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# Poisson sigma models and symplectic groupoids

## 1. Introduction

The notion of a symplectic groupoid ,  was introduced as part of a program to quantize Poisson manifolds. It is modeled on the following basic construction.

Let $`𝔤`$ be a finite dimensional real Lie algebra. Then its dual space $`𝔤^{}`$ carries a Poisson structure, the Kirillov–Kostant structure. It is characterized by the property that the Poisson bracket of linear functions coincides with the Lie bracket of the corresponding elements of $`𝔤`$. Let $`G`$ be any Lie group whose Lie algebra is $`𝔤`$, and let $`T^{}G`$ be its cotangent bundle, with its canonical symplectic structure. Then $`𝔤^{}`$ may be embedded as the cotangent space at the identity, a Lagrangian submanifold of $`T^{}G`$. The Poisson structure on $`𝔤^{}`$ is the one that makes the right-invariant projection $`l:T^{}G𝔤^{}`$ a Poisson map. Then $`T^{}G`$ may be canonically quantized: the algebra of differential operators on $`G`$ is a quantization of the Poisson algebra of functions on $`T^{}G`$ and right-invariant differential operators form a subalgebra which is a quantization of the Poisson algebra of (polynomial) functions on $`𝔤^{}`$.

For a general Poisson manifold $`M`$, the program is to embed $`M`$ as a Lagrangian submanifold of a symplectic manifold $`𝒢`$ in such a way that (deformation, geometric, $`\mathrm{})`$ quantization of $`𝒢`$ descends to a quantization of $`M`$. The manifold $`𝒢`$ is supposed to be a symplectic groupoid, an abstraction of the algebraic and geometric properties of $`T^{}G`$. See Sect. 4 for the definition of symplectic groupoids.

The difficulties with this program are, on one side, that symplectic groupoids do not always exist as smooth manifolds. On the other side, it does not seem to be completely clear in general how to quantize $`𝒢`$ in such a way that the quantization descends to a quantization of $`M`$.

In the meantime, Kontsevich  found a different approach to deformation quantization and constructed star products for general Poisson manifolds.

In this paper, we show that (with hindsight) the program of deformation quantization based on symplectic groupoids works, albeit in a rather indirect way. For each Poisson manifold $`M`$ we construct a canonical object $`𝒢`$, the phase space of the Poisson sigma model with target space $`M`$. The latter is a classical topological field theory. In its Hamiltonian formulation it is given by an infinite dimensional Hamiltonian system with constraints. The constraints generate Hamiltonian vector fields forming an integrable distribution of tangent subspaces of codimension $`2\mathrm{dim}(M)`$ on the constraint surface. The phase space $`𝒢`$ is then the space of leaves of the corresponding foliation. It carries a natural structure of groupoid, and also of a symplectic groupoid, in the sense that “the axioms would be fulfilled if $`𝒢`$ were a manifold”. The relation with the deformation quantization of $`M`$ is that the same Poisson sigma model, in its perturbative path integral quantization yields Kontsevich’s deformation quantization formula, as was shown in .

We study several examples where $`𝒢`$ is a manifold and also an example, suggested by Weinstein, where it is not: the latter is a rotation invariant Poisson structure on $`^3`$ whose symplectic leaves are spheres centered at the origin. If the symplectic area as a function of the radius is not constant but has a critical point, it is known that no symplectic groupoid can exist, since it would contradict a theorem of Dazord . We show how conical singularities of $`𝒢`$ develop in this case.

In general, the singularities of $`𝒢`$ stem from the global structure of the foliation. However, if we work in the setting of formal power series, taking a Poisson structure of the form $`ϵ\alpha `$ with $`ϵ`$ a formal parameter, then a symplectic groupoid may be constructed : it is a formal deformation of the cotangent bundle of $`M`$.

We also note that our $`𝒢`$ is related to the “local phase space” of Karasev , . His construction is based on first order equations which are essentially our constraint equation with a special choice of gauge, valid near the identity elements of the groupoid.

Technically, to work with infinite dimensional manifolds, we use the framework of manifolds modeled on a Banach(able) space, for which we refer to .

The plan of the paper is as follows. In Sect. 2 we introduce the Poisson sigma model and recall its relation with deformation quantization. The construction of the phase space of this model is explained in Sect. 3. In Sect. 4 we describe the groupoid structure of the phase space.

We then turn to examples. In Sect. 5 the basic examples are presented: in the case of a symplectic manifold $`M`$ our symplectic groupoid is the fundamental groupoid of $`M`$ and in the case of the dual of a Lie algebra it is the cotangent bundle of the connected, simply connected Lie group with the given Lie algebra. In Sect. 6 we examine a counterexample.

In the last section we study the case of a two-dimensional Poisson domain and give a construction of a smooth symplectic groupoid in this case.

###### Acknowledgment.

We are grateful to L. Tomassini for useful comments, to M. Bordemann for interesting discussions and to A. Weinstein for useful explanations and references to the literature.

## 2. Poisson sigma model

Let $`M`$ be a smooth paracompact finite-dimensional manifold. A Poisson structure on $`M`$ is a bivector field $`\alpha C^{\mathrm{}}(M,^2TM)`$ so that $`\{f,g\}=\alpha (\mathrm{d}f,\mathrm{d}g)`$ defines a Lie algebra structure on the space of smooth functions on $`M`$. We assume that a Poisson structure on $`M`$ is given. Let $`\mathrm{\Sigma }`$ be a two-dimensional oriented compact manifold with boundary. We consider an action functional on the space of vector bundle morphisms $`\widehat{X}:T\mathrm{\Sigma }T^{}M`$ from the tangent bundle of $`\mathrm{\Sigma }`$ to the cotangent bundle of $`M`$. Such a map is given by its base map $`X:\mathrm{\Sigma }M`$ and a section $`\eta `$ of $`\mathrm{Hom}(T\mathrm{\Sigma },X^{}(TM))`$: for $`u\mathrm{\Sigma },vT_u\mathrm{\Sigma }`$, $`\widehat{X}(u,v)=(X(u),\eta (u)v)`$. The action functional is defined on maps obeying the boundary condition

(2.1)
$$\eta (u)v=0,u\mathrm{\Sigma },vT(\mathrm{\Sigma }).$$

Denote by $`,`$ the pairing between the cotangent and tangent space at a point of $`M`$. If $`X`$ is a map from $`\mathrm{\Sigma }`$ to $`M`$, then this pairing induces a pairing between the differential forms on $`\mathrm{\Sigma }`$ with values in the pull-back $`X^{}(T^{}M)`$ and the differential forms on $`\mathrm{\Sigma }`$ with values in $`X^{}TM`$. It is defined as the pairing of the values and the exterior product of differential forms, and takes values in the differential forms on $`\mathrm{\Sigma }`$. Then the action functional is

$$S(X,\eta )=_\mathrm{\Sigma }\eta ,\mathrm{d}X+\frac{1}{2}\eta ,(\alpha X)\eta .$$

Here $`\eta `$, $`\mathrm{d}X`$ are viewed as one-forms on $`\mathrm{\Sigma }`$ with values in the pull-back of the (co)tangent bundle and $`\alpha (x)`$ is viewed as a linear map $`T_x^{}MT_xM`$: $`\alpha (x)=\xi _i\zeta _i`$ is identified with the map $`\beta (\xi _i\beta ,\zeta _i\zeta _i\beta ,\xi _i)`$. A natural space of vector bundle morphisms in our setting consists of pairs $`(X,\eta )`$ with $`X`$ continuously differentiable and $`\eta `$ continuous, obeying the boundary condition (2.1). This model was first considered (in the case of surfaces $`\mathrm{\Sigma }`$ without boundary) in ,.

The Feynman path integral for this model with $`\mathrm{\Sigma }`$ a disk was studied in : if $`p,q,r`$ are three distinct points on the boundary of the disk, then the semiclassical expansion of the path integral

$$fg(x)=_{X(r)=x}f\left(X(p)\right)g\left(X(q)\right)e^{\frac{i}{\mathrm{}}S(X,\eta )}𝑑X𝑑\eta $$

around the critical point $`X(u)=x`$, $`\eta =0`$ gives Kontsevich’s star product  formula. This action functional is invariant under an infinite dimensional space of infinitesimal symmetries and the above integral has to be properly gauge fixed.

Here we want to study the classical part of this story and formulate the model in the Hamiltonian formalism.

## 3. The phase space of the Poisson sigma model

The Hamiltonian formulation of the Poisson sigma model is obtained by taking $`\mathrm{\Sigma }`$ to be a rectangle $`[T,T]\times I`$ with coordinates $`(t,u)`$ (times and space). The action can then be written as $`S=_\mathrm{\Sigma }(\eta _u,_tX+_uX+\alpha \eta _u,\eta _t)dudt`$. The boundary conditions for $`\eta _t`$ are $`\eta _t=0`$ on $`[T,T]\times I`$. According to the rules of Hamiltonian mechanics, the first part of this action defines a symplectic structure on the space of vector bundle morphisms $`TIT^{}M`$ and the coefficient of the Lagrange multiplier $`\eta _t`$ is a system of constraints that generate a distribution of subspaces spanned by Hamiltonian vector fields. The phase space of the Poisson sigma model is then obtained by Hamiltonian reduction, as the set of integral manifolds of this distribution contained in the set of zeros of the constraints. It may also be expressed as Marsden–Weinstein reduction for the symplectic action of an infinite dimensional Lie algebra on (a version of) the cotangent bundle of the path space $`PM`$ of maps $`IM`$.

### 3.1. The cotangent bundle of $`PM`$

Let $`I`$ be the interval $`[0,1]`$ and $`PM`$ the space of continuously differentiable maps $`IM`$. The tangent space at $`XPM`$ is the space of maps $`V:ITM`$ with $`V(u)T_{X(u)}M`$. Let $`T^{}PM`$ be the space of continuous vector bundle morphisms $`(X,\eta ):TIT^{}M`$ with continuously differentiable base map $`X:IM`$. Then $`T^{}PM`$ is a vector bundle over $`PM`$. The fiber $`T_X^{}PM`$ at $`X`$ may be thought of as the space of continuous 1-forms on $`I`$ with values in $`X^{}(T^{}M)`$. The vector bundle $`T^{}PM`$ may be thought of as the cotangent bundle of $`PM`$, since we have a non-degenerate pairing $`(\eta ,V)_0^1\eta (u),V(u)`$ between $`T_X^{}PM`$ and $`T_XPM`$. The canonical symplectic form $`\omega `$ on $`T^{}PM`$ is defined as the differential of the 1-form $`\theta _{(X,\eta )}(V)=_0^1\eta (u),p_{}V(u)`$, $`VT_{(X,\eta )}T^{}PM`$, where $`p:T^{}PMPM`$ is the bundle projection.

In local coordinates $`\widehat{X}`$ is described by $`n=\mathrm{dim}(M)`$ functions $`X^iC^1(I)`$ and $`n`$ 1-forms $`\eta _iC^0(I)du`$ on $`I`$. The symplectic form reads then

(3.1)
$$\omega _{\widehat{X}}(\delta _1\widehat{X},\delta _2\widehat{X})=_0^1\left(\delta _1X^i\delta _2\eta _i\delta _2X^i\delta _1\eta _i\right).$$

We use here and below the Einstein summation convention and do not write the summation signs for sums over repeated indices.

### 3.2. The constraint manifold

Let $`𝒞`$ be the space of solutions of the constraint equation (“Gauss law”)

(3.2)
$$\mathrm{d}X(u)+\alpha (X(u))\eta (u)=0,$$

with $`X`$ continuously differentiable and $`\eta `$ continuous. This space can be made into a smooth manifold modeled on the Banach space $`^n\times C^0(I,^n)`$: pick a Riemannian metric on $`M`$. Then for each $`x_0M`$ and $`\eta _0`$ a continuous 1-form on $`I`$ with values in $`T_{x_0}^{}M`$ sufficiently small, there exists a unique solution of (3.2) such that $`X(0)=x_0`$ and $`\eta (u)`$ is obtained from $`\eta _0(u)`$ by parallel translation for the Levi-Civita connection along the path $`X`$. All solutions of (3.2) may be obtained this way. Thus, upon choosing local coordinates on a neighborhood $`UM`$ of a point and an orthonormal basis in each tangent space, we have a chart $`𝒞𝒰^n\times C^0(I,^n)`$.

