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# The Rest-Frame Instant Form of Metric Gravity.

## I Introduction

Our description of the four (gravitational, electromagnetic, weak, strong, with or without supersymmetry) interactions is based on action principles which, due to manifest Lorentz invariance, to local gauge invariance (minimal coupling) and/or diffeomorphism invariances make use of singular Lagrangians. This implies the use of Dirac-Bergmann theory of constraints  for their Hamiltonian formulation. An open problem is the identification of the physical degrees of freedom hidden behind manifest gauge invariance and/or general covariance (Dirac observables). When this can be done in a global way, classical physics can be reformulated only in terms of a canonical basis of Dirac observables and then quantized. This alternative to the traditional sequence first quantize then reduce ***Based on BRST observables invariant under infinitesimal gauge transformations modulo problems like the Gribov ambiguity. is still unexplored. In particular with it one would avoid to quantize any timelike degree of freedom. See Refs. for the status of these topics.

As a consequence of these researches, in special relativity it is now possible to describe isolated systems (particles, strings, field configurations) in a way which implements the separation of the relativistic canonical center of mass from the relative degrees of freedom and allows to make the canonical reduction to Dirac observables in a Wigner-covariant way. Since it is known that the reduction to a completely fixed gauge breaks manifest Lorentz covariance, it turns out that in this approach the breaking can be concetrated in the non-covariance of the canonical center of mass (viz. that of the Newton-Wigner 3-position operator) independently from the system under considerationAs shown in Refs. the region of non-covariance of the canonical center of mass identifies an intrinsic classical unit of length, the M$`ø`$ller radius (ratio of the spin to the mass of the isolated system), which is a natural candidate for a ultraviolet cutoff in quantization.. A new form of dynamics, the one-time Wigner-covariant rest-frame instant form, emerges from these investigations and it is reviewed in Appendix A. In it each configuration of an isolated system with timelike conserved 4-momentum is described on the spacelike Wigner hyperplanes orthogonal to the 4-momentum (equal time Cauchy surfaces), leaves of the foliation associated with a 3+1 splitting of Minkowski spacetime identified by the configuration itself. While the decoupled center of mass can be identified with a point particle clock for the mathematical time describing the evolution (the Hamiltonian is the invariant mass of the system configuration), all the dynamics is in the relative degrees of freedom (weak form of Mach principle).

Then the principal tool for the canonical reduction of every theory to a canonical basis of Dirac observables is the Shanmugadhasan canonical transformation together with the associated multitemporal equations (see the paper e) in Ref.). These canonical transformations allow to find (in general only local) Darboux bases in which a subset of the new momenta carry the same information of the first class constraints, namely their vanishing identifies the same presymplectic submanifold  of phase space as the original constraintsIf second class constraints are present, they are replaced by pairs of conjugate variables.. The variables conjugate to this subset of momenta (the Abelianized first class constraints) describe the gauge degrees of freedom of the system, namely they give a parametrization of the Hamiltonian gauge orbits. To find this set of Abelianized gauge variables one has to solve the multitemporal equations, namely the equations describing the Hamiltonian gauge transformations viewed as functional equations in the gauge parameters. Their solution shows how the original canonical variables describing the system depends on the Abelianized gauge variables. The remaining pairs of conjugate variables in these Darboux bases form a canonical basis of Dirac observables associated to the given Abelianization of the first class constraints: they are in strong involution (namely they have zero Poisson brackets) with both the Abelianized constraints and gauge variables and in weak involution with respect to the original constraints. In flat spacetime one has also to take into account the stratification of the constraint presymplectic manifold induced by the Hamiltonian action of the Poincaré group: there are as many strata as allowed Poincaré orbits for the conserved total 4-momentum of the isolated system. Each stratum will have different Darboux-Shanmugadhasan bases adapted to the little group of the associated Poincaré orbit. In general this procedure works only locally, but when the configuration space is non-compact there can exist global Shanmugadhasan canonical transformations. For finite dimensional systems there are general theorems connected with the Lie theory of functions groups which ensure the existence of local Shanmugadhasan canonical transformations. However till now there is no extension of these theorems to gauge field theories, mainly because now some of the first class constraints can be interpreted as elliptic equations, so that, for most (but not all) of the choices of the function space for the fields, they can have zero modes (the Gribov ambiguity of Yang-Mills theories). Notwithstanding that, the heuristic search of Shanmugadhasan canonical trnasformations for gauge theories is the only existing method for the individuation of possible canonical bases of Dirac observables. See Ref.  for a full account of what is known on these topics.

After these developments the main question is whether the ADM Hamiltonian formulation of gravity plus matter can be put in a form which reproduces this instant form of dynamics for the matter when the Newton constant is switched off§§§This is the deparametrization problem of general relativity, only partially solved in Ref. by using coordinate gauge conditions.. To try to implement this program, the allowed pseudo-Riemannian spacetimes must be restricted to be orientable, globally hyperbolic, topologically trivial (with the leaves of each 3+1 splitting diffeomorphic to $`R^3`$, so that they admit global coordinate charts) and asymptotically flat at spatial infinity.

This last requirement implies the existence of the asymptotic ADM Poincaré charges, which should reduce to the ten Poincaré generators of the isolated system (whose existence is fundamental for particle physics) when the Newton constant is switched off. However, it is known that at spatial infinity the group of asymptotic symmetries is the infinite dimensional SPI group. Besides an invariant 4-dimensional subgroup of translations it contains an infinite number of Abelian supertranslations. This forbids the identification of a unique Lorentz subgroupOnly an abstract Lorentz group appears from the quotient of the SPI group with respect to the invariant subgroup of all translations and supertranslations.. The presence of supertranslations is an obstruction to the definition of angular momentum in general relativity  and there is no idea how to measure this infinite number of constants of motion if they are allowed to exist. Therefore, suitable boundary conditions at spatial infinity have to be assumed to kill the supertranslations. In this way the SPI group is reduced to a well defined asymptotic Poincaré group. As it will be shown in this paper, a convenient set of boundary conditions is obtained by assuming that the coordinate atlas of spacetime is restricted in such a way that the 4-metric always tends to the Minkowski metric in Cartesian coordinates at spatial infinity with the 3-metric on each spacelike hypersurface associated with the allowed 3+1 splittings becoming Euclidean at spatial infinity in a direction independent waySince the Hamiltonian formulation of gauge theories is still at a heuristic stage of development, in this paper only coordinate-dependent statements will be used. Moreover, working in the framework of variational principles, no statement can be made regarding null and timelike infinities. Hopefully, at some stage also the Hamiltonian theory will be reformulated in a convenient geometric coordinate-independent way like in the configuration space approaches using only Einstein’s equations. Then, this last property is assumed also for all the other Hamiltonian variables like the lapse and shift functions. These latter variables are assumed to be the sum of their asymptotic part (growing linearly in the 3-coordinates on the leave) plus a bulk part with the quoted property. The final result of all these requirements is a set of boundary conditions compatible with Christodoulou-Klainermann spacetimes .

As a consequence, the allowed 3+1 splittings of spacetime have all the spacelike leaves approaching Minkowski spacelike hyperplanes at spatial infinity in a direction-independnt way. It will be shown that these asymptotic hyperplanes are orthogonal to the weak (viz. the volume form of the) ADM 4-momentum, for those spacetimes for which it is timelike. Therefore these hyperplanes reduce to the Wigner hyperplanes in Minkowski spacetime when the Newton constant is switched off. To arrive at these results Dirac’s strategy of adding ten extra degrees of freedom at spatial infinity and then to add ten first class constraints so that the new degrees of freedom are gauge variables, will be followed.

In this way the rest-frame instant form of metric gravity may be defined. The weak ADM energy turns out to play the role of the canonical Hamiltonian for the evolution in the scalar mathematical time labelling the leaves of the 3+1 splitting (consistently with Ref.). There will be a point near spatial infinity playing the role of the decoupled canonical center of mass of the universe and which can be interpreted as a point-particle clock for the mathematical time. There will be three first class constraints implying the vanishing of the weak ADM 3-momentum: they define the rest frame of the universe. Therefore, at spatial infinity we have inertial observers whose unit 4-velocity is determined by the timelike ADM 4-momentum. Modulo 3-rotations, these observers carry an asymptotic tetrad adapted to the asymptotic spacelike hyperplanes: after a conventional choice of the 3-rotation this tetrad defines the dynamical fixed stars (standard of non-rotation). By using Frauendiener’s reformulation  of Sen-Witten equations for the triads and the adapted tetrads on a spacelike hypersurface of this kind, one can determine preferred dynamical adapted tetrads \**\**\**They seem to be the natural realization of the non-flat preferred observers of Bergmann . in each point of the hypersurface (they are dynamical because the solution of Einstein’s equations is needed to find them). Therefore, these special spacelike hypersurfaces can be named Wigner-Sen-Witten (WSW) hypersurfaces: as already said they reduce to the Wigner hyperplanes of Minkowski spacetime when the Newton constant is switched off. Since the weak ADM Poincaré charges vanish when the spacetime is restricted to the Minkowski spacetime with Cartesian coordinates, the rest-frame instant form of ADM canonical gravity in presence of matter reduces to the Minkowski rest-frame instant form desciption of the same matter when the Newton constant is switched off.

Moreover, a M$`ø`$ller radius may be associated with each timelike universe of this kind: it opens the possibility of defining an intrinsic ultraviolet cutoff in canonical quantization.

An open problem is to find the connection of this construction with the Friedrich’s description of spacelike infinity for spacetimes which admit a conformal completion. The ten Dirac variables at spatial infinity should be connected with the arbitrary choice of coordinates and tetrads needed to define evolution (1+3 splitting or threading point of view) in this approach, in the special case in which the 1+3 splitting is also a 3+1 splitting (slicing point of view).

At this point one should study the possibility of implementing a Shanmugadhasan canonical transformation††††††These canonical transformations, belonging to the most general class among those defined in Ref., are related to the York map of the conformal Lichnerowicz-York approach, whose existence has been proved in Ref., but which has never been constructed explicitly.. A discussion and an interpretation of the Hamiltonian gauge transformations generated by the eight first class constraint of ADM canonical gravity will be given. Also the comparison between the equivalence classes of spacetimes modulo the Hamiltonian gauge transformations versus the 4-geometries (equivalence classes of 4-metrics modulo spacetime diffeomorphisms) of the configuration space approach will be done: they agree only on the solution of Einstein’s equations. However, in this paper we will not study the canonical reduction of metric gravity. In a future paper, based on the partial results of Refs., the canonical reduction of tetrad gravity to a completely fixed gauge will be studied: this will allow to have a formulation i) containing timelike observers as fundamental configurational variables; ii) adapted to the coupling to fermions; iii) allowing to induce the canonical reduction of metric gravity.

Finally there will be some comment on interpretational problems like how to identify spacetime points, notwithstanding general covariance destroyes their individuality, a posteriori with the Komar-Bergmann individuating fields  and which is their relation to the non-generally covariant Dirac observables in a completely fixed gauge.

In Section II, after notational remarks, there is a review of the ADM canonical formulation of metric gravity.

In Section III there is a review of the following topics: asymptotic flatness, asymptotic symmetries, supertranslations and Hamiltonian gauge transformations.

In Section IV Dirac’s approach to asymptotically flat (at spatial infinity) metric gravity is discussed.

In Section V there is a study of the asymptotic ADM Poincaré charges of metric gravity.

In Section VI it is shown that the requirement of absence of supertranslations identifies a class of spacetimes of the Christodoulou-Klainermann type.

In Section VII two possible scenarios for metric gravity are presented.

In Section VIII there is the definition of the rest-frame instant form of metric gravity.

In Section IX there the interpetation of the Hamiltonian gauge transformations and their relation with the spacetime diffeomorphisms.

In Section X some interpretational problems regarding the observables of metric gravity are discussed.

In Section XI there are some comments on the problem of time in metric gravity.

In Section XII there is the determination of the embedding in spacetime and of some of the properties of the Wigner-Sen-Witten spacelike hypersurfaces.

Some final remarks and some comments on the quantization of metric gravity in a completely fixed gauge are made in the Conclusions.

Appendix A contains a review of the rest-frame instant form of dynamics for isolated systems in Minkowski spacetime.

## II ADM Hamiltonian Theory.

In this Section after some mathematical preliminaries needed to fix the notations there will be a review of the ADM Hamiltonian formulation of metric gravity.

Let $`M^4`$ be a torsion-free, orientable, topologically trivial, globally hyperbolic, asymptotically flat at spatial infinity pseudo-Riemannian (or Lorentzian) 4-manifold with a $`C^{\mathrm{}}`$ atlas of coordinate charts $`\{x^\mu \}`$. In each chart local coordinate bases for vector fields \[$`TM^4`$\] and one-forms \[$`T^{}M^4`$\] are $`e_\mu =_\mu `$ and $`dx^\mu `$ respectively.The nondegenerate 4-metric tensor $`{}_{}{}^{4}g_{\mu \nu }^{}(x)`$ has Lorentzian signature $`ϵ(+,,,)`$ ‡‡‡‡‡‡Here $`ϵ=\pm 1`$ according to particle physics and general relativity conventions respectively. We shall follow the conventions of Refs. for $`ϵ=1`$ and those of Ref. for $`ϵ=+1`$.. The covariant derivative is denoted $`{}_{}{}^{4}_{\mu }^{}`$ \[or with a semicolon “;”\].

The world indices will be denoted by Greek letters $`\mu ,\nu ,..`$ ($`\mu =0,1,2,3`$) while Greek letters inside round brackets $`(\alpha ),(\beta ),..,`$ will denote flat Minkowski indices \[the flat 4-metric tensor in Cartesian coordinates is $`{}_{}{}^{4}\eta _{(\alpha )(\beta )}^{}=ϵ(+,,,)`$\]; analogously, $`a,b,..,`$ and $`(a),(b),..,`$ \[a=1,2,3\], will denote world and flat 3-space indices respectively. The summation convention over repeated indices of the same kind is used.

Let $`M^4`$ be foliated (3+1 splitting or slicing) with spacelike Cauchy hypersurfaces $`\mathrm{\Sigma }_\tau `$ through the embeddings $`i_\tau :\mathrm{\Sigma }\mathrm{\Sigma }_\tau M^4`$, $`\stackrel{}{\sigma }x^\mu =z^\mu (\tau ,\stackrel{}{\sigma })`$, of a 3-manifold $`\mathrm{\Sigma }`$, assumed diffeomorphic to $`R^3`$, into $`M^4`$ \**\**\**$`\tau :M^4R`$ is a global, timelike, future-oriented function labelling the leaves of the foliation; $`x^\mu `$ are local coordinates in a chart of $`M^4`$; $`\stackrel{}{\sigma }=\{\sigma ^r\}`$, r=1,2,3, are coordinates in a global chart of $`\mathrm{\Sigma }`$, which is diffeomorphic to $`R^3`$; the notations $`\sigma ^A=(\sigma ^\tau =\tau ;\stackrel{}{\sigma })`$, $`A=\tau ,r`$, for the coordinates of $`M^4`$ adapted to the 3+1 splitting and $`z^\mu (\sigma )=z^\mu (\tau ,\stackrel{}{\sigma })`$ will be used..

Let $`n^\mu (\sigma )`$ and $`l^\mu (\sigma )=N(\sigma )n^\mu (\sigma )`$ be the controvariant timelike normal and unit normal \[$`{}_{}{}^{4}g_{\mu \nu }^{}(z(\sigma ))l^\mu (\sigma )l^\nu (\sigma )=ϵ`$\] to $`\mathrm{\Sigma }_\tau `$ at the point $`z(\sigma )\mathrm{\Sigma }_\tau `$. The positive function $`N(\sigma )>0`$ is the lapse function: $`N(\sigma )d\tau `$ measures the proper time interval at $`z(\sigma )\mathrm{\Sigma }_\tau `$ between $`\mathrm{\Sigma }_\tau `$ and $`\mathrm{\Sigma }_{\tau +d\tau }`$. The shift functions $`N^r(\sigma )`$ are defined so that $`N^r(\sigma )d\tau `$ describes the horizontal shift on $`\mathrm{\Sigma }_\tau `$ such that, if $`z^\mu (\tau +d\tau ,\stackrel{}{\sigma }+d\stackrel{}{\sigma })\mathrm{\Sigma }_{\tau +d\tau }`$, then $`z^\mu (\tau +d\tau ,\stackrel{}{\sigma }+d\stackrel{}{\sigma })z^\mu (\tau ,\stackrel{}{\sigma })+N(\tau ,\stackrel{}{\sigma })d\tau l^\mu (\tau ,\stackrel{}{\sigma })+[d\sigma ^r+N^r(\tau ,\stackrel{}{\sigma })d\tau ]\frac{z^\mu (\tau ,\stackrel{}{\sigma })}{\sigma ^r}`$; therefore, the so called evolution vector is $`\frac{z^\mu (\sigma )}{\tau }=N(\sigma )l^\mu (\sigma )+N^r(\sigma )\frac{z^\mu (\tau ,\stackrel{}{\sigma })}{\sigma ^r}`$. The covariant unit normal to $`\mathrm{\Sigma }_\tau `$ is $`l_\mu (\sigma )={}_{}{}^{4}g_{\mu \nu }^{}(z(\sigma ))l^\nu (\sigma )=N(\sigma )_\mu \tau |_{x=z(\sigma )}`$, with $`\tau =\tau (\sigma )`$ a global timelike future-oriented function.

Instead of local coordinates $`x^\mu `$ for $`M^4`$, use will be done of coordinates $`\sigma ^A`$ on $`R\times \mathrm{\Sigma }M^4`$ \[$`x^\mu =z^\mu (\sigma )`$ with inverse $`\sigma ^A=\sigma ^A(x)`$\], and of the associated $`\mathrm{\Sigma }_\tau `$-adapted holonomic coordinate basis $`_A=\frac{}{\sigma ^A}T(R\times \mathrm{\Sigma })b_A^\mu (\sigma )_\mu =\frac{z^\mu (\sigma )}{\sigma ^A}_\mu TM^4`$ for vector fields, and $`dx^\mu T^{}M^4d\sigma ^A=b_\mu ^A(\sigma )dx^\mu =\frac{\sigma ^A(z)}{z^\mu }dx^\mu T^{}(R\times \mathrm{\Sigma })`$ for differential one-forms. In flat Minkowski spacetime the transformation coefficients $`b_\mu ^A(\sigma )`$ and $`b_A^\mu (\sigma )`$ become the flat orthonormal tetrads $`\delta _\mu ^{(\mu )}z_{(\mu )}^A(\sigma )=\frac{\sigma ^A(x)}{x^\mu }|_{x=z(\sigma )}`$ and cotetrads $`\delta _{(\mu )}^\mu z_A^{(\mu )}(\sigma )=\frac{z^\mu (\sigma )}{\sigma ^A}`$ of Ref. (see Appendix A).

The induced 4-metric and inverse 4-metric become in the new basis \*†\*†\*†For the sake of simplicity the notation $`{}_{}{}^{4}g_{AB}^{}(\sigma )`$ for $`{}_{}{}^{4}g_{AB}^{^{}}(\sigma )=\frac{z^\mu (\sigma )}{\sigma ^A}\frac{z^\nu (\sigma )}{\sigma ^B}{}_{}{}^{4}g_{\mu \nu }^{}(x=z(\sigma ))=b_A^\mu (\sigma )b_B^\nu (\sigma ){}_{}{}^{4}g_{\mu \nu }^{}(z(\sigma ))`$ will be used.

$`{}_{}{}^{4}g(x)`$ $`=`$ $`{}_{}{}^{4}g_{\mu \nu }^{}(x)dx^\mu dx^\nu ={}_{}{}^{4}g_{AB}^{}(\sigma )d\sigma ^Ad\sigma ^B,`$ (1)
$`{}_{}{}^{4}g_{\mu \nu }^{}`$ $`=`$ $`b_\mu ^A{}_{}{}^{4}g_{AB}^{}b_\nu ^B=`$ (3)
$`=`$ $`ϵ(N^2{}_{}{}^{3}g_{rs}^{}N^rN^s)_\mu \tau _\nu \tau ϵ{}_{}{}^{3}g_{rs}^{}N^s(_\mu \tau _\nu \sigma ^r+_\nu \tau _\mu \sigma ^r)ϵ{}_{}{}^{3}g_{rs}^{}_\mu \sigma ^r_\nu \sigma ^s=`$ (4)
$`=`$ $`ϵl_\mu l_\nu ϵ{}_{}{}^{3}g_{rs}^{}(_\mu \sigma ^r+N^r_\mu \tau )(_\nu \sigma ^s+N^s_\nu \tau ),`$ (5)
$``$ $`{}_{}{}^{4}g_{AB}^{}=\{{}_{}{}^{4}g_{\tau \tau }^{}=ϵ(N^2{}_{}{}^{3}g_{rs}^{}N^rN^s);{}_{}{}^{4}g_{\tau r}^{}=ϵ{}_{}{}^{3}g_{rs}^{}N^s;{}_{}{}^{4}g_{rs}^{}=ϵ{}_{}{}^{3}g_{rs}^{}\}=`$ (7)
$`=`$ $`ϵ[l_Al_B{}_{}{}^{3}g_{rs}^{}(\delta _A^r+N^r\delta _A^\tau )(\delta _B^s+N^s\delta _B^\tau )],`$ (8)
$`{}_{}{}^{4}g_{}^{\mu \nu }`$ $`=`$ $`b_A^\mu {}_{}{}^{4}g_{}^{AB}b_B^\nu =`$ (10)
$`=`$ $`{\displaystyle \frac{ϵ}{N^2}}_\tau z^\mu _\tau z^\nu {\displaystyle \frac{ϵN^r}{N^2}}(_\tau z^\mu _rz^\nu +_\tau z^\nu _rz^\mu )ϵ({}_{}{}^{3}g_{}^{rs}{\displaystyle \frac{N^rN^s}{N^2}})_rz^\mu _sz^\nu =`$ (11)
$`=`$ $`ϵ[l^\mu l^\nu {}_{}{}^{3}g_{}^{rs}_rz^\mu _sz^\nu ],`$ (12)
$``$ $`{}_{}{}^{4}g_{}^{AB}=\{{}_{}{}^{4}g_{}^{\tau \tau }={\displaystyle \frac{ϵ}{N^2}};{}_{}{}^{4}g_{}^{\tau r}={\displaystyle \frac{ϵN^r}{N^2}};{}_{}{}^{4}g_{}^{rs}=ϵ({}_{}{}^{3}g_{}^{rs}{\displaystyle \frac{N^rN^s}{N^2}})\}=`$ (14)
$`=`$ $`ϵ[l^Al^B{}_{}{}^{3}g_{}^{rs}\delta _r^A\delta _s^B],`$ (15)
$`l^A`$ $`=`$ $`l^\mu b_\mu ^A=N{}_{}{}^{4}g_{}^{A\tau }={\displaystyle \frac{ϵ}{N}}(1;N^r),`$ (17)
$`l_A`$ $`=`$ $`l_\mu b_A^\mu =N_A\tau =N\delta _A^\tau =(N;\stackrel{}{0}).`$ (18)
Here, the 3-metric $`{}_{}{}^{3}g_{rs}^{}=ϵ{}_{}{}^{4}g_{rs}^{}`$, with signature (+++), of $`\mathrm{\Sigma }_\tau `$ was introduced. If $`{}_{}{}^{4}\gamma _{}^{rs}`$ is the inverse of the spatial part of the 4-metric \[$`{}_{}{}^{4}\gamma _{}^{ru}{}_{}{}^{4}g_{us}^{}=\delta _s^r`$\], the inverse of the 3-metric is $`{}_{}{}^{3}g_{}^{rs}=ϵ{}_{}{}^{4}\gamma _{}^{rs}`$ \[$`{}_{}{}^{3}g_{}^{ru}{}_{}{}^{3}g_{us}^{}=\delta _s^r`$\]. $`{}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ are the components of the “first fundamental form” of the Riemann 3-manifold $`(\mathrm{\Sigma }_\tau ,{}_{}{}^{3}g)`$ and the line element of $`M^4`$ is

$`ds^2`$ $`=`$ $`{}_{}{}^{4}g_{\mu \nu }^{}dx^\mu dx^\nu =ϵ(N^2{}_{}{}^{3}g_{rs}^{}N^rN^s)(d\tau )^22ϵ{}_{}{}^{3}g_{rs}^{}N^sd\tau d\sigma ^rϵ{}_{}{}^{3}g_{rs}^{}d\sigma ^rd\sigma ^s=`$ (19)
$`=`$ $`ϵ\left[N^2(d\tau )^2{}_{}{}^{3}g_{rs}^{}(d\sigma ^r+N^rd\tau )(d\sigma ^s+N^sd\tau )\right].`$ (20)
It must be $`ϵ{}_{}{}^{4}g_{oo}^{}>0`$, $`ϵ{}_{}{}^{4}g_{ij}^{}<0`$, $`\left|\begin{array}{cc}{}_{}{}^{4}g_{ii}^{}& {}_{}{}^{4}g_{ij}^{}\\ {}_{}{}^{4}g_{ji}^{}& {}_{}{}^{4}g_{jj}^{}\end{array}\right|>0`$, $`ϵdet{}_{}{}^{4}g_{ij}^{}>0`$.

Defining $`g={}_{}{}^{4}g=|det({}_{}{}^{4}g_{\mu \nu }^{})|`$ and $`\gamma ={}_{}{}^{3}g=|det({}_{}{}^{3}g_{rs}^{})|`$, the lapse and shift functions assume the following form

$`N=\sqrt{{\displaystyle \frac{{}_{}{}^{4}g}{{}_{}{}^{3}g}}}={\displaystyle \frac{1}{\sqrt{{}_{}{}^{4}g_{}^{\tau \tau }}}}=\sqrt{{\displaystyle \frac{g}{\gamma }}}=\sqrt{{}_{}{}^{4}g_{\tau \tau }^{}ϵ{}_{}{}^{3}g_{}^{rs}{}_{}{}^{4}g_{\tau r}^{}{}_{}{}^{4}g_{\tau s}^{}},`$ (21)
$`N^r=ϵ{}_{}{}^{3}g_{}^{rs}{}_{}{}^{4}g_{\tau s}^{}={\displaystyle \frac{{}_{}{}^{4}g_{}^{\tau r}}{{}_{}{}^{4}g_{}^{\tau \tau }}},N_r={}_{}{}^{3}g_{rs}^{}N^s=ϵ{}_{}{}^{4}g_{rs}^{}N^s=ϵ{}_{}{}^{4}g_{\tau r}^{}.`$ (22)
See Refs. for the 3+1 decomposition of 4-tensors on $`M^4`$. The horizontal projector $`{}_{}{}^{3}h_{\mu }^{\nu }=\delta _\mu ^\nu ϵl_\mu l^\nu `$ on $`\mathrm{\Sigma }_\tau `$ defines the 3-tensor fields on $`\mathrm{\Sigma }_\tau `$ starting from the 4-tensor fields on $`M^4`$.

In the standard (non-Hamiltonian) description of the 3+1 decomposition a $`\mathrm{\Sigma }_\tau `$-adapted nonholonomic noncoordinate basis \[$`\overline{A}=(l;r)`$\] is used

$`\widehat{b}_{\overline{A}}^\mu (\sigma )`$ $`=`$ $`\{\widehat{b}_l^\mu (\sigma )=ϵl^\mu (\sigma )=N^1(\sigma )[b_\tau ^\mu (\sigma )N^r(\sigma )b_r^\mu (\sigma )];`$ (24)
$`\widehat{b}_r^\mu (\sigma )=b_r^\mu (\sigma )\},`$
$`\widehat{b}_\mu ^{\overline{A}}(\sigma )`$ $`=`$ $`\{\widehat{b}_\mu ^l(\sigma )=l_\mu (\sigma )=N(\sigma )b_\mu ^\tau (\sigma )=N(\sigma )_\mu \tau (z(\sigma ));`$ (28)
$`\widehat{b}_\mu ^r(\sigma )=b_\mu ^r(\sigma )+N^r(\sigma )b_\mu ^\tau (\sigma )\},`$
$`\widehat{b}_\mu ^{\overline{A}}(\sigma )\widehat{b}_{\overline{A}}^\nu (\sigma )=\delta _\mu ^\nu ,\widehat{b}_\mu ^{\overline{A}}(\sigma )\widehat{b}_{\overline{B}}^\mu (\sigma )=\delta _{\overline{B}}^{\overline{A}},`$
$`{}_{}{}^{4}\overline{g}_{\overline{A}\overline{B}}^{}(z(\sigma ))`$ $`=`$ $`\widehat{b}_{\overline{A}}^\mu (\sigma ){}_{}{}^{4}g_{\mu \nu }^{}(z(\sigma ))\widehat{b}_{\overline{B}}^\nu (\sigma )=`$ (30)
$`=\{{}_{}{}^{4}\overline{g}_{ll}^{}(\sigma )=ϵ;{}_{}{}^{4}\overline{g}_{lr}^{}(\sigma )=0;{}_{}{}^{4}\overline{g}_{rs}^{}(\sigma )={}_{}{}^{4}g_{rs}^{}(\sigma )=ϵ{}_{}{}^{3}g_{rs}^{}\},`$
$`{}_{}{}^{4}\overline{g}_{}^{\overline{A}\overline{B}}`$ $`=`$ $`\{{}_{}{}^{4}\overline{g}_{}^{ll}=ϵ;{}_{}{}^{4}\overline{g}_{}^{lr}=0;{}_{}{}^{4}\overline{g}_{}^{rs}={}_{}{}^{4}\gamma _{}^{rs}=ϵ{}_{}{}^{3}g_{}^{rs}\},`$ (36)
$`X_{\overline{A}}=\widehat{b}_{\overline{A}}^\mu _\mu =\{X_l={\displaystyle \frac{1}{N}}(_\tau N^r_r);_r\},`$
$`\theta ^{\overline{A}}=\widehat{b}_\mu ^{\overline{A}}dx^\mu =\{\theta ^l=Nd\tau ;\theta ^r=d\sigma ^r+N^rd\tau \},`$
$`l_\mu (\sigma )b_r^\mu (\sigma )=0,l^\mu (\sigma )b_\mu ^r(\sigma )=N^r(\sigma )/N(\sigma ),`$
$`l^{\overline{A}}`$ $`=`$ $`l^\mu \widehat{b}_\mu ^{\overline{A}}=(ϵ;l^r+N^rl^\tau )=(ϵ;\stackrel{}{0}),`$ (38)
$`l_{\overline{A}}`$ $`=`$ $`l_\mu \widehat{b}_{\overline{A}}^\mu =(1;l_r)=(1;\stackrel{}{0}).`$ (39)
One has $`{}_{}{}^{3}h_{\mu \nu }^{}={}_{}{}^{4}g_{\mu \nu }^{}ϵl_\mu l_\nu =ϵ{}_{}{}^{3}g_{rs}^{}(b_\mu ^r+N^rb_\mu ^\tau )(b_\mu ^s+N^sb_\mu ^\tau )=ϵ{}_{}{}^{3}g_{rs}^{}\widehat{b}_\mu ^r\widehat{b}_\nu ^s`$. For a 4-vector $`{}_{}{}^{4}V_{}^{\mu }={}_{}{}^{4}V_{}^{\overline{A}}\widehat{b}_{\overline{A}}^\mu ={}_{}{}^{4}V_{}^{l}l^\mu +{}_{}{}^{4}V_{}^{r}\widehat{b}_r^\mu `$ one gets $`{}_{}{}^{3}V_{}^{\mu }={}_{}{}^{3}V_{}^{r}\widehat{b}_r^\mu ={}_{}{}^{3}h_{\nu }^{\mu }{}_{}{}^{4}V_{}^{\nu }`$, $`{}_{}{}^{3}V_{}^{r}={}_{}{}^{4}V_{}^{r}=\widehat{b}_\mu ^r{}_{}{}^{3}V_{}^{\mu }`$.

The nonholonomic basis in $`\mathrm{\Sigma }_\tau `$-adapted coordinates is

$`\widehat{b}_A^{\overline{A}}=\widehat{b}_\mu ^{\overline{A}}b_A^\mu =\{\widehat{b}_A^l=l_A;\widehat{b}_A^r=\delta _A^r+N^r\delta _A^\tau \},`$ (40)
$`\widehat{b}_{\overline{A}}^A=\widehat{b}_{\overline{A}}^\mu b_\mu ^A=\{\widehat{b}_l^A=ϵl^A;\widehat{b}_r^A=\delta _r^A\}.`$ (41)
The 3-dimensional covariant derivative \[denoted $`{}_{}{}^{3}`$ or with the subscript “$`|`$”\] of a 3-dimensional tensor $`{}_{}{}^{3}T_{}^{\mu _1..\mu _p}_{\nu _1..\nu _q}`$ of rank (p,q) is the 3-dimensional tensor of rank (p,q+1) $`{}_{}{}^{3}_{\rho }^{}{}_{}{}^{3}T_{}^{\mu _1..\mu _p}{}_{\nu _1..\nu _q}{}^{}={}_{}{}^{3}T_{}^{\mu _1..\mu _p}{}_{\nu _1..\nu _q|\rho }{}^{}={}_{}{}^{3}h_{\alpha _1}^{\mu _1}\mathrm{}{}_{}{}^{3}h_{\alpha _p}^{\mu _p}{}_{}{}^{3}h_{\nu _1}^{\beta _1}\mathrm{}{}_{}{}^{3}h_{\nu _q}^{\beta _q}{}_{}{}^{3}h_{\rho }^{\sigma }{}_{}{}^{4}_{\sigma }^{}{}_{}{}^{3}T_{}^{\alpha _1..\alpha _p}_{\beta _1..\beta _q}`$.

The components of the “second fundamental form” of $`(\mathrm{\Sigma }_\tau ,{}_{}{}^{3}g)`$ describe its extrinsic curvature

$`{}_{}{}^{3}K_{\mu \nu }^{}`$ $`=`$ $`{}_{}{}^{3}K_{\nu \mu }^{}={\displaystyle \frac{1}{2}}_l{}_{}{}^{3}g_{\mu \nu }^{}=\widehat{b}_\mu ^r\widehat{b}_\nu ^s{}_{}{}^{3}K_{rs}^{},`$ (42)
$`{}_{}{}^{3}K_{rs}^{}`$ $`=`$ $`{}_{}{}^{3}K_{sr}^{}={\displaystyle \frac{1}{2N}}(N_{r|s}+N_{s|r}{\displaystyle \frac{{}_{}{}^{3}g_{rs}^{}}{\tau }});`$ (44)
one has $`{}_{}{}^{4}_{\rho }^{}l^\mu =ϵ{}_{}{}^{3}a_{}^{\mu }l_\rho {}_{}{}^{3}K_{\rho }^{}^\mu `$, with the acceleration $`{}_{}{}^{3}a_{}^{\mu }={}_{}{}^{3}a_{}^{r}\widehat{b}_r^\mu `$ of the observers travelling along the congruence of timelike curves with tangent vector $`l^\mu `$ given by $`{}_{}{}^{3}a_{r}^{}=_rlnN`$.

The information contained in the 20 independent components $`{}_{}{}^{4}R_{}^{\alpha }{}_{\mu \beta \nu }{}^{}={}_{}{}^{4}\mathrm{\Gamma }_{\beta \rho }^{\alpha }{}_{}{}^{4}\mathrm{\Gamma }_{\nu \mu }^{\rho }{}_{}{}^{4}\mathrm{\Gamma }_{\nu \rho }^{\alpha }{}_{}{}^{4}\mathrm{\Gamma }_{\beta \mu }^{\rho }+_\beta {}_{}{}^{4}\mathrm{\Gamma }_{\mu \nu }^{\alpha }_\nu {}_{}{}^{4}\mathrm{\Gamma }_{\beta \mu }^{\alpha }`$ \[with the associated Ricci tensor $`{}_{}{}^{4}R_{\mu \nu }^{}={}_{}{}^{4}R_{}^{\beta }_{\mu \beta \nu }`$\] of the curvature Riemann tensor of $`M^4`$ is replaced by its three projections given by Gauss, Codazzi-Mainardi and Ricci equations . In the nonholonomic basis the Einstein tensor becomes $`{}_{}{}^{4}G_{\mu \nu }^{}={}_{}{}^{4}R_{\mu \nu }^{}\frac{1}{2}{}_{}{}^{4}g_{\mu \nu }^{}{}_{}{}^{4}R=ϵ{}_{}{}^{4}\overline{G}_{ll}^{}l_\mu l_\nu +ϵ{}_{}{}^{4}\overline{G}_{lr}^{}(l_\mu \widehat{b}_\nu ^r+l_\nu \widehat{b}_\mu ^r)+{}_{}{}^{4}\overline{G}_{rs}^{}\widehat{b}_\mu ^r\widehat{b}_\nu ^s`$. The Bianchi identities $`{}_{}{}^{4}G_{}^{\mu \nu }{}_{;\nu }{}^{}0`$ imply the following four contracted Bianchi identities

$`{\displaystyle \frac{1}{N}}_\tau {}_{}{}^{4}\overline{G}_{ll}^{}{\displaystyle \frac{N^r}{N}}_r{}_{}{}^{4}\overline{G}_{ll}^{}{}_{}{}^{3}K{}_{}{}^{4}\overline{G}_{ll}^{}+_r{}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{r}+(2{}_{}{}^{3}a_{r}^{}+{}_{}{}^{3}\mathrm{\Gamma }_{sr}^{s}){}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{r}{}_{}{}^{3}K_{rs}^{}{}_{}{}^{4}\overline{G}_{}^{rs}0,`$ (47)
$`{\displaystyle \frac{1}{N}}_\tau {}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{r}{\displaystyle \frac{N^s}{N}}_s{}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{r}+{}_{}{}^{3}a_{}^{r}{}_{}{}^{4}\overline{G}_{ll}^{}(2{}_{}{}^{3}K_{}^{r}{}_{s}{}^{}+\delta _s^r{}_{}{}^{3}K+{\displaystyle \frac{_sN^r}{N}}){}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{s}+_s{}_{}{}^{4}\overline{G}_{}^{rs}+`$
$`+`$ $`({}_{}{}^{3}a_{s}^{}+{}_{}{}^{3}\mathrm{\Gamma }_{us}^{u}){}_{}{}^{4}\overline{G}_{}^{rs}0.`$ (48)
The vanishing of $`{}_{}{}^{4}\overline{G}_{ll}^{}`$, $`{}_{}{}^{4}\overline{G}_{lr}^{}`$, corresponds to the four secondary constraints (restrictions of Cauchy data) of the ADM Hamiltonian formalism (see Chapter V and Appendix G). The four contracted Bianchi identities imply  that, if the restrictions of Cauchy data are satisfied initially and the spatial equations $`{}_{}{}^{4}G_{ij}^{}\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$ are satisfied everywhere, then the secondary constraints are satisfied also at later times \[see Ref. for the initial value problem\]. The four contracted Bianchi identities plus the four secondary constraints imply that only two combinations of the Einstein equations contain the accelerations (second time derivatives) of the two (non tensorial) independent degrees of freedom of the gravitational field and that these equations can be put in normal form \[this was one of the motivations behind the discovery of the Shanmugadhasan canonical transformations \].

The “intrinsic geometry” of $`\mathrm{\Sigma }_\tau `$ is defined by the Riemannian 3-metric $`{}_{}{}^{3}g_{rs}^{}`$ \[it allows to evaluate the length of space curves\], the Levi-Civita affine connection, i.e. the Christoffel symbols $`{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}`$, \[for the parallel transport of 3-dimensional tensors on $`\mathrm{\Sigma }_\tau `$\] and the curvature Riemann tensor $`{}_{}{}^{3}R_{}^{r}_{stu}`$ \[for the evaluation of the holonomy and for the geodesic deviation equation\]. The “extrinsic geometry” of $`\mathrm{\Sigma }_\tau `$ is defined by the lapse N and shift $`N^r`$ functions \[which describe the “evolution” of $`\mathrm{\Sigma }_\tau `$ in $`M^4`$\] and by the “extrinsic curvature” $`{}_{}{}^{3}K_{rs}^{}`$ \[it is needed to evaluate how much a 3-dimensional vector goes outside $`\mathrm{\Sigma }_\tau `$ under spacetime parallel transport and to rebuild the spacetime curvature from the 3-dimensional one\].

Given an arbitrary 3+1 splitting of $`M^4`$, the ADM action expressed in terms of the independent $`\mathrm{\Sigma }_\tau `$-adapted variables N, $`N_r={}_{}{}^{3}g_{rs}^{}N^s`$, $`{}_{}{}^{3}g_{rs}^{}`$ is

$`S_{ADM}`$ $`=`$ $`{\displaystyle 𝑑\tau L_{ADM}(\tau )}={\displaystyle 𝑑\tau d^3\sigma _{ADM}(\tau ,\stackrel{}{\sigma })}=`$ (49)
$`=`$ $`ϵk{\displaystyle _\mathrm{}\tau }𝑑\tau {\displaystyle d^3\sigma \{\sqrt{\gamma }N[{}_{}{}^{3}R+{}_{}{}^{3}K_{rs}^{}{}_{}{}^{3}K_{}^{rs}({}_{}{}^{3}K)^2]\}(\tau ,\stackrel{}{\sigma })},`$ (50)
where $`k=\frac{c^3}{16\pi G}`$, with $`G`$ the Newton constant.

The Euler-Lagrange equations are\*‡\*‡\*‡The symbol $`\stackrel{}{=}`$ means evaluated on the extremals of the variational principle, namely on the solutions of the equation of motion.

$`L_N`$ $`=`$ $`{\displaystyle \frac{_{ADM}}{N}}_\tau {\displaystyle \frac{_{ADM}}{_\tau N}}_r{\displaystyle \frac{_{ADM}}{_rN}}=`$ (51)
$`=`$ $`ϵk\sqrt{\gamma }[{}_{}{}^{3}R{}_{}{}^{3}K_{rs}^{}{}_{}{}^{3}K_{}^{rs}+({}_{}{}^{3}K)^2]=2ϵk{}_{}{}^{4}\overline{G}_{ll}^{}\stackrel{}{=}\mathrm{\hspace{0.17em}0},`$ (52)
$`L_\stackrel{}{N}^r`$ $`=`$ $`{\displaystyle \frac{_{ADM}}{N_r}}_\tau {\displaystyle \frac{_{ADM}}{_\tau N_r}}_s{\displaystyle \frac{_{ADM}}{_sN_r}}=`$ (53)
$`=`$ $`2ϵk[\sqrt{\gamma }({}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}K)]_{|s}=2k{}_{}{}^{4}\overline{G}_{l}^{}{}_{}{}^{r}\stackrel{}{=}\mathrm{\hspace{0.17em}0},`$ (54)
$`L_g^{rs}`$ $`=`$ $`ϵk[{\displaystyle \frac{}{\tau }}[\sqrt{\gamma }({}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}K)]N\sqrt{\gamma }({}_{}{}^{3}R_{}^{rs}{\displaystyle \frac{1}{2}}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}R)+`$ (57)
$`+2N\sqrt{\gamma }({}_{}{}^{3}K_{}^{ru}{}_{}{}^{3}K_{u}^{}{}_{}{}^{s}{}_{}{}^{3}K{}_{}{}^{3}K_{}^{rs})+{\displaystyle \frac{1}{2}}N\sqrt{\gamma }[({}_{}{}^{3}K)^2{}_{}{}^{3}K_{uv}^{}{}_{}{}^{3}K_{}^{uv}){}_{}{}^{3}g_{}^{rs}+`$
$`+\sqrt{\gamma }({}_{}{}^{3}g_{}^{rs}N^{|u}{}_{|u}{}^{}N^{|r|s})]=ϵkN\sqrt{\gamma }^4\overline{G}^{rs}\stackrel{}{=}\mathrm{\hspace{0.17em}0},`$
and correspond to the Einstein equations in the form $`{}_{}{}^{4}\overline{G}_{ll}^{}\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$, $`{}_{}{}^{4}\overline{G}_{lr}^{}\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$, $`{}_{}{}^{4}\overline{G}_{rs}^{}\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$, respectively. The four contracted Bianchi identities imply that only two of the six equations $`L_g^{rs}\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$ are independent.

The canonical momenta (densities of weight -1) are

$`\stackrel{~}{\pi }^N(\tau ,\stackrel{}{\sigma })={\displaystyle \frac{\delta S_{ADM}}{\delta _\tau N(\tau ,\stackrel{}{\sigma })}}=0,`$ (58)
$`\stackrel{~}{\pi }_\stackrel{}{N}^r(\tau ,\stackrel{}{\sigma })={\displaystyle \frac{\delta S_{ADM}}{\delta _\tau N_r(\tau ,\stackrel{}{\sigma })}}=0,`$ (59)
$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma })={\displaystyle \frac{\delta S_{ADM}}{\delta _\tau {}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })}}=ϵk[\sqrt{\gamma }({}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}K)](\tau ,\stackrel{}{\sigma }),`$ (60)
(61)
$``$ (62)
(63)
$`{}_{}{}^{3}K_{rs}^{}={\displaystyle \frac{ϵ}{k\sqrt{\gamma }}}[{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{rs}^{}{\displaystyle \frac{1}{2}}{}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}],{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}={}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}=2ϵk\sqrt{\gamma }{}_{}{}^{3}K,`$ (64)
and satisfy the Poisson brackets

$`\{N(\tau ,\stackrel{}{\sigma }),\stackrel{~}{\mathrm{\Pi }}^N(\tau ,\stackrel{}{\sigma }^{^{}})\}=\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}}),`$ (65)
$`\{N_r(\tau ,\stackrel{}{\sigma }),\stackrel{~}{\mathrm{\Pi }}_\stackrel{}{N}^s(\tau ,\stackrel{}{\sigma }^{^{}})\}=\delta _r^s\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}}),`$ (66)
$`\{{}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma }),{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}(\tau ,\stackrel{}{\sigma }^{^{}}\}={\displaystyle \frac{1}{2}}(\delta _r^u\delta _s^v+\delta _r^v\delta _s^u)\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}}).`$ (67)
The Wheeler- De Witt supermetric is

$${}_{}{}^{3}G_{rstw}^{}(\tau ,\stackrel{}{\sigma })=[{}_{}{}^{3}g_{rt}^{}{}_{}{}^{3}g_{sw}^{}+{}_{}{}^{3}g_{rw}^{}{}_{}{}^{3}g_{st}^{}{}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}g_{tw}^{}](\tau ,\stackrel{}{\sigma }).$$
(68)
Its inverse is defined by the equations

$`{\displaystyle \frac{1}{2}}{}_{}{}^{3}G_{rstw}^{}{\displaystyle \frac{1}{2}}{}_{}{}^{3}G_{}^{twuv}={\displaystyle \frac{1}{2}}(\delta _r^u\delta _s^v+\delta _r^v\delta _s^u),`$ (69)
$`{}_{}{}^{3}G_{}^{twuv}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`[{}_{}{}^{3}g_{}^{tu}{}_{}{}^{3}g_{}^{wv}+{}_{}{}^{3}g_{}^{tv}{}_{}{}^{3}g_{}^{wu}2{}_{}{}^{3}g_{}^{tw}{}_{}{}^{3}g_{}^{uv}](\tau ,\stackrel{}{\sigma }),`$ (70)
so that one gets

$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{\displaystyle \frac{1}{2}}ϵk\sqrt{\gamma }{}_{}{}^{3}G_{}^{rsuv}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}K_{uv}^{}(\tau ,\stackrel{}{\sigma }),`$ (71)
$`{}_{}{}^{3}K_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{\displaystyle \frac{ϵ}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}(\tau ,\stackrel{}{\sigma }),`$ (74)
$`[{}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}K_{rs}^{}({}_{}{}^{3}K)^2](\tau ,\stackrel{}{\sigma })=`$
$`=k^2[\gamma ^1({}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{rs}^{}{\displaystyle \frac{1}{2}}({}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }})^2](\tau ,\stackrel{}{\sigma })=(2k)^1[\gamma ^1{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}](\tau ,\stackrel{}{\sigma }),`$
$`_\tau {}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`[N_{r|s}+N_{s|r}{\displaystyle \frac{ϵN}{k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}](\tau ,\stackrel{}{\sigma }).`$ (75)
Since $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}_\tau {}_{}{}^{3}g_{rs}^{}=`$$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}[N_{r|s}+N_{s|r}\frac{ϵN}{k\sqrt{\gamma }}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}]=`$$`2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{|s}{}^{}\frac{ϵN}{k\sqrt{\gamma }}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}+(2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs})_{|s}`$, we obtain the canonical Hamiltonian Since $`N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ is a vector density of weight -1, it holds $`{}_{}{}^{3}_{s}^{}(N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs})=_s(N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs})`$.

