector bundles over JAY. In general, they have not a canonical splitting, but
their pull-backs over Jk+' split canonically due to the following canonical bundle
monomorphisms over JAY:
A(A) : JA+'Y c T'X 0 TJkY,

Jlly
dx'' (8A + ya+A8'), 0:51 A I< k, (5.1.14)
and
0iki : Jk+'Y T' JkY VJkY,

JkY JI,Y
O(k) = E(dyn - UA+AdxA) , (5.1.15)
where the sums are taken over all collections of multi-indices A, I A I< k. The
morphism (5.1.15) is called the contact k -jet form. The components
0À = dye - tl'A+ad.T'',
(5.1.16)
of the contact k-jet form (5.1.15) are called the contact forms.
The monomorphisms (5.1.14) and (5.1.15) yield the fibred monomorphisms over
Jk+'Y
A(k) : TX x Jk+'Y c-+TJtcY x Jk+'Y, (5.1.17)
X JkY
and
6(k): V'JkY x _T*JkY x Jk+'Y (5.1.18)

jky JkY
These morphisms split the exact sequences (5.1.12) and (5.1.13) over Jk+'Y and
define the canonical horizontal splittings of the pull-backs
lrk+"7. JkY = !(,t) (TX
x J+' Y) (D V JkY, (5.1.19)
J r
+ E YYOi = a"(8,, + ye+AB+ } + EM - y'a+A)8",
and
7rk+i.7.. Jky =
G 9(k)(V*JkY x Jk+1y), (5.1.20)
Jk+1Y JkY
xadxa + 21i dyn = (xa + E wya+A)&A + 3l: OA
where summation are over all multi-indices A, 0:51 A I<- k.

In accordance with the canonical splitting (5.1.19), the pull-back
Uk:Jk+'Y-.JkY- TJkY
over Jk+'Y of any vector field uk on JY admits the canonical splitting
Ti = u11 + UV = u"(8A + E YA+A8) + E(ul - tAya+A)8".
In virtue of the canonical horizontal splitting (5.1.20), every exterior 1-form .0

on JkY admits the canonical splitting of its pull-back
where h040 is a semibasic 1-form on Jk+'Y, while h1o takes its values into Im B(k).
DEFINITION 5.1.6. An exterior 1-form 46 on the jet manifold JkY is called a contact
1-form if its pull-back sk+''O over Jk+'Y takes its values into the image Im9(k+1)
of the monomorphism (5.1.18).
DEFINITION 5.1.7. Let Ck be the ideal of the algebra ilk of exterior forms on JkY
which is generated by the contact 1-forms on JkY. This ideal comprises the exterior
products of contact 1-forms and arbitrary exterior forms on JkY. Its elements are
called contact forms on the jet manifold JkY, and Ck is said to be the ideal of contact
forms.
The ideal Ck of contact forms is a module over the ring of smooth functions on
JkY. Its Pfalfian system is locally generated by the contact forms OX, I A (< k,
(5.1.16).
It is easily verified that the pull-back irkk+` 0 of every contact form on the jet
manifold JkY onto Jk+'Y is also a contact form. Hence, we have the direct system
of left 0 modules
w ,4. *.
C1 4 C2 2,... + C.
The ideal Ck defines the smooth Cartan distribution CJkY C TJkY of the di-
mension
m
(n+k- 1)!
--I)!
k! (n
on the jet manifold JkY. This comprises the elements ofTJkY which are annihilated
by contact 1-forms. Its fibres CgJkY C TQJkY, q E JkY, are called the Cartan
subspaces.
The ideal Ck of contact forms fails to be a differential ideal since d8X, I A (= k-1,
are not contact forms. It follows that the Cartan distribution CJCY is not completely
integrable.
Remark 5.1.6. Since the obstruction for the ideal CJ." Z to be differential lies only
in the forms O)), (A (= k - 1, the limit of the direct system (5.1.11) has not this
defect.
Though CJkY has no integral manifolds of maximal dimension, it is easily seen

that, given a section s of the fibred manifold Y -+ X, the image of its k-order jet
prolongation Jks in JkY is an integral manifold of CJ*Y. Moreover, in virtue of
the Lemma 5.1.3, any n-dimensional integral manifold B of the Cartan distribution
on JkY such that 7r*(B) is diffeomorphic to X is the image of an integrable section
3 = Jks of the fibration JkY -+ X. This proves the following assertion.
PROPOSITION 5.1.8. An exterior form .0 on the jet manifold JkY is a contact form
if and only if its pull-back ro onto the base X by means of any integrable section
r of JkY - X is equal to zero.
Thus, one can say that images of integrable sections of the fibration JkY -. X
constitute a complete family of integral manifolds of the Cartan distribution on
JkY. They are called k-order Cartan manifolds. It follows that the Cartan subspace
CgJkY of the tangent space TgJkY at a point q E J4Y is the linear envelope of the
tangent spaces to all k-order Cartan manifolds passing through q.
Remark 5.1.7. Cartan manifolds play the role of classical solutions of systems of
partial differential equations in the calculus in jets. Obviously, they do not exhaust
all types of integral manifolds of Cartan distributions (see 11091).
Several constructions of the calculus in higher order jets seem more natural if one
follows the algebraic definition of jets. Given a module P over a commutative ring A,
the modules 3k(P) of k-order jets of the module P are defined in an algebraic way
(see next Section). The relation of this algebraic notion to the above-mentioned
geometric definition is based on the well-known duality between the category of
vector bundles over a manifold X and that of projective modules over the ring
C(X). It means that, if P is the module of sections of a vector bundle Y - X,
then the modules 3k(P) of k-order jets of the module P are represented by sections
of the fibre bundles which are exactly the flbred jet manifolds JIY X introduced
above in a geometric way.
We will meet below several examples of sequences of fibre bundles and modules.
These are the Spencer sequences.
Remark 5.1.8. Spencer sequences. Let P be a module over a commutative ring
A. Let n P be the skew symmetric k-tensor product of P and v P the symmetric
k-tensor product of P.
Let s denote the operation of symmetrization
s:p,...pk- Pp'= 1
pt...p.
k.
where the sum is taken over all permutations (al, - - , 7k) of the collection of numbers
(1, -, k). By a is denoted the operation of alternation. These operations are A-
module morphisms.
The Spencer operator is defined as
I b:Vl'(&nP-. V' P A P, (5.1.21)
b:(plV...VprV...Vpk)(q'A...Agm),__.
F(p' V... Vp' V...pk)0(prnq' A...n

r
where by p? is meant that the element p' is omitted. It is a homology operator, i.e.,
bob=0.
Thence, we have the complex
0_ P_kv'PP 6-4 .. kV (5.1.22)
called the k-order standard Spencer complex. It is easy to check that the standard
Spencer complex is exact.
The generalization of the Spencer complex (5.1.22) is the complex
where E is a A-module.
In particular, let P be the module O'(X) of sections of the cotangent bundle
T'X of a manifold X over the ring D(X) of real smooth functions on X. Then
A:
P is the module Dt(X) of exterior m.-forms on X and
6kX = VD'(X)
is the module of sections of the symmetric tensor bundle
SkX = V"T'X. (5.1.23)

In this case, the (k < n)-order Spencer complex (5.1.22) takes the form
U - 6kX 6 ... 6k--x 017-(X) ... flk(X) o,
where the Spencer operator (5.1.21) is given by the coordinate expression
(-1) (5.1.24)
SE6k-'"X17'"(X), IA I=k-m-1,
with respect to the induced coordinates on TX. We also have the corresponding
sequence of the tensor bundles
0 - SkX 6y ... Sk--X 0'A 7-X 6 ... AT*X () (5.1.25)
where the Spencer operator (5.1.21) is given by the expression similar to (5.1.24):
Ck,...um+ b= I A I= k - m - 1.
The following construction will play a prominent role in the sequel.

Let Y -+ X be a vector bundle. Given a section -9 of the vector bundle JkY X,
let us consider the section irk_i o 's of the vector bundle J'1-1Y -+ X and then the
section
s = J'(ik-1 o s).
si,A = 8.%3"A, I A I < k,
of the vector bundle J' J" Y - X. The sections 3 and s take their values into the
same fibres of the affine bundle J'Jk-'Y - J'-'Y. Therefore, their difference can
be identified with a section of the vector bundle
VJk-'Y Tex,
Jk-'Y
which is isomorphic to the pull-back
(J"-'Y T'X) x Jk-'Y,
x x
since Y -. X is a vector bundle. Furthermore, let 6 be the global zero section of the
vector bundle Jk-'Y -+ X. Then, we have the bundle monomorphism of the fibre
bundle
Jk-'Y T*X -.X (5.1.26)
onto the subbundle
(Jk-'Y (&T'X) x 0(X) C (J"-'Y T'X) x J"-Y.

x x x x
Since the projection 7rkt_i o (s --9) takes all its values into 0(X), we can identify the
section 9 - 3 with a section of the bundle (5.1.26). Thus, we have the morphism
1Qk : 3k(y) - a7k-' (Y) V (X), (5.1.27)
Bk :3'- J' (7rkt_ l 03) -3,

of the space 3k(Y) of sections of the vector bundle JkY X into the space
3k-'(Y) E)'(X) of sections of the fibre bundle (5.1.26).
Since J'-'Y -, X is a vector bundle, one can choose the bases e" for the fibres
of this vector bundle and can identify the induced coordinates VA with the fibre
coordinates Then, the vector bundle (5.1.26) can be endowed with coordinates
(xa, yn a), 0 <I A I< k - 1, (5.1.28)
with respect to the holonomic bases
{dxaO; }, 0<1 AI<k-1,

of its fibres. Relative to the coordinates (5.1.28), the morphism (5.1.27) reads
I ek(8) = (OANA - 3à+A)0 dxA , 0<1 AI<k-1. (5.1.29)
A glance at the coordinate expression (5.1.29) shows that, in virtue of the Lemma
5.1.3, the kernel of the morphism (5.1.27) consists of the integrable sections of
JkY X. Hence, there is the short exact sequence
0 3(y) J" 3k(y) -ik-3k-,(Y) 0,01m, (5.1.30)
where by Jk is meant the morphism induced by the k-order jet prolongations of

sections of Y -. X. This is the vector space monomorphism.
Using the operation of alternation a, one can easily prolong the sequence (5.1.30)
by means of the morphisms pk-,,, a as follows:
3k-I (y) D' (X) --. 3k-2(y) O2(X) - .. .
5.2. JETS OF MODULES 347
As a result, we obtain the sequence
p 3 ( y ) sk(y) ... k-m(y) i7""(X) S (5 . 1 . 31)

... 3(y) (& Dk(X) p, (5.1.32)
where the morphisms Sk+I are given by the expressions
Sm+1k( i
`S) A,u,...Qr-&m+t (5.1.33)
-9 E 3k-m(Y) Dm(X ), I A I= k - m -1,

with respect to the corresponding coordinates of the fibre bundle
Jk-my('T`X) - X.
In particular, Sl = pk. S,kn+1
It is easy to see that the morphisms are similar to the Spencer operators
(5.1.24), and obey the homology rule
k
$kt+1 0 p.
Hence, the sequence (5.1.31) is a complex, called the well-known k-order Spencer
complex of the module 3(Y) of sections of a vector bundle Y -' X. The morphisms
(5.1.33) are called the Spencer morphisms.
The Spencer complex (5.1.31) exemplifies a sequence that has the same structure
as the standard Spencer complex (5.1.22).
5.2 Jets of modules

Within the framework of the algebraic approach, we will show that the representative
object of k-order linear differential operators acting on a module P is the module
3k(P) of k-order jets of P. In other words, every k-order linear differential operator
on P with values into a module Q is given by composition:
of the k-order jet prolongation functor of P to Zlk(P) which is the k-order

linear differential operator, and
a module homomorphism of 3k(P) into Q.
This construction can be extended to nonlinear differential operators acting on

sections of fibred manifolds. These operators are defined directly in terms of jets.
We start from some basic elements of the differential calculus in modules [109).
Suppose that A is a commutative R-ring with a unit element 1 E A. Later, we
will choose that A to be a ring of real smooth functions on a manifold.
Let P and Q be left (or right) A-modules. The set Hom (P,Q) of R-module
homomorphisms of P into Q is endowed with the A-bimodule structure by the rule
(a4S)(p) = a 41(p), (b*a)(p) = i(a -p), a E A, p E P, (5.2.1)
where denotes the multiplication operations in the A-modules P and Q. Let

us consider the difference 5 of left and right multiplications in the A-bimodule
Hom (P, Q):
60(4)=aO-q5*a, 0EHom(P,Q), VaEA.

Let us set
bo,...o.=6fto...o63.
DEFINITION 5.2.1. An element A E Hom (P, Q) is called an s-order linear differen-

tial operator from the A-module P into the A-module Q if
Soo...a.(A) = 0
for arbitrary collections of s + I elements of A. 0
Let us denote by Diff ,(P, Q) the set of s-order linear differential operators from
P to Q. It is endowed with the A-bimodule structure (5.2.1). By definition, there
is the bimodule monomorphism
Diff,(P,Q) C Diffk(P,Q), k>s.

Remark 5.2.1. At the same time, one must distinguish the A-bimodule Diff .(PQ)
from the same set provided separately with the left A-module structure and the right
A-module structure. We denote these modules by Diff , (P, Q) and Diff 8 -(PQ), Q),
respectively.
Let us denote the module Diff ,(A, Q) simply by Diff ,(Q), and consider the
morphism
Z.: Diff , (Q) - Q,

x,(0)0(1), 1 E A.
This morphism is an s-order differential operator on the right module Diff ; (Q),
and a 0-order operator on the left module Diff -(Q).
PROPOSITION 5.2.2. For any differential operator A E Diff-(P, Q), there exists
the unique homomorphism
fa : P -+ Diff, (Q),
[fo(P)](a) = A(a - P), Va E A,
such that the following diagram commutes
fo
P - Diff , (Q)
The correspondence A -4 f a defines the isomorphism
Horn; (P, Diff ; (Q)) = Diff (5.2.2)
In other words, every differential operator from a A-module P to a A-module Q

is represented by a morphism of P into the module of differential operators from
A to Q. It follows that the A-module Diff; (Q) is the representative object of the
functor
Diff; (.,Q) : P - Diff; (P, Q).

Accordingly, the representative homomorphism of the composition of r-order and
s-order differential operators is the composition homomorphism
c,,,.: Diff a (Diff , (Q)) - Diff ,+,(Q).

This is defined by the requirement that the following diagram Commutes

D,
Diif, (Dill, (Q)) -- Diff, (Q)
Cs,r I I 1r
Zs+r
Diff a+r(Q) -'' Q
Let us dwell on the composition homomorphisms cj,r and on the first order linear
differential operators. We will denote
(Diff -,(Q))" = Diff , (... Diff - , ( Q ) A : ...).
For any a E A, we have the map
as : (Diff -,(Q))" -+ (Diff -,(Q))"-',

a * = (Di * a)(A) = ZI(A * a) = (A * a)(1) = 0(a),
A E (Diff -,(Q))", A(a) E (Diff i (Q))k-`.
DEFINITION 5.2.3. The first order differential operators 8 from A to Q which obey
the rule
8(aa') = a8(a) + a'O(a), da, a' E A,

are called the derivations of the algebra A with values into the A-module Q. 0
The derivations 8 constitute the submodule D(Q) of the left A-module Diff i (Q).
There exists also the R-module injection
i : D(Q) Diff -1(Q), (5.2.3)
but Im i fails to be a right A-submodule of Diff i (Q). It is easily seen that a first
order differential operator A belongs to Im i if and only if
D(0)=0(1)=0.
Thence, we have the short exact sequence of R-modules
1 0 - 0 (Q) Diff (Q) - 0,

called the first order Spencer sequence of differential operators.

Remark 5.2.2. Let i : P Q be a A-submodule of the A-module Q. Any P_
valued derivative 8 of A yields the Q-valued derivation i o 8 of A, and we obtain
the homomorphism of the left A-modules
81 i : 0(P) -' a(Q). (5.2.4)
Difficulties arise if P fails to be an A-submodule of Q just as in the case of the
injection (5.2.3).
Let us apply the derivation functor (5.2.4) to the injection (5.2.3). The composi-
tion a(DiIf , (Q)) comprises the derivations of A with values into the right A-module
Diff -(Q). They, by definition, satisfy the condition
(aa')*8= (a*8)*a'+(a'*8)*a.
Let us consider the composition 0(0(Q)), where 0(Q) is is thought of as a left A-
module. Its elements satisfy the condition
(aa') * 8= a'(a*8)+a(a'*8).
Then, it is easily verified that the intersection
02(Q) = o(o(Q)) n a(Diff -(Q))
consists of those elements of a(Diff -,(Q)) which obey the relation
a*(a *(9)=a'*(a* 8).
This is a left A-module. As a consequence, we obtain the following chain of R-
module morphisms
02(Q) -e' a(Diff i (Q)) - (Diff (Q))2 ' Diff z (5.2.5)

(Q)
Set up inductively
o (a. (P) n a(Diff; (P))".
Applying the functor (5.2.4) to the chain (5.2.5) k-2 times, one obtains the k-orde
Spencer sequence of differential operators
0 -' ak(Q) -~Dk-1(Diff i (Q))s-....

k -I
s
ak-m(Diiff m// \Q)) ' ... Diff k (Q) `' Q 0, (5.2.6)
where
Sk m ok-m(Dlffm(Q)) ak-.n-i(Diff'n(Q))
-m-1(Diff,n+1(Q))
SAO: =Dk.
THEOREM 5.2.4. The Spencer sequence (5.2.6) is a complex, that is,
Sk o Sk-+1 = 0.
It is exact at the term 0k-1(Diff -,(Q)) ((1091, p.10,11). 0
Let us turn now to the modules of jets.