### 3.3. An integrable distribution of subspaces

Let $`\widehat{X}=(X,\eta )`$ be a vector bundle morphism $`TIT^{}M`$ and suppose $`\beta `$ is a continuously differentiable function $`IT^{}M`$ such that $`\beta (u)T_{X(u)}^{}M`$, $`uI`$ and $`\beta (0)=\beta (1)=0`$. In other words, $`\beta `$ is in the Banach space $`C_0^1(I,X^{}(T^{}M))`$ of $`C^1`$ sections of the pull-back bundle $`X^{}(T^{}M)`$, vanishing at the endpoints. Let

$$H_\beta =_0^1\mathrm{d}X+\alpha \eta ,\beta .$$

If we vary $`\widehat{X}`$ in some open set and let $`\beta `$ depend on $`\widehat{X}`$ then $`H_\beta `$ defines a Hamiltonian vector field $`\xi _\beta `$ (“the infinitesimal gauge transformation with gauge parameter $`\beta `$”) on this open set by the rule

$$\iota _{\xi _\beta }\omega =\mathrm{d}H_\beta .$$

Here $`\iota `$ denotes interior multiplication. This rule makes sense if the dependence of $`\beta `$ on $`\widehat{X}`$ is such that $`\mathrm{d}H_\beta `$ is in the image of $`\omega `$. We show below a way to extend any given $`\beta C_0^1(I,X^{}(T^{}M))`$ in such a way that this holds. If $`\widehat{X}𝒞`$, then $`H_\beta `$ vanishes and the value of $`\mathrm{d}H_\beta `$ at $`\widehat{X}`$ only depends on $`\beta `$ at $`\widehat{X}`$. Therefore we have for each solution $`\widehat{X}`$ of (3.2) a subspace of the tangent space to the space of vector bundle morphisms $`TIT^{}M`$ at $`\widehat{X}`$ spanned by the vectors $`\xi _\beta `$, $`\beta C_0^1(I,X^{}(T^{}M))`$. A formula for $`\xi _\beta `$ is the following. Let $`^{TM}`$ be a torsion-free connection on $`TM`$. This connection induces connections $`^{T^{}M}`$, $`^{^2TM}`$, $`^{X^{}(T^{}M)}`$ on the vector bundles $`T^{}M`$, $`^2TM`$ over $`M`$, and $`X^{}(T^{}M)`$ over $`I`$, respectively. For $`xM`$, let $`pT_x^{}M`$, $`h_{(x,p)}`$ denote the horizontal lift homomorphism $`T_x^{}MT_{(x,p)}(T^{}M)`$. It maps the tangent vector to a curve $`\gamma `$ through $`x`$ to the tangent vector of the curve $`\widehat{\gamma }`$ through $`(x,p)`$ obeying the geodesic equation $`^{\gamma ^{}(T^{}M)}\widehat{\gamma }=0`$. If $`\widehat{X}=(X,\eta )T^{}PM`$, then $`\xi _\beta (\widehat{X})`$ is the vector bundle morphism $`TIT(T^{}M)`$

$`\xi _\beta (\widehat{X})(u,v)`$ $`=`$ $`h_{(X(u),\eta (u)v)}\left(\alpha (X(u))\beta (u)\right)+_v^{X^{}(T^{}M)}\beta (u)`$
$`\beta (u),(\alpha )(X(u))\eta (u)v,uI,vT_uI.`$
The last two terms are in $`T_{X(u)}^{}M`$ which is identified with the vertical tangent space at $`(X(u),\eta (u)v)T^{}M`$. If $`\widehat{X}`$ solves (3.2), then this expression is independent of the choice of the connection. It may be more illuminating to write $`\xi _\beta `$ in local coordinates: applying $`\xi _\beta `$ to the coordinate maps $`\widehat{X}X^i(u)`$, $`\widehat{X}\eta _i(u)`$, with respect to some choice of coordinates on $`M`$, gives

$`\xi _\beta X^i(u)`$ $`=`$ $`\alpha ^{ij}(X(u))\beta _j(u)`$
$`\xi _\beta \eta _i(u)`$ $`=`$ $`\mathrm{d}_u\beta _i(u)+_i\alpha ^{jk}(X(u))\eta _j(u)\beta _k(u)`$
###### Theorem 3.1.

Let $`\widehat{X}=(X,\eta )𝒞`$. Then the subspace of $`T_{\widehat{X}}PM`$ spanned by $`\xi _\beta `$, $`\beta C_0^1(I,X^{}(T^{}M))`$, is a closed subspace of codimension $`2\mathrm{dim}(M)`$.

Proof. For simplicity, we present the proof for $`M`$ a domain in $`^n`$ and work with coordinates. A general tangent vector at a point $`(X,\eta )`$ of $`𝒞`$ is a solution $`(\dot{X},\dot{\eta })`$ of the linearization

$$\dot{X}^i(u)+_k\alpha ^{ij}\left(X(u)\right)\dot{X}^k(u)\eta _j(u)+\alpha ^{ij}\left(X(u)\right)\dot{\eta }_j(u)=0,$$

of the constraint equation. With our conditions on differentiability, $`(\dot{X},\dot{\eta })C^1(I,^n)C^0(I,^n)`$, the map $`\beta \xi _\beta `$ is a continuous linear map from the Banach space $`C_0^1(I,^n)`$ to $`C^1(I,^n)C^0(I,^n)`$. It is injective, since $`\xi _\beta =0`$ implies that $`\beta `$ obeys a homogeneous linear first order differential equation with zero initial condition, and thus vanishes identically.

Let us describe the image of $`\xi `$. If $`(\dot{X},\dot{\eta })`$ is in the image then $`\dot{X}(0)=0`$ and $`\dot{\eta }`$ is of the form

(3.4)
$$\dot{\eta }(u)=\mathrm{d}_u\beta (u)+A(u)\beta (u),$$

for some $`\beta C_0^1(I,^n)`$, where $`A(u)`$ is the matrix $`(_i\alpha ^{kj}\eta _j)_{i,j=1\mathrm{},n}`$. If $`V(u)`$ is the solution of $`d_uV(u)=V(u)A(u)`$ with $`V(0)=1`$, then (3.4) reads $`V(u)\dot{\eta }(u)=\mathrm{d}_u\left(V(u)\beta (u)\right)`$. Since $`\beta (u)`$ vanishes at the endpoints, we see that $`_IV(u)\dot{\eta }(u)=0`$. Conversely, if $`(\dot{X},\dot{\eta })`$ obey

(3.5)
$$\dot{X}(0)=0,_IV(u)\dot{\eta }(u)=0,$$

then $`(\dot{X},\dot{\eta })=\xi _\beta `$, with $`\beta (u)=V(u)^1_0^uV(u^{})\eta (u^{})`$.

The image is thus described as the common kernel (3.5) of $`2n`$ linearly independent continuous linear functions, and is thus closed of codimension $`2n`$.  $`\mathrm{}`$

The next step is to show that the distribution of subspaces in the tangent bundle to the space of solutions of $`(\text{3.2})`$ is integrable and thus defines a foliation of codimension $`2\mathrm{dim}(M)`$. This is best seen by interpreting the leaves as orbits of a gauge group which we introduce in the next section.

### 3.4. The Lie algebra and its action on the cotangent bundle

The Lie algebra acting on $`T^{}PM`$ is obtained from the Lie algebra of 1-forms $`\mathrm{\Omega }^1(M)`$ with the Koszul Lie bracket. This bracket is defined by

$$[\beta ,\gamma ]=\mathrm{d}\beta ,\alpha \gamma \iota _{\alpha \beta }\mathrm{d}\gamma +\iota _{\alpha \gamma }\mathrm{d}\beta ,$$

for any $`\beta ,\gamma \mathrm{\Omega }^1(M)`$. In local coordinates $`\alpha =\frac{1}{2}\alpha ^{ij}\frac{}{x^i}\frac{}{x^j}`$, $`\beta =beta_i\mathrm{d}x^i`$, $`\gamma =\gamma _i\mathrm{d}x^i`$, with $`_i=/x^i`$,

$$[\beta ,\gamma ]=\left(_i\alpha ^{jk}\beta _j\gamma _k+\alpha ^{jk}_j\beta _i\gamma _k+\alpha ^{jk}\beta _j_k\gamma _i\right)\mathrm{d}x^i.$$

This bracket obeys the Jacobi identity as a consequence of the Jacobi identity for $`\alpha `$. Let $`P_0\mathrm{\Omega }^1(M)`$ be the Lie algebra of continuously differentiable maps $`I\mathrm{\Omega }^1(M)`$ such that $`\beta (0)=\beta (1)=0`$, with bracket $`[\beta ,\gamma ](u)=[\beta (u),\gamma (u)]`$.

If $`\beta P_0\mathrm{\Omega }^1(M)`$, let

$$H_\beta (X,\eta )=_I\mathrm{d}X(u)+\alpha (X(u))\eta (u),\beta (X(u),u).$$

Recall that if $`H`$ is a smooth function on a symplectic manifold, then a vector field $`\xi `$ is called Hamiltonian vector field generated by $`H`$ if $`\iota _\xi \omega =\mathrm{d}H`$. Such a vector field, it it exists, is unique. In the infinite dimensional setting existence is not guaranteed in general.

###### Theorem 3.2.

1. For each $`\beta P_0\mathrm{\Omega }^1(M)`$ there exists a Hamiltonian vector field $`\xi _\beta `$ generated by $`H_\beta `$.
2. The Lie algebra $`P_0\mathrm{\Omega }^1(M)`$ acts on $`T^{}PM`$ by the Hamiltonian vector fields $`\xi _\beta `$, i.e., $`\beta \xi _\beta `$ is a Lie algebra homomorphism.
3. The map $`\mu :T^{}PMP_0\mathrm{\Omega }^1(M)^{}`$ with $`\mu (X,\eta ),\beta =H_\beta (X,\eta )`$ is an equivariant moment map for this action.

Proof. (i) By using a partition of unity, we may restrict ourselves to $`\beta `$ with support in a coordinate neighborhood of $`M`$, and use local coordinates. If $`\dot{X}^i(u),\dot{\eta }_i(u)`$ are the coordinates of a vector field $`\zeta `$ on $`T^{}PM`$ then, with the abbreviations $`\beta _i=\beta _i(X(u),u)`$, $`\alpha ^{ij}=\alpha ^{ij}(X(u))`$,

$`\mathrm{d}H_\beta (\zeta )`$ $`=`$ $`{\displaystyle _0^1}\left((\mathrm{d}_u\dot{X}^i+_k\alpha ^{ij}\dot{X}^k\eta _j+\alpha ^{ij}\dot{\eta }_j)\beta _i+C^j_i\beta _j\dot{X}^i\right)`$
$`=`$ $`{\displaystyle _0^1}\dot{X}^i\left(\mathrm{d}_u\beta _i+_i\alpha ^{jk}\eta _k\beta _j+C^j_i\beta _j\right)+{\displaystyle _0^1}\dot{\eta }_i\alpha ^{ji}\beta _j.`$
The term with $`C^j=\mathrm{d}_uX^i+\alpha ^{ij}\eta _j`$ vanishes on $`𝒞`$. Here $`\mathrm{d}_u`$ is the (total) differential with respect to the coordinate $`u`$ on the interval. We may then read off the coordinates $`\delta _\beta X^i,\delta _\beta \eta _i`$ of $`\xi _\beta `$, and at the same time show that they exist, from the defining relation $`\omega (\xi _\beta ,\zeta )=\mathrm{d}H_\beta (\zeta )`$, where $`\omega `$ is given by (3.1). We obtain

$`\delta _\beta X^i(u)`$ $`=`$ $`\alpha ^{ij}(X(u))\beta _j(X(u),u)`$
$`\delta _\beta \eta _i(u)`$ $`=`$ $`\mathrm{d}_u\beta _i(X(u),u)+_i\alpha ^{jk}(X(u))\eta _j(u)\beta _k(X(u),u)`$
$`C^j(u)_i\beta _j(X(u),u).`$
(ii) is a consequence of (iii)

(iii) The statement amounts to the identity $`H_{[\beta ,\gamma ]}=\xi _\beta H_\gamma `$, which we may again check in local coordinates. We have

$`\xi _\beta H_\gamma (X,\eta )`$ $`=`$ $`\xi _\beta {\displaystyle _0^1}C^i\gamma _i`$
$`=`$ $`{\displaystyle _0^1}(C^i_k\gamma _i\alpha ^{kl}\beta _l_k\alpha ^{ij}\mathrm{d}_uX^k\beta _j\gamma _i`$
$`_k\alpha ^{ij}\alpha ^{kl}\beta _k\eta _j\gamma _i+\alpha ^{ij}_j\alpha ^{kl}\eta _j\beta _l\alpha ^{ij}C^k_j\beta _k\gamma _i).`$
By combining terms with the Jacobi identity, we arrive at the formula

$$\xi _\beta H_\gamma =_0^1C^i(_i\alpha ^{jk}\beta _j\gamma _k+\alpha ^{jk}_j\beta _i\gamma _k+\alpha ^{jk}\beta _j_k\gamma _i)=H_{[\beta ,\gamma ]}.$$

$`\mathrm{}`$

### 3.5. The phase space

The set $`\mu ^1(0)`$ of zeros of the moment map is the constraint manifold $`𝒞`$. One would like to define the phase space as the Marsden–Weinstein symplectic quotient $`T^{}PM//H=𝒞/H`$. The gauge group $`H`$ is the group of symplectic diffeomorphisms generated by the flows of the Hamiltonian vector fields $`\xi _\beta `$. The trouble is that not only the manifold is infinite dimensional, but the action of the group is far from being nice, and one should not expect to have a good quotient.

However, locally the orbits form a smooth foliation:

###### Theorem 3.3.

The distribution of tangent subspaces of $`𝒞`$ spanned by $`\xi _\beta `$, $`\beta C_0^1(I,X^{}(T^{}M))`$ is integrable. Its integral manifolds are smooth of codimension $`2\mathrm{dim}(M)`$ and are the orbits of $`H`$.

Proof. We present the proof in the case where $`M`$ is a domain in $`^n`$. The general case is treated in a similar but more cumbersome way.