$`H_{(c)ADM}`$ $`=`$ $`{\displaystyle _S}d^3\sigma [\stackrel{~}{\pi }^N_\tau N+\stackrel{~}{\pi }_\stackrel{}{N}^r_\tau N_r+{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}_\tau {}_{}{}^{3}g_{rs}^{}](\tau ,\stackrel{}{\sigma })L_{ADM}=`$ (76)
$`=`$ $`{\displaystyle _S}d^3\sigma [ϵN(k\sqrt{\gamma }{}_{}{}^{3}R{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv})2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{|s}{}^{}](\tau ,\stackrel{}{\sigma })+`$ (77)
$`+`$ $`2{\displaystyle _S}d^2\mathrm{\Sigma }_s[N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}](\tau ,\stackrel{}{\sigma }),`$ (78)
In the following discussion the surface term will be omitted.

The Dirac Hamiltonian is The $`\lambda (\tau ,\stackrel{}{\sigma })`$’s are arbitrary Dirac multipliers.

$$H_{(D)ADM}=H_{(c)ADM}+d^3\sigma [\lambda _N\stackrel{~}{\pi }^N+\lambda _r^\stackrel{}{N}\stackrel{~}{\pi }_\stackrel{}{N}^r](\tau ,\stackrel{}{\sigma }).$$
(79)
The $`\tau `$-constancy of the primary constraints \[$`_\tau \stackrel{~}{\pi }^N(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\{\stackrel{~}{\pi }^N(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}0`$, $`_\tau \stackrel{~}{\pi }_\stackrel{}{N}^r(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\{\stackrel{~}{\pi }_\stackrel{}{N}^r(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}0`$\] generates four secondary constraints (they are densities of weight -1) which correspond to the Einstein equations $`{}_{}{}^{4}\overline{G}_{ll}^{}(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$, $`{}_{}{}^{4}\overline{G}_{lr}^{}(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$

$`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`ϵ[k\sqrt{\gamma }{}_{}{}^{3}R{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}](\tau ,\stackrel{}{\sigma })=`$ (80)
$`=`$ $`ϵ[\sqrt{\gamma }{}_{}{}^{3}R{\displaystyle \frac{1}{k\sqrt{\gamma }}}({}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{rs}^{}{\displaystyle \frac{1}{2}}({}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }})^2)](\tau ,\stackrel{}{\sigma })=`$ (81)
$`=`$ $`ϵk\{\sqrt{\gamma }[{}_{}{}^{3}R({}_{}{}^{3}K_{rs}^{}{}_{}{}^{3}K_{}^{rs}({}_{}{}^{3}K)^2)]\}(\tau ,\stackrel{}{\sigma })0,`$ (82)
$`{}_{}{}^{3}\stackrel{~}{}_{}^{r}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`2{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{|s}{}^{}(\tau ,\stackrel{}{\sigma })=2[_s{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}+{}_{}{}^{3}\mathrm{\Gamma }_{su}^{r}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{su}](\tau ,\stackrel{}{\sigma })=`$ (83)
$`=`$ $`2ϵk\{_s[\sqrt{\gamma }({}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}K)]+{}_{}{}^{3}\mathrm{\Gamma }_{su}^{r}\sqrt{\gamma }({}_{}{}^{3}K_{}^{su}{}_{}{}^{3}g_{}^{su}{}_{}{}^{3}K)\}(\tau ,\stackrel{}{\sigma })0,`$ (84)
so that the Hamiltonian becomes

$$H_{(c)ADM}=d^3\sigma [N\stackrel{~}{}+N_r{}_{}{}^{3}\stackrel{~}{}_{}^{r}](\tau ,\stackrel{}{\sigma })0,$$
(85)
with $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0`$ called the superhamiltonian constraint and $`{}_{}{}^{3}\stackrel{~}{}_{}^{r}(\tau ,\stackrel{}{\sigma })0`$ the supermomentum constraints. In $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0`$ one can say that the term $`ϵk\sqrt{\gamma }({}_{}{}^{3}K_{rs}^{}{}_{}{}^{3}K_{}^{rs}{}_{}{}^{3}K_{}^{2})`$ is the kinetic energy and $`ϵk\sqrt{\gamma }{}_{}{}^{3}R`$ the potential energy.

All the constraints are first class, because the only non-identically zero Poisson brackets correspond to the so called universal Dirac algebra :

$`\{{}_{}{}^{3}\stackrel{~}{}_{r}^{}(\tau ,\stackrel{}{\sigma }),{}_{}{}^{3}\stackrel{~}{}_{s}^{}(\tau ,\stackrel{}{\sigma }^{^{}})\}`$ $`=`$ $`{}_{}{}^{3}\stackrel{~}{}_{r}^{}(\tau ,\stackrel{}{\sigma }^{^{}}){\displaystyle \frac{\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}})}{\sigma ^s}}+{}_{}{}^{3}\stackrel{~}{}_{s}^{}(\tau ,\stackrel{}{\sigma }){\displaystyle \frac{\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}})}{\sigma ^r}},`$ (86)
$`\{\stackrel{~}{}(\tau ,\stackrel{}{\sigma }),{}_{}{}^{3}\stackrel{~}{}_{r}^{}(\tau ,\stackrel{}{\sigma }^{^{}})\}`$ $`=`$ $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma }){\displaystyle \frac{\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}})}{\sigma ^r}},`$ (87)
$`\{\stackrel{~}{}(\tau ,\stackrel{}{\sigma }),\stackrel{~}{}(\tau ,\stackrel{}{\sigma }^{^{}})\}`$ $`=`$ $`[{}_{}{}^{3}g_{}^{rs}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}\stackrel{~}{}_{s}^{}(\tau ,\stackrel{}{\sigma })+`$ (88)
$`+`$ $`{}_{}{}^{3}g_{}^{rs}(\tau ,\stackrel{}{\sigma }^{^{}}){}_{}{}^{3}\stackrel{~}{}_{s}^{}(\tau ,\stackrel{}{\sigma }^{^{}})]{\displaystyle \frac{\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}})}{\sigma ^r}},`$ (89)
with $`{}_{}{}^{3}\stackrel{~}{}_{r}^{}={}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}\stackrel{~}{}_{}^{r}`$ as the combination of the supermomentum constraints satisfying the algebra of 3-diffeomorphisms. In Ref. it is shown that Eqs.(89) are sufficient conditions for the embeddability of $`\mathrm{\Sigma }_\tau `$ into $`M^4`$. In the second paper in Ref. it is shown that the last two lines of the Dirac algebra are the equivalent in phase space of the Bianchi identities $`{}_{}{}^{4}G_{}^{\mu \nu }{}_{;\nu }{}^{}0`$.

The Hamilton-Dirac equations are \[$``$ is the notation for the Lie derivative\]

$`_\tau N(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{}{=}`$ $`\{N(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}=\lambda _N(\tau ,\stackrel{}{\sigma }),`$ (90)
$`_\tau N_r(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{}{=}`$ $`\{N_r(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}=\lambda _r^\stackrel{}{N}(\tau ,\stackrel{}{\sigma }),`$ (91)
$`_\tau {}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{}{=}`$ $`\{{}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}=[N_{r|s}+N_{s|r}{\displaystyle \frac{2ϵN}{k\sqrt{\gamma }}}({}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{rs}^{}{\displaystyle \frac{1}{2}}{}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }})](\tau ,\stackrel{}{\sigma })=`$ (92)
$`=`$ $`[N_{r|s}+N_{s|r}2N{}_{}{}^{3}K_{rs}^{}](\tau ,\stackrel{}{\sigma }),`$ (93)
$`_\tau {}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{}{=}`$ $`\{{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma }),H_{(D)ADM}\}=ϵ[Nk\sqrt{\gamma }({}_{}{}^{3}R_{}^{rs}{\displaystyle \frac{1}{2}}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}R)](\tau ,\stackrel{}{\sigma })`$ (94)
$``$ $`2ϵ[{\displaystyle \frac{N}{k\sqrt{\gamma }}}({\displaystyle \frac{1}{2}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{r}{}_{u}{}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{us})(\tau ,\stackrel{}{\sigma })`$ (95)
$``$ $`{\displaystyle \frac{ϵN}{2}}{\displaystyle \frac{{}_{}{}^{3}g_{}^{rs}}{k\sqrt{\gamma }}}({\displaystyle \frac{1}{2}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{2}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{uv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv})](\tau ,\stackrel{}{\sigma })+`$ (96)
$`+`$ $`_\stackrel{}{N}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma })+ϵ[k\sqrt{\gamma }(N^{|r|s}{}_{}{}^{3}g_{}^{rs}N^{|u}{}_{|u}{}^{})](\tau ,\stackrel{}{\sigma }),`$ (99)
$``$
$`_\tau {}_{}{}^{3}K_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{}{=}`$ $`(N[{}_{}{}^{3}R_{rs}^{}+{}_{}{}^{3}K{}_{}{}^{3}K_{rs}^{}2{}_{}{}^{3}K_{ru}^{}{}_{}{}^{3}K_{}^{u}{}_{s}{}^{}]`$ (101)
$``$ $`N_{|s|r}+N^u{}_{|s}{}^{}{}_{}{}^{3}K_{ur}^{}+N^u{}_{|r}{}^{}{}_{}{}^{3}K_{us}^{}+N^u{}_{}{}^{3}K_{rs|u}^{})(\tau ,\stackrel{}{\sigma }),`$ (104)
$`with`$
$`_\stackrel{}{N}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ $`=`$ $`\sqrt{\gamma }{}_{}{}^{3}_{u}^{}({\displaystyle \frac{N^u}{\sqrt{\gamma }}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs})+{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ur}{}_{}{}^{3}_{u}^{}N^s+{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{us}{}_{}{}^{3}_{u}^{}N^r.`$ (105)
The above equation for $`_\tau {}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })`$ shows that the generator of space pseudo-diffeomorphisms \*∥\*∥\*∥The Haniltonian transformations generated by these constraints are the extension to the 3-metric of passive or pseudo- diffeomorphisms, namely changes of coordinate charts, of $`\mathrm{\Sigma }_\tau `$ \[$`Diff\mathrm{\Sigma }_\tau `$\]. $`d^3\sigma N_r(\tau ,\stackrel{}{\sigma })`$ $`{}_{}{}^{3}\stackrel{~}{}_{}^{r}(\tau ,\stackrel{}{\sigma })`$ produces a variation, tangent to $`\mathrm{\Sigma }_\tau `$, $`\delta _{tangent}{}_{}{}^{3}g_{rs}^{}=_\stackrel{}{N}{}_{}{}^{3}g_{rs}^{}=N_{r|s}+N_{s|r}`$ in accord with the infinitesimal pseudo-diffeomorphisms in $`Diff\mathrm{\Sigma }_\tau `$. Instead, the gauge transformations induced by the superhamiltonian generator $`d^3\sigma N(\tau ,\stackrel{}{\sigma })`$ $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })`$ do not reproduce the infinitesimal diffeomorphisms in $`DiffM^4`$ normal to $`\mathrm{\Sigma }_\tau `$ (see Ref.). For the clarification of the connection between spacetime diffeomorphisms and Hamiltonian gauge transformations see Ref. and Section IX.

Finally, the canonical transformation $`\stackrel{~}{\pi }^NdN+\stackrel{~}{\pi }_\stackrel{}{N}^rdN_r+{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}d{}_{}{}^{3}g_{rs}^{}={}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{AB}d{}_{}{}^{4}g_{AB}^{}`$ allows to define the following momenta conjugated to $`{}_{}{}^{4}g_{AB}^{}`$

$`{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau \tau }`$ $`=`$ $`{\displaystyle \frac{ϵ}{2N}}\stackrel{~}{\pi }^N,`$ (106)
$`{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau r}`$ $`=`$ $`{\displaystyle \frac{ϵ}{2}}({\displaystyle \frac{N^r}{N}}\stackrel{~}{\pi }^N\stackrel{~}{\pi }_\stackrel{}{N}^r),`$ (107)
$`{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ $`=`$ $`ϵ({\displaystyle \frac{N^rN^s}{2N}}\stackrel{~}{\pi }^N{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}),`$ (110)
$`\{{}_{}{}^{4}g_{AB}^{}(\tau ,\stackrel{}{\sigma }),{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{CD}(\tau ,\stackrel{}{\sigma }^{^{}})\}={\displaystyle \frac{1}{2}}(\delta _A^C\delta _B^D+\delta _A^D\delta _B^C)\delta ^3(\stackrel{}{\sigma },\stackrel{}{\sigma }^{^{}}),`$
$`\stackrel{~}{\pi }^N`$ $`=`$ $`{\displaystyle \frac{2ϵ}{\sqrt{ϵ{}_{}{}^{4}g_{}^{\tau \tau }}}}{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau \tau },`$ (112)
$`\stackrel{~}{\pi }_\stackrel{}{N}^r`$ $`=`$ $`2ϵ{\displaystyle \frac{{}_{}{}^{4}g_{}^{\tau r}}{{}_{}{}^{4}g_{}^{\tau \tau }}}{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau \tau }2ϵ{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau r},`$ (113)
$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ $`=`$ $`ϵ{\displaystyle \frac{{}_{}{}^{4}g_{}^{\tau r}{}_{}{}^{4}g_{}^{\tau S}}{({}_{}{}^{4}g_{}^{\tau \tau })^2}}{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{\tau \tau }ϵ{}_{}{}^{4}\stackrel{~}{\mathrm{\Pi }}_{}^{rs},`$ (114)
which would emerge if the ADM action would be considered function of $`{}_{}{}^{4}g_{AB}^{}`$ instead of N, $`N_r`$ and $`{}_{}{}^{3}g_{rs}^{}`$.

Let us add a comment on the structure of gauge-fixings for metric gravity. As said in Refs., in a system with only primary and secondary first class constraints (like electromagnetism, Yang-Mills theory and both metric and tetrad gravity) the Dirac Hamiltonian $`H_D`$ contains only the arbitrary Dirac multipliers associated with the primary first class constraints. The secondary first class constraints are already contained in the canonical Hamiltonian with well defined coefficients \[the temporal components $`A_{ao}`$ of the gauge potential in Yang-Mills theory; the lapse and shift functions in metric and tetrad gravity as evident from Eq.(85); in both cases, through the first half of the Hamilton equations, the Dirac multipliers turn out to be equal to the $`\tau `$-derivatives of these quantities, which, therefore, inherit an induced arbitrariness\]. See the second paper in Ref. for a discussion of this point and for a refusal of Dirac’s conjecture according to which also the secondary first class constraints must have arbitrary Dirac multipliers \***\***\***In such a case one does not recover the original Lagrangian by inverse Legendre transformation and one obtains a different ”off-shell” theory.. In these cases one must adopt the following gauge-fixing strategy: i) add gauge-fixing constraints $`\chi _a0`$ to the secondary constraints; ii) their time constancy, $`_\tau \chi _a\stackrel{}{=}\{\chi _a,H_D\}=g_a0`$, implies the appearance of gauge-fixing constraints $`g_a0`$ for the primary constraints; iii) the time constancy of the constraints $`g_a0`$, $`_\tau g_a\stackrel{}{=}\{g_a,H_D\}0`$, determines the Dirac multipliers in front of the primary constraints \[the $`\lambda `$’s in Eq.(79)\].

As shown in the second paper of Ref. for the electromagnetic case, this method works also with covariant gauge-fixings: the electromagnetic Lorentz gauge $`^\mu A_\mu (x)0`$ may be rewritten in phase space as a gauge-fixing constraint depending upon the Dirac multiplier; its time constancy gives a multiplier-dependent gauge-fixing for $`A_o(x)`$ and the time constancy of this new constraint gives the elliptic equation for the multiplier with the residual gauge freedom connected with the kernel of the elliptic operator.

In metric gravity, the covariant gauge-fixings analogous to the Lorentz gauge are those determining the harmonic coordinates (harmonic or De Donder gauge): $`\chi ^B=\frac{1}{\sqrt{{}_{}{}^{4}g}}_A(\sqrt{{}_{}{}^{4}g}{}_{}{}^{4}g_{}^{AB})0`$ in the $`\mathrm{\Sigma }_\tau `$-adapted holonomic coordinate basis. More explicitly, they are: i) for $`B=\tau `$: $`N_\tau \gamma \gamma _\tau NN^2_r(\frac{\gamma N^r}{N})0`$; ii) for $`B=s`$: $`NN^s_\tau \gamma +\gamma (N_\tau N^sN^s_\tau N)+N^2_r[N\gamma ({}_{}{}^{3}g_{}^{rs}\frac{N^rN^s}{N^2})]0`$. From the Hamilton-Dirac equations we get

$`_\tau N`$ $`\stackrel{}{=}`$ $`\lambda _N,`$ (115)
$`_\tau N_r`$ $`\stackrel{}{=}`$ $`\lambda _r^\stackrel{}{N}\text{and}`$ (116)
$`_\tau \gamma `$ $`=`$ $`{\displaystyle \frac{1}{2}}\gamma {}_{}{}^{3}g_{}^{rs}_\tau {}_{}{}^{3}g_{rs}^{}\stackrel{}{=}{\displaystyle \frac{1}{2}}\gamma [{}_{}{}^{3}g_{}^{rs}(N_{r|s}+N_{s|r}){\displaystyle \frac{5ϵN}{k\sqrt{\gamma }}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}].`$ (117)
Therefore, in phase space the harmonic coordinate gauge-fixings associated with the secondary superhamiltonian and supermomentum constraints take the form

$$\chi ^B=\overline{\chi }^B(N,N_r,N_{r|s},{}_{}{}^{3}g_{rs}^{},{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs},\lambda _N,\lambda _r^\stackrel{}{N})0.$$
(118)
The conditions $`_\tau \overline{\chi }^B\stackrel{}{=}\{\overline{\chi }^B,H_D\}=g^B0`$ give the gauge-fixings for the primary constraints $`\stackrel{~}{\pi }^N0`$, $`\stackrel{~}{\pi }_\stackrel{}{N}^r0`$.

The conditions $`_\tau g^B\stackrel{}{=}\{g^B,H_D\}0`$ are partial differential equations for the Dirac multipliers $`\lambda _N`$, $`\lambda _r^\stackrel{}{N}`$, implying a residual gauge freedom like it happens for the electromagnetic Lorentz gauge.

## III Asymptotic Flatness and Hamiltonian Gauge Transformations.

In this Section after some comments on gauge field theories there will be a short review of the notion of isolated system in general relativity with the associated concepts of asymptotic flatness and asymptotic symmetries. It will be shown that the possible existence of asymptotic supertranslations is an obstacle to define an asymptotic Poincaré group and to make contact with the theory of isolated systems in Minkowski spacetime delineated in Appendix A when the Newton constant is switched off. Then a discussion of the boundary conditions needed to have a well defined Hamiltonian formalism and well defined Hamiltonian gauge transformations is given.

### A Gauge Field Theories.

In ADM canonical gravity there are 8 first class constraints, which are generators of Hamiltonian gauge transformations. Some general properties of these transformations will now be analyzed. In Section IX, after having interpreted the action of the Hamiltonian gauge transformations of metric gravity, they will be compared with the transformations induced by the spacetime diffeomorphisms of the spacetime ($`DiffM^4`$).

In the Hamiltonian formulation of every gauge field theory one has to make a choice of the boundary conditions of the canonical variables and of the parameters of the gauge transformations \*††\*††\*††The infinitesimal ones are generated by the first class constraints of the theory. in such a way to give a meaning to integrations by parts, to the functional derivatives (and therefore to Poisson brackets) and to the proper gauge transformations connected with the identity \*‡‡\*‡‡\*‡‡The improper ones, including the rigid or global or first kind gauge transformations related to the non-Abelian charges, have to be treated separately; when there are topological numbers like winding number, they label disjoint sectors of gauge transformations and one speaks of large gauge transformations.. In particular, the boundary conditions must be such that the variation of the final Dirac Hamiltonian $`H_D`$ must be linear in the variations of the canonical variables †\*†\*†\*The coefficients are the Dirac-Hamilton equations of motion. and this may require a redefinition of $`H_D`$, namely $`H_D`$ has to be replaced by $`\stackrel{~}{H}_D=H_D+H_{\mathrm{}}`$, where $`H_{\mathrm{}}`$ is a suitable integral on the surface at spatial infinity. When this is accomplished, one has a good definition of functional derivatives and Poisson brackets. Then, one must consider the most general generator of gauge transformations of the theory (it includes $`H_D`$ as a special case), in which there are arbitrary functions (parametrizing infinitesimal gauge transformations) in front of all the first class constraints and not only in front of the primary ones††††††These are the generalized Hamiltonian gauge transformations of the Dirac conjecture. As said at the end of the previous Section they are not generated by the Dirac Hamiltonian. However, their pullback to configuration space generates local Noether transformations under which the ADM action (50) is quasi-invariant, in accord with the general theory of singular Lagrangians . . Also the variations of this generator must be linear in the variations of the canonical variables: this implies that all the surface terms coming from integration by parts must vanish with the given boundary conditions on the canonical variables or must be compensated by the variation of $`H_{\mathrm{}}`$. In this way, one gets boundary conditions on the parameters of the infinitesimal gauge transformations identifying the proper ones, which transform the canonical variables among themselves without altering their boundary conditions. Let us remark that in this way one is defining Hamiltonian boundary conditions which are not manifestly covariant; however, in Minkowski spacetime a Wigner covariant formulation is obtained by reformulating the theory on spacelike hypersurfaces  and then restricting it to spacelike hyperplanes.

In the Yang-Mills case, with the Hamiltonian gauge transformations restricted to go to the identity in an angle-independent way at spatial infinity, so to have well defined covariant non-Abelian charges, the proper gauge transformations are those which are connected to the identity and generated by the Gauss law first class constraints at the infinitesimal level. The improper ones are a priori of four types: i) global or rigid or first kind ones (the gauge parameter fields tend to constant at spatial infinity) connected with the group G (isomorphic to the structure group of the Yang-Mills principal bundle) generated by the non-Abelian charges; ii) the global or rigid ones in the center of the gauge group G \[triality when G=SU(3)\]; iii) gauge transformations with non-vanishing winding number $`nZ`$ (large gauge transformations not connected with the identity; zeroth homotopy group of the gauge group); iv) other improper non rigid gauge transformations. Since this last type of gauge transformations does not play any role in Yang-Mills dynamics, it was assumed  that the choice of the function space for the gauge parameter fields $`\alpha _a(\tau ,\stackrel{}{\sigma })`$ (describing the component of the gauge group connected with the identity) be such that for $`r=|\stackrel{}{\sigma }|\mathrm{}`$ one has

$$\alpha _a(\tau ,\stackrel{}{\sigma })\alpha _a^{(rigid)}+\alpha _a^{(proper)}(\tau ,\stackrel{}{\sigma }),$$
(119)
with constant $`\alpha _a^{(rigid)}`$ and with $`\alpha _a^{(proper)}(\tau ,\stackrel{}{\sigma })`$ tending to zero in a direction-independent way.

However, in gauge theories, in the framework of local quantum field theory, one does not consider the Abelian and non-Abelian charges generators of gauge transformations of first kind, but speaks of supersection sectors determined by the charges. This is valid both for the electric charge, which is a physical observable, and for the color charge in QCD, where the hypothesis of quark confinement requires the existence only of color singlets, namely: i) physical observables must commute with the non-Abelian charges; ii) the SU(3) color charges of isolated systems have to vanish themselves.

We will follow the same scheme in the analysis of the Hamiltonian gauge transformations of metric gravity.

### B Isolated Systems and Asymptotic Flatness.

The definition of an isolated system in general relativity is a difficult problem (see Ref. for a review), since there is neither a background flat metric $`{}_{}{}^{4}\eta `$ nor a natural global inertial coordinate system allowing to define a preferred radial coordinate $`r`$ and a limit $`{}_{}{}^{4}g_{\mu \nu }^{}{}_{}{}^{4}\eta _{\mu \nu }^{}+O(1/r)`$ for $`r\mathrm{}`$ along either spatial or null directions. Usually, one considers an asymptotic Minkowski metric $`{}_{}{}^{4}\eta _{\mu \nu }^{}`$ in rectangular coordinates and tries to get asymptotic statements with various types of definitions of $`r`$. However, it is difficult to correctly specify the limits for $`r\mathrm{}`$ in a meaningful, coordinate independent way.

This led to the introduction of coordinate independent definitions of asymptotic flatness of a spacetime:

i) Penrose  †‡†‡†‡See also Ref.) for definitions of asymptotically simple and weakly asymptotically simple spacetimes, intended to ensure that the asymptotic structure be globally the same as that of Minkowski spacetime. introduced the notions of asymptotic flatness at null infinity (i.e. along null geodesics) and of asymptotic simplicity with his conformal completion approach. A smooth (time- and -space orientable) spacetime $`(M^4,{}_{}{}^{4}g)`$ is asymptotically simple if there exists another smooth Lorentz manifold $`(\widehat{M}^4,{}_{}{}^{4}\widehat{g})`$ such that: i) $`M^4`$ is an open submanifold of $`\widehat{M}^4`$ with smooth boundary $`M^4=𝒮`$ smooth conformal boundary); ii) there exists a smooth scalar field $`\mathrm{\Omega }0`$ on $`\widehat{M}^4`$, such that $`{}_{}{}^{4}\widehat{g}=\mathrm{\Omega }^2{}_{}{}^{4}g`$ on $`M^4`$ and $`\mathrm{\Omega }=0`$, $`d\mathrm{\Omega }0`$ on $`𝒮`$; iii) every null geodesic in $`M^4`$ acquires a future and past endpoint on $`𝒮`$. An asymptotically simple spacetime is asymptotically flat if vacuum Einstein equations hold in a neighbourhood of $`𝒮`$†§†§†§In this case the conformal boundary $`𝒮`$ is a shear-free smooth null hypersurface with two connected components $`^\pm `$ (scri-plus and -minus), each with topology $`S^2\times R`$ and the conformal Weyl tensor vanishes on it. In the conformal completion of Minkowski spacetime $`𝒮`$ if formed by the future $`^+`$ and past $`^{}`$ null infinity, which join in a point $`i^o`$ representing the compactified spacelike infinity; $`^+`$ terminates in the future at a point $`i^+`$ (future timelike infinity), while $`^{}`$ terminates in the past at a point $`i^{}`$ (past timelike infinity)..

ii) Geroch  introduced a definition of asymptotic flatness at spatial infinity in terms of the large distance behaviour of initial data on a Cauchy surface.

iii) In the projective approach  a timelike hyperboloid is introduced as the spacelike boundary of spacetime.

iv) The two definitions of asymptotic flatness at null and spatial infinity were unified in the SPI formalism of Ashtekar and Hanson. Essentially, in the SPI approach, the spatial infinity of the spacetime $`M^4`$ is compactified to a point $`i^o`$ and fields on $`M^4`$ have direction-dependent limits at $`i^o`$ (this implies a peculiar differential structure on $`\mathrm{\Sigma }_\tau `$ and awkward differentiability conditions of the 4-metric).

v) In Ref., a new kind of completion, neither conformal nor projective, is developed by Ashtekar and Romano: now the boundary of $`M^4`$ is a unit timelike hyperboloid like in the projective approach, which, however, has a well defined contravariant normal in the completion †¶†¶†¶There are different conformal rescalings of the 4-metric $`{}_{}{}^{4}g{}_{}{}^{4}\stackrel{~}{g}=\mathrm{\Omega }^2{}_{}{}^{4}g`$ ($`\mathrm{\Omega }0`$, $`\mathrm{\Omega }=0`$ is the boundary 3-surface of the unphysical spacetime $`\stackrel{~}{M}^4`$) and of the normal $`n^\mu \stackrel{~}{n}^\mu =\mathrm{\Omega }^4n^\mu `$.; now, there is no need of awkward differentiability conditions. While in the SPI framework each hypersurface $`\mathrm{\Sigma }_\tau `$ has the sphere at spatial infinity compactified at the same point $`i^o`$, which is the vertex for both future $`^+`$ (scri-plus) and past $`^{}`$ (scri-minus) null infinity, these properties are lost in the new approach: each $`\mathrm{\Sigma }_\tau `$ has as boundary at spatial infinity the sphere $`S_{\tau ,\mathrm{}}^2`$ cut by $`\mathrm{\Sigma }_\tau `$ in the timelike hyperboliod; there is no relation between the timelike hyperboloid at spatial infinity and $`^\pm `$. This new approach simplifies the analysis of Ref. of uniqueness (modulo the logarithmic translations of Bergmann) of the completion at spacelike infinity.

vi) See Ref. and the recent reviews for the status of Friedrich’s conformal field equations, derived from Einstein’s equations, which arise in the study of the compatibility of Penrose’s conformal completion approach with Einstein’s equations. In the final description spacelike infinity is a cylinder since each spacelike hypersurface has its point $`i^o`$ blown up to a 2-sphere$`I^o`$ at spatial infinity †∥†∥†∥It is interpretable as the space of spacelike directions at $`i^o`$, namely the set of the endpoints of spacelike geodesics. This allows to define a regular initial value problem at spacelike infinity with Minkowski data on $`I^o`$.. The cylinder meets future null infinity $`^+`$ in a sphere $`I^+`$ and past null infinity $`^{}`$ in a sphere $`I^{}`$. It is an open question whether the concepts of asymptotic simplicity and conformal completion are too strong requirements. Other reviews of the problem of consistency, i.e. whether the geometric assumptions inherent in the existing definitions of asymptotic flatness are compatible with Einstein equations, are given in Refs., while in Ref. a review is given about spacetimes with gravitational radiation (nearly all the results on radiative spacetimes are at null infinity, where, for instance, the SPI requirement of vanishing of the pseudomagnetic part of the Weyl tensor to avoid supertranslations is too strong and destroys radiation).

There are also coordinate-dependent formalisms:

i) The one of Beig and Schmidt †\**†\**†\**It was developed to avoid the awkward differentiability conditions of the SPI framework and using polar coordinates like the standard hyperbolic ones for Minkowski spacetime and agreeing with them at first order in 1/r., whose relation to the new completion is roughly the same as that between Penrose’s coordinate-independent approach to null infinity and Bondi’s approach based on null coordinates. The class of spacetimes studied in Ref. (called radially smooth of order m at spatial infinity) have 4-metrics of the type

$$ds^2=d\rho ^2(1+\frac{{}_{}{}^{1}\sigma }{\rho }+\frac{{}_{}{}^{2}\sigma }{\rho ^2}+..)^2+\rho ^2({}_{}{}^{o}h_{rs}^{}+\frac{1}{\rho }{}_{}{}^{1}h_{rs}^{}+..)d\varphi ^rd\varphi ^s,$$
(120)
where $`{}_{}{}^{o}h_{rs}^{}`$ is the 3-metric on the unit timelike hyperboloid, which completes $`M^4`$ at spatial infinity, and $`{}_{}{}^{n}\sigma `$, $`{}_{}{}^{n}h_{rs}^{}`$, are functions on it. There are coordinate charts $`x^\sigma `$ in $`(M^4,{}_{}{}^{4}g)`$ where the 4-metric becomes

$${}_{}{}^{4}g_{\mu \nu }^{}={}_{}{}^{4}\eta _{\mu \nu }^{}+\underset{n=1}{\overset{m}{}}\frac{1}{\rho ^n}{}_{}{}^{n}l_{\mu \nu }^{}(\frac{x^\sigma }{\rho })+O(\rho ^{(m+1)}).$$
(121)
ii) The Christodoulou and Klainerman  result on the nonlinear gravitational stability of Minkowski spacetime implies a peeling behaviour of the conformal Weyl tensor near null infinity which is weaker than the peeling behaviour implied by asymptotic simplicity \[see Ref.\] and this could mean that asymptotic simplicity can be established only, if at all, with conditions stronger than those required by these authors. In Ref. one studies the existence of global, smooth, nontrivial solutions to Einstein’s equations without matter, which look, in the large, like the Minkowski spacetime †††††††††These spacetimes are without singularities: since the requirements needed for the existence of a conformal completion are not satisfied, it is possible to evade the singularity theorems., are close to Minkowski spacetime in all directions in a precise manner (for developments of the initial data sets uniformly close to the trivial one) and admit gravitational radiation in the Bondi sense. These author’s reformulate Einstein’s equations with the ADM variables (there are four constraint equations plus the equations for $`_\tau {}_{}{}^{3}g_{rs}^{}`$ and $`_\tau {}_{}{}^{3}K_{rs}^{}`$), put the shift functions equal to zero †‡‡†‡‡†‡‡The lapse function is assumed equal to 1 at spatial infinity, but not everywhere because, otherwise, one should have a finite time breakdown. and add the maximal slicing condition $`{}_{}{}^{3}K=0`$. Then, they assume the existence of a coordinate system $`\stackrel{}{\sigma }`$ near spatial infinity on the Cauchy surfaces $`\mathrm{\Sigma }_\tau `$ and of smoothness properties for $`{}_{}{}^{3}g_{rs}^{}`$, $`{}_{}{}^{3}K_{rs}^{}`$, such that for $`r=\sqrt{\stackrel{}{\sigma }^2}\mathrm{}`$ the initial data set $`(\mathrm{\Sigma }_\tau ,{}_{}{}^{3}g_{rs}^{},{}_{}{}^{3}K_{rs}^{})`$ is strongly asymptotically flat, namely ‡\*‡\*‡\*$`f(\stackrel{}{\sigma })`$ is $`o_m(r^k)`$ if $`^lf=o(r^{kl})`$ for $`l=0,1,..,m`$ and $`r\mathrm{}`$.

$`{}_{}{}^{3}g_{rs}^{}`$ $`=`$ $`(1+{\displaystyle \frac{M}{r}})\delta _{rs}+o_4(r^{3/2}),`$ (122)
$`{}_{}{}^{3}K_{rs}^{}`$ $`=`$ $`o_3(r^{5/2}),`$ (123)
where the leading term in $`{}_{}{}^{3}g_{rs}^{}`$ is called the Schwarzschild part of the 3-metric, also in absence of matter; this asymptotic behaviour ensures the existence of the ADM energy and angular momentum and the vanishing of the ADM momentum (center-of-mass frame). The addition of a technical global smallness assumption on the strongly asymptotically flat initial data leads to a unique, globally hyperbolic, smooth and geodesically complete solution of Einstein’s equations without matter, which is globally asymptotically flat in the sense that its Riemann curvature tensor approaches zero on any causal or spacelike geodesic. It is also shown that the 2-dimensional space of the dynamical degrees of freedom of the gravitational field at a point (the reduced configuration space) is the space of trace-free symmetric 2-covariant tensors on a 2-plane. A serious technical difficulty ‡†‡†‡†It requires the definition of an ‘optical function’ and reflecting the presence of gravitational radiation in any nontrivial perturbation of Minkowski spacetime. derives from the ‘mass term’ in the asymptotic Schwarzschild part of the 3-metric: it has the long range effect of changing the asymptotic position of the null geodesic cone relative to the maximal ($`{}_{}{}^{3}K=0`$) foliation ‡‡‡‡‡‡These cones are expected to diverge logarithmically from their positions in flat spacetime and to have their asymptotic shear drastically different from that in Minkowski spacetime..

### C Asymptotic Symmetries and Supertranslations.

Let us now consider the problem of asymptotic symmetries  and of the associated conserved asymptotic charges containing the ADM Poincaré charges.

Like null infinity admits an infinite-dimensional group (the BMS group ) of asymptotic symmetries, the SPI formalism admits an even bigger group, the SPI group , of such symmetries. Both BMS and SPI algebras have an invariant 4-dimensional subalgebra of translations, but they also have invariant infinite-dimensional Abelian subalgebras (including the translation subalgebra) of so called supertranslations or angle (or direction)-dependent translations. Therefore, there is an infinite number of copies of Poincaré subalgebras in both BMS and SPI algebras, whose Lorentz parts are conjugate through supertranslations ‡§‡§‡§The quotient of BMS and SPI groups with respect to supertranslations is isomorphic to a Lorentz group.. All this implies that there is no unique definition of Lorentz generators and that in general relativity one cannot define intrinsically angular momentum and the Poincaré spin Casimir, so important for the classification of particles in Minkowski spacetime. In Ref. it is shown that the only known Casimirs of the BMS group are $`p^2`$ and one its generalization involving supertranslations. While Poincaré asymptotic symmetries correspond to the ten Killing fields of the Minkowski spacetime ‡¶‡¶‡¶An asymptotically flat spacetime tends asymptotically to Minkowski spacetime in some way which depends on the chosen definition of asymptotic flatness., supertranslations are angle-dependent translations, which come just as close to satisfying Killing’s equations asymptotically as any Poincaré transformation . The problem seems to be that all known function spaces, used for the 4-metric and for Klein-Gordon and electromagnetic fields, do not put any restriction on the asymptotic angular behaviour of the fields, but only restrict their radial decrease. Due to the relevance of the Poincaré group for particle physics in Minkowski spacetime, and also to have a good definition of angular momentum in general relativity, one usually restricts the class of spacetimes with boundary conditions such that supertranslations are not allowed to exist. In the SPI framework , one asks that the pseudomagnetic part of the limit of the conformally rescaled Weyl tensor vanishes at $`i^o`$. In Ref. a 3+1 decomposition is made of the SPI framework; after having reexpressed the conserved quantities at $`i^o`$ in terms of canonical initial data, it is shown that to remove ambiguities connected with the supertranslations one must use stronger boundary conditions again implying the vanishing of the pseudomagnetic part of the Weyl tensor.

A related approach to these problems is given by Anderson in Ref.. He proved a slice theorem for the action of spacetime diffeomorphisms asymptotic to Poincaré transformations on the set of asymptotically flat solutions of Einstein’s equations in the context of spatial infinity, maximal slicing and asymptotic harmonic coordinates (as gauge conditions). There is a heuristic extension of the momentum map method of reduction of dynamical systems with symmetries to the diffeomorphism group.

For metric general relativity the spatially compact’ case has been solved in Ref., with the result that, in absence of Killing vector fields, the reduced phase space turns out to be a stratified symplectic ILH manifold‡∥‡∥‡∥In this case the space of solutions of Einstein’s equations is a fibered space, which is smooth at $`({}_{}{}^{3}g,{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }})`$ if and only if the initial data $`({}_{}{}^{3}g,{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }})`$ corresponds to a solution $`{}_{}{}^{3}g`$ with no Killing field..

In the spatially asymptotically flat case, one considers the group of those diffeomorphisms which preserve the conditions for asymptotic flatness and the nature of this group depends strongly on the precise asymptotic conditions. Apart from the compactification schemes of Geroch and of Ashtekar-Hansen, 3 main types of asymptotic conditions have been studied: i) the finite energy condition of O’Murchadha; ii) the York quasi isotropic (QI) gauge conditions; iii) the conditions of the type introduced by Regge-Teitelboim with the parity conditions introduced by Beig-O’Murchadha plus the gauge conditions of maximal slices and 3-harmonic asymptotic coordinates (their existence was shown in Ref.).

These 3 types of asymptotic conditions have quite different properties.

i) In the case of the finite energy conditions, one finds that the group which leaves the asymptotic conditions invariant is a semidirect product $`S|\times L`$, where L is the Lorentz group and S consists of diffeomorphisms $`\eta `$ such that roughly $`D^2\eta L^2`$, i.e. it is square integrable; S contains space- and time- translations. Under these conditions, it does not appear to be possible to talk about Hamiltonian dynamics. For a general element of the Lie algebra of $`S|\times L`$, the corresponding momentum integral does not converge, although for the special case of space- and time-translations the ADM 4-momentum is well defined.

ii) QI gauge conditions of Ref. have the desirable feature that no supertranslations are allowed, but a more detailed analysis reveals that without extra conditions, the transformations corresponding to boosts are not well behaved; in any case, the QI asymptotic conditions do not give a well defined angular and boost momentum and therefore are suitable only for the study of diffeomorphisms asymptotic to space- and time- translations.

iii) To get a well defined momentum for rotations and boosts, Anderson defines asymptotic conditions which contain the parity conditions of Ref., but he replaces the 3-harmonic coordinates used in this paper with York’s QI conditions. The space of diffeomorphisms $`Diff_PM^4`$, which leaves invariant the space of solutions of the Einstein equations satisfying the parity conditions, is a semidirect product $`Diff_PM^4=Diff_SM^4|\times P`$, where P is the Poincaré group and $`Diff_SM^4`$ denotes the space of diffeomorphisms which are asymptotic to supertranslations, which in this case are O(1) with odd leading term. When the QI conditions are added, the $`Diff_SM^4`$ part is restricted to $`Diff_IM^4`$, the space of diffeomorphisms which tend to the identity at spatial infinity ‡\**‡\**‡\**This result cannot be obtained with the finite energy conditions or from boost theorems ..

In this way one obtains a realization of Bergmann’s ideas based on his criticism  of general covariance: the group of coordinate transformations is restricted to contain an invariant Poincaré subgroup plus asymptotically trivial diffeomorphisms, analogously to what happens with the gauge transformations of electromagnetism.

It can be shown that the use of the parity conditions implies that the lapse and shift functions corresponding to the group of supertranslations S have zero momentum. Thus, assuming the QI conditions, the ADM momentum appears as the momentum map with respect to the Poincaré group. Note that the classical form of the ADM momentum is correct only using the restrictive assumption of parity conditions, which are nontrivial restrictions not only on the gauge freedom but also on the asymptotic dynamical degrees of freedom of the gravitational field (this happens also with Ashtekar-Hansen asymptotic condition on the Weyl tensor).

By assuming the validity of the conjecture on global existence of solutions of Einstein’s equations and of maximal slicing  and working with Sobolev spaces with radial smoothness, Anderson demonstrates a slice theorem‡††‡††‡†† See Appendix B of Anderson’s paper for the definition of slice., according to which, assumed the parity and QI conditions (which exclude the logarithmic translations of Bergmann), for every solution $`{}_{}{}^{3}g_{o}^{}`$ of Einstein’s equations one has that: i) the gauge orbit of $`{}_{}{}^{3}g_{o}^{}`$ is a closed $`C^1`$ embedded submanifold of the manifold of solutions; ii) there exists a submanifold containing $`{}_{}{}^{3}g_{o}^{}`$ which is a slice for the action of $`Diff_IM^4`$. York’s QI conditions should be viewed as a slice condition which fixes part of the gauge freedom at spatial infinity: i) the $`O(1/r^2)`$ part of the trace of $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ must vanish; ii) if $`{}_{}{}^{3}g={}_{}{}^{3}f+{}_{}{}^{3}h`$ ($`{}_{}{}^{3}f`$ is a flat metric) and if $`{}_{}{}^{3}h={}_{}{}^{3}h_{TT}^{}={}_{}{}^{3}h_{T}^{}+L_f(W)`$ is the York decomposition of $`{}_{}{}^{3}h`$ with respect to $`{}_{}{}^{3}f`$ , then the O(1) part of the longitudinal quantity W must vanish. In this way, one selects a QI asymptotically flat metric $`{}_{}{}^{3}g_{QI}^{}`$ and a preferred frame at spatial infinity like in Ref., i.e. preferred spacelike hypersurfaces corresponding to the intersections of the unit timelike hyperboloid at spatial infinity by spatial hyperplanes in $`R^4`$.

Since there is no agreement among the various viewpoints on the coordinate-independent definition of asymptotic flatness at spatial infinity, since we are interested in the coupling of general relativity to the standard SU(3)xSU(2)XU(1) model and since we wish to recover the theory in Minkowski spacetime if the Newton constant is switched off, in this paper we shall use a coordinate-dependent approach and we shall work in the framework of Refs. .

The boundary conditions and gauge-fixings, which will be chosen in the next Sections, will imply an angle (i.e. direction)-independent asymptotic limit of the canonical variables, just as it is needed in Yang-Mills theory to have well defined covariant non-Abelian charges ‡‡‡‡‡‡‡‡‡As shown in Ref., one needs a set of Hamiltonian boundary conditions both for the fields and the gauge transformations in the Hamiltonian gauge group, implying angle-independent limits at spatial infinity; it is also suggested that the elimination of Gribov ambiguity requires the use of the following weighted Sobolev spaces : $`\stackrel{}{A}_a,\stackrel{}{E}_aW^{p,s1,\delta 1}`$, $`\stackrel{}{B}_aW^{p,s2,\delta +2}`$, $`\overline{𝒢}W^{p,s,\delta }`$, with $`p>3`$, $`s3`$, $`0\delta 1\frac{3}{p}`$.. This is an important point for a future unified description of general relativity and of the standard model.

In particular, following Ref., we will assume that at spatial infinity there is a 3-surface $`S_{\mathrm{}}`$ §\*§\*§\*It is not necessarily a timelike hyperboloid but with outer unit (spacelike) normal $`n^\mu (\tau ,\stackrel{}{\sigma })`$, asymptotically parallel to the spacelike hypersurfaces $`\mathrm{\Sigma }_\tau `$., which intersects orthogonally the Cauchy surfaces $`\mathrm{\Sigma }_\tau `$. The 3-surface $`S_{\mathrm{}}`$ is foliated by a family of 2-surfaces $`S_{\tau ,\mathrm{}}^2`$ coming from its intersection with the slices $`\mathrm{\Sigma }_\tau `$. The normals $`l^\mu (\tau ,\stackrel{}{\sigma })`$ to $`\mathrm{\Sigma }_\tau `$ at spatial infinity, $`l_{(\mathrm{})}^\mu `$, are tangent to $`S_{\mathrm{}}`$ and normal to the corresponding $`S_{\tau ,\mathrm{}}^2`$. The vector $`b_\tau ^\mu =z_\tau ^\mu =Nl^\mu +N^rb_r^\mu `$ is not in general asymptotically tangent to $`S_{\mathrm{}}`$. We assume that, given a subset $`UM^4`$ of spacetime, $`U`$ consists of two slices, $`\mathrm{\Sigma }_{\tau _i}`$ (the initial one) and $`\mathrm{\Sigma }_{\tau _f}`$ (the final one) with outer normals $`l^\mu (\tau _i,\stackrel{}{\sigma })`$ and $`l^\mu (\tau _f,\stackrel{}{\sigma })`$ respectively, and of the surface $`S_{\mathrm{}}`$ near space infinity. Since we will identify special families of hypersurfaces $`\mathrm{\Sigma }_\tau `$ asymptotic to Minkowski hyperplanes at spatial infinity, these families can be mapped onto the space of cross sections of the unit timelike hyperboloid by using a lemma of Ref. .

