This book describes the remarkable connections that exist between the classical differential geometry of surfaces and modern soliton theory. The authors also explore the extensive body of literature from the nineteenth and early twentieth centuries by such eminent geometers as Bianchi, Darboux, Backlund, and Eisenhart on transformations of privileged classes of surfaces which leave key geometric properties unchanged. Prominent amongst these are Backlund-Darboux transformations with their remarkable associated nonlinear superposition principles and importance in soliton theory. It is with these transformations and the links they afford between the classical differential geometry of surfaces and the nonlinear equations of soliton theory that the present text is concerned. In this geometric context, solitonic equations arise out of the Gaus-Mainardi-Codazzi equations for various types of surfaces that admit invariance under Backlund-Darboux transformations. This text is appropriate for use at a higher undergraduate or graduate level for applied mathematicians or mathematical physics.

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Bäcklund and Darboux transformations : geometry and modern applications in soliton theory

This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control theoretical applications. The basic methodology is that of geometric mechanics applied to the formulation of Lagrange d'Alembert, generalizing the use of connections and momentum maps associated with a given symmetry group to this case. We begin by formulating the mechanics of nonholonomic systems using an Ehresmann connection to model the constraints, and show how the curvature of this connection enters into Lagrange's equations. Unlike the situation with standard configuration space constraints, the presence of symmetries in the nonholonomic case may or may not lead to conservation laws. However, the momentum map determined by the symmetry group still satisfies a useful differential equation that decouples from the group variables. This momentum equation, which plays an important role in control problems, involves parallel transport operators and is computed explicitly in coordinates. An alternative description using a ``body reference frame'' relates part of the momentum equation to the components of the Euler-Poincar\'{e} equations along those symmetry directions consistent with the constraints. One of the purposes of this paper is to derive this evolution equation for the momentum and to distinguish geometrically and mechanically the cases where it is conserved and those where it is not. An example of the former is a ball or vertical disk rolling on a flat plane and an example of the latter is the snakeboard, a modified version of the skateboard which uses momentum coupling for locomotion generation. We construct a synthesis of the mechanical connection and the Ehresmann connection defining the constraints, obtaining an important new object we call the nonholonomic connection. When the nonholonomic connection is a principal connection for the given symmetry group, we show how to perform Lagrangian reduction in the presence of nonholonomic constraints, generalizing previous results which only held in special cases. Several detailed examples are given to illustrate the theory. September 1994 Revised, March 1995 Revised, June 1995

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Nonholonomic Mechanical Systems with Symmetry

A classification of discrete integrable systems on quad-graphs, i.e. on surface cell decompositions with quadrilateral faces, is given. The notion of integrability laid in the basis of the classification is the three-dimensional consistency. This property yields, among other features, the existence of the discrete zero curvature with a spectral parameter. For all integrable systems of the obtained exhaustive list, the so called three-leg forms are found. This establishes Lagrangian and symplectic structures for these systems, and the connection to discrete systems of the Toda type on arbitrary graphs. Generalizations of these ideas to the three-dimensional integrable systems and to the quantum context are also discussed.

Classification of integrable equations on quad-graphs. The consistency approach

The main purpos e of this chapter is to present a direct and systematic way of finding exact solutions and Backlund transformations of a certain class of nonlinear evolution equations. The nonlinear evolution equations are transformed, by changing the dependent variable(s), into bilinear differential equations of the following special form 
 
$$ F\left( {\frac{\partial }{{\partial t}} - \frac{\partial }{{\partial {t^1}}},\frac{\partial }{{\partial x}} - \frac{\partial }{{\partial {x^1}}}} \right)f(t,x)f({t^1},{x^1}){|_{t = {t^1},x = {x^1}}} = 0 $$ 
 
, which we solve exactly using a kind of perturbational approach.

Direct Methods in Soliton Theory (非線形現象の取扱いとその物理的課題に関する研究会報告)

Variational iteration method for solving Burger's and coupled Burger's equations

Backlund transformations are shown to provide integrable discretisations of characteristic systems for Monge–Ampere equations descriptive of, in turn, pseudospherical and Tzitzeica surfaces.

Bäcklund transformations and the integrable discretisation of characteristic equations

We present natural discrete analogues of two integrable classes of shell membranes. By construction, these discrete shell membranes are in equilibrium with respect to suitably chosen internal stresses and external forces. The integrability of the underlying equilibrium equations is proved by relating the geometry of the discrete shell membranes to discrete O surface theory. We establish connections with generalized barycentric coordinates and nine-point centres and identify a discrete version of the classical Gauss equation of surface theory.

https://royalsocietypublishing.org/doi/pdf/10.1098/rspa.2013.0757

Integrable structure in discrete shell membrane theory

A novel resonant Ermakov-NLS system is introduced which admits symmetry reduction to a hybrid Ermakov-Painleve II system. If the latter is Hamiltonian then combination with a characteristic Ermakov invariant provides an algorithmic integration procedure. The latter involves the isolation of positive solutions of a concomitant integrable Painleve XXXIV equation. Explicit expressions for a multi-parameter class of wave packet representations for the original Ermakov-NLS system are obtained via the iterated application of a Backlund transformation admitted by the canonical Painleve II equation.

On a Novel Resonant Ermakov-NLS System: Painlevé Reduction

Based on the classical Plucker correspondence, we present algebraic and geometric properties of discrete integrable line complexes in $CP^3$. Algebraically, these are encoded in a discrete integrable system which appears in various guises in the theory of continuous and discrete integrable systems. Geometrically, the existence of these integrable line complexes is shown to be guaranteed by Desargues' classical theorem of projective geometry. A remarkable characterisation in terms of correlations of $CP^3$ is also recorded.

Discrete line complexes and integrable evolution of minors

We propose a natural discretisation scheme for classical projective minimal surfaces. We follow the classical geometric characterisation and classification of projective minimal surfaces and introduce at each step canonical discrete models of the associated geometric notions and objects. Thus, we introduce discrete analogues of classical Lie quadrics and their envelopes and classify discrete projective minimal surfaces according to the cardinality of the class of envelopes. This leads to discrete versions of Godeaux-Rozet, Demoulin and Tzitzeica surfaces. The latter class of surfaces requires the introduction of certain discrete line congruences which may also be employed in the classification of discrete projective minimal surfaces. The classification scheme is based on the notion of discrete surfaces which are in asymptotic correspondence. In this context, we set down a discrete analogue of a classical theorem which states that an envelope (of the Lie quadrics) of a surface is in asymptotic correspondence with the surface if and only if the surface is either projective minimal or a Q surface. Accordingly, we present a geometric definition of discrete Q surfaces and their relatives, namely discrete counterparts of classical semi-Q, complex, doubly Q and doubly complex surfaces.

Wolfgang K. Schief

Papers

Bäcklund transformations and the integrable discretisation of characteristic equations

Integrable structure in discrete shell membrane theory

On a Novel Resonant Ermakov-NLS System: Painlevé Reduction

Discrete line complexes and integrable evolution of minors

Discrete projective minimal surfaces