Let $`V_{(X,\eta )}`$ be the subspace of $`T_{(X,\eta )}𝒞`$. spanned by $`\xi _\beta `$, $`\beta C_0^1(I,X^{}(T^{}M))`$. These vector spaces form a smooth subbundle of the tangent bundle: locally over a neighborhood $`𝒰𝒞`$, this subbundle is the image of the smooth vector bundle morphism

$`𝒰\times C_0^1(I,^n)`$ $``$ $`T𝒰`$
$`((X,\eta ),\beta )`$ $``$ $`((X,\eta ),\xi _\beta (X,\eta )).`$
By Theorem 3.1, in each fiber this is an injective linear continuous map with closed image of codimension $`2n`$.

Now the integrability follows from the Frobenius theorem (see , Chapter VI, for a proof valid in the infinite dimensional setting): every $`\beta C_0^1(I,X^{}(T^{}M))`$ may be extended to an element of $`P_0\mathrm{\Omega }^1(M)`$: in coordinates, take $`\beta _i(x,u)`$ independent of $`x`$. It then follows from Theorem 3.2 (ii), that $`[\xi _\beta ,\xi _\gamma ]=\xi _{[\beta ,\gamma ]}`$, which implies the Frobenius integrability criterion.

The fact that the integral manifolds are orbits of $`H`$, follows from the fact that $`V_{(X,\eta )}`$ coincides with the space spanned by the restriction to $`(X,\eta )`$ of Hamiltonian vector fields generated by $`H_\beta `$, $`\beta P_0\mathrm{\Omega }^1(M)`$.  $`\mathrm{}`$

## 4. The symplectic groupoid structure on $`T^{}PM//H`$

A symplectic manifold $`𝒢`$ with symplectic form $`\omega _𝒢`$ is called symplectic groupoid for a Poisson manifold $`M`$ if we have an injection $`j:M𝒢`$, two surjections $`l,r:𝒢M`$, a composition law $`g,hg{}_{}{}^{_{}}h`$ defined if $`g,h𝒢`$ and $`r(g)=l(h)`$ obeying a set of axioms. The first axioms say that $`𝒢`$ is a groupoid, i.e., denoting $`𝒢_{x,y}=l^1(x)r^1(y)`$,

1. $`lj=rj=\mathrm{id}_M`$.
2. If $`g𝒢_{x,y}`$ and $`h𝒢_{y,z}`$, then $`g{}_{}{}^{_{}}h𝒢_{x,z}`$.
3. $`j(x){}_{}{}^{_{}}g=g{}_{}{}^{_{}}j(y)=g`$, if $`g𝒢_{x,y}`$.
4. To each $`g𝒢_{x,y}`$ there exists an inverse $`g^1𝒢_{y,x}`$ such that $`g{}_{}{}^{_{}}g_{}^{1}=j(x)`$.
5. The composition law is associative: $`(g{}_{}{}^{_{}}h){}_{}{}^{_{}}k=g{}_{}{}^{_{}}(h{}_{}{}^{_{}}k)`$ whenever defined.

In the language of categories, these axioms say that $`𝒢`$ is the set of morphisms of a category in which all morphisms are isomorphisms. $`M`$ is the set of objects and $`j(M)`$ the set of identity morphisms. It follows from the axioms that $`g^1`$ is uniquely determined by $`g`$ and that $`g^1{}_{}{}^{_{}}g=j(y)`$, if $`g𝒢_{x,y}`$.

The next axioms relate to the symplectic and Poisson structure. A smooth map $`\varphi :M_1M_2`$ between Poisson manifolds is called Poisson if $`\{f,g\}\varphi =\{f\varphi ,g\varphi \}`$, for all $`f,gC^{\mathrm{}}(M_2)`$. It is called anti-Poisson if $`\{f,g\}\varphi =\{f\varphi ,g\varphi \}`$. Then the remaining axioms are:

1. $`j`$ is a smooth embedding, $`l,r`$ are smooth submersions, the composition and inverse maps are smooth.
2. $`j(M)`$ is a Lagrangian submanifold. In particular $`\mathrm{dim}(𝒢)=2\mathrm{dim}(M)`$.
3. $`l`$ is a Poisson map and $`r`$ is an anti-Poisson map.
4. Let $`P:𝒢_0𝒢\times 𝒢𝒢`$ be the composition law on $`𝒢_0=\{(g,h)𝒢|r(g)=l(h)\}`$, and $`\pi _1,\varphi _2:𝒢\times 𝒢𝒢`$ denote the projections onto the first and second factor. Then $`P^{}\omega _𝒢=\pi _1^{}\omega _𝒢+\pi _2^{}\omega _𝒢`$.
5. $`gg^1`$ is an anti-Poisson map.

The basic example is the following:

###### Example 4.1.

Let $`M=𝔤^{}`$ be the dual space to a Lie algebra $`𝔤`$ with Kirillov–Kostant Poisson structure. For any Lie group $`G`$ with Lie algebra isomorphic to $`𝔤`$, we have the inclusion $`j:𝔤^{}T^{}G`$ of $`𝔤^{}`$ as the cotangent space at the identity $`e`$ and projections $`l,r:T^{}G𝔤^{}`$ sending the cotangent space at each point to the cotangent space at the identity by left (right) translation. If $`L_g,R_g:GG`$, with $`L_g(h)=gh`$, $`R_g(h)=hg`$, denote the left and right translation by $`g`$, we have $`l(g,a)=\mathrm{d}R_g(e)^{}a`$, $`r(g,a)=\mathrm{d}L_g(e)^{}b`$, ($`gG`$, $`aT_g^{}G`$). If $`r(g,a)=l(h,b)`$, the composition law is $`(g,a){}_{}{}^{_{}}(h,b)=(gh,c)`$ with $`c=(\mathrm{d}R_h(g)^{})^1a=(\mathrm{d}L_g(h)^{})^1b`$.

A more explicit description is obtained by identifying $`T^{}G`$ with $`𝔤^{}\times G`$ via $`(g,a)(\mathrm{d}R_g(e)^{}a,g)`$, see 5.4 below.

### 4.1. The groupoid structure

The algebraic groupoid structure of $`𝒢=𝒞/H`$ can be naturally defined in terms of composition of paths. We have an inclusion $`j:M𝒢`$ sending a point $`x`$ to the class of the constant solution $`X(u)=x,\eta (u)=0`$. Let $`l,r:T^{}PMM`$ be the maps

(4.1)
$$l(X,\eta )=X(0),r(X,\eta )=X(1).$$

These maps are $`H`$-invariant, since the symmetries preserve the endpoints, hence they descend to maps $`l,r:𝒢M`$, and it is clear that axiom (i) holds.

### 4.2. Composition law and inverses

To define the composition law we need to do some adjustments at the endpoints: Let $`H_0`$ be the subgroup of $`H`$ generated by the flows of the vector fields $`\xi _\beta `$ such that $`\mathrm{d}\beta (0)=\mathrm{d}\beta (1)=0`$.

###### Lemma 4.2.

In each equivalence class $`[(X,\eta )]`$ in $`𝒢=𝒞/H`$ there exists a representative with $`\eta (0)=\eta (1)=0`$. Any two representatives with this property can be related by an element of $`H_0`$.

Proof. Let $`(X,\eta )𝒞`$. To obtain a representative with $`\eta (0)=0`$ we perform a gauge transformation obtained as the flow of a vector field $`\xi _\beta `$ with $`\beta `$ supported on a small neighborhood $`I_0`$ of $`0I`$. Small means here that $`X(u)`$ lies in a coordinate neighborhood $`U`$ of $`M`$ for $`uI_0`$. Then the gauge transformation may be described in local coordinates. The problem is then to find continuously differentiable functions $`\beta _i(u)`$ supported on $`I_0`$ with $`\beta _i(0)=0`$, so that the solution to the system

$`{\displaystyle \frac{}{s}}X^i(u,s)`$ $`=`$ $`\alpha ^{ij}\left(X(u,s)\right)\beta _j(u),`$
$`{\displaystyle \frac{}{s}}\eta _i(u,s)`$ $`=`$ $`\mathrm{d}_u\beta _i(u)+_i\alpha ^{jk}\left(X(u,s)\right)\eta _j(u,s)\beta _k(u),`$
with initial condition $`(X,\eta )`$ at $`s=0`$ (a) exists with $`X`$ in $`U`$ for all $`s[0,1]`$, and (b) obeys $`\eta _i(0,1)=0`$. A sufficient condition for (a) is that $`|\beta _i(u)|<\delta `$ for some $`\delta >0`$ and all $`uI_0`$: if this bound holds with sufficiently small $`\delta `$, then the first equation has a solution which is close to $`X`$ and thus remains in $`U`$. Given $`X(u,s)`$, the second equation is linear for $`\eta `$ and thus has a solution for all $`s[0,1]`$. To achieve (b), let $`a_i=\eta _i(0)`$ and choose $`\beta _i(u)`$ so that $`\beta _i(u)=a_iu+O(u^2)`$. Then $`\eta _i(0,s)=(1s)a_i`$ vanishes for $`s=1`$. The same procedure may be applied at the other end of $`I`$.

Suppose now that $`\widehat{X}^{(0)}=(X^{(0)},\eta ^{(0)})`$ and $`\widehat{X}^{(1)}=(X^{(1)},\eta ^{(1)})`$ are two representatives of a class in $`𝒢`$, obeying the condition $`\eta ^{(0)}(u)=\eta ^{(1)}(u)=0`$ for $`u=0,1`$. These representatives are related by an element of $`H`$, which is a product of a finite number $`k`$ of flows of vector fields of the form $`\xi _\gamma `$, $`\gamma P_0\mathrm{\Omega }^1(M)`$. Let us first assume that $`k=1`$. Then we have a smooth path $`s\widehat{X}_s`$ in $`𝒞`$, such that $`\widehat{X}_{s=0}=\widehat{X}^{(0)}`$, $`\widehat{X}_{s=1}=\widehat{X}^{(1)}`$, and $`\mathrm{d}\widehat{X}_s/\mathrm{d}s=\xi _\gamma (\widehat{X}_s)`$. We now repeat the procedure of the first part of the proof, for each $`s[0,1]`$. Let $`x_0=\widehat{X}_s(0)`$, which is independent of $`s`$, and choose coordinates in a neighborhood $`UM`$ of $`x_0`$. Let $`\beta _sP_0\mathrm{\Omega }^1(U)`$ be such that (a) $`\beta _{s,i}(x,u)=a_{s,i}u+O(u^2)`$ $`(u0`$), where $`\eta _{s,i}(0)=a_{s,i}\mathrm{d}u`$; (b) $`\beta _s(x,u)=0`$ if $`u\delta ^{}`$, for some sufficiently small $`\delta ^{}>0`$, (c)$`\mathrm{max}|\beta _{s,i}|`$ is sufficiently small. Then the flow of $`\xi _{\beta _s}`$ exists on $`𝒰=\{\widehat{X}𝒰|\widehat{X}(u)U,`$ for $`u\delta ^{}\}`$ for all times in $`[0,1]`$. Applying this flow to $`\widehat{X}_s`$ we obtain a two-parameter family $`\widehat{X}_{s,\sigma }`$, $`(s,\sigma )[0,1]^2`$, in $`𝒞`$, differing from $`\widehat{X}_s`$ only in some small neighborhood of $`0I`$, such that $`\widehat{X}_{s,0}=\widehat{X}_s`$ and $`\widehat{X}_{s,\sigma }/\sigma =\xi _{\beta _s}(\widehat{X}_{s,\sigma })`$. By construction, we have

1. $`\widehat{X}_{0,\sigma }=\widehat{X}^{(0)}`$, $`\widehat{X}_{1,\sigma }=\widehat{X}^{(1)}`$, for all $`\sigma [0,1]`$.
2. $`\widehat{X}_{s,1}=(X_{s,1},\eta _{s,1})`$ with $`\eta _{s,1}(0)=0`$.

Since $`\xi _{\beta _s}`$, $`\xi _\gamma `$ belong to an integrable distribution of tangent subspaces, any curve $`t\widehat{X}_{s(t),\sigma (t)}`$ is in the integral manifold passing through $`\widehat{X}^{(0)}`$. In particular, $`s\widehat{X}_{s,1}`$ defines by (i), (ii) a curve of points related by a transformation of $`H`$. Since $`\eta _{s,1}(0)=0`$, this transformation is in $`H_0`$. The same argument applies to the other endpoint, and for $`k1`$ one applies this construction $`k`$ times.  $`\mathrm{}`$

Then we may define the composition law $`[(X,\eta )]=[(X_1,\eta _1)]{}_{}{}^{_{}}[(X_2,\eta _2)]`$ in $`𝒢`$ by choosing representatives as in Lemma 4.2 and setting

(4.2)
$$\begin{array}{cc}\hfill X(u)& =\{\begin{array}{cc}\hfill X_1(2u),& 0u\frac{1}{2},\hfill \\ \hfill X_2(2u1),& \frac{1}{2}u1,\hfill \end{array}\hfill \\ \hfill \eta (u)& =\{\begin{array}{cc}\hfill 2\eta _{1u}(2u)\mathrm{d}u,& 0u\frac{1}{2},\hfill \\ \hfill 2\eta _{2u}(2u1)\mathrm{d}u,& \frac{1}{2}u1.\hfill \end{array}\hfill \end{array}$$

(we write $`\eta _i(u)=\eta _{iu}(u)\mathrm{d}u`$, $`i=1,2`$), provided $`X_1(1)=X_2(0)`$.