Let us add some information on the existence of the ADM Lorentz boost generators:

a) In Ref. on the boost problem in general relativity, Christodoulou and O’Murchadha show (using weighted Sobolev spaces) that a very large class of asymptotically flat initial data for Einstein’s equations have a development which includes complete spacelike surfaces boosted relative to the initial surface. Furthermore, the asymptotic fall off §†§†§†$`{}_{}{}^{3}g{}_{}{}^{3}fW^{2,s,\delta +1/2}(\mathrm{\Sigma })`$, $`{}_{}{}^{3}KW^{2,s1,\delta +1/2}(\mathrm{\Sigma })`$, $`s4`$, $`\delta >2`$. is preserved along these boosted surfaces and there exist a global system of harmonic coordinates on such a development. As noted in Ref., the results of Ref. suffice to establish the existence of a large class off spacetimes which are asymptotically flat at $`i^o`$ (in the sense of Ref.) in all spacelike directions along a family of Cauchy surfaces related to one another by “finite” boosts (it is hoped that new results will allow to put control also on “infinite” boosts). The situation is unsettled with regard the existence of spacetimes admitting both $`i^o`$ (in the sense of Ref.) as well as smooth $`^\pm `$.

b) In Ref., Chruściel says that for asymptotically flat metrics $`{}_{}{}^{3}g={}_{}{}^{3}f+O(r^\alpha )`$, $`\frac{1}{2}<\alpha 1`$, it is not proved the asymptotic symmetry conjecture that, given any two coordinate systems of the previous type, all twice-differentiable coordinate transformations preserving these boundary conditions are of type $`y^\mu =\mathrm{\Lambda }^\mu {}_{\nu }{}^{}x_{}^{\nu }+\zeta ^\mu `$ (a Lorentz transformation + a supertranslation $`\zeta =O(r^{1\alpha })`$): this would be needed for having the ADM 4-momentum Lorentz covariant. By defining $`P_\mu `$ in terms of Cauchy data on a 3-end N (a spacelike 3-surface $`\mathrm{\Sigma }`$ minus a ball), on which $`{}_{}{}^{3}g={}_{}{}^{3}f+O(r^\alpha )`$, one can evaluate the invariant mass $`m(N)=\sqrt{ϵP^\mu P_\mu }`$. Then, provided the hypersurfaces $`N_1`$: $`x^o=const.`$ , $`N_2`$: $`y^o=const.`$, lie within a finite boost of each other or if the metric is a no-radiation metric, one can show the validity of the invariant mass conjecture $`m(N_1)=m(N_2)`$ for metrics satisfying vacuum Einstein equations. The main limitation is the lack of knowledge of long-time behaviour of Einstein’s equations. Ashtekar-Hansen and Beig-O’Murchadha requirements are much stronger and restrictive than what is compatible with Einstein’s equations.

### D Hamiltonian Gauge Transformations in Metric Gravity.

The counterpart of the Yang-Mills non-Abelian charges and also of the Abelian electric charge are the asymptotic Poincaré charges : in a natural way they should be connected with gauge transformations of first kind (there is no counterpart of the center of the gauge group in metric gravity).

However in Ref. two alternative options are presented for the asymptotic Poincaré charges of asymptotically flat metric gravity : i) There is the usual interpretation, admitting gauge transformations of first kind, in which some observer is assumed to sit at or just outside the boundary at spatial infinity but he/she is not explicitly included in the action functional; this observer merely supplies a coordinate chart on the boundaries (perhaps through his parametrization clock), which may be used to fix the gauge of the system at the boundary (the asymptotic lapse function). If one wishes, this external observer may construct his clock to yield zero Poincaré charges §‡§‡§‡In this way one recovers a Machian interpretation also in noncompact universes with boundary; there is a strong similarity with the results of Einstein-Wheeler cosmology , based on a closed compact universe without boundaries, for which Poincaré charges are not defined. so that every connection with particle physics is lost; ii) Instead Marolf’s proposal  is to consider the system in isolation without the utilization of any structure outside the boundary at spatial infinity and to consider, at the quantum level, superselection rules for the asymptotic Poincaré Casimirs, in particular for the ADM invariant mass (see Refs.  for similar conclusions from different motivations). In this viewpoint the Poincaré charges are not considered generators of first kind gauge transformations and the open problem of boosts looses part of its importance. In Ref., also Giulini considers a matter of physical interpretation whether all 3-diffeomorphisms of $`\mathrm{\Sigma }_\tau `$ into itself must be considered as gauge transformations. In the asymptotically flat open case, he studies large diffeomorphisms, but not the gauge transformations generated by the superhamiltonian constraint. After a 1-point compactification $`\overline{\mathrm{\Sigma }}_\tau `$ of $`\mathrm{\Sigma }_\tau `$, there is a study of the quotient space $`Riem\overline{\mathrm{\Sigma }}_\tau /Diff_F\overline{\mathrm{\Sigma }}_\tau `$, where $`Diff_F\overline{\mathrm{\Sigma }}_\tau `$ are those 3-diffeomorphisms whose pullback goes to the identity at spatial infinity (the point of compactification) where a privileged oriented frame is chosen. Then there is a study of the decomposition of $`\overline{\mathrm{\Sigma }}_\tau `$ into its prime factors as a 3-manifold, of the induced decomposition of $`Diff_F\overline{\mathrm{\Sigma }}_\tau `$ and of the evaluation of the homotopy groups of $`Diff_f\overline{\mathrm{\Sigma }}_\tau `$. The conclusion is that the Poincaré charges are not considered as generators of gauge transformations.

We shall take the point of view that the asymptotic Poincaré charges are not generators of first kind gauge transformations like in Yang-Mills theory (the ADM energy will be shown to be the physical Hamiltonian for the evolution in $`\tau `$), that there are superselection sectors labelled by the asymptotic Poincaré Casimirs and that the parameters of the gauge transformations of ADM metric gravity have a clean separation between a rigid part (differently from Yang-Mills theory, Eq.(119), it has both a constant and a term linear in $`\stackrel{}{\sigma }`$) and a proper one, namely we assume the absence of improper non-rigid gauge transformations like in Yang-Mills theory.

Let us now define the proper gauge transformations of the ADM metric gravity. In Refs.  it is noted that, in asymptotically flat spacetimes, the surface integrals arising in the transition from the Hilbert action to the ADM action and, then, from this to the ADM phase space action are connected with the ADM energy-momentum of the gravitational field of the linearized theory of metric gravity , if the lapse and shift functions have certain asymptotic behaviours at spatial infinity. Extra complications for the differentiability of the ADM canonical Hamiltonian come from the presence of the second spatial derivatives of the 3-metric inside the $`{}_{}{}^{3}R`$ term of the superhamiltonian constraint. In Ref. it is also pointed out that the Hilbert action for non-compact spacetimes is in general divergent and must be regularized with a reference metric (static solution of Einstein’s equations): for spacetimes asymptotically flat at spatial infinity one chooses a flat reference Minkowski metric (see later on Eqs.(189) and (197) for the associated regularization of ADM Lorentz boosts).

By using the original ADM results, Regge and Teitelboim wrote the expression of the ten conserved Poincaré charges, by allowing the functions $`N(\tau ,\stackrel{}{\sigma })`$, $`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, to have a linear behaviour in $`\stackrel{}{\sigma }`$ for $`r=|\stackrel{}{\sigma }|\mathrm{}`$. These charges are surface integrals at spatial infinity, which have to added to the Dirac Hamiltonian so that it becomes differentiable. In Ref. there is a set of boundary conditions for the ADM canonical variables $`{}_{}{}^{3}g_{rs}^{}(\tau ,\stackrel{}{\sigma })`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}(\tau ,\stackrel{}{\sigma })`$, so that it is possible to define 10 surface integrals associated with the conserved Poincaré charges of the spacetime (the translation charges are the ADM energy-momentum) and to show that the functional derivatives and Poisson brackets are well defined in metric gravity. There is no statement about gauge transformations and supertranslations in this paper, but it is pointed out that the lapse and shift functions have the following asymptotic behaviour at spatial infinity (the notation used will be clarified in the next Section)

$`N(\tau ,\stackrel{}{\sigma })`$ $``$ $`N_{(as)}(\tau ,\stackrel{}{\sigma })=\stackrel{~}{\lambda }_{(\mu )}(\tau )l_{(\mathrm{})}^{(\mu )}l_{(\mathrm{})}^{(\mu )}\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}}=`$ (124)
$`=`$ $`\stackrel{~}{\lambda }_\tau (\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\tau \stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (125)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $``$ $`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\stackrel{~}{\lambda }_{(\mu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}}=`$ (126)
$`=`$ $`\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (132)
$`\stackrel{~}{\lambda }_A(\tau )=\stackrel{~}{\lambda }_{(\mu )}(\tau )b_{(\mathrm{})A}^{(\mu )}(\tau ),\stackrel{~}{\lambda }_{(\mu )}(\tau )=b_{(\mathrm{})(\mu )}^A(\tau )\stackrel{~}{\lambda }_A(\tau ),`$
$`\stackrel{~}{\lambda }_{AB}(\tau )=\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )[b_{(\mathrm{})A}^{(\mu )}b_{(\mathrm{})B}^{(\nu )}b_{(\mathrm{})A}^{(\nu )}b_{(\mathrm{})B}^{(\mu )}](\tau )=2[\stackrel{~}{\lambda }_{(\mu )(\nu )}b_{(\mathrm{})A}^{(\mu )}b_{(\mathrm{})B}^{(\nu )}](\tau ),`$
$`\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )={\displaystyle \frac{1}{4}}[b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})(\nu )}^Bb_{(\mathrm{})(\mu )}^Bb_{(\mathrm{})(\nu )}^A](\tau )\stackrel{~}{\lambda }_{AB}(\tau )=`$
$`={\displaystyle \frac{1}{2}}[b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})(\nu )}^B\stackrel{~}{\lambda }_{AB}](\tau ),`$
Let us remark that with this asymptotic behaviour any 3+1 splitting of the spacetime $`M^4`$ is in some sense ill-defined because the associated foliation with leaves $`\mathrm{\Sigma }_\tau `$ has diverging proper time interval $`N(\tau ,\stackrel{}{\sigma })d\tau `$ and shift functions at spatial infinity for each fixed $`\tau `$. Only in those gauges where $`\stackrel{~}{\lambda }_{AB}(\tau )=\stackrel{~}{\lambda }_{BA}(\tau )=0`$ these problems disappear. These problems are connected with the boost problem quoted in the previous Subsection: also they suggest that the asymptotic Lorentz algebra (and therefore also the Poincaré and SPI algebras) have not to be interpreted as generators of improper gauge transformations.

A more complete analysis, including also a discussion of supertranslations in the ADM canonical formalism, has been given by Beig and O’Murchadha (extended to Ashtekar’s formalism in Ref.). They consider 3-manifolds $`\mathrm{\Sigma }_\tau `$ diffeomorphic to $`R^3`$ as in this paper, so that there exist global coordinate systems. If $`\{\sigma ^{\stackrel{ˇ}{r}}\}`$ is one of these global coordinate systems on $`\mathrm{\Sigma }_\tau `$, the 3-metric $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\sigma ^{\stackrel{ˇ}{t}})`$, evaluated in this coordinate system, is assumed asymptotically Euclidean in the following sense: if $`r=\sqrt{\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\sigma ^{\stackrel{ˇ}{r}}\sigma ^{\stackrel{ˇ}{s}}}`$ §§§§§§One could put $`r=\sqrt{{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}\sigma ^{\stackrel{ˇ}{r}}\sigma ^{\stackrel{ˇ}{s}}}`$ and get the same kind of decomposition., then one assumes

$`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}+{\displaystyle \frac{1}{r}}{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})+{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma }),r\mathrm{},`$ (137)
$`{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})={}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}}),EVENPARITY,`$
$`{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })=O((r^{(1+ϵ)}),ϵ>0,forr\mathrm{},`$
$`_{\stackrel{ˇ}{u}}{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })=O(r^{(2+ϵ)}).`$
The functions $`{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})`$ are $`C^{\mathrm{}}`$ on the sphere $`S_{\tau ,\mathrm{}}^2`$ at spatial infinity of $`\mathrm{\Sigma }_\tau `$; if they would be of odd parity, the ADM energy would vanish. The difference $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ cannot fall off faster that 1/r, because otherwise the ADM energy would be zero and the positivity energy theorem  would imply that the only solution of the constraints is flat spacetime.

For the ADM momentum one assumes the following boundary conditions

$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{\displaystyle \frac{1}{r^2}}{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})+{}_{}{}^{3}k_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma }),r\mathrm{},`$ (141)
$`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})={}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}}),ODDPARITY,`$
$`{}_{}{}^{3}k_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })=O(r^{(2+ϵ)}),ϵ>0,r\mathrm{}.`$
If $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$ were to fall off faster than $`1/r^2`$, the ADM linear momentum would vanish and we could not consider Lorentz transformations. In this way, the integral $`_{\mathrm{\Sigma }_\tau }d^3\sigma [{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\delta {}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}](\tau ,\stackrel{}{\sigma })`$ is well defined and finite: since the integrand is of order $`O(r^3)`$, a possible logarithmic divergence is avoided due to the odd parity of $`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$.

These boundary conditions imply that functional derivatives and Poisson brackets are well defined . In a more rigorous treatment one should use appropriate weighted Sobolev spaces.

The supermomentum and superhamiltonian constraints, see Eqs.(84), $`{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0`$ and $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0`$, are even functions of $`\stackrel{}{\sigma }`$ of order $`O(r^3)`$. Their smeared version with the lapse and shift functions, appearing in the canonical Hamiltonian (85), will give a finite and differentiable $`H_{(c)ADM}`$ if we assume

$`N(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`m(\tau ,\stackrel{}{\sigma })=s(\tau ,\stackrel{}{\sigma })+n(\tau ,\stackrel{}{\sigma })_r\mathrm{}`$ (142)
$`_r\mathrm{}`$ $`k(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})+O(r^ϵ),ϵ>0,`$ (143)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=s_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}`$ (144)
$`_r\mathrm{}`$ $`k_{\stackrel{ˇ}{r}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})+O(r^ϵ),`$ (148)
$`s(\tau ,\stackrel{}{\sigma })=k(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})=k(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}}),ODDPARITY,`$
$`s_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=k_{\stackrel{ˇ}{r}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})=k_{\stackrel{ˇ}{r}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}}),ODDPARITY,`$
with $`n(\tau ,\stackrel{}{\sigma })`$, $`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ going to zero for $`r\mathrm{}`$ like $`O(r^ϵ)`$ in an angle-independent way.

With these boundary conditions one gets differentiability, i.e. $`\delta H_{(c)ADM}`$ is linear in $`\delta {}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}`$ and $`\delta {}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$, with the coefficients being the Dirac-Hamilton equations of metric gravity. Therefore, since N and $`N_{\stackrel{ˇ}{r}}`$ are a special case of the parameter fields for the most general infinitesimal gauge transformations generated by the first class constraints $`\stackrel{~}{}`$, $`{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}`$, with generator $`G=d^3\sigma [\alpha \stackrel{~}{}+\alpha _{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })`$, the proper gauge transformations preserving Eqs.(171) and (172) have the multiplier fields $`\alpha (\tau ,\stackrel{}{\sigma })`$ and $`\alpha _{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ with the same boundary conditions (173) of $`m(\tau ,\stackrel{}{\sigma })`$ and $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$. Then, the Hamilton equations imply that also the Dirac multipliers $`\lambda _N(\tau ,\stackrel{}{\sigma })`$ and $`\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{N}(\tau ,\stackrel{}{\sigma })`$ have these boundary conditions \[$`\lambda _N\stackrel{}{=}\delta N`$, $`\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{N}\stackrel{}{=}\delta N_{\stackrel{ˇ}{r}}`$\]. Instead, the momenta $`\stackrel{~}{\pi }^N(\tau ,\stackrel{}{\sigma })`$ and $`\stackrel{~}{\pi }_\stackrel{}{N}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, conjugate to N and $`N_{\stackrel{ˇ}{r}}`$, must be of $`O(r^{(3+ϵ)})`$ to have $`H_{(D)ADM}`$ finite.

The angle-dependent functions $`s(\tau ,\stackrel{}{\sigma })=k(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})`$ and $`s_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=k_{\stackrel{ˇ}{r}}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})`$ on $`S_{\tau ,\mathrm{}}^2`$ are called odd time and space supertranslations. The piece $`d^3\sigma [s\stackrel{~}{}+s_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })0`$ of the Dirac Hamiltonian is the Hamiltonian generator of supertranslations (the zero momentum of supertranslations of Ref.). Their contribution to gauge transformations is to alter the angle-dependent asymptotic terms $`{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}`$ and $`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ in $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}`$ and $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$. While Sachs gave an explicit form of the generators (including supertranslations) of the algebra of the BMS group of asymptotic symmetries, no such form is explicitly known for the generators of the SPI group.

With $`N=m`$, $`N_{\stackrel{ˇ}{r}}=m_{\stackrel{ˇ}{r}}`$ one can verify the validity of the smeared form of the Dirac algebra (89) of the superhamiltonian and supermomentum constraints:

$`\{H_{(c)ADM}[m_1,m_1^{\stackrel{ˇ}{r}}],H_{(c)ADM}[m_2,m_2^{\stackrel{ˇ}{r}}]\}=`$ (149)
(150)
$`=H_{(c)ADM}[m_2^{\stackrel{ˇ}{r}}{}_{}{}^{3}_{\stackrel{ˇ}{r}}^{}m_1m_1^{\stackrel{ˇ}{r}}{}_{}{}^{3}_{\stackrel{ˇ}{r}}^{}m_2,_{\stackrel{}{m}_2}m_1^{\stackrel{ˇ}{r}}+m_2{}_{}{}^{3}_{}^{\stackrel{ˇ}{r}}m_1m_1{}_{}{}^{3}_{}^{\stackrel{ˇ}{r}}m_2],`$ (151)
(152)
with $`m^{\stackrel{ˇ}{r}}={}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}m_{\stackrel{ˇ}{s}}`$ and with $`H_{(c)ADM}[m,m^{\stackrel{ˇ}{r}}]=d^3\sigma [m\stackrel{~}{}+m^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}](\tau ,\stackrel{}{\sigma })=d^3\sigma [m\stackrel{~}{}+m_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })`$.

When the functions $`N(\tau ,\stackrel{}{\sigma })`$ and $`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ \[and also $`\alpha (\tau ,\stackrel{}{\sigma })`$, $`\alpha _{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$\] do not have the asymptotic behaviour of $`m(\tau ,\stackrel{}{\sigma })`$ and $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ respectively, one speaks of improper gauge transformations, because $`H_{(D)ADM}`$ is not differentiable even at the constraint hypersurface.

At this point one has identified:

a) Certain global coordinate systems $`\{\sigma ^{\stackrel{ˇ}{r}}\}`$ on the spacelike 3-surface $`\mathrm{\Sigma }_\tau `$, which hopefully define a minimal atlas $`𝒞_\tau `$ for the spacelike hypersurfaces $`\mathrm{\Sigma }_\tau `$ foliating the asymptotically flat spacetime $`M^4`$. With the $`𝒞_\tau `$’s and the parameter $`\tau `$ as $`\mathrm{\Sigma }_\tau `$-adapted coordinates of $`M^4`$ one should build an atlas $`𝒞`$ of allowed coordinate systems of $`M^4`$.

b) A set of boundary conditions on the fields on $`\mathrm{\Sigma }_\tau `$ (i.e. a function space for them) ensuring that the 3-metric on $`\mathrm{\Sigma }_\tau `$ is asymptotically Euclidean in this minimal atlas (modulo 3-diffeomorphisms, see the next point).

c) A set of proper gauge transformations generated infinitesimally by the first class constraints, which leave the fields on $`\mathrm{\Sigma }_\tau `$ in the chosen function space. Since the gauge transformations generated by the supermomentum constraints $`{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0`$ are the lift to the space of the tensor fields on $`\mathrm{\Sigma }_\tau `$ (which contains the phase space of metric gravity) of the 3-diffeomorphisms $`Diff\mathrm{\Sigma }_\tau `$ of $`\mathrm{\Sigma }_\tau `$ into itself, the restriction of $`N(\tau ,\stackrel{}{\sigma })`$, $`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ to $`m(\tau ,\stackrel{}{\sigma })`$, $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, ensures that these 3-diffeomorphisms are restricted to be compatible with the chosen minimal atlas for $`\mathrm{\Sigma }_\tau `$ \[this is the problem of the coordinate transformations preserving Eq.(137)\]. The discussion of the meaning of the gauge transformations generated by the superhamiltonian constraint is delayed to Sections VI and IX. Also the parameter fields $`\alpha (\tau ,\stackrel{}{\sigma })`$, $`\alpha _{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, of arbitrary (also improper) gauge transformations should acquire this behaviour.

Since the ADM Poincaré charges are not considered as extra improper gauge transformations (Poincaré transformations at infinity) but as numbers individuating superselection sectors, they cannot alter the assumed asymptotic behaviour of the fields.

Let us remark at this point that the addition of gauge-fixing constraints to the superhamiltonian and supermomentum constraints must happen in the chosen function space for the fields on $`\mathrm{\Sigma }_\tau `$. Therefore, the time constancy of these gauge-fixings will generate secondary gauge-fixing constraints for the restricted lapse and shift functions $`m(\tau ,\stackrel{}{\sigma })`$, $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$.

These results, in particular Eqs. (132) and (148), suggest to assume the following form for the lapse and shift functions

$`N(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)}(\tau ,\stackrel{}{\sigma })+\stackrel{~}{N}(\tau ,\stackrel{}{\sigma })+m(\tau ,\stackrel{}{\sigma }),`$ (153)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+\stackrel{~}{N}_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }),`$ (154)
with $`\stackrel{~}{N}`$, $`\stackrel{~}{N}_{\stackrel{ˇ}{r}}`$ describing improper gauge transformations not of first kind. Since, like in Yang-Mills theory, they do not play any role in the dynamics of metric gravity, we shall assume that they must be absent, so that \[see Eq.(119)\] we can parametrize the lapse and shift functions in the following form

$`N(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)}(\tau ,\stackrel{}{\sigma })+m(\tau ,\stackrel{}{\sigma }),`$ (155)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }),`$ (156)
The improper parts $`N_{(as)}`$, $`N_{(as)r}`$, given in Eqs.(132), behave as the lapse and shift functions associated with spacelike hyperplanes in Minkowski spacetime in parametrized Minkowski theories.

## IV Dirac’s Approach to Asymptotically Flat Metric Gravity.

In Ref. and in the book in Ref. (see also Ref.), Dirac introduced asymptotic Minkowski Cartesian coordinates

$$z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })=x_{(\mathrm{})}^{(\mu )}(\tau )+b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}$$
(157)
in $`M^4`$ at spatial infinity $`S_{\mathrm{}}=_\tau S_{\tau ,\mathrm{}}^2`$ §¶§¶§¶Here $`\{\sigma ^{\stackrel{ˇ}{r}}\}`$ are the previous global coordinate charts of the atlas $`𝒞_\tau `$ of $`\mathrm{\Sigma }_\tau `$, not matching the spatial coordinates $`z_{(\mathrm{})}^{(i)}(\tau ,\stackrel{}{\sigma })`$.. For each value of $`\tau `$, the coordinates $`x_{(\mathrm{})}^{(\mu )}(\tau )`$ labels an arbitrary point, near spatial infinity chosen as origin. On it there is a flat tetrad $`b_{(\mathrm{})A}^{(\mu )}(\tau )=(l_{(\mathrm{})}^{(\mu )}=b_{(\mathrm{})\tau }^{(\mu )}=ϵ^{(\mu )}{}_{(\alpha )(\beta )(\gamma )}{}^{}b_{(\mathrm{})\stackrel{ˇ}{1}}^{(\alpha )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{2}}^{(\beta )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{3}}^{(\gamma )}(\tau );b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau ))`$, with $`l_{(\mathrm{})}^{(\mu )}`$ $`\tau `$-independent, satisfying $`b_{(\mathrm{})A}^{(\mu )}{}_{}{}^{4}\eta _{(\mu )(\nu )}^{}b_{(\mathrm{})B}^{(\nu )}={}_{}{}^{4}\eta _{AB}^{}`$ for every $`\tau `$. There will be transformation coefficients $`b_A^\mu (\tau ,\stackrel{}{\sigma })`$ from the adapted coordinates $`\sigma ^A=(\tau ,\sigma ^{\stackrel{ˇ}{r}})`$ to coordinates $`x^\mu =z^\mu (\sigma ^A)`$ in an atlas of $`M^4`$, such that in a chart at spatial infinity one has $`z^\mu (\tau ,\stackrel{}{\sigma })\delta _{(\mu )}^\mu z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ and $`b_A^\mu (\tau ,\stackrel{}{\sigma })\delta _{(\mu )}^\mu b_{(\mathrm{})A}^{(\mu )}(\tau )`$ <sup>§∥</sup><sup>§∥</sup>§∥For $`r\mathrm{}`$ one has $`{}_{}{}^{4}g_{\mu \nu }^{}\delta _\mu ^{(\mu )}\delta _\nu ^{(\nu )}{}_{}{}^{4}\eta _{(\mu )(\nu )}^{}`$ and $`{}_{}{}^{4}g_{AB}^{}=b_A^\mu {}_{}{}^{4}g_{\mu \nu }^{}b_B^\nu b_{(\mathrm{})A}^{(\mu )}{}_{}{}^{4}\eta _{(\mu )(\nu )}^{}b_{(\mathrm{})B}^{(\nu )}={}_{}{}^{4}\eta _{AB}^{}`$.. The atlas $`𝒞`$ of the allowed coordinate systems of $`M^4`$ is assumed to have this property.

Dirac and, then, Regge and Teitelboim proposed that the asymptotic Minkowski Cartesian coordinates $`z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })=x_{(\mathrm{})}^{(\mu )}(\tau )+b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}`$ should define 10 new independent degrees of freedom at the spatial boundary $`S_{\mathrm{}}`$ (with ten associated conjugate momenta), as it happens for Minkowski parametrized theories (see Appendix A) when the extra configurational variables $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ are reduced to 10 degrees of freedom by the restriction to spacelike hyperplanes, defined by $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })x_s^{(\mu )}(\tau )+b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}`$.

In Dirac’s approach to metric gravity the 20 extra variables of the Dirac proposal can be chosen as the set: $`x_{(\mathrm{})}^{(\mu )}(\tau )`$, $`p_{(\mathrm{})}^{(\mu )}`$, $`b_{(\mathrm{})A}^{(\mu )}(\tau )`$ §\**§\**§\**With $`b_{(\mathrm{})\tau }^{(\mu )}=l_{(\mathrm{})}^{(\mu )}`$ $`\tau `$-independent and coinciding with the asymptotic normal to $`\mathrm{\Sigma }_\tau `$, tangent to $`S_{\mathrm{}}`$., $`S_{(\mathrm{})}^{(\mu )(\nu )}`$, with the Dirac brackets (A28) implying the orthonormality constraints $`b_{(\mathrm{})A}^{(\mu )}{}_{}{}^{4}\eta _{(\mu )(\nu )}^{}b_{(\mathrm{})B}^{(\nu )}={}_{}{}^{4}\eta _{AB}^{}`$. Moreover, $`p_{(\mathrm{})}^{(\mu )}`$ and $`J_{(\mathrm{})}^{(\mu )(\nu )}=x_{(\mathrm{})}^{(\mu )}p_{(\mathrm{})}^{(\nu )}x_{(\mathrm{})}^{(\nu )}p_{(\mathrm{})}^{(\mu )}+S_{(\mathrm{})}^{(\mu )(\nu )}`$ satisfy a Poincaré algebra. In analogy with Minkowski parametrized theories restricted to spacelike hyperplanes, one expects to have 10 extra first class constraints of the type

$$p_{(\mathrm{})}^{(\mu )}P_{ADM}^{(\mu )}0,S_{(\mathrm{})}^{(\mu )(\nu )}S_{ADM}^{(\mu )(\nu )}0,$$
(158)
with $`P_{ADM}^{(\mu )}`$, $`S_{ADM}^{(\mu )(\nu )}`$ related to the ADM Poincaré charges $`P_{ADM}^A`$, $`J_{ADM}^{AB}`$ (which will be defined in the next Section) in place of $`P_{sys}^{(\mu )}`$, $`S_{sys}^{(\mu )(\nu )}`$ and 10 extra Dirac multipliers $`\stackrel{~}{\lambda }_{(\mu )}(\tau )`$, $`\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )`$, in front of them in the Dirac Hamiltonian. The origin $`x_{(\mathrm{})}^{(\mu )}(\tau )`$ is going to play the role of an external decoupled observer with his parametrized clock. The main problem with respect to Minkowski parametrized theory on spacelike hyperplanes is that it is not known which could be the ADM spin part $`S_{ADM}^{(\mu )(\nu )}`$ of the ADM Lorentz charge $`J_{ADM}^{(\mu )(\nu )}`$.

The way out from these problems is based on the following observation. If we replace $`p_{(\mathrm{})}^{(\mu )}`$ and $`S_{(\mathrm{})}^{(\mu )(\nu )}`$, whose Poisson algebra is the direct sum of an Abelian algebra of translations and of a Lorentz algebra, with the new variables (with indices adapted to $`\mathrm{\Sigma }_\tau `$)

$$p_{(\mathrm{})}^A=b_{(\mathrm{})(\mu )}^Ap_{(\mathrm{})}^{(\mu )},J_{(\mathrm{})}^{AB}\stackrel{def}{=}b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})(\nu )}^BS_{(\mathrm{})}^{(\mu )(\nu )}[b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})(\nu )}^BJ_{(\mathrm{})}^{(\mu )(\nu )}],$$
(159)
the Poisson brackets for $`p_{(\mathrm{})}^{(\mu )}`$, $`b_{(\mathrm{})A}^{(\mu )}`$, $`S_{(\mathrm{})}^{(\mu )(\nu )}`$ §††§††§††One has $`\{b_{(\mathrm{})(\gamma )}^A,S_{(\mathrm{})}^{(\nu )(\rho )}\}=\eta _{(\gamma )}^{(\nu )}b_{(\mathrm{})}^{A(\rho )}\eta _{(\gamma )}^{(\rho )}b_{(\mathrm{})}^{A(\nu )}`$., imply

$`\{p_{(\mathrm{})}^A,p_{(\mathrm{})}^B\}=0,`$ (160)
$`\{p_{(\mathrm{})}^A,J_{(\mathrm{})}^{BC}\}={}_{}{}^{4}g_{(\mathrm{})}^{AC}p_{(\mathrm{})}^B{}_{}{}^{4}g_{(\mathrm{})}^{AB}p_{(\mathrm{})}^C,`$ (161)
$`\{J_{(\mathrm{})}^{AB},J_{(\mathrm{})}^{CD}\}=(\delta _E^B\delta _F^C{}_{}{}^{4}g_{(\mathrm{})}^{AD}+\delta _E^A\delta _F^D{}_{}{}^{4}g_{(\mathrm{})}^{BC}\delta _E^B\delta _F^D{}_{}{}^{4}g_{(\mathrm{})}^{AC}\delta _E^A\delta _F^C{}_{}{}^{4}g_{(\mathrm{})}^{BD})J_{(\mathrm{})}^{EF}=`$ (162)
$`=C_{EF}^{ABCD}J_{(\mathrm{})}^{EF},`$ (163)
where $`{}_{}{}^{4}g_{(\mathrm{})}^{AB}=b_{(\mathrm{})(\mu )}^A{}_{}{}^{4}\eta _{}^{(\mu )(\nu )}b_{(\mathrm{})(\nu )}^B={}_{}{}^{4}\eta _{}^{AB}`$ since the $`b_{(\mathrm{})A}^{(\mu )}`$ are flat tetrad in both kinds of indices. Therefore, we get the algebra of a realization of the Poincaré group (this explains the notation $`J_{(\mathrm{})}^{AB}`$) with all the structure constants inverted in the sign (transition from a left to a right action).

This implies that, after the transition to the asymptotic Dirac Cartesian coordinates the Poincaré generators $`P_{ADM}^A`$, $`J_{ADM}^{AB}`$ in $`\mathrm{\Sigma }_\tau `$-adapted coordinates should become a momentum $`P_{ADM}^{(\mu )}=b_A^{(\mu )}P_{ADM}^A`$ and only an ADM spin tensor $`S_{ADM}^{(\mu )(\nu )}`$ §‡‡§‡‡§‡‡To define an angular momentum tensor $`J_{ADM}^{(\mu )(\nu )}`$ one should find an “external center of mass of the gravitational field” $`X_{ADM}^{(\mu )}[{}_{}{}^{3}g,{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}]`$ (see Ref. for the Klein-Gordon case) conjugate to $`P_{ADM}^{(\mu )}`$, so that $`J_{ADM}^{(\mu )(\nu )}=X_{ADM}^{(\mu )}P_{ADM}^{(\nu )}X_{ADM}^{(\nu )}P_{ADM}^{(\mu )}+S_{ADM}^{(\mu )(\nu )}`$..

As a consequence of the previous results we shall assume the existence of a global coordinate system $`\{\sigma ^{\stackrel{ˇ}{r}}\}`$ on $`\mathrm{\Sigma }_\tau `$ , in which we have

$`N(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)}(\tau ,\stackrel{}{\sigma })+m(\tau ,\stackrel{}{\sigma }),`$ (164)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }),`$ (165)
$`N_{(as)}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\stackrel{~}{\lambda }_{(\mu )}(\tau )l_{(\mathrm{})}^{(\mu )}l_{(\mathrm{})}^{(\mu )}\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}}=`$ (167)
$`=`$ $`\stackrel{~}{\lambda }_\tau (\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\tau \stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (168)
$`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\stackrel{~}{\lambda }_{(\mu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}}=`$ (169)
$`=`$ $`\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (170)
with $`m(\tau ,\stackrel{}{\sigma })`$, $`m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, given by Eqs.(173): they still contain odd supertranslations.

This very strong assumption implies that one is selecting asymptotically at spatial infinity only coordinate systems in which the lapse and shift functions have behaviours similar to those of Minkowski spacelike hyperplanes, so that the allowed foliations of the 3+1 splittings of the spacetime $`M^4`$ are restricted to have the leaves $`\mathrm{\Sigma }_\tau `$ approaching these Minkowski hyperplanes at spatial infinity in a way independent from the direction. But this is coherent with Dirac’s choice of asymptotic Cartesian coordinates (modulo 3-diffeomorphisms not changing the nature of the coordinates, namely tending to the identity at spatial infinity like in Ref.) and with the assumptions used to define the asymptotic Poincaré charges. It is also needed to eliminate coordinate transformations not becoming the identity at spatial infinity, which are not associated with the gravitational fields of isolated systems .

By replacing the ADM configuration variables $`N(\tau ,\stackrel{}{\sigma })`$ and $`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ with the new ones $`\stackrel{~}{\lambda }_A(\tau )=\{\stackrel{~}{\lambda }_\tau (\tau );\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )\}`$, $`\stackrel{~}{\lambda }_{AB}(\tau )=\stackrel{~}{\lambda }_{BA}(\tau )`$, $`n(\tau ,\stackrel{}{\sigma })`$, $`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ inside the ADM Lagrangian, one only gets the replacement of the primary first class constraints of ADM metric gravity

$$\stackrel{~}{\pi }^N(\tau ,\stackrel{}{\sigma })0,\stackrel{~}{\pi }_\stackrel{}{N}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0,$$
(171)
with the new first class constraints

$$\stackrel{~}{\pi }^n(\tau ,\stackrel{}{\sigma })0,\stackrel{~}{\pi }_\stackrel{}{n}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0,\stackrel{~}{\pi }^A(\tau )0,\stackrel{~}{\pi }^{AB}(\tau )=\stackrel{~}{\pi }^{BA}(\tau )0,$$
(172)
corresponding to the vanishing of the canonical momenta $`\stackrel{~}{\pi }^A`$, $`\stackrel{~}{\pi }^{AB}`$ conjugate to the new configuration variables ¶\*¶\*¶\*We assume the Poisson brackets $`\{\stackrel{~}{\lambda }_A(\tau ),\stackrel{~}{\pi }^B(\tau )\}=\delta _A^B`$, $`\{\stackrel{~}{\lambda }_{AB}(\tau ),\stackrel{~}{\pi }^{CD}(\tau )\}=\delta _A^C\delta _B^D\delta _A^D\delta _B^C`$.. The only change in the Dirac Hamiltonian of metric gravity $`H_{(D)ADM}=H_{(c)ADM}+d^3\sigma [\lambda _N\stackrel{~}{\pi }^N+\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{N}\stackrel{~}{\pi }_\stackrel{}{N}^{\stackrel{ˇ}{R}}](\tau ,\stackrel{}{\sigma })`$, $`H_{(c)ADM}=d^3\sigma [N\stackrel{~}{}+N_{\stackrel{ˇ}{r}}\stackrel{~}{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })`$ of Eq.(79) is

$$d^3\sigma [\lambda _N\stackrel{~}{\pi }^N+\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{N}\stackrel{~}{\pi }_\stackrel{}{N}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })\zeta _A(\tau )\stackrel{~}{\pi }^A(\tau )+\zeta _{AB}(\tau )\stackrel{~}{\pi }^{AB}(\tau )+d^3\sigma [\lambda _n\stackrel{~}{\pi }^n+\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{n}\stackrel{~}{\pi }_\stackrel{}{n}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma }),$$
(173)
with $`\zeta _A(\tau )`$, $`\zeta _{AB}(\tau )`$ Dirac’s multipliers.

## V Surface Terms and Asymptotic Poincaré Charges in Metric Gravity.

The presence of the terms $`N_{(as)}`$, $`N_{(as)\stackrel{ˇ}{r}}`$ in Eq.(170) makes $`H_D`$ not differentiable.

In Refs,, following Refs., it is shown that the differentiability of the ADM canonical Hamiltonian \[$`H_{(c)ADM}\widehat{H}_{(c)ADM}+H_{\mathrm{}}`$\] requires the introduction of the following surface term

$`H_{\mathrm{}}={\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_u`$ $`\{ϵk\sqrt{\gamma }{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}g_{}^{rs}[N(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})+`$ (174)
$`+`$ $`_uN({}_{}{}^{3}g_{rs}^{}\delta _{rs})_rN({}_{}{}^{3}g_{sv}^{}\delta _{sv})]2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma })=`$ (175)
$`=`$ $`{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_u\{ϵk\sqrt{\gamma }{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}g_{}^{rs}[N_{(as)}(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})+`$ (176)
$`+`$ $`_uN_{(as)}({}_{}{}^{3}g_{rs}^{}\delta _{rs})_rN_{(as)}({}_{}{}^{3}g_{sv}^{}\delta _{sv})]2N_{(as)r}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma })=`$ (177)
$`=`$ $`\stackrel{~}{\lambda }_A(\tau )P_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )J_{ADM}^{AB}.`$ (178)
Indeed, by putting $`N=N_{(as)}`$, $`N_{\stackrel{ˇ}{r}}=N_{(as)\stackrel{ˇ}{r}}`$ in the surface integrals, the added term $`H_{\mathrm{}}`$ becomes the given linear combination of the strong ADM Poincaré charges $`P_{ADM}^A`$, $`J_{ADM}^{AB}`$  first identified in the linearized theory :

$`P_{ADM}^\tau `$ $`=`$ $`ϵk{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_{\stackrel{ˇ}{u}}[\sqrt{\gamma }{}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(_{\stackrel{ˇ}{r}}{}_{}{}^{3}g_{\stackrel{ˇ}{v}\stackrel{ˇ}{s}}^{}_{\stackrel{ˇ}{v}}{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{})](\tau ,\stackrel{}{\sigma }),`$ (179)
$`P_{ADM}^{\stackrel{ˇ}{r}}`$ $`=`$ $`2{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_{\stackrel{ˇ}{u}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}(\tau ,\stackrel{}{\sigma }),`$ (180)
$`J_{ADM}^{\tau \stackrel{ˇ}{r}}`$ $`=`$ $`ϵk{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_{\stackrel{ˇ}{u}}\sqrt{\gamma }{}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}`$ (181)
$``$ $`[\sigma ^{\stackrel{ˇ}{r}}(_{\stackrel{ˇ}{n}}{}_{}{}^{3}g_{\stackrel{ˇ}{v}\stackrel{ˇ}{s}}^{}_{\stackrel{ˇ}{v}}{}_{}{}^{3}g_{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}^{})+\delta _{\stackrel{ˇ}{v}}^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}^{}\delta _{\stackrel{ˇ}{n}\stackrel{ˇ}{s}})\delta _{\stackrel{ˇ}{n}}^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{\stackrel{ˇ}{s}\stackrel{ˇ}{v}}^{}\delta _{\stackrel{ˇ}{s}\stackrel{ˇ}{v}})](\tau ,\stackrel{}{\sigma }),`$ (182)
$`J_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ $`=`$ $`{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_{\stackrel{ˇ}{u}}[\sigma ^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}](\tau ,\stackrel{}{\sigma }),`$ (183)
$`P_{ADM}^{(\mu )}`$ $`=`$ $`l^{(\mu )}P_{ADM}^\tau +b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )P_{ADM}^{\stackrel{ˇ}{r}}=b_{(\mathrm{})A}^{(\mu )}(\tau )P_{ADM}^A,`$ (186)
$`S_{ADM}^{(\mu )(\nu )}`$ $`=`$ $`[l_{(\mathrm{})}^{(\mu )}b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\nu )}(\tau )l_{(\mathrm{})}^{(\nu )}b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )]J_{ADM}^{\tau \stackrel{ˇ}{r}}+`$ (187)
$`+`$ $`[b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\mu )}(\tau )]J_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}=`$ (188)
$`=`$ $`[b_{(\mathrm{})A}^{(\mu )}(\tau )b_{(\mathrm{})B}^{(\nu )}(\tau )b_{(\mathrm{})A}^{(\nu )}(\tau )b_{(\mathrm{})B}^{(\mu )}(\tau )]J_{ADM}^{AB}.`$ (189)
Here $`J_{ADM}^{\tau \stackrel{ˇ}{r}}=J_{ADM}^{\stackrel{ˇ}{r}\tau }`$ by definition and the inverse asymptotic tetrads are defined by $`b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})B}^{(\nu )}=\delta _B^A`$, $`b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})A}^{(\nu )}=\delta _{(\mu )}^{(\nu )}`$.

As shown in Ref., the parity conditions of Eqs.(137) and (141)are necessary to have a well defined and finite 3-angular-momentum $`J_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$: in Appendix B of Ref. there is an explicit example of initial data satisfying the constraints but not the parity conditions, for which the 3-angular-momentum is infinite ¶†¶†¶†Moreover, it is shown that the conditions of the SPI formalism to kill supertranslations and pick out a unique asymptotic Poincaré group (the vanishing of the first-order asymptotic part of the pseudomagnetic Weyl tensor) may give infinite 3-angular-momentum if the parity conditions are not added..

The definition of the boosts $`J_{ADM}^{\tau \stackrel{ˇ}{r}}`$ given in Ref.  is not only differentiable like the one in Ref., but also finite. As seen in Section III, the problem of boosts is still open. However, for any isolated system the boost part of the conserved Poincaré group cannot be an independent variable ¶‡¶‡¶‡Only the Poincaré Casimirs (giving the invariant mass and spin of the system) are relevant and not the Casimirs of the Lorentz subgroup.: as shown in Appendix A for the parametrized Minkowski theories on the Wigner hyperplane of the rest-frame instant form, the internal boosts are gauge variables. At the end of this Section this point will be clarified by giving the explicit realization of the external Poincaré generators in the rest-frame instant form (they are independent from the ADM boosts).

The surface term $`H_{\mathrm{}}`$ arises from a suitable splitting of the superhamiltonian and supermomentum constraints (84). By using $`{}_{}{}^{3}\mathrm{\Gamma }_{sr}^{s}=\frac{1}{\sqrt{\gamma }}_r\sqrt{\gamma },`$ $`{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}\mathrm{\Gamma }_{uv}^{r}=\frac{1}{\sqrt{\gamma }}_s(\sqrt{\gamma }{}_{}{}^{3}g_{}^{rs}),`$ $`{}_{}{}^{3}R={}_{}{}^{3}g_{}^{uv}({}_{}{}^{3}\mathrm{\Gamma }_{us}^{r}{}_{}{}^{3}\mathrm{\Gamma }_{vr}^{s}{}_{}{}^{3}\mathrm{\Gamma }_{uv}^{r}{}_{}{}^{3}\mathrm{\Gamma }_{sr}^{s})+\frac{1}{\sqrt{\gamma }}_r[\sqrt{\gamma }({}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}\mathrm{\Gamma }_{uv}^{r}{}_{}{}^{3}g_{}^{ur}{}_{}{}^{3}\mathrm{\Gamma }_{vu}^{v})],`$ and $`{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}\mathrm{\Gamma }_{sv}^{s}={}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}g_{}^{uv}(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})`$, we get \[it is valid also with $`N`$ and $`N_r`$ replaced by $`N_{(as)}`$ and $`N_{(as)r}`$\]

$`{\displaystyle d^3\sigma [N\stackrel{~}{}+N_r{}_{}{}^{3}\stackrel{~}{}_{}^{r}](\tau ,\stackrel{}{\sigma })}=`$ (190)
$`={\displaystyle d^3\sigma \{ϵkN_u[\sqrt{\gamma }({}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}\mathrm{\Gamma }_{sv}^{s})]2N_r_u{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma })}+`$ (191)
$`+{\displaystyle }d^3\sigma \{ϵkN[\sqrt{\gamma }{}_{}{}^{3}g_{}^{rs}({}_{}{}^{3}\mathrm{\Gamma }_{rv}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{su}^{v}{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{vu}^{v})`$ (192)
$`{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}]2N_r{}_{}{}^{3}\mathrm{\Gamma }_{su}^{r}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{su}\}(\tau ,\stackrel{}{\sigma })=`$ (193)
$`={\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_u\{ϵkN\sqrt{\gamma }{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}g_{}^{uv}(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma })+`$ (194)
$`+{\displaystyle }d^3\sigma \{ϵkN[\sqrt{\gamma }{}_{}{}^{3}g_{}^{rs}({}_{}{}^{3}\mathrm{\Gamma }_{rv}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{su}^{v}{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{vu}^{v})`$ (195)
$`{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}]ϵk_uN\sqrt{\gamma }^3g^{rs}^3g^{uv}(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})`$ (196)
$`2N_r{}_{}{}^{3}\mathrm{\Gamma }_{su}^{r}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{su}+2_uN_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma }).`$ (197)
In Ref. it is noted that, with the boundary conditions of Refs. , the term in $`_uN`$ in the volume integral diverges. The following (non-tensorial) regularization is proposed: $`_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{}=_r({}_{}{}^{3}g_{vs}^{}\delta _{vs})_v({}_{}{}^{3}g_{rs}^{}\delta _{rs})`$ ¶§¶§¶§It is the subtraction of the static background metric of Ref. ; in this spirit one could think to use static background metrics $`{}_{}{}^{3}f_{rs}^{}`$ different from $`\delta _{rs}`$: $`_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{}_r({}_{}{}^{3}g_{vs}^{}{}_{}{}^{3}f_{vs}^{})_v({}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}f_{rs}^{})_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{}`$.. If we make a further integration by parts of the volume term containing $`_uN`$, we get the identity ¶¶¶¶¶¶With $`N`$ and $`N_r`$ replaced by $`N_{(as)}`$ and $`N_{(as)r}`$ we have $`H_{\mathrm{}}`$ appearing in the first two lines; only $`J_{ADM}^{\tau \stackrel{ˇ}{r}}`$, but not $`P_{ADM}^\tau `$, depends on the regularization in Eqs.(189).