Given an A-module P, let us consider the tensor product A P of R-modules
provided with the A-module structure
b(a p) = (ba) p. (5.2.7)
For any b E A, we set

bb(a p) = a (b' p) - (ba) p
Denote by pk+i the submodule of A P generated by all elements of the type

6110o ... o bb' (a p).
There are the natural injections

'C', r>s. (5.2.8)
DEFINITION 5.2.5. The module of k-order jets of the A-module P (or simply a jet
module) is defined to be the quotient e(P) of A P by k+t. 0
Besides the module structure induced by (5.2.7), the k-order jet module 3k(P)
admits also the A-module structure given by the multiplication
b * (a p mod k+') = a (b . p) mod i'+'.
We will denote the k-order jet module with respect to this multiplication by 3.'(P).
There is the following R-module homomorphism
Jk : P -, 3k(P), Jk(p) = 10 pmodk+i, (5.2.9)
and ZJk(P) is generated by the elements Jk(p), p E P.

Note that the k-order jet functor (5.2.9) is the k-order differential operator.
Example 5.2.3. The first order jet module 3' (P) consists of elements ap modulo
the relations
The jet modules possess the following natural properties.

As a corollary of (5.2.8), there exist the epimorphisms
4++
: 3+'(P) -' 3'(P) (5.2.10)
such that the diagrams
P 3'(P)
\-. .
3'+`(P)
are commutative ([109], p.15). The epimorphisms (5.2.10) constitute the inverse
system
3'(P) 3'-I(P) ... "+P.
Given the repeated jet module 38(3k(P)), there exists the homomorphism
Qsk : 3s+k(P) y 3'(3k(P)),
which is defined by the requirement that the following diagram commutes
k 3k(P)
IP
J.+w J. .
1 +
3s+k(P) 3'(3k(P))
PROPOSITION 5.2.6. For any differential operator A E Diff, (P,Q) there is a

unique homomorphism f : 3'(P) - Q such that the diagram
Q
is commutative. 0
Proof. The proof is based on the following fact ([1091, p.13). Let h E HomA(A
P, Q) and
a:!'3p--'apEAP.
Then, we obtain
bb(h o a) (p) = h(6b(a p))
QED
The correspondence A '' f defines the isomorphism
Hom A (3'(P), Q) = Diff ; (PI Q). (5.2.11)
This isomorphism means that the jet module 3'(P) is the representative object of
the functor
Diff; (P,.) : Q -i Diff; (P,Q).
Let us now find the representative object of the derivation functor
ak : Q ak(Q)- (5.2.12)
Let us consider the modules of jets 3'(A) of the ring A. We will denote them simply
by 3'. In the case of 3', the isomorphism (5.2.11) leads to the one
Hom A (3', Q) = Diff ; (Q). (5.2.13)
Remark 5.2.4. The module 3' can be provided with the structure of a commutative
algebra with respect to the multiplication
aJ'(b) x a'J'(b') = aa'J'(bb').
There is the monomorphism
I ik : A - 3k(P), ik(a) = a 1 mod k+,. (5.2.14)
In particular, the algebra a' consists of the elements a b modulo the relations
ab+ba=ab1+1ab. (5.2.15)
Let us consider the injection
i,:A-3'
given by the expression (5.2.14) and the quotient
Oi = 3'/Im ii.
PROPOSITION 5.2.7. The morphism
d':AL
is a derivation of A. 0
Proof. There is the injection
d1(a) --. J'(a) - il(a) E 31.

Then, using the relations (5.2.15), one find in the explicit form that
d'(ba)= 1ba-ba1=ba+ab-ba1-ab1
= bd'a + ad'b.
QED
It is easy to see that the A-module O1 is generated by the elements d(a), while
the morphism (5.2.14) is a monomorphism of Ol into 3' which splits the exact
sequence
Propositions 5.2.6 and 5.2.7 lead to the isomorphism
Hom-(01,Q) = 0(Q). (5.2.16)
In other words, any Q-valued derivation of A is represented by the composition

h o d1, h E Hom-(O1,Q) due to the property d1(1) = 0.
Example 5.2.5. If Q = A, the isomorphism (5.2.16) leads to the duality condition
Hom-(01iA) = o(A). (5.2.17)
The isomorphism (5.2.16) can be extended to higher order derivations.
PROPOSITION 5.2.8. Let us define the modules Ok as the skew tensor products of
the R-modules 01. There is the isomorphism
Horn (Ok, Q) = ak(Q) (5.2.18)
The isomorphism (5.2.18) shows that the module OA: is the representative object
of the derivation functor (5.2.12).
One can use the isomorphisms (5.2.2), (5.2.11), (5.2.13) and (5.2.18) in order to
obtain several relations involving jet modules.
The relations
Hom-(3; 0 P, Q) = Hom-(P, Hom -(3', Q)) _

Hom-(P, Diff: (Q)) = tiff-(P, Q) = Hom-(3'(P),Q)
imply the isomorphism
3'(P)=3:0 P. (5.2.19)
Recall that the tensor product of modules is endowed with the module structure
(5.2.7).
The similar relations lead to the isomorphism
Hom-(3'(Ok),Q) = ak(Diff '(Q)),

where ak(Diff -(Q)) is a left A-module. It means that 31(Ok) is the representative
object of the composite functor
D,t(Diff Q - Ok(Diff -(Q)).
Hence, the morphism
ok(Q) - Dk-L(Dlff -(Q))

implies the homomorphism
h' : 31(Ok-I) - Ok.
As a consequence, the operators of exterior differentiation
dk=hkoJ1:Ok-1-Ok (5.2.20)
can be defined. They form the De Rham sequence

dk+l ... (5.2.21)
which is a complex.
Building on the De Rham complex (5.2.21), one can introduce the homomor-
phisms
Sk-m : 3k(Ok-m-1) - 3k-L(OA:,)
which are defined by the requirement that the diagram
-, y/
3k(Ok-m-1)
S4_*y
_ 3k-1(Ok-m) -...
sl[
Ok
Jkt (5.2.22)
I
Ok-m-1 d
Ok-m - ... _d Ok
is commutative.
The upper row of the diagram (5.2.22) is called the Spencer 3-sequence. Since
3k(.) are generated by Im Jk, this is a complex. It is related to the Spencer sequence
of differential operators (5.2.6) by the isomorphisms
Hom A (31(Ok), Q) = ak(Diff i (Q))

Using the isomorphisms (5.2.19):
3'(Ok)P=38. 0OkP=3'(P)Ok,
one can bring the Spencer complex (5.2.22) into the complex
0 -+ P 'k 3k(P) 8' ... 3k-m(P) Om * ... P004 - 0, (5.2.23)
where the morphisms Sk_i are given by the following expressions

S,". (Jk-m+
(p) 0) = k-m(p) d"4, p E P, -0 E 0m-1, (5.2.24)
S,kn(Jk-.n+l (a)p 0)
= Jk-m(a)Sm(P -0), pE 3k-,n+1 aEA.
The complex (5.2.23) is called the Spencer complex of the module P.
Let us turn now to the case when A is the ring >;)(X) of smooth functions on a
manifold X.
To obtain a geometric realization of the modules over the ring O(X) by the
modules of sections of vector bundles, we should restrict our consideration to the
subcategory of the geometric modules.
DEFINITION 5.2.9. The O(X)-module P is called a geometric module if
nu-P
zEX
where by p is meant the maximal ideal of functions vanishing at the point x E X.

O
For the sake of brevity, one can say that the geometric modules over .O(X) are
those whose elements are defined only by their values at points of the manifold X.
There is the functor
P - P/zEX
n up
from the category of all i7(X)-modules into the category of the geometric modules.
Moreover, if P and Q are geometric modules, then so are Diff k(P, Q), 0k(P) and
3k(P). It follows that the functors Diff k(P, .), 8* and Jk are representable in the
category of geometric modules. They are exact in this category.
Hereafter, we will consider only geometric O(X)-modules. Then, the relation
between algebraic and geometric approaches to jets is based on the following iden-
tifications [109].
5.2. JC'1 S OP MODULES 359
Every left )(X)-module P is identified with the module of sections of a vector

bundle Y - X.
The module 0(17(X)) is identified with the i(X)-module T(X) of vector
fields on the manifold X;
The module Ol coincide with the module 17' (X) of 1-forms on X in virtue of
the duality condition (5.2.17).
The modules of jets 3k(P) are identified with the modules 3"(Y) of sections
of the corresponding jet bundles JkY X of the vector bundle Y -. X.
Furthermore, the operators dk (5.2.20) go over to the familiar exterior differential

of exterior forms on X.
The derivation functor 0' (5.2.12) sends every element q of a module Q onto the
operator of differentiation along q.
The jet functor Jk (5.2.9) is exactly the familiar functor of k-order jet prolon-
gation. Namely, if q is a section of the vector bundle Y X corresponding to the
module Q, then Jk(q) is the k-order jet prolongation of q.
Obviously a number of equivalent statements are found within the frameworks
of both geometric and algebraic approaches to the calculus in jets. Each of these
approaches has its own advantages.
Example 5.2.6. The operation which has no counterpart is in the geometric picture
of jets is the possibility to change a rings. Namely, in contrast with the functor of
jet prolongation (5.1.6), fibred morphisms 4) and their jet prolongations over non-
diffeomorphic transformations f of a base X are considered. Let f : X' - X be
a manifold morphism which is not necessarily a diffeomorphism. It induces the
R-algebra homomorphism
f' : O(X) -. D0(X1)

whose image is the pull-back of !7(X) onto X'. This moomorphism yields the
following two functors of changing rings.
Every 330(X')-module P' of sections of a vector bundle Y' -. X' can be con-
sidered as a O(X)-module by the rule
a P''Ld f'(a)pr, a E 0(X), p' E P.

It is a geometric module. In particular, the ring O(X') can be provided with

the structure of a D(X)-module.
Every geometric O(X)-module P can be brought into the geometric 0'(X')-
module
0(X') P. (5.2.25)
O0(X)
For instance, let P be a 00(X)-module of sections of a vector bundle Y X. The

manifold morphism / : X' - X yields its mapping into the O(X')-module P
represented by sections of the pull-back bundle f'Y -- X', but the image of this
mapping fails to be a D(X')-submodule of P in general. At the same time, this
is a D(X)-submodule of the D(X')-module (5.2.25). Changes of rings lead to the
corresponding changes of modules of jets (see Definition 5.2.5).
Example 5.2.7. In the geometric description of jets, one can obtain coordinate
expressions of different algebraic constructions, e.g., the coordinate expressions of
the morphisms Sk_{ (5.2.24) which constitute the Spencer complex (5.2.23).
Let Y -. X be a vector bundle provided with fibred coordinates (x', Y% and let
(xa, yX) be the adapted coordinates (5.1.2) of the k-order jet manifold JkY of Y.
We consider the Spencer complex (5.2.23) of the module P = 3(Y) of sections of
the bundle Y - X.
Let 3k(Y) be the O(X)-module of sections of the vector bundle JkY - X.
Each element 3 of 3k(Y) takes the local form
F ex'sa,
a
where d are elements of O(X) and sa are sections of the vector bundle Y - X.
Let us calculate S, . By virtue of the relation (5.2.24), we have
S; (-g) _ Jk''so dc _ E 8 Jk-Iso 0 dx'`.
In the corresponding coordinates A I< k - 1, (5.1.28) of J"-'Y 0 M,

this expression reads
(A,,. o Ski) (a) = AAA - yN+A = 8,,c'8Asi, A 15 k - 1. (5.2.26)

By a similar way, one can obtain the coordinate expression of the morphism St:
Mjw o Sz) A I< k - 2, (5.2.27)
where s is a section of the fibre bundle J'-'Y T'X. One can check directly that
Szk o I=0.
A glance at the expressions (5.2.26) and (5.2.27) shows that the Spencer complex
(5.2.23) of the module d(Y) of sections of the vector bundle Y -+ X is exactly the
Spencer complex (5.1.31).
THEOREM 5.2.10. In the category of the geometric modules, the Spencer complex
(5.2.23) (and, in particular, the Spencer complex (5.1.31)) is exact, that is,
ImS, =KerSk.,
for all 0 S 1:5 k. O
Proof. We refer to ([109], p.30) for a detailed proof which is based on the following
assertion. QED
LEMMA 5.2.11. If Y --# X is a vector bundle, so is the fibration JkY - X. In this

case, there exists the short exact sequence over X
SkX Y `+ JkY . Jk-'Y -+ 0,
where the morphism a is given by the coordinate expression
yn=0, if 0<IAI<k-1,
3Al =?/A, if I A1=k,
with respect to the coordinates (x,VA) of SkX 0 Y. 0

5.3 Jets of submanifolds

The notion of jets of sections of a fibred manifold is generalized to jets of submani-
folds of a manifold, when this manifold has no fibration or its fibration is not fixed
(109, 141].
DEFINITION 5.3.1. Let Z be a manifold of dimension m + n. The k-order jet of

m-codimensional submanifolds of Z at a point z E Z is defined as the equivalence
class [S]s of m-codimensional imbedded submanifolds of Z which pass through z
and which are tangent to each other at z with order k > 0. 0
In other words, two submanifolds
is:ScZ, and is.:S

through a point z E Z belong to the same equivalence class [S]z if and only if the
k-tangent rnorphisms
Tkis : TkS ti TkZ and Tkis, : TkS' c+ TkZ
have the same image at the point z E Z, that is,
'I'kis
Ir;s' .
Remark 5.3.1. In fact, the definition of the k-order jet JS]* of submanifolds involves
only local properties of submanifolds around the point z E Z.
The union
U (S];, k > 0, (5.3.1)
sEZ
J,nZ = Z.
of jets [S]; is said to be the k-order jet manifold of the m-codimensional submanifolds
of Z . It can be provided with a manifold structure as follows.
Let Y - X be an (m + n)-dimensional fibred manifold over an n-dimensional
base X and 4i be an imbedding of Y into Z. Then there is the natural injection
Jk4i : JkY
j=s'-' [S]k(8(Z)), S = Im (0 o s), (5.3.2)
5.3. JET'S OF SUBMANIFOLDS 363
where s are sections of Y - X.

PROPOSITION 5.3.2. The injection (5.3.2) defines a chart on J,' Z. Such charts
cover the set JmZ, and transition functions between these charts are differentiable.
They provide the set JmZ with the structure of a finite-dimensional manifold. 0
Proof. The proof is based on the fact that, given a submanifold S C Z which
belongs to the jet [S]k, there exist a neighbourhood U. of the point z and the
tubular neighbourhood Us of S n Us so that the fibration Us - S n Us takes place.
It means that every jet [S] lives in a chart of the above-mentioned type. Later,
we will describe these charts and the corresponding transition functions in explicit
form. QED
Lowering the order of tangency, one obtains the natural surjections
Pk-c : JmZ J. "Z, (5.3.3)

Po:J,Z-Z,
which are fibre bundles. However, the fibre bundle
4-1: JmZ-J,,, 11+
is not afline. There is no simple relation, as in the case of jets of fibred manifolds,
between the higher order jets Jam,+1Z and the repeated jets
Hereafter, we will use the following coordinate atlases on the jet manifolds JmZ
of submanifolds of Z.
Let Z be endowed with a manifold atlas with coordinate charts
(z^), A= 1,...,n + m. (5.3.4)
Though by definition, is diffeomorphic to Z, let us provide J,Z with the Was

obtained by replacing every chart (z") on a domain U C Z with the
n+m _ (n+m)!
m n!m!
charts on the same domain U which correspond to the different partitions of the
collection (z A) in collections of n and m coordinates. We denote these coordinates
by
(xA,y`), A = 1,...,n, i = 1,...,m. (5.3.5)

The transition functions between the coordinate charts (5.3.5) of JO Z associated

with the coordinate chart (5.3.4) of Z are reduced simply to exchange between
coordinates x and y, and read
xal=y", ..., 95min(n,m), (5.3.6)
V1 =x-1 . ..., 54 =X4,
T -+1 = xAq+1' ... , ix. = r M,
V q+1 = 0 +1
.
.... V- = x .
Ttansition functions between arbitrary coordinate charts of the manifold JI.Z

take the form
(5.3.7)
XA=?() , yf =f,(zll,U)
Remark 5.3.2. If S C Z is an imbedded submanifold which belongs to the jet
class (S];, there exist an open neighbourhood U. of Z E Z and a coordinate chart
(xa, y') (5.3.5) which cover U. so that s n u, is given by the coordinate relations
yi =
and
(x", yA)([S]) = (XA(Z), BAS (x"(Z)))
Given the coordinate atlas (5.3.5) of the manifold J.* Z, the k-order jet manifold
JmZ of Z is endowed with the atlas of coordinates
(xA, yn ), ( A 1:5 k, (5.3.8)
where by A is meant a collection of indices modulo permutations. How-

ever, the transition functions between these coordinate charts differ from those in
(5.1.3).
Using the formal total derivatives (5.1.1), one can write the transformation rules
for the coordinates (5.3.8) in the explicit form. Given the coordinate transformations
(5.3.7), it is easy to find that
4= d (5.3.9)
5.3. JETS OF SUBMANIFOLDS 365
For instance, we have
ya = [(.. + J )J (ate (5.3.10)
The transformation rules for the higher order jet coordinates VA can be obtained
inductively by the rule
ya+A = (4-9N 1IA' (5.3.11)
The transformation law (5.3.11) is compatible with the surjections (5.3.3). It

follows that these surjections are fibrations, and JmZ -' Jm 'Z are fibred manifolds,
including JmZ - JmZ.
It is easy to see that the transformation law (5.1.3) is a particular case of the
coordinate transformations (5.3.11) when the transition functions g" (5.3.7) are
indepcrident of the coordinates V. At the same time, a glance at the expression
(5.3.10) shows that, in contrast with (5.1.3), transformations of the coordinates
(5.3.8) fail to be affine. Hence, the fibred manifolds JmZ -' Jm 'Z are not affine
bundles in general.
Example 5.3.3. In order to illustrate this fact, let us calculate the coordinate
transformations (5.3.10) if the transition functions (5.3.7) take the form (5.3.6)
when only two coordinates y' and x' are exchanged, that is,
x' = y1, y' = x'. (5.3.12)
In this case, the operator (5.3.9) reads
d
d d
-dx+yoai1,
1d d,r- y1ai1,
d ar#1.
Applying this operator toy and x`, we obtain
i0=1P+J/oy, a#1,
ro_-1
0=yv+g.,Y11
I=yiyi
Hence, the coordinate transformations of 1-order jets read
1 ye = - ya -o Y.
z'
Ji
1
= 1l17,
__
yr,
1
Y!
yo = Y.
o
- 1l11
(5.3.13)
They are defined on the overlap of charts of the coordinates (ia`, y , ya) and (x", y1, y)
where
yi 96 0, yi 34 0.
Arbitrary coordinate exchange (5.3.6) can be obtained as composition of the

coordinate transformations (5.3.12) - (5.3.13). Note that the transition functions
(5.3.13) do not depend on the coordinates (x, y) of the manifold Z. It follows that
the fibrations (5.3.3) are fibre bundles. Moreover, it is readily observed that an
arbitrary coordinate transformation (5.3.7) can be represented by composition of
the coordinate exchanges (5.3.12) and fibred coordinate transformations
sa = xa, y" = f"(x",y'). (5.3.14)
Therefore, it suffices to check that a coordinate expression in the calculus in jets

of submanifolds is maintained under the fibred coordinate transformations (5.3.14)
and the coordinate exchanges (5.3.12) in order to check that it is preserved under
general coordinate transformations (5.3.7).
Example 5.3.4. Given a manifold Z, let us consider the 1-order jet bundle JJZ
of m-codimensional submanifolds of Z. As an immediate consequence of Definition
5.3.1, there is one-to-one correspondence between the jets [S1= at a point z E Z and
the n-dimensional vector subspaces of the tangent space TZ:
IS]= - ?R% + ya(IS]=)a1)