Lemma 4.2 ensures that $`\eta `$ is continuous. $`X`$ is continuously differentiable since the derivatives of $`X_1`$, $`X_2`$ at the endpoints match — they vanish, as a consequence of (3.2). It is immediate to check that $`(X,\eta )`$ obeys the constraint equation if $`(X_1,\eta _1)`$, $`(X_2,\eta _2)`$ do. Therefore the composition is well-defined at the level of representatives. By the second part of Lemma 4.2, the class of $`(X,\eta )`$ is independent of the choice of representatives: infinitesimal transformations of $`(X_1,\eta _1)`$, $`(X_2,\eta _2)`$ associated to $`\beta _1,\beta _2:IT^{}M`$ and obeying $`\mathrm{d}\beta _1(1)=\mathrm{d}\beta _2(0)`$ match at the end points to give to give an infinitesimal transformation of $`(X,\eta )`$ associated to

$$\beta (u)=\{\begin{array}{cc}\hfill \beta _1(2u),& 0u\frac{1}{2},\hfill \\ \hfill \beta _2(2u1),& \frac{1}{2}u1,\hfill \end{array}$$

which is a differentiable function $`\beta :IT^{}M`$ with $`\beta (u)T_{X(u)}^{}M`$.

For $`u[0,1]`$, let $`\theta (u)=1u`$. If $`\widehat{X}=(X,\eta )`$ obeys the constraint equation (3.2), then $`\theta ^{}\widehat{X}=(X\theta ,\theta ^{}\eta )`$ also does. Moreover the endpoints of the path $`X`$ are interchanged under this map. If $`\beta `$ is a section of $`X^{}(T^{}M)`$ then $`\beta \theta `$ is a section of $`(X\theta )^{}(T^{}M)`$, and $`\theta ^{}(\xi _\beta \widehat{X})=\xi _{\beta \theta }\theta ^{}\widehat{X}`$. Therefore

$$[(X,\eta )][(X,\eta )]^1=[(X\theta ,\theta ^{}\eta )]$$

is a well-defined map from $`𝒢`$ to $`𝒢`$.

###### Theorem 4.3.

$`𝒢`$ obeys axioms (i)–(v)

The idea of the proof of the associativity is based on the fact that the composition law is associative up to reparametrization of $`I`$. But it turns out that reparametrizations are special gauge transformations: indeed, if an infinitesimal reparametrization is given by a vector field $`ϵ`$ on $`I`$ vanishing at the endpoints, then the variation of a solution $`\widehat{X}`$ of the constraint equation is an infinitesimal transformation with parameter $`\beta (u)=\eta (u)ϵ(u)`$, provided $`\eta `$ is differentiable. Similarly, to prove that $`g{}_{}{}^{_{}}g_{}^{1}=j(x)`$ one uses the fact that $`g{}_{}{}^{_{}}g_{}^{1}`$ is the class of a point $`(X,\eta )𝒞`$ so that $`(X\theta ,\theta ^{}\eta )=(X,\eta )`$. Let

$$\beta (u)=\beta _{\widehat{X}}(u)=\{\begin{array}{cc}\hfill u\eta _u(u),& 0u\frac{1}{2},\hfill \\ \hfill (1u)\eta _u(u),& \frac{1}{2}u1.\hfill \end{array}$$

Here again, we have to assume that $`\eta `$ is differentiable. Then the solution of $`\frac{\mathrm{d}\widehat{X}_s}{\mathrm{d}s}=\xi _\beta `$ with initial condition $`\widehat{X}_0=\widehat{X}`$ is a solution $`\widehat{X}_s`$ of (3.2) which is also symmetric with respect to $`\theta `$. For $`s=1`$, $`X_1(u)=x`$ is constant. Thus $`\eta `$ is in the kernel of $`\alpha (x)`$ and obeys $`\theta ^{}\eta =\eta `$. But Ker$`\alpha (x)`$ is naturally a Lie algebra (the Lie bracket $`[\beta ,\gamma ]`$ is the Koszul bracket for any two 1-forms coinciding with $`\beta `$, $`\gamma `$ at $`x`$). Then $`\mathrm{d}+\eta `$ has the interpretation of a connection on a trivial vector bundle over $`I`$. Infinitesimal gauge transformations preserving the condition $`X(u)=x`$ are infinitesimal gauge transformations in the usual gauge theory sense. In particular a connection with $`\theta ^{}\eta =\eta `$ is gauge equivalent (with a gauge transformation which is trivial at the endpoints) to the trivial connection.

Technically, these operations are possible thanks to the

###### Lemma 4.4.

In every class $`[(X,\eta )]𝒢`$ there exists a representative so that $`X`$ and $`\eta `$ are smooth maps.

Proof. Let $`(X,\eta )𝒞`$. Let us divide the interval $`I`$ into an odd number $`k3`$ of parts $`I_j=[j/k,(j+1)/k]`$, $`0jk1`$, in such a way that $`X(I_j)`$ is contained in a coordinate neighborhood of $`M`$. To find a smooth representative, we perform a sequence of gauge transformations. Each of these gauge transformation is generated by parameters $`\beta `$ with support in a small neighborhood of an interval $`I_j`$. Such gauge transformations only affect $`(X,\eta )`$ in such a neighborhood. Therefore we may describe them in local coordinates by the formula (3.3).

Let $`\eta ^{\mathrm{smooth}}C^{\mathrm{}}(I,X^{}(T^{}M))\mathrm{\Omega }^1(I)`$ be a smooth section, $`C^0`$-close to $`\eta `$.

As a first step, we show that $`\eta `$ may be taken to be equal to $`\eta ^{\mathrm{smooth}}`$ on $`I_0`$. Let for $`s[0,1]`$, $`\eta _i(u,s)=s\eta _{}^{\mathrm{smooth}}{}_{i}{}^{}(u)+(1s)\eta _i(u)`$, $`1i\mathrm{dim}(M)`$, $`uI_0`$. Let $`X(u,s)`$ be the solution of the constraint equation on $`I_0`$

$$\frac{}{u}X^i(u,s)+\alpha ^{ij}(X(u,s))\eta _j(u,s)=0,$$

with $`X^i(0,s)=X^i(0)`$. This equations has a unique solution on $`I_0`$ if $`\eta ^{\mathrm{smooth}}`$ is sufficiently close to $`\eta `$. Let $`\beta `$ be the solution of the linear differential equation

(4.3)
$$\frac{}{u}\beta _i(u,s)+_i\alpha ^{jk}(X(u,s))\eta _j(u,s)\beta _k(u,s)=\frac{}{s}\eta _i(u,s),$$

on $`I_0`$ with initial condition $`\beta _i(0,s)=0`$. Extend $`\beta _i(u,s)`$ to a function on $`I`$ vanishing outside some small neighborhood of $`I_0`$. Then $`\beta _i(,s)`$ is the local coordinate expression of a section $`\beta _sC_0^1(I,X^{}(T^{}M))`$ with support in a neighborhood of $`I_0`$. It may be taken to be small in the $`C^1`$-topology if $`\eta ^{\mathrm{smooth}}`$ is close to $`\eta `$ in the $`C^0`$-topology. The flow of the vector field $`\xi _{\beta _s}`$, $`0s1`$, is then a gauge transformation that transforms $`(X,\eta )`$ into a solution $`(\stackrel{~}{X},\stackrel{~}{\eta })`$ coinciding with $`(X,\eta )`$ outside a neighborhood of $`I_0`$ and such that $`\stackrel{~}{\eta }=\eta ^{\mathrm{smooth}}`$ on $`I_0`$.

This step may be repeated on $`I_1`$, $`I_2`$, …, until we get a representative $`(\stackrel{~}{X},\stackrel{~}{\eta })`$ with $`\stackrel{~}{\eta }=\eta ^{\mathrm{smooth}}`$ on $`[0,(k+1)/2k]`$. We then repeat the same step integrating (4.3) backwards, starting from the last interval $`I_{k1}`$, and continuing with $`I_{k2},\mathrm{}`$, until we arrive at the middle interval $`I_{(k1)/2}`$. At this point the representative $`(\stackrel{~}{X},\stackrel{~}{\eta })`$ has $`\stackrel{~}{\eta }=\eta ^{\mathrm{smooth}}`$ except on some small interval $`I^{}`$ in the middle of $`I`$. We apply once more our step to a slightly bigger interval $`I^{\prime \prime }`$ including $`I^{}`$. Then the solution $`\beta `$ of (4.3) is a smooth function of $`u`$ on $`I^{\prime \prime }I^{}`$ and may be extended to a section in $`C_0^1(I,X^{}(T^{}M))`$ which is smooth outside $`I^{}`$. The resulting representative $`(\overline{X},\overline{\eta })`$ of the class $`[(X,\eta )]`$ has then $`\overline{\eta }`$ smooth. Then also $`\overline{X}`$, as a solution of (3.2), is smooth.  $`\mathrm{}`$

### 4.3. Symplectic structure

To formulate axioms (vi)–(x) we need $`𝒢`$ to be a manifold, which is not always the case, as we shall see below.

So we assume that $`𝒢`$ is a manifold, or more precisely:

###### Assumption 4.5.

There exists a smooth manifold $`𝒢`$ and a smooth submersion $`\pi :𝒞𝒢`$ whose fibers are the $`H`$-orbits.

Below we give examples where this assumption holds and examples where it does not.

The symplectic structure $`\omega _𝒢`$ on $`𝒢`$ is constructed in the usual way: the point is that the symplectic 2-form $`\omega `$ on $`T^{}PM`$ restricts to an $`H`$-invariant closed 2-form on $`𝒞`$ whose null spaces are the tangent spaces to the orbits. This implies that

$$\omega _𝒢(x)(\xi ,\zeta )=\omega (\widehat{X})(\widehat{\xi },\widehat{\zeta }),\xi ,\zeta T_x𝒢,$$

is independent of the choice of $`\widehat{X}𝒞`$ such that $`\pi (\widehat{X})=x`$ or of $`\widehat{\xi },\widehat{\zeta }T_{\widehat{X}}𝒞`$ projecting to $`\xi ,\zeta `$, and defines a symplectic 2-form on $`𝒢`$.

###### Theorem 4.6.

Under Assumption 4.5, $`𝒢`$ is a symplectic groupoid for $`M`$.

Proof. The non-trivial assertions are (viii)-(x). Let us prove that the left projection $`l`$ is a Poisson map. Let $`𝒰`$ be some small neighborhood in $`T^{}PM`$ of a point $`\widehat{X}_0𝒞`$, and choose local coordinates on $`M`$ around $`X_0(0)`$. Then it is sufficient to show that the coordinates $`l^i`$ of $`l`$ obey $`\{l^i,l^j\}_𝒢=\alpha ^{ij}l`$. Let $`\psi (u)\mathrm{d}u`$ be any smooth 1-form on $`I`$ with support in a small neighborhood of $`0`$ and such that $`_0^1\psi (u)du=1`$. Then the function $`𝒰`$

$$l_\psi ^i:\widehat{X}_0^1\left(X^i(u)+_0^u\alpha ^{ij}\left(X(v)\right)\eta _j(v)\right)\psi (u)du$$

restrict to $`l^i`$ on $`𝒰𝒞`$ (with the support condition on $`\psi `$, this local coordinate expression makes sense). The main property of this extension of $`l^i`$ is that its differential lies in the image of $`\omega `$ and thus generates a local Hamiltonian vector field $`\xi ^i`$. Therefore we may compute $`\{l^i,l^j\}_𝒢`$ as the Poisson bracket $`\{l_\psi ^i,l_\psi ^j\}`$ on $`T^{}PM`$, which is then $`\xi ^il^j`$. The differential of $`l_\psi ^i`$ applied to a vector field $`\zeta `$ with coordinates $`\dot{X}^j,\dot{\eta }_j`$ is

$`\mathrm{d}l_\psi ^i(\zeta )`$ $`=`$ $`{\displaystyle _0^1}\dot{X}^j(u)\left(\delta _{ij}\mathrm{d}u+_j\alpha ^{ik}\left(X(u)\right)\eta _k(u){\displaystyle _u^1}\psi (v)dv\right)`$
$`+{\displaystyle _0^1}\dot{\eta }_j(u)\alpha ^{ij}\left(X(u)\right){\displaystyle _u^1}\psi (v)dv.`$
The vector field $`\xi ^i`$, solution of $`\omega (\xi ^i,\zeta )=\mathrm{d}l^i(\zeta )`$ has then coordinates $`\delta ^iX^j,\delta ^i\eta _j`$ with

$$\delta ^iX^j(u)=\alpha ^{ij}\left(X(u)\right)_u^1\psi (v).$$

We do not need $`\delta ^i\eta _j`$. Then

$$\{l^i,l^j\}_𝒢([\widehat{X}])=\xi ^il^j(\widehat{X})=\delta ^iX^j(0)=\alpha ^{ij}(l(\widehat{X})),$$

as was to be shown. To prove (ix) we notice that the integral defining $`\omega `$ at the product of two solutions is the sum of the integrals defining $`\omega `$ at the two solutions. Axiom (x) follows from the fact that the inversion changes the sign of the symplectic form, as can be seen by changing $`u`$ to $`1u`$ in the integral defining $`\omega `$.  $`\mathrm{}`$

## 5. Basic examples

In this and in the next sections we discuss some examples. To fix the notations, we will always denote by $`u`$ the variable in our space interval $`I=[0,1]`$. When considering a flow generated by symmetries, we will denote the flow parameter by $`s`$. Finally, we will use a prime to indicate derivatives w.r.t. $`u`$ and a dot for derivatives w.r.t. $`s`$.