$`{\displaystyle _{S_{\tau ,\mathrm{}}^2}}d^2\mathrm{\Sigma }_u\{ϵk\sqrt{\gamma }{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}g_{}^{rs}[N(_r{}_{}{}^{3}g_{vs}^{}_v{}_{}{}^{3}g_{rs}^{})+_uN({}_{}{}^{3}g_{rs}^{}\delta _{rs})`$ (198)
$`_rN({}_{}{}^{3}g_{sv}^{}\delta _{sv})]2N_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma })+{\displaystyle }d^3\sigma [N\stackrel{~}{}+N_r{}_{}{}^{3}\stackrel{~}{}_{}^{r}](\tau ,\stackrel{}{\sigma })=`$ (199)
(200)
$`=+{\displaystyle }d^3\sigma \{ϵN[k\sqrt{\gamma }{}_{}{}^{3}g_{}^{rs}({}_{}{}^{3}\mathrm{\Gamma }_{rv}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{su}^{v}{}_{}{}^{3}\mathrm{\Gamma }_{rs}^{u}{}_{}{}^{3}\mathrm{\Gamma }_{vu}^{v}){\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{rsuv}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{uv}]+`$ (201)
$`+ϵk({}_{}{}^{3}g_{vs}^{}\delta _{vs})_r[\sqrt{\gamma }_uN({}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}g_{}^{uv}{}_{}{}^{3}g_{}^{ru}{}_{}{}^{3}g_{}^{sv})]`$ (202)
$`2N_r{}_{}{}^{3}\mathrm{\Gamma }_{su}^{r}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{su}+2_uN_r{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{ru}\}(\tau ,\stackrel{}{\sigma }).`$ (203)
By using Eqs.(170) the modified canonical Hamiltonian becomes

$`\widehat{H}_{(c)ADM}`$ $`=`$ $`{\displaystyle d^3\sigma [N\stackrel{~}{}+N_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}=`$ (204)
$`=`$ $`{\displaystyle d^3\sigma [(N_{(as)}+m)\stackrel{~}{}+(N_{(as)\stackrel{ˇ}{r}}+m_{\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}`$ (205)
$`\widehat{H}_{(c)ADM}^{^{}}`$ $`=\widehat{H}_{(c)ADM}^{^{}}[N,N^{\stackrel{ˇ}{r}}]=\widehat{H}_{(c)ADM}+H_{\mathrm{}}=`$ (206)
$`=`$ $`{\displaystyle d^3\sigma [(N_{(as)}+m)\stackrel{~}{}+(N_{(as)\stackrel{ˇ}{r}}+m_{\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+`$ (207)
$`+`$ $`\stackrel{~}{\lambda }_{(\mu )}(\tau )P_{ADM}^{(\mu )}+\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )S_{ADM}^{(\mu )(\nu )}=`$ (208)
$`=`$ $`{\displaystyle d^3\sigma [(N_{(as)}+m)\stackrel{~}{}+(N_{(as)\stackrel{ˇ}{r}}+m_{\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+`$ (209)
$`+`$ $`\stackrel{~}{\lambda }_A(\tau )P_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )J_{ADM}^{AB}`$ (210)
$``$ $`\stackrel{~}{\lambda }_A(\tau )P_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )J_{ADM}^{AB}.`$ (211)
The analysis of Ref.  shows that $`H_{\mathrm{}}`$, with the quoted regularization, is equivalent to the sum of the surface term distinguishing the ADM action from the regularized Hilbert action and of the one appearing in making the Legendre transformation from the ADM action to the ADM canonical Hamiltonian, see Eqs.(78).

The terminology strong derives from Ref., where there is the definition of the weak and strong improper conserved non-Abelian charges in Yang-Mills theory and their derivation from the Noether identities implied by the second Noether theorem. In this case one gets (see Ref. b) for the general theory): i) strong conserved improper currents (their conservation is an identity independent from the Euler-Lagrange equations), whose strong conserved improper charges are just surface integrals at spatial infinity; ii) weak conserved improper currents (their conservation implies the Euler-Lagrange equations; it is a form of first Noether theorem hidden in the second one), whose weak conserved improper charges are volume integrals; iii) the two kinds of charges differ by the volume integral of the Gauss law first class constraints and, therefore, coincide when use is done of the acceleration-independent Euler-Lagrange equations, i.e. the secondary first class Gauss law constraints.

In ADM metric gravity it is difficult to check explicitly these statements due to the presence of the lapse and shift functions. In this paper we shall adopt the terminology strong and weak Poincaré charges to refer to surface and volume integrals respectively, even if the strong charges are not strongly conserved improper charges but only weakly conserved ones like the weak charges.

Then Eqs.(170), (203) and (84) imply

$`\widehat{H}_{(c)ADM}^{^{}}`$ $`=`$ $`{\displaystyle d^3\sigma [m\stackrel{~}{}+m_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+`$ (212)
$`+`$ $`\stackrel{~}{\lambda }_\tau (\tau )[{\displaystyle d^3\sigma \stackrel{~}{}(\tau ,\stackrel{}{\sigma })}+P_{ADM}^\tau ]+\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )[{\displaystyle d^3\sigma {}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })}+P_{ADM}^{\stackrel{ˇ}{r}}]+`$ (213)
$`+`$ $`\stackrel{~}{\lambda }_{\tau \stackrel{ˇ}{r}}(\tau )[{\displaystyle \frac{1}{2}}{\displaystyle d^3\sigma \sigma ^{\stackrel{ˇ}{r}}\stackrel{~}{}(\tau ,\stackrel{}{\sigma })}+J_{ADM}^{\tau \stackrel{ˇ}{r}}]+`$ (214)
$`+`$ $`\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau )[{\displaystyle \frac{1}{2}}{\displaystyle d^3\sigma \sigma ^{\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })}+J_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}]=`$ (215)
$`=`$ $`{\displaystyle d^3\sigma [m\stackrel{~}{}+m_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+`$ (216)
$`+`$ $`{\displaystyle }d^3\sigma \{ϵN_{(as)}[k\sqrt{\gamma }{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}({}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{v}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}})`$ (217)
$``$ $`{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}\stackrel{ˇ}{u}\stackrel{ˇ}{v}}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}]+`$ (218)
$`+`$ $`ϵk({}_{}{}^{3}g_{\stackrel{ˇ}{v}\stackrel{ˇ}{s}}^{}\delta _{\stackrel{ˇ}{v}\stackrel{ˇ}{s}})_{\stackrel{ˇ}{r}}[\sqrt{\gamma }_{\stackrel{ˇ}{u}}N_{(as)}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{v}\stackrel{ˇ}{s}})]`$ (219)
$``$ $`2N_{(as)\stackrel{ˇ}{r}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}+2_{\stackrel{ˇ}{u}}N_{(as)\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\}(\tau ,\stackrel{}{\sigma })=`$ (220)
$`=`$ $`{\displaystyle d^3\sigma [m\stackrel{~}{}+m_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+\stackrel{~}{\lambda }_{(\mu )}(\tau )\widehat{P}_{ADM}^{(\mu )}+\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )\widehat{S}_{ADM}^{(\mu )(\nu )}=`$ (221)
$`=`$ $`{\displaystyle d^3\sigma [m\stackrel{~}{}+m_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}](\tau ,\stackrel{}{\sigma })}+\stackrel{~}{\lambda }_A(\tau )\widehat{P}_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )\widehat{J}_{ADM}^{AB}`$ (222)
$``$ $`\stackrel{~}{\lambda }_A(\tau )\widehat{P}_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )\widehat{J}_{ADM}^{AB},`$ (223)
$`\widehat{H}_{(D)ADM}^{^{}}`$ $`=`$ $`\widehat{H}_{(c)ADM}^{^{}}[m,m^{\stackrel{ˇ}{r}}]+`$ (224)
$`+`$ $`{\displaystyle d^3\sigma [\lambda _n\stackrel{~}{\pi }^n+\lambda _r^\stackrel{}{n}\stackrel{~}{\pi }_\stackrel{}{n}^r](\tau ,\stackrel{}{\sigma })}+\zeta _A(\tau )\stackrel{~}{\pi }^A(\tau )+\zeta _{AB}(\tau )\stackrel{~}{\pi }^{AB}(\tau ),`$ (225)
with the following weak conserved improper Poincaré charges $`\widehat{P}_{ADM}^A`$, $`\widehat{J}_{ADM}^{AB}`$ ¶∥¶∥¶∥These volume expressions (the analogue of the weak Yang-Mills non Abelian charges) for the ADM 4-momentum are used in Ref. in the study of the positiviteness of the energy; the weak charges are Noether charges.

$`\widehat{P}_{ADM}^\tau `$ $`=`$ $`{\displaystyle }d^3\sigma ϵ[k\sqrt{\gamma }{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}({}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{v}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}})`$ (226)
$``$ $`{\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}\stackrel{ˇ}{u}\stackrel{ˇ}{v}}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}](\tau ,\stackrel{}{\sigma }),`$ (227)
$`\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}`$ $`=`$ $`2{\displaystyle d^3\sigma {}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}(\tau ,\stackrel{}{\sigma })},`$ (228)
$`\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}}`$ $`=`$ $`\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\tau }={\displaystyle }d^3\sigma ϵ\{\sigma ^{\stackrel{ˇ}{r}}`$ (230)
$`[k\sqrt{\gamma }{}_{}{}^{3}g_{}^{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}({}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{n}\stackrel{ˇ}{v}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}^{\stackrel{ˇ}{u}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{v}\stackrel{ˇ}{u}}^{\stackrel{ˇ}{v}}){\displaystyle \frac{1}{2k\sqrt{\gamma }}}{}_{}{}^{3}G_{\stackrel{ˇ}{n}\stackrel{ˇ}{s}\stackrel{ˇ}{u}\stackrel{ˇ}{v}}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}]+`$
$`+`$ $`k\delta _{\stackrel{ˇ}{u}}^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{\stackrel{ˇ}{v}\stackrel{ˇ}{s}}^{}\delta _{\stackrel{ˇ}{v}\stackrel{ˇ}{s}})_{\stackrel{ˇ}{n}}[\sqrt{\gamma }({}_{}{}^{3}g_{}^{\stackrel{ˇ}{n}\stackrel{ˇ}{s}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{n}\stackrel{ˇ}{u}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{v}})]\}(\tau ,\stackrel{}{\sigma }),`$ (231)
$`\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ $`=`$ $`{\displaystyle d^3\sigma [(\sigma ^{\stackrel{ˇ}{r}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}^{\stackrel{ˇ}{s}}\sigma ^{\stackrel{ˇ}{s}}{}_{}{}^{3}\mathrm{\Gamma }_{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}^{\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}](\tau ,\stackrel{}{\sigma })},`$ (232)
$`\widehat{P}_{ADM}^{(\mu )}`$ $`=`$ $`l_{(\mathrm{})}^{(\mu )}\widehat{P}_{ADM}^\tau +b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}=b_{(\mathrm{})A}^{(\mu )}(\tau )\widehat{P}_{ADM}^A,`$ (234)
$`\widehat{S}_{ADM}^{(\mu )(\nu )}`$ $`=`$ $`[l_{(\mathrm{})}^{(\mu )}b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\nu )}(\tau )l_{(\mathrm{})}^{(\nu )}b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )]\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}}+`$ (235)
$`+`$ $`[b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\mu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{r}}^{(\nu )}(\tau )b_{(\mathrm{})\stackrel{ˇ}{s}}^{(\mu )}(\tau )]\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}=`$ (236)
$`=`$ $`[b_{(\mathrm{})A}^{(\mu )}b_{(\mathrm{})B}^{(\nu )}b_{(\mathrm{})A}^{(\nu )}b_{(\mathrm{})B}^{(\mu )}](\tau )\widehat{J}_{ADM}^{AB}.`$ (237)
In both Refs. it is shown that the canonical Hamiltonian $`\widehat{H}_{(c)ADM}^{^{}}[N,N^{\stackrel{ˇ}{r}}]`$ of Eq.(225) with arbitrary $`N`$, $`N^{\stackrel{ˇ}{r}}={}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}N_{\stackrel{ˇ}{s}}`$ (therefore including the ones of Eqs.(170)), has the same Poisson brackets as in Eq.(152) for $`N=m`$, $`N^{\stackrel{ˇ}{r}}=m^{\stackrel{ˇ}{r}}`$ (proper gauge transformations)

$`\{\widehat{H}_{(c)ADM}^{^{}}[N_1,N_1^{\stackrel{ˇ}{r}}],\widehat{H}_{(c)ADM}^{^{}}[N_2,N_2^{\stackrel{ˇ}{r}}]\}=\widehat{H}_{(c)ADM}^{^{}}[N_3,N_3^{\stackrel{ˇ}{r}}],`$ (238)
$`if`$ $`N_i(\tau ,\stackrel{}{\sigma })=m_i(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{i\tau }(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{i\tau \stackrel{ˇ}{u}}(\tau )\sigma ^{\stackrel{ˇ}{u}},i=1,2,`$ (240)
$`and`$ $`N_{i\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=m_{i\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{i\stackrel{ˇ}{r}}(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{i\stackrel{ˇ}{r}\stackrel{ˇ}{u}}(\tau )\sigma ^{\stackrel{ˇ}{u}},i=1,2,`$ (242)
$``$
$`N_3`$ $`=`$ $`N_2^{\stackrel{ˇ}{r}}_{\stackrel{ˇ}{r}}N_1N_1^{\stackrel{ˇ}{r}}_{\stackrel{ˇ}{r}}N_2=m_3\stackrel{~}{\lambda }_{3\tau }{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{3\tau \stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}},`$ (243)
$`N_3^{\stackrel{ˇ}{r}}`$ $`=`$ $`_{\stackrel{}{N}_2}N_1^{\stackrel{ˇ}{r}}+N_2^{\stackrel{ˇ}{r}}N_1N_1^{\stackrel{ˇ}{r}}N_2=`$ (244)
$`=`$ $`N_1^{\stackrel{ˇ}{s}}_{\stackrel{ˇ}{s}}N_2^{\stackrel{ˇ}{r}}+N_2^{\stackrel{ˇ}{s}}_{\stackrel{ˇ}{s}}N_1^{\stackrel{ˇ}{r}}+N_2^{\stackrel{ˇ}{r}}N_1N_1^{\stackrel{ˇ}{r}}N_2=`$ (245)
$`=`$ $`ϵ{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}[m_{3\stackrel{ˇ}{s}}\stackrel{~}{\lambda }_{3\stackrel{ˇ}{s}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{3\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}],`$ (248)
$`with`$
$`\stackrel{~}{\lambda }_{3\tau }`$ $`=`$ $`{\displaystyle \frac{ϵ}{2}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{s}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{s}}],`$ (250)
$`\stackrel{~}{\lambda }_{3\tau \stackrel{ˇ}{u}}`$ $`=`$ $`{\displaystyle \frac{ϵ}{2}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{s}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{s}}],`$ (251)
$`m_3`$ $`=`$ $`ϵ{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(m_{2\stackrel{ˇ}{s}}[_{\stackrel{ˇ}{r}}m_1\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}]m_{1\stackrel{ˇ}{s}}[_{\stackrel{ˇ}{r}}m_2{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}]+`$ (254)
$`+_{\stackrel{ˇ}{r}}m_2[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]_{\stackrel{ˇ}{r}}m_1[\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}])`$
$`{\displaystyle \frac{ϵ}{2}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}})\left(\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}[\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\right),`$
$`\stackrel{~}{\lambda }_{3\stackrel{ˇ}{r}}`$ $`=`$ $`{\displaystyle \frac{1}{2}}\left(\stackrel{~}{\lambda }_{1\tau }\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{2\tau }\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}ϵ\delta ^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{n}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}}]\right),`$ (255)
$`\stackrel{~}{\lambda }_{3\stackrel{ˇ}{r}\stackrel{ˇ}{u}}`$ $`=`$ $`{\displaystyle \frac{1}{2}}\left(\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{u}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{u}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}ϵ\delta ^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{n}\stackrel{ˇ}{u}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}\stackrel{ˇ}{u}}]\right),`$ (256)
$`m_{3\stackrel{ˇ}{r}}`$ $`=`$ $`m_2[_{\stackrel{ˇ}{r}}m_1{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}]m_1[_{\stackrel{ˇ}{r}}m_2{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}]+`$ (263)
$`+_{\stackrel{ˇ}{r}}m_2[\stackrel{~}{\lambda }_{1\tau }+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]_{\stackrel{ˇ}{r}}m_1[\stackrel{~}{\lambda }_{2\tau }+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]`$
$`{\displaystyle \frac{ϵ}{2}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}\delta ^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}})\left([\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{n}}[\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}}+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{n}}\right)`$
$`ϵ{}_{}{}^{3}g_{}^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}(m_{1\stackrel{ˇ}{m}}[_{\stackrel{ˇ}{n}}m_{2\stackrel{ˇ}{r}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{n}}]m_{2\stackrel{ˇ}{m}}[_{\stackrel{ˇ}{n}}m_{1\stackrel{ˇ}{r}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{n}}]+`$
$`+{\displaystyle \frac{1}{2}}[_{\stackrel{ˇ}{m}}m_{1\stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{n}\stackrel{ˇ}{u}}_{\stackrel{ˇ}{m}}m_{2\stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}\stackrel{ˇ}{u}}]\sigma ^{\stackrel{ˇ}{u}})`$
$`ϵ{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{t}\stackrel{ˇ}{n}}_{\stackrel{ˇ}{t}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{m}}([m_{1\stackrel{ˇ}{n}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}][m_{2\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]`$
$`[m_{2\stackrel{ˇ}{n}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{n}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{n}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}][m_{1\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}}{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]),`$
$`{\displaystyle d^3\sigma }`$ $`[m_3\stackrel{~}{}+m_3^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}](\tau ,\stackrel{}{\sigma })+\stackrel{~}{\lambda }_{3A}(\tau )\widehat{P}_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{3AB}(\tau )\widehat{J}_{ADM}^{AB}=`$ (265)
$`=`$ $`{\displaystyle }d^3\sigma _1d^3\sigma _2[m_1(\tau ,\stackrel{}{\sigma }_1)m_2(\tau ,\stackrel{}{\sigma }_2)\{\stackrel{~}{}(\tau ,\stackrel{}{\sigma }_1),\stackrel{~}{}(\tau ,\stackrel{}{\sigma }_2)\}+`$ (266)
$`+`$ $`[m_1(\tau ,\stackrel{}{\sigma }_1)m_2^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }_2)m_2(\tau ,\stackrel{}{\sigma }_1)m_1^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }_2)]\{\stackrel{~}{}(\tau ,\stackrel{}{\sigma }_1),{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}(\tau ,\stackrel{}{\sigma }_2)\}+`$ (267)
$`+`$ $`m_1^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }_1)m_2^{\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma }_2)\{{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}(\tau ,\stackrel{}{\sigma }_1),{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma }_2)\}]+`$ (268)
$`+`$ $`{\displaystyle }d^3\sigma [(\stackrel{~}{\lambda }_{1A}(\tau )m_2(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{2A}(\tau )m_1(\tau ,\stackrel{}{\sigma }))\{\widehat{P}_{ADM}^A,\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}+`$ (269)
$`+`$ $`\left(\stackrel{~}{\lambda }_{1A}(\tau )m_2^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{2A}(\tau )m_1^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })\right)\{\widehat{P}_{ADM}^A,{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}(\tau ,\stackrel{}{\sigma })\}+`$ (270)
$`+`$ $`{\displaystyle \frac{1}{2}}\left(\stackrel{~}{\lambda }_{1AB}(\tau )m_2(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{2AB}(\tau )m_1(\tau ,\stackrel{}{\sigma })\right)\{\widehat{J}_{ADM}^{AB},\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}+`$ (271)
$`+`$ $`{\displaystyle \frac{1}{2}}(\stackrel{~}{\lambda }_{1AB}(\tau )m_2^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })\stackrel{~}{\lambda }_{2AB}(\tau )m_1^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }))\{\widehat{J}_{ADM}^{AB},{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}(\tau ,\stackrel{}{\sigma })\}]+`$ (272)
$`+`$ $`\stackrel{~}{\lambda }_{1A}(\tau )\stackrel{~}{\lambda }_{2B}(\tau )\{\widehat{P}_{ADM}^A,\widehat{P}_{ADM}^B\}+{\displaystyle \frac{1}{4}}\stackrel{~}{\lambda }_{1AB}(\tau )\stackrel{~}{\lambda }_{2CD}(\tau )\{\widehat{J}_{ADM}^{AB},\widehat{J}_{ADM}^{CD}\}+`$ (273)
$`+`$ $`{\displaystyle \frac{1}{2}}\left(\stackrel{~}{\lambda }_{1A}(\tau )\stackrel{~}{\lambda }_{2CD}(\tau )\stackrel{~}{\lambda }_{2A}(\tau )\stackrel{~}{\lambda }_{1CD}(\tau )\right)\{\widehat{P}_{ADM}^A,\widehat{J}_{ADM}^{CD}\}.`$ (274)
This implies: i) the Poisson brackets of two proper gauge transformations \[$`\stackrel{~}{\lambda }_{iA}=\stackrel{~}{\lambda }_{iAB}=0`$, i=1,2\] is a proper gauge transformation \[$`\stackrel{~}{\lambda }_{3A}=\stackrel{~}{\lambda }_{3AB}=0`$\], see Eq.(152); ii) if $`N_2=m_2`$, $`N_{2\stackrel{ˇ}{r}}=m_{2\stackrel{ˇ}{r}}`$ \[$`\stackrel{~}{\lambda }_{2A}=\stackrel{~}{\lambda }_{2AB}=0`$\] correspond to a proper gauge transformation and $`N_1,N_{1\stackrel{ˇ}{r}}`$ \[$`m_1=m_{1\stackrel{ˇ}{r}}=0`$\] to an improper one, then we get a proper gauge transformation $`\stackrel{~}{\lambda }_{3A}=\stackrel{~}{\lambda }_{3AB}=0`$, $`m_3=ϵ{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\frac{1}{2}m_{2\stackrel{ˇ}{s}}\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}+_{\stackrel{ˇ}{r}}m_2[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}}+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}])`$, $`m_{3\stackrel{ˇ}{r}}=\frac{1}{2}m_2\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}+_{\stackrel{ˇ}{r}}m_2[\stackrel{~}{\lambda }_{1\tau }+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\frac{ϵ}{2}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}(m_{2\stackrel{ˇ}{m}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{n}}_{\stackrel{ˇ}{m}}m_{2\stackrel{ˇ}{r}}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}})`$ $`ϵ{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{t}\stackrel{ˇ}{n}}_{\stackrel{ˇ}{t}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{m}}(m_{2\stackrel{ˇ}{n}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}}+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]m_{2\stackrel{ˇ}{m}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}}+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{n}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}])`$, and Eqs.(274) may be interpreted as saying that the 10 Poincaré charges are gauge invariant and Noether constants of motion

$`\{\widehat{P}_{ADM}^\tau ,\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}=_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0,`$ (275)
$`\{\widehat{P}_{ADM}^\tau ,{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{r}}^{}(\tau ,\stackrel{}{\sigma })\}=0,`$ (276)
$`\{\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}=ϵ_{\stackrel{ˇ}{s}}[{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\stackrel{~}{}(\tau ,\stackrel{}{\sigma })]0,`$ (277)
$`\{\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })\}=ϵ_{\stackrel{ˇ}{s}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{t}}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{t}}^{}(\tau ,\stackrel{}{\sigma })+`$ (278)
$`+ϵ{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{t}}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}g_{\stackrel{ˇ}{s}\stackrel{ˇ}{w}}^{}(\tau ,\stackrel{}{\sigma })_{\stackrel{ˇ}{t}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{w}\stackrel{ˇ}{u}}(\tau ,\stackrel{}{\sigma }){}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{u}}^{}(\tau ,\stackrel{}{\sigma })0,`$ (279)
$`\{\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}},\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}=2{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })2_{\stackrel{ˇ}{s}}[\sigma ^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })]0,`$ (280)
$`\{\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}},{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })\}=\delta _{\stackrel{ˇ}{s}}^{\stackrel{ˇ}{r}}\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0,`$ (281)
$`\{\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},\stackrel{~}{}(\tau ,\stackrel{}{\sigma })\}=ϵ_{\stackrel{ˇ}{u}}\left([{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{s}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{r}}]\stackrel{~}{}\right)(\tau ,\stackrel{}{\sigma })0,`$ (282)
$`\{\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{w}}^{}(\tau ,\stackrel{}{\sigma })\}=((\delta _{\stackrel{ˇ}{u}}^{\stackrel{ˇ}{r}}\delta _{\stackrel{ˇ}{w}}^{\stackrel{ˇ}{s}}\delta _{\stackrel{ˇ}{w}}^{\stackrel{ˇ}{r}}\delta _{\stackrel{ˇ}{u}}^{\stackrel{ˇ}{s}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{u}}(\tau ,\stackrel{}{\sigma })+`$ (283)
$`+\sigma ^{\stackrel{ˇ}{s}}\left[ϵ_{\stackrel{ˇ}{w}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{t}}{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{t}}^{}+{}_{}{}^{3}g_{\stackrel{ˇ}{w}\stackrel{ˇ}{v}}^{}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{m}}_{\stackrel{ˇ}{m}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{v}}\right](\tau ,\stackrel{}{\sigma })`$ (284)
$`\sigma ^{\stackrel{ˇ}{r}}[ϵ_{\stackrel{ˇ}{w}}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{t}}{}_{}{}^{3}\stackrel{~}{}_{\stackrel{ˇ}{t}}^{}+{}_{}{}^{3}g_{\stackrel{ˇ}{w}\stackrel{ˇ}{v}}^{}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{m}}_{\stackrel{ˇ}{m}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{v}}](\tau ,\stackrel{}{\sigma }))0,`$ (285)
$``$ (286)
$`_\tau \widehat{P}_{ADM}^A\stackrel{}{=}\{\widehat{P}_{ADM}^A,\widehat{H}_{(D)ADM}^{^{}}\}=\{\widehat{P}_{ADM}^A,\widehat{H}_{(c)ADM}^{^{}}\}0,`$ (287)
$`_\tau \widehat{J}_{ADM}^{AB}\stackrel{}{=}\{\widehat{J}_{ADM}^{AB},\widehat{H}_{(D)ADM}^{^{}}\}=\{\widehat{J}_{ADM}^{AB},\widehat{H}_{(c)ADM}^{^{}}\}0.`$ (288)
From Eqs.(288) we see that also the strong Poincaré charges are constants of motion ¶\**¶\**¶\**It is not clear how it could be shown that they are conserved independently from the first class constraints.

$`P_{ADM}^\tau `$ $`=`$ $`\widehat{P}_{ADM}^\tau +{\displaystyle d^3\sigma \stackrel{~}{}(\tau ,\stackrel{}{\sigma })},`$ (289)
$`P_{ADM}^{\stackrel{ˇ}{r}}`$ $`=`$ $`\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}+{\displaystyle d^3\sigma {}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })},`$ (290)
$`J_{ADM}^{\tau \stackrel{ˇ}{r}}`$ $`=`$ $`\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}}+{\displaystyle \frac{1}{2}}{\displaystyle d^3\sigma \sigma ^{\stackrel{ˇ}{r}}\stackrel{~}{}(\tau ,\stackrel{}{\sigma })},`$ (291)
$`J_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ $`=`$ $`\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}+{\displaystyle d^3\sigma [\sigma ^{\stackrel{ˇ}{s}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })\sigma ^{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })]},`$ (295)
$``$
$`_\tau P_{ADM}^A0,`$
$`_\tau J_{ADM}^{AB}0;`$
iii) the Poisson bracket of two improper gauge transformations \[$`m_i=m_{i\stackrel{ˇ}{r}}=0`$, i=1,2\] is an improper gauge transformation with the previous $`\stackrel{~}{\lambda }_{3A}`$, $`\stackrel{~}{\lambda }_{3AB}`$ and with $`m_3=\frac{ϵ}{2}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}})(\stackrel{~}{\lambda }_{1\tau \stackrel{ˇ}{r}}[\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}}+\frac{1}{2}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{2\tau \stackrel{ˇ}{r}}[\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}}+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}])`$, $`m_{3\stackrel{ˇ}{r}}=\frac{ϵ}{2}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}}\delta ^{\stackrel{ˇ}{m}\stackrel{ˇ}{n}})([\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}}+\frac{1}{2}\stackrel{~}{\lambda }_{1\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{2\stackrel{ˇ}{r}\stackrel{ˇ}{n}}[\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}}+\frac{1}{2}\stackrel{~}{\lambda }_{2\stackrel{ˇ}{m}\stackrel{ˇ}{u}}\sigma ^{\stackrel{ˇ}{u}}]\stackrel{~}{\lambda }_{1\stackrel{ˇ}{r}\stackrel{ˇ}{n}})`$. This implies that the 10 strong Poincaré charges (and, therefore, also the weak ones) satisfy the Poincaré algebra modulo the first class constraints, namely modulo the Hamiltonian group of gauge transformations

$`\{\widehat{P}_{ADM}^\tau ,\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}}\}`$ $`=`$ $`ϵ\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},`$ (296)
$`\{\widehat{P}_{ADM}^\tau ,\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\}`$ $`=`$ $`0,`$ (297)
$`\{\widehat{P}_{ADM}^{\stackrel{ˇ}{u}},\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}}\}`$ $`=`$ $`ϵ\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}\widehat{P}_{ADM}^\tau +ϵ{\displaystyle d^3\sigma [({}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}})\stackrel{~}{}](\tau ,\stackrel{}{\sigma })},`$ (298)
$`\{\widehat{P}_{ADM}^{\stackrel{ˇ}{u}},\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\}`$ $`=`$ $`ϵ[\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{s}}\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}\widehat{P}_{ADM}^{\stackrel{ˇ}{s}}+`$ (299)
$`+`$ $`{\displaystyle }d^3\sigma [({}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{s}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{s}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{s}}](\tau ,\stackrel{}{\sigma })],`$ (300)
$`\{\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}},\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{s}}\}`$ $`=`$ $`ϵ\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},`$ (301)
$`\{\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{r}},\widehat{J}_{ADM}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}\}`$ $`=`$ $`ϵ[\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{v}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}\widehat{J}_{ADM}^{\tau \stackrel{ˇ}{u}}`$ (302)
$``$ $`{\displaystyle }d^3\sigma [(\sigma ^{\stackrel{ˇ}{v}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}})\sigma ^{\stackrel{ˇ}{u}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}))\stackrel{~}{}](\tau ,\stackrel{}{\sigma })],`$ (303)
$`\{\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},\widehat{J}_{ADM}^{\stackrel{ˇ}{u}\stackrel{ˇ}{v}}\}`$ $`=`$ $`ϵ[\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\widehat{J}_{ADM}^{\stackrel{ˇ}{s}\stackrel{ˇ}{v}}+\delta ^{\stackrel{ˇ}{s}\stackrel{ˇ}{v}}\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}\widehat{J}_{ADM}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\delta ^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}]+`$ (304)
$`+`$ $`ϵ{\displaystyle }d^3\sigma [(\sigma ^{\stackrel{ˇ}{s}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}})\sigma ^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{v}}\delta ^{\stackrel{ˇ}{s}\stackrel{ˇ}{v}})){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{u}}+`$ (305)
$`+`$ $`\left(\sigma ^{\stackrel{ˇ}{u}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{v}\stackrel{ˇ}{s}}\delta ^{\stackrel{ˇ}{v}\stackrel{ˇ}{s}})\sigma ^{\stackrel{ˇ}{v}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{s}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{s}})\right){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}`$ (306)
$``$ $`\left(\sigma ^{\stackrel{ˇ}{s}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}})\sigma ^{\stackrel{ˇ}{r}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}}\delta ^{\stackrel{ˇ}{s}\stackrel{ˇ}{u}})\right){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{v}}`$ (307)
$``$ $`(\sigma ^{\stackrel{ˇ}{u}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}}\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{v}})\sigma ^{\stackrel{ˇ}{v}}({}_{}{}^{3}g_{}^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}}\delta ^{\stackrel{ˇ}{u}\stackrel{ˇ}{r}})){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{s}}](\tau ,\stackrel{}{\sigma }),`$ (309)
$``$
$`\{\widehat{P}_{ADM}^A,\widehat{P}_{ADM}^B\}`$ $`=`$ $`0,`$ (310)
$`\{\widehat{P}_{ADM}^A,\widehat{J}_{ADM}^{BC}\}`$ $``$ $`{}_{}{}^{4}\eta _{}^{AC}\widehat{P}_{ADM}^B{}_{}{}^{4}\eta _{}^{AB}\widehat{P}_{ADM}^C,`$ (311)
$`\{\widehat{J}_{ADM}^{AB},\widehat{J}_{ADM}^{CD}\}`$ $``$ $`C_{EF}^{ABCD}\widehat{J}_{ADM}^{EF},`$ (312)
$``$ (313)
(314)
$`\{P_{ADM}^A,P_{ADM}^B\}0,`$ (315)
$`\{P_{ADM}^A,J_{ADM}^{BC}\}{}_{}{}^{4}\eta _{}^{AC}P_{ADM}^B{}_{}{}^{4}\eta _{}^{AB}P_{ADM}^C,`$ (316)
$`\{J_{ADM}^{AB},J_{ADM}^{CD}\}C_{EF}^{ABCD}J_{ADM}^{EF},`$ (317)
in accord with Eqs. (163).

In Ref. it is noted that the terms depending on the constraints in Eq.(312) contain the Hamiltonian version of the supertranslation ambiguity. Indeed, these terms depend on $`{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ and, by using Eq.(137), this quantity may be rewritten as $`\frac{1}{r}{}_{}{}^{3}\stackrel{~}{s}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})+{}_{}{}^{3}\stackrel{~}{g}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$ with $`{}_{}{}^{3}\stackrel{~}{g}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$ going to zero at spatial infinity faster than $`1/r`$. Now the objects $`d^3\sigma \frac{1}{r}{}_{}{}^{3}\stackrel{~}{s}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0`$,…. are generators of supertranslation gauge transformations with zero momentum generalizing those appearing in the Dirac Hamiltonian, i.e. $`d^3\sigma [s\stackrel{~}{}+s_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}](\tau ,\stackrel{}{\sigma })`$.

To remove this gauge ambiguity in the Poincaré algebra and simultaneously to kill the supertranslations, which forbid the existence of a unique Poincaré group, the strategy of Ref. is to add four gauge fixings to the secondary first class constraints $`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })0`$, $`{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0`$ to fix a coordinate system and therefore to build a realization of the reduced phase space. In Ref. one uses the maximal slice condition and harmonic 3-coordinates.

Anderson’s paper  shows that to have “zero momentum” for the supertranslations ¶††¶††¶††Namely vanishing supertranslation charges arising from the parts $`s(\tau ,\stackrel{}{\sigma })`$, $`s_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ of $`n(\tau ,\stackrel{}{\sigma })`$, $`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$. and also to have well defined Lorentz charges, one needs the parity conditions in suitable function spaces, which do not imply a strong Poincaré algebra, and a class $`𝒞`$ of coordinate systems of $`M^4`$ including the gauges corresponding to York QI gauge conditions. In that paper it is also shown that to preserve the boundary conditions containing the parity conditions, one has to restrict $`DiffM^4`$ to the allowed transformations $`Diff_IM^4\times P`$ ¶‡‡¶‡‡¶‡‡Namely to pseudo-diffeomorphisms tending to the identity in a direction-independent way at spatial infinity plus the Poincaré group..

However, the presence of supertranslations is intertwined with the problem of the choice of the 3+1 splittings of $`M^4`$ with associated foliations well defined geometrically at spatial infinity (one needs a restriction to gauges where $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$, as said also in Appendix A) and with the rejection of the interpretation of the asymptotic Poincaré charges (and of the supertranslation generators in the SPI algebra) as generators of improper gauge transformations.

## VI Absence of Supertranslations: Christodoulou-Klainermann Spacetimes.

Due to all these problems, instead of adding gauge fixings, it will be assumed: i) the existence of a restricted class $`𝒞`$ of coordinate systems for $`M^4`$ associated with Eqs.(163), i.e. with $`m=n`$, $`m_r=n_r`$; ii) that the gauge transformations are so restricted that we cannot leave this class $`𝒞`$. The four gauge fixings then allow to choose a particular coordinate system in the class $`𝒞`$ and to get a strong Poincaré algebra in Eq.(312). With this restriction the (unknown) supertranslation generators in the SPI algebra should vanish.

Since supertranslations must be absent to have a unique Poincaré algebra, it must be

$`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})=0,{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,{\displaystyle \frac{\sigma ^{\stackrel{ˇ}{n}}}{r}})=M\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},`$ (318)
$`and`$ (319)
$`s(\tau ,\stackrel{}{\sigma })=s_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=0,`$ (320)
$``$ (321)
$`m(\tau ,\stackrel{}{\sigma })=n(\tau ,\stackrel{}{\sigma }),m_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }),`$ (322)
in every allowed coordinate system (they are connected by proper gauge transformations which do not introduce asymptotic angle-dependence).

This suggests that, in a suitable class $`𝒞`$ of coordinate systems for $`M^4`$ ∥\*∥\*∥\*Then transformed to coordinates adapted to the 3+1 splitting of $`M^4`$ with a foliation with spacelike leaves $`\mathrm{\Sigma }_\tau `$, whose allowed coordinates systems are in the previously defined atlas $`𝒞_\tau `$. asymptotic to Minkowski coordinates and with the general coordinate transformations suitably restricted at spatial infinity so that it is not possible to go out this class, one should have the following direction-independent boundary conditions for the ADM variables for $`r\mathrm{}`$ \[$`ϵ>0`$\]

$`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`(1+{\displaystyle \frac{M}{r}})\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}+{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma }),{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })=O(r^{(1+ϵ)}),`$ (323)
$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{}_{}{}^{3}k_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })=O(r^{(2+ϵ)}),`$ (324)
$`N(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)}(\tau ,\stackrel{}{\sigma })+n(\tau ,\stackrel{}{\sigma }),n(\tau ,\stackrel{}{\sigma })=O(r^{(2+ϵ)}),`$ (326)
$`N_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })+n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }),n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=O(r^ϵ),`$ (327)
$`N_{(as)}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\stackrel{~}{\lambda }_\tau (\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\tau \stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (329)
$`N_{(as)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (330)
$``$ $`N_{(as)A}(\tau ,\stackrel{}{\sigma })\stackrel{def}{=}(N_{(as)};N_{(as)\stackrel{ˇ}{r}})(\tau ,\stackrel{}{\sigma })=\stackrel{~}{\lambda }_A(\tau ){\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{A\stackrel{ˇ}{s}}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$ (331)
in accord with Regge-Teitelboim and Beig-O’Murchadha .

We have assumed the angle-independent behaviour $`{}_{}{}^{3}s_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})=M\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$, $`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\frac{\sigma ^{\stackrel{ˇ}{n}}}{r})=0`$. Since this implies the vanishing of the ADM momentum, $`P_{ADM}^{\stackrel{ˇ}{r}}=0`$, we see that the elimination of supertranslations is connected with a definition of rest frame in the asymptotic Dirac coordinates $`z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$. Therefore, the previous boundary conditions on $`{}_{}{}^{3}g`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}`$, are compatible and can be replaced with the Christodoulou-Klainermann ones of Eq.(123), but in general with non vanishing shift functions. To have a non-vanishing ADM momentum one should have $`{}_{}{}^{3}t_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })=const.\delta ^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ in Eqs.(141) violating the parity conditions and creating problems with supertranslations.

The vanishing of the strong ADM 3-momentum $`P_{ADM}^{\stackrel{ˇ}{r}}=0`$ and Eq.(295) imply

$`\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}`$ $``$ $`0,`$ (332)
$`P_{ADM}^{(\mu )}`$ $`=`$ $`b_{(\mathrm{})\tau }^{(\mu )}P_{ADM}^\tau =l_{(\mathrm{})}^{(\mu )}P_{ADM}^\tau ,`$ (334)
$`\widehat{P}_{ADM}^{(\mu )}`$ $``$ $`l_{(\mathrm{})}^{(\mu )}\widehat{P}_{ADM}^\tau .`$ (335)
Therefore, the boundary conditions (331) require three first class constraints implying the vanishing of the weak ADM 3-momentum as a rest frame condition.

Therefore, to have a formulation of metric gravity in which all the fields and the gauge transformations have an angle-independent limit at spatial infinity we have to add 6 gauge fixings on the $`b_{(\mathrm{})A}^{(\mu )}(\tau )`$ \[see later on Eqs.(392)\] like we do in parametrized Minkowski theory for going from arbitrary spacelike hyperplanes to the Wigner ones (orthogonal to $`p_s^{(\mu )}P_{sys}^{(\mu )}`$) as it is explained in Appendix A: only on them we get the constraints $`\stackrel{}{P}_{sys}0`$ giving the rest-frame conditions. Let us call Wigner-Sen-Witten (WSW) the selected spacelike hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ (the reason of the name will be clear in Section XII). Since $`b_{(\mathrm{})A}^{(\mu )}=\frac{z_{(\mathrm{})}^{(\mu )}(\sigma )}{\sigma ^A}`$, this is a strong restriction on the coordinate systems $`x^\mu =z^\mu (\tau ,\stackrel{}{\sigma })\delta _{(\mu )}^\mu z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ of $`M^4`$, which can be reached from the $`\mathrm{\Sigma }_\tau ^{WSW)}`$-adapted coordinates $`\sigma ^A=(\tau ,\stackrel{}{\sigma })`$ without introducing asymptotic angle dependence (namely supertranslations). The time constancy of these six gauge fixings will give $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$, solving the problems with the geometrical definition of the foliations at spatial infinity since $`\stackrel{~}{\lambda }_{AB}(\tau )`$ discussed in Appendix A and implying 3+1 splittings of $`M^4`$ with leaves well defined at spatial infinity.

With these assumptions one has from Eqs.(20) the following form of the line element

$`ds^2`$ $`=`$ $`ϵ\left([N_{(as)}+n]^2[N_{(as)\stackrel{ˇ}{r}}+n_{\stackrel{ˇ}{r}}]{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}[N_{(as)\stackrel{ˇ}{s}}+n_{\stackrel{ˇ}{s}}]\right)(d\tau )^2`$ (336)
$``$ $`2ϵ[N_{(as)\stackrel{ˇ}{r}}+n_{\stackrel{ˇ}{r}}]d\tau d\sigma ^{\stackrel{ˇ}{r}}ϵ{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}d\sigma ^{\stackrel{ˇ}{r}}d\sigma ^{\stackrel{ˇ}{s}})=`$ (337)
$`=`$ $`ϵ([N_{(as)}+n]^2(d\tau )^2`$ (338)
$``$ $`{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}[{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}^{}d\sigma ^{\stackrel{ˇ}{u}}+(N_{(as)\stackrel{ˇ}{r}}+n_{\stackrel{ˇ}{r}})d\tau ][{}_{}{}^{3}g_{\stackrel{ˇ}{s}\stackrel{ˇ}{v}}^{}d\sigma ^{\stackrel{ˇ}{v}}+(N_{(as)\stackrel{ˇ}{s}}+n_{\stackrel{ˇ}{s}})d\tau ]).`$ (339)
Let us remark that asymptotically at spatial infinity the line element $`ds^2`$ of Eq.(339) becomes

$`ds_{(as)}^2`$ $`=`$ $`ϵ\left([N_{(as)}^2\stackrel{}{N}_{(as)}^2](d\tau )^22\stackrel{}{N}_{(as)}d\tau d\stackrel{}{\sigma }d\stackrel{}{\sigma }^2\right)+O(r^1)=`$ (340)
$`=`$ $`ϵ([\stackrel{~}{\lambda }_\tau ^2\stackrel{}{\stackrel{~}{\lambda }}^2+(\stackrel{~}{\lambda }_\tau \stackrel{~}{\lambda }_{\tau s}\stackrel{~}{\lambda }_r\stackrel{~}{\lambda }_{rs})\sigma ^s+{\displaystyle \frac{1}{4}}(\stackrel{~}{\lambda }_{\tau u}\stackrel{~}{\lambda }_{\tau v}\stackrel{~}{\lambda }_{ru}\stackrel{~}{\lambda }_{rv})\sigma ^u\sigma ^v](d\tau )^2+`$ (341)
$`+`$ $`2(\stackrel{~}{\lambda }_r+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{rs}\sigma ^s)d\tau d\sigma ^rd\stackrel{}{\sigma }^2)+O(r^1)=`$ (342)
$`=`$ $`ϵ([\stackrel{~}{\lambda }_\tau ^2\stackrel{}{\stackrel{~}{\lambda }}+2(\stackrel{~}{\lambda }_\tau {\displaystyle \frac{a_s}{c^2}}+ϵ_{sru}\stackrel{~}{\lambda }_r{\displaystyle \frac{\omega ^u}{c}})\sigma ^s+{\displaystyle \frac{1}{c^2}}({\displaystyle \frac{a^ua^v}{c^2}}+\omega ^u\omega ^v\delta ^{uv}\stackrel{}{\omega }^2)\sigma ^u\sigma ^v](d\tau )^2+`$ (343)
$`+`$ $`2[\stackrel{~}{\lambda }_rϵ_{rsu}\sigma ^s{\displaystyle \frac{\omega ^u}{c}}]d\tau d\sigma ^rd\stackrel{}{\sigma }^2)+O(r^1)=`$ (344)
$`=`$ $`ϵ\left([\stackrel{~}{\lambda }_\tau ^2(\tau )\stackrel{}{\stackrel{~}{\lambda }}^2(\tau )](d\tau )^2+2\stackrel{~}{\lambda }_r(\tau )d\tau d\sigma ^rd\stackrel{}{\sigma }^2\right)+`$ (345)
$`+`$ $`{\displaystyle \frac{1}{c^2}}[2\stackrel{}{a}\stackrel{}{\sigma }+({\displaystyle \frac{a^ua^v}{c^2}}+\omega ^u\omega ^v\delta ^{uv}\stackrel{}{\omega }^2)\sigma ^u\sigma ^v](d\tau )^22ϵ^{rsu}\sigma ^s{\displaystyle \frac{\omega ^u}{c}}d\tau d\sigma ^u+O(r^1),`$ (351)
$`\stackrel{~}{\lambda }_{\tau r}(\tau )=2{\displaystyle \frac{a_r(\tau )}{c^2}},acceleration,`$
$`\stackrel{~}{\lambda }_{rs}(\tau )=2ϵ_{rsu}{\displaystyle \frac{\omega ^u(\tau )}{c}},angularvelocityofrotation;`$
$`for\stackrel{~}{\lambda }_{AB}(\tau )=0,(absenceofsupertranslations)`$
$`ds_{(as)}^2`$ $`=`$ $`ϵ\left([\stackrel{~}{\lambda }_\tau ^2(\tau )\stackrel{}{\stackrel{~}{\lambda }}^2(\tau )](d\tau )^2+2\stackrel{~}{\lambda }_r(\tau )d\tau d\sigma ^rd\stackrel{}{\sigma }^2\right)+O(r^1),`$ (355)
$`for\stackrel{~}{\lambda }_\tau (\tau )=ϵ,\stackrel{~}{\lambda }_r(\tau )=0`$
$`ds_{(as)}^2`$ $`=`$ $`{}_{}{}^{4}\eta _{AB}^{}d\sigma ^Ad\sigma ^B+O(r^1).`$ (357)
Since we have $`\dot{x}_{(\mathrm{})}^{(\mu )}(\tau )\stackrel{}{=}b_{(\mathrm{})A}^{(\mu )}(\tau )\stackrel{~}{\lambda }^A(\tau )`$, it follows that for $`\stackrel{~}{\lambda }_\tau (\tau )=ϵ`$, $`\stackrel{~}{\lambda }_r(\tau )=0`$, the point $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}(\tau )`$ moves with 4-velocity $`(ϵ;\stackrel{}{0})`$ and has attached an accelerated rotating coordinate system, which becomes inertial when $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$,namely when the foliations become geometrically well defined at spatial infinity.