The fibre bundle
Z (5.3.15)
possesses the structure group

C L(n, m; R) C GL(n + m; R),
of linear transformations of the vector space R'"+" which transform its subspace R"
into itself. Its typical fibre is the Grassmann manifold
Q3(n, m; R) = CL(n + m; R)/CL(n, m; R)
of n-dirnensional vector subspaces of the vector space R"'+".
In particular, if n = 1, the fibre coordinates ya (5.3.8) of the fibre bundle (5.3.15)

with the transition functions (5.3.13) are exactly the standard coordinates of the
projective space RP'".
Example 5.3.5. When n = 1, the formalism of jets of submanifolds provides the

adequate mathematical description of relativistic mechanics as follows.
Let Z be a (3 + 1)-dimensional manifold equipped with an atlas of coordinates
(z, z'), i = It 2, 3, (5.3.5) with the transition functions (5.3.7) which take the form
z ' z (z, z2), z' - z (z, z'). (5.3.16)
The coordinates z in different charts of Z play the role of temporal Coordinates,

whereas z' are the spatial ones. We consider arbitrary coordinate transformations
(5.3.16), not only the Lorentz ones.
Let J3 Z be the jet manifold of 1-dimensional submanifolds of Z. This is provided
with the adapted coordinates (z, z', 4) (5.3.8). Then one can think of zo as being
the coordinates of 3-velocities. Their transition functions are obtained as follows.
Given the coordinate transformations (5.3.16), the total derivative (5.3.9) reads
d-,o = dso(z)dso = (+)dao.

In accordance with the relation (5.3.10), we have
OZO azo (OP 19V
z = d-.b(z)d,o(z) = +4 5z=k) az + Z45z
e
The solution of this equation is
8z + z0J
or / 8z + z 8z
z0 8x 8zJ 8z 8zk
This is the transformation law of 3-velocities, which illustrates that the jet bundle
J'Z -i Z is not affine, but projective.
To obtain the relation between 3-velocities and 4-velocities, let us consider the
tangent bundle TZ equipped with the induced coordinates (z, z', z, z'). One can
think of the coordinates (z, i') as being 4-velocities. Then we have the morphism
over Z
(5.3.17)
zaop=i'/i.
It is readily observed that the coordinate transformation laws of zo and zf/V are
the same.
Note that the similar morphism R4- RP4 provides the projective space RP4
with the standard coordinate charts.
The morphism (5.3.17) is a surjection. Let us assume that the tangent bundle
is provided with a pseudo-Riemannian metric g and Q, C TZ is the hyperboloid
given by the relation
=1, ,L=0,1,2,3.
The union of these hyperboloids over Z
Q:=Q+UQ-
Q=aU
is Lite union of two connected imbedded subbundles of TZ. Then the restriction of
the morphism (5.3.17) to each of this subbundle is an injection of Q into JJZ.
Let us consider the image of this injection in the fibre of J3Z over a point z E Z.
There are coordinates (z, z;) in a neighbourhood around z such that the pseudo-
Riemarnnian metric g(z) at z takes the form
g(z) = diag(1, -1, -1, -1).
In this coordinates the hyperboloid Q, C TZ is given by the relation
E(it)2
(Z)2 - = 1.
i
This is Lite union of the subsets Qt where z > 0 and Q; where z < 0. The image
p(Q,) is given by the coordinate relation
E(zo) < 1.
From Lite physical viewpoint, this relation means that 3-velocities are bounded in
accordance with Special Relativity.
Remark 5.3.6. Preconnections. Let Y X be a (m + n)-dimensional fibred

manifold and J1Y the 1-order jet manifold of the fibred manifold Y - X. Let J,;,Y
be the 1-order jet manifold of m-codimensional subspaces of the manifold Y. The
image of J'Y into J,; Y by the injection (5.3.2) is the affine subbundle of the bundle
(5.3.15). Its fibre at a point y E Y consists of the n-dimensional vector subspaces
of the tangent space TY whose intersections with the vertical tangent space V5Y is
the zero vector.
Note that, generalizing the notion of connections on a fibred manifold, one may
treat global sections of the bundle (5.3.15) as the so called preoonnections on the
manifold Z [141]. By virtue of the well-known theorem ([931, p.57), if such a pre-
connection r exists, its image r(Z) in the tangent bundle TZ -i Z is a vector
subbundle of TZ with the structure group GL(n; R). The quotient TZ/I'(Z) is also
a vector bundle with the structure group GL(m; R). We have the decomposition
TZ = r(z) TZ/r(Z),
which can be treated as the horizontal splitting with respect to the preconnection
r by analogy with the horizontal splitting with respect to a connection on a fibred
manifold.
However, it should be emphasized that, since JI.Z fails to be an affine bundle,
preconnections do not constitute an affine space. Preconnections on an arbitrary
manifold Z fail to exist (1170], p.144).
Definition 5.3.1 of jets of submanifolds does not provide for jets of n-dimensional
submanifolds of an n-dimensional manifold Z. Jets of this type are widely known
due to their application to study of G-structures [104, 155].
DEFINI'T'ION 5.3.3. Given an n-dimensional manifold Z, the k-order jet of the

manifold Z at a point z E Z is the equivalence class [gZ]; of imbeddings gz of
the pair (R", 0) into the pair (Z, z), where two imbeddings i and t" are said to be
equivalent if the composition gil o g'Z and the identity map IdR" have the same
derivatives up to order k at 0. 0
The union
JZ,U [gz];
of the jets [9z]s over Z is said to be the k-order jet prolongation of the manifold Z.
Example 5.3.7. Let Z = R" and z = 0. Then the jets [gJ E JJR" constitute the
group with multiplication defined by the composition of jets
(Y10'.100, = [go #']o

This is a Lie group. For instance,
JoR" = CL(n;R).
The group JoR" acts naturally on J0 1Z on the right by the law

jokRr.
[9Z]s - [9J0 = [9z o 91'., [9Z)'.' E Jo Z, [9[0 k E
PROPOSITION 5.3.4. The natural surjection J0 1Z -' Z is a principal bundle with

the structure group JOkRn ([1551, p.56). 0
For instance, the jet bundle Jo Z - Z is exactly the principal linear frame
bundle LZ with the structure group CL(n;R). Its elements are linear frames on the
manifold Z. Similarly, one can think of elements of the bundle JO *Z Z as being
k-order frames on the manifold Z.
Remark 5.3.8. Cartan distribution. Let us consider briefly the Cartan distribu-
tions C(Jnk,Z) on the jet manifolds of jets of m - codimensional submanifolds
of a manifold Z . Their particular case are the Cartan distributions CJkY on the
jet manifolds JkY of sections of a fibred manifolds Y - X that we have consid-
ered above. Integral submanifolds of C(J,kZ) play the role of classical solutions of
differential equations defined on a manifold Z.
The contact 1-forms on the jet manifold JcY of sections of a fibred manifold
Y X have been introduced by means of the canonical splitting (5.1.20) of the
pull-back irk+"'T*JkY (see Definition 5.1.6). In the case of jets of submanifolds,
there is no such a canonical splitting.
Civen a coordinate chart (5.3.8) of the k-order jet bundle of m-codimensional
submanifolds of a manifold Z, let us consider the of local 1-forms
which is generated by the local forms
0A = dyn - ya+Adxa, I A 1< k.
The elements of this module will be called the local contact forms.
LEMMA 5.3.5. Transition functions between the coordinate charts (5.3.8) of the jet
manifold send local contact forms onto local contact forms. 0
Proof. It suffices to check this fact in the case of the transition functions (5.3.14)
and (5.3.12). The first case is obvious since (5.3.14) are fibred coordinate trans-
formations. The second case is verified by the following direct calculations. We
have
6n = drA -1/a+Ad - l'l'1+Adxl = dUA - IIA+edg* - 9A+1dU' _
E+ Adx + idxl - (
1E I
MEd
- lli dam') MA)de
- 1-b11d-dxi dyl = 2A gE di g1.
JEI_JAI E bt dz
QED
Building on this Lemma, we can give the following definition of contact forms
on the jet bundle J,' ,Z.
DEFINITION 5.3.6. A 1-form on the jet bundle JmZ is called a contact 1-form if it
is a local contact 1-form with respect to any coordinate chart (5.3.8) on JmZ. Let
us denote by O(J,k,Z) the ideal of the Z-graded algebra of exterior forms on
JmZ which is generated by the contact 1-forms. This ideal comprises the exterior
products of contact 1-forms and arbitrary exterior forms on JmZ. Its elements are
called the contact forms on JmZ.
In particular, let us consider the k-order jet bundle of n-dimensional sub-

manifolds of the manifold Y and the injection (5.3.2):
JkldY:JkY --
This is an imbedding onto a dense open set in JmY. Let O(JknY) be the ideal of
contact forms on J,kAY. Then the pull-backs on JkY of contact forms on are
obviously the contact forms on JkY which generate the ideal Ck of contact forms on
JkY
It is easily observed that the pull-back pkt+" 9 on the jet bundle Jm+'Z of every
contact form on the jet bundle JknZ is also a contact form. Hence, we have the
direct system
L o(JJZ) ... O(JJZ)

The ideal defines the smooth distribution of dimension

(n+k- 1)!
k!(n-1)!
in the tangent bundle TJmZ which is annihilated by O(JknZ).
DEFINITION 5.3.7. The distribution C(J,kZ) is called the Cartan distribution. It is

given in coordinate form by the equalities
.JOA=O, IAI<k,
for all elements of this distribution. 0
The ideal O(Jk,Z) of contact forms fails to be a differential ideal, that is,
d(O(J'Z)) it O(J' Z)
because dOA, I A 1= k - 1, are not contact forms. Hence, the Cartan distribution
is not an involutive distribution, and therefore it does not satisfy the con-
ditions of the Frobenius theorem. It follows that the Cartan distribution does not
possess integral manifolds of maximal dimension in general. At the same time, there
are n-dimensional integral manifolds of the Cartan distribution as follows.
Let
is:S --+Z
be an n-dimensional imbedded submanifold of Z. There exists the imbedding
Jkis : S - (5.3.18)
yA' o J*is(z) = A I<_ k,

va+E([SI.) = BAy ([S[:), I E 1< k.
Its image JSk is said to be the k-order jet prolongation of a submanifold S. It is easy
to see that the pull-back Jkis'O on JSk of any contact form 0 on J.' Z vanishes, and
so JSk is an n-dimensional integral manifold of called the k-order Cartan
manifold. It follows that the image of the tangent morphism
TJkis : TS TJk,Z
5.4. INFINITE ORDER JETS 373
to the morphism (5.3.18) belongs to the Cartan distribution C(J4Z). This is called
the Cartan subspace. Similar to the Cartan subspaces of the Cartan distribution
CJkY on the jet manifolds JkY, the Cartan subspace of the tangent space TgJJZ
to the jet manifold JmZ at a point q E Jk.Z is the linear envelope of the tangent
spaces TQJSI to all k-order Cartan manifolds through q.
5.4 Infinite order jets

As was mentioned above, several constructions in the calculus of jets of sections of
a fibred manifold Y - X get completeness if the limit of the inverse system (5.1.9)
of algebras of projectable vector fields and the limit of the direct system (5.1.11) of
modules of exterior forms on finite order jet manifolds J'Y are considered.
Intuitively, one can think of elements of these limits as being the objects defined
on the projective limit of the inverse system
-01
...J'-'Y'x'-1 1'Y ... (5.4.1)
of finite order jet manifolds J'Y.

By a projective limit of the inverse system (5.4.1) is meant a set JY which
obeys the conditions [136]:
there exist surjections
ir : JY - X, Ira : JY - Y and 7r : JY JkY; (5.4.2)
for any k;
the diagrams
JY
Jky J'Y
xk
r
are commutative for any k and r < k.

The projective limit exists. It is called the infinite order jet space. This space
consists of those elements
(... , qi, ... , qj, ...), qi E J'Y, gj E J1Y,
of the Cartesian product
JkY
k
which satisfy the relations
qi=7r(gj),
for allj>i.
Thus, elements of the infinite order jet space JY really represent 00-jets j.18
of local sections of Y -i X. These sections belong to the same jet j. 's if and only
if their Taylor series at a point x E X coincide with each other.
Remark 5.4.1. It is dear that JODY is the projective limit of the inverse subsystem
of (5.4.1) which starts from any finite order J'Y. For the sake of simplicity, we will
denote sometimes r = 0 for Y and r = 0 for X.
The set JY is provided with the weakest topology such that the surjections
(5.4.2) are continuous. The base of open sets of this topology in JY consists of
pre-images of open subsets of JkY, k = 0,..., under the mappings (5.4.2). This
topology is paracompact and admits smooth partitions of unity
The space JY can be also provided with some kind of a manifold structure,
but it fails to be a well-behaved manifold (174, 1751. At the same time, a wide class
of differentiable objects on JY can be introduced [13, 1741. The procedure is the
following.
At first, smooth functions on JY are defined. A function
f:JY-.R
is said to be of class C if, for every q E JY, there exists a neighbourhood U of
q and a smooth function
f(") : JkY - R
for some k such that
f I U= P) o Irk Iu
Vector fields on JY are introduced as derivations of smooth functions. Then,

exterior forms on JY are defined as the objects dual to vector fields.
The above-mentioned limits of the inverse system (5.1.9) of Lie algebras of pro-
jectable vector fields and of the direct system (5.1.11) of modules of exterior forms
on finite order jet manifolds J'Y belong to the classes of vector fields and exterior
forms defined on the infinite order jet space. In this sense, elements of these limits
are indeed the objects on JY.
The projective limit P. of the inverse system (5.1.9) exists. Its definition is a
repetition of that of JY. This is a Lie algebra so that the surjections
Tirk
are Lie algebra morphisms which constitute the commutative diagrams
P.
Txk f 1 Txr
Pk A.
Tx,k
Let us consider the direct system (5.1.11) of R-modules Ok of exterior forms on

finite order jet manifolds JkY, i.e.,
(5.4.3)
The limit $D Q of this direct system, by definition, obeys the following conditions
[136):
for any r, there exists an injection
0; -
r
the diagrams
are commutative for any r and k < r.

Such a direct limit exists. This is the R-module which is the quotient of the
direct sum
Dk
k
with respect to identification of the pull-back forms
ir,. c#=ir *?, 0E0*, oEOk

if 46 = Ak a. In other words, 0;, consists of all the exterior forms on finite order jet
manifolds module pull-back identification.
Remark 5.4.2. Obviously, DL is the direct limit of the direct subsystem of (5.4.3)
which starts from any finite order r.
Further on, we will denote the image of Dr in 0 by flr and the elements rr,'#
of Oa, simply by 0.
Remark 5.4.3. The differential calculus in Oa, is formulated in terms of filtered
operators (109].
The R-module D:. possesses the structure of the filtered module as follows. Let
us consider the direct system of the commutative R-algebras of smooth functions
on the jet manifolds FY:
D(X) 170 ' 17 '-.... 00 ... ,

Its direct limit D;, exists. This is the R-algebra filtered by the R-algebras irk 'D4:
D;,=UD4,
k
Then, 0 D has the filtered D-module structure given by the D4-submodules Ok of

0.
DEFINITION 5.4.1. An endomorphism A of Oa, is called a filtered morphism if

there exists i e N such that 0 I Dk is the homomorphism of Dk into Dk+i over the
injection 00 - D4+j for all k.
In particular, every direct system of endomorphisms {ryk} of DA; such that
40 0 7'='Yfo4
for all j > i has the direct limit y in filtered endomorphisms of Da,. If all yk are
monomorphisms [epimorphisms], then y is also a monomorphism [epimorphism].
As a consequence, the following theorem holds ([1361, p.391).
THEOREM 5.4.2. The operation of taking homology groups of a chain and cochain
complexes commutes with the passage to the direct limit. 0
The operations of the exterior product A and the exterior differential d have the
direct limits on fl;,. We will denote them by the same symbols A and d, respectively.
They provide D.. with the structure of a Z-graded algebra:
fla, _ D-O,,,
"Wo
where D'O are the direct limits of the direct systems
" . OM -... Dm'_+ fl
flmx 170 +1 - .. .
of R-modules flm of exterior m-forms on r-order jet manifolds FY.
One calls elements of D' the exterior m-forms on the infinite order jet space.
The familiar relations of a Z-graded algebra take place:
0' A D C O
d:O00 -0'00',
dod=0.
Remark 5.4.4. As a consequence, we have the following cochain complex of exterior
forms on the infinite order jet space
0-In ,Kerd--'n4O0
d+ . (5.4.4)
Let us consider the cohomology group Hm(D:,) of this complex. By virtue of
Theorem 5.4.2, this is isomorphic to the direct limit of the direct system of homo-
morphisms
H'(O) -. H'(D;+l) - .. .
of the oohomology groups H'"(fl;) of the cochain complexes
0 O+KerdDor O' -- d+fl; --- 0, l=dimJ'Y.
The cohomology groups H'(),,), m > 0, of such a cochain complex coincide with
the cohomology groups of the De Rham complex of the sheaves of germs
of exterior forms on the jet manifold JTY. The following assertion completes our
consideration of oohomology of the complex (5.4.4).
PROPOSITION 5.4.3. The De Rham cohomology H'(J'Y) of jet manifolds JrY

coincide with the De Rham cohomology HO(Y) of the fibred manifold Y -+ X [131.
0
Proof. It follows from the fact that the jet bundles XY J "Y are affine bundles
which have the same De Rham cohomology than its base. QED
It follows that the cohomology groups Hm(fla,), m > 0, of the cochain complex
(5.4.4) coincide with the De Rham cohomology groups Hm(Y) of Y X.
Let us recall the following natural splittings on infinite order jets.