### 5.1. Trivial Poisson structures

Let us consider a manifold $`M`$ with Poisson bivector field $`\alpha =0`$.

In this case, the “Gauss law” selects the constant maps $`X:IM`$.

Let $`X(u)=\xi M`$ be such a solution. Then the corresponding bundle map $`\widehat{X}`$ is given by $`X`$ and a continuous one-form $`\eta `$ on $`I`$ that takes value in $`T_\xi ^{}M`$.

The infinitesimal symmetries are given by

$$\delta \eta =\mathrm{d}\beta ,$$

with $`\beta :IT_\xi ^{}M`$, $`\beta |_I=0`$.

If we define $`\pi :=_I\eta T_\xi ^{}M`$, then for a given solution we have the well-defined map $`i:𝒢T^{}M`$, which maps $`\widehat{X}`$ into $`(X(0),\pi )`$.

We can invert this mapping by defining $`j:T^{}M𝒢`$ as follows: $`j(g)`$, $`gT^{}M`$, is the constant morphism $`\widehat{X}(u)=g,uI`$.

An immediate check shows that $`ij=\mathrm{id}`$.

We can also prove that $`ji=\mathrm{id}`$. In fact, let $`\widehat{X}𝒢`$. Then $`\widehat{\stackrel{~}{X}}:=ji(\widehat{X})`$ is a solution with $`\stackrel{~}{X}=X`$, and $`_I\stackrel{~}{\eta }=_I\eta `$. Denoting by $`I^u`$ the path in $`I`$ from the lower boundary till a point $`u`$, we can then define $`\beta (u)=_{I^u}(\stackrel{~}{\eta }\eta )`$, which is an allowed symmetry generator.

Next we consider the following path of $`T_X^{}M`$-valued one-forms

$$\eta _s:=s\stackrel{~}{\eta }+(1s)\eta ,s[0,1].$$

Finally, we have

$$\dot{\eta }_s=\mathrm{d}\beta ,$$

so that $`\widehat{\stackrel{~}{X}}`$ is equivalent to $`\widehat{X}`$. We have then proved the following

###### Theorem 5.1.

The phase space $`𝒢`$ for a trivial Poisson structure on $`M`$ is diffeomorphic to $`T^{}M`$.

It is well-known that $`T^{}M`$ is a symplectic groupoid for $`M`$. The two projections $`l`$ and $`r`$ coincide with the natural projection $`T^{}MM`$, while the product is given by

$$(\xi ,\pi ){}_{}{}^{_{}}(\xi ,\pi ^{})=(\xi ,\pi +\pi ^{}).$$

### 5.2. The symplectic case

Since now the Poisson bivector field is nondegenerate, the Gauss law allows to completely determine the bundle morphism $`\widehat{X}:TIT^{}M`$ in terms of the base map $`X`$:

$$\widehat{X}=\alpha ^1(\mathrm{d}X).$$

As for $`X`$, the infinitesimal symmetries are now all infinitesimal diffeomorphisms of the target that fix the endpoints of $`X(I)`$.

Thus, the space of solutions modulo symmetries coincides with the fundamental groupoid of $`M`$.

In the case when $`M`$ is simply connected we can further identify $`𝒢`$ with $`M\times \overline{M}`$, where $`\overline{M}`$ denotes $`M`$ with opposite symplectic structure. The product is then simply

$$(x,y){}_{}{}^{_{}}(y,z)=(y,z).$$

In the general case, a point in $`𝒢`$ is given by a pair of points $`x`$ and $`y`$ in $`M`$ together with a class $`c`$ of homotopic paths with fixed endpoints in $`x`$ and $`y`$. The product is then

$$(x,y,c){}_{}{}^{_{}}(y,z,c^{})=(y,z,cc^{}),$$

where $`cc^{}`$ is the class of paths defined by glueing $`c`$ and $`c^{}`$ together.

### 5.3. Constant Poisson structures

This example combines the two previous ones. Let us assume that $`M=^n`$ with a constant Poisson structure $`\alpha `$. It is then possible to assume, if necessary after a linear change of coordinates, that $`\alpha `$ has the following block form:

$$\alpha ^{I\mu }=\alpha ^{\mu \nu }=0,I=1,\mathrm{},r,\mu ,\nu =r+1,\mathrm{},n,$$

$$(\alpha ^{IJ})\text{ invertible},I,J=1,\mathrm{},r,$$

where $`r`$ is the rank.

The the “Gauss law” reads

$$\mathrm{d}X^I+\alpha ^{IJ}\eta _J=0,\mathrm{d}X^\mu =0,$$

and the infinitesimal symmetries are

$`\delta X^I`$ $`=\alpha ^{IJ}\beta _J,`$ $`\delta X^\mu `$ $`=0,`$
$`\delta \eta _J`$ $`=\mathrm{d}\beta _J,`$ $`\delta \eta _\mu `$ $`=\mathrm{d}\beta _\mu .`$
Thus, we can split $`^n`$ into $`^r`$ with symplectic structure $`(\alpha ^{IJ})^1`$ and $`^{nr}`$ with trivial Poisson structure. By the previous two examples we get then

$$𝒢=^r\times \overline{}^r\times T^{}^{nr}$$

with product

$$(x,y,\xi ,\pi ){}_{}{}^{_{}}(y,z,\xi ,\pi ^{})=(x,z,\xi ,\pi +\pi ^{}).$$

### 5.4. The dual of a Lie algebra

Let $`𝔤^{}`$ be the dual of a Lie algebra $`𝔤`$ with structure constants in a given basis denoted by $`f_k^{ij}`$. The Kirillov–Kostant Poisson structure on $`𝔤^{}`$ is then given by the bivector field

$$\alpha ^{ij}(x)=f_k^{ij}x^k.$$

In this case the Gauss law reads

$$\mathrm{d}X^i+f_k^{ij}X^k\eta _j=0,$$

where $`X`$ is a map $`I𝔤^{}`$ and $`\eta \mathrm{\Omega }^1(I,𝔤)`$.

Let then $`\beta `$ be a map $`I𝔤`$ that vanishes on the boundary of $`I`$. The infinitesimal symmetries read

$`\delta X^i`$ $`=f_k^{ij}X^k\beta _j,`$
$`\delta \eta _i`$ $`=\mathrm{d}\beta _i+f_i^{jk}\eta _j\beta _k.`$
We can rewrite the above equations in a more recognizable form if we consider $`\eta `$ as the connection one-form for a $`G`$-bundle over $`I`$, where $`G`$ is a Lie group whose Lie algebra is $`𝔤`$. The Gauss law becomes

(5.1)
$$\mathrm{d}_\eta X=0,$$

while the infinitesimal symmetries now read

(5.2) $`\delta X`$ $`=\mathrm{ad}_\beta ^{}X,`$
$`\delta \eta `$ $`=\mathrm{d}_\eta \beta ,`$
that is, $`\beta `$ is an infinitesimal gauge transformation.

We define $`𝒢`$ as the space of solutions of (5.1) modulo gauge transformations connected to the identity.

We have then the following

###### Theorem 5.2.

The phase space $`𝒢`$ is diffeomorphic to $`T^{}G`$, where $`G`$ is the connected, simply connected Lie group whose Lie algebra is $`𝔤`$. The symplectic groupoid structure on $`T^{}G`$ is the one described in Example 4.1.

#### 5.4.1. Proof of Theorem 5.2

We first recall that $`T^{}G`$ is isomorphic to $`𝔤^{}\times G`$. We then define a map

$$i:\begin{array}{ccc}𝒢& & 𝔤^{}\times G\\ (X,\eta )& & (X(0),\mathrm{Hol}(\eta ))\end{array}$$

where $`0`$ denotes the lower boundary of $`I`$, and $`\mathrm{Hol}(\eta )`$ is the parallel transport from the lower to the upper boundary of $`I`$.

Next we want to define an inverse to $`i`$. Let us then consider $`(\xi ,g)𝔤^{}\times G`$. Since $`G`$ is connected, there is a path $`h:IG`$ from the identity to $`g`$. For such a path, we define

$$\eta _{[h]}:=h\mathrm{d}h^1.$$

We then define $`X_{\xi ,[h]}`$ as the solution of (5.1) with initial condition $`X_{\xi ,[h]}(0)=\xi `$ determined by $`\eta _{[h]}`$. More precisely,

$$X_{\xi ,[h]}=\mathrm{Ad}_{h^1}^{}\xi .$$

So $`(X_{\xi ,[h]},\eta _{[h]})`$ is an element of $`𝒢`$.

###### Lemma 5.3.

Let $`h`$ and $`l`$ be two paths connecting the identity to the same element $`gG`$. Then $`(X_{\xi ,[h]},\eta _{[h]})=(X_{\xi ,[l]},\eta _{[l]})`$ in $`𝒢`$.

Proof. Let us consider the map $`\gamma :=hl^1:IG`$. Since $`\gamma `$ is the identity at the boundaries of $`I`$ and it is in the connected component of the identity (as a consequence of the fact that $`G`$ is simply connected), this is an allowed gauge transformation. Moreover, an easy computation proves that

$`(\eta _{[h]})^\gamma `$ $`=\gamma ^1\eta _{[h]}\gamma +\gamma ^1\mathrm{d}\gamma =\eta _{[l]},`$
$`(X_{\xi ,[h]})^\gamma `$ $`=\mathrm{Ad}_\gamma ^{}X_{\xi ,[h]}=X_{\xi ,[l]}.`$
Therefore, $`(X_{\xi ,[h]},\eta _{[h]})`$ and $`(X_{\xi ,[l]},\eta _{[l]})`$ define the same element in $`𝒢`$.  $`\mathrm{}`$

As a consequence we have the following well-defined map:

$$j:\begin{array}{ccc}𝔤^{}\times G& & 𝒢\\ (\xi ,g)& & (X_{\xi ,g},\eta _g)\end{array}$$

with $`(X_{\xi ,g},\eta _g):=(X_{\xi ,[h]},\eta _{[h]})`$ for any path $`h`$ from the identity to $`g`$.

We then have the following

###### Lemma 5.4.

The maps $`i`$ and $`j`$ are inverse to each other.

Proof. Since $`\eta _{[h]}`$ is obtained from the trivial connection by the gauge transformation $`h^1`$ (which is not one of the symmetries we allow since $`h`$ at the boundary is not the identity), we see immediately that $`\mathrm{Hol}(\eta _{[h]})=g`$. Moreover, $`X_{\xi ,g}(0)=\xi `$ by definition. So $`ij=\mathrm{id}`$.

Next we take a solution $`(X,\eta )`$ of (5.1). Let $`l(u):=\mathrm{Hol}^u(\eta )`$ be the parallel transport from the lower boundary of $`I`$ till the point $`u`$. Notice that $`l`$ is a path from the identity to $`\mathrm{Hol}(\eta )`$. Since moreover $`\eta `$ is equal to $`l\mathrm{d}l^1`$, we see that $`(X,\eta )=(X_{X(0),[l]},\eta _{[l]})`$. But, from the previous Lemma, we get then $`(X,\eta )=(X_{X(0),\mathrm{Hol}(\eta )},\eta _{\mathrm{Hol}(\eta )})=ji(X,\eta )`$.  $`\mathrm{}`$

To conclude the proof of Theorem 5.2, we briefly discuss the induced groupoid structure on $`𝔤^{}\times G`$. Recalling that for us the the left and right projections correspond to the boundary values $`X(0)`$ and $`X(1)`$, we obtain

$$l(\xi ,g)=\xi ,r(\xi ,g)=\mathrm{Ad}_{g^1}^{}\xi .$$

The product is given by composition of solutions as in (4.2), and under this operation the parallel transports also compose. So we get

$$(\xi ,g){}_{}{}^{_{}}(\mathrm{Ad}_{g^1}^{}\xi ,h)=(\xi ,gh).$$

After identifying $`𝔤^{}\times G`$ with $`T^{}G`$ by the map described in Example 4.1, we recover the groupoid structure described there.

## 6. A singular phase space

We want to discuss here an example proposed by Weinstein of a regular Poisson manifold that does not admit a symplectic groupoid and show what singularities arise in the construction of the phase space of the corresponding Poisson sigma model.

Let $`M=^3\{0\}`$ with Poisson bivector field

$$\alpha ^{ij}(x)=f(|x|)ϵ_k^{ij}x^k,f(R)0R>0.$$

where $`||`$ is the standard Euclidean norm.

For $`f`$ constant this Poisson manifold is equivalent to $`𝔰𝔲(2)\{0\}`$ with the Kirillov–Kostant Poisson structure, and the corresponding phase space is $`(𝔰𝔲(2)^{}\{0\})\times SU(2)`$, as described in the previous section. If we introduce a non constant $`f`$, however, some problems may arise.