The conclusion of this discussion is a qualitative indication on which type of atlas $`𝒞`$ of coordinate systems is allowed on the 4-manifolds of spacetimes $`M^4`$ without supertranslations and on which type of function space $`𝒲`$ (an appropriate weighted Sobolev space as for Yang-Mills theory) is needed for the field variables $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$, $`n(\tau ,\stackrel{}{\sigma })`$, $`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ and for the parameters $`\alpha (\tau ,\stackrel{}{\sigma })`$, $`\alpha _{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ \[of which $`n(\tau ,\stackrel{}{\sigma })`$, $`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ are special cases\] of allowed proper gauge transformations connected to the identity ∥†∥†∥†The rigid improper ones have been eliminated and replaced by the new canonical variables $`\stackrel{~}{\lambda }_A(\tau )`$, $`\stackrel{~}{\lambda }_{AB}(\tau )`$ but with $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$ to avoid supertranslations and geometrical problems with the foliations at spatial infinity., generated by the secondary first class constraints.

We must have:

i) The allowed 3+1 splittings of these spacetimes $`M^4`$ must have the leaves, i.e. the Cauchy spacelike hypersurfaces $`\mathrm{\Sigma }_\tau `$, approaching Minkowski hyperplanes at spatial infinity in a direction-independent way and being asymptotically orthogonal to the weak ADM 4-momentum. The leaves $`\mathrm{\Sigma }_\tau R^3`$ have an atlas $`𝒞_\tau `$ containing the global coordinate systems $`\{\sigma ^{\stackrel{ˇ}{r}}\}`$ in which Eq.(331) holds. Starting from the adapted coordinates $`(\tau ,\stackrel{}{\sigma })`$ in $`R_\tau \times 𝒞_\tau `$ we build coordinates for $`M^4`$ which asymptotically tend to $`\delta _{(\mu )}^\mu z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ of Eq.(157).

ii) The atlas $`𝒞`$ for these spacetimes $`M^4`$ contains only coordinate systems approaching the Dirac asymptotic Minkowski rectangular coordinates of Eq.(157) at spatial infinity in a direction-independent way and restricted by the 6 gauge fixings \[see later on Eq.(392)\] needed to get $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$.

When anyone of these conditions i) and ii) is not respected, some quantity becomes asymptotically angle-dependent and one looses control on supertranslations (the angle-dependence is propagated by the gauge transformations).

iii)As a consequence of what has been said and of Eqs.(331), the space $`𝒲`$ should be defined by angle (or direction)-independent boundary conditions for the field variables for $`r\mathrm{}`$ of the following form:

$`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })_r\mathrm{}(1+{\displaystyle \frac{M}{r}})\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}+{}_{}{}^{3}h_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })=(1+{\displaystyle \frac{M}{r}})\delta _{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}+O(r^{3/2}),`$ (358)
$`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}{}_{}{}^{3}k_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })=O(r^{5/2}),`$ (359)
$`n(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^{(2+ϵ)}),ϵ>0,`$ (360)
$`n_{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^ϵ),ϵ>0,`$ (361)
$`\stackrel{~}{\pi }_n(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^3),`$ (362)
$`\stackrel{~}{\pi }_\stackrel{}{n}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^3),`$ (363)
$`\lambda _n(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^{(3+ϵ)}),`$ (364)
$`\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{n}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^ϵ),`$ (365)
$`\alpha (\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^{(3+ϵ)}),`$ (366)
$`\alpha _{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^ϵ),`$ (367)
$``$ (368)
$`\stackrel{~}{}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^3),`$ (369)
$`{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })_r\mathrm{}O(r^3).`$ (370)
With these boundary conditions we have $`_{\stackrel{ˇ}{u}}{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}=O(r^2)`$ and not $`O(r^{(1+ϵ)})`$ ∥‡∥‡∥‡Note that with this last condition and $`ϵ<1/2`$ it is shown in Ref. that the ADM action (but in the first order formulation) becomes meaningless since the spatial integral diverges (in this reference it is also noted that with these boundary conditions adapted to asymptotic flatness at spatial infinity the Hilbert action may not produce a consistent and finite variational principle).; this is compatible with the definition of gravitational radiation given by Christodoulou and Klainermann, but not with the one of Ref..

In this function space $`𝒲`$ supertranslations are not allowed by definition and proper gauge transformations generated by the secondary constraints map $`𝒲`$ into itself. A coordinate-independent characterization of $`𝒲`$ (see Ref. for an attempt) should be given through an intrinsic definition of a minimal atlas of coordinate charts $`𝒞_\tau `$ of $`\mathrm{\Sigma }_\tau `$ such that the lifts to 3-tensors on $`\mathrm{\Sigma }_\tau `$ in $`𝒲`$ of the 3-diffeomorphisms in $`Diff\mathrm{\Sigma }_\tau `$ maps them into them.

Therefore, a unique asymptotic Poincaré group, modulo gauge transformations, is selected. Moreover, in accord with Anderson also $`DiffM^4`$ is restricted to $`Diff_IM^4\times P`$, so to map the class $`𝒞`$ of coordinate systems into itself. Now in $`Diff_IM^4\times P`$ the allowed proper pseudo-diffeomorphisms $`Diff_IM^4`$ are a normal subgroup (they go to the identity in an angle-independent way at spatial infinity), while the Poincaré group $`P`$ describes the rigid improper gauge transformations (the non-rigid improper ones are assumed to be absent) as in Bergmann”s proposal. Finally, following Marolf, the Poincaré group is not interpreted as a group of improper gauge transformations but only as a source of superselection rules, which however seem to be consistent only in the rest frame $`P_{ADM}^{\stackrel{ˇ}{r}}=0`$, if we insist on the absence of supertranslations so to have the possibility to define the ADM spin Casimir.

Since in Section IX it will be shown that the gauge transformations generated by the superhamiltonian constraint produce a change in the extrinsic curvature of the spacelike hypersurface $`\mathrm{\Sigma }_\tau `$ trnasformaing it in a different spacelike hypersurface, one has the indication that, in absence of supertranslations, the functions $`N`$, $`\alpha `$, $`\lambda _N`$, should go like $`O(r^{(2+ϵ)})`$ and not like $`O(r^ϵ)`$ (in the case of proper gauge transformations).

iv) All the previous discussion points toward assuming the following Dirac Hamiltonian

$`\widehat{H}_{(c)ADM}^\mathrm{"}`$ $`=`$ $`{\displaystyle d^3\sigma \left[(N_{(as)}+n)\stackrel{~}{}+(N_{(as)\stackrel{ˇ}{r}}+n_{\stackrel{ˇ}{r}}){}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}\right](\tau ,\stackrel{}{\sigma })}+`$ (371)
$`+`$ $`\stackrel{~}{\lambda }_A(\tau )P_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )J_{ADM}^{AB}=`$ (372)
$`=`$ $`{\displaystyle d^3\sigma \left[n\stackrel{~}{}+n_{\stackrel{ˇ}{r}}{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}}\right](\tau ,\stackrel{}{\sigma })}+\stackrel{~}{\lambda }_A(\tau )\widehat{P}_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )\widehat{J}_{ADM}^{AB},`$ (373)
$`\widehat{H}_{(D)ADM}^\mathrm{"}`$ $`=`$ $`\widehat{H}_{(c)ADM}^\mathrm{"}+{\displaystyle d^3\sigma [\lambda _n\stackrel{~}{\pi }^n+\lambda _r^\stackrel{}{n}\stackrel{~}{\pi }_\stackrel{}{n}^r](\tau ,\stackrel{}{\sigma })}+\zeta _A(\tau )\stackrel{~}{\pi }^A(\tau )+\zeta _{AB}(\tau )\stackrel{~}{\pi }^{AB}(\tau ),`$ (374)
but with suggestion that it becomes well defined and without supertranslations only when $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$.

## VII Two Scenarios for Hamiltonian Metric Gravity.

At this point, after the two modifications of Hamiltonian metric gravity connected with i) the addition of the surface integrals and ii) the change (172) of the primary constraints resulting from the assumed splitting (170) of the lapse and shift functions, two possible scenarios can be imagined (for the second one the Lagrangian is unknown):

A) Consider as configurational variables

$$n_A(\tau ,\stackrel{}{\sigma })=(n;n_{\stackrel{ˇ}{r}})(\tau ,\stackrel{}{\sigma }),\stackrel{~}{\lambda }_A(\tau ),\stackrel{~}{\lambda }_{AB}(\tau ),{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma }),$$
(375)
with conjugate momenta

$$\stackrel{~}{\pi }_n^A(\tau ,\stackrel{}{\sigma })=(\stackrel{~}{\pi }^n;\stackrel{~}{\pi }_\stackrel{}{n}^{\stackrel{ˇ}{r}})(\tau ,\stackrel{}{\sigma })0,\stackrel{~}{\pi }^A(\tau )0,\stackrel{~}{\pi }^{AB}(\tau )0,{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma }).$$
(376)
The vanishing momenta are assumed to be the primary constraints and one considers the following finite and differentiable Dirac Hamiltonian as the defining Hamiltonian:

$`\widehat{H}_{(D)ADM}^{(1)}`$ $`=`$ $`{\displaystyle d^3\sigma [n_A\stackrel{~}{}^A+\lambda _{nA}\stackrel{~}{\pi }_n^A](\tau ,\stackrel{}{\sigma })}+\stackrel{~}{\lambda }_A(\tau )\widehat{P}_{ADM}^A+{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )\widehat{J}_{ADM}^{AB}+`$ (377)
$`+`$ $`\zeta _A(\tau )\stackrel{~}{\pi }^A(\tau )+\zeta _{AB}(\tau )\stackrel{~}{\pi }^{AB}(\tau ),`$ (378)
where $`n_A=(n;n_{\stackrel{ˇ}{r}})`$, $`\stackrel{~}{}^A=(\stackrel{~}{};{}_{}{}^{3}\stackrel{~}{}_{}^{\stackrel{ˇ}{r}})`$ and where $`\lambda _{nA}(\tau ,\stackrel{}{\sigma })=(\lambda _n;\lambda _{\stackrel{ˇ}{r}}^\stackrel{}{n})(\tau ,\stackrel{}{\sigma })`$, $`\zeta _A(\tau )`$, $`\zeta _{AB}(\tau )`$, are Dirac multipliers associated with the primary constraints.

The time constancy of the primary constraints implies the following secondary ones

$`\stackrel{~}{}^A(\tau ,\stackrel{}{\sigma })0`$ (379)
$`\widehat{P}_{ADM}^A0,\widehat{J}_{ADM}^{AB}0,`$ (380)
While the $`\stackrel{~}{}^A(\tau ,\stackrel{}{\sigma })`$ are generators of proper gauge transformations, the other ten either are generators of improper gauge transformations (in this case 10 conjugate degrees of freedom in the 3-metric are extra gauge variables) or, following Marolf’s proposal , define a superselection sector (like it happens for the vanishing of the color charges for the confinement of quarks). All the constraints (380) are constants of the motion.

All the constraints are first class, so that: i) $`\stackrel{~}{\lambda }_A(\tau )`$, $`\stackrel{~}{\lambda }_{AB}(\tau )`$ are arbitrary gauge variables conjugate to $`\stackrel{~}{\pi }^A(\tau )0`$, $`\stackrel{~}{\pi }^{AB}(\tau )0`$ ∥§∥§∥§Six gauge fixings to the constraints $`\widehat{J}_{ADM}^{AB}0`$ are needed to get the induced result $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$ which ensures foliations well defined at spatial infinity.; ii) the physical reduced phase space of canonical metric gravity is restricted to have zero asymptotic Poincaré charges so that there is no natural Hamiltonian for the evolution in $`\tau `$, since Eq.(380) implies $`\widehat{H}_{(D)ADM}^{(1)}0`$. This is the natural interpretation of ADM metric gravity which leads to the Wheeler-De Witt equation after quantization (see Section XI for the problem of time in this scenario) and, in a sense, it is a Machian formulation of an asymptotically flat noncompact (with boundary $`S_{\mathrm{}}`$) spacetime $`M^4`$ in the same spirit of Barbour’s approach and of the closed (without boundary) Einstein-Wheeler universes. However, in this case there is no solution to the problem of deparametrization of metric gravity and no connection with parametrized Minkowski theories restricted to spacelike hyperplanes. Note that the scenario A) corresponds to the exceptional orbit $`\widehat{P}_{ADM}^A=0`$ of the asymptotic Poincaré group.

B) According to the suggestion of Dirac, modify ADM metric gravity by adding the 10 new canonical pairs $`x_{(\mathrm{})}^{(\mu )}(\tau )`$, $`p_{(\mathrm{})}^{(\mu )}`$, $`b_{(\mathrm{})A}^{(\mu )}(\tau )`$, $`S_{\mathrm{}}^{(\mu )(\nu )}`$ ∥¶∥¶∥¶With the Dirac brackets (A28) implying the orthonormality constraints for the b’s. to the metric gravity phase space with canonical basis $`n_A(\tau ,\stackrel{}{\sigma })=(n;n_{\stackrel{ˇ}{r}})(\tau ,\stackrel{}{\sigma })`$, $`\stackrel{~}{\pi }_n^A(\tau ,\stackrel{}{\sigma })=(\stackrel{~}{\pi }^n;\stackrel{~}{\pi }_\stackrel{}{n}^{\stackrel{ˇ}{r}})0`$ (the primary constraints), $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })`$, and then: i) add the 10 new primary constraints

$`\chi ^A`$ $`=`$ $`p_{(\mathrm{})}^A\widehat{P}_{ADM}^A=b_{(\mathrm{})(\mu )}^A(\tau )[p_{(\mathrm{})}^{(\mu )}b_{(\mathrm{})B}^{(\mu )}(\tau )\widehat{P}_{ADM}^B]0,`$ (381)
$`\chi ^{AB}`$ $`=`$ $`J_{(\mathrm{})}^{AB}\widehat{J}_{ADM}^{AB}=b_{(\mathrm{})(\mu )}^A(\tau )b_{(\mathrm{})(\nu )}^B(\tau )[S_{(\mathrm{})}^{(\mu )(\nu )}b_{(\mathrm{})C}^{(\mu )}(\tau )b_{(\mathrm{})D}^{(\nu )}(\tau )\widehat{J}_{ADM}^{CD}]0,`$ (387)
$`\{\chi ^A,\chi ^{BC}\}{}_{}{}^{4}\eta _{}^{AC}\chi ^B{}_{}{}^{4}\eta _{}^{AB}\chi ^C0,\{\chi ^A,\chi ^B\}0,`$
$`\{\chi ^{AB},\chi ^{CD}\}C_{EF}^{ABCD}\chi ^{EF}0,`$
$`\{\chi ^A(\tau ),\stackrel{~}{\pi }_n^D(\tau ,\stackrel{}{\sigma })\}=\{\chi ^{AB}(\tau ),\stackrel{~}{\pi }_n^D(\tau ,\stackrel{}{\sigma })\}=0,`$
$`\{\chi ^A(\tau ),\stackrel{~}{}^D(\tau ,\stackrel{}{\sigma })\}0,\{\chi ^{AB}(\tau ),\stackrel{~}{}^D(\tau ,\stackrel{}{\sigma })\}0,`$
where $`p_{(\mathrm{})}^A=b_{(\mathrm{})(\mu )}^Ap_{(\mathrm{})}^{(\mu )}`$, $`J_{(\mathrm{})}^{AB}=b_{(\mathrm{})(\mu )}^Ab_{(\mathrm{})(\nu )}^BS_{(\mathrm{})}^{(\mu )(\nu )}`$ ∥∥∥∥∥∥Remember that $`p_{(\mathrm{})}^A`$ and $`J_{(\mathrm{})}^{AB}`$ satisfy a Poincaré algebra.; ii) consider $`\stackrel{~}{\lambda }_A(\tau )`$, $`\stackrel{~}{\lambda }_{AB}(\tau )`$, as Dirac multipliers \[like the $`\lambda _{nA}(\tau ,\stackrel{}{\sigma })`$’s\] for these 10 new primary constraints, and not as configurational (arbitrary gauge) variables coming from the lapse and shift functions ∥\**∥\**∥\**Therefore there are no conjugate momenta $`\stackrel{~}{\pi }^A(\tau )`$, $`\stackrel{~}{\pi }^{AB}(\tau )`$ and no associated Dirac multipliers $`\zeta _A(\tau )`$, $`\zeta _{AB}(\tau )`$., in the assumed finite and differentiable Dirac Hamiltonian

$`H_{(D)ADM}`$ $`=`$ $`{\displaystyle d^3\sigma [n_A\stackrel{~}{}^A+\lambda _{nA}\stackrel{~}{\pi }_n^A](\tau ,\stackrel{}{\sigma })}`$ (388)
$``$ $`\stackrel{~}{\lambda }_A(\tau )[p_{(\mathrm{})}^A\widehat{P}_{ADM}^A]{\displaystyle \frac{1}{2}}\stackrel{~}{\lambda }_{AB}(\tau )[J_{(\mathrm{})}^{AB}\widehat{J}_{ADM}^{AB}]0,`$ (389)
further restricted to $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$ to eliminate supertranslations.

The reduced phase space is the ADM one and there is consistency with Marolf’s proposal regarding superselection sectors: on the ADM variables there are only the secondary first class constraints $`\stackrel{~}{}^A(\tau ,\stackrel{}{\sigma })0`$, generators of proper gauge transformations, because the other first class constraints $`p_{(\mathrm{})}^A\widehat{P}_{ADM}^A0`$, $`J_{(\mathrm{})}^{AB}\widehat{J}_{ADM}^{AB}0`$ do not generate improper gauge transformations but eliminate 10 of the extra 20 variables. One has an asymptotically flat at spatial infinity noncompact (with boundary $`S_{\mathrm{}}`$) spacetime $`M^4`$ with non-vanishing asymptotic Poincaré charges and the possibility to deparametrize metric gravity so to obtain the connection with parametrized Minkowski theories restricted to spacelike Wigner hyperplanes, due to the rest-frame condition $`P_{ADM}^{\stackrel{ˇ}{r}}=0`$ forced by the elimination of supertranslations.

Scenario B) contains the rest-frame instant form of ADM metric gravity.

## VIII The Rest-Frame Instant Form of Metric Gravity.

While the gauge fixings for the secondary constraints $`\stackrel{~}{}^A(\tau ,\stackrel{}{\sigma })0`$ and the resulting ones for the primary ones $`\stackrel{~}{\pi }_n^A(\tau ,\stackrel{}{\sigma })0`$ , implying the determination of the $`\lambda _{nA}(\tau ,\stackrel{}{\sigma })`$, follow the scheme outlined at the end of Section II, one has to clarify the meaning of the gauge fixings for the extra 10 first class constraints.

The explicit absence of supertranslations requires the six gauge fixings to the constraints $`\chi ^{AB}0`$ so to have $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$. Let us remark that the Hamiltonian (389) is formally defined on more general spacelike hypersurfaces \[those with $`\stackrel{~}{\lambda }_{AB}(\tau )0`$\], whose boundary conditions allow a certain class of supertranslations. However, formally the constraints $`\chi ^{AB}(\tau )0`$ generate gauge transformations, which make these hypersurfaces equivalent to the WSW ones.

To go to the Wigner-Sen-Witten hypersurfaces ∥††∥††∥††The analogue of the Minkowski Wigner hyperplanes with the asymptotic normal $`l_{(\mathrm{})}^{(\mu )}=l_{(\mathrm{})\mathrm{\Sigma }}^{(\mu )}`$ parallel to $`\widehat{P}_{ADM}^{(\mu )}`$ (i.e. $`l_{(\mathrm{})}^{(\mu )}=\widehat{b}_{(\mathrm{})l}^{(\mu )}=\widehat{P}_{ADM}^{(\mu )}/\sqrt{ϵ\widehat{P}_{ADM}^2}`$); see Eqs.(335). one follows the procedure defined for Minkowski spacetime:

i) one restricts oneself to spacetimes with $`ϵp_{(\mathrm{})}^2={}_{}{}^{4}\eta _{(\mu )(\nu )}^{}p_{(\mathrm{})}^{(\mu )}p_{(\mathrm{})}^{(\nu )}>0`$ ∥‡‡∥‡‡∥‡‡This is possible, because the positivity theorems for the ADM energy imply that one has only timelike or light-like orbits of the asymptotic Poincaré group.;

ii) one boosts at rest $`b_{(\mathrm{})A}^{(\mu )}(\tau )`$ and $`S_{(\mathrm{})}^{(\mu )(\nu )}`$ with the Wigner boost $`L^{(\mu )}{}_{(\nu )}{}^{}(p_{(\mathrm{})},\stackrel{}{p}_{(\mathrm{})})`$;

iii) one adds the gauge fixings \[with $`u^{(\mu )}(p_{(\mathrm{})})=p_{(\mathrm{})}^{(\mu )}/\pm \sqrt{ϵp_{(\mathrm{})}^2}`$\]

$`b_{(\mathrm{})A}^{(\mu )}(\tau )`$ $``$ $`L^{(\mu )}{}_{(\nu )=A}{}^{}(p_{(\mathrm{})},\stackrel{}{p}_{(\mathrm{})})=ϵ_A^{(\mu )}(u(p_{(\mathrm{})})),`$ (392)
$`implying\stackrel{~}{\lambda }_{AB}(\tau )=0,`$
and goes to Dirac brackets. In this way one gets

$`S_{(\mathrm{})}^{(\mu )(\nu )}`$ $``$ $`ϵ_C^{(\mu )}(u(p_{(\mathrm{})}))ϵ_D^{(\nu )}(u(p_{(\mathrm{})}))\widehat{J}_{ADM}^{CD}=S_{ADM}^{(\mu )(\nu )},`$ (393)
$`z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`x_{(\mathrm{})}^{(\mu )}(\tau )+ϵ_r^{(\mu )}(u(p_{(\mathrm{})}))\sigma ^r,`$ (394)
so that $`z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ becomes equal to the embedding identifying a Wigner hyperplane in Minkowski spacetime \[see Eq.(A32)\].

The origin $`x_{(\mathrm{})}^{(\mu )}`$ is now replaced by the not covariant external center-of-mass-like canonical variable

$$\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}=x_{(\mathrm{})}^{(\mu )}+\frac{1}{2}ϵ_{(\nu )}^A(u(p_{(\mathrm{})}))\eta _{AB}\frac{ϵ_{(\rho )}^B(u(p_{(\mathrm{})}))}{p_{(\mathrm{})(\mu )}}S_{(\mathrm{})}^{(\nu )(\rho )},$$
(395)
and one has

$$J_{(\mathrm{})}^{(\mu )(\nu )}=\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}p_{(\mathrm{})}^{(\nu )}\stackrel{~}{x}_{(\mathrm{})}^{(\nu )}p_{(\mathrm{})}^{(\mu )}+\stackrel{~}{S}_{(\mathrm{})}^{(\mu )(\nu )},$$
(396)
with $`\stackrel{~}{S}_{(\mathrm{})}^{(\mu )(\nu )}=S_{(\mathrm{})}^{(\mu )(\nu )}\frac{1}{2}ϵ_{(\rho )}^A(u(p_{(\mathrm{})}))\eta _{AB}(\frac{ϵ_{(\sigma )}^B(u(p_{(\mathrm{})}))}{p_{(\mathrm{})(\mu )}}p_{(\mathrm{})}^{(\nu )}\frac{ϵ_{(\sigma )}^B(u(p_{(\mathrm{})}))}{p_{(\mathrm{})(\nu )}}p_{(\mathrm{})}^{(\mu )})S_{(\mathrm{})}^{(\rho )(\sigma )}`$. As in the Minkowski case one defines

$$\overline{S}_{(\mathrm{})}^{AB}=ϵ_{(\mu )}^A(u(p_{(\mathrm{})}))ϵ_{(\nu )}^B(u(p_{(\mathrm{})}))\stackrel{~}{S}_{(\mathrm{})}^{(\mu )(\nu )},$$
(397)
and one obtains at the level of Dirac brackets

$`\overline{S}_{(\mathrm{})}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ $``$ $`\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},`$ (398)
$`\stackrel{~}{\lambda }_{AB}(\tau )`$ $`=`$ $`0,`$ (400)
$`\stackrel{~}{\lambda }_A(\tau )\chi ^A`$ $`=`$ $`\stackrel{~}{\lambda }_A(\tau )ϵ_{(\mu )}^A(u(p_{(\mathrm{})}))[p_{(\mathrm{})}^{(\mu )}ϵ_B^{(\mu )}(u(p_{(\mathrm{})}))\widehat{P}_{AM}^B]=`$ (402)
$`=`$ $`\stackrel{~}{\lambda }_A(\tau )ϵ_{(\mu )}^A(u(p_{(\mathrm{})}))[u^{(\mu )}(p_{(\mathrm{})})(ϵ_{(\mathrm{})}\widehat{P}_{ADM}^\tau )ϵ_{\stackrel{ˇ}{r}}^{(\mu )}(p_{(\mathrm{})})\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}]=`$ (403)
$`=`$ $`\stackrel{~}{\lambda }_\tau (\tau )[ϵ_{(\mathrm{})}\widehat{P}_{ADM}^\tau ]+\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},`$ (404)
$``$ $`ϵ_{(\mathrm{})}\widehat{P}_{ADM}^\tau 0,\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}0,`$ (406)
$`H_{(D)ADM}`$ $`=`$ $`{\displaystyle d^3\sigma \left[n_A^A+\lambda _{nA}\stackrel{~}{\pi }_n^A\right](\tau ,\stackrel{}{\sigma })}\stackrel{~}{\lambda }_\tau (\tau )[ϵ_{(\mathrm{})}\widehat{P}_{ADM}^\tau ]+\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},`$ (408)
in accord with Eqs.(335). Only after this reduction supertranslations are absent, there are no ill-defined quantities and there are only proper gauge transformations going to the identity asymptotically at spatial infinity.

Therefore, on the Wigner-Sen-Witten hypersurfaces, the remaining four extra constraints are:

$`\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}0,`$ (409)
$`ϵ_{(\mathrm{})}=ϵ\sqrt{ϵp_{(\mathrm{})}^2}\widehat{P}_{ADM}^\tau ϵM_{ADM}=ϵ\sqrt{ϵ\widehat{P}_{AM}^2}.`$ (410)
Now the spatial indices have become spin-1 Wigner indices \***\***\***They transform with Wigner rotations under asymptotic Lorentz transformations. The Wigner indices will be denoted $`(\tau ;r)`$ instead of $`(\tau ;\stackrel{ˇ}{r})`$.. As said for parametrized theories in Minkowski spacetime, in this special gauge 3 degrees of freedom of the gravitational field become gauge variables, while $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}`$ becomes a decoupled observer with his clock near spatial infinity. These 3 degrees of freedom represent an internal center-of-mass 3-variable $`\stackrel{}{\sigma }_{ADM}[{}_{}{}^{3}g,{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}]`$ inside the Wigner-Sen-Witten hypersurface; $`\sigma ^{\stackrel{ˇ}{r}}=\sigma _{ADM}^{\stackrel{ˇ}{r}}`$ is a variable representing the 3-center of mass of the 3-metric of the slice $`\mathrm{\Sigma }_\tau `$ of the asymptotically flat spacetime $`M^4`$ and is obtainable from the weak Poincaré charges with the group-theoretical methods of Ref. as it is done in Ref. for the Klein-Gordon field on the Wigner hyperplane. Due to $`\widehat{P}_{ADM}^r0`$ we have

$`\sigma _{ADM}^r`$ $`=`$ $`{\displaystyle \frac{\widehat{J}^{\tau r}}{\sqrt{(\widehat{P}_{ADM}^\tau )^2(\widehat{\stackrel{}{P}}_{ADM})^2}}}+`$ (411)
$`+`$ $`{\displaystyle \frac{(\widehat{\stackrel{}{J}}_{ADM}\times \widehat{\stackrel{}{P}}_{ADM})^r}{\sqrt{(\widehat{P}_{ADM}^\tau )^2(\widehat{\stackrel{}{P}}_{ADM})^2}(\widehat{P}_{ADM}^\tau +\sqrt{(\widehat{P}_{ADM}^\tau )^2(\widehat{\stackrel{}{P}}_{ADM})^2})}}+`$ (412)
$`+`$ $`{\displaystyle \frac{(\widehat{J}_{ADM}^{\tau s}\widehat{P}_{ADM}^s)\widehat{P}_{ADM}^r}{\widehat{P}_{ADM}^\tau \sqrt{(\widehat{P}_{ADM}^\tau )^2(\widehat{\stackrel{}{P}}_{ADM})^2}(\widehat{P}_{ADM}^\tau +\sqrt{(\widehat{P}_{ADM}^\tau )^2(\widehat{\stackrel{}{P}}_{ADM})^2})}}`$ (413)
$``$ $`\widehat{J}_{ADM}^{\tau r}/\widehat{P}_{ADM}^\tau ,`$ (416)
$`\{\sigma _{ADM}^r,\sigma _{ADM}^s\}=0,\{\sigma _{ADM}^r,\widehat{P}_{ADM}^s\}=\delta ^{rs},`$
so that $`\stackrel{}{\sigma }_{ADM}0`$ is equivalent to the requirement that the ADM boosts vanish: this is the way out from the boost problem quoted in Section III in the framework of the rest-frame instant form.

When $`ϵ\widehat{P}_{ADM}^2>0`$, with the asymptotic Poincaré Casimirs $`\widehat{P}_{ADM}^2`$, $`\widehat{W}_{ADM}^2`$ one can build the Møller radius $`\rho _{AMD}=\sqrt{ϵ\widehat{W}_{ADM}^2}/\widehat{P}_{ADM}^2c`$, which is an intrinsic classical unit of length like in parametrized Minkowski theories, to be used as an ultraviolet cutoff in a future attempt of quantization.

By going from $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}`$ \**†\**†\**†The non-covariant variable replacing $`x_{(\mathrm{})}^{(\mu )}`$ after going to Dirac brackets with respect to the previous six pairs of second class constraints. and $`p_{(\mathrm{})}^{(\mu )}`$ to the canonical basis

$`T_{(\mathrm{})}=p_{(\mathrm{})(\mu )}\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}/ϵ_{(\mathrm{})}=p_{(\mathrm{})(\mu )}x_{(\mathrm{})}^{(\mu )}/ϵ_{(\mathrm{})},`$ (417)
$`ϵ_{(\mathrm{})},`$ (418)
$`z_{(\mathrm{})}^{(i)}=ϵ_{(\mathrm{})}(\stackrel{~}{x}_{(\mathrm{})}^{(i)}p_{(\mathrm{})}^{(i)}\stackrel{~}{x}_{(\mathrm{})}^{(o)}/p_{(\mathrm{})}^{(o)}),`$ (419)
$`k_{(\mathrm{})}^{(i)}=p_{(\mathrm{})}^{(i)}/ϵ_{(\mathrm{})}=u^{(i)}(p_{(\mathrm{})}^{(\rho )}),`$ (420)
one finds that the final reduction requires the gauge fixings

$$T_{(\mathrm{})}\tau 0,\sigma _{ADM}^{\stackrel{ˇ}{r}}0(or\widehat{J}_{ADM}^{\tau r}0).$$
(421)
Since $`\{T_{(\mathrm{})},ϵ_{(\mathrm{})}\}=ϵ`$, with the gauge fixing $`T_{(\mathrm{})}\tau 0`$ one gets $`\stackrel{~}{\lambda }_\tau (\tau )ϵ`$, $`ϵ_{(\mathrm{})}\widehat{P}_{ADM}^\tau `$ and $`H_{(D)ADM}=\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )\widehat{P}_{ADM}^{\stackrel{ˇ}{r}}`$. This is the frozen picture of the reduced phase space, like it happens in the standard Hamilton-Jacobi theory: there is no time evolution. To reintroduce an evolution in $`T_{(\mathrm{})}\tau `$ we must use the energy $`M_{ADM}=ϵ\widehat{P}_{ADM}^\tau `$ (the ADM mass of the universe) as the natural physical Hamiltonian \**‡\**‡\**‡See Ref. for another derivation of this result.. Therefore the final Dirac Hamiltonian is

$$H_D=M_{ADM}+\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )\widehat{P}_{ADM}^{\stackrel{ˇ}{r}},M_{ADM}=ϵ\widehat{P}_{ADM}^\tau .$$
(422)
That $`M_{ADM}`$ is the correct Hamiltonian for getting a $`\tau `$-evolution equivalent to Einstein’s equations in spacetimes asymptotically flat at spatial infinity is also shown in Ref.. In the rest-frame the time is identified with the parameter $`\tau `$ labelling the leaves $`\mathrm{\Sigma }_\tau `$ of the foliation of $`M^4`$. See Section XI for comments on the problem of time in general relativity.

The final gauge fixings $`\sigma _{ADM}^{\stackrel{ˇ}{r}}0`$ \[or $`\widehat{J}_{ADM}^{\tau r}0`$\] imply $`\stackrel{~}{\lambda }_{\stackrel{ˇ}{r}}(\tau )0`$, $`H_D=M_{ADM}`$ and a reduced theory with the external center-of-mass variables $`z_{(\mathrm{})}^{(i)}`$, $`k_{(\mathrm{})}^{(i)}`$ decoupled \**§\**§\**§Therefore the choice of the origin $`x_{(\mathrm{})}^{(\mu )}`$ becomes irrelevant. and playing the role of a point particle clock for the time $`T_{(\mathrm{})}\tau `$. There would be a weak form of Mach’s principle, because only relative degrees of freedom would be present.

The condition $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$ with $`\stackrel{~}{\lambda }_\tau (\tau )=ϵ`$, $`\stackrel{~}{\lambda }_r(\tau )=0`$ means that at spatial infinity there are no local (direction dependent) accelerations and/or rotations \[$`\stackrel{}{a}=\stackrel{}{\omega }=0`$\]. The asymptotic line element of Eqs.(357) for $`\stackrel{}{\stackrel{~}{\lambda }}(\tau )=0`$ reduces to the line element of an inertial system near spatial infinity (preferred asymptotic inertial observers, for instance the fixed stars ).

While the asymptotic internal realization of the Poincaré algebra has the weak Poincaré charges $`\widehat{P}_{ADM}^\tau ϵM_{ADM}`$, $`\widehat{P}_{ADM}^r0`$, $`\widehat{J}_{ADM}^{rs}`$, $`\widehat{K}_{ADM}^r=\widehat{J}_{ADM}^{\tau r}0`$ as generators, the rest-frame instant form asymptotic external realization of the Poincaré generators becomes (no more reference to the boosts $`\widehat{J}_{ADM}^{\tau r}`$)

$`ϵ_{(\mathrm{})}=M_{ADM},`$ (423)
$`p_{(\mathrm{})}^{(i)},`$ (424)
$`J_{(\mathrm{})}^{(i)(j)}=\stackrel{~}{x}_{(\mathrm{})}^{(i)}p_{(\mathrm{})}^{(j)}\stackrel{~}{x}_{(\mathrm{})}^{(j)}p_{(\mathrm{})}^{(i)}+\delta ^{(i)\stackrel{ˇ}{r}}\delta ^{(j)\stackrel{ˇ}{s}}\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}},`$ (425)
$`J_{(\mathrm{})}^{(o)(i)}=p_{(\mathrm{})}^{(i)}\stackrel{~}{x}_{(\mathrm{})}^{(o)}\sqrt{M_{ADM}^2+\stackrel{}{p}_{(\mathrm{})}^2}\stackrel{~}{x}_{(\mathrm{})}^{(i)}{\displaystyle \frac{\delta ^{(i)\stackrel{ˇ}{r}}\widehat{J}_{ADM}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}\delta ^{(\stackrel{ˇ}{s}(j)}p_{(\mathrm{})}^{(j)}}{M_{ADM}+\sqrt{M_{ADM}^2+\stackrel{}{p}_{(\mathrm{})}^2}}}.`$ (426)
The line element is

$`ds^2`$ $`=`$ $`ϵ\left([N_{(as)}+n]^2[N_{(as)r}+n_r]{}_{}{}^{3}g_{}^{rs}[N_{(as)s}+n_s]\right)(d\tau )^2`$ (427)
$``$ $`2ϵ[N_{(as)r}+n_r]d\tau d\sigma ^rϵ{}_{}{}^{3}g_{rs}^{}d\sigma ^rd\sigma ^s.`$ (428)
## IX The Interpretation of Hamiltonian Gauge Transformations.

In this Section the interpretation of the Hamiltonian gauge transformations generated by the first class constraints of ADM metric gravity will be given. Then there will be a comparison of the Hamiltonian gauge transformations with spacetime diffeomorphisms, which are both local Noether symmetries of the Hilbert action and dynamical symmetries of the Einstein’s equations.

### A The Superhamiltonian Constraint as a Generator of Gauge Transformations.

While it is geometrically trivial to give an interpretation of the gauge transformations generated by the primary and supermomentum constraints in metric gravity\**¶\**¶\**¶The supermomentum constraints generate 3-pseudo-diffeomorphisms corresponding the changes of 3-coordinates on the spacelike hypersurfaces $`\mathrm{\Sigma }_\tau `$. The vanishing momenta of the lapse and shift functions generate gauge transformations which respectively modify: i) how densely the spacelike hypersurfaces are distributed in the spacetime; ii) the convention of synchronization of clocks and the associated gravitomagnetic precessional effecs (dragging of inertial frames) ., it is not clear which is the meaning of the gauge transformations generated by the superhamiltonian constraint (see for instance Refs.). In Ref. the superhamiltonian and supermomentum constraints of ADM metric gravity are interpreted as the generators of the change of the canonical data $`{}_{}{}^{3}g_{rs}^{}`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$, under the normal and tangent deformations of the spacelike hypersurface $`\mathrm{\Sigma }_\tau `$ which generate $`\mathrm{\Sigma }_{\tau +d\tau }`$ \**∥\**∥\**∥One thinks to $`\mathrm{\Sigma }_\tau `$ as determined by a cloud of observers, one per space point; the idea of bifurcation and reencounter of the observers is expressed by saying that the data on $`\mathrm{\Sigma }_\tau `$ (where the bifurcation took place) are propagated to some final $`\mathrm{\Sigma }_{\tau +d\tau }`$ (where the reencounter arises) along different intermediate paths, each path being a monoparametric family of surfaces that fills the sandwich in between the two surfaces; embeddability of $`\mathrm{\Sigma }_\tau `$ in $`M^4`$ becomes the synonymous with path independence; see also Ref. for the connection with the theorema egregium of Gauss.. Therefore, the algebra (89) of the supermomentum and superhamiltonian constraints reflects the embeddability of $`\mathrm{\Sigma }_\tau `$ into $`M^4`$.

However, the lacking pieces of information are: i) which is the variable determined by the superhamiltonian constraint? ii) which is the conjugate free gauge variable?

A) Let us consider first compact spacetimes. As a consequence of the previous geometrical property, in the case of compact spacetimes without boundary the superhamiltonian constraint is interpreted as a time-dependent Hamiltonian for general relativity in some internal time variable defined in terms of the canonical variables \****\****\****See for instance Ref. and the so called internal intrinsic many-fingered time ..

The two main proposals for an internal time are:

i) The intrinsic internal time : it is the conformal factor $`q(\tau ,\stackrel{}{\sigma })=\frac{1}{6}lndet{}_{}{}^{3}g_{rs}^{}`$ or $`\varphi (\tau ,\stackrel{}{\sigma })=e^{\frac{1}{2}q(\tau ,\stackrel{}{\sigma })}=({}_{}{}^{3}g)^{1/12}>0`$ of the 3-metric, $`{}_{}{}^{3}g_{rs}^{}=e^{2q}{}_{}{}^{3}\sigma _{rs}^{}=\varphi ^4{}_{}{}^{3}\sigma _{rs}^{}`$, $`det{}_{}{}^{3}\sigma _{rs}^{}=1`$. It is not a scalar and is proportional to Misner’s time $`\mathrm{\Omega }=\frac{1}{3}ln\sqrt{\widehat{\gamma }}`$  for asymptotically flat spacetimes (see Appendix C of Ref. for more details): $`q=\frac{1}{2}\mathrm{\Omega }`$.

ii) York’s extrinsic internal time $`𝒯=\frac{4}{3}ϵk{}_{}{}^{3}K=\frac{2}{3\sqrt{\gamma }}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}`$. In Ref. there is a review of the known results with York’s extrinsic internal time, Ref. contains the comparison of York cosmic time with proper time, while in Refs. there are more general reviews about the problem of time in general relativity (see also Section XI).

There are two interpretations of the superhamiltonian constraint in this framework:

a) either as a generator of time evolution (being a time-dependent Hamiltonian) like in the commonly accepted viewpoint based on the Klein-Gordon interpretation of the quantized superhamiltonian constraint, i.e. the Wheeler-DeWitt equation \**††\**††\**††See Kuchar in Ref. and Wheeler’s evolution of 3-geometries in superspace in Ref. ; see Ref. for the cosmological implications..

b) or as a quantum Hamilton-Jacobi equation without any time. In this case one can introduce a concept of evolution, somehow connected with an effective time, only in a WKB sense .

A related problem, equivalent to the transition from a Cauchy problem to a Dirichlet one and requiring a definition of which time parameter has to be used (see for instance the review in Ref.), is the validity of the full or thick sandwich conjecture  \**‡‡\**‡‡\**‡‡Given two nearby 3-metrics on Cauchy surfaces $`\mathrm{\Sigma }_{\tau _1}`$ and $`\mathrm{\Sigma }_{\tau _2}`$, there is a unique spacetime $`M^4`$, satisfying Einstein’s equations, with these 3-metrics on those Cauchy surfaces. and of the thin sandwich conjecture ††\*††\*††\*Given $`{}_{}{}^{3}g`$ and $`_\tau {}_{}{}^{3}g`$ on $`\mathrm{\Sigma }_\tau `$, there is a unique spacetime $`M^4`$ with these initial data satisfying Einstein’s equations; doing so, the rangian version of the constraints is interpreted as a set of equations for the lapse and shift functions logic of the Hamiltonian constraint theory, in which the constraints do not depend on these functions.: see Ref.  (and also Ref.) for the non validity of the full case and for the restricted validity (and its connection with constraint theory) of the thin case.

B) Let us now consider the problem of which variable is the unknown in the superhamiltonian constraint.

Since the superhamiltonian constraint is quadratic in the momenta, one is naturally driven to make a comparison with the free scalar relativistic particle described by the first class constraint $`p^2ϵm^20`$. As shown in Refs., the constraint manifold in phase space (the two disjointed branches of the mass-hyperboloid) has 1-dimensional gauge orbits; the $`\tau `$-evolution generated by the Dirac Hamiltonian $`H_D=\lambda (\tau )(p^2ϵm^2)`$ gives the parametrized solution $`x^\mu (\tau )`$. Instead, if one goes to the reduced phase space by adding the non-covariant gauge fixing $`x^o\tau 0`$ and eliminating the pair of canonical variables $`x^o\tau `$, $`p^o\pm \sqrt{\stackrel{}{p}^2+m^2}`$, one gets a frozen Jacobi data description in terms of independent Cauchy data, in which the same Minkowski trajectory of the particle can be recovered in the non-covariant form $`\stackrel{}{x}(x^o)`$ by introducing as Hamiltonian the energy generator $`\pm \sqrt{\stackrel{}{p}^2+m^2}`$ of the Poincaré group †††††††††With the variables of Ref., one adds the covariant gauge-fixing $`px/\sqrt{p^2}\tau 0`$ and eliminates the pair $`T=px/\sqrt{p^2}`$, $`ϵ=\eta \sqrt{p^2}\pm m`$; now, since the invariant mass is constant, $`\pm m`$, the non-covariant Jacobi data $`\stackrel{}{z}=ϵ(\stackrel{}{x}\stackrel{}{p}x^o/p^o)`$, $`\stackrel{}{k}=\stackrel{}{p}/ϵ`$ cannot be made to evolve..

This comparison would suggest to solve the superhamiltonian constraint in one component of the ADM canonical momenta $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$, namely in one component of the extrinsic curvature. But, differently from the scalar particle, the solution of the superhamiltonian constraint does not define the weak ADM energy, which, instead, is connected with an integral over 3-space of that part of the superhamiltonian constraint dictated by the associated Gauss law, see Eqs.(203), (189).

Indeed, the superhamiltonian constraint, being a secondary first class constraint of a field theory, has an associated Gauss law (see Eq.(203) with $`N=ϵ`$ and $`N_r=0`$ ) like the supermomentum constraints. In every Gauss law, the piece of the secondary first class constraint corresponding to a divergence and giving the strong form of the conserved charge (the strong ADM energy in this case) as the flux through the surface at infinity of a corresponding density depends on the variable $`𝒳`$ which has to be eliminated by using the constraint in the process of canonical reduction (as a consequence the variable $`𝒴`$ conjugate to $`𝒳`$ is the gauge variable). Once the constraint is solved in the variable $`𝒳`$, it can be put inside the volume expression of the weak form of the conserved charge to obtain its expression in terms of the remaining canonical variables and eventually of the gauge variable $`𝒴`$. Now the strong ADM energy is the only known charge, associated with a constraint bilinear in the momenta, depending only on the coordinates ($`{}_{}{}^{3}g_{rs}^{}`$) and not on the momenta ($`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$), so that this implies that the superhamiltonian constraint has to be solved in one of the components of the 3-metric.

As a consequence the right approach to the superhamiltonian constraint is the one of Lichnerowicz leading to the conformal approach to the reduction of ADM metric gravity  ††‡††‡††‡See Ref. for its review. In Appendix C of Ref. there is a recollection of notions on mean extrinsic curvature slices and on the TT (transverse traceless)-decomposition.. In this approach the superhamiltonian constraint supplemented with the gauge fixing $`{}_{}{}^{3}K(\tau ,\stackrel{}{\sigma })0`$ ††§††§††§Or $`{}_{}{}^{3}K(\tau ,\stackrel{}{\sigma })const.`$. It is a condition on the internal extrinsic York time defining the constant mean extrinsic curvature (CMC) hypersurfaces., named maximal slicing condition, is considered as an elliptic equation (the Lichnerowicz equation) to be solved in the conformal factor $`\varphi (\tau ,\stackrel{}{\sigma })=e^{\frac{1}{2}q(\tau ,\stackrel{}{\sigma })}>0`$ of the 3-metric ††¶††¶††¶Namely in its determinant, which can be extracted from it in a 3-covariant way.. Therefore, the momentum conjugate to the conformal factor of the 3-metric is the free gauge variable associated with the superhamiltonian constraint.

Lichnerowicz has shown that the superhamiltonian and supermomentum constraints plus the maximal slicing condition of ADM metric gravity form a system of 5 elliptic differential equations which has one and only one solution; moreover, with this condition Schoen and Yau  have shown that the ADM 4-momentum is timelike (i.e. the ADM energy is positive or zero for Minkowski spacetime). Moreover, Schoen-Yau have shown in their last proof of the positivity of the ADM energy that one can relax the maximal slicing condition. See the reviews with their rich bibliography.