There is the canonical decomposition
Ilea,=0000's 0oc-'...0oa'oJ (5.4.5)
where elements of are called k-contact and (s - k)-basic forms. We denote

by ht the k-contact projection
hk : 0m - Ok,m-k, k < m. (5.4.6)
I It follows that, in the calculus in infinite order jets, any exterior form on a
finite order jet manifold can be expanded in horizontal and contact forms only. I
Accordingly, the exterior differential on ilo, is decomposed into the sum

d=dy+dv (5.4.7)
of the horizontal differential dH and the vertical differential dv. These are defined
as follows:
I)k+',a ilk,a+1
d : ilk,a
00
- 00 00
ka k,a+1 k,a def k,a
dH :17 Ooo , dH I il prs o d 1000
k,a k+1,' k,a dd
dv : i7 oo dv I O00 k,a
pr, o d I O
for all k, s. The operators dm and dv obey the standard relations

dH(4iAa) = dm(o) A a + (-1)1010 AdH(a), 46,a e boo,
dv(6 A a) = dv(40) A o + A dv(a),
and they are the homology operators:
dHodj=0, dvodv=0, dv o dH + dH o dv = 0. (5.4.8)
We also have
hood=dHoho.
Though we do not introduce a manifold structure on the infinite order jet space,
the elements of the direct limit 0 can be considered in the coordinate form as
follows.
Let U be the domain of a fibred coordinate chart (U; x", y') of a fibred manifold
Y - X. Let
Ur = (7ro')-'(U)
be the domain of the corresponding coordinate chart of the bundle JrY - Y. One
can repeat the above procedure for the modules ilu, of the exterior forms defined
on Ur and obtain their direct limit 0 (U).
PROPOSITION 5.4.4. There exists the R-module homomorphism of 0a, to 0:.(U).
0
Proof. For every r, we have the R-module homomorphism
=u. : flr --+ 0u,
which sends every exterior form on JY onto its pull-back on U,.. Then there exists
the above-mentioned homomorphism
iu' : 0* -0:(U)
so that the diagram
Or ' t7
D'. o0
iu.
1
0u.. - V". 000(U)
commutes for any order r ([136], p.386). QED
Elements of Oa,(U) can be written in the familiar coordinate form.

The basic 1-forms &T-" and the contact 1-forms
9E = d y E - yE+,,dx-%, 0 <I E I .
constitute the set of generating elements of the filtered 00.(U)-module fl:.(U). In

particular, we have the coordinate expression (3.1.3) for the horizontal differential
dH = dxa A dA(0), dHO = dx" A da(O), 0 E Ou,

where
d,,=d,- 0<IAI, (5.4.9)
are the formal total derivatives in infinite order jets.

Remark 5.4.5. Though the sum in the expression (5.4.9) is taken with respect to
an infinite number of collections A, the operator (5.4.9) is well behaved since, given
any form 0 E flu, the expression d,,(4) always involves a finite number of the terms
O' only.
The reader is referred to Sections 3.1 and 5.1 for the explicit expressions for
operators dy, dv and d,,.
Given an atlas ((U; x", yi) } of fibred coordinates of Y - X, let us consider the
module of exterior forms on infinite order jets Da,(U) for every coordinate chart
(U; xa, y`) of this atlas. We have the following corollary of Proposition 5.4.4.
COROLLARY 5.4.5. Every element 0 of the module Oo, is uniquely defined by the
collection of elements {4u } of the modules Oa,(U), together with the corresponding
rules of coordinate transformations. 0
Further on, we will utilize the coordinate expressions for exterior forms on in-
finite order jets, without specifying the coordinate domain U. One can say that
an object given by a coordinate expression as an element of each module Oa,(U)
is also globally defined if its coordinate form is preserved under the corresponding
coordinate transformations.
5.5. VARIA77ONAL BICOMPLEX 381
5.5 Variational bicomplex

In Section 3.3, the application of the variational sequence to Lagrangian formal-
ism has been discussed. Here, we obtain explicit expressions for the corresponding
projection and variational operators.
We restrict our consideration to the variational sequence in the calculus in infinite
order jets [42, 180). In comparison with the finite order variational sequence [113,
114, 115, 1851, the essential simplification is that, if the order of jets is not bounded,
there is decomposition (5.4.5) of exterior forms on jet manifolds into contact and
basic forms. At the same time, we are allowed not to fix the order of the objects
(e.g., Lagrangian densities and Euler-Lagrange operators) which we obtain from the
analysis of the infinite order variational sequence.
Building on the homology properties (5.4.8) of the horizontal and vertical differ-
entials dy and dv, one can construct the following commutative diagram [42, 175,
180]:
0 0
1 1
R R 0
0. ilc(X)
I' 1
JDO,O
00
eve... dvi 1
O'a
00
...
d1
dHI (-1)kdu!
0
di
17n-1X
di
- *.
ilOn-1 dv- ... dv

du11)kdH
(-1)kdn
ilk,n-1 dv
00
_ _, .. .
(5.5.1)
0 - 0_(X)
dHI
Do,_ dv ... v 4 k,n .. .
00
7k1
-1
0 Eo Ek
I I
0 0
where, by definition,
Ek = Oko0'n/dyi7;,'n-'
0 (5.5.2)
Since all columns and rows of this diagram are complexes, it is called a bioomplex.
PROPOSITION 5.5.1. The quotient Ek, k > 0, (5.5.2) in the bottom row of
the bicomplex (5.5.1) is isomorphic to the complement rk(D'-") of the subspace
dH(D',"-') C D". o
Proof. Later, we will construct the projection operator rk such that
0 = r,O + 40, 0, 0 E (5.5.3)
for any 0 E D;;", and we show that rk o dH = 0. QED
Let us consider the operator
rk= krlD00 (5.5.4)
E(-1)t"IB' A [dA(e; J0)], mED , (5.5.5)
where the sum is taken over all multi-indices A of length 0 <I A 1. The operator r
(5.5.5) can be constructed in a straightforward manner by iterating the reduction
procedure
due to the relation

0a,a, Aw = -dy(9à,...a._,) Awa., (5.5.6)
for all basic elements O of the decomposition
01... k4COE, A... A9" Aw (5.5.7)
of forms 0 E O . It follows immediately that the relation (5.5.3) takes place.

It is easily observed that the relation (5.5.6) is maintained under coordinate
transformations. Hence, the operator (5.5.5) is globally defined on exterior forms
from 00111".
Given an exterior form 0 (5.5.7), the operator rk (5.5.4) takes the explicit form
k Er
.ml IG r;....-4i>
A ... A BE-'+E.-, A e.--.V'+E.f. A ... A B`"`+Ek A W,
5.5. VARIATIONAL BICOMPLEX 383
where the second sum is taken over all of partitions
Er=E 051E:I5iErl,
of the collection E.
LEMMA 5.5.2. We have
(1-1. o dH)(') = 0, 't(1 E Qoon- (5.5.8)
13
Proof. Given a form

il ...Eke11
A ... A AWo,
W = W it ...ik
we find
dn,P=(-1)kId+G'..:ik0 A...A9i +...

k
A ... A gt A ... A gik + ...] A W
0
Let us calculate (rk o dH)(ik). The term To of dHVt is brought into

11 1
rk(To)=E( k
Oil +E, A ... A9 -', A0 +I A... 0w+Ek A
For every term of this decomposition characterized by the partition
Er= +...+-r
of the collection E there exists the corresponding term in rk(Tr) where A = a+ r
in the expression (5.5.4) and
Er+cc + +
such that their sum is equal to zero since
For every term in Tk(',) with A = Ef,&, and
there exists the corresponding term in Tk(lkt) with A = a + Ej and
such that their sum is equal to zero. As a consequence, the relation (5.5.8) holds.
QED
The relations (5.5.3) and (5.5.8) lead to the equality

Th(0) = (7k o 7-k) (0) + (Tk o dH)(0) = (Tk o Tk)(0),
that is, the operator Tk (5.5.4) on ) ," is really a projection operator. Thus, Propo-
sition 5.5.1 is proved.
Let us consider the short exact sequence
C"`+k __+00O k -+ Ek ' 0, (5.5.9)
where
ek=Tkohk
is the projection operator and C"+k = Kerek. By virtue of Proposition 5.5.1, the
exact sequence (5.5.9) is simple since we have the decomposition
Dk,"
0 =& 00
dHO'"-1
LEMMA 5.5.3. We have

d(C n+k) c C,"+k+1
0
Proof. If
o = do E S)k+1,",
0 E C"+k,
then
o = dH', 0 E SZk+I,n-1'
5.5. VARIATIONAL BICOMPLEX 385
or
o = (dv o dH)(?P) _ (-dl o dy)(0), 'PE D'kn-1-
As a consequence, we can define the following sequence.
0 0 0 0
-- 1 1 1 1
C-1 d, C- d + Cn+l -. Ca+2 - .. .
1 1 1 1
^-1 a 0-., Dn+1
0o 00
D-+2
00 (5.5.10)
1.1 C21
dp
1
DO,-
00
ell
`- E 1 -' _'...
I I I I
0 0 0 0
Its rows are complexes. Since its columns are simple sequences and ER_1 c 011-1,4 ,
we find
ek=rkody.
It is easy to verify that
(Fk+1 o ek)(0) = (rk+i o dv o rk o dv)(#) = (m+l o dv)(dv.0 - d,,4') = 0,
0 E Ek-1 C Dk-1, Dkn-1.

0E
Remark 5.5.1. Since columns of the diagram (5.5.10) are exact sequences, we have
the following exact sequence of the cohomology groups of its rows
-- H(D") _-- H(C") H(E1) - H(O;;) .. .
Q124], p.47).
5.6 Geometry of differential equations

This Section is devoted to the geometric analysis of differential equations and the
notion of their formal integrability (26, 109, 152, 153]. In the next Section, the
formal integrability criteria will be we be applied to the Yang-Mills and Einstein-
Yang-Mills equations of field theory.
Let us recall some general notions on differential equations.
DEFINITION 5.6.1. Let Z be an (m + n)-dimensional manifold. A system of k-order

partial differential equations in n variables on Z is defined to be a closed smooth
submanifold f of the k-order jet bundle J,kaZ of n-dimensional submanifolds of Z.
In brief, we will call a system of partial differential equations simply a differential

equation.
Unless otherwise stated, by a solution of a differential equation is meant a clas-
sical solution in accordance with the following definition.
DEFINITION 5.6.2. A classical solution of a differential equation is is said to be an

ndimensional k-order Cartan manifold B of the Cartan distribution on Jk Z, that
is, the k-order jet prolongation B = JSk of an n-dimensional submanifold S of Z
such that JSk C C
Given a point q E !, there always exist integral manifolds JSk passing through
q. If such an integral manifold belongs to !, it is obviously tangent to the equation
0- at q with any finite order. Therefore, the necessary (but not sufficient) condition
for a differential equation iE to possess a classical solution through a point q E E is
existence of an integral manifold JS' tangent to 19 at q with any finite order.
Remark 5.6.1. In this case, it may be hoped that, if all the objects under con-
sideration are analytic, there exists an analytic solution of the equation it in a
neighbourhood of the point q.
These speculations lead to the notion of formal integrability of differential equa-

tions. To establish the criteria of formal integrability, the higher order jet prolon-
gation of differential equations must be examined.
Given a k-order differential equation E C J1Z, let us construct its s-order pro-
longation into the jet bundle Since there are not simple relations between
5.6. GEOMETRY OF DIFFERENTIAL EQUATIONS 387
the repeated jet bundles JJJ,knZ and the higher order jet bundles J, +'Z, one cannot
perform this prolongation directly. However, if there exists a k-order Cartan mani-
fold JSk tangent to is at a point q E e with an order s, the s-order prolongation of
JSk to the (k + s)-order Cartan manifold JSk+' sends the point q E e C J ,Z into
DEFINITION 5.6.3. Let e be a k-order differential equation on a manifold Z. The

s-order jet prolongation of the differential equation it, by definition, is the subset
01 C (Pk+')-'(e) C
which comprises the points (S],kn+, such that JSk is tangent to at pk with
order > s. O
If a differential equation 4E has a classical solution through a point q E 1E, this
point gives rise to an element of every finite order jet prolongation I!(') of the differ-
ential equation . It follows that the necessary condition for a differential equation
i to admit a solution through everyone of its point is that the mappings
Pk' I e(') : $(') --+ e. (5.6.1)
are surjections.
The mappings (5.6.1), however, are neither surjective nor injective in general.
Moreover, it may happen that the set (!(') is not a manifold.
Remark 5.6.2. If PE(') is a smooth submanifold of the jet bundle Jk,,+'Z, then
and the mapping (5.6.1) is a manifold morphism. If this morphism is a surjection,

then the submanifold is a (k + s)-order differential equation, by virtue of Definition
5.6.1. Obviously, this differential equation reduces to the lower order differential
equation (I in the sense that there is bijective correspondence between classical
solutions of the equation ! and its s-order jet prolongation (!('). If additionally every
tangent vector to the differential equation a is tangent to some classical solution of
!, then the mapping (5.6.1) is a submersion.
The above-mentioned construction finds easier and more direct applications in

the case of differential equations in n variables if these variables span a given mani-
fold X.
DEFINITION 5.6.4. Given a fibred manifold Y -+ X, a closed smooth fibred sub-

manifold 0- C JkY over X is called a k-order differential equation over X. 0
Classical solutions of such a differential equation are integral sections of the

fibration JkY X. Taking into consideration only these Cartan submanifolds
of JkY, we can appeal to Definition 5.6.3 in order to construct the s-order jet
prolongation of the differential equation a over X into the (k+s)-order jet manifold
Jk+'Y of Y [109]. However, more explicit description of this prolongation can be
obtained as follows [152].
Remark 5.6.3. Given a fibred manifold 7r : Y -. X, let
try :N C-.+ X
be a submanifold [imbedded submanifold] of X. Then, (irk)-I (N) is a submanifold
[imbedded submanifold) of JkY. Moreover, let us denote by
7rN:YN--'N
the restriction jN'Y of Y over N. We have the natural surjection
IN : (irk)-`(N) -' kYN, INVxs) = jx(s o IN),
for each section s of Y -, X.
Given a k-order differential equation i< C JkY over X, let us consider the re-
peated jet manifold
ok : J'JkY -+ JkY. (5.6.2)
One can think of

(oho)-I (e) C J'Jky
as being the s-order jet prolongation of the equation ! (in the spirit of Definition
5.6.3) by means of sections of the fibration (5.6.2). In accordance with the above-
mentioned Definition 5.6.3, the s-order jet prolongation of e, however, should be
performed by means of sections of the fibration Jk+'Y - X, but not (5.6.2).
DEFINITION 5.6.5. The s-order jet prolongation of the differential equation E over
X is the subset
I ei'i = (d)-i(e)n Jk+.Y.
If 0) is a smooth submanifold, then
(e(+))(r) = LF(&+r)
A differential equation ! is called regular if all finite-order jet prolongations i(')

of ( are also differential equations.
The above considerations motivate the following notion of formal integrability
of differential equations over X.
DEFINITION 5.6.6. A regular k-order differential equation 0- is called formally

integrable if the morphisms
4+.+l I (!(,+i) : e(,+I) e(+), s>0,
are fibred manifolds. 0
Example 5.6.4. Let a fibred manifold Y -a X be endowed with fibred coordinates

(xA, y') and its k-order jet manifold JkY be provided correspondingly with the co-
ordinates (x", yA) (5.1.2). Let C JkY be a regular k-order differential equation.
If it is described locally by the system of equations
E"(xa, ysA) = 0, A = 1, ... , codim(!, (5.6.3)
then its s-order jet prolongation 0) is given by the system of equations

E"=0,
(5.6.4)
d d,,E" = 0,
Let us bear in mind this Example in order to understand better some constructions
of the theory of differentials equations given below.
In particular, it is easily seen that, ifs > 1, the equations (5.6.4) are linear with
respect to the highest order jet variables y& I A I= k + s. Equations of this type
are called quasilinear equations. They are almost completely characterized by their
symbols.
DEFINITION 5.6.7. The symbol of a differential equation e C JAY at a point

q E JkY is the vector space
GQkI = Toe n Volrk_I, (5.6.5)
where Vr k_1 is the vertical tangent bundle of the affine bundle JAY Jk_'Y. 0
Remark 5.6.5. In particular, if

Csg/k) = V91rk_1 (5.6.6)
for every point q of the k-order differential equation C JAY, one can say that this
equation is of order < k - 1. Indeed, the equality (5.6.6) takes place if and only if
all functions (5.6.3) are independent of the highest order jet variables yA, I A 1= k.
Recall that the fibration JkY J"-'Y is an affine bundle modelled over the
vector bundle (5.1.4) and, therefore, its vertical tangent bundle admits the canonical
vertical splitting
V7rk_I = JAY X (VYSkX) (5.6.7)

JA-'Y Y
where SkX denotes the symmetric tensor bundle (5.1.23).
DEFINITION 5.6.8. The differential equation I C JkY is called quasilinear if its

symbols G(,k) are the same for all points of the same fibre of the fibre bundle JkY
Jk-1Y o
A glance at Example 5.6.4 leads to the following assertion.
PROPOSITION 5.6.9. If 0- is a regular differential equation, its finite order jet

prolongations are quasilinear differential equations ([109], p.163). 0
Henceforth, we will consider differential equations associated with differential

operators.
It is intuitively clear that any differential operator is constructed from linear dif-
ferential operators. The isomorphism (5.2.11) shows that the representative object
of k-order linear differential operators acting on a module P is the module 31(P) of
k-order jets of P. Then the natural generalization of the notion of linear differential
operators to "nonlinear" differential operators or simply to differential operators is
the composition:
of the k-order jet prolongation functor of P to 3k(P) which is a k-order linear

differential operator, and
of some mapping of Zik(P) into Q which is not a module homomorphism.
Usually, one considers differential operators in the case of geometric modules

when P and Q are the modules of sections of vector bundles Y -- X and E -+ X'.
However, fibre bundles in physical applications, e.g., in the gauge theory are not
necessarily vector bundles. Therefore, we consider the case of a fibred manifold
Y - X possessing the vertical splitting
VY=YxY
x
(5.6.8)
and of a vector bundle E X, though some basic notions can be formulated on a

more general level, when Y and E are arbitrary fibred manifolds.
Recall that, in accordance with Definition 3.3.2, a k-order E-valued differential
operator on Y X is defined to be a section of the pull-back fibred manifold
P(k) : Ey = E JkY JkY. (5.6.9)

x
Given fibred coordinates (x", y`) of Y and (x", y) of E, the pull-back (5.6.9) is
provided with the coordinates
(xa,A, V), 0<IEI <k. (5.6.10)
There is one-to-one correspondence between the sections
E:JkY-+Ey, b (5.6.11)
of the fibred manifold (5.6.9) and the fibred morphisms over X
+ : JkY E. (5.6.12)
As a consequence, differential operators on Y --+ X are equivalently defined as fibred

morphism JkY -+ E over X. Every such a morphism 4i (5.6.12) sends a section s
of Y - X onto the section 4 o Jks of E X. The mapping
A# I - 4 0 Y's, (5.6.13)
U (x) = E E I< k,
is the standard form of differential operators.