Observe first that, in any case, the symplectic leaves are the same as in the case of $`𝔰𝔲(2)\{0\}`$, i.e., spheres centered at the origin. The symplectic form on these spheres is however rescaled by a factor $`f`$, and the symplectic area $`A`$ of the sphere with radius $`R`$ is

$$A(R)=\frac{4\pi R}{f(R)}.$$

Then the observation of Weinstein , based on theorem of Dazord , is that such a Poisson manifold cannot have a symplectic groupoid if $`A(R)`$ is non constant has critical points.

We want to see now how this condition arises in the construction of the phase space.

Namely, we have the following

###### Theorem 6.1.

The phase space $`𝒢`$ corresponding to $`(M,\alpha )`$ as above is singular iff $`A`$ is non constant and has critical points.

### 6.1. Proof

In order to discuss the phase space $`𝒢`$, it is convenient to use a vector notation; viz., we identify $`(^3)^{}`$ and $`^3`$ using the Euclidean scalar product. Moreover, we fix the volume form $`du`$ on the interval $`I=[0,1]`$. Then both our fields $`X`$ and $`\eta `$ can be identified with functions from $`I`$ to $`^3`$ that we denote by $`𝐗`$ and $`𝜼`$. With these notations the Gauss law reads

(6.1)
$$𝐗^{}+f(|𝐗|)𝜼\times 𝐗=0,$$

where $`\times `$ denotes the cross product.

The infinitesimal symmetries can also be written in vector notation after identifying $`\beta `$ with a map $`𝜷:I^3`$:

(6.2)
$$\begin{array}{cc}\hfill \dot{𝐗}& =f(|𝐗|)𝜷\times 𝐗,\hfill \\ \hfill \dot{𝜼}& =𝜷^{}+f(|𝐗|)𝜼\times 𝜷+\frac{f^{}(|𝐗|)}{|𝐗|}(𝐗𝜼\times 𝜷)𝐗,\hfill \end{array}$$

where $``$ is the Euclidean scalar product.

Given a map $`𝐯:I^3`$ (e.g., $`𝜼`$ or $`𝜷`$), we define its radial component $`v_r`$ and its tangential part $`𝐯_t`$ w.r.t. $`𝐗`$ by:

(6.3)
$$v_r(u):=\frac{𝐯(u)𝐗(u)}{|𝐗(u)|},𝐯_t(u):=𝐯(u)v_r(u)\frac{𝐗(u)}{|𝐗(u)|}.$$

Then we have the following:

###### Lemma 6.2.

With the decomposition in (6.3), the Gauss law reads

$$𝐗^{}+f(|𝐗|)𝜼_t\times 𝐗=0,$$

while the symmetries can be written as

$$\begin{array}{cc}\hfill \dot{𝐗}& =f(|𝐗|)𝜷_t\times 𝐗,\hfill \\ \hfill \dot{\eta }_r& =\beta _r^{}\frac{f(|𝐗|)}{|𝐗|}(1C(|𝐗|))(𝐗𝜼_t\times 𝜷_t),\hfill \\ \hfill \dot{𝜼}_t& =𝜷_t^{}+f(|𝐗|)𝜼_t\times 𝜷_t+\frac{f(|𝐗|)}{|𝐗|^2}(𝐗𝜼_t\times 𝜷_t)𝐗,\hfill \end{array}$$

with

$$C(R)=\frac{Rf^{}(R)}{f(R)}=1\frac{f(R)A^{}(R)}{4\pi }.$$

Proof. The Gauss law and the symmetry transformation for $`𝐗`$ simply follow from the fact that in a cross product or in a triple product containing $`𝐗`$ only tangential components of other vectors contribute.

For the symmetry transformation of $`𝜼`$, first of all we observe that $`|𝐗|^{}=|𝐗|^{}=0`$. Then we obtain by (6.3), (6.1) and (6.2) the following identities:

$`\dot{\eta }_r`$ $`=(\dot{𝜼})_r{\displaystyle \frac{f(|𝐗|)}{|𝐗|}}𝐗𝜼_t\times 𝜷_t,`$
$`\beta _r^{}`$ $`=(𝜷^{})_r+{\displaystyle \frac{f(|𝐗|)}{|𝐗|}}𝐗𝜼_t\times 𝜷_t.`$
These yield immediately the symmetry equation for $`\eta _r`$.

To obtain the symmetry equation for $`𝜼_t`$, we first observe that

$$𝜷_t^{}=𝜷^{}\beta _r^{}\frac{𝐗}{|𝐗|}+\frac{f(|𝐗|)}{|𝐗|}\beta _r𝜼_t\times 𝐗.$$

Then we get

$$\begin{array}{c}\dot{𝜼}_t=\dot{𝜼}\dot{\eta }_r\frac{𝐗}{|𝐗|}+\frac{f(|𝐗|)}{|𝐗|}\eta _r𝜷_t\times 𝐗=\hfill \\ \hfill =𝜷_t^{}+f(|𝐗|)𝜼\times 𝜷\frac{f(|𝐗|)}{|𝐗|}\beta _r𝜼_t\times 𝐗+\frac{f(|𝐗|)}{|𝐗|}\eta _r𝜷_t\times 𝐗+\\ \hfill +\frac{f(|𝐗|)}{|𝐗|^2}(𝐗𝜼_t\times 𝜷_t)𝐗,\end{array}$$

which, after using again (6.3), leads to the desired identity.  $`\mathrm{}`$

Observe now that the original case of $`𝔰𝔲(2)`$ is recovered by setting $`f1`$ and $`C0`$ in the equations displayed in Lemma 6.2. On the other hand, the critical case $`A^{}(R)=0`$ corresponds to $`C(R)=1`$.

Let us begin considering solutions with $`C(|𝐗|)1`$. In this case, we can define new variables as follows:

(6.4) $`a_r`$ $`={\displaystyle \frac{f(|𝐗|)}{1C(|𝐗|)}}\eta _r,`$ $`𝐚_t`$ $`=f(|𝐗|)𝜼_t,`$
(6.5) $`b_r`$ $`={\displaystyle \frac{f(|𝐗|)}{1C(|𝐗|)}}\beta _r,`$ $`𝐛_t`$ $`=f(|𝐗|)𝜷_t.`$
Then we obtain the Gauss law in the form

$$𝐗^{}+𝐚_t\times 𝐗=0,$$

while the symmetries read now

$$\begin{array}{cc}\hfill \dot{𝐗}& =𝐛_t\times 𝐗,\hfill \\ \hfill \dot{a}_r& =b_r^{}\frac{1}{|𝐗|}(𝐗𝐚_t\times 𝐛_t),\hfill \\ \hfill \dot{𝐚}_t& =𝐛_t^{}+𝐚_t\times 𝐛_t+\frac{1}{|𝐗|^2}(𝐗𝐚_t\times 𝐛_t)𝐗.\hfill \end{array}$$

Thus we have recovered, in the new variables, the case of $`𝔰𝔲(2)`$. Proceeding now as in the proof of Theorem 5.2 (namely, taking holonomies of $`𝐚`$ as coordinates), we find that the fiber of the left projection of $`𝒢`$ over a point $`𝐱M`$ with $`C(|𝐱|)1`$ is diffeomorphic to $`SU(2)`$.

On the other hand, when $`C(|𝐱|)=1`$, the above change of variables is not defined. In this case we may however choose the following complete set of invariant functions:

$$𝐱:=𝐗(0),𝐲:=\frac{𝐗(1)}{|𝐱|},\pi :=_I\eta _r.$$

That is, the fiber of the left projection of $`𝒢`$ over $`𝐱`$ with $`C(|𝐱|)=1`$ is diffeomorphic to $`S^2\times `$.

If $`C1`$—i.e., if $`A`$ is constant—then $`𝒢`$ is the smooth manifold $`^+\times S^2\times S^2\times `$.

To better visualize the singularities in the general case, let us pick up a neighborhood $`U`$ of a point in $`^+`$ where $`A^{}`$ vanishes but $`A`$ is non constant. Let $`V`$ be a neighborhood of a point in $`S^2`$. We want to show that $`𝒢_{UV}:=l^1(U\times V)`$ is not a manifold. We can describe $`𝒢_{UV}`$ as follows. Given a solution $`(𝐗,𝜼)`$, we can always transform it into a solution with $`\eta _r`$ constant (just take a transformation generated by $`𝜷`$ with $`𝜷_t=0`$). Under small gauge transformations such a solution is characterized by the values of $`𝐗`$ at the endpoints and the value of $`\eta _r`$. If $`C(|𝐗|)=1`$, there is no way of changing $`\eta _r`$ into another constant. On the other hand, if $`C(|𝐗|)1`$, large gauge transformations can send $`\eta _r`$ into another constant that differs from the former by a multiple of $`4\pi [1C(R)]/f(R)`$ (we are trivializing the Hopf bundle $`SU(2)S^2`$ over $`V`$ taking into account the rescaling (6.4)). Therefore, $`𝒢_{UV}=V\times V\times Q`$, where $`Q`$ is the quotient of $`U\times `$ by the equivalence relation

$$(R,p)(R,p+\frac{4\pi [1C(R)]}{f(R)}).$$

## 7. The phase space of the Poisson sigma model with two-dimensional target

Let $`U`$ be a domain in $`^2`$ with a given Poisson bivector field $`\alpha `$. After choosing coordinates, it is always possible to write

$$\alpha ^{ij}(x^1,x^2)=ϵ^{ij}\varphi (x^1,x^2),\varphi C^{\mathrm{}}(U).$$

We also fix the volume form $`du`$ on $`I`$ and then identify $`\eta `$ with a map $`I^2`$.

With these choices, the “Gauss law”simply reads

(7.1) $`(X^1)^{}+\varphi (X^1,X^2)\eta _2`$ $`=0,`$
$`(X^2)^{}\varphi (X^1,X^2)\eta _1`$ $`=0.`$
The infinitesimal symmetries read then

(7.2) $`\delta X^1`$ $`=\varphi \beta _2,`$
$`\delta X^2`$ $`=\varphi \beta _1,`$
$`\delta \eta _1`$ $`=\beta _1^{}+_1\varphi (\eta _1\beta _2\eta _2\beta _1),`$
$`\delta \eta _2`$ $`=\beta _2^{}+_2\varphi (\eta _1\beta _2\eta _2\beta _1),`$
where $`_i\varphi `$ is a shorthand notation for $`\varphi /x^i`$, and the infinitesimal generators $`\beta _i`$ are continuously differentiable maps $`I^2`$ with the conditions

(7.3)
$$\beta _i(0)=\beta _i(1)=0,i=1,2.$$

We will denote by $`\stackrel{~}{𝒢}`$ the phase space of solutions of (7.1) modulo the symmetries generated by (7.2). More precisely, we first introduce the Banach spaces $`C^0(I,^2)`$, $`C^1(I,^2)`$ and $`C_0^1(I,^2)`$. Then we consider the Banach manifold $`C^1(I,U)`$ modeled on $`C^1(I,^2)`$. With these notations we can finally write

$$\stackrel{~}{𝒢}:=\frac{\{(X,\eta )C^1(I,U)\times C^0(I,^2)|(X,\eta )\text{ satisfies (}\text{7.1}\text{)}\}}{\{\text{symmetries (}\text{7.2}\text{) with }\beta C_0^1(I,^2)\}}.$$

In the rest of this section we will study $`\stackrel{~}{𝒢}`$. Namely, in subsection 7.1 we will give an equivalent but easier description of $`\stackrel{~}{𝒢}`$, and in subsection 7.2 we will show that the latter is diffeomorphic to a submanifold $`𝒢`$ of $`^4`$, at least if all the symplectic leaves of $`U`$ are simply connected; in subsection 7.4 we will describe the product structure for $`𝒢`$ induced from the composition of paths $`X:IU`$; finally, in subsection 7.5 we will derive the symplectic structure for $`𝒢`$ from the symplectic structure on the space of fields $`(X,\eta )`$.

### 7.1. An equivalent description of the phase space

¿From now on, by abuse of notation, we will write $`\varphi `$ for $`\varphi X`$.

The Gauss law (7.1) implies an equation for $`\varphi `$, viz.,

(7.4)
$$\varphi ^{}=T\varphi ,$$

with

(7.5)
$$T:=_2\varphi \eta _1_1\varphi \eta _2.$$

The solution of (7.4) is simply given by

(7.6)
$$\varphi (X^1(u),X^2(u))=\varphi _0H(u),$$

where $`\varphi _0`$ is a shorthand notation for $`\varphi (X^1(0),X^2(0))`$ and

(7.7)
$$H(u):=\mathrm{exp}_0^uT(v)𝑑v.$$

It is then useful to define the following change of variables:

(7.8)
$$E_i:=\eta _iH,$$

Notice that the map $`(X,\eta )(X,E)`$ is a smooth map from $`C^1(I,U)\times C^0(I,^2)`$ into itself.

With these new variables, we can rewrite the Gauss law (7.1) as

(7.9) $`(X^1)^{}+\varphi _0E_2`$ $`=0,`$
$`(X^2)^{}\varphi _0E_1`$ $`=0.`$
Notice that every solution of (7.1) determines a solution of (7.9) via (7.8). The converse, however, is not true in general.