In the conformal approach one put $`{}_{}{}^{3}g_{rs}^{}=\varphi ^4{}_{}{}^{3}\sigma _{rs}^{}`$ \[$`det{}_{}{}^{3}\sigma _{rs}^{}=1`$\] and $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}=\varphi ^{10}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{A}^{rs}+\frac{1}{3}{}_{}{}^{3}g_{}^{rs}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}`$ \[$`{}_{}{}^{3}g_{rs}^{}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{A}^{rs}=0`$\]. Then, one makes the TT-decomposition $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{A}^{rs}={}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{TT}^{rs}+{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{L}^{rs}`$ (the TT-part is the conformally rescaled distortion tensor) with $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{L}^{rs}=(LW_\pi )^{rs}=W_\pi ^{r|s}+W_\pi ^{s|r}\frac{2}{3}{}_{}{}^{3}g_{}^{rs}W_{\pi |u}^u`$, where $`W_\pi ^r`$ is York gravitomagnetic vector potential. The superhamiltonian and supermomentum constraints are interpreted as coupled quasilinear elliptic equations for $`\varphi `$ and $`W_\pi ^r`$ (the four conjugate variables are free gauge variables), which decouple with the maximal slicing condition $`{}_{}{}^{3}K=0`$; the two physical degrees of freedom are hidden in $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{TT}^{rs}`$ (and in two conjugate variables).

In the conformal approach one uses York’s TT-variables , because most of the work on the Cauchy problem for Einstein’s equations in metric gravity is done by using spacelike hypersurfaces $`\mathrm{\Sigma }`$ of constant mean extrinsic curvature (CMC surfaces) in the compact case (see Refs.) and in particular with the maximal slicing condition $`𝒯(\tau ,\stackrel{}{\sigma })=0`$. It may be extended to non constant $`𝒯`$ in the asymptotically free case ††∥††∥††∥See also Ref. for recent work in the compact case with non constant $`𝒯`$ and Ref. for solutions of Einstein’s equations in presence of matter which do not admit constant mean extrinsic curvature slices..

Let us remark that in Minkowski spacetime $`{}_{}{}^{3}K(\tau ,\stackrel{}{\sigma })=0`$ are the hyperplanes, while $`{}_{}{}^{3}K(\tau ,\stackrel{}{\sigma })=const.`$ are the mass hyperboloids (the hyperboloidal data), corresponding to the instant and point form of the dynamics according to Dirac respectively (see Refs. for other types of foliations).

In Ref. (see for instance Eq.(C7) in Appendix C of Ref.) it is shown that given the non-canonical basis $`𝒯=\frac{4}{3}ϵk{}_{}{}^{3}K=\frac{2}{3\sqrt{\gamma }}{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}`$, $`𝒫_𝒯=det{}_{}{}^{3}g_{rs}^{}=\varphi ^{12}`$, $`{}_{}{}^{3}\sigma _{rs}^{}={}_{}{}^{3}g_{rs}^{}/(det{}_{}{}^{3}g)^{1/3}`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{A}^{rs}`$ , there exists a canonical basis hidden in the variables $`{}_{}{}^{3}\sigma _{rs}^{}`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{A}^{rs}`$ (but it has never been found explicitly) and that one can define the reduced phase space (the conformal superspace) $`\stackrel{~}{𝒮}`$, in which one goes to the quotient with respect to the space diffeomorphisms and to the conformal rescalings. ††\**††\**††\**The conformal superspace $`\stackrel{~}{𝒮}`$ may be defined as the space of conformal 3-geometries on closed manifolds and can be identified in a natural way with the space of conformal 3-metrics (the quotient of ordinary superspace by the group $`Weyl\mathrm{\Sigma }_\tau `$ of conformal Weyl rescalings) modulo space diffeomorphisms, or, equivalently, with the space of Riemannian 3-metrics modulo space diffeomorphisms and conformal transformations of the form $`{}_{}{}^{3}g_{rs}^{}\varphi ^4{}_{}{}^{3}g_{rs}^{}`$, $`\varphi >0`$. Instead, the ordinary superspace $`𝒮`$ is the space of Lorentzian 4-metrics modulo spacetime diffeomorphisms. The phase superspace is the phase space over $`𝒮`$: it is the quotient of the ADM phase space with respect to the primary constraints, the space pseudo-diffeomorphisms and the gauge transformations generated by the superhamiltonian constraint. In this way a bridge is built towards the phase superspace, which is mathematically connected with the Moncrief splitting theorem valid for closed $`\mathrm{\Sigma }_\tau `$. See Ref. for what is known in the asymptotically flat case by using weighted Sobolev spaces. See Refs. for the mathematical structure of superspace. It is also shown that one can define a York map from this reduced phase space to the subset of the standard phase superspace defined by the gauge fixing $`{}_{}{}^{3}K=const.`$.

C) Let us now consider asymptotically free spacetimes. In them there exists a time evolution in the mathematical time parametrizing the leaves $`\mathrm{\Sigma }_\tau `$ of the 3+1 splitting of $`M^4`$ governed by the weak ADM energy. The superhamiltonian constraint is not connected with time evolution: the strong and weak ADM energies are only integrals of parts of this constraint. Instead it is a generator of Hamiltonian gauge transformations.

As a constraint it determines the conformal factor $`\varphi `$ of the 3-metric as a functional of $`{}_{}{}^{3}\sigma _{rs}^{}`$ and $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$. But this means that the associated gauge variable is the canonical momentum $`\pi _\varphi `$ conjugate to the conformal factor. This variable, and not York time, parametrizes the normal deformation of the embeddable spacelike hypersurfaces $`\mathrm{\Sigma }_\tau `$. Now, since different $`\mathrm{\Sigma }_\tau `$ corresponds to different 3+1 splittings of $`M^4`$ ††††††††††††In the class of the allowed ones going in an angle-independent way to Minkowski spacelike hyperplanes. one gets that the gauge transformations generated by the superhamiltonian constraint correspond to the transition from an allowed 3+1 splitting to another one: this is the gauge orbit in the phase space over superspace. Therefore the theory is independent from the choice of the 3+1 splitting like in parametrized Minkowski theories.

This leads to the conclusion that neither York’s internal extrinsic time nor Misner’s internal intrinsic time are to be used as time parameters: Misner’s time (the conformal factor) is determined by the Lichnerowicz equation while York’s time (the trace of the extrinsic curvature) by the gauge-fixing.

As a matter of fact a gauge fixing for the superhamiltonian constraint is a choice of a particular 3+1 splitting and this is done by fixing the momentum $`\pi _\varphi `$ conjugate to the conformal factor ††‡‡††‡‡††‡‡A non-local information on the extrinsic curvature of $`\mathrm{\Sigma }_\tau `$, which becomes the York time, or the maximal slicing condition, only with the special canonical basis identified by the York map..

Since the solution of the Lichnerowicz equation gives the conformal factor $`\varphi =e^{q/2}=({}_{}{}^{3}g)^{1/12}`$ as a function of its conjugate momentum and of the remaining canonical variables as in the compact case, also in the asymptotically free case only the conformal 3-geometries contain the physical degrees of freedom, whose functional form depends on the other gauge fixings, in particular on the choice of the 3-coordinates.

Therefore it is important to study the Shanmugadhasan canonical bases of metric gravity which have the following structure ($`\overline{a}=1,2`$ are non-tensorial indices for the Dirac observables)

| $`n`$ | $`n_r`$ | $`{}_{}{}^{3}g_{rs}^{}`$ |
| --- | --- | --- |
| $`\stackrel{~}{\pi }^n`$ | $`\stackrel{~}{\pi }_\stackrel{}{n}^r`$ | $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ |

$`\begin{array}{ccccc}n\hfill & n_r\hfill & \xi ^r\hfill & \varphi \hfill & r_{\overline{a}}\hfill \\ \stackrel{~}{\pi }^n\hfill & \stackrel{~}{\pi }_\stackrel{}{n}^r\hfill & \stackrel{~}{\pi }^{\stackrel{}{}}_r\hfill & \pi _\varphi \hfill & \pi _{\overline{a}}\hfill \end{array}`$ (437)
$`\begin{array}{ccccc}n\hfill & n_r\hfill & \xi ^r\hfill & Q_{}\hfill & r^{^{}}_{\overline{a}}\hfill \\ \stackrel{~}{\pi }^n\hfill & \stackrel{~}{\pi }^r_\stackrel{}{n}\hfill & \stackrel{~}{\pi }^{\stackrel{}{}}_r\hfill & \mathrm{\Pi }_{}\hfill & \pi ^{^{}}_{\overline{a}}\hfill \end{array}.`$
The first canonical transformation has seven first class constraints replaced by Abelian momenta ($`\xi ^r`$ are the gauge parameters of the 3-pseudo-diffeomorphisms generated by the supermomentum constraints) and has the conformal factor $`\varphi `$ of the 3-metric as a configuration variable. Note that it is a point canonical transformation. This is a quasi-Shanmugadhasan canonical transformation because the superhamiltonian constraint has not been Abelianized. The second canonical transformation is a real Shanmugadhasan canonical transformation with $`Q_{}(\tau ,\stackrel{}{\sigma })0`$ the Abelianization of the superhamiltonian constraint ‡‡\*‡‡\*‡‡\* If $`\stackrel{~}{\varphi }[r_{\overline{a}},\pi _{\overline{a}},\xi ^r,\pi _\varphi ]`$ is the solution of the Lichnerowicz equation, then $`Q_{}=\varphi \stackrel{~}{\varphi }0`$. Other forms of this canonical transformation should correspond to the extension of the York map to asymptotically flat spacetimes: in it the momentum conjugate to the conformal factor is just York time and one can add the maximal slicing condition as a gauge fixing.. The variables $`n`$, $`n_r`$, $`\xi ^r`$, $`\pi _\varphi `$ are the Abelianized Hamiltonian gauge variables and $`r_{\overline{a}}^{^{}}`$, $`\pi _{\overline{a}}^{^{}}`$ the Dirac observables. Since it is not known how to solve the Lichnerowicz equation, the best which can be achieved is to find the quasi-Shanmugadhasan canonical transformation. It has the relevant property that in the special gauge $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$ the variables $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$ form a canonical basis of Dirac observables for the gravitational field even if the solution $`\stackrel{~}{\varphi }`$ of the Lichnerowicz equation is not known.

How to do the canonical reduction of metric gravity to a completely fixed gauge by building the quasi-Shanmugadhasan canonical transformation will be the subject of a future paper, in which this program will be realized for tetrad gravity following the preliminary papers of Refs. and then extended to metric gravity.

In particular there will be a study of the family of the 3-orthogonal gauges on the WSW hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, since they are the nearest ones to the standards of measurement used in the (generically accelerated) laboratories, which corresponds to completely fixed gauges of metric gravity. The special 3-orthogonal gauge with $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$ will be the equivalent of the radiation gauge in classical electrodynamics (like the harmonic gauge is the equivalent of the Lorentz gauge).

### B Einstein’s Equations versus Constraint Theory.

First of all, let us interpret metric gravity according to Dirac-Bergmann theory of constraints (the presymplectic approach). Given a mathematical noncompact, topologically trivial, manifold $`M^4`$ with a maximal $`C^{\mathrm{}}`$-atlas A, its diffeomorphisms in $`DiffM^4`$ are interpreted in passive sense (pseudo-diffeomorphisms): chosen a reference atlas (contained in A) of $`M^4`$, each pseudo-diffeomorphism identifies another possible atlas contained in A. The pseudo-diffeomorphisms are assumed to tend to the identity at spatial infinity in the way discussed in Section VI. Then we add an arbitrary $`C^{\mathrm{}}`$ metric structure on $`M^4`$, we assume that $`(M^4,{}_{}{}^{4}g)`$ is globally hyperbolic and asymptotically flat at spatial infinity and we arrive at a family of Lorentzian spacetimes $`(M^4,{}_{}{}^{4}g)`$ over $`M^4`$.

On $`(M^4,{}_{}{}^{4}g)`$ one usually defines  the standards of length and time, by using some material bodies, with the help of mathematical structures like the line element $`ds^2`$, timelike geodesics (trajectories of test particles) and null geodesics (trajectories of photons), without any reference to Einstein’s equations ‡‡†‡‡†‡‡†See the conformal, projective, affine and metric structures hidden in $`(M^4,{}_{}{}^{4}g)`$ according to Ref., which replace at the mathematical level the material reference frame concept  with its test objects.; only the equivalence principle (statement about test particles in an external given gravitational field) is used to emphasize the relevance of geodesics. Let $`\stackrel{~}{D}iffM^4`$ be the extension of $`DiffM^4`$ to the space of tensors over $`M^4`$. Since the Hilbert action of metric gravity is invariant under the combined action of $`DiffM^4`$ and $`\stackrel{~}{D}iffM^4`$, one says that the relevant object in gravity is the set of all 4-geometries over $`M^4`$ \[$`(M^4,{}_{}{}^{4}g)`$ modulo $`DiffM^4`$, i.e. the superspace $`𝒮=RiemM^4/DiffM^4`$\] and that the relevant quantities (generally covariant observables) associated with it are the invariants under diffeomorphisms like the curvature scalars. From the point of view of dynamics, one has to select those special 4-geometries whose representatives $`(M^4,{}_{}{}^{4}g)`$ satisfy Einstein’s equations, which are invariant in form under diffeomorphisms (general covariance). The variation of a solution $`{}_{}{}^{4}g_{\mu \nu }^{}(x)`$ of Einstein’s equations under infinitesimal spacetime diffeomorphisms, namely $`_{\xi ^\rho _\rho }{}_{}{}^{4}g_{\mu \nu }^{}(x)`$, satisfies the Jacobi equations associated with Einstein’s equations or linearized Einstein equations ‡‡‡‡‡‡‡‡‡See Refs. ; with our assumptions we are in the noncompact case (like Ref.) without Killing vectors \[more exactly without 3-Killing vectors on the Riemannian manifolds $`(\mathrm{\Sigma }_\tau ^{(WSW)}`$, $`{}_{}{}^{3}g_{rs}^{})`$\]: in this case it is known that near Minkowski spacetime the Einstein empty space equations are linearization stable.: therefore these Noether (gauge) symmetries of the Hilbert action are also dynamical symmetries of Einstein equations.

One can say that a kinematical gravitational field is a 4-geometry (an element of $`RiemM^4/DiffM^4`$), namely an equivalence class of 4-metrics modulo $`DiffM^4`$, and that an Einstein or dynamical gravitational field (or Einstein 4-geometry or equivalence class of Einstein spacetimes) is a kinematical gravitational field which satisfies Einstein’s equations.

However, the fact that the ten Einstein equations are not a hyperbolic system of differential equations and cannot be put in normal form is only considered in connection with the initial data problem. Instead, the ADM action ‡‡§‡‡§‡‡§Needed as the starting point to define the canonical formalism since it has a well posed variational problem. contains the extra input of a 3+1 splitting of $`M^4`$: this allows the identification of the surface term containing the second time derivatives of the 4-metric to be discarded from the Hilbert action.

As a consequence the ADM action is quasi-invariant under the pullback of the Hamiltonian group of gauge transformations generated by the first class constraints (as every singular Lagrangian; see Appendix A of Ref.) and this group is not $`DiffM^4`$ plus its extension $`\stackrel{~}{D}iffM^4`$, but the Hamiltonian group of gauge transformations.

However, the ADM action is not invariant under diffeomorphisms in $`DiffM^4`$ skew with respect to the foliation of $`M^4`$ associated to the chosen 3+1 splitting, even if the ADM theory is independent from the choice of the 3+1 splitting (see Appendix A of Ref.). The results of Refs. show that the infinitesimal spacetime diffeomorphisms $`\delta x^\mu =ϵ^\mu `$ are projectable to Hamiltonian gauge transformations if and only if $`ϵ^\mu =\frac{\xi ^o}{N}l^\mu +\delta _i^\mu (\xi ^i\frac{N^i}{N}\xi ^o)`$ with the $`\xi ^\mu `$ independent from the lapse and shift functions. In the $`\mathrm{\Sigma }_\tau `$-adapted coordinates \[$`\xi ^A=(\xi ^\tau ;\xi ^r)`$, $`N^A=(N;N^r)`$, $`\stackrel{~}{\pi }_A=(\stackrel{~}{\pi }_N;\stackrel{~}{\pi }_r^\stackrel{}{N})`$, $`\stackrel{~}{}_A(\stackrel{~}{};\stackrel{~}{}_r)`$\] the Hamiltonian generators of the projectable spacetime diffeomorphisms are $`G(\tau )=d^3\sigma \left[\xi ^A\stackrel{~}{}_A+\xi ^AN^BC_{AB}^C\stackrel{~}{\pi }_C+_\tau \xi ^A\stackrel{~}{\pi }_A\right](\tau ,\stackrel{}{\sigma })`$ with the $`C_{AB}^C`$’s being the structure functions in Eqs.(89).

Since the ADM action generates the same equations of motion as the Hilbert action, i.e. Einstein’s equations, the space of the dynamical symmetries of the equations of motion is the same in the two theories. For more details see Appendix A of Ref.‡‡¶‡‡¶‡‡¶See Appendix D of Ref. for a review of the second Noether theorem in the case of the Hilbert action and for the consequences of its 4-diffeomorphism invariance like the Komar superpotential and the energy-momentum pseudotensors.. However, since the infinitesimal spacetime pseudodiffeomorphisms of a 4-metric solution of Einstein’s equations (i.e. $`_{\xi ^\rho _\rho }{}_{}{}^{4}g_{\mu \nu }^{}(x)`$) are solutions to the Jacobi equations in the Hilbert form, it turns out that among the dynamical symmetries of Einstein’s equations there are both allowed strictly Hamiltonian gauge transformations, under which the ADM action is quasi-invariant, and generalized transformations under which the ADM action is not invariant (see Appendix A of Ref.). This derives from the fact that the Noether symmetries of an action and the dynamical symmetries of its Euler-Lagrange equations have an overlap but do not coincide. In conclusion, the allowed gauge transformations are the subset of spacetime diffeomorphisms under which the ADM action is quasi-invariant; the other spacetime diffeomorphisms are dynamical symmetries of the equations of motion but not Noether symmetries of the ADM action.

Regarding the 10 Einstein equations, the Bianchi identities imply that four equations are linearly dependent on the other six ones and their gradients. Moreover, the four combinations of Einstein’s equations projectable to phase space (where they become the secondary first class superhamitonian and supermomentum constraints of canonical metric and tetrad gravity) are independent from the accelerations and are only restrictions on the Cauchy data. As a consequence, the solutions of Einstein’s equations have the ten components $`{}_{}{}^{4}g_{\mu \nu }^{}`$ of the 4-metric depending on only two dynamical non-tensorial degrees of freedom (defining the physical gravitational field) and on eight undetermined degrees of freedom ‡‡∥‡‡∥‡‡∥More exactly the four components of the 4-metric corresponding to the lapse and shift functions and on the four functions depending on the gradients of the 4-metric (generalized velocities) corresponding, through the first half of Hamilton equations, to the four arbitrary Dirac multipliers in front of the primary constraints (vanishing of the momenta conjugate to lapse and shift functions) in the Dirac Hamiltonian ..

### C Gauge Variables and Gauge Fixings.

This transition from the ten components $`{}_{}{}^{4}g_{\mu \nu }^{}`$ of the tensor $`{}_{}{}^{4}g`$ in some atlas of $`M^4`$ to the 2 (deterministic)+8 (undetermined) degrees of freedom breaks general covariance, because the physical degrees of freedom in general are neither tensors nor invariants under spacetime diffeomorphisms: their functional form is atlas dependent in a way dictated by the 3+1 splittings of $`M^4`$ needed for defining the canonical formalism. This is manifest in the canonical approach to metric gravity: i) choose an atlas for $`M^4`$, a WSW 3+1 splitting $`M^{3+1}`$ of $`M^4`$ (with the WSW leaves $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ of the foliation assumed diffeomorphic to $`R^3`$), go to coordinates adapted to the 3+1 splitting \[atlas for $`M^{3+1}`$ with coordinate charts $`(\sigma ^A)=(\tau ,\stackrel{}{\sigma })`$, connected to the $`M^4`$ atlas by the transition functions $`b_A^\mu (\tau ,\stackrel{}{\sigma })`$\] and replace $`DiffM^4`$ with $`DiffM^{3+1}`$ (the diffeomorphisms respecting the 3+1 splitting); ii) the ten components $`{}_{}{}^{4}g_{AB}^{}`$ of the 4-metric in the adapted coordinates are non covariantly replaced with $`n`$, $`n^r`$, $`{}_{}{}^{3}g_{rs}^{}`$, whose conjugate momenta are $`\stackrel{~}{\pi }_n`$, $`\stackrel{~}{\pi }_r^\stackrel{}{n}`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$. We have assumed $`N=N_{(as)}+n`$, $`N_r=N_{(as)r}+n_r`$ with the asymptotic parts equal to the lapse and shift functions of Minkowski spacelike hyperplanes further restricted to Wigner hyperplanes and with their bulk parts $`n`$, $`n_r`$ going to zero at spatial infinity in an angle-independent way; therefore, $`\stackrel{~}{\pi }_N`$ and $`\stackrel{~}{\pi }_r^\stackrel{}{N}`$ have been replaced by $`\stackrel{~}{\pi }_n`$ and $`\stackrel{~}{\pi }_r^\stackrel{}{n}`$ respectively; iii) there are four primary \[$`\stackrel{~}{\pi }_n0`$, $`\stackrel{~}{\pi }_r^\stackrel{}{n}0`$\] and four secondary \[$`\stackrel{~}{}0`$, $`\stackrel{~}{}^r0`$\] first class constraints; iv) therefore, the twenty canonical variables have to be replaced (with a Shanmugadhasan canonical transformation) with two pairs of genuine physical degrees of freedom (Dirac’s observables), with eight gauge variables and with eight abelianized first class constraints; v) this separation is dictated by the Hamiltonian group $`\overline{𝒢}`$ of gauge transformations which has eight generators and is not connected with $`\stackrel{~}{D}iffM^{3+1}`$ (except for spatial diffeomorphisms $`Diff\mathrm{\Sigma }_\tau DiffM^{3+1}`$), which has only four generators and whose invariants are not Dirac observables ‡‡\**‡‡\**‡‡\**The so called time-diffeomorphisms are replaced by the 5 gauge transformations generated by $`\stackrel{~}{\pi }_n`$, $`\stackrel{~}{\pi }_r^\stackrel{}{n}`$, and the superhamiltonian constraint.; vi) as said at the end of Section II, the eight gauge variables should be fixed by giving only four gauge fixings for the secondary constraints (the same number of conditions needed to fix a diffeomorphisms), because their time constancy determines the four secondary gauge fixings for the primary constraints ‡‡††‡‡††‡‡††Then their time constancy determines the Dirac multipliers (four velocity functions not determined by Einstein equations) in front of the primary constraints in the Dirac Hamiltonian. This is in accord with the results of Ref. that the projectable spacetime diffeomorphisms depend only on four arbitrary functions and their time derivatives..

Since no one has solved the metric gravity secondary constraints till now, it is not clear what is undetermined inside $`{}_{}{}^{3}g_{rs}^{}`$ (see Appendix C of II for what is known from the conformal approach) and, therefore, which is the physical meaning (with respect to the arbitrary determination of the standards of length and time) of the first four gauge-fixings. Instead, the secondary four gauge-fixings (induced by the gauge fixings to the secondary constraints) determine the lapse and shift functions, namely they determine how the leaves $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ are packed in the foliation ‡‡‡‡‡‡‡‡‡‡‡‡The gauge nature of the shift functions, i.e. of $`{}_{}{}^{4}g_{oi}^{}`$, is connected with the conventionality of simultaneity ..

Let us remark that the invariants under spacetime diffeomorphisms are in general not Dirac observables, because they depend on the eight gauge variables not determined by Einstein’s equations. Therefore, all the curvature scalars are gauge quantities at least at the kinematical level.

In this paper we have clarified the situation in the case of metric gravity. The original 20 canonical variables $`n`$, $`n_r`$, $`{}_{}{}^{3}g_{rs}^{}`$, $`\stackrel{~}{\pi }_n`$, $`\stackrel{~}{\pi }_r^\stackrel{}{n}`$, $`{}_{}{}^{3}\stackrel{~}{\mathrm{\Pi }}_{}^{rs}`$ have been replaced by the Dirac’s observables $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$ \[the gravitational field\], by 8 first class constraints and by 8 gauge variables: $`n`$, $`n_r`$, $`\xi ^r`$, $`\pi _\varphi `$ . Now we have to add 4 primary gauge fixings: i) 3 gauge fixings for the parameters $`\xi ^r`$ of the spatial pseudo-diffeomorphisms generated by the secondary constraints $`{}_{}{}^{3}\stackrel{~}{}_{r}^{}0`$: they correspond to the choice of an atlas of coordinates on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ (chosen as conventional origin of pseudo-diffeomorphisms) and, therefore, by adding the parameter $`\tau `$, labelling the leaves of the foliation, of an atlas on $`M^{3+1}`$. The gauge fixings on $`\xi ^r`$, whose time constancy produces the gauge fixings for the shift functions $`n_r`$ and, therefore, a choice of simultaneity convention in $`M^4`$ (the choice of how to synchronize clocks), can be interpreted as a fixation of 3 standards of length by means of the choice of a coordinate system on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$; ii) a gauge fixing for $`\pi _\varphi `$, which, being a momentum, carries an information about the extrinsic curvature of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ embedded in $`M^4`$ \***\***\***It replaces the York extrinsic time $`{}_{}{}^{3}K`$ of the Lichnerowicz-York conformal approach and is a parametrization of the normal deformations of the $`\mathrm{\Sigma }_\tau ^{(WSW)}`$., for the superhamiltonian constraint. The gauge-fixing on $`\pi _\varphi `$ has nothing to do with a standard of time \**†\**†\**†The evolution is parametrized by the mathematical parameter $`\tau `$ of the induced coordinate system $`(\tau ,\stackrel{}{\sigma })`$ on $`M^4`$., but it is a fixation of the form of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ \**‡\**‡\**‡It is a nonlocal statement about the extrinsic curvature of a $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ embedded in $`M^4`$. and, therefore, it amounts to the choice of one of the allowed 3+1 splittings of $`M^4`$. Let us remember that the Poisson algebra (89) of the superhamiltonian and supermomentum constraints reflects the embeddability properties of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$; the superhamiltonian constraint generates the deformations normal to $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, which partially replace the $`\tau `$-diffeomorphisms. The dependence on $`\pi _\varphi `$ is one of the sources of the gauge dependence at the kinematical level of the curvature scalars of $`M^4`$ (the other sources are the lapse and shift functions and their gradients). The natural interpretation of the gauge transformations generated by the superhamiltonian constraint is to change the 3+1 splitting of $`M^4`$ by varying the gauge variable $`\pi _\varphi (\tau ,\stackrel{}{\sigma })`$, so to make the theory independent from the choice of the original 3+1 splitting of $`M^4`$, as it happens with parametrized Minkowski theories. However, since the time constancy of the gauge fixing on $`\pi _\varphi `$ determines the gauge fixing for the lapse function n (which says how the $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ are packed in $`M^4`$), there is a connection with the choice of the standard of local proper time. Let us remark that only the gauge fixing $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$ leaves the Dirac observables $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$, canonical; with other gauge fixings the canonical degrees of freedom of the gravitational field have to be redefined.

Let us remark  that the reference standards of time and length correspond to units of coordinate time and length and not to proper times and proper lengths: this is not in contradiction with general covariance, because the laboratory in which one defines the reference standards corresponds to a particular completely fixed gauge.

Therefore, according to constraint theory, given an atlas on a 3+1 splitting $`M^{3+1}`$ of $`M^4`$, the phase space content of the 8 nondynamical Einstein equations is equivalent to the determination of the Dirac observables (namely a kinematical gravitational field not yet solution of the 2 dynamical Einstein equations, i.e. of the final Hamilton equations with the ADM energy as Hamiltonian), whose functional form in terms of the original variables depends on choice of the atlas on $`M^{3+1}`$ and on a certain information about the extrinsic curvature of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$.

### D Hamiltonian Kinematical and Dynamical Gravitational Fields.

Let us define a Hamiltonian kinematical gravitational field as the quotient of the set of Lorentzian spacetimes $`(M^{3+1},{}_{}{}^{4}g)`$ with a 3+1 splitting with respect to the Hamiltonian gauge group $`\overline{𝒢}`$ with 8 generators \[$`RiemM^{3+1}/\overline{𝒢}`$\]: while space diffeomorphisms in $`DiffM^{3+1}`$ coincide with those in $`Diff\mathrm{\Sigma }_\tau `$, the $`\tau `$-diffeomorphisms in $`DiffM^{3+1}`$ are replaced by the 5 gauge freedoms associated with $`\pi _\varphi `$, $`n`$ and $`n_r`$.

A representative of a Hamiltonian kinematical gravitational field in a given gauge equivalence class is parametrized by $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$ and is an element of a gauge orbit $`\mathrm{\Gamma }`$ spanned by the gauge variables $`\xi ^r`$, $`\pi _\varphi `$, $`n`$, $`n_r`$. Let us consider the reduced gauge orbit $`\mathrm{\Gamma }^{^{}}`$ obtained from $`\mathrm{\Gamma }`$ by going to the quotient with respect to $`\xi ^r`$. The solution $`\varphi =e^{q/2}`$ of the reduced Lichnerowicz equation is $`\pi _\varphi `$-dependent, so that the gauge orbit $`\mathrm{\Gamma }^{^{}}`$ contains one conformal 3-geometry (conformal gauge orbit), or a family of conformal 3-metrics if the $`\pi _\varphi `$-dependence of the solution $`\varphi `$ does not span all the Weyl rescalings. In addition $`\mathrm{\Gamma }^{^{}}`$ contains the lapse and shift functions. Now, each 3-metric in the conformal gauge orbit has a different 3-Riemann tensor and different 3-curvature scalars. Since 4-tensors and 4-curvature scalars depend : i) on the lapse and shift functions (and their gradients); ii) on $`\pi _\varphi `$ both explicitly and implicitly through the solution of the Lichnerowicz equation, and this influences the 3-curvature scalars, most of these objects are in general gauge variables from the Hamiltonian point of view at least at the kinematical level. The simplest relevant scalars of $`DiffM^4`$, where to visualize these effects, are Komar-Bergmann’s individuating fields (see later on) and/or the bilinears $`{}_{}{}^{4}R_{\mu \nu \rho \sigma }^{}{}_{}{}^{4}R_{}^{\mu \nu \rho \sigma }`$, $`{}_{}{}^{4}R_{\mu \nu \rho \sigma }^{}ϵ^{\mu \nu \alpha \beta }{}_{}{}^{4}R_{\alpha \beta }^{}^{\rho \sigma }`$. Therefore, generically the elements of the gauge orbit $`\mathrm{\Gamma }^{^{}}`$ are, from the point of view of $`M^4`$ based on the Hilbert action, associated with different 4-metrics belonging to different 4-geometries (the standard kinematical gravitational fields).

Therefore, according to the gauge interpretation based on constraint theory, a Hamiltonian kinematical gravitational field is an equivalence class of 4-metrics modulo the pullback of the Hamiltonian group of gauge transformations, which contains all the 4-geometries connected by them and a well defined conformal 3-geometry. This is a consequence of the different invariance properties of the ADM and Hilbert actions, even if they generate the same equation of motion.

Let us define an Hamiltonian Einstein or dynamical gravitational field as a Hamiltonian kinematical gravitational field which satisfies the final Hamilton equations with the ADM energy as Hamiltonian (equivalent to the two dynamical equations hidden in the Einstein equations).

These Hamiltonian dynamical gravitational fields correspond to special gauge equivalence classes, which contain only one 4-geometry whose representative 4-metrics satisfy Einstein’s equations, so that they coincide with the standard dynamical gravitational fields. This highly nontrivial statement is contained in the results of Refs. (in particular see Ref. for the noncompact asymptotically free at spatial infinity case). On the space of the solutions of the Hamilton-Dirac equations \**§\**§\**§They, together with the first class constraints, are equivalent to Einstein’s equations. the kinematical Hamiltonian gauge transformations are restricted to be dynamical symmetries \**¶\**¶\**¶Maps of solutions onto solutions; with them there is not necessarily an associated constant of the motion like with the Noether symmetries of an action. of Einstein’s equations in the ADM presentation and this implies that the allowed Hamiltonian gauge transformations must be equivalent to or contained in the spacetime pseudodiffeomorphisms of $`M^4`$.

The allowed infinitesimal Hamiltonian gauge transformations on the space of solutions of the Hamilton-Dirac equations must be solutions of the Jacobi equations \**∥\**∥\**∥The linearized constraints and the linearized evolution equations; see Refs.  for their explicit expression. and this excludes most of the kinematically possible Hamiltonian gauge transformations (all those generating a transition from a 4-geometry to another one). The only allowed ones are restricted to coincide with the projectable spacetime diffeomorphisms of Ref., previously quoted. In the allowed Hamiltonian gauge transformations the gauge parameters $`n`$, $`n_r`$, $`\xi ^r`$, $`\pi _\varphi `$ are not independent but restricted by the condition that the resulting gauge transformation must be a spacetime pseudodiffeomorphisms.

This is the way in which on the space of solutions of Einstein’s equations spacetime diffeomorphisms are reconciled with the allowed Hamiltonian gauge transformations adapted to the 3+1 splittings of the ADM formalism. The kinematical freedom of the 8 independent types of Hamiltonian gauge transformations of metric gravity is reduced to 4 dynamical types like for $`DiffM^4`$; partially, this was anticipated at the kinematical level by the fact that in the original Dirac Hamiltonian there are only 4 arbitrary Dirac multipliers, and that the gauge-fixing procedure starts with the gauge fixings of the secondary constraints, which generate those for the primary ones , which in turn lead to the determination of the Dirac multipliers.

On the space of solutions of Einstein’s equations in every completely fixed Hamiltonian gauge we get a different canonical basis of dynamical Dirac observables (with weakly vanishing Poisson brackets with the original constraints, but with strongly vanishing ones with the Abelianized constraints): being a dynamical symmetry a spacetime diffeomorphism becomes a mapping of the dynamical Dirac observables in one gauge onto the dynamical Dirac observables in another gauge (selected by the the new coordinates defined by the diffeomorphism). These Dirac observables correspond to dynamical gravitational fields (namely the invariants under the kinematical Hamiltonian gauge transformations restricted to the solutions of Einstein’s equations and without any a priori tensorial character under $`DiffM^4`$). On the other hand a spacetime quantity $`Q`$ scalar under spacetime diffeomorphisms and restricted to the solutions of Einstein’s equations, becomes a well defined (gauge-dependent) function $`Q_G`$ of the dynamical Dirac observables of a completely fixed Hamiltonian gauge $`G`$. Since the dynamical Dirac observables change with a change of the Hamiltonian gauge, also the functional form of the function $`Q_G`$ will change with a change of the Hamiltonian gauge.

Regarding the understanding of possible tensorial properties of the dynamical Dirac observables, the first step would be to find the connection of the Dirac observables $`r_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$ in a completely fixed gauge with the symmetric traceless 2-tensors on 2-planes, which are the independent gravitational degrees of freedom according to Christodoulou and Klainermann , and with the, in some way connected, Newman-Penrose formalism.

## X Interpretational Problems regarding the Observables in General Relativity.

Our approach breaks the general covariance of general relativity completely by going to the special 3-orthogonal gauge with $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$. But this is done in a way naturally associated with presymplectic theories (i.e. theories with first class constraints like all formulations of general relativity and the standard model of elementary particles with or without supersymmetry): the global Shanmugadhasan canonical transformations (when they exist; for instance they do not exist when the configuration space is compact like in closed spacetimes) correspond to privileged Darboux charts for presymplectic manifolds. Therefore, the gauges identified by these canonical transformations should have a special (till now unexplored) role also in generally covariant theories, in which traditionally one looks for observables invariant under spacetime diffeomorphisms (but no complete basis is known for them in general relativity) and not for (not generally covariant) Dirac observables. While in electromagnetism and in Yang-Mills theories the physical interpretation of Dirac observables is clear, in generally covariant theories there is a lot of interpretational problems and ambiguities.

Therefore, let us make some considerations on interpretational problems, whose relevance has been clearly pointed out in Ref..

### A Interpretational Problems with Dirac’s Observables.

In generally covariant theories (without background fields) the interpretational difference with respect to the Dirac observables of Yang-Mills theories, is that one has to make a complete gauge-fixing to give a meaning to “space and time” (in the above sense) before being able to identify the functional form of the Dirac observables for the gravitational field \****\****\****Regarding other approaches to the observables in general relativity see also Refs.: the “perennials” introduced in this approach are essentially our Dirac observables. See Ref. for the difficulties in observing perennials experimentally at the classical and quantum levels and in their quantization. See also Ref. on the non existence of observables for the vacuum gravitational field in a closed universe, built as spatial integrals of local functions of Cauchy data and their first derivatives. and moreover we have to formulate the problem only for the solutions of Einstein’s equations (this is not necessary for Yang-Mills theory).

This deep difference between the interpretations based on constraint theory and on general covariance respectively is reflected in the two viewpoints about what is observable in general relativity (and, as a consequence, in all generally covariant theories) as one can clearly see in Ref. and in its bibliography: i) The non-local point of view of Dirac , according to which determinism implies that only gauge-invariant quantities, i.e.Dirac’s observables can be measured. The hole argument of Einstein (see Refs. for its modern treatment) supports this viewpoint: points of spacetime are not a priori distinguishable \**††\**††\**††Their individuality is washed out by general covariance, i.e. by the invariance under spacetime diffeomorphisms., so that, for instance, $`{}_{}{}^{4}R(\tau ,\stackrel{}{\sigma })`$ \**‡‡\**‡‡\**‡‡A scalar under diffeomorphisms, but not a Dirac observable at the kinematical level. is not an observable quantity. Even if $`{}_{}{}^{4}R(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\mathrm{\hspace{0.17em}0}`$ in absence of matter, the other curvature scalars are non vanishing after having used Einstein equations and, due to the lack of known solutions without Killing vectors, it is not possible to say which is their connection with Dirac observables. More in general, the 4-metric tensor $`{}_{}{}^{4}g_{\mu \nu }^{}`$ is a not observable gauge variable. As said in Ref. an Einstein spacetime manifold corresponds to a dynamical gravitational field, but a dynamical gravitational field corresponds to an equivalence class of spacetimes. The metrical structure forms part of the set of dynamical variables, which must be determined before the points of spacetime have any physical properties. Therefore, one cannot assume in general relativity what is valid in special relativity, namely that the individuation of the points of Minkowski spacetime is established by a framework of rigid rods and clocks.

Fixing the gauge freedoms in general relativity means to determine the functional form of the 4-metric tensor $`{}_{}{}^{4}g_{\mu \nu }^{}`$: this is a definition of the angle and distance properties of the material bodies, which form the reference system (rods and clocks). At the kinematical level the standard procedures of defining measures of length and time  are gauge dependent as already said, because the line element $`ds^2`$ is gauge dependent and determined only after a complete gauge fixing and after the restriction to the solutions of Einstein’s equations \*†\*\*†\*\*†\*Note that in textbooks these procedures are always defined without any reference to Einstein’s equations.: only now the curvature scalars of $`M^4`$ become measurable, like the electromagnetic vector potential in the radiation gauge. Only now the procedure for measuring the Riemann tensor described in Ref. becomes completely meaningful. Moreover, let us remember that the standard of unit of time is a coordinate time  and not a proper time and that in astronomy and in the theory of satellites the unit of time is replaced by a unit of coordinate length (ephemerid time).

The measuring apparatuses should also be described by the gauge invariant Dirac observables associated with the given gauge (namely identified by the Shanmugadhasan canonical transformation associated with that gauge), after the introduction of matter, since an experimental laboratory corresponds by definition to a completely fixed gauge.

See also Ref. for the relevance of the hole argument in the discussions on the nature of spacetime and for the attempts to formulate quantum gravity. Even if the standard canonical (either metric or tetrad) gravity approach presents serious problems in quantization due to the intractable Lichnerowicz equation \*††\*††\*††So that research turned towards either Ashtekar’s approach or superstring theory with its bigger general covariance group., still the problem of what is observable at the classical level in generally covariant theories is considered open.

ii) The local point of view, according to which the spacetime manifold $`M^4`$ is the manifold of physically determined ‘events’ (like in special relativity), namely spacetime points are physically distinguishable, because any measurement is performed in the frame of a given reference system. The gauge freedom of generally covariant theories reflects the freedom of choosing coordinate systems, i.e. reference systems. Therefore, the evolution is not uniquely determined (since the reference systems are freely chosen) and, for instance, $`{}_{}{}^{4}R(\tau ,\stackrel{}{\sigma })`$ is an observable quantity, like the 4-metric tensor $`{}_{}{}^{4}g_{\mu \nu }^{}`$. See Ref.  for a refusal of Dirac’s observables in general relativity based on the local point of view.

In Ref. the non-local point of view is accepted and there is a proposal for using some special kind of matter to define a material reference system (not to be confused with a coordinate system) to localize points in $`M^4`$, so to recover the local point of view in some approximate way \*†‡\*†‡\*†‡The main approximations are: 1) to neglect, in Einstein equations, the energy-momentum tensor of the matter forming the material reference system (it’s similar to what happens for test particles); 2) to neglect, in the system of dynamical equations, the entire set of equations determining the motion of the matter of the reference system (this introduces some indeterminism in the evolution of the entire system)., since in the analysis of classical experiments both approaches tend to lead to the same conclusions. See also Refs. for a complete review of material clocks and reference fluids. However, we think that one has to consider the use of test objects as an idealization for the attempt to approximate with realistic dynamical objects the conformal, projective, affine and metric structures  of Lorentzian manifolds, which are used to define the ideal geodesic clocks and the basis of the theory of measurement.

Let us remark that in applications, for instance in the search of gravitational waves, one is always selecting a background reference metric and the associated (Minkowski like) theory of measurement: the conceptual framework becomes the same as in special relativity. The same happens for every string theory due to necessity (till now) of a background metric in their formulation.

### B Identification of the Physical Points of Spacetime.

Let us remark that our ADM tetrad formulation assumed the existence of a mathematical abstract 4-manifold, the spacetime $`M^4`$, to which we added 3+1 splittings with spacelike leaves $`\mathrm{\Sigma }_\tau ^{(WSW)}R^3`$. The mathematical points of $`M^4`$ have no physical meaning and are coordinatized with $`\mathrm{\Sigma }_\tau ^{(WSW)}`$-adapted coordinates $`(\tau ,\stackrel{}{\sigma })`$. All fields (also matter fields when present) depend on these mathematical coordinates for $`M^4`$, but till now there is no justification for saying that the points (or events) of the spacetime have any physical meaning (instead in special relativity they are physical points by hypothesis).

Is it possible to label the points of $`M^4`$ in terms of Dirac’s observables a posteriori by introducing physical points? As already said, once all gauge freedoms have been eliminated this can be done, in analogy to what happens with the vector potential of electromagnetism which becomes measurable in a completely fixed gauge like the Coulomb one.

Regarding how to give a meaning to the mathematical points of the abstract 4-manifold, we accept the proposal of Komar and Bergmann of identifying the physical points of a spacetime $`(M^4,{}_{}{}^{4}g)`$ without Killing vectors, solution of the Einstein’s equations, only a posteriori in a way invariant under spacetime diffeomorphisms, by using four invariants bilinear and trilinear in the Weyl tensors \*†§\*†§\*†§As shown in Ref. there are 14 algebraically independent curvature scalars for $`M^4`$, which are reduced to four when Einstein equations without matter are used., called individuating fields, which do not depend on the lapse and shift functions but only on the ADM canonical variables. These individuating fields depend on $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$ and on the gauge parameters $`\xi ^r`$ (choice of 3-coordinates on $`\mathrm{\Sigma }_\tau `$) and $`\pi _\varphi `$ (replacing York’s internal extrinsic time $`{}_{}{}^{3}K`$) since the freedom in the choice of the mathematical coordinates $`\sigma ^A`$ is replaced by the gauge freedom in the choice of $`\xi ^r`$ and $`\pi _\varphi `$ \*†¶\*†¶\*†¶Since these are three coordinates and one momentum one has the Lorents signature coming out from the quasi-Shanmugadhasan canonical transformation.: note the difference from the proposal of Refs. of using $`\xi ^r`$ and $`q=2ln\varphi `$ for this aim. The 4-metric in this physical 4-coordinate grid, obtained from $`{}_{}{}^{4}g_{AB}^{}`$ by making a coordinate transformation from the adapted coordinates $`\sigma ^A=(\tau ,\stackrel{}{\sigma })`$, depends on the same variables and also on the lapse and shift functions.

These individuating fields are not Dirac observables at the kinematical level. On the solutions of Einstein’s equations they become gauge-dependent functions of the dynamical Dirac observables of a completely fixed Hamiltonian gauge. In every complete gauge (choice of the coordinate systems on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ and on $`M^{3+1}`$) after the fixation of $`\xi ^r`$ and $`\pi _\varphi `$ they describe a special gauge-dependent coordinate system for $`M^4`$, in which the dynamical gravitational field degrees of freedom in that gauge can be used (at least in some finite region) to characterize distinct points of $`M^4`$, as also remarked by Stachel in connection with Einstein’s hole argument (but without taking into account constraint theory). In this way we get a physical 4-coordinate grid on the mathematical 4-manifold $`M^4`$ dynamically determined by tensors over $`M^4`$ itself with a rule which is invariant under $`DiffM^4`$ but with the functional form of the map $`\sigma ^A=(\tau ,\stackrel{}{\sigma })physical\mathrm{\hspace{0.17em}4}coordinates`$ depending on the chosen complete gauge: the local point of view is justified a posteriori in every completely fixed gauge. In conclusion the physical content of the gravitational field in absence of matter is just the identification of the points of Einstein spacetimes by means of its four independent phase space degrees of freedom.

Finally, let us remember that Bergmann made the following critique of general covariance: it would be desirable to restrict the group of coordinate transformations (spacetime diffeomorphisms) in such a way that it could contain an invariant subgroup describing the coordinate transformations that change the frame of reference of an outside observer \*†∥\*†∥\*†∥These transformations could be called Lorentz transformations; see also the comments in Ref. on the asymptotic behaviour of coordinate transformations.; the remaining coordinate transformations would be like the gauge transformations of electromagnetism. This is what we have done with the redefinition of lapse and shift functions. However, to avoid supertranslations we refused the interpretation of the asymptotic Poincaré charges as generators of improper gauge transformations, and we accepted Marolf’s proposal about superselection sectors. In this way preferred asymptotic coordinate systems will emerge, which, as said by Bergmann, are non-flat: while the inertial coordinates are determined experimentally by the observation of trajectories of force-free bodies, these intrinsic coordinates can be determined only by much more elaborate experiments (for instance precessional effects on gyroscopes) with respect to fixed stars, since they depend, at least, on the inhomogeneities of the ambient gravitational fields.

See also Ref. for other critics to general covariance: very often to get physical results one uses preferred coordinates not merely for calculational convenience, but also for understanding. In Ref. this fact has been formalized as the principle of restricted covariance. In our case the choice of the gauge-fixings has been dictated by the Shanmugadhasan canonical transformations, which produce generalized radiation gauges, in which one can put in normal form the Hamilton equations for the canonical variables of the gravitational field, and, therefore, also the two associated combinations of the Einstein equations which depend on the accelerations.

## XI The Problem of Time.

Let us add some comments on time in general relativity in the case of globally hyperbolic asymptotically flat at spatial infinity spacetimes.