Note that, as was manifested above, differential operators (5.6.13) factorize
through the linear differential operator Jk : s " Jks and some mapping -9 -o 4 o 3
of the set of sections of the fibred manifold JkY - X to the set of sections of the
fibred manifold E -+ X.
DEFINITION 5.6.10. Let A be a E-valued s-order differential operator (5.6.13) on

the fibred manifold Y -+ X. The mapping
Oak) : s -o Jk(A(s)) (5.6.14)
is called the k-order prolongation of the differential operator A.
One can think of the k-order prolongation (5.6.14) as being a J'E-valued (s + k)-
order differential operator on Y. This is given by the k-order jet prolongation of the
morphism $A:
O(p = Jk4 A o 0k., (5.6.15)

A(k) : a'-- Jk4'p o J'+ks,
where ok, is the monomorphism (5.1.5). Accordingly, the prolonged operator Y')
is represented by a section of the pull-back
(JkE)Y'+k) -e J'+kY
of JkE over J'+kY. At the same time, the following construction enables us to
describe the prolongation (5.6.14) as a section of the k-order jet manifold
Jk r+k J'+kY
of the pull-back Wk of E over J'+kY

Given fibred manifolds Y - X and E - X, let E'.. be the pull-back (5.6.9) of

E over JkY and J'EE the r-order jet manifolds of this pull-back. Given the fibred
coordinates (5.6.10), this jet manifold is provided with the adapted coordinates
(x'',> 0 <I A I +q < r, 0 <_I E1 I<_ k. (5.6.16)
Lets be a section of the fibration JkY - X. Then there exist a natural iso-
morphism of the pull-back s Ehk. - X to the fibred manifold E -. X and the
corresponding isomorphisms of the r-order jet manifolds J'(s Ey) to the jet mani-
folds J'E. In accordance with Remark 5.6.3, we have the natural surjection
(P(k)')-' J'(s Eky)
and the corresponding surjection
ss: rE,
a) VI(z)oJ = (U A of (8(Z)), (5.6.17)
where 9 are sections of Ey - JkY.

Example 5.6.6. We first consider the particular case E = Y. Let
Yy=YXJkY
be the pull-back (5.6.9) of Y over JkY and
P(k) : JkYy -y Jky (5.6.18)
be the k-order jet manifold of this pull-back. There exists a section rk of the fibration
(5.6.18) which takes the coordinate expression
rq'A o r if q > 0,
kI) = {xu: (5.6.19)
VAW.'3), if q=01
with respect to the adapted coordinates (5.6.16) of the jet manifold JkYy. In brief,
one can say that the non-zero coordinates of rk read
A G rk = UA.
Note that the section rk given by the coordinate expression (5.6.19) is globally
defined since the transition functions of the coordinates y'i (5.6.16) are independent
of any coordinates y ,. In should be emphasized that the section rk (5.6.19) is a

unique one of the fibration (5.6.18) such that
4orko8=-g (5.6.20)
for any section 3 of J*Y - X. Indeed, the equality (5.6.20) takes place by virtue of
the expressions (5.6.19) and (5.6.17). Since JkY - J11-'Y is an affine bundle mod-
elled over the vector bundle (5.1.4), one can generalize the proof of the uniqueness
condition in the case of a vector bundle Y -. X (see [1091, p. 62) to an arbitrary
fibred manifold Y in a straightforward manner.
Let now Y - X be a vector bundle. In this case, the fibration (5.6.18) is also
a vector bundle. We consider the Spencer morphism Si (5.1.27) of the R-module
3k(Yk) of sections of the bundle (5.6.18) into the R-module 3k-'(YY) O'(J'Y) of
sections of the bundle
Jk''YY T'JkY JkY. (5.6.21)
JkY
Given the section rk of the bundle (5.6.18), its image
ek = Sl (rk) (5.6.22)
by the morphism (5.1.27) is called the universal Cartan element. It takes the coor-
dinate form
ek=[dyfn-ye+adx18:, IAI<k-1,
with respect to the coordinates (5.1.28) of the vector bundle (5.6.21).
Let us turn now to the general case of differential operators on sections of a

fibred manifold Y -' X with values into the set of sections of a fibred manifold
E X. Let 0 be a s-order differential operator in the standard form (5.6.13).
THEOREM 5.6.11. There is a unique section rk(0) of the fibration
P(k+')k : Jk rk _, Jk++Y (5.6.23)
which satisfies the relation
iT o rk(1) o 3 = 0(k)(3) (5.6.24)
for any section 3 of the fibration J'+kY X. 0

Proof. With respect to the coordinates (5.6.16) (where I A I +q 5 k, I Er I5 s + k)

on the jet manifold JkEy ', the section rk(O) is given by the the following non-zero
coordinates
A=(,\,... a,<k). (5.6.25)
U A o rk(O) = d,,1... da.Sn(x", Y ), I E I<- s,
The uniqueness of the section (5.3.9) satisfying the condition (5.6.20) is proved just
as the uniqueness of the section rk (5.6.19) in Example 5.6.6. QED
Let E -' X be a vector bundle. Just as for the definition of the universal
Cartan element (5.6.22), let us consider the Spencer morphism S1 (5.1.27) of the R-
module 3k(Ey+k) of sections of the bundle (5.6.23) into the R-module 3k-1(Ey k)
)1(J*+kY) of sections of the fibre bundle
Jk-'EE
Let A be a s-order differential operator (5.6.13) and rk(O) the associated section
(5.6.24). Put
6k(O) = S; (rk(A)),
6k(p) _ d(dA, ... da.So) -dada, ... da,Eodxa 8n, I A I<- k -1.
Example 5.6.7. Comparing the expression (5.6.25) with the expression (5.6.19),
we observe that
rk = rk(Id Y).
Example 5.6.8. Let 0 be a (k - 1)-order differential operator on sections of a

fibred manifold Y - X with values into the ring O(X), that is,
E=RxX
and
IEI<k-1,
where the bundle E is naturally coordinatized by (xl, y). Then
0 1(0) = dE - daEdxA -1X+Edx-'), 0 <I E I < k -1, (5.6.26)

E
is a section of the jet bundle

J'(R x JkY) JkY. (5.6.27)
X
The bundle (5.6.27) is precisely the affine cotangent bundle of the jet manifold JkY,
and the Cartan element 91(0) (5.6.26) is a Cartan 1-form on JkY.
Note that, building on Example 5.6.8, one can suggest a different definition of
the contact forms which is equivalent to Definition 5.1.6.
DEFINITION 5.6.12. Let us consider the module of exterior 1-forms on the jet
manifold JkY over the ring of smooth functions on JkY which is generated by the
forms 91(0) (5.6.26) for all (k -1)-order differential operator on sections of a fibred
manifold Y - X with values into the ring O(X) of the smooth functions on X.
Elements of this module are called contact 1-forms on JkY. O
Accordingly, the Cartan distribution on the jet manifold JkY of a fibred manifold
Y -+ X is defined as follows.
DEFINITION 5.6.13. The Cartan subspace or the Cartan planeCgJkY of the tangent
space TgJkY at a point q E JkY, by definition, comprises the vectors v E TgJkY
such that
vJ91(A) = 0
for all D(X)-valued (k - 1)-order differential operators on Y. The distribution
q i-4 CgJkY, by definition, is the Cartan distribution on JAY. O
Now, let us define the symbol of a differential operator (5.6.12). We assume that
E -. X is a vector bundle and that the fibred manifold Y - X admits the vertical
splitting (5.6.8).
Remark 5.6.9. The pull-back fibred manifold (5.6.9) over JkY is also the pull-back
Ey = Ey ' JkxlY
-
JkY
of the fibred manifold Ey ' - Jk-'Y onto JkY. It follows that every section 6 of
the fibred manifold EY -+ JkY is a fibred morphism
l; : JkY Eyk
over J1-1Y. Accordingly, every differential operator + (5.6.12) can be represented

by a fibred morphism
k!
'k- 1
JkY -+ IE
Jk'IY x
* (5.6.28)
over Irk-1.
Let 4) be a s-order differential operator (5.6.12). Let us consider the vertical

tangent morphism
VI : V7r;_1 - VE (5.6.29)
to the fibred morphism (5.6.28). Here, by V, ;_1 is meant the vertical tangent bundle
to the affine bundle J'Y - J''IY. The morphism (5.6.29) is brought into the form
V4): J'YJ x-'Y(VYS'X)
Y
-VE
due to the vertical splitting (5.6.7) of Va;_1. Then, in view of the vertical splitting
(5.6.8) of VY and the canonical vertical splitting of VE, it leads to
(5.6.30)
DEFINITION 5.6.14. The symbol a(4) of the differential operator 0 (5.6.12) is the
morphism
o(O)=przoVO:J'Yx(YS'X)-E. (5.6.31)
The restriction oa($) of the morphism (5.6.31) to {q} x V. SsX, q E J'Y,

x = 7r'(q), is called the symbol of the differential operator 'F at a point q E JkY :
04(x) : {q} x (Y S'X) - E_. (5.6.32)
0
Let (xA,yiE) be the familiar coordinates of JkY, (x,',yE) the coordinates of
S'X OF, and (xa,V) the coordinates of E. Then the symbol o(E,) (5.6.31) reads
V o+=Sa(X."YE), IEISs,
E V 5CIO(x",y ). (5.6.33)
J!Iak
DEFINITION 5.6.15. A differential operator 4' (5.6.11) is called quasilinear if
oq(4') = 0'q1 ($)
for all points q and q' such that

4_1(q) = irk-' (d)-
In particular, the symbol (5.6.31) of a k-order quasilinear differential operator

reduces to the linear bundle morphism
0(41) : J"-'Y x V 0 SkX -i E (5.6.34)
X x
of the vector bundle (5.1.4). It follows that the k-order quasilinear differential
operator 41 is an affine bundle morphism of the affme bundle JkY -+ J"-'Y such
that
(q) - +(q') = u(4')(q - 9') if ir_1(q) = irk-' (q'). (5.6.35)
It is easily seen that the differential operator 4 is quasilinear if and only if the
derivatives
in the expression (5.6.33) are independent of the highest order jet coordinates y'E,
I E 1= k. This, in turn, takes place if the differential operator Em (5.6.11) is linear
in these coordinates.
In particular, all finite order jet prolongations of a differential operator are quasi-
linear operators.
Symbols of the jet prolongations of differential operators can be introduced in a
similar way,.
Given a s-order differential operator (5.6.12) 4', let 4'(k) be its k-order jet pro-
longation (5.6.15). This is a fibred morphism
J'+kY JkE
Pk-, (5.6.36)
*:+:-1 ! !
J,+k-'Y + _ Jk' E
over the (k - 1)-order jet prolongation 4ii"i of 41.

Let V4 (k) be the vertical tangent map
V4i(k) : V41+1-1 V4_1 (5.6.37)
of the fibred morphism 0(k) (5.6.36). Owing to the corresponding vertical splittings
of Vw.'+k_ VY and Vifk_ the morphism (5.6.37) is brought into the form
V4(k) : J'+ky X(yS'+kX) - JkEX(ESkX).
The symbol a(4 )) of the k-order jet prolongation 10) of a s-order differential
operator 4) is the morphism
o V4Vk) : J'+kY x (YSt+kX) -s E SkX.
In fact, it can be written in the form
Io(Vk)) : J'Y x(YS'+kX) -e ESkX (5.6.38)
because all finite order jet prolongations of a differential operator are quasilinear
differential operators. With respect to the coordinates (xA, y'E) of JkY, (XI, V'E) of
SkX Y, and (x-a, VA) of E SkX, the symbol a(4)i0) (5.6.38) reads
(5.6.39)
Accordingly, the symbol (5.6.38) at a point q E J'Y is
o9(4VI) : {q} x V. S= kX - E. S' X, x = 7rk(q). (5.6.40)
Using the Spencer sequence of tensor bundles (5.1.25) and the symbols of the
operators (5.6.32) and (5.6.40), one can construct the commutative diagram
0 0
1 I
oo(ilk))
g:5=+kX E=S=X
VsS= k-'X0nX E. S=-'X T=X
(5.6.41)
V S= k mX E. S.k-X nT=X
F=S=X nT=X E_ nT=X

I I
0 0
The both columns of this diagram are exact Spencer sequences.

Let us turn now to differential equations associated with differential operators
which take values into vector bundles E - X.
Recall that the differential equation (!i associated with a k-order differential
operator 45, by definition, is the kernel
ei = Ker4 (5.6.42)
of 4s with respect to the global zero section 0 of the bundle E -, X, provided

this kernel is a fibred submanifold of JkY -+ X. This differential equation can be
expressed by the equality
4 1 of = 0,
where Ei is the section (5.6.11) of the bundle Ey -' JkY. This equality takes the
coordinate form
E'i(xa,y) = 0. i = 1,...,dimE. (5.6.43)

For instance, it is readily observed that the differential equation f-a associated with
a differential operator $ is quasilinear if and only if t is a quasilinear differential
operator.
PROPOSITION 5.6.16. If a s-order differential equation ee is associated with a
s-order differential operator +, then the k-order jet prolongation e() of eo is a
differential equation associated with the the k-order jet prolongation AV (5.6.14)
of the differential operator Om ([109], p.164). The submanifold iEk) C J'+kY can
be defined by the condition
rk(,&o) I*k) = 0 (5.6.44)
where rk(0+) is the section (5.6.24) of the bundle JkE"' - Jk+,Y from Theorem
5.6.11.
Let the differential equation be given by the coordinate equalities (5.6.43).

Then, with a glance at the coordinate expression (5.6.25) for rk(A,), the condition
(5.6.44) takes the coordinate form
A = (.\1... Ar<k),
I da, ... dA,E.'(x, E) = 0, (5.6.45)
similar to the equations (5.6.4) in Example 5.6.4.

In particular, it is readily verified that the finite order jet prolongations of the
differential equation e# are quasilinear differential equations in accordance with
Proposition 5.6.9.
Now, let us consider the criteria of formal integrability of differential equations
associated with differential operators.
LEMMA 5.6.17. Let em be a differential equation associated with a s-order dif-

ferential operator $ and id) be the k-order jet prolongation of Itv. If the symbol
a($(k+1)) of the jet prolongation 4(k+0 (5.6.38) of the operator 4' is a surjection,
then the morphism
I e(k+l) : e(k+1) , e(k)
ir:++k+l
(5.6.46)
is a surjection.
Proof. The proof is based on the following consideration. Given a point q E 0+k),
let I E J'+k+lY be a point over q, that is, q. We have
Vk)(q) = 0,
but
in general. Let
' =,q + e, f E q X V. S=X, 7r'+k(q) = x,

be another point over q. In virtue of the relation (5.6.35), we can write
40+1)(YY,d) - 410(k+1)(o = Q(4t(k+1))(e).
The point' belongs to e( +) if there exists an element a such that

-4)(k+l)(q) =
and this takes place since o(VA:+1)) is a surjection. QED
Remark 5.6.10. Note that, if the symbol oq(4 )) is a surjection, then the k-jet
prolongation a k) C J'+kY of the differential equation e c J'Y is transversal to
J'+k-IY at q E e+k) a
the fibre of the bundle J'+kY -
One can apply the following homological constructions in order to investigate

the surjection condition.
PROPOSITION 5.6.18. Let 4 + be a differential equation associated with a s-order

differential operator 4) and gy(fk) the k-order jet prolongation of .. Then, the symbol
G' (5.6.5) of eo coincide with Kergo(4S) and the symbols G'+k of e(k) coincide with
Keroo(4s(k)). o
Proof. If the differential equation (! is given by the equalities (5.6.43), the condi-
tion that the vector
V91r%13v=V, I=I=k,
is tangent to . is given by the equations
vJd4 = 0, (5.6.47)
IF4-k 814
Comparison of the expression (5.6.47) with the expression (5.6.33) shows that this
vector v belongs to Kerw(+). The equalities
G.+k = Ker6a(4Vk`)) (5.6.48)
can be verified in a similar way. QED
Building on Proposition 5.6.18, one can bring every line of the diagram (5.6.41)
into the exact sequence
0 ..._. GQ+k-+R n T=X V_ Ss+k-mX

(5.6.49)
(&A7z
E: SZ-'"X X -+ B=+'i`-'" n 7= X - 0,
where B`+k-m denotes the Kokero(4i(k-'")). Then the following columns can be
added to the diagram (5.6.41) from the left and from the right:
0 0
I 1
0-+ G9'+k B= -+0

1
Oq(*(k-'))0Id
0-+ cQ k-17ix B=-1T=X ---0
1
(5.6.50)
0 -- Ga+k-", 0A 7s X ...... q(4( )Old

... - Be-" 77= X . 0
1
cq(O)Id
0-+ GQ/T=X B2nT=X
0 0
The left column in the diagram (5.6.50) is called the Spencer b-sequence of the
differential equation f-. Both columns in the diagram (5.6.50) are complexes and
their oohomologies are related to each other as follows (1109], pp.167-169).
Let us denote the column complexes in the diagram (5.6.50) by Ker a, Y, E and
Koker a, respectively. Then, the diagram (5.6.50) takes the form of the sequence of
complexes
0-+Kera-Y-'E-'Kokera-0.
Since the complexes Y and E are exact, there exists the relation
H(k) (Koker a) = H(, )2(Ker a) (5.6.51)
between the cohomology groups H('k)(Kera) of the complex Kera and the cohomol-
ogy groups H(*k)(Kokera) of the complex Kokera.
As a consequence of the relation (5.6.51), we have the following.
(i) H(k) (Kera) = 0.