Assume in fact that $`(X,E)`$ is a solution of (7.9). Then we get the following equation for $`\varphi `$:

(7.10)
$$\varphi ^{}=\widehat{T}\varphi _0,$$

with

(7.11)
$$\widehat{T}:=_2\varphi E_1_1\varphi E_2.$$

Comparing the solution of (7.10) with (7.6), we get

(7.12)
$$H(u)=1+_0^u\widehat{T}(v)𝑑v.$$

By comparison with (7.7), we see that a solution $`(X,E)`$ of (7.9) determines a solution $`(X,\eta )`$ of (7.1) iff the following condition is satisfied:

(7.13)
$$H(u)>0,uI.$$

So we have the following

###### Lemma 7.1.

Solutions of (7.1) are mapped by (7.8) into solutions of (7.9) satisfying (7.13) and vice versa.

As for the symmetries acting on $`(X,E)`$, we introduce

(7.14)
$$e_i:=\beta _iH.$$

Observe here that the map $`(X,\eta ,\beta )e`$ is a smooth map from $`C^1(I,U)\times C^0(I,^2)\times C_0^1(I,^2)C_0^1(I,^2)`$.

Then we have the following:

###### Lemma 7.2.

Under the infinitesimal symmetry (7.2), the variables $`(X,E)`$ defined via (7.8) in terms of a solution $`(X,\eta )`$ of (7.1) change as follows:

(7.15) $`\delta X^1`$ $`=\varphi _0e_2,`$
$`\delta X^2`$ $`=\varphi _0e_1,`$
$`\delta E_1`$ $`=e_1^{},`$
$`\delta E_2`$ $`=e_2^{}.`$
Conversely, if $`(X,E)`$ is a solution of (7.9) satisfying to (7.13), then the infinitesimal symmetry (7.15) implies the infinitesimal symmetry (7.2) on the variables $`(X,\eta )`$ obtained by inverting (7.8).

Proof. The first two equations are immediately obtained by (7.6) and (7.14).

As for the two other equations, we first observe that

$$\delta T=\tau ^{},$$

with

$$\tau :=_2\varphi \beta _1_1\varphi \beta _2.$$

In fact,

$$\begin{array}{c}\delta T=\delta (ϵ^{ij}\eta _i_j\varphi )=\hfill \\ \hfill =ϵ^{ij}\beta _i^{}_j\varphi +ϵ^{ij}_i\varphi ϵ^{kl}\eta _k\beta _l_j\varphi ϵ^{ij}\eta _i\varphi _{jk}ϵ^{kl}\varphi \beta _l=\\ \hfill =\frac{\mathrm{d}}{\mathrm{d}u}(ϵ^{ij}\beta _i_j\varphi )=\tau ^{},\end{array}$$

where we have made use of (7.1) and (7.2). From this we get

$$\delta H=\tau H.$$

Finally,

$$\delta E_i=\delta \eta _iH+\eta _i\tau H=\frac{\mathrm{d}}{\mathrm{d}u}(\beta _iH)(\beta _iT\eta _i\tau _i\varphi ϵ^{kl}\eta _k\beta _l)H.$$

A direct computation shows that the terms in the second brackets cancel, so we have proved the first part of the Lemma.

As for the second part, we observe that

$$\delta \widehat{T}=\widehat{\tau }^{},$$

with $`\widehat{\tau }=_2\varphi e_1_1\varphi e_2`$. As a consequence, $`\delta H=\widehat{\tau }`$. Observing then that $`\widehat{T}=HT`$ and $`\widehat{\tau }=H\tau `$, we get

$$\begin{array}{c}\delta \eta _i=\delta \left(\frac{E_i}{H}\right)=\frac{\delta E_i}{H}\frac{E_i}{H^2}\delta H=\frac{e_i^{}}{H}\frac{E_i}{H^2}\widehat{\tau }=\hfill \\ \hfill =\frac{\frac{\mathrm{d}}{\mathrm{d}u}(\beta _iH)}{H}\eta _i\tau =\beta _i^{}+\beta _iT\eta _i\tau ,\end{array}$$

from which (7.2) follows.  $`\mathrm{}`$

We now define a new phase space:

$$\stackrel{~}{\stackrel{~}{𝒢}}:=\frac{\{(X,E)C^1(I,U)\times C^0(I,^2)|(X,E)\text{ satisfies (}\text{7.9}\text{) and (}\text{7.13}\text{)}\}}{\{\text{symmetries (}\text{7.15}\text{) with }eC_0^1(I,^2)\}}.$$

Then the preceding discussion, and in particular the two Lemmata, prove the following

###### Proposition 7.3.

If $`\stackrel{~}{\stackrel{~}{𝒢}}`$ is a smooth manifold, then $`\stackrel{~}{𝒢}`$ and $`\stackrel{~}{\stackrel{~}{𝒢}}`$ are diffeomorphic.

In the next subsection we will prove that $`\stackrel{~}{\stackrel{~}{𝒢}}`$ is actually a smooth $`4`$-manifold, at least under the following

###### Assumption 7.4.

We assume that all the symplectic leaves of $`(U,\alpha )`$ are simply connected.

Observe that for example $`^2`$ with $`\varphi =(x^1)^2+(x^2)^2`$ will not be allowed.

### 7.2. The phase space is a smooth manifold

We begin by defining some invariants of $`\stackrel{~}{\stackrel{~}{𝒢}}`$. The first are the initial conditions of $`X`$, viz.,

(7.16)
$$x^i:=X^i(0);$$

the others are the following integrals:

(7.17)
$$\pi _i:=_0^1E_i(u)𝑑u.$$

All of them are invariant under (7.15) since $`eC_0^1(I,^2)`$.

In this way we get a well-defined, smooth map $`i:\stackrel{~}{\stackrel{~}{𝒢}}U\times ^2`$. This map is however not surjective because of (7.13).

We want then to define an appropriate domain in $`^4`$ so that $`i`$ becomes a diffeomorphism.

We first define the continuous map $`x_f:U\times ^2^2`$ by

(7.18)
$$x_f^i=x^i\varphi (x^1,x^2)ϵ^{ij}\pi _j,$$

and then

$$V:=\{pU\times ^2|x_f(p)U\}.$$

Remark that $`x_f`$ can also be seen as the final point of a solution $`X`$ of (7.9), with $`x`$ and $`\pi `$ given by (7.16) and (7.17).

Next we define the map $`h:V`$ by

(7.19)
$$h(x^1,x^2,\pi _1,\pi _2):=\{\begin{array}{cc}\frac{\varphi (x_f^1,x_f^2)}{\varphi (x^1,x^2)}\hfill & \text{if }\varphi (x^1,x^2)0,\hfill \\ 1\pi _2_1\varphi (x^1,x^2)+\pi _1_2\varphi (x^1,x^2)\hfill & \text{if }\varphi (x^1,x^2)=0.\hfill \end{array}$$

Then we define

$$𝓖:=\{pV|h(p)>0\},$$

and finally we denote by $`𝒢`$ the connected component of $`𝓖`$ containing $`U\times \{(0,0)\}`$.

###### Lemma 7.5.

$`𝒢`$ is a 4-manifold.

Proof. We just have to prove that $`h`$ is continuous. To do this, we observe that the two definitions for $`h`$ are continuous when restricted to the appropriate subset.

Since the zero locus of $`\varphi `$ is closed, we only have to check that, for any sequence in the complement of the zero locus that approaches a point in the zero locus, the limit of the first expression yields the second expression. This can be easily proved by Taylor expanding the numerator.

To prove that the connected component we are interested in is not empty, it is enough to observe that $`h(x^1,x^2,0,0)=1`$, $`(x^1,x^2)U`$.  $`\mathrm{}`$

###### Example 7.6 (Semiclassical quantum plane).

Let $`U=^2`$ and $`\varphi (x^1,x^2)=x^1x^2`$. In this case the map $`h`$ simply reads

$$h(x^1,x^2,\pi _1,\pi _2)=(1x^2\pi _2)(1+x^1\pi _1).$$

In the connected component of $`h^1(^+)`$ both factors must be positive. So we get

$$𝒢=\{(x^1,x^2,\pi _1,\pi _2)^4|x^1\pi _1>1,x^2\pi _2<1\}.$$

The 2-dimensional symplectic leaves are the four open quadrants. Over each point $`(x^1,x^2)`$ of one of these leaves, the fiber is given by those vectors $`(\pi _1,\pi _2)`$ such that the linear trajectory with constant velocity

$$(\varphi (x^1,x^2)\pi _2,\varphi (x^1,x^2)\pi _1)$$

is entirely contained in the same symplectic leaf for all times $`t1`$. Over points in the zero locus of $`\varphi `$, i.e., the axes, the fiber is the whole of $`^2`$, for the velocity here is zero.

Observe that this simple description of $`𝒢`$ is possible whenever all symplectic leaves in $`U`$ are convex; e.g., when $`U=^2`$ and $`\varphi (x^1,x^2)=(x^1)^r(x^2)^s`$, $`r,s0`$.

The central result of this section is the following:

###### Theorem 7.7.

Under Assumption 7.4, the phase spaces $`\stackrel{~}{𝒢}`$ and $`\stackrel{~}{\stackrel{~}{𝒢}}`$ are diffeomorphic to $`𝒢`$.

### 7.3. Proof of Theorem 7.7

In view of Proposition 7.3, we have only to prove that $`𝒢`$ is diffeomorphic to $`\stackrel{~}{\stackrel{~}{𝒢}}`$.

The idea is to show that the mapping given by (7.16) and (7.17) defines a diffeomorphism.

###### Lemma 7.8.

There is a well-defined smooth map

$$i:\begin{array}{ccc}\stackrel{~}{\stackrel{~}{𝒢}}& & 𝒢\\ [(X,E)]& & (X(0),_0^1E(u)𝑑u)\end{array}$$

Proof. Since (7.16) and (7.17) are invariant under the symmetries (7.15), this map descends to $`\stackrel{~}{\stackrel{~}{𝒢}}`$.

We want then to show that the image of this map is contained in $`𝒢`$.

First of all, we observe that $`x_f=X(1)`$; so automatically

$$x_f(x^1,x^2,\pi _1,\pi _2)U.$$

Then we want to show that (7.13) implies $`h>0`$. Consider first the case when $`\varphi _00`$. Then, by (7.6), $`\varphi (u)/\varphi _0=H(u)>0,uI`$. In particular, for $`u=1`$, this implies $`\varphi (x_f)/\varphi (x)>0`$. The other possibility is when $`\varphi _0=0`$. In this case $`X`$ is constant, and by (7.12) we get that $`H(1)=h`$.

Since for every solution $`(X,E)`$ of (7.9) and (7.13) there is a solution with the same initial condition and $`\stackrel{~}{E}=E/\lambda `$, $`\lambda >0`$, then $`\stackrel{~}{\stackrel{~}{𝒢}}`$ is connected, so its image is contained in a connected component of the set $`h^1(^+)`$. The existence of constant solutions with $`E=0`$ implies that this connected component contains $`U\times \{(0,0)\}`$.

So we have proved that $`[(X,E)](x,\pi )`$ is a well-defined map from $`\stackrel{~}{\stackrel{~}{𝒢}}`$ to $`𝒢`$.  $`\mathrm{}`$

We now want to define an inverse map

$$j:\begin{array}{ccc}𝒢& & \stackrel{~}{\stackrel{~}{𝒢}}\\ (x,\pi )& & [(X,E)]\end{array}$$

We consider two cases:

1. $`\varphi (x)0`$. We take $`X`$ equal to any path joining $`x`$ to $`x_f(x,\pi )`$ that is completely contained in the symplectic leaf. Then we set $`E_i(u)=ϵ_{ij}(X^j)^{}(u)/\varphi (x)`$.
2. $`\varphi (x)=0`$. We set $`X(u)=x`$ and $`E(u)=\pi `$ $`uI`$.

It is not difficult to see that the image of $`j`$ is a solution of (7.9) and (7.13).

###### Lemma 7.9.

Let $`(X,E)`$ and $`(\stackrel{~}{X},\stackrel{~}{E})`$ be two solutions determined as above. Then, under Assumption 7.4, they define the same element in $`\stackrel{~}{\stackrel{~}{𝒢}}`$.

Proof. In the case when $`\varphi (x)=0`$, we completely specified the solution; so $`(X,E)=(\stackrel{~}{X},\stackrel{~}{E})`$.

Let us consider then the case $`\varphi (x)0`$. Since any symplectic leaf is simply connected by Assumption 7.4, there is a path $`X(u,s)`$ connecting $`X`$ to $`\stackrel{~}{X}`$. More precisely, $`X(u,0)=X(u)`$, $`X(u,1)=\stackrel{~}{X}(u)`$, $`X(0,s)=x`$, $`X(1,s)=x_f`$, and $`X({}_{}{}^{_{}},s)`$ is entirely contained in the symplectic leaf of $`x`$. We set then

$$e_i=ϵ_{ij}\frac{\dot{X}^j}{\varphi (x)}$$

and integrate the infinitesimal symmetry (7.15) obtaining

$$E_i(u,s)=E_i(u)+_0^se_i^{}(u,\sigma )𝑑\sigma .$$

$`\mathrm{}`$

As a consequence the map $`j`$ is well-defined, and it is not difficult to prove that it is smooth. Moreover, we have the following

###### Lemma 7.10.

Under Assumption 7.4, the maps $`i`$ and $`j`$ are inverse to each other.