In general relativity, Isham and Kuchar have made a complete review of the problem of time (see Ref. for a recent contribution to the problem), showing that till now there is no consistent quantization procedure for it. See also: i) Rovelli’s point of view in Refs. and Lawrie and Epp comments on the limitations of his treatment of clocks; ii) Rovelli’s proposal of a thermodynamical origin of time .

A scheme in which time is identified before quantization has been used in this paper. The unphysical mathematical 1-time of the rest-frame instant form of dynamics on WSW hypersurfaces discussed in the previous Sections is the rest-frame global time $`T_{(\mathrm{})}=p_{(\mathrm{})}\stackrel{~}{x}_{(\mathrm{})}/\sqrt{ϵp_{(\mathrm{})}^2}=\widehat{P}_{ADM}x_{(\mathrm{})}/\sqrt{ϵ\widehat{P}_{ADM}^2}=\tau `$ \*†\**\*†\**\*†\**Let us note that this is possible for globally hyperbolic, asymptotically flat at spatial infinity, spacetimes; instead a global time does not exist, even with a finite number of degrees of freedom, when the configuration space is compact; see for instance Refs.. and not an internal time. It is the gauge-fixing $`T_{(\mathrm{})}\tau 0`$ to the extra Dirac constraint $`ϵ_{(\mathrm{})}\sqrt{ϵ\widehat{P}_{ADM}^2}0`$ which identifies the foliation parameter with the rest-frame time. The evolution in $`T_{(\mathrm{})}=\tau `$ of the two canonical pairs of gravitational degrees of freedom is governed by the weak ADM energy $`\widehat{P}_{ADM}^\tau `$.

The positions of the non-covariant external center-of-mass variable $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}(\tau )`$, replacing the arbitrary origin $`x_{(\mathrm{})}^{(\mu )}`$ of the coordinates on the WSW hypersurfaces, and of this origin are irrelevant, because, as already said, at the end the 6 variables $`\stackrel{}{z}_{(\mathrm{})}`$, $`\stackrel{}{k}_{(\mathrm{})}`$ of Eqs.(420) are decoupled: they describe the external 3-center of mass of the isolated universe or equivalently a decoupled external observer with his point particle clock \*†††\*†††\*†††Therefore one does not need matter clocks and reference fluids.. They are not to be quantized because they can be said to belong to the classical part of the Copenhagen interpretation, but their non-covariance is fundamental in defining the classical Møller radius $`|\widehat{\stackrel{}{S}}_{ADM}|/\widehat{P}_{ADM}^\tau `$ \*†‡‡\*†‡‡\*†‡‡Due to $`\widehat{\stackrel{}{P}}_{ADM}0`$, one has $`|\widehat{\stackrel{}{S}}_{ADM}|=\sqrt{ϵW_{ADM}^2}/\widehat{P}_{ADM}^\tau `$ with $`W_{ADM}^A`$ the asymptotic Pauli-Lubanski 4-vector. to be used as a ultraviolet cutoff also in metric gravity.

The internal center-of-mass 3-variable $`\stackrel{}{\sigma }_{ADM}[r_{\overline{a}},\pi _{\overline{a}}]`$ \*‡\*\*‡\*\*‡\*It is built in terms of the weak Poincaré charges as it is done for the Klein-Gordon field on the Wigner hyperplane in Ref.; due to $`\widehat{P}_{ADM}^r0`$ we have $`\sigma _{ADM}^r\widehat{J}_{ADM}^{\tau r}/\widehat{P}_{ADM}^\tau `$. of the universe inside a WSW hypersurface identifies the 3 gauge-fixings $`\stackrel{}{\sigma }_{ADM}0`$ \[i.e. $`\widehat{J}_{ADM}^{\tau r}0`$\] to be added to $`\widehat{\stackrel{}{P}}_{ADM}[r_{\overline{a}},\pi _{\overline{a}}]0`$. With these gauge fixings this point coincides with the arbitrary origin $`x_{(\mathrm{})}^{(\mu )}(\tau )`$. With $`\stackrel{}{\sigma }_{ADM}0`$ the origin $`x_{(\mathrm{})}^{(\mu )}(\tau )`$ becomes simultaneously  the Fokker-Price center of inertia, the Dixon center of mass and Pirani and Tulczjyew centroids of the universe, while the non-covariant ıexternal center-of-mass variable $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}(\tau )`$ is the analog of the Newton-Wigner position operator.

Our final picture of the reduced phase space has similarities with the frozen Jacobi picture of Barbour and his proposal to substitute time with the astronomical ephemeris time \*‡†\*‡†\*‡†In his timeless and frameless approach based on Ref. the local ephemeris time coincides with the local proper time. may be a starting point for correlating local physical clocks with the mathematical time parameter $`\tau =T_{(\mathrm{})}`$ of the foliation (and not for defining a timeless theory by using Jacobi’s principle). We think that scenario A) of Section VII, used for the description of void spacetimes without matter, is a realization of the fully Machian approach of Barbour which, however, seems possible only in absence of matter. Instead the scenario B) with a decoupled free external center-of-mass variable is Machian only in the fact that there are only dynamical relative variables left both in asymptotically flat general relativity and in parametrized Minkowski theories.

Let us remark that the interpretation of the superhamiltonian constraint as a generator of gauge transformations given in Section X with natural gauge-fixing $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$ (at least in 3-orthogonal coordinates) leads to the conclusion that neither York’s internal extrinsic time nor Misner’s internal intrinsic time are to be used as time parameters: Misner’s time (the conformal factor) is determined by the Lichnerowicz equation while York’s time (the trace of the extrinsic curvature) by the natural gauge-fixing $`\pi _\varphi 0`$. Instead, the gauge variable conjugate to the conformal factor of the 3-metric \[$`\pi _\varphi (\tau ,\stackrel{}{\sigma })`$ in the 3-orthogonal gauges\] describes the normal deformations of the spacelike hypersurface $`\mathrm{\Sigma }_\tau `$ which allow the transition from one allowed 3+1 splitting of the spacetime $`M^4`$ to another one.

Let us remember that in Ref. the nonrelativistic limit of the ADM action for metric gravity was considered: it allowed the identification of a singular Lagrangian density with general Galileo covariance depending on 27 fields (coming from the development in series of powers of $`1/c^2`$ of $`N`$, $`N_r`$, $`{}_{}{}^{3}g_{rs}^{}`$) describing Newton gravity in arbitrary coordinates. This theory has first class constraints connected with inertial forces and second class constraints, determining the static Newton potential in arbitrary frames of reference when massive particles are present (see Ref. for alternative nonrelativistic gravity theories). This implies that it will be possible to consider the nonrelativistic limit of our modified metric gravity and establish its connections with the post-Newtonian approximations , in particular the recent one of Ref..

Now, at the nonrelativistic level there is an absolute time t and the evolution in this numerical parameter of every system is described by the Hamilton equations associated with a Hamiltonian function H describing the energy of the system \*‡‡\*‡‡\*‡‡It is a generator of the kinematical (extended) Galileo group when the system is isolated.. Alternatively, one can use a parametrized reformulation of the system by enlarging phase space with a canonical pair $`t,E`$ \[$`\{t,E\}=ϵ=\pm 1`$, if $`ϵ`$ is the signature of the time axis\], by adding the first class constraint $`\chi =EH0`$, so that the Dirac Hamiltonian is $`H_D=\lambda (\tau )\chi `$, and by calling $`\tau `$ the scalar parameter associated with the canonical transformations generated by $`\chi `$. The parameter $`\tau `$ labels the leaves of a foliation of Galilei spacetime; the leaves are (rest-frame) hyperplanes, which are the limit of Wigner hyperplanes in parametrized Minkowski theories for $`c\mathrm{}`$. One gets a parametric description of the same physics with t and the solutions of the original Hamilton equations now expressed as functions of the new time parameter $`\tau `$. If one adds the gauge-fixing $`t\tau 0`$ , one gets a frozen reduced phase space (equal to the original one) like in the Jacobi theory, in which one reintroduce an evolution by using the energy E=H for the evolution in $`t=\tau `$. However, with more general gauge-fixings $`tf(\tau ,\mathrm{})0`$, where dots mean other canonical variables, the associated Hamiltonian is no more the energy (see Ref.).

In the standard nonrelativistic quantization of the system one defines a Hilbert space and writes a Schroedinger equation in which t is a parameter and in which the t-evolution is governed by an operator obtained by quantizing the Hamiltonian function corresponding to the energy \*‡§\*‡§\*‡§See Ref. for a discussion of this point and of the associated ambiguities and problems.. Instead, in the parametrized theory, one should quantize also the pair $`t,E`$ \*‡¶\*‡¶\*‡¶One introduces a unphysical Hilbert space in which the t-dependence of wave functions is restricted to be square integrable. and write a Schroedinger equation in $`\tau `$ with the quantum Dirac Hamiltonian \*‡∥\*‡∥\*‡∥See Ref. on this point and on the problem of the unphysical and physical scalar products. and then impose the constraint to identify the physical states. This procedure is ambiguous, because in this way the energy operator has no lower bound for its spectrum in the unphysical Hilbert space and it is delicate to recover the physical Hilbert space from the quotient of the unphysical one with respect to the quantum unitary gauge transformations generated by the quantum constraint. In particular, physical states have infinite unphysical norm \*‡\**\*‡\**\*‡\**Usually the zero eigenvalue belongs to the continuum spectrum of the constraint operators. and the construction of the physical scalar product for physical states (without any restriction on the t-dependence) depends on the form of the constraint (see Ref. for a relativistic example).

Moreover, the absolute time t, which labels the Euclidean leaves of the absolute foliation of Galileo spacetime, is unrelated to physical clocks. As shown in Ref. (see also Ref.), in the physical Hilbert space there is no operator such that: i) it can be used as a perfect clock, in the sense that, for some initial state, its observed values increase monotonically with t; ii) is canonically conjugate to the Hamiltonian operator (this would imply that this operator is not definite positive). All this is also related with Rovelli’s proposal of replacing t (in the nonrelativistic case) with an evolving constant of the motion, i.e. a t-dependent function of operators commuting with the Hamiltonian (in a framework with spatially compact spacetimes). This proposal can be done either in the standard or in the parametrized version of the theory (see also Ref.). Among others, Kuchar critics it for the ambiguities coming from the operator ordering problem. Lawrie and Epp  notice that in the toy models with two oscillators with fixed total energy, in which an oscillator is supposed to be used as a clock for the other oscillator, there is no physical degree of freedom left for the clock after having done the canonical reduction to the reduced phase space (so that again one gets an evolution of the surviving oscillator in a unobservable mathematical time). In any case there are all the previously mentioned problems and also the fact that the conjugate variables of these evolving constants of motion generically have nothing to do with the energy and can have spectra and symmetries of every type (see Ref.).

All the proposals of replacing the parameter t with some physical time function (or operator) show that this is the main unsolved problem: how to identify (at least locally, possibly globally) the leaves of the foliation of Galileo spacetime with physical clocks, i.e. with an apparatus described in the given either phase or Hilbert space. See again in this connection Barbour who uses as local time functions special space coordinates (the astronomical ephemeris time or some its relativistic extension).

Now, in the approach based on parametrized special relativistic theories in Minkowski spacetime, the final result is that every isolated system (or better all its configurations with a timelike total 4-momentum) identifies a Wigner foliation of Minkowski spacetime. Its leaves (the Wigner hyperplanes) are labelled by a scalar parameter $`T_s=\tau `$ (the center-of-mass time in the rest frame) in the rest-frame Wigner-covariant 1-time instant form with the evolution in this parameter governed by the invariant mass of the system. There is also a decoupled non-covariant center-of-mass point with free motion. The quantization of this instant form produces a 1-time Schroedinger equation as in the standard unparametrized nonrelativistic case with the Newtonian time t replaced by the Lorentz-scalar rest frame time $`T_s`$.

In our modified metric gravity the same picture appears in the generalized rest-frame instant form with WSW foliations. Therefore, in this unified approach to general relativity, special relativity and Newton-Galileo theories one is never going to quantize any time variable and the problem of time is replaced by the problem of how to correlate physical clocks with the mathematical time parameter labelling the leaves of the 3+1 splitting of spacetime.

After the addition of matter to tetrad gravity (this will be done in future papers starting with perfect fluids) and the canonical reduction to the rest-frame instant form with the evolution in $`\tau T_{(\mathrm{})}`$ governed by the ADM energy $`\widehat{P}_{ADM}^\tau `$, one should identify a matter subsystem with a physical clock, to take one Dirac observable $`A(\tau )`$ of the clock as a physical definition of time (the idea behind the ephemeris’ time), to invert it to get $`\tau T_{(\mathrm{})}=\tau (A)`$ (in general this will be possible only for a finite interval of $`\tau `$) and to transform the $`\tau `$-dependence of all the Dirac observables into an $`A`$-dependence. At this stage, but only for the resulting finite interval of $`\tau `$, we can think to replace the ADM energy with an effective Hamiltonian giving the $`A`$-evolution. However, it is completely unclear what would happen in any attempt to quatize the theory.

## XII The Embedding into Spacetime of the Wigner-Sen-Witten Hypersurfaces.

It will be shown in this Section that the special Wigner-Sen-Witten spacelike hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, needed for the rest-frame instant form of tetrad gravity in the class of spacetimes, asymptotically flat at spatial infinity and without supertranslations, and corresponding to the Wigner hyperplanes orthogonal to the 4-momentum of an isolated system, can be defined by general embeddings $`z^\mu (\tau ,\stackrel{}{\sigma })`$ \*‡††\*‡††\*‡††Generalizing the embeddings $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })=x^{(\mu )}(\tau )+ϵ_r^{(\mu )}(u(p_s))\sigma ^r`$ for Minkowski Wigner spacelike hyperplanes..

It will be clear that the WSW hypersurfaces enjoy the same formal properties of spacelike hyperplanes in Minkowski spacetime, namely that, given an origin on each one of them and an adapted tetrad at this origin, there is a natural parallel transport so that one can uniquely define the adapted tetrads in all points of the hyperplane starting from the given adapted one at the origin. Namely due to the property of tending asymptotically to Minkowski Wigner spacelike hyperplanes in a direction-independent way at spatial infinity, the WSW spacelike hypersurfaces allow the definition of asymptotic (angle-independent) adapted tetrads with the timelike component parallel to the weak ADM 4-momentum. Then an adaptation to tensors of the Sen-Witten spinorial equation based on the Sen connection allows to define preferred adapted tetrads in each point of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ tending to the given ones at spatial infinity: this can be reinterpreted as a special form of parallel transport generalizing the trivial Euclidean one on Minkowski spacelike hyperplanes.

These preferred tetrads correspond to the non-flat preferred observers of Bergmann: they are a set of privileged observers (privileged tetrads adapted to $`\mathrm{\Sigma }_\tau ^{(WSW)}`$) of geometrical nature, since they depend on the intrinsic and extrinsic geometry of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, and not of static nature like in the approaches of Møller, Pirani  and Goldberg. On the solutions of Einstein’s equations they also acquire a dynamical nature depending on the configuration of the gravitational field itself. These privileged observers are associated with the existence of the asymptotic Poincaré charges, since their asymptotic 4-velocity is determined by the weak ADM 4-momentum. A posteriori, namely after having solved Einstein’s equations, one could try to use these geometrical and dynamical privileged observers \*‡‡‡\*‡‡‡\*‡‡‡Privileged non-holonomic coordinate systems replacing the rectangular Minkowski coordinates of the flat case. in the same way as, in metric gravity, are used the bimetric theories, like the one of Rosen, with a set of privileged static non-flat background metrics. This congruence of timelike preferred observers\*§\*\*§\*\*§\*With asymptotic inertial observers in the rest-frame instant form with $`\stackrel{~}{\lambda }_A(\tau )=(ϵ;\stackrel{}{0})`$ and $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$. is a non-Machian element of these noncompact spacetimes. The asymptotic worldlines of the congruence may replace the static concept of fixed stars in the study of the precessional effects of gravitomagnetism on gyroscopes (dragging of inertial frames) and seem to be naturally connected with the definition of post-Newtonian coordinates .

Ashtekar and Horowitz pointed out the existence in metric gravity of a preferred family of lapse and shift functions, which can be extracted by the spinorial demonstration of Witten of the positivity of the ADM energy, and, therefore, of a set of preferred spacelike hypersurfaces. Then, Frauendiener translated this fact in terms of privileged geometric adapted tetrads on each $`\mathrm{\Sigma }_\tau `$ of this set, enjoying the same properties of tetrads adapted to Minkowski spacelike hyperplanes: he starts from the Sen-Witten equation and uses ideas based on the Sparling 3-form .

Let us review these statements in more detail.

i) In his demonstration of the positivity energy theorem Witten  introduced SU(2) spinor fields on $`\mathrm{\Sigma }_\tau `$ \[see also Refs.: one gets $`P_{ADM,(\mu )}n^{(\mu )}0`$ for all future pointing null vectors ($`n^2=0`$) and this implies $`P_{ADM,(\mu )}n^{(\mu )}0`$ for all future pointing asymptotic either timelike or null translations with $`n^{(\mu )}`$ obtained from some SU(2) spinor field on $`\mathrm{\Sigma }_\tau `$. In the reformulation using the so called Nester-Witten 2-form $`F`$ , defined on the total space of the spin bundle over $`M^4`$, one can show that $`P_{ADM,(\mu )}n^{(\mu )}=lim_r\mathrm{}2k_{\mathrm{\Sigma }_\tau }F(\xi )=2k_{S_{\tau ,\mathrm{}}^2}𝑑F(\xi )`$. As first noted by Sparling (see also the last chapter of Vol.2 of Ref.) there is a 3-form $`\mathrm{\Gamma }`$ on the spin bundle, the so called Sparling 3-form, such that $`\mathrm{\Gamma }=dF\frac{1}{2}n^\mu {}_{}{}^{4}G_{\mu \nu }^{}X^\nu `$ \[$`X^\mu =\frac{1}{6}ϵ^\mu {}_{\alpha \beta \gamma }{}^{}dx^\alpha dx^\beta dx^\gamma `$\]; therefore, the vacuum Einstein equations can be characterized by $`d\mathrm{\Gamma }=0`$. In presence of matter Einstein equations give $`\mathrm{\Gamma }\stackrel{}{=}dF\frac{k}{2}n^\mu {}_{}{}^{4}T_{\mu \nu }^{}X^\nu `$, so that $`P_{ADM,(\mu )}n^{(\mu )}\stackrel{}{=}\mathrm{\hspace{0.17em}2}k_{S_{\tau ,\mathrm{}}^2}(\mathrm{\Gamma }+\frac{k}{2}n^\mu {}_{}{}^{4}T_{\mu \nu }^{}X^\nu )`$. Using the dominant energy condition for the positivity of the second term, one can arrive at the result $`P_{ADM,(\mu )}n^{(\mu )}0`$ if the SU(2) spinor determining $`n^{(\mu )}`$ satisfies the elliptic Sen-Witten equation for the noncompact hypersurface $`\mathrm{\Sigma }_\tau `$

$${}_{}{}^{3}𝒟_{\stackrel{~}{A}\stackrel{~}{B}}^{}\psi ^{\stackrel{~}{B}}={}_{}{}^{3}\stackrel{~}{}_{\stackrel{~}{A}\stackrel{~}{B}}^{}\psi ^{\stackrel{~}{B}}+\frac{1}{2\sqrt{2}}{}_{}{}^{3}K\psi _{\stackrel{~}{A}}=0.$$
(438)
In this equation $`{}_{}{}^{3}\stackrel{~}{}_{\stackrel{~}{A}\stackrel{~}{B}}^{}`$ is the extension of $`{}_{}{}^{3}_{\mu }^{}`$ to spatial SU(2) spinors on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ \*§†\*§†\*§†It is the torsion-free Levi-Civita connection of $`{}_{}{}^{3}g_{rs}^{}`$ and depends only on the intrinsic geometry of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$., while $`{}_{}{}^{3}𝒟_{\stackrel{~}{A}\stackrel{~}{B}}^{}={}_{}{}^{3}𝒟_{\stackrel{~}{B}\stackrel{~}{A}}^{}`$, called the Sen connection, is the true spatial derivative acting on spatial SU(2) spinors \*§‡\*§‡\*§‡It is an extension (depending on the extrinsic geometry of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$) of the pull-back to $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ of $`{}_{}{}^{4}_{\mu }^{}`$; it is torsion-free but it is not the Levi-Civita connection of $`{}_{}{}^{3}g_{rs}^{}`$..

As stressed by Frauendiener and Mason, the Sparling 3-form is a Hamiltonian density for canonical general relativity (see also Ref.  on this point), while, when used quasi-locally, the 2-form F gives rise to Penrose’s formula for the angular momentum twistor of the quasi-local mass construction. These ideas are required for treatment of conserved quantities in general relativity, since the Sparling 3-form can be extended to be one of a collection of 3-forms on the bundle of general linear frames which, when pulled back to spacetime, give rise to classical formulas for the pseudo-energy-momentum tensor of the gravitational field  \*§§\*§§\*§§See Ref. for the Einstein complex, Ref. for the Landau-Lifschitz one and Ref. for a review.. See also Ref., where the Sparling 3-form is studied in arbitrary dimension and where it is contrasted with Yang-Mills theory. In Ref. there is the relationship of the Sparling 3-form to the spin coefficient formalism. These papers show the connection of the Poincaré charges with the standard theory of the Komar superpotentials and of the energy-momentum pseudotensors, which is reviewed in Appendix D of Ref..

See Refs. for the existence of solutions of the Sen-Witten equation on noncompact spacelike hypersurfaces \*§¶\*§¶\*§¶For non-spacelike ones see the last chapter of Vol.2 in Ref., its references and Ref. . and Refs. for the non-unicity of Witten’s positivity proof as first noted in Ref.: other equations different from the Sen-Witten one can be used in variants of the proof.

In particular, in the paper of Reula in Ref., used in Ref., the problem of the existence of solutions of the Sen-Witten equation (438) has been formalized in the following way. An initial data set $`(\mathrm{\Sigma }_\tau ,{}_{}{}^{3}g_{rs}^{},{}_{}{}^{3}K_{rs}^{})`$ for Einstein’s equations consists of a 3-dimensional manifold $`\mathrm{\Sigma }_\tau `$ without boundary equipped with a positive definite 3-metric $`{}_{}{}^{3}g_{rs}^{}`$ and a second rank, symmetric tensor field $`{}_{}{}^{3}K_{rs}^{}`$. For simplicity it is assumed that $`\mathrm{\Sigma }_\tau `$ is diffeomorphic to $`R^3`$ and that $`{}_{}{}^{3}g_{rs}^{}`$ and $`{}_{}{}^{3}K_{rs}^{}`$ are smooth tensor fields on $`\mathrm{\Sigma }_\tau `$. An initial data set is said to satisfy the local energy condition if $`\mu |J^\mu J_\mu |^{1/2}`$ with $`\mu =\frac{1}{2}[{}_{}{}^{3}R+{}_{}{}^{3}K_{rs}^{}{}_{}{}^{3}K_{}^{rs}({}_{}{}^{3}K)^2]{}_{}{}^{3}R`$ and $`J_\mu =^\nu [{}_{}{}^{3}K_{\mu \nu }^{}{}_{}{}^{3}g_{\mu \nu }^{}{}_{}{}^{3}K]`$. An initial data set is asymptotically flat if one can introduce an asymptotically Euclidean coordinate system such that $`{}_{}{}^{3}g_{rs}^{}\delta _{rs}=O(r^1)`$ and $`_u{}_{}{}^{3}g_{rs}^{}=O(r^2)`$ for $`r\mathrm{}`$ and, moreover, $`{}_{}{}^{3}K_{rs}^{}=O(r^2)`$ and $`{}_{}{}^{3}R_{rs}^{}=O(r^3)`$ for $`r\mathrm{}`$ \*§∥\*§∥\*§∥They are compatible with Christodoulou-Klainermann Eqs.(123).. Then one has the following existence theorem(see also Ref.): If $`(\mathrm{\Sigma }_\tau ,{}_{}{}^{3}g_{rs}^{},{}_{}{}^{3}K_{rs}^{})`$ is an initial data set that satisfies the local energy condition and is asymptotically flat, then for any spinor field $`\psi _o^{\stackrel{~}{A}}`$ that is asymptotically constant \*§\**\*§\**\*§\**I.e. $`_r\psi _o^{\stackrel{~}{A}}=0`$ outside a compact subset of $`\mathrm{\Sigma }_\tau `$; see also Ref. ) there exists a spinor field $`\psi ^{\stackrel{~}{A}}`$ satisfying the Sen-Witten equation (438). and such that $`\psi ^{\stackrel{~}{A}}=\psi _o^{\stackrel{~}{A}}+O(r^1)`$ at spatial infinity.

ii) In Ref., Ashtekar and Horowitz note that the Sen-Witten equation enables one to transport rigidly constant spinors at infinity to the interior of the 3-manifold on which the initial data are defined. By taking squares of the Sen-Witten spinors one can construct a preferred family of lapse and shifts and interpret them as the projections of 4-dimensional null evolution vector fields $`z_\tau ^\mu (\tau ,\stackrel{}{\sigma })=[Nl^\mu +N^\mu ](\tau ,\stackrel{}{\sigma })`$, $`N^\mu (\tau ,\stackrel{}{\sigma })=[z_r^\mu N^r](\tau ,\stackrel{}{\sigma })`$, $`[l^\mu N_\mu ](\tau ,\stackrel{}{\sigma })=0`$, $`z_\tau ^2(\tau ,\stackrel{}{\sigma })=0`$, obtained by transporting rigidly the spacetime asymptotic translations at spatial infinity. The preferred family corresponds to a gauge fixing prescription for lapse and shift functions. Next it is shown that, on the phase space of general relativity, one can compute Hamiltonians corresponding to these lapse and shifts. Although these Hamiltonians have a complicated form in terms of the usual canonical variables (involving volume and surface integrals), they are simply the volume integrals of squares of derivatives of the Witten spinors. In particular, the Hamiltonians generating Witten-time translations are manifestly positive and differentiable. These expressions are essentially spinorial, i.e. they depend on the phases of the individual spinors whereas the original lapse-shift vector did not . It is essential for a coherent point of view, therefore, to regard the spinors as fundamental, and the lapse-shift vector as derived (this requires supergravity, which motivated Witten, but is not justified in ordinary gravity). The Witten argument required that the phases of the spinors making up the null lapse-shift vector be assumed to be asymptotically constant along with the lapse-shift vector: without this, the argument fails.

In terms of vectors, given a tetrad at infinity, it is noted in Ref. that the SL(2,C) Sen-Witten equation then provides us with a tetrad field everywhere on $`\mathrm{\Sigma }_\tau `$. If we rotate the tetrad at infinity, the entire field rotates rigidly by the same amount; the freedom is that of global rather than local Lorentz transformations. It is in this sense that we have a gauge fixation procedure. Note, however, that the preferred tetrad fields depend on the choice of the variables $`({}_{}{}^{3}g_{rs}^{},{}_{}{}^{3}K_{rs}^{})`$ on $`\mathrm{\Sigma }_\tau `$; if we change the metric $`{}_{}{}^{3}g_{rs}^{}`$ near $`\mathrm{\Sigma }_\tau `$, the tetrad fields change. It can also be shown that if $`{}_{}{}^{3}T_{}^{\mu }`$ is a vector field tangent to $`\mathrm{\Sigma }_\tau `$ (not necessarily spacelike) with asymptotic value $`{}_{}{}^{3}T_{(\mathrm{})}^{\mu }`$, then $`{}_{}{}^{3}T_{}^{\mu }`$ is timelike (respectively, null, spacelike) everywhere, if $`{}_{}{}^{3}T_{(\mathrm{})}^{\mu }`$ is timelike (respectively, null, spacelike) at infinity.

Then, in Ref. it is noted that, if $`(M^4,{}_{}{}^{4}\eta _{(\mu )(\nu )}^{})`$ is the Minkowski spacetime, then, since the constant spinor fields in it automatically satisfy Sen-Witten equation, for any choice of $`\mathrm{\Sigma }_\tau `$, the transport of translations at infinity yields the translational Killing fields everywhere on $`M^4`$. In a generic spacetime, however, the transport is tied to the choice of $`\mathrm{\Sigma }_\tau `$. Thus, it is only when we are given a foliation of a generic spacetime that we can obtain 4 vector fields everywhere on the spacetime, and they depend on the choice of the foliation. The transport is well suited to the canonical framework, however, because in this framework one deals only with 3-surfaces.

In the approach of this paper the preferred lapse and shift functions of Ref. have to be replaced with the asymptotic parts of the lapse and shift functions of Eqs.(331) when $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$ so that $`N_{(as)A}(\tau ,\stackrel{}{\sigma })=N_{(as)A}(\tau )=\stackrel{~}{\lambda }_A(\tau )`$. Our 4 arbitrary functions $`\stackrel{~}{\lambda }_A(\tau )`$ give the same multiplicity as in the previous spinorial construction without relying on the special null evolution vectors needed in it (the evolution vectors $`_\tau z^\mu (\tau ,\stackrel{}{\sigma })`$ are now arbitrary). Therefore, in this approach, the gauge-fixing prescription for selecting the preferred family of lapse and shifts becomes the requirement of absence of supertranslations according to Eqs.(335), i.e. $`\stackrel{~}{\lambda }_{AB}(\tau )=0`$. But this implies $`\widehat{P}_{ADM}^{(\mu )}l_{(\mathrm{})}^{(\mu )}\widehat{P}_{ADM}^\tau `$ and, as a consequence, the allowed foliations and their leaves, i.e. the spacelike hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, could be called “Wigner-Sen-Witten” (WSW) foliations and spacelike hypersurfaces, being the analogues of the Wigner foliations and spacelike hyperplanes of the parametrized Minkowski theories.

iii) In Ref.  Frauendiener , exploiting the fact that there is a unique 2-1 (up to a global sign) correspondence between a SU(2) spinor and a triad on a spacelike hypersurface, derives the necessary and sufficient conditions that have to be satisfied by a triad in order to correspond to a spinor that satisfies the Sen-Witten equation. In this way it is possible to eliminate completely any reference to spinors and to speak only of triads $`{}_{}{}^{3}e_{}^{(WSW)}_{(a)}^r`$ on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ and $`\mathrm{\Sigma }_\tau ^{(WSW)}`$-adapted tetrads on $`M^4`$.

These triads $`{}_{}{}^{3}e_{}^{(WSW)}_{(a)}^r`$ are built in terms of the SU(2) spinors solutions of the Sen-Witten equation and, as a consequence of this equation, they are shown  to satisfy the following equations

$`{}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(1)}^{(WSW)r}={}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(2)}^{(WSW)r}=0,`$ (441)
$`{}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(3)}^{(WSW)r}=\alpha {}_{}{}^{3}K,`$
$`{}_{}{}^{3}e_{(1)}^{(WSW)r}{}_{}{}^{3}e_{(3)}^{(WSW)s}{}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(2)s}^{(WSW)}+{}_{}{}^{3}e_{(3)}^{(WSW)r}{}_{}{}^{3}e_{(2)}^{(WSW)s}{}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(1)s}^{(WSW)}+`$
$`+`$ $`{}_{}{}^{3}e_{(2)}^{(WSW)r}{}_{}{}^{3}e_{(1)}^{(WSW)s}{}_{}{}^{3}_{r}^{}{}_{}{}^{3}e_{(3)s}^{(WSW)}=0.`$ (442)
Therefore, these triads are formed by 3 vector field with the properties: i) two vector fields are divergence free; ii) the third one has a non-vanishing divergence proportional to the trace of the extrinsic curvature of $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ \*§††\*§††\*§††On a maximal slicing hypersurface ($`{}_{}{}^{3}K=0`$) all three vectors would be divergence free.; iii) the vectors satisfy a cyclic condition. The 4-dimensional freedom in the choice of a spinor at one point (at spatial infinity) implies that a triad satisfying Eqs.(442) is unique up to global frame rotations and homotheties.

In Ref. it is shown: 1) these triads do not exist for compact $`\mathrm{\Sigma }_\tau `$; 2) with nontrivial topology for $`\mathrm{\Sigma }_\tau `$ there can be less than 4 real solutions and the triads cannot be build; 3) the triads exist for asymptotically null surfaces (hyperboloidal data), but the corresponding tetrad will be degenerate in the limit of null infinity.

Moreover, in Ref., using the results of Ref., it is noted that the Einstein energy-momentum pseudo-tensor is a canonical object only in the frame bundle over $`M^4`$, where it coincides with the Sparling 3-form. In order to bring this 3-form back to a 3-form (and then to an energy-momentum tensor) over the spacetime $`M^4`$, one needs a section (i.e. a tetrad) in the frame bundle. Only with the 3+1 decomposition of $`M^4`$ with WSW foliations one gets that (after imposition of Einstein’s equations together with the local energy condition) one has a preferred, geometrical and dynamical, adapted tetrad on the initial surface $`\mathrm{\Sigma }_\tau ^{(WSW)}`$.

By assuming that these triads on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ have the asymptotic behaviour $`{}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{r}(\tau ,\stackrel{}{\sigma })_r\mathrm{}(1\frac{M}{2r})\delta _{(a)}^r+O(r^{3/2})\delta _{(a)}^r={}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}_{(a)}^r`$, one can select the solutions of Eqs.(442) relevant for the rest-frame instant form of metric gravity.

This initial data set determines uniquely a triad on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ and hence, taking into account the normal $`l^\mu `$ to $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, an adapted tetrad $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{A}^{(W)(\mu )}`$ in spacetime.

Therefore, we can define the $`\mathrm{\Sigma }_\tau ^{(WSW)}`$-adapted preferred tetrads of the rest-frame instant form

$`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{}^{(WSW)}{}_{(o)}{}^{A}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{\displaystyle \frac{1}{ϵ+n(\tau ,\stackrel{}{\sigma })}}(1;n^r(\tau ,\stackrel{}{\sigma })),`$ (443)
$`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{}^{(WSW)}{}_{(a)}{}^{A}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`(0;{}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{r})(\tau ,\stackrel{}{\sigma }),`$ (444)
$`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{}^{(WSW)}{}_{(o)}{}^{\mu }(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`b_A^\mu (\tau ,\stackrel{}{\sigma }){}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}{}_{(o)}{}^{(WSW)A}(\tau ,\stackrel{}{\sigma })=l^\mu (\tau ,\stackrel{}{\sigma }),`$ (446)
$`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{(a)}^{\mu }(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`b_A^\mu (\tau ,\stackrel{}{\sigma }){}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}{}_{(a)}{}^{(WSW)A}(\tau ,\stackrel{}{\sigma })=b_s^\mu (\tau ,\stackrel{}{\sigma }){}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{s}(\tau ,\stackrel{}{\sigma }).`$ (447)
They replace static concepts like the fixed stars in the study of the dragging of inertial frames. Since the WSW hypersurfaces and the 3-metric on them are dynamically determined \*§‡‡\*§‡‡\*§‡‡The solution of Einstein equations is needed to find the physical 3-metric, the allowed WSW hypersurfaces and the Sen connection., one has neither a static background on system-independent hyperplanes like in parametrized Newton theories nor a static one on the system-dependent Wigner hyperplanes like in parametrized Minkowski theories. Now both the WSW hyperplanes and the metric on it are system dependent.

iv) For completeness let us quote the formulation of general relativity as a teleparallel theory done by Nester in Refs. in order to prove the positivity of gravitational energy with purely tensorial methods. It could be connected with a different notion of parallel transport on the WSW hypersurfaces.

Nester shows that by imposing certain gauge conditions on tetrads one can obtain positivity of the ADM energy. His conditions are closely related to Eqs.(442). Specifically, he also imposes the cyclic condition but on global cotriads rather than on global triads. Clearly, a global triad defines a connection on an initial surface, by requiring that a parallel vector field has constant coefficients with respect to the triad. This connection will be metric compatible and integrable since it preserves the triad. Therefore, its curvature will be zero, but the torsion will be nonzero. We see from the present result, that on an initial data set satisfying the local energy conditions (needed to prove the existence of Sen-Witten spinors) there exists a preferred absolute parallelism.

While the orthonormal coframe $`{}_{}{}^{3}\theta _{}^{(a)}={}_{}{}^{3}e_{r}^{(a)}d\sigma ^r`$ determines the metric and the Riemannian geometry, a given Riemannian geometry determines only an equivalence class of orthonormal coframes: coframes are defined only modulo position-dependent rotations and, under these gauge transformations, the spin connection transforms as a SO(3) gauge potential. A gauge-fixing for the rotation freedom usually means a choice of a representative of the spin connection inside its gauge orbit (like the Coulomb gauge for the electromagnetic vector gauge potential $`\stackrel{}{A}`$): this would induce a choice of an associated coframe with respect to some standard origin. However, since coframes $`{}_{}{}^{3}\theta _{}^{(a)}`$ are more elementary of the Levi-Civita spin connection $`{}_{}{}^{3}\omega _{}^{(a)}_{(b)}`$, which is built in terms of them, it is possible to define gauge-fixings directly at the level of coframes \[see Ref.,papers b)\]. The idea of these papers is that the choice of a preferred coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}`$ on the Riemannian parallelizable 3-manifold $`(\mathrm{\Sigma }_\tau ^{(WSW)},{}_{}{}^{3}g)`$ \*¶\*\*¶\*\*¶\*With its associated metric compatible Levi-Civita connection and parallel transport and vanishing torsion. may be associated with the definition of a new kind of parallel transport on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, i.e. of a teleparallel (or Weitzenböck or distant parallelism) geometry on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$, according to which a covariant vector is parallely transported along a curve in $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ if in each point q of the curve it has the same components with respect to the local coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}|_q`$. The special coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}`$ is said orthoteleparallel (OT) coframe. With this structure $`(\mathrm{\Sigma }_\tau ^{(WSW)},\delta _{(a)(b)})`$ is a 3-manifold with flat metric \*¶†\*¶†\*¶†The curvature vanish because this parallel transport is path-independent (absolute parallelism) like in Euclidean geometry. The OT coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}`$ is the special coframe in which by construction also all the spin connection coefficients vanish., but with a nonvanishing torsion, which completely characterizes this kind of geometry. The Riemannian geometry $`(\mathrm{\Sigma }_\tau ^{(WSW)},{}_{}{}^{3}g)`$ corresponds to a whole equivalence class of teleparallel geometries $`(\mathrm{\Sigma }_\tau ^{(WSW)},{}_{}{}^{3}\theta _{(P)}^{(a)})`$, according to which coframe is chosen as the preferred OT one.

In Ref.b) it is pointed out that there exists a natural (of elliptic type) gauge-fixing for the choice of a special OT coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}`$: these are three conditions (one is the cyclic condition), which determine a special orthonormal coframe on a 3-manifold \*¶‡\*¶‡\*¶‡I.e. they determine the 3 Euler angles of the dual frame with respect to a standard frame chosen as an identity cross section in the orthonormal frame bundle $`F(\mathrm{\Sigma }_\tau ^{(WSW)})`$. once appropriate boundary conditions are fixed. For asymptotically flat 3-manifolds there is a certain boundary condition such that, when the first de Rahm cohomology group $`H_1(\mathrm{\Sigma }_\tau ^{(WSW)})=0`$ vanishes, a certain closed 1-form is globally exact in this gauge and determines a function $`F_{(P)}`$ up to a constant, which, suitably normalized at infinity, is the best definition of the generalization of the Newton potentialc). With this gaugec), one gets a locally positive representation for the Hamiltonian density allowing a new, strictly tensorial (in contrast to Witten’s spinor method) proof of positive energy for Einstein’s theory of gravity. Given an orthonormal coframe $`{}_{}{}^{3}\theta _{}^{(a)}`$, these gauge conditions become a nonlinear second-order elliptic system for the rotation matrix defining an OT coframe $`{}_{}{}^{3}\theta _{(P)}^{(a)}=R^{(a)}{}_{(b)}{}^{}{}_{}{}^{3}\theta _{}^{(b)}`$. In Ref.b) it is shown that the associated linearized problem has a unique solution if $`d{}_{}{}^{3}\theta _{}^{(a)}`$ is not too large and the second deRahm cohomology group $`H_2(\mathrm{\Sigma }_\tau ^{(WSW)})=0`$ vanishes (for asymptotically flat spaces one should use the first paper in Ref.). In Ref. it is shown that for 3-manifolds the gauge conditions are essentially equivalent to the linear Dirac equation, for which unique solutions exist. Hence for 3-manifolds special OT coframes exist except possibly at those (isolated) points where the Dirac spinor vanishes.

Coming back to the rest-frame instant form of metric gravity defined in Section VIII, one has that the asymptotic transition functions from arbitrary coordinates on $`M^4`$ to WSW hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ are

$`\widehat{b}_{(\mathrm{})l}^{(\mu )}`$ $``$ $`ϵl_{(\mathrm{})}^{(\mu )}ϵb_{(\mathrm{})\tau }^{(\mu )},`$ (448)
$`\widehat{b}_{(\mathrm{})r}^{(\mu )}`$ $`=`$ $`b_{(\mathrm{})r}^{(\mu )}=ϵ_r^{(\mu )}(u(p_{(\mathrm{})})),`$ (449)
$`\widehat{b}_{(\mathrm{})(\mu )}^l`$ $`=`$ $`l_{(\mathrm{})(\mu )}=ϵb_{(\mathrm{})(\mu )}^\tau ,`$ (450)
$`\widehat{b}_{(\mathrm{})(\mu )}^s`$ $`=`$ $`b_{(\mathrm{})(\mu )}^s\stackrel{~}{\lambda }_s(\tau )b_{(\mathrm{})(\mu )}^\tau b_{(\mathrm{})(\mu )}^s,`$ (452)
$`with`$
$`b_{(\mathrm{})A}^{(\mu )}(\tau )`$ $``$ $`L^{(\mu )}{}_{(\nu )=A}{}^{}(p_{(\mathrm{})},\stackrel{}{p}_{(\mathrm{})})=ϵ_A^{(\mu )}(u(p_{(\mathrm{})})),`$ (453)
$`ϵl_{(\mathrm{})}^{(\mu )}`$ $`=`$ $`ϵ_o^{(\mu )}(u(p_{(\mathrm{})}))=u^{(\mu )}(p_{(\mathrm{})}){\displaystyle \frac{\widehat{P}_{ADM}^{(\mu )}}{ϵ_{(\mathrm{})}}},`$ (455)
$`ϵ_{(\mathrm{})}M_{ADM}`$ $`=`$ $`\sqrt{ϵ\widehat{P}_{ADM}^2},S_{(\mathrm{})}^{(\mu )(\nu )}\widehat{S}_{ADM}^{(\mu )(\nu )}.`$ (456)
Given the previous boundary conditions on the triads \[$`{}_{}{}^{3}e_{(a)}^{(WSW)r}{}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{r}=\delta _{(a)}^r`$\] and cotriads \[$`{}_{}{}^{3}e_{(a)r}^{(WSW)}{}_{}{}^{3}e_{(\mathrm{})(a)r}^{(WSW)}=\delta _{(a)r}`$\], we have the following associated asymptotic tetrads on $`\mathrm{\Sigma }_\tau ^{(WSW)}`$

$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}{}_{(o)}{}^{(\mu )}\delta _{(\mu )}^{\mu }`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{(\mathrm{})}^{(WSW)}{}_{(o)}{}^{(\mu )}\delta _{(\mu )}^{\mu }=\delta _{(\mu )}^\mu l_{(\mathrm{})}^{(\mu )}=\delta _{(\mu )}^\mu \widehat{b}_{(\mathrm{})l}^{(\mu )}\delta _{(\mu )}^\mu b_{(\mathrm{})\tau }^{(\mu )}=\delta _{(\mu )}^\mu u^{(\mu )}(p_{(\mathrm{})}),`$ (457)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{(\mu )}\delta _{(\mu )}^{\mu }`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{(\mu )}\delta _{(\mu )}^{\mu }=\delta _{(\mu )}^\mu \widehat{b}_{(\mathrm{})s}^{(\mu )}{}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{s}\delta _{(\mu )}^\mu b_{(\mathrm{})s}^{(\mu )}{}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{s}=`$ (458)
$`=`$ $`\delta _{(\mu )}^\mu b_{(\mathrm{})s}^{(\mu )}\delta _{(a)}^s=\delta _{(\mu )}^\mu ϵ_s^{(\mu )}(u(p_{(\mathrm{})}))\delta _{(a)}^s,`$ (459)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}_{(o)}^A`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{(\mathrm{})}^{(WSW)}{}_{(o)}{}^{A}=(ϵ;0),`$ (461)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}_{(a)}^a`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{(\mathrm{})}^{(WSW)}{}_{(a)}{}^{A}=(0;\delta _{(a)}^r),`$ (462)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}{}_{(\mu )}{}^{(o)}\delta _{\mu }^{(\mu )}`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{(\mathrm{})}^{(WSW)}{}_{(\mu )}{}^{(o)}\delta _{\mu }^{(\mu )}=\delta _\mu ^{(\mu )}l_{(\mathrm{})(\mu )}=\delta _\mu ^{(\mu )}\widehat{b}_{(\mathrm{})(\mu )}^l=ϵ\delta _\mu ^{(\mu )}b_{(\mathrm{})(\mu )}^\tau ,`$ (464)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}{}_{(\mu )}{}^{(a)}\delta _{\mu }^{(\mu )}`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{(\mathrm{})}^{(WSW)}{}_{(\mu )}{}^{(a)}\delta _{\mu }^{(\mu )}=\delta _\mu ^{(\mu )}\widehat{b}_{(\mathrm{})(\mu )}^s{}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}{}_{s}{}^{(a)}\delta _\mu ^{(\mu )}b_{(\mathrm{})(\mu )}^s\delta _s^{(a)},`$ (465)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}_A^{(o)}`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{(\mathrm{})}^{(WSW)}{}_{A}{}^{(o)}(ϵ;0),`$ (467)
$`{}_{}{}^{4}E_{(\mathrm{})}^{(WSW)}_A^{(a)}`$ $`=`$ $`{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{(\mathrm{})}^{(WSW)}{}_{A}{}^{(a)}(0;{}_{}{}^{3}e_{(\mathrm{})}^{(WSW)}{}_{(a)r}{}^{}=\delta _{(a)r}).`$ (468)
The embeddings $`z^\mu (\tau ,\stackrel{}{\sigma })`$ of $`R^3`$ into $`M^4`$ associated with WSW spacelike hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ in the rest-frame instant form of tetrad gravity are restricted to assume the same form at spatial infinity of those in Minkowski spacetime identifying the Wigner hyperplanes in the rest-frame instant form \[see Eq.(A9)\]

$`z^\mu (\tau ,\stackrel{}{\sigma })`$ $`_r\mathrm{}`$ $`\delta _{(\mu )}^\mu z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma }),`$ (469)
$`z_{(\mathrm{})}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`x_{(\mathrm{})}^{(\mu )}(\tau )+ϵ_r^{(\mu )}(u(p_{(\mathrm{})}))\sigma ^r=`$ (471)
$`=`$ $`x_{(\mathrm{})}^{(\mu )}(0)+u^{(\mu )}(p_{(\mathrm{})})\tau +ϵ_r^{(\mu )}(u(p_{(\mathrm{})}))\sigma ^r.`$ (472)
By using the notation

$`l^\mu `$ $`=`$ $`ϵ\widehat{b}_l^\mu ={\displaystyle \frac{ϵ}{ϵ+n}}[b_\tau ^\mu n^rb_r^\mu ]={\displaystyle \frac{1}{\sqrt{{}_{}{}^{3}g}}}ϵ_{\alpha \beta \gamma }^\mu {}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{}^{(WSW)}{}_{(1)}{}^{\alpha }{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{}^{(WSW)}{}_{(2)}{}^{\beta }{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{}^{(WSW)}{}_{(3)}{}^{\gamma },`$ (473)
$`ϵ_r^\mu `$ $`=`$ $`b_s^\mu {}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{s}\delta _{(a)r}^{}\delta _{(\mu )}^\mu b_{(\mathrm{})s}^{(\mu )}\delta _{(a)}^s\delta _{(a)r}=\delta _{(\mu )}^\mu b_{(\mathrm{})r}^{(\mu )},`$ (474)
$`\widehat{b}_r^\mu `$ $`=`$ $`b_r^\mu ,`$ (476)
$`\widehat{b}_\mu ^l`$ $`=`$ $`l_\mu =(ϵ+n)b_\mu ^\tau =(ϵ+n)_\mu \tau (z),`$ (477)
$`\widehat{b}_\mu ^r`$ $`=`$ $`b_\mu ^r+n^rb_\mu ^\tau ,`$ (478)
we get the following expression for the embedding

$`z_{(WSW)}^\mu (\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\delta _{(\mu )}^\mu x_{(\mathrm{})}^{(\mu )}(0)+l^\mu (\tau ,\stackrel{}{\sigma })\tau +ϵ_r^\mu (\tau ,\stackrel{}{\sigma })\sigma ^r=`$ (479)
$`=`$ $`x_{(\mathrm{})}^\mu (0)+l^\mu (\tau ,\stackrel{}{\sigma })\tau +b_s^\mu (\tau ,\stackrel{}{\sigma }){}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{s}(\tau ,\stackrel{}{\sigma })\delta _{(a)r}\sigma ^r=`$ (480)
$`=`$ $`x_{(\mathrm{})}^\mu (0)+b_A^\mu (\tau ,\stackrel{}{\sigma })F^A(\tau ,\stackrel{}{\sigma }),`$ (484)
$`F^\tau (\tau ,\stackrel{}{\sigma })={\displaystyle \frac{\tau }{ϵ+n(\tau ,\stackrel{}{\sigma })}},`$
$`F^s(\tau ,\stackrel{}{\sigma })={}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{s}(\tau ,\stackrel{}{\sigma })\delta _{(a)r}\sigma ^r{\displaystyle \frac{n^s(\tau ,\stackrel{}{\sigma })}{ϵ+n(\tau ,\stackrel{}{\sigma })}}\tau ,`$
with $`x_{(\mathrm{})}^{(\mu )}(0)`$ arbitrary \*¶§\*¶§\*¶§It reflects the arbitrariness of the absolute location of the origin of asymptotic coordinates (and, therefore, also of the external center of mass $`\stackrel{~}{x}_{(\mathrm{})}^{(\mu )}(0)`$) near spatial infinity.. See Ref.  and its interpretation of the center of mass in general relativity (this paper contains the main references on the problem starting from Dixon’s definition): $`x_{(\mathrm{})}^{(\mu )}(\tau )`$ may be interpreted as the arbitrary reference (or central) timelike worldline of this paper.