(ii) If H )(Keru) = 0 and the symbol aq(4 '>) is a surjection, then so is
aq($Ikl), i.e., B= = 0.
PROPOSITION 5.6.19. If the symbol aq(4i(1)) is a surjection and H(k)(Kera) = 0

for all k > 2, then all symbols aq(''I--0) are surjections.
Proof. The statement is proved by induction since the item (ii) above for the
diagram (5.6.50) when k = r is the condition of the same item (ii) for the diagram
(5.6.50) when k = r + 1. QED
DEFINITION 5.6.20. A differential equation e c J'Y is called 2-acyclic if

H(k) (Kera) = 0
forallk>2atallpoints gE 1E.
In virtue of Lemma 5.6.17 and Proposition 5.6.19, if a differential equation 0 c
J'Y is 2-acyclic and the symbol aq(fi(l)) is a surjection, then all morphisms (5.6.46)
for k > 0, are surjections. Hence, to satisfy Definition 5.6.6 of formal integrability
, one can require additionally that r.+' is a surjection and all morphisms (5.6.46)
are submersions.
We can refer to the Cartan - Kiihler theorem (see 11691; [109), p.170).
THEOREM 5.6.21. Let e c J'Y be a differential equation so that:

5.7. FORMAL INTEGRABILITY 405
the morphism
7r,+1 I $(1) : e(1) --
is a surjection;
the differential equation t C J'Y is 2-acyclic;

the symbol oq(4i(1)) is a surjection.
Then, the differential equation (! is formally integrable.
Proof. The proof is based on the fact that the symbols G( s+k) are vector bundles
over e(k). QED
If t is a quasilinear differential equation, the following criterion of formal inte-

grability is useful ([1521, p.65).
THEOREM 5.6.22. Let (E C J'Y be a quasilinear differential equations. If

(i) the morphism
Jr.+1Ie(1):(!(1)
is a surjection,
(ii) the differential equation ( C J'Y is 2-acyclic,
(iii) the symbol G('+1) is a vector bundle over il, then (I is formally integrable.
0
5.7 Formal integrability

If X is a real-analytic manifold, Y and Y' are real-analytic fibred manifolds over
X, 4i : JkY -' Y' is a real-analytic morphism and s' : X -i Y' is a real-analytic
section, then the differential equation defined in (5.6.42) is said to be analytic.
Given an analytic differential equation 1E of order k, we are interested in finding
its convergent power series solutions in a neighbourhood of any point x E X. We
call a point of (!('), s > 0, a formal solution of a of order k + s and a point
of (c(O0) = proj lim 0-(') a formal solution. Of course, the construction of analytic
solutions of 0 demands a preliminary step. This consists in seeking whether a
formal solution of any order > k can be prolonged to a formal solution. A sufficient
condition is obviously that
the maps 7rk+;+1 : e(+}1) - 4('), s > 0, are surjective. (5.7.1)
Then the following important theorem [125, 1261 guarantees the existence of con-
vergent power series solutions for analytic differentials equations satisfying (5.7.1).
THEOREM 5.7.1. Let e be an analytic differential equation. Let x E X and

s > 0. If Ak+, : =k+n+>> is surjective for all n > s. Then, for every
=k+n)
point p E (!( k+'), there exists an analytic solution s : U C X -' Y of ( over a

neighbourhood U of x such that j=+'s = p.
In general, a direct check of (5.7.1) is not simple. Nevertheless, there are criteria
which allow us to verify the surjectivity of all maps (5.7.1) in a finite number of
steps. One of such a criterion is the formal integrability of the differential equation.
Theorem 5.6.22, combined with Theorem 5.7.1, leads to the existence of analytic
solutions of analytic quasi-linear differential equations.
The second condition of Theorem 5.6.22 refers to the vanishing of some of
Spencer's cohomology groups (see Definition 5.6.20). Here we replace this condi-
tion with a stronger one, namely,
(ii') for all q E tE there exists a quasi-regular basis of for Glk) at q.
This means the following. Let X E X and (X.), 1 < A < n, be a basis for TX,
and (0A) is the dual basis for T'X. We denote by kI TTX the subspace of vk 7 X
spanned by B' V ... V 90k with j + 1 < p, < ... < pk < n. For every q E it, let us
define
(VY)y,
where x = zrk(y) and y = iro(q). One says that (Xa) is a quasi-regular basis for C)
at gif
n-l
dim(G(k+l))g = dim(G(k))g + dim(G(k))g.i (5.7.2)
The condition (ii') corresponds to the involutivity of the symbol G(k) of 0. A

differential equation 11 is said to be involutive if it is formally integrable and its
symbol 19 is involutive.
We will study formal integrability of Yang-Mills equations in the presence of a

scalar (matter or Higgs) field.
Let P -' X be a principal fibre bundle (dim X > 1) with a compact structure Lie
group C of dimension d, and let C X the bundle (2.7.5) of principal connections
on P. The standard coordinates on C, J'C and PC are (xa, aa), (xA, aa, a )
and (x'`, aa, a;, a;..%), respectively. Given a section A : X C, i.e., a principal
connection on P, we write
(xA, aa) o A = (x', A;,),
where A;, are local functions on X. Its curvature is FA (2.7.11).
Let V be an m-dimensional vector space on which G acts as a transformation
group and E -+ X the corresponding P-associated vector bundle. Sections 0 : X -
E of this bundle are scalar fields. Standard coordinates on E, J'E and J2E are
denoted by (xa, w'), (xa, cp',,p) and (xA,,p', w, respectively. Locally we write
(x., G`) o 0 = (x 0i),
where 0 are local functions on X. Let p : g End(V) be the Lie algebra represen-
tation induced by the action of C on V.
As we know, a principal connection A induces linear connections on the vector
bundles VGP -e X and E - X. We denote both of them by the same symbol
VA. Their connection parameters are determined by the following equations (see
(2.7.14)):
VAeq = cygAadxa e., (5.7.3)
VAe, _ -p,JAadxa e, (5.7.4)
respectively. Here (e') is a basis for V and p,, =< e', p(e.)e f >. The scalar field
couples minimally to the connection through the covariant derivative
_YA,m = VAO : X -, T'X E,
7A,m = i ,dxa e;, y a = eat' - ppiAa4.'. (5.7.5)
Let g be a metric on X, and h and k the inner products on g and V, respectively,
such that the adjoint representation and the representation of C on V are unitary.
We will study the geometric structure of the following system of partial differential
equations
VA*FA= JA"., (5.7.6a)
VA (5.7.6b)
* 'YA,# = 0,
where * is the Hodge operator and JA,O : X A T'X VQP is the current. In
coordinates, they read
8,,( I9IF:")- I9Ie, AaF;"+ 191Py?i`=0, (5.7.7a)
8a( I9I7;) + I9Ip 1Aa-y; = 0, (5.7.7b)
where
F,." = hr,9ag"aF , (5.7.8)

'Yi = k+i94". (5.7.9)
The current JA,O is given by
JA,O=-P**1'A,O,
JA,O=- I9IP:1I''Yiaae, (5.7.10)
where p' is the mapping

p' : 0*(X) S(E') -s 0 *(X) S(VVP),
whose definition is exhibited by the local expression (5.7.10).
Let Y = C E be the Whitney sum of the fibre bundles C -' X and E -y X,
which is affine bundle modelled over the vector bundle
Y=T'XVcPE X.
Let us consider the differential operator
4 i : J2Y - "AIT*X VVP E D E',

VA
4-(j=A,j=0) = [VA * FA(x) - JA,O(x), *'YA,O(X)] (5.7.11)
for all x E X and sections (A,0) X - Y. From (5.7.8) - (5.7.10), (2.7.11) and
(5.7.5) it is easily seen that 4i is quasi-linear. According to (5.6.42), we define
0- = Kerb __ Ker 4s c J2Y, (5.7.12)
where 0 is the zero section of "Al T'M VIP %nT'X E* X. A pair (A, 0)
formed by a principal connection A : X C and a scalar field 0 : X - E is
a solution of the field equations (5.7.6a) - (5.7.6b) if and only if its second order
prolongation (j2A, jsm) : X - J2Y takes values into .
In what follows we will show that (5.7.12) is an involutive differential equation.

Let us first verify that a is a fibred submanifold of J2Y X, that is, a differential
equation of the second order. Let
T'XY-+'A'T'XVCPAT'XE'
o(4;):2V
(5.7.13)
be the symbol of 4). In coordinates (xA, uj,,,, v,,) on V T'X OF, we find from (5.7.8)
- (5.7.10), (2.7.11) and (5.7.5) that
I9I u0AA), (5.7.14)
a(4i) . vv'-' (9Ikj g v'a). (5.7.15)
Note that the symbol a(4i) is constant along the fibers of J'Y X, and is the
direct sum
a(4>)=a(V*F)ED a(V *'y) (5.7.16)
of the two symbols
a(V*F):VT'XT'XVeP
and
a(V *'Y) : VT*X E - AT'X E'.
Here V * F and V *,y denote the Yang-Mills and scalar field operators, respectively.
One can easily check that a(V * F) is determined by the following composition
of morphisms
2
V T'XT'XV0P+T'XVGP+ n'T'XVVP, (5.7.17)
where C acts as the identity on VcP, while
(a V,6 7) = 29(a, ,5)'y - 9(a, 7)f - 9(,6,7)a (5.7.18)
for every a, ,B, y E 7" X, and q is the tensor product morphism of the Hodge operator
on X and the metric isomorphism on VCP induced by h. The other symbol a(V *.y)
is the tensor product of the metric isomorphism between E and E' induced by k
and the morphism
I9IW, (5.7.19)
for every a, P E T'X.
LEMMA 5.7.2. The symbol o(4') is a surjective morphism. 0
Proof. We show that both o(V * F) and o(V * y) are surjective morphisms. For
every x E X, let (dx') be an orthonormal basis of T=X, i.e.,
g(dxa, dx) = 0, if A jt,
g(dx', dx") = 1, if A = .
Let us consider the equations
29(a,Q)y - 9(a,y)# - 9(Q,y)a = dxA, 1<,\<n.
Their solutions can be easily found, e.g., -y = gdx' and a = 0 = 1/f dx with
,u # A. Hence, C is surjective. Since n is an isomorphism, o(V * F) is surjective.
The surjectivity of o(V * y) is evident. QED
An immediate consequence of this lemma is that t C J2Y is a fibred submanifold

over X and
ai(e) = J1Y.
Now we consider the first order prolongation of +, i.e.
4si11:J3Y-J1 (n'T'XVVPnT'XE').
We see from (5.6.36) and (5.7.11) that
U.1 (VA
= * FA - JA,m), 7:(VA * ,yA,m)) (5.7.20)
for every x E X and every section (A, 0) : X -' Y. Let

3
V T'X0 17 - nT'XE')
be the first order prolongation of the symbol (5.7.13). Its coordinate expression can
be obtained directly from (5.6.39), (5.7.14) and (5.7.15):
o(VO) uiw.''' j9jh,.9'9"1(u,"gvao - (5.7.21)
yar'-' l g"' A' , (5.7.22)

where (x", ua,,,A, v..,,,) is the standard chart of V T'X V. Moreover, we see that
a(00) = a((0 * F)i>) 0,((0
where
a((0 * F)(')) : V T'X T'X V0P -+ T'X %\' T'X VcP
and
a((0*F)W'W):VT'XE-+T'XXT'XE'
are the first order prolongations of the symbols of the Yang-Mills and scalar field
operators, respectively. In accordance with the previous notation, we denote the
kernel of a(4)(1)) by C3.
Next we will show that the conditions (i) and (iii) of Theorem 5.6.22 hold. Let
A : X -+ C be a principal connection and let
%P
: J'( A'T'X VVP) -A' T'X VVP
be the morphism (over X) corresponding to the operator of covariant differentiation
with respect to A, i.e.,
WA(3 O) = (VAO)(x) (5.7.23)
f o r every x E X and e v e r y section 0 : X ", ' T X VIP. Recalling (5.7.3), we
have
'PA : (xA, e; , 8ve.) '-+ (xA, &0 - c'yAaei ).
Note that '@A is a linear morphism, and its symbol
a(%P):T'Xni
is precisely the wedge product. Moreover, a(WY) does not depend on the connection
A. For the sake of brevity, let us denote-by the same symbol o(*) the morphism
0,(T):7'X(n17'XVZP9AT'XE')-AT'X0
VZP
defined as the composition of a('P) with the natural projection onto the first factor,
i.e.,
T'X (nn1 T'X VVP (D AT'X E') -

T'X nn-1 T'X Vc' P rx Vc' P.
The following lemma shows us that G3 is a vector bundle.
LEMMA 5.7.3. The sequence
O- C3. VT'XVi iT'X(n'T'XVZP(DnT'XE')

A"7'XVcP-'0
is exact. 0
Proof. Note that this sequence decomposes into two the following two sequences:
0 ---(G, )3 -- V T' X T' X VcP v*F-+)'1'l T'X n' T'X VZP

VVP-0
and
0 (Ga)3 . VT'X E-4T'X X T'X (&E'--,-0.

Let us show that o((V * ry)(')) is surjective. Using (5.7.19) and neglecting E and E'
in the tensor products, we find that
a((V * 7)('))(a V $ V b) = 2fg(a, $)b + 9(a, b)fl + 9($, b)a) 0 I91 W
for all a,,6 and b E T'X. Let (dx") be an orthonormal basis for T= X, X E X. Then
the equations
o((V*ry)('))(aV$Vb)=dxAw, 1<A<n,
are solved by a = Q = dx and b = !g'dx', * A. As for the other sequence,
from (5.7.21) we find
o(W) o a((V * uao,. I-' u, ) _

Fjgjh,.(g'9Au6 - 9P`s9'upao) = 0
so that Ima(V*F)(i) C Kera(%P). Now we show that Imo((V*ry)(')) D Kera('I').
Actually, we must prove the inclusion Im(Coi) D Ker (a('P) on), which is equivalent
to the above one since Ti : T'X VcP - n'T'X 0 VIP is an isomorphism.
Recalling (5.7.18) and neglecting VIP and V'P in the tensor products, we find that
eoi: vT'X T'X T'X

is given by
oi(aV flV7(9 6) = 2g(a,0)^y(& 6 +29(a,,y)Q6 +29(/3,7)a6 -
g(a, 6) J 3 V y - 9(f, b)a V -y - g(-y, b)a V 0,
for all a, 6, ry, b E T* X. In particular, we have

o i(a V a V a b) = 6a [g(a, a)b - g(a, 6)a}.
On the other hand, Ker(a(W) o p) is generated by tensors of the type , with

g(,) = 0, and p, with 9(, p) = 0, 9(, ) 910, 9(P, p) 96 0, , p E T'X. Then
it suffices to solve the equations
6a [g(a, a)b - 9(a, 6)a] = ,

6a [9(a, a)b - 9(a, 6)a) = p.
These are solved by
a = , b such that - 6g(, b) = 1
and
a=, b= 69(,) P.
respectively. Obviously a(*) is a surjective morphism. Therefore the lemma is
proved. QED
Let us now verify the condition (i) of Theorem 5.6.22.
LEMMA 5.7.4. The map ir 2 is surjective.
Proof. Let q E (E and (A, 4A) : X -, Y a section s u c h that q = (j=A, j ). Let us

consider
e-1 o 4'(1)(7iA,ji0) E T=X (nn'T=X (V4'P)s ' T=X E:).
Since 40) is quasi-linear, the fibre (61))q is not empty iff c' o 4(')(j=A, j=-0) E
Im a(4O) or equivalently, by Lemma 5.7.3, if and only if a('P)oE 'o4;i'i(j=A, j=0) _
0. FYom (5.7.20), (5.7.23) and since linear, we obtain
a(Q1) o E- I, 4I0) (j.3 A,= WA1 .(VA * FA - JA,*)) _
(VAVA * FA - DAJA,#)(X)
Now using the differential identities

VAVA * FA = 0,
_V AJA,* = P*VA * -fA,*,
we find that
a,('P) o E 1 o -0) jjA, 7z0) = (P*V A * 7A,*)(x),
and the result follows by using the field equation (5.7.6b). The first of the above
identities is a well-known identity involving the curvature of the connection, whereas
the other is a consequence of the unitarity of the representation of G on V QED
Remark 5.7.1. Let us consider the model where a self-interaction potential U :

E -+ "T'X of scalar fields is present. Then the equation (5.7.6b) takes the form
VA1'A,*=f*,
where f DU : E -- "A T'X E' denotes the fiber derivative. In this case the
precedent discussion holds true apart from Lemma 5.7.4. Indeed, now we have
co') 0'e-1 0 0111 j:A, j=b) = (p*f*)(x)
and, hence, 0(1) -+ I is surjective if and only if p* f : E - nT'X VIP vanishes

identically.
Let us consider the Lie algebra representation
'=:X-VoP -+ uw:E-+VE
induced by p : g - End(V). Locally it reads [611
E= er i--+ ua = e'is a;
As one can easily verify,
C., U =< POLE' >'

where f.,, denotes the Lie derivative and <, > is the natural contraction between
VcP and VIP. It follows that Lemma 5.7.4 holds whenever the scalar field potential
U is gauge-invariant, i.e., L.. U = 0 for every =-: X - V0P.
Finally, let us show that the above condition (ii') holds.