Proof. The identity $`ij=\mathrm{id}`$ is trivial.

We want to prove that also $`ji=\mathrm{id}`$.

Let us begin with the case $`\varphi _00`$. In this case $`ji[(X,E)]`$ is a solution $`(\stackrel{~}{X},\stackrel{~}{E})`$ so that $`\stackrel{~}{X}`$ has the same end-points of $`X`$. Thus, as in the proof of the previous Lemma, there is a symmetry that relates them.

In the case when $`\varphi _0=0`$, we must prove that, given a solution $`(X,E)`$, then $`(\stackrel{~}{X},\stackrel{~}{E}):=ji(X,E)`$ is an equivalent solution.

First we observe that $`X=\stackrel{~}{X}`$ since both are constant solutions with the same starting point.

We have then to find a symmetry that sends $`E`$ to $`\stackrel{~}{E}`$. To do so, we define the following element of $`C_0^1(I,^2)`$:

$$e_i(u):=_0^u(\stackrel{~}{E}_iE_i(v))𝑑v.$$

Then we consider the path in $`C^0(I,^2)`$ given by

$$E_i(u,s):=s\stackrel{~}{E}_i+(1s)E_i(u),s[0,1].$$

We have then

$`E_i(u,0)`$ $`=E_i(u),`$
$`E_i(u,1)`$ $`=\stackrel{~}{E}_i,`$
$`\dot{E}_i(u,s)`$ $`=e_i^{}(u).`$
So we can go from $`E`$ to $`\stackrel{~}{E}`$ via a symmetry transformation (7.15).

Since $`\varphi _0=0`$, the corresponding path of paths $`X(u,s)`$ is constant and equal to $`X(0)`$.

To complete the proof, we have only to check that condition (7.13) is satisfied for any intermediate value $`u[0,1]`$. To do this we just observe that, by definition,

$$\begin{array}{c}H(u,s)=\hfill \\ \hfill =1+_2\varphi [s\stackrel{~}{E}_1+(1s)E_1(u)]_1\varphi [s\stackrel{~}{E}_2+(1s)E_2(u)]=\\ \hfill =sA+(1s)B(u),\end{array}$$

with $`A=1+_2\varphi \stackrel{~}{E}_1_1\varphi \stackrel{~}{E}_2`$ and $`B(u)=1+_2\varphi E_1(u)_1\varphi E_2(u)`$. Since $`A>0`$ and $`B(u)>0uI`$, we get that $`H(u,s)>0(u,s)I\times [0,1]`$.  $`\mathrm{}`$

This concludes the proof of Theorem (7.7).

### 7.4. The product on $`𝒢`$

We will describe $`𝒢`$ in terms of local coordinates $`(x,\pi )`$ with $`xU`$, $`\pi ^2`$.

We define the two projections $`r,l:𝒢U`$, by

$$l(x,\pi ):=x,r(x,\pi ):=x_f(x,\pi ),$$

which correspond to the initial and final point of the given solution in $`\stackrel{~}{𝒢}`$ as prescribed by (4.1).

Let us consider now another point $`(\stackrel{~}{x},\stackrel{~}{\pi }_1)𝒢`$, with $`\stackrel{~}{x}=x_f(x,\pi )`$.

Then we look for the solutions $`(X,\eta )`$ and $`(\stackrel{~}{X},\stackrel{~}{\eta })`$ in $`\stackrel{~}{𝒢}`$ that correspond to the points in $`𝒢`$ described above. In particular we choose the solutions so that the tangent at $`X(1)`$ is equal to the tangent at $`\stackrel{~}{X}(0)`$. So we can compose the solutions in a differentiable way as in (4.2). We now want to compute the point $`(\widehat{x},\widehat{\pi })𝒢`$ corresponding to the new solution $`(\widehat{X},\widehat{\eta })`$. We immediately get

(7.20)
$$\widehat{x}=x.$$

As for $`\widehat{\pi }`$, we use (7.17) and (7.8) obtaining

$$\begin{array}{c}\widehat{\pi }=_0^1\widehat{H}(u)\widehat{\eta }(u)𝑑u=_0^1\widehat{H}\left(\frac{u}{2}\right)\eta (u)𝑑u+_0^1\widehat{H}\left(\frac{u+1}{2}\right)\stackrel{~}{\eta }(u)𝑑u.\hfill \end{array}$$

By (7.7) we get then

$$\widehat{H}\left(\frac{u}{2}\right)=H(u),H\left(\frac{u+1}{2}\right)=H(1)\stackrel{~}{H}(u),$$

for $`u[0,1]`$. Thus, we get

(7.21)
$$\widehat{\pi }=\pi +h(x,\pi )\stackrel{~}{\pi }.$$

### 7.5. The symplectic structure on $`𝒢`$

As in the general description, we consider the constant symplectic structure on $`C^1(I,U)\times C^0(I,^2)`$ determined by the action $`_0^1\eta _i(u)(X^i)^{}(u)`$; viz.,

$$\omega ((\alpha ,\beta ),(\stackrel{~}{\alpha },\stackrel{~}{\beta })):=_0^1[\stackrel{~}{\alpha }(u)\beta (u)\alpha (u)\stackrel{~}{\beta }(u)]𝑑u,$$

for $`(\alpha ,\beta ),(\stackrel{~}{\alpha },\stackrel{~}{\beta })T(C^1(I,U)\times C^0(I,^2))`$.

In order to perform the computations of this subsection, it is however more convenient to work with the corresponding Poisson structure that we write

$$\{\eta _i(u),X^j(v)\}=\delta _i^j\delta (uv),$$

while all other brackets vanish. As usual in infinite dimensional cases, the Poisson bracket is defined only for a certain class of functions.

We now want to determine the induced Poisson structure on $`𝒢`$.

By the general argument we get

(7.22)
$$\{x^1,x^2\}=\varphi (x^1,x^2).$$

An easy computation yields

$$\{T(u),X^i(0)\}=ϵ^{ij}_j\varphi _0\delta (u).$$

Thus we get

(7.23)
$$\begin{array}{c}\{x^i,\pi _j\}=\{X^i(0),_0^1H(u)\eta _j(u)𝑑u\}=\hfill \\ \hfill =\delta _i^j+_0^1H(u)\eta _j(u)\{X^i(0),_0^uT(v)𝑑v\}=\\ \hfill =\delta _i^j\pi _jϵ^{ik}_k\varphi (x^1,x^2).\end{array}$$

Finally, we have the most complicated bracket, that is, $`\{\pi _1,\pi _2\}`$.

###### Lemma 7.11.

Let us consider the function $`\psi :𝒢`$ defined by

(7.24)
$$\psi :=\{\begin{array}{cc}\frac{1+\pi _1_2\varphi \pi _2_1\varphi h}{\varphi }\hfill & \text{if }\varphi 0,\hfill \\ \pi _1\pi _2_1_2\varphi \frac{1}{2}(\pi _1)^2(_2)^2\varphi \frac{1}{2}(\pi _2)^2(_1)^2\varphi \hfill & \text{if }\varphi =0,\hfill \end{array}$$

with $`h`$ defined in (7.19). Then $`\psi `$ is smooth and

(7.25)
$$\{\pi _1,\pi _2\}=\psi (x^1,x^2,\pi _1,\pi _2).$$

Proof. The smoothness of $`\psi `$ is proved by Taylor expanding $`h`$ in the first expression.

As for the second assertion, we first observe the following useful identities:

$`\{\eta _i(u),T(v)\}`$ $`=\delta (uv)ϵ^{kl}\eta _k(u)_i_l\varphi (u),`$
$`\{T(u),T(v)\}`$ $`=0,`$
which imply
$`\{\eta _i(u),H(v)\}`$ $`=\theta (vu)ϵ^{kl}H(v)\eta _k(u)_i_l\varphi (u),`$
$`\{H(u),H(v)\}`$ $`=0.`$
Then a straightforward computation yields

$$\begin{array}{c}\{\pi _1,\pi _2\}=_0^1du_0^1dv[E_1(u)E_2(v)(\theta (uv)_1_2\varphi _v+\theta (vu)_1_2\varphi _u)+\hfill \\ \hfill \theta (uv)E_1(u)E_1(v)(_2)^2\varphi _v\theta (vu)E_2(u)E_2(v)(_1)^2\varphi _v],\end{array}$$

where $`\varphi _v`$ is a short-hand notation for $`\varphi (X^1(v),X^2(v))`$.

In the case when $`\varphi _0=0`$, the solution $`X`$ is constant. So we can take all the terms of the form $`_i_j\varphi `$ out of the integral. What is left, thanks to (7.17), yields the second formula in (7.24).

If however $`\varphi _00`$, we multiply both sides by $`(\varphi _0)^2`$ and then use (7.9), obtaining

$$\begin{array}{c}(\varphi _0)^2\{\pi _1,\pi _2\}=_0^1du_0^1dv[\theta (uv)(X^2)^{}(u)\frac{\mathrm{d}}{\mathrm{d}v}_2\varphi _v+\hfill \\ \hfill +\theta (vu)(X^1)^{}(v)\frac{\mathrm{d}}{\mathrm{d}u}_1\varphi _u].\end{array}$$

A simple integration yields then

$$(\varphi _0)^2\{\pi _1,\pi _2\}=(X^2(1)X^2(0))_2\varphi _0+(X^1(1)X^1(0))_1\varphi _0\varphi _1+\varphi _0,$$

which is the first formula in (7.24) thanks to (7.16), to (7.18) and to the identity $`h=\varphi _1/\varphi _0`$.  $`\mathrm{}`$

The brackets of the coordinates define a bivector field on $`𝒢`$, which we will denote by $`𝔓`$, through the relation

(7.26)
$$\{f,g\}=𝔓(\mathrm{d}f,\mathrm{d}g).$$

Locally, in the basis corresponding to the coordinates $`x^1,x^2,\pi _1,\pi _2`$, we write this bivector field in matrix form as

(7.27)
$$𝖯=\left(\begin{array}{cccc}0& \varphi & 1\pi _1_2\varphi & \pi _2_2\varphi \\ \varphi & 0& \pi _1_1\varphi & 1+\pi _2_1\varphi \\ 1+\pi _1_2\varphi & \pi _1_1\varphi & 0& \psi \\ \pi _2_2\varphi & 1\pi _2_1\varphi & \psi & 0\end{array}\right).$$

This matrix is always invertible thanks to the condition $`h>0`$. We will exhibit the corresponding 2-form $`\omega _𝒢`$ in the next subsection.

### 7.6. Summary

We started with a 2-dimensional domain $`U`$ with a bivector field $`\alpha ^{ij}=ϵ^{ij}\varphi `$, $`\varphi C^{\mathrm{}}(U)`$, such that Assumption 7.4 holds.

Using $`\varphi `$ we defined the 4-dimensional domain $`𝒢`$ as at the beginning of subsection 7.2, viz., as the connected component containing $`U\times \{(0,0)\}`$ of the set

$$\{(x,\pi )U\times ^2|x_f(x,\pi )U,h(x,\pi )>0\},$$

with $`x_f`$ and $`h`$ defined in (7.18) and (7.19).

Next we obtained the left and right projections $`l,r:𝒢U`$ by

$`l(x,\pi )`$ $`=x,`$
$`r(x,\pi )`$ $`=x_f(x,\pi )=x\alpha \pi .`$
Given two points $`(x,\pi )`$ and $`(\stackrel{~}{x},\stackrel{~}{\pi })`$ in $`𝒢`$ with $`r(x)=l(\stackrel{~}{x})`$, we got the product

$$(x,\pi ){}_{}{}^{_{}}(\stackrel{~}{x},\stackrel{~}{\pi })=(x,\pi +h(x,\pi )\stackrel{~}{\pi }).$$

Finally, in (7.27) we defined a bivector field $`𝔓`$ whose inverse exists and is given by the following 2-form:

$$\begin{array}{c}\omega _𝒢=[\psi \mathrm{d}x^1\mathrm{d}x^2+(1\pi _2_1\varphi )\mathrm{d}x^1\mathrm{d}\pi _1+\pi _1_1\varphi \mathrm{d}x^2\mathrm{d}\pi _2+\hfill \\ \hfill \pi _2_2\varphi \mathrm{d}x^2\mathrm{d}\pi _1+(1+\pi _1_2\varphi )\mathrm{d}x^2\mathrm{d}\pi _2\varphi \mathrm{d}\pi _1\mathrm{d}\pi _2]/h.\end{array}$$

From the general results of Section 4, we get then the following:

###### Theorem 7.12.

$`(𝒢,r,l,{}_{}{}^{_{}},\omega _𝒢)`$ is a symplectic groupoid for $`(U,\alpha )`$.

###### Remark 7.13.

It is interesting to note that the above theorem holds also without Assumption 7.4, as can be proved directly. However, $`𝒢`$ as we have defined it is not the phase space for $`(U,\alpha )`$ in the general case, the missing information being a class of homotopic paths inside a symplectic leaf joining the given endpoints.