From Eqs.(484) we can find the equations for determining the transition coefficients $`b_A^\mu (\tau ,\stackrel{}{\sigma })=\frac{z_{(WSW)}^\mu (\tau ,\stackrel{}{\sigma })}{\sigma ^A}`$ and therefore the coordinate transformation $`x^\mu \sigma ^A`$ from general 4-coordinates to adapted 4-coordinates

$`b_A^\mu `$ $`=`$ $`{\displaystyle \frac{z_{(WSW)}^\mu }{\sigma ^A}}=b_B^\mu {\displaystyle \frac{F^B}{\sigma ^A}}+{\displaystyle \frac{b_B^\mu }{\sigma ^A}}F^B,`$ (487)
$`A_A{}_{}{}^{B}=\delta _A^B{\displaystyle \frac{F^B}{\sigma ^A}},`$
$`F^B{\displaystyle \frac{b_B^\mu }{\sigma ^A}}`$ $`=`$ $`A_A{}_{}{}^{B}b_{B}^{\mu },`$ (490)
$`orb_b^\mu =(A^1)_B{}_{}{}^{a}F_{}^{C}{\displaystyle \frac{b_C^\mu }{\sigma ^A}}.`$
The coordinates $`\sigma ^A`$, for instance the special 3-orthogonal coordinates, for the 3+1 splitting of $`M^4`$ with leaves $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ replace the standard PN coordinates ($`x^\mu (o)`$ is the arbitrary origin) and should tend to them in the Post-Newtonian approximation.

Moreover, from the equation $`_\mu \tau (z)=l_\mu (z)/[ϵ+n(z)]`$ we could determine the function $`\tau (z)`$ associated with this class of globally hyperbolic spacetimes. The WSW hypersurface $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ associated with the given solution is the set of points $`z^\mu (\tau ,\stackrel{}{\sigma })`$ such that $`\tau (z)=\tau `$.

In conclusion it turns out that with WSW Minkowski-compatible foliations with spacelike hypersurfaces $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ , preferred adapted tetrads and cotetrads are associated. Therefore, there are preferred geometrical observers associated with the leaves $`\mathrm{\Sigma }_\tau ^{(WSW)}`$ of a WSW foliation, which are determined by both the intrinsic and extrinsic ($`{}_{}{}^{3}K`$) geometry of these $`\mathrm{\Sigma }_\tau ^{(WSW)}`$’s.

Therefore, there are preferred ADM Eulerian observers

$${}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{E}_{}^{(WSW)}{}_{(\alpha )}{}^{\mu }=(l^\mu ;b_s^\mu {}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{s})[{}_{(\mathrm{\Sigma })}{}^{4}\stackrel{ˇ}{\stackrel{~}{E}}_{(\alpha )}^{A}=(\frac{1}{ϵ+n}(1;n^r);(0;{}_{}{}^{3}e_{}^{(WSW)}{}_{(a)}{}^{r}))].$$
(491)
They should be used as conventional celestial reference system (CCRS) $`S_I`$ based on an extragalactic radio-source catalogue system  : this is a conventional definition of inertiality with respect to rotations \*¶¶\*¶¶\*¶¶The tabulated right ascensions and declinations and, in the case of a star catalogue, the proper motions (ephemerides) define the reference axes of CCRS. The axes are chosen in such a way that at a basic epoch they coincide in optimal approximation with the mean equatorial frame defined by the mean celestial pole and the mean dynamical equinox; these are non-relativistic definitions which can be applied to the asymptotic triads; in the relativistic case one considers the proper reference frame of a single observer, represented as a tetrad propagated along the worldline of the observer by Fermi-Walker transport: the time axis of the tetrad is the timelike worldline of the observer, while the three space axes are spacelike geodesics (Fermi normal coordinates)..

## XIII Conclusions.

In this paper it has been shown that with suitable boundary conditions at spatial infinity compatible with Christodoulou-Klainermann spacetimes and following Dirac’s ideas on asymptotically flat metric gravity, it is possible to define the rest-frame instant form of dynamics also for metric gravity and not only for parametrized Minkowski theories. In particular, it turns out that in this approach there are dynamical preferred timelike accelerated observers tending to inertial observers at spatial infinity (the fixed stars). A clarification on the interpretation of Hamiltonian gauge transformations and of observables in metric gravity has been given.

This Hamiltonian approach, oriented towards the canonical reduction to the physical degrees of freedom of the gravitational field, violates the geometrical structure of general relativity breaking general covariance \*¶∥\*¶∥\*¶∥But in a way associated with the privileged presymplectic Darboux bases naturally selected by the Shanmugadhasan canonical transformations.. It avoids the spacetime problem with the choice of the privileged WSW foliations and it allows the deparametrization of general relativity and a soldering with parametrized Minkowski theories (and parametrized Newton theories for $`c\mathrm{}`$) and to make contact with the kinematical framework, which will be used to find the Tomonaga-Schwinger asymptotic states needed for relativistic bound states (the Fock asymptotic states have no control on the relative times of the asymptotic particles). The problem whether general covariance may be recovered at the quantum level has to be attacked only after having seen if this minimal quantization program can work.

What is still lacking is the explicit construction of a quasi-Shanmugadhasan canonical transformation and of a canonical basis of Dirac’s observables. This task will be faced starting from tetrad gravity and then deducing the results for metric gravity. Tetrad gravity is to be preferred for the following reasons: i) the configuration variables describe accelerated timelike observers, namely the tetrads carry the same type of information of the embeddings in parametrized Minkowski theories; ii) it couples naturally to fermions; iii) the supermomentum constraints may be replaced with SO(3) Yang-Mills Gauss laws, which are easier to be solved.

Since in the Dirac-Bergmann canonical reduction of metric gravity spin networks do not show up (but they could be hidden in the non-tensorial character of the Dirac observables $`r_{\overline{a}}`$, $`\pi _{\overline{a}}`$ still to be explored), it is not clear which could be the overlap with Ashtekar-Rovelli-Smolin program  for spatially either compact or non-compact spacetimes, which is generally covariant but only after having fixed the lapse and shift functions (so that it is not clear how one can rebuild the spacetime from the 3-geometries) and replaces local variables of the type $`r_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$ with global holonomies of the 3-spin connection over closed 3-loops.

Let us now make some comments on the quantization of tetrad gravity in this scheme in which general covariance is completely broken having completely fixed all the gauges. See Ref. for an updated discussion of quantization problems in canonical gravity (and Ref. for the quantization of parametrized theories).

The quantization of the rest-frame instant form of metric gravity in a completely fixed gauge like, after a quasi-Shanmugadhasan canonical transformation, the 3-orthogonal gauge with the natural gauge fixing $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$ by using the mathematical time parameter $`T_{(\mathrm{})}\tau `$ (the rest-frame time of the external decoupled point particle clock) on the Wigner-Sen-Witten hypersurfaces should be done with the following steps: a) Assume to have found either the exact or an approximate solution of the classical reduced Lichnerowicz equation $`\varphi =\varphi (r_{\overline{a}},\pi _{\overline{a}})`$ and to have evaluated the associated weak ADM 4-momentum $`\widehat{P}_{ADM,R}^A=\widehat{P}_{ADM,R}^A[r_{\overline{a}},\pi _{\overline{a}},\varphi (r_{\overline{a}},\pi _{\overline{a}})]`$. b) On each WSW hypersurface $`\mathrm{\Sigma }_\tau ^{(WSW)}R^3`$ replace the Hamiltonian gravitational field physical degrees of freedom $`r_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$, $`\pi _{\overline{a}}(\tau ,\stackrel{}{\sigma })`$ with operators $`\widehat{r}_{\overline{a}}(\tau ,\stackrel{}{\sigma })=r_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$, $`\widehat{\pi }_{\overline{a}}(\tau ,\stackrel{}{\sigma })=i\frac{\delta }{\delta r_{\overline{a}}(\tau ,\stackrel{}{\sigma })}`$ (Schroedinger representation) on some Hilbert space. c) Write the functional Schroedinger wave equation

$$i\frac{}{\tau }\mathrm{\Psi }(\tau ,\stackrel{}{\sigma }|r_{\overline{a}}]=\widehat{P}_{ADM,R}^{(op)\tau }[r_{\overline{a}},\widehat{\pi }_{\overline{a}},\varphi (r_{\overline{a}},\widehat{\pi }_{\overline{a}})]\mathrm{\Psi }(\tau ,\stackrel{}{\sigma }|r_{\overline{a}}],$$
(492)
plus the 3 conditions defining the rest frame

$$\widehat{P}_{ADM,R}^{(op)r}[r_{\overline{a}},\widehat{\pi }_{\overline{a}},\varphi (r_{\overline{a}},\widehat{\pi }_{\overline{a}})]\mathrm{\Psi }(\tau ,\stackrel{}{\sigma }|r_{\overline{a}}]=0,$$
(493)
after having chosen (if possible!) an ordering such that $`[\widehat{P}_{ADM,R}^{(op)A},\widehat{P}_{ADM,R}^{(op)B}]=0`$. Let us remark that at this stage it could be useful the suggestion of Ref. that the unphysical space of these functionals does not need to be a Hilbert space and that, in it, the observables need not to be self-adjoint operators (these properties must hold only in the physical space with the physical scalar product). This Schroedinger equation has not an internal Schroedinger interpretation since neither Misner internal intrinsic time nor York internal extrinsic time nor any function like the Komar-Bergmann individuating fields are the time: it does not use the superhamiltonian constraint (like the Wheeler-De Witt equation) but the derived weak ADM energy.

The scalar product associated with this Schroedinger equation defines the Hilbert space and the operators $`\widehat{P}_{ADM,R}^{(op)A}`$ should be self-adjoint with respect to it. Since there are the 3 conditions coming from the 3 first class constraints defining the rest frame, the physical Hilbert space of the wave functionals $`\mathrm{\Psi }_{phys}`$ solution of Eq.(493) will have an induced physical scalar product which depends on the functional form of the constraints $`\widehat{P}_{ADM,R}^r0`$ as it can be shown explicitly in finite-dimensional examples , so that it is not given by a system-independent rule.

Another possibility is to add and quantize also the gauge fixings $`\stackrel{}{\sigma }_{ADM}0`$. In this case one could impose the second class constraints in the form $`<\mathrm{\Psi }|\sigma _{ADM}^{(op)r}|\mathrm{\Psi }>=0`$, $`<\mathrm{\Psi }|\widehat{P}_{ADM,R}^{(op)r}|\mathrm{\Psi }>=0`$ and look whether it is possible to define a Gupta-Bleuler procedure.

The best would be to be able to find the canonical transformation $`r_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$, $`\pi _{\overline{a}}(\tau ,\stackrel{}{\sigma })`$ $``$ $`\stackrel{}{\sigma }_{ADM}`$, $`\widehat{\stackrel{}{P}}_{ADM,R}`$, $`R_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$, $`\mathrm{\Pi }_{\overline{a}}(\tau ,\stackrel{}{\sigma })`$ \[$`R_{\overline{a}}`$, $`\mathrm{\Pi }_{\overline{a}}`$ being relative variables\], since in this case we would quantize only the final relative variables:

$`\mathrm{\Psi }_{phys}`$ $`=`$ $`\stackrel{~}{\mathrm{\Psi }}(\tau ,\stackrel{}{\sigma }|R_{\overline{a}}],`$ (494)
$`i{\displaystyle \frac{}{\tau }}\mathrm{\Psi }_{phys}`$ $`=`$ $`\widehat{E}_{ADM}^{(op)}[R_{\overline{a}},\widehat{\mathrm{\Pi }}_{\overline{a}}=i{\displaystyle \frac{\delta }{\delta R_{\overline{a}}}}]\mathrm{\Psi }_{phys},`$ (496)
$`with\widehat{E}_{ADM}=\widehat{P}_{ADM,R}^\tau [r_{\overline{a}},\pi _{\overline{a}},\varphi (r_{\overline{a}},\pi _{\overline{a}})]|_{\stackrel{}{\sigma }_{ADM}=\widehat{\stackrel{}{P}}_{ADM,R}=0}.`$
Let us remark that many aspects of the problem of time in quantum gravity  would be avoided: i) there would be no multiple choice problem since there is only one mathematical time variable $`T_{(\mathrm{})}=\tau `$; ii) the problem of functional evolution would be reduced to find an ordering such that $`[\widehat{P}_{ADM,R}^{(op)A},\widehat{P}_{ADM,R}^{(op)B}]=0`$ ; iii) the Hilbert space problem is not there because we do not have the Wheeler-De Witt equation but an ordinary Schroedinger equation; iv) there is a physical ultraviolet cutoff (the Møller radius) like in parametrized Minkowski theories which could help in regularization problems.

Naturally, general covariance is completely broken and everything is defined only on the Wigner-Sen-Witten foliation associated with the natural gauge fixing $`\pi _\varphi (\tau ,\stackrel{}{\sigma })0`$. If we would do the same quantization procedure in 3-normal coordinates on their WSW hypersurfaces associated with the corresponding natural gauge fixing $`\pi _{\varphi normal}(\tau ,\stackrel{}{\sigma })0`$, we would get a different physical Hilbert space whose being unitarily equivalent to the one in 3-orthogonal coordinates is a completely open problem.

However, Refs. point towards the possible existence of a generic obstruction to the quantization of field theory formulated on arbitrary spacelike hypersurfaces like in the Tomonoga-Schwinger point of view: if the initial and final Cauchy hypersurfaces are not isometric, the quantum evolution cannot be implemented in a unitary way. Therefore, notwithstanding the possibility of having consistent quantizations for each 3+1 splitting of spacetime, the quantization associated with different 3+1 splittings may be inequivalent. There could be a generalized Unruh effect connected with the transition from a congruence of timelike accelerated observers to another one both in flat and curved spacetimes.

If this quantization can be done, the completely gauge-fixed 4-metric $`{}_{}{}^{4}g_{AB}^{}`$ on the mathematical manifold $`M^4`$ would become an operator $`{}_{}{}^{4}\widehat{g}_{AB}^{}(\tau ,\stackrel{}{\sigma }|r_{\overline{a}},\widehat{\pi }_{\overline{a}}]`$ with the implication of a quantization of the Dirac observables associated with 3-volumes (the volume element Dirac observable is the solution $`\varphi `$ of the reduced Lichnerowicz equation for $`\pi _\varphi =0`$), 2-areas and lengths. Let us remark that these quantities would not a priori commute among themselves: already at the classical level there is no reason that they should have vanishing Dirac brackets (however, two quantities with compact disjoint supports relatively spacelike would have vanishing Dirac brackets).

If the quantization can be made meaningful, the quantum Komar-Bergmann individuating fields would lead to a quantization of the physical coordinates for the spacetime $`M^4`$. This will give a quantum spacetime connected with non commutative geometry approaches.

Let us also remark that instead of using a solution of the classical reduced Lichnerowicz equation with $`\pi _\varphi (\tau ,\stackrel{}{\sigma })=0`$, one could use weak ADM 4-momentum $`\widehat{P}_{ADM,R}^{(op)A}[r_{\overline{a}},\widehat{\pi }_{\overline{a}},\varphi ^{(op)}]`$ with $`\varphi ^{(op)}`$ an operatorial solution of a quantum operatorial reduced Lichnerowicz equation (not a quantum constraint on the states but the quantization of the classical Lichnerowicz equation with $`\pi _\varphi =0`$ after having gone to Dirac brackets).

Finally, let us observe that even if our approach is more complicated than Ashtekar and string ones, it opens the possibility of a unified description of the four interactions after having coupled the standard SU(3)xSU(2)xU(1) model to tetrad gravity and how to make the canonical reduction of the complete theory. The problem of which choice to make for the function space of the fields associated with the four interactions will require to understand whether the Gribov ambiguity is only a mathematical obstruction to be avoided \*¶\**\*¶\**\*¶\**In metric gravity this would eliminate the 3-isometries and in Yang-Mills theory the gauge symmetries and the gauge copies. or whether there is some physics in it \*¶††\*¶††\*¶††In this case one should learn how to make the canonical reduction in presence of gauge symmetries, gauge copies and 3-isometries..

Even if it is too early to understand whether our approach can be useful either from a computational point of view (like numerical gravity) or for the search of exact solutions, we felt the necessity to revisit the Hamiltonian formulation of metric gravity with its intrinsic naturalness for the search of the physical degrees of freedom of any gauge theory and for the formulation of quantization rules so that one can have a clear idea of the meaning of the gauge fixings and the possibility to have an insight on the role of the gauge degrees of freedom in the realm of exact solutions where traditionally one starts with suitable parametrizations of the line element $`ds^2`$ and then uses symmetries to simplify the mathematics. For instance, when a known solution of Einstein’s equation can be transformed to 3-orthogonal coordinates, it should give informations on the solutions of the reduced Lichnerowicz equation and on the associated lapse and shift functions.

ACKNOWLEDGMENTS

I thank Prof.H.Nicolai for his friendly hospitality at he Max Planck Einstein Institute, where this work was completed. I thank Prof. M.Pauri for clarifying discussions on the interpretational problems, Prof.C.Isham, Prof.K.Kuchar, Prof P.Hajicek, Prof.C.Rovelli and Prof. M.J.Gotay for constructive criticism at various stages of this work. I also thank DrR.De Pietri for his help in checking the results of some calculations.

## A Parametrized Minkowski Theories and the Rest-Frame Instant Form of Dynamics.

Let us review the main aspects of parametrized Minkowski theories, following Refs., where there is a complete treatment of the isolated system composed by N scalar charged positive energy particles plus the electromagnetic field, in which the use of Grassmann-valued electric charges as a semiclassical approximation allows to obtain the regularization of the Coulomb self-energies.

The starting point was Dirac’s reformulation of classical field theory on spacelike hypersurfaces foliating Minkowski spacetime $`M^4`$. The foliation is defined by an embedding $`R\times \mathrm{\Sigma }M^4`$, $`(\tau ,\stackrel{}{\sigma })z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ \[$`(\mu )`$ are flat Cartesian indices\], with $`\mathrm{\Sigma }`$ an abstract 3-surface diffeomorphic to $`R^3`$ \*¶‡‡\*¶‡‡\*¶‡‡It is the classical basis of Tomonaga-Schwinger quantum field theory.. In this way one gets a parametrized field theory with a covariant 3+1 splitting of flat spacetime and already in a form suited to the transition to general relativity in its ADM canonical formulation \*∥\*\*∥\*\*∥\*See also Ref. , where a theoretical study of this problem is done in curved spacetimes.. The price is that one has to add as new configuration variables the embeddings $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ identifying the points of the spacelike hypersurface $`\mathrm{\Sigma }_\tau `$ \*∥†\*∥†\*∥†Only the embeddings carry Lorentz indices; the scalar parameter $`\tau `$ labels the leaves of the foliation and $`\stackrel{}{\sigma }`$ are curvilinear coordinates on $`\mathrm{\Sigma }_\tau `$. and then to define the fields on $`\mathrm{\Sigma }_\tau `$ so that they know the hypersurface $`\mathrm{\Sigma }_\tau `$ of $`\tau `$-simultaneity \*∥‡\*∥‡\*∥‡For a Klein-Gordon field $`\varphi (x)`$, this new field is $`\stackrel{~}{\varphi }(\tau ,\stackrel{}{\sigma })=\varphi (z(\tau ,\stackrel{}{\sigma }))`$: it contains the nonlocal information about the embedding, namely the associated notion of equal time..

The notation $`\sigma ^A=(\tau ,\sigma ^{\stackrel{ˇ}{r}})`$of Refs. is used. The $`z_A^{(\mu )}(\sigma )=z^{(\mu )(\sigma )}/\sigma ^A`$ are flat cotetrad fields on Minkowski spacetime \[i.e. $`{}_{}{}^{4}\eta _{}^{(\mu )(\nu )}=z_A^{(\mu )}{}_{}{}^{4}g_{}^{AB}z_B^{(\nu )}`$ with $`{}_{}{}^{4}g_{}^{AB}`$ the inverse of $`{}_{}{}^{4}g_{AB}^{}`$\] with the $`z_r^{(\mu )}`$’s tangent to $`\mathrm{\Sigma }_\tau `$. In metric gravity the $`z_A^\mu z^\mu /\sigma ^A`$ are not cotetrad fields since the holonomic coordinates $`z^\mu (\sigma )`$ do not exist.

Then one rewrites the Lagrangian of the given isolated system in the form required by the coupling to an external gravitational field, makes the previous 3+1 splitting of Minkowski spacetime and interprets all the fields of the system as the new fields on $`\mathrm{\Sigma }_\tau `$ (they are Lorentz scalars, having only surface indices). Instead of considering the 4-metric as describing a gravitational field (and therefore as an independent field as it is done in metric gravity, where one adds the Hilbert action to the action for the matter fields), here one replaces the 4-metric with the the induced metric $`g_{AB}[z]=z_A^{(\mu )}\eta _{(\mu )(\nu )}z_B^{(\nu )}`$ on $`\mathrm{\Sigma }_\tau `$ \[a functional of $`z^{(\mu )}`$\] and considers the embedding coordinates $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ as independent fields.

These extra independent fields $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ allow to associate with each 3+1 splitting two congruences of timelike observers: i) a non-rotating (surface-forming) one in which the accelerated observers have the normal $`l^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ to the embedded hypersurface as unit 4-velocity; ii) a rotating accelerated one in which the unit 4-velocity is $`u^{(\mu )}(\tau ,\stackrel{}{\sigma })=z_\tau ^{(\mu )}(\tau ,\stackrel{}{\sigma })/\sqrt{ϵ{}_{}{}^{4}g_{\tau \tau }^{}(\tau ,\stackrel{}{\sigma })}`$. Therefore, the Lagrangian density $`(\tau ,\stackrel{}{\sigma })z^{(\mu )},matter]`$ describes not only the given matter on arbitrary spacelike hypersurfaces but also the accelerated timelike observers associated to them. Let us remark that to have a similar description in general relativity, metric gravity has to be replaced with tetrad gravity, with the tetrads describing the observers.

The evolution vector is given by $`z_\tau ^{(\mu )}=N_{[z](flat)}l^{(\mu )}+N_{[z](flat)}^{\stackrel{ˇ}{r}}z_{\stackrel{ˇ}{r}}^{(\mu )}`$, where $`l^{(\mu )}(\tau ,\stackrel{}{\sigma })=\left(\frac{ϵ^{(\mu )}{}_{(\alpha )(\beta )(\gamma )}{}^{}z_{\stackrel{ˇ}{1}}^{(\alpha )}z_{\stackrel{ˇ}{2}}^{(\beta )}z_{\stackrel{ˇ}{3}}^{(\gamma )}}{\sqrt{\gamma }}\right)(\tau ,\stackrel{}{\sigma })`$ \[$`\gamma =|det{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}|`$\] is the normal to $`\mathrm{\Sigma }_\tau `$ in $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ and

$`N_{[z](flat)}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\sqrt{{}_{}{}^{4}g_{\tau \tau }^{}{}_{}{}^{3}\gamma _{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}{}_{}{}^{4}g_{\tau \stackrel{ˇ}{r}}^{}{}_{}{}^{4}g_{\tau \stackrel{ˇ}{s}}^{}}=\sqrt{{}_{}{}^{4}g/{}_{}{}^{3}\gamma },`$ (A1)
$`N_{[z](flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`{}_{}{}^{3}g_{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}^{}(\tau ,\stackrel{}{\sigma })N_{[z](flat)}^{\stackrel{ˇ}{s}}(\tau ,\stackrel{}{\sigma })={}_{}{}^{4}g_{\tau \stackrel{ˇ}{r}}^{},`$ (A2)
are the flat lapse and shift functions defined through the metric like in metric gravity \[here $`{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{u}}{}_{}{}^{4}g_{\stackrel{ˇ}{u}\stackrel{ˇ}{s}}^{}=\delta _{\stackrel{ˇ}{s}}^{\stackrel{ˇ}{r}}`$ and $`{}_{}{}^{4}g=|det{}_{}{}^{4}g_{AB}^{}|`$\]; however, in Minkowski spacetime they are not independent variables but functionals of $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$.

From this Lagrangian, besides a Lorentz-scalar form of the constraints of the given system, one gets four extra primary first class constraints which imply the independence of the description from the choice of the foliation with spacelike hypersufaces:

$$_{(\mu )}(\tau ,\stackrel{}{\sigma })=\rho _{(\mu )}(\tau ,\stackrel{}{\sigma })l_{(\mu )}(\tau ,\stackrel{}{\sigma })T_{system}^{\tau \tau }(\tau ,\stackrel{}{\sigma })z_{\stackrel{ˇ}{r}(\mu )}(\tau ,\stackrel{}{\sigma })T_{system}^{\tau \stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })0,$$
(A3)
where $`T_{system}^{\tau \tau }(\tau ,\stackrel{}{\sigma })`$, $`T_{system}^{\tau \stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$, are the components of the energy-momentum tensor in the holonomic coordinate system on $`\mathrm{\Sigma }_\tau `$ corresponding to the energy- and momentum-density of the isolated system. One can check that hese four constraints satisfy an Abelian Poisson algebra, $`\{_{(\mu )}(\tau ,\stackrel{}{\sigma }),_{(\nu )}(\tau ,\stackrel{}{\sigma }^{^{}})\}=0`$, being solved in 4-momenta $`\rho _{(\mu )}(\tau ,\stackrel{}{\sigma })`$ conjugate to the embedding variables $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$.

The Dirac Hamiltonian is

$$H_D=H_{(c)}+d^3\sigma \lambda ^{(\mu )}(\tau ,\stackrel{}{\sigma })_{(\mu )}(\tau ,\stackrel{}{\sigma })+(\text{system-dependent\hspace{0.17em} primary\hspace{0.17em} constraints}),$$
(A4)
with $`\lambda ^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ arbitrary Dirac multipliers \[$`H_{(c)}`$ is the canonical part\]. By using $`{}_{}{}^{4}\eta _{}^{(\mu )(\nu )}=[l^{(\mu )}l^{(\nu )}z_{\stackrel{ˇ}{r}}^{(\mu )}{}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}z_{\stackrel{ˇ}{s}}^{(\nu )}](\tau ,\stackrel{}{\sigma })`$ we can write

$`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`[(\lambda _{(\mu )}l^{(\mu )})(l_{(\nu )}^{(\nu )})(\lambda _{(\mu )}z_{\stackrel{ˇ}{r}}^{(\mu )})({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}z_{\stackrel{ˇ}{s}(\nu )}^{(\nu )})](\tau ,\stackrel{}{\sigma })\stackrel{def}{=}`$ (A5)
$`\stackrel{def}{=}`$ $`N_{(flat)}(\tau ,\stackrel{}{\sigma })(l_{(\mu )}^{(\mu )})(\tau ,\stackrel{}{\sigma })N_{(flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}z_{\stackrel{ˇ}{s}(\nu )}^{(\nu )})(\tau ,\stackrel{}{\sigma }),`$ (A6)
with the (nonholonomic form of the) constraints $`(l_{(\mu )}^{(\mu )})(\tau ,\stackrel{}{\sigma })0`$, $`({}_{}{}^{3}g_{}^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}z_{\stackrel{ˇ}{s}(\mu )}^{(\mu )})(\tau ,\stackrel{}{\sigma })0`$, satisfying the universal Dirac algebra (89). In this way new flat lapse and shift functions

$`N_{(flat)}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })l^{(\mu )}(\tau ,\stackrel{}{\sigma }),`$ (A7)
$`N_{(flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })z_{\stackrel{ˇ}{r}}^{(\mu )}(\tau ,\stackrel{}{\sigma }).`$ (A8)
have been defined. They have the same content of the arbitrary Dirac multipliers $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })`$, namely they multiply primary first class constraints satisfying the Dirac algebra. In Minkowski spacetime they are quite distinct from the previous lapse and shift functions $`N_{[z](flat)}`$, $`N_{[z](flat)\stackrel{ˇ}{r}}`$, defined starting from the metric. Only with the use of the Hamilton equations $`z_\tau ^{(\mu )}(\tau ,\stackrel{}{\sigma })\stackrel{}{=}\{z^{(\mu )}(\tau ,\stackrel{}{\sigma }),H_D\}=\lambda ^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ we get $`N_{[z](flat)}\stackrel{}{=}N_{(flat)}`$, $`N_{[z](flat)\stackrel{ˇ}{r}}\stackrel{}{=}N_{(flat)\stackrel{ˇ}{r}}`$.

In ADM metric gravity, where the coordinates $`z^\mu (\tau ,\stackrel{}{\sigma })`$ do not exist, the lapse and shift functions defined starting from the 4-metric are also the coefficient of secondary first class constraints satisfying the Dirac algebra without any use of the equation of motion in the canonical part (85) of the Hamiltonian.

Therefore, when arbitrary 3+1 splittings of the spacetime with arbitrary spacelike hypersurfaces are given, the descriptions of metric gravity plus matter and the parametrized Minkowski description of the same matter do not seem to follow the same pattern. However, the situation changes if the allowed 3+1 splittings of spacetime in ADM metric gravity are restricted to have the leaves approaching Minkowski spacelike hyperplanes at spatial infinity and if parametrized Minkowski theories are restricted either to spacelike hyperplanes or to hypersurfaces tending to spacelike hyperplanes at spatial infinity.

The restriction of parametrized Minkowski theories to flat hyperplanes in Minkowski spacetime is done by adding the gauge-fixings

$$z^{(\mu )}(\tau ,\stackrel{}{\sigma })x_s^{(\mu )}(\tau )b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}0.$$
(A9)
Here $`x_s^{(\mu )}(\tau )`$ denotes a point on the hyperplane $`\mathrm{\Sigma }_\tau `$ chosen as an arbitrary origin; the $`b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )`$’s form an orthonormal triad at $`x_s^{(\mu )}(\tau )`$ and the $`\tau `$-independent normal to the family of spacelike hyperplanes is $`l^{(\mu )}=b_\tau ^{(\mu )}=ϵ^{(\mu )}{}_{(\alpha )(\beta )(\gamma )}{}^{}b_{\stackrel{ˇ}{1}}^{(\alpha )}(\tau )b_{\stackrel{ˇ}{2}}^{(\beta )}(\tau )b_{\stackrel{ˇ}{3}}^{(\gamma )}(\tau )`$. Each hyperplane is described by 10 configuration variables, $`x_s^{(\mu )}(\tau )`$, plus the 6 independent degrees of freedom contained in the triad $`b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )`$, and by the 10 conjugate momenta: $`p_s^{(\mu )}`$ and 6 variables hidden in a spin tensor $`S_s^{(\mu )(\nu )}`$. With these 20 canonical variables it is possible to build 10 Poincaré generators $`\overline{p}_s^{(\mu )}=p_s^{(\mu )}`$, $`\overline{J}_s^{(\mu )(\nu )}=x_s^{(\mu )}p_s^{(\nu )}x_s^{(\nu )}p_s^{(\mu )}+S_s^{(\mu )(\nu )}`$.

After the restriction to spacelike hyperplanes the piece $`d^3\sigma \lambda ^{(\mu )}(\tau ,\stackrel{}{\sigma })_{(\mu )}(\tau ,\stackrel{}{\sigma })`$ of the Dirac Hamiltonian (A4) is reduced to

$$\stackrel{~}{\lambda }^{(\mu )}(\tau )\stackrel{~}{}_{(\mu )}(\tau )\frac{1}{2}\stackrel{~}{\lambda }^{(\mu )(\nu )}(\tau )\stackrel{~}{}_{(\mu )(\nu )}(\tau ),$$
(A10)
because the time constancy of the gauge-fixings (A4) implies $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })=\stackrel{~}{\lambda }_{(\mu )}(\tau )+\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{\stackrel{ˇ}{r}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}`$ with $`\stackrel{~}{\lambda }^{(\mu )}(\tau )=\dot{x}_s^{(\mu )}(\tau )`$, $`\stackrel{~}{\lambda }^{(\mu )(\nu )}(\tau )=\stackrel{~}{\lambda }^{(\nu )(\mu )}(\tau )=\frac{1}{2}_{\stackrel{ˇ}{r}}[\dot{b}_{\stackrel{ˇ}{r}}^{(\mu )}b_{\stackrel{ˇ}{r}}^{(\nu )}b_{\stackrel{ˇ}{r}}^{(\mu )}\dot{b}_{\stackrel{ˇ}{r}}^{(\nu )}](\tau )`$ \[$`\dot{}`$ means $`d/d\tau `$\]. Since at this stage we have $`z_{\stackrel{ˇ}{r}}^{(\mu )}(\tau ,\stackrel{}{\sigma })b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )`$, so that $`z_\tau ^{(\mu )}(\tau ,\stackrel{}{\sigma })N_{[z](flat)}(\tau ,\stackrel{}{\sigma })l^{(\mu )}(\tau ,\stackrel{}{\sigma })+N_{[z](flat)}^{\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau ,\stackrel{}{\sigma })\dot{x}_s^{(\mu )}(\tau )+\dot{b}_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}=\stackrel{~}{\lambda }^{(\mu )}(\tau )\stackrel{~}{\lambda }^{(\mu )(\nu )}(\tau )b_{\stackrel{ˇ}{r}(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{r}}`$, it is only now that we get the coincidence of the two definitions of flat lapse and shift functions independently from the equations of motion, i.e.

$$N_{[z](flat)}(\tau ,\stackrel{}{\sigma })N_{(flat)}(\tau ,\stackrel{}{\sigma }),N_{[z](flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })N_{(flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma }).$$
(A11)
The description on arbitrary foliations with spacelike hyperplanes is independent from the choice of the foliation, due to the remaining 10 first class constraints

$`\stackrel{~}{}^{(\mu )}(\tau )`$ $`=`$ $`{\displaystyle d^3\sigma ^{(\mu )}(\tau ,\stackrel{}{\sigma })}=p_s^{(\mu )}P_{sys}^{(\mu )}=p_s^{(\mu )}`$ (A12)
$``$ $`[totalmomentumofthesysteminsidethehyperplane]^{(\mu )}0,`$ (A13)
$`\stackrel{~}{}^{(\mu )(\nu )}(\tau )`$ $`=`$ $`b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau ){\displaystyle d^3\sigma \sigma ^{\stackrel{ˇ}{r}}^{(\nu )}(\tau ,\stackrel{}{\sigma })}b_{\stackrel{ˇ}{r}}^{(\nu )}(\tau ){\displaystyle d^3\sigma \sigma ^{\stackrel{ˇ}{r}}^{(\mu )}(\tau ,\stackrel{}{\sigma })}=S_s^{(\mu )(\nu )}S_{sys}^{(\mu )(\nu )}=`$ (A15)
$`=`$ $`S_s^{(\mu )(\nu )}[intrinsicangularmomentumofthesystem`$ (A17)
$`insidethehyperplane]^{(\mu )(\nu )}=S^{(\mu )(\nu )}_s`$
$``$ $`(b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )l^{(\nu )}b_{\stackrel{ˇ}{r}}^{(\nu )}(\tau )l^{(\mu )})[boostpartofsystem^{}sangularmomentum]^{\tau \stackrel{ˇ}{r}}`$ (A18)
$``$ $`(b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )b_{\stackrel{ˇ}{s}}^{(\nu )}(\tau )b_{\stackrel{ˇ}{r}}^{(\nu )}(\tau )b_{\stackrel{ˇ}{s}}^{(\mu )}(\tau ))[spinpartofsystem^{}sangularmomentum]^{\stackrel{ˇ}{r}\stackrel{ˇ}{s}}`$ (A19)
$``$ $`0.`$ (A20)
Therefore, on spacelike hyperplanes in Minkowski spacetime we have

$`N_{(flat)}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })l^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ (A21)
$``$ $`N_{(flat)}(\tau ,\stackrel{}{\sigma })=N_{[z](flat)}(\tau ,\stackrel{}{\sigma })=`$ (A23)
$`=\stackrel{~}{\lambda }_{(\mu )}(\tau )l^{(\mu )}l^{(\mu )}\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}},`$
$`N_{(flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })`$ $`=`$ $`\lambda _{(\mu )}(\tau ,\stackrel{}{\sigma })z_{\stackrel{ˇ}{r}}^{(\mu )}(\tau ,\stackrel{}{\sigma })`$ (A24)
$``$ $`N_{(flat)}(\tau ,\stackrel{}{\sigma })=N_{[z](flat)\stackrel{ˇ}{r}}(\tau ,\stackrel{}{\sigma })=`$ (A26)
$`=\stackrel{~}{\lambda }_{(\mu )}(\tau )b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )b_{\stackrel{ˇ}{r}}^{(\mu )}(\tau )\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )b_{\stackrel{ˇ}{s}}^{(\nu )}(\tau )\sigma ^{\stackrel{ˇ}{s}}.`$
This is the main difference from the treatment of parametrized Minkowski theories given in Refs.: there, in the phase action (no configuration action is defined), one uses $`N_{[z](flat)}`$, $`N_{[z](flat)\stackrel{ˇ}{r}}`$ in place of $`N_{(flat)}`$, $`N_{(flat)\stackrel{ˇ}{r}}`$ also on arbitrary spacelike hypersurfaces and not only on spacelike hyperplanes.

At this stage the embedding canonical variables $`z^{(\mu )}(\tau ,\stackrel{}{\sigma })`$, $`\rho _{(\mu )}(\tau ,\stackrel{}{\sigma })`$ are reduced to: i) $`x_s^{(\mu )}(\tau ),p_s^{(\mu )}`$ \[$`\{x_s^{(\mu )},p_s^{(\nu )}\}={}_{}{}^{4}\eta _{}^{(\mu )(\nu )}`$\], parametrizing the arbitrary origin of the coordinates on the family of spacelike hyperplanes. The four constraints $`^{(\mu )}(\tau )p_s^{(\mu )}p_{sys}^{(\mu )}0`$ say that $`p_s^{(\mu )}`$ is determined by the 4-momentum of the isolated system. ii) $`b_A^{(\mu )}(\tau )`$ \*∥§\*∥§\*∥§The $`b_r^{(\mu )}(\tau )`$’s are three orthogonal spacelike unit vectors generating the fixed $`\tau `$-independent timelike unit normal $`b_\tau ^{(\mu )}=l^{(\mu )}`$ to the hyperplanes. and $`S_s^{(\mu )(\nu )}=S_s^{(\nu )(\mu )}`$ with the orthonormality constraints $`b_A^{(\mu )}{}_{}{}^{4}\eta _{(\mu )(\nu )}^{}b_B^{(\nu )}={}_{}{}^{4}\eta _{AB}^{}`$. The non-vanishing Dirac brackets enforcing the orthonormality constraints  for the $`b_A^{(\mu )}`$’s are

$`\{b_A^{(\rho )},S_s^{(\mu )(\nu )}\}`$ $`=`$ $`{}_{}{}^{4}\eta _{}^{(\rho )(\mu )}b_A^{(\nu )}{}_{}{}^{4}\eta _{}^{(\rho )(\nu )}b_A^{(\mu )},`$ (A27)
$`\{S_s^{(\mu )(\nu )},S_s^{(\alpha )(\beta )}\}`$ $`=`$ $`C_{(\gamma )(\delta )}^{(\mu )(\nu )(\alpha )(\beta )}S_s^{(\gamma )(\delta )},`$ (A28)
with $`C_{(\gamma )(\delta )}^{(\mu )(\nu )(\alpha )(\beta )}`$ the structure constants of the Lorentz algebra. Then one has that $`p_s^{(\mu )}`$, $`J_s^{(\mu )(\nu )}=x_s^{(\mu )}p_s^{(\nu )}x_s^{(\nu )}p_s^{(\mu )}+S_s^{(\mu )(\nu )}`$, satisfy the algebra of the Poincaré group, with $`S_s^{(\mu )(\nu )}`$ playing the role of the spin tensor. The other six constraints $`^{(\mu )(\nu )}(\tau )S_s^{(\mu )(\nu )}S_{sys}^{(\mu )(\nu )}0`$ say that $`S_s^{(\mu )(\nu )}`$ coincides the spin tensor of the isolated system.

Let us remark that, for each configuration of an isolated system with timelike total 4-momentum there is a privileged family of hyperplanes (the Wigner hyperplanes orthogonal to $`p_s^{(\mu )}`$, existing when $`ϵp_s^2>0`$) corresponding to the intrinsic rest-frame of the isolated system. If we choose these hyperplanes with suitable gauge fixings to the constraints $`\stackrel{~}{}^{(\mu )(\nu )}(\tau )0`$ , we remain with only the four constraints $`^{(\mu )}(\tau )0`$, which can be rewritten as

$`\sqrt{ϵp_s^2}`$ $``$ $`[invariantmassoftheisolatedsystemunderinvestigation]=M_{sys};`$ (A29)
$`\stackrel{}{p}_{sys}`$ $`=`$ $`[3momentumoftheisolatedsysteminsidetheWignerhyperplane]0.`$ (A31)
There is no more a restriction on $`p_s^{(\mu )}`$, because $`u_s^{(\mu )}(p_s)=p_s^{(\mu )}/\sqrt{ϵp_s^2}`$ gives the orientation of the Wigner hyperplanes containing the isolated system with respect to an arbitrary given external observer.

In this special gauge we have $`b_A^{(\mu )}L^{(\mu )}{}_{A}{}^{}(p_s,\stackrel{}{p}_s)`$ (the standard Wigner boost for timelike Poincaré orbits), $`S_s^{(\mu )(\nu )}S_{sys}^{(\mu )(\nu )}`$, $`\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )0`$.

In general, there is the problem that in the gauges where $`\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )`$ are different from zero the foliations with leaves $`\mathrm{\Sigma }_\tau `$ associated to arbitrary 3+1 splittings of Minkowski spacetime are geometrically “ill-defined” at spatial infinity so that the variational principle describing the isolated system could make sense only for those 3+1 splittings having these part of the Dirac’s multipliers vanishing. The problem is that, since on hyperplanes $`\dot{l}^{(\mu )}=0`$ and $`l^{(\mu )}b_{\stackrel{ˇ}{r}(\mu )}(\tau )=0`$ imply $`l^{(\mu )}\dot{b}_{\stackrel{ˇ}{r}(\mu )}(\tau )=0`$, then the analogue of Eqs.(132) implies $`\stackrel{~}{\lambda }_{\tau \stackrel{ˇ}{r}}(\tau )=0`$ (i.e. only three $`\stackrel{~}{\lambda }_{(\mu )(\nu )}(\tau )`$ independent) on spacelike hyperplane, because otherwise Lorentz boosts can create crossing of the leaves of the foliation. This points toward the necessity of making the reduction from arbitrary spacelike hypersurfaces either directly to the Wigner hyperplanes (instead the reduction described above is done in two steps) or to spacelike hypersurfaces approaching asymptotically Wigner hyperplanes \*∥¶\*∥¶\*∥¶Asymptotically we must fix the gauge freedom generated by the spin part of Lorentz boosts, see Eq.(A20); how this can be done before the restriction to spacelike hyperplanes has still to be studied. to avoid inconsistencies.

Therefore till now, the 3+1 splittings of Minkowski spacetime whose leaves are Wigner hyperplanes are the only ones for which the foliation is well defined at spatial infinity (both the induced proper time interval and shift functions are finite there).

The only remaining canonical variables describing the Wigner hyperplane are the non-covariant Newton-Wigner-like canonical external center-of-mass coordinate $`\stackrel{~}{x}_s^{(\mu )}(\tau )`$ \*∥∥\*∥∥\*∥∥It lives on the Wigner hyperplanes; see Eq.(395)for its expression. and $`p_s^{(\mu )}`$. Now 3 degrees of freedom of the isolated system, an internal center-of-mass 3-variable $`\stackrel{}{\sigma }_{sys}`$ defined inside the Wigner hyperplane and conjugate to $`\stackrel{}{p}_{sys}`$, become gauge variables. The natural gauge fixing is $`\stackrel{}{\sigma }_{sys}0`$: in this way the internal 3-center of mass is put into the origin $`x_s^{(\mu )}(\tau )=z^{(\mu )}(\tau ,\stackrel{}{\sigma }=0)`$ of the Wigner hyperplane, and only the external $`\stackrel{~}{x}^{(\mu )}(\tau )`$ remains: it plays the role of a kinematical external 4-center of mass for the isolated system and may be interpreted as a decoupled observer with his parametrized clock (point particle clock). All the fields living on the Wigner hyperplane are now either Lorentz scalar or with their 3-indices transforming under Wigner rotations (induced by Lorentz transformations in Minkowski spacetime) as any Wigner spin 1 index. Let us remark that the constant $`x_s^{(\mu )}(0)`$ \[and, therefore, also $`\stackrel{