LEMMA 5.7.5. For every q E if there exists a quasi-regular basis of for G'
atq. 0
Proof. Let q E it and let (dxa) be an orthonormal basis of T=X where x = ir'(q).
We have the following dimension counting:
dim (G2)q,n_1 = d, (5.7.24)
dim(G')gj _
[(n-j)(2-j+1) _ 1J(nd+m), 1 < j <n-2, (5.7.25)
[n(n2
dim (G')q = 1) - 1](n d + m), (5.7.26)
n3 + 3n6' - 4n
dim (G3)q = (n d + m) + d. (5.7.27)
The proof of (5.7.24) goes as follows. By definition (G2)q,n_i = Kerv(4')n_1i where

Q(4i)n_1:2'V17iX,7__
n'TsX(VVP)=nT=XE=
%n-1
is the restriction of u(+) to 7=X Y=. Using (5.7.18) and (5.7.19), we find
S,, -i(dxn V dxn dx') = 2gnndx'- 2gnAdXn, 1< A < n,

Sn-1(dXnVdXn)=29nnw,
thus showing that dim (Keren_1) = 1 and dim (Ker(n_1) = 0. Thence,

dim(G')q,n_1 =dim(KerSn_1)d+dim(Ker(n_1)m=d.
To prove (5.7.25), let us note that
v(4i)j : 4TiX Y= (VcP)= nTZX E_,

1 < j < n - 2, is surjective and, hence, the sequence
0 -' (G2)gd 24 7=X Y=

f n/\1T=X (VVP)= 'T=X Es -+0
is exact. The equality (5.7.26) is an immediate consequence of Lemma 5.7.2. With
regard to (5.7.27), from Lemma 5.7.3 we find
(n 2)
dim (G3)q = (nd + m) - dim [Im u(4iill)J =
3
(nd + m) - dim (Kera(fl] =
(
n+2 -n](nd+m)+d=
3 /
n3+3n2-4n(nd+m)+d.
6
It follows that
n-I
dim (C2)g + F dim (C2)o,j =
j=1
j)(n
- 1](nd+m)+
(n(n21)
- 11(nd+m)+d,
j=I
and, since
nZ (n-j)(n-j+1) n3-n-6
2 6
J-1
we find
n-1
n3 + 3n2 - 4n (nd
dim (G2)g + E dim (C2)ga = + m) + d = dim ((3)9.
j=1
6
QED
Summarizing the discussion above, we have shown that the differential equation
(5.7.12) is involutive and, hence, formally integrable. Now let us assume that the
principal bundle P -+ X and the metric g of X are analytic. Then it (5.7.12) is an
analytic differential equation and Theorem 5.7.1 leads us directly to the following
theorem.
THEOREM 5.7.6. Let the principal bundle P X and the metric g be analytic.
For any x E X there is an analytic solution (actually different analytic solutions)
(A, 0) of the differential equation (5.7.12) over a neighbourhood of x. 0
Let us now investigate formal integrability of Einstein-Yang-Mills equations.

Let E C V T'X X be the bundle of metrics on X of fixed signature (62],
provided with coordinates (xA, ga,,). For every metric g : X E let V9 be the
corresponding Levi-Civita connection. Its connection parameters are the Christoffel

symbols, i.e.,
1
ra0 = 291(809a + 8a90Y - 899a)
If U E T'(X), we will denote by div9u the 1-form
(div9u) = Dau. (5.7.28)
Given a principal connection A : X - C, we can define a covariant derivative

O9Au of VcP-valued tensor fields u E 7,(X) S(V0P). If
u=u;.:.,. 8a, ...aa,dx'' ...dx"' e9,

then O9'Au E T,+, (X) S(V0P) is given locally by
V9,A ua1..a.' = V9 ua,...a7 + At ua1...ar4
t.... v 1...Y. v t....
The Ricci morphism reads
r: JOE - VT'X,
r = 2r dxm V dx,
rv = aQrYv - 8r:,, + r0srsv - rjrQov. (5.7.29)
Note that r is quasi-linear, and its symbol
Q(r) : VT'X VT'X - VT'X

VE X
over E (note that =E X V T' X) is defined by
o(r)(9, a V'8 'y V 6) = 2(-2g(a, l)'7 V b - 2g(-y, 5)a V Q + (5.7.30)

g(fl,b)a V -t + g(C".0 V 6 +
g(8, ')a V 6 + g(a, 6)8 V ryJ
for every metric g : X - E and a, Q, ry, b E TX.

Let
e:VT'X -VT'X
be the linear morphism over E given by

e(g, a V p) = a V 0 - g(a,f)g,
for every g: X -' Eanda, ,6ET'X.
LEMMA 5.7.7. Let n 0 2. For every metric g : X -' E the morphism e(g)
V T'X V T'X over X is an automorphism. 0
Proof. In the coordinates (x", u),") of V T'X, we easily find

1
E(g) : u.y,'-. ua" - (5.7.31)
Then
1
9"(uxw - 29a"9a$ua$) = (1 - n/2)ga"ua"
and, hence,
ua"- I 9a"9puop=0 g.""u".=0 u.'. =0.

QED
The Einstein morphism is the morphism over X
G:JzE VT'X
defined by
G=eor.
Clearly C is quasi-linear, and its corresponding symbol is the morphism over E
a(G):VT'XVT'X -.VT'X
given by
a(G) = e o a(r).
Since we are concerned with interaction between gravitational and gauge fields,
the total fibre bundle is the fibred product
x
Let h be a metric in the Lie algebra of G such that the adjoint representation is
orthogonal. Then the Einstein-Yang-Mills (EYM) equations are
G(g) + Ag = T(g, A), (5.7.32a)

VA * F(A) = 0. (5.7.32b)
Here A E R is a constant, * is the Hodge operator on X and T is the energy-

momentum tensor of the Yang-Mills field:
T: ExJ'C--'vT'X,
M
1
2TT,, = gaoF11,
where F, 'O has been defined in (5.7.8). We easily see from (5.7.3) and (5.7.31) that
locally the equations (5.7.32a), (5.7.32b) read
ra - 2ga,,g0r0s + Ag,,. = Zo, (5.7.33a)
oa ( I91 F'.") = aa( I91 Fr'``) - I9Ic9, A9 F,- = 0. (5.7.33b)
Let us define
A'T'XV,P,
4'j:g,j:A) = (G(g) + Ag - T(g, A), VA * F'(A))(x),
for every a E X, (g, A) : X Y. A section (g, A) : X Y is a solution of the
EYM differential equations if and only if D(j2g, j2 A) = 0. According to (5.6.42), we
define
= Ker -t C J2Y. (5.7.34)
As (2.7.11), (5.7.29), (5.7.33a), and (5.7.33b) show, 1 is a quasi-linear morphism,

and its symbol
(5.7.35)
over J'Y is given by

a(4')=a(G)a(O*F). (5.7.36)
Here
Y=vT'XT'XVcP
is the vector bundle associated with Y - X.
The linear morphism
0(0*F): 'T'XT'XVcP-- A'T'XVVP

is defined in (5.7.17)
LEMMA 5.7.8. If n > 3, the symbol 0(45) is surjective. 0
Proof. We show that both a(G) and 0(V * F) are surjective.

Since 0(G) = e o 0(r) and owing to Lemma 5.7.7, we only need to show the
surjectivity of 0(r). Let (dx") be an orthonormal basis of T=X, x E X, with respect
to a metric g : X E, i.e.,
g(dx", dx") = 0, if A
g(dxA, dx") = 1, if A = ,u.
If 1 < A, , v < n are different from each other, then, using (5.7.30), we find
o(r)(g, dx" V dx" dx" V dx") = -g""dx" V dx". (5.7.37)
If A 0 , then
0(r)(g, dx" V dx" dx" V dx") = -g""dx" V dx" - g""dx" V dx".
Choosing 1 < a, 8, ry < n different from each other, we easily see that
gOdx V dx + 90dx V dx, with p 34 a,

g'ridxf V dxa + ggPdx'' V dx",
along with (5.7.37), form a basis of VT=X. Hence 0(r) is surjective.

The surjectivity of 0(0 * F) has been shown in the proof of Lemma 5.7.2. QED
It follows from the Lemma 5.7.8 that IE X is a fibred submanifold of J2Y -a X

and a differential equation. Moreover,
ir2(e) = J'Y.
Now we consider the first order prolongation of t, i.e.,

f(') : J3Y ' J'(VT'X &A'T'X VV'P),
+(1)
(7=9,7=A) = (.'(G(9) + Ag - T(9, A)), 7=(VA * F(A))).
We deduce from (5.7.36) that its symbol is the morphism
VT'X Y -. T'X (V T'X ([)n1T'X VVP)

over J'Y given by
a(4('))
= a(G(1)) a(O * F(')), (5.7.38)
where
a(G(')):VT'XVT'X -T'X VT'X
and
a(O*F'(')):VT'XT'XV0P- T'XnA'T'XVv'P
are the symbols of the first order prolongation of the Einstein operator C and the
Yang-Mills operator V * F, respectively.
To verify the conditions (i) and (iii) of theorem 5.6.22, we will introduce the
following morphisms over J'Y:
2
J'(VT'X) - T'X,
,,i(j=9,j.'u) = div9u (5.7.39)
and
02 : J'(A'T'X VVP) - AT'X VVP,
02 (A (x), j:8) = (V AO) (x), (5.7.40)
for every xEX,(g)A):X- Y,

In (5.7.39), u E T1 (X) is the tensor equivalent to u obtained by using the metric g.
Note that (5.7.39) and (5.7.40) are both linear morphisms. Their symbols are given
by
a 0 0 V -0 = 9(a, fl)7 + 9(a, '1)f3

and
a(02): TX0A'T'X0VVP-"T'XVVP,
a(+/)(a 0) = a n 0.
A corollary of the following lemma is that 63 = Kera(0)) is a vector bundle.
LEMMA 5.7.9. If n > 3, then the sequence over J1Y
(VT'X (Dnn17'X VaP)

(0 OW42)T'X nT'X 0 V.P.0
is exact. 0
Proof. Bearing in mind (5.7.38), we see that the sequence decomposes in the
following ones:
0 T'XVT'X T'X -.o

and
0. (Ga)3 - VT'X 0M 0 4A-'T'X VVP

-''T'X ,,'P - 0.
The exactness of the first sequence is proved in [59], while the exactness of the
second one has been already shown in the proof of Lemma 5.7.3. QED
LEMMA 5.7.10. If n > 3, then the map 7[23 : E(1) -+ it is surjective. o
Proof. Let q E iE and let (g, A) : X - Y be a section such that q = (jzg, j=A). Let
us consider
C-1 0O(1)(j.3g,j:A) E T=X (V 7=X A 1TX (VVP):).
Since fi(1) is quasi-linear, the fibre (f-M), is not empty if and only if
e-1 1 0 (1)(?sg,jjA) E Ian (
or, owing to the previous Lemma, if and only if
a(iGi) (D 0'(02) o E 1 0 -0)(jg,j:A) = 0.
5.7. FORMAL INTECRABILITY 423
Since (5.7.39) and (5.7.40) are linear morphisms, this relation is equivalent to
V11 0i o t(')(7:g,j:A) = 0.
We have
'i ED 0204'(')(j:g,j=A) =
0i t(j:(G(g) + Ag - T(g, A)), j=(V A * F(A))) _
(div9(G(g) + VAVA
T(g, A))(x), * F(A)(x)).
Using the Bianchi identity div9G(g) = 0, the charge conservation identity VAVA
F(A) = 0 [129], and the identity div9g = 0, which holds since V9 is the Levi-Civita
connection of g, the above relation yields
'01 02 c (-div9T(g, A)(x), 0).

After some straightforward calculations, we obtain
V:T: = V( jgjFe)FpV jg1_' (5.7.41)
Since the equation (5.7.33b) is identically satisfied on (!, the result follows from
(5.7.28) QED
The identity (5.7.41) is a consequence of the gauge-invariance and general co-

variance properties of the field system under consideration [61, 621.
Finally, let us show that the condition (ii') holds.
LEMMA 5.7.11. If n > 3, then for every q E 1E there is a quasi-regular basis for
T.2(q)X for C2 at q. 0
Proof. Let q = (j=g, j=A) and let (dr) be a g-orthonormal basis of T=X. We have
the following dimension counting whose proof will be given below:
dim (C2),,.-, = n + d, (5.7.42)
[(n - j)(2 - j + 1) ][n(n
di m (G2)g, = - 2 1) + n d], (5 . 7 . 43)
1<j<n-2,
di m (G2)q = [ n(n 2 1) - 1 ][ n(n 1)
+ n d],
2 ( 5 . 7 . 44 )
( (n 2) - n][ n(n2+ 1)
di m (G3)q = + nd ] + n + d. ( 5 . 7 . 45 )
3
Therefore,
n-1
dim (G2)q + > dim (G2)q.i
i-I
j)(n j+ 1) - 1J(n(n2 1) +redj+m+d.
E
i=0
(n- j)(n- j+1) = n3+3n2+2n-6

j=0 2 6
we find that
"-1 n3+3n2-4n n(n+1)
dim (G2)q + E dim (G2)ga = 6 2 ( + ndJ + n + d,
i=1
and this is equal to (5.7.45). QED
We have shown that the EYM differential equation (5.7.34) is involutive. It fol-
lows that, if the principal bundle P -' X is real analytic, then the EYM differential
equation is analytic and Theorem 5.7.1 leads to the following result.
THEOREM 5.7.12. Let the principal bundle P -+ X be real analytic. Then for every
q E 41 there is an analytic section (g, A) : U C X - Y over a neighbourhood U of
x = ir2(q) such that (g, A) is a solution of the EYM equations and (j=g, j=A) = q.
0
Now we prove (5.7.42)-(5.7.45). Let us first prove (5.7.42). By definition,
(C2)q.n-1 = Ker(v(4i)q.n-t),
where
2,n-1 n-1
0,(4i)q,n-1 : V T=X Ys -+ v'7-.X n T=X (VVP)Z
n-1
2,V
is the restriction of the symbol (5.7.35) to T=X Y=. From (5.7.30) and (5.7.18)
we find
2 2 a 0, if.A=n
o (r)q,n-1(V dx 0 V dx) _ -gnn dxa - gA 2
V
dxn, if ,\ n
2
1(V dxn dxa V dx'`) _
0, ifA=nor p = n, A 14 I1
1-gdz'Vde, if A O n, # n, A Vt
2 0 ifA=n
Cc.- 1(V dxn dxa) = 2gnndxa, if A 54 n.
These relations show that

dim ((72)9,n- l = dim [Ker v(r)q,n_ 1 ] + dim [Ker eq,n_ 1 ] = n + d.
To prove (5.7.43), let us go back to the proof of Lemma 5.7.8. It is easily seen
that the morphism
0'(4))q j : X Y= - VT=X n1 T=X 1 < j < n -2,

is surjective and, hence, (5.7.43) holds.
The relations (5.7.44) and (5.7.45) are immediate consequences of Lemmas 5.7.8
and 5.7.9.
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Glossary of symbols
AUT (Y), 129 dv, 100
Aut (Y), 129 dr, 68
C(M), 8 dA, 100
CK, 167 dA, 49
CX, 177 dr, 380

C1,3, 175 d 68
C4,01 190 {dy'}, 26
Ck, 342 8A, 98
CJkY, 342 a(Q), 350
C(JmZ), 372 D2(Q), 351
6,208 (P), 351
c',k, 353 Diff,(P,Q), 348

cam, 84 Diff (Q), 349
c,,., 350 Diff (P, Q), 348
Dr, 60 Diff (P, Q), 348
D, 199 (Diff i (Q))k, 350
Dh, 185 Ey, 109
dH, 100 CH, 255
443
444 GLOSSARY OF SYMBOLS
EL, 114 Hr, 249
Cr, 124 HP(B.), 113
EL, 125 HP(B'), 113
e('), 387 HP(M), 113
e4, 118 HP(Z; K), 174
FA, 87 HH(O 0), 377
FA, 90 hk, 100
f';, 34 HOL(X), 157
17 Jk, 353
{f,g}y, 310 J'u, 99

G,,3, 175 J's, 45
G1H, 178 J2s, 55
Gau(P), 143 J's, 338
GL4i 156 JIY, 43
9R, 189 J2Y, 54
9,84 J'Y, 334
91,83 JOOY, 373
[gz]s, 369 J,,Z, 362

H,250 J'J1Y, 52
H, 249 J2Y, 53
HL, 126 J'+lY, 336
HQ, 275 J'4,, 46

GLOSSARY OF SYMBOLS 445
J24), 56 0,340
jr, 4i337 D;, 99
ills, 43 D , 375
j:s, 54 D ;, 377
jrs, 374 0k#-k, 378
3', 354 O' (M), 34

3k(P), 352 O'(M), 34
3;(P), 352 99
3k(Y), 346 P(Y), 31

Ker$, 119 Pin(1, 3), 176
Ker,4i, 17 [p), 141
L, 176 Rc, 83
L, 122 Ra, 62
L., 176 R1,3, 175
L., 32 R2,3, 175
LX, 156 rk, 393
LX, 190 rk(L), 394

LhX, 181 s _;, 347
MhX, 184 Sk -, 352
01,355 SkX, 345
Ok, 356 S(Y), 16
O(JmZ), 371 SO(1, 3), 176
446 GLOSSARY OF SYMBOLS
Spin(1,3), 176 V7r k_1, 390
Spin(1, 3), 176 V(Y), 31
Spin(4), 190 W2 W, 189

[SJ;, 364 Y", 78
T, 234 ZL, 127
`1, 133 Zy, 126
TP, 164 x4, 183
Tr, 138
'r, 139 r, 58
'1o, 132 r, 65
Tf, 7 ru,251
ToP, 84 I', 80
T(M), 29 ru, 61
T ,(M), 32 r 1", 66
T.(M), 32 r r', 66
t", 162 r x r', 62
Up, 164 Om, 110
VY, 26 bo, 348
V-Y, 26 352
v r, 80 348
VcP, 84 0,122
VyJ1Y, 49 8k, 394
GLOSSARY OF SYMBOLS 441
OL, 123 PL, 103
9LX, 157 EPR, 160
9M, 38 ER, 189
9(k), 341 ET, 182
9h,341 a(4?), 397
oxiX., 99 a(4)), 399

123 aq(4i), 397
e(k+i), 341 -rH, 316
AL, 324 z, 157
)'(k), 341 [4 t], 130
A(k+I), 341 Wh, 182
k+', 352 12, 35
m, 358 QL, 123
L, 127 oz, 127
II, 121 (0,122
ir', 44
vol, 44 Ors, 61
52 Ors, 61
V t, 211
*, 348
7r (Z, Z'), 172

Index
absolute acceleration, 211 canonical coordinates, 226 241, 321
acceleration with respect to a dynamic canonical energy-momentum tensor, 139
connection, 214 canonical horizontal splitting, 51, 341
affine bundle, 23 of a vector field, 51
tangent, 24 of an exterior form, 51
affine bundle coordinates, 24 canonical tangent-valued 1-form, 38
affine bundle morphism, 24 Cartan connection, fi7
affine subbundle, 25 Cartan distribution, 342, 372, 396
associated atlas, L41 Cartan equations, 107, 124
associated fibre bundle, 87 Cartan manifold, 372
canonically, 141 higher order, 343
atlas of constant local trivializations, Cartan plane, 396
207
Cartan subspace, 342, 373
automorphism, 17
tech cohomology group, 174
canonical, 320
chain complex, 113
holonomic, 157
charge conservation identity, 70
vertical, 17
Chern-Simons gauge model, 151
base space, 9 classical solution, 191 386
bicomplex, 382 Clifford algebra, 175.
bundle atlas, 13 Clifford group, 176
bundle coordinates, 14 coadjoint representation, L44
bundle cochain complex, 113
of Clifford algebras, 127 cocycle condition, 14
of Minkowski spaces, 177 codifferential, 36
of principal connections, 86 cohomology group, L13
of world connections, 167
complete family of Hamiltonian forms,
canonical coordinate transformations, 272
322 complete family of integral manifolds,
449
450 INDEX
343 covariant differential, fi0

components of a connection, 59 current, 123
composite connection, 76 curvature, 62 70
composite fibred manifold, 18 canonical, 912
connection, 58
Darboux's coordinates, 318
affine, 66
De Donder form, 127
complete, 208
De Rham cohomology group, 113
covertical, 80
De Rham complex, 113
dual, 65, 73 in infinite order jets, 377
linear, 64
De Rham sequence of an algebra, 357
projectable, 75 derivation functor, 351
reducible, 63 derivations with values in a module,
second order , 80
350
holonomic, 80 derivative coordinates, 44
sesquiholonomic, 80 differential equation, 19 386
vertical, 80 2-acyclic, 403
connection form, 86 associated with a differential oper-
local, 87 ator, 118
connection parameters, 59 determined, 109
conservation law, 128, 133 formally integrable, 389
covariant, 151 overdetermined, l09
integral, L33 quasilinear, 390
strong, 129 regular, 389
weak, 129, 132 undetermined, 109
contact form, 318, 341, 371 differential ideal, 224 372
1-jet, 50 differential operator, L09
2-jet, 58 linear, 348
k-jet, 341 quasilinear , 39$
local, 370 standard form, 110
contact manifold, 318 Dirac operator, 185
contraction, 34 direct limit of endomorphisms, 377
cotangent map, 23 direct sum connection, 66
covariant codifferential, 69 direct system of endomorphisms, 376
covariant derivative, 61 distribution, 234
along a vector field, 61 completely integrable, 235
451
INDEX
involutive, 234 filtered algebra, 376

dynamic equation, 211 filtered module, 376
filtered morphism, 376
Ehresmann connection, 77 first Bianchi identity, 71
energy function, 230 first order jet, 43
energy-momentum tensor, 162 first variational formula, 104
equation of continuity, 147 in the presence of background fields,
equivalent fibre bundles, 14 136
Euler-Lagrange equations, 105 F-N bracket, 38
first order, 126 F-N covariant differential, fib
higher order, 120 foliation, 235
Euler-Lagrange form, 114 symplectic, 23fi
Euler-Lagrange map, 114 force, 211
Euler-Lagrange operator, 105 form
first order, 125 basic, 37
higher order, 114 contact , 99
Euler-Lagrange-Cartan operator, 124 k-contact, 100
Euler-Lagrange-type operator, 114 exterior, 33
event space, 204 horizontal, 37
exterior algebra, 34 Pfafflan,33
semibasic, 37
fibration, 9 soldering, 40
fibre, 9 tangent-valued, 38
fibre basis, 21 horizontal, 39
fibre bundle, 13 projectable, 39
with a structure group, 141 vector-valued, 41
fibre metric, L04 horizontal, 40
spinor, 185 frame, 21
fibred chart, 12 higher order, 320
fibred coordinate system, 13 frame bundle, 156
fibred endomorphism, 17 frame field, 156
fibred manifold, 9 Frolicher-Nijenhuis bracket, 38
fibred monomorphism, 17 functor of changes of rings, 359
fibred morphism, 1fi fundamental group, 113
over X, 16
fibred submanifold, 17 gauge algebra bundle, 84
452 INDEX
gauge group, 130, 1.43 Higgs field, 192

local, 1.31 Hodge star operator, 35
gauge Lie algebra, 144 holonomic atlas, 22
gauge parameter, 144 holonomic ooframe, 23
gauge potentials, 87 holonomic coordinates, 23
gauge transformation, 1.25 holonomic frame, 22
active, 1.22 homogeneous Legendre bundle, 127
general, 1311 homogeneous Yang-Mills equation, 74
passive, 129 homology group, 113
vertical, 134 homotopic maps, 172
gauge-type class; 287 homotopic topological spaces, 172
gauge-type condition, 287 homotopy group, L73
gauge-type freedom, 287 homotopy operator, 254
general affine bundle, 83 horizontal density, 37
general covariant transformation, 157 horizontal differential, 144
geometric module, 358 horizontal distribution, 206
group bundle, 143 horizontal foliation, 207
horizontal lift, 134
Hamilton equations, 256 canonical, 157
Hamilton evolution equation, 316 of a path, 7fi
Hamilton operator, 255 of a vector field, 61
Hamilton-De Donder equations, 128 horizontal subbundle, 59
Hamiltonian, 315
Hamiltonian connection, 252 ideal of contact forms, 342
Hamiltonian density, 249 imbedding, 9
Hamiltonian form, 248 immersion, 9
associated, 263 infinite order jet space, 374
constrained , 275 instantaneous Hamiltonian formalism,
weakly associated, 263 246
Hamiltonian horizontal vector field, 316 integral curve, 34
Hamiltonian lift of a vector field, 92 integral manifold, 234
Hamiltonian map, 249 maximal, 235
associated with a Lagrangian den- of maximal dimension, 235
sity, 262 integral of motion, 229
Hamiltonian vector field, 233 integral section of a connection, 61
Helmholtz-Sonin map, 114 interior product, 22
INDEX 453
invariant transformation, 131 Lagrangian constraint space, 262

generalized, 135 Lagrangian density, 97
inverse problem, 114 affine , 296
isomorphism of fibred manifolds, 11 almost regular, 273
gauge-invariant, 145
Jacobi bracket, 232
hyperregular, 122
Jacobi structure, 232
quadratic , 281
jet bundle, 44
regular, 122
jet manifold, 44
semiregular, 268
higher order, 98, 334
repeated, 52 variationally trivial, 106
second order, 54 Lagrangian distribution, 243
sesquiholonomic, 53 Lagrangian function, 220
higher order, 336 Lagrangian subspace, 243
of submanifolds of a manifold, 362 Lagrangian system, 226
jet of a module, 352 left Lie algebra, 83
jet prolongation, 337 Legendre bundle, 121
of a differential operator, 392 Legendre fibred manifold, 241
of a differential equation, 387 Legendre form, 123
of a manifold, 369 Legendre map, 122
of a morphism, 46 Legendre morphism, 126
second order, 56 Lepagian equivalent, 103
of a section, 45 Lepagian form, 102
higher order, 338 Lie bracket, 29
second order, 55 Lie derivative
of a submanifold, 372 of a function, 29
of a vector field, 49 of a multivector field, 32
higher order, 339 of an exterior form, 35
second order, 58 of a tangent-valued form, 39
linear bundle coordinates, 21
kernel of a differential operator, 118
linear bundle morphism, 21
kernel of a fibred map, 11
linear derivative of an affine map, 25
Komar superpotential, 167
Liouville form, 237
generalized, 110
tangent-valued, 122
Lagrangian, 220 associated with a Lagrangian den-
Lagrangian connection, 124 sity, 123
454 INDEX
Liouville's field, 31 Pfaffian system, 234

local diffeomorphism, 9 pin group, 176
local one-parameter group of diffeomor- Poincar6-Cartan form, 1114
phisms, 30 Poisson bracket, 232
local trivialization, 18 Poisson bivector, 33, 232
locally Hamiltonian form, 314 Poisson manifold, 232
locally Hamiltonian horizontal vector Poisson structure, 232
field, 313 canonical, 310
locally Hamiltonian vector field, 313 non-degenerate, 236
locally variational operator, U.S regular, 233
Lorentz atlas, 182 polysymplectic automorphism, 244
Lorentz connection, 185 polysymplectic form, 122
Lorentz structure, 181 associated with a Lagrangian den-
Lorentz subbundle, 181 sity, 123
polysymplectic structure, 242
mass metric, 223 preconnection, 369
mass tensor, 222 presymplectic form, 236
master equation, 111 presymplectic manifold, 236
matter bundle, L42 principal automorphism, L42
metric bundle, L60 general, 142
motion, 2f)8 principal bundle, 82
multisymplectic diffeomorphism, 243
principal connection, 8fi
multisymplectic form, 127, 243
associated, 88
multisymplectic structure, 122
canonical, 90
multivector field, 32
principal vector field, 143
natural bundle, 155 Proca field, 163
Newtonian system, 223 product connection, 62
Nijenhuis differential, 39 product of fibred manifolds, 12
normal bundle, 234 projection, 9
Nother conservation law, 131 proper map, 11
Nother current, 138 pseudo-Riemannian metric, 16f1
Nother superpotential, 146 pull-back connection, 63
pull-back fibred manifold, 17
observed motion, 212 pull-back form, 34
open map, 9 pull-back of a vector field, 51
INDEX 455
pull-back section, 18 Spencer complex, 344

push-forward of a vector field, 30 of a module, 358
of sections, 34?
rank of a map, 8 Spencer morphisms, 347
reduced principal subbundle, 179 r-order, 33fi
reduced structure, 178 Spencer operator, 344
reduction of a structure group, 178 Spencer 3-sequence, 357
reference frame, 2(18
Spencer 6-sequence of a differential equa-
relative Poincare lemma, 254 tion, 403
relative velocity, 208
Spencer sequence of differential opera-
relativistic mechanics, 367
tors, 351
representative object, 349 higher order, 351
Ricci tensor, 72
spin connection, 185
Riemannian metric, 1.89
spin group, 1.76
Riemannian structure, 189
spin structure
right Lie algebra, 84
Riemannian, 190
Schouten-Nijenhuis bracket, 32 pseudo-Riemannian, 177
second Bianchi identity, 74 h-associated , 184
generalized, 70 universal, 190
second Stiefel-Whitney class, 189 pseudo-Riemannian, 196
section, 18 Riemannian, 191
critical, 111 spinor bundle, 184
global, 15 principal, 184
integrable, 45 spinor metric, L75
SEM current, 138 spontaneous symmetry breaking, 192
SEM tensor, 189 standard 1-form, 205
soldered codifferential, 69 standard vector field, 205
soldered curvature, 71 strength, 87
soldered differential, 68 subbundle, horizontal, 52
soldered Yang-Mills operator, 71 submanifold, 9
space-time decomposition, 183 imbedded, 9
space-time structure, 183 submersion, 9
spatial covariant differential, 214 superpotential, 134
spatial distribution, 183 symbol of a differential equation, 390
spectral sequence, 112 symbol of a differential operator, 397
456 INDEX
symmetric affme connection, 213 vector bundle, 21

symmetric dynamic connection, 218 dual, 22
symmetry current, 132 vector field
symplectic form, 35 admissible, 141
canonical, 237 complete, 31
symplectic manifold, 236 horizontal, 131
symplectomorphism, 238 integrable, 339
projectable, 3L 339
tangent map, 7 vertical, 31
tensor bundle, 23 vector subbundle, 21
tensor product connection, 66 79
velocity coordinates, 44
tensor product of vector bundles, 22
vertical cotangent bundle, 26
tetrad bundle, 182
vertical covariant differential, 77
tetrad coframe, 183
vertical differential, 11X4
tetrad field, 182
vertical splitting, 27
tetrad form, 182 vertical tangent bundle, 26
tetrad frame, 182
vertical tangent map, 26
tetrad function, 183 volume form, 35
topological space
k-connected, 123 Whitney sum of affine bundles, 24
contractible, 172 Whitney sum of vector bundles, 22
simply connected, 123 world connection, 156
torsion, 71 world manifold, 156
of a dynamic connection, 218 world metric, 156
total derivative, 49, 1W world spinor, 191
in infinite order jets, 384
total Dirac operator, 199 Yang-Mills Lagrangian density, 149
total space, 9 Yang-Mills operator, 70
transition functions, 14
trivial bundle, 15
trivialization map, 13
universal Cartan element, 394
variational derivative, 145
variational map, 113
variational sequence, 116

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British Library Cataloguing-in-Publication Data

NEW LAGRANGIAN AND HAMILTONIAN METHODS IN FIELD THEORY

This book is printed on acid-free paper.

Printed in Singapore by Uto-Print

The Hamiltonian counterpart of the Lagrangian formulation of field theory is the

2.7 Jets of principal bundles 82

3.8 Gauge gravitation theory . .. ... ........... .. ... . .. 172

Glossary of Symbols 443

However, Hilbert-Einstein Lagrangian density leads to second order Euler-Lagrange

One says that a symmetry current is reduced to a superpotential if, on-shell, it

As an important application of jet formalism, we treat analytical mechanics as a

11= V'Y (n'T'X),

time-dependent canonical transformation and reference frame transformation, in-

1.1 Immersions and submersions

Suppose that f is of maximal rank at p E M. It follows that

m<n Tpf is injective;

m > n = Tpf is surjective.

THEOREM 1.1.1. Let f

Of f o(p-1 : (x',...,z") H (x',...,xm,0,...,0)

is commutative. If f is a submersion at p, it is locally surjective around p. 0

DEFINITION 1.1.2. Let f : M -, N be a map.

Example 1.1.2. If f is an immersion, then it is locally injective, but not necessarily

Obviously, (R, f) is not a submanifold of R2.

Example 1.1.3. A submanifold which is not an imbedded submanifold is exempli-

For a submanifold to be an imbedding, the following criteria are required.

PROPOSITION 1.1.3. Let (M, f) be a submanifold of N.

A glance at the diagram (1.1.1) shows that an immersion f : M -- N is a local

A standard way of constructing submanifolds is given, under suitable conditions,

THEOREM 1.1.4. Let f : M -. N be a smooth map and (Q, g) a submanifold of N

Ti(p)N = T f(TpM) +Tg(T9-I(f ,))Q)

Since a point can be thought of as a 0-dimensional manifold, Theorem 1.1.4 has

COROLLARY 1.1.5. Let q E f(M) and P = f-'(q). If the tangent map Tf is

(i) Let f : M - N be a (smooth) map factorizing through a submanifold (P, h)

1.2 Fibred manifolds

a(U) -L (-a, a)" C R"

x" = fA(x'), y" = f`(x'`,yj)

Let V be a manifold. Then a local trivialization of a fibred manifold 7r : Y -. X

is commutative for each U.-

DEFINITION 1.2.1. A fibred manifold 7r : Y -+ X, together with a manifold V, is

whenever U. n Up # 0. Let tfi0(x) denote the restriction of the trivialization map

pap(x) = t/ia(x) o 'Pj' (x), x E u. n us. (1.2.2)

P.# (X) o pp,r(x) = p< (x), x E U. n Up n U.r.

Let (Ua, 7Pa) be a local trivialization of a fibre bundle it : Y X with a typical

in a neighbourhood of each point y E a-'(U0) which is determined by means of

There exist an open covering {Uo} of X and a collection {z/ia} of bijections

for each Ua.

The maps 0a o 0j' as in (1.2.1) are diffeomorphisms.

Then there is a unique manifold structure on Y for which it : Y -+ X is a fibre

Example 1.2.2. Given a fibre bundle x : Y - X, there is a standard way to obtain

THEOREM 1.2.2. Let it : Y - X be a fibred manifold. If x is a proper map, then

PROPOSITION 1.2.4. A surjection x : Y - X is a fibred manifold if and only if

By virtue of Proposition 1.1.3 (i), the image s(U) of a local section s : U Y of

THEOREM 1.2.5. Let Y -, X be a fibre bundle whose typical fibre is diffeomorphic

An isomorphism of fibred manifolds is a fibred morphism (1.2.4) such that 0 is

and a fibred chart (V, 0) of Y' about 0(y) such that

A fibred imbedding 0 is sometimes termed a (bred monomorphism.

Given a fibred manifold Y - X and a map f : X' X, the pull-back fibred

Example 1.2.5. Let 7r : Y -. X be a fibred manifold. Using the tangent map

Let 1 be a fibred morphism between the fibred manifolds x : Y X and

PROPOSITION 1.2.7. Let h : X -* Z and g : Z -' Y be sections of the fibrations

is a section of the composite fibred manifold it : Y -. X (1.2.7). Conversely, if

This is an immediate consequence of Theorem 1.2.5, since h(X) is a closed imbedded

PROPOSITION 1.2.8. Given the composite fibred manifold (1.2.7), let h : X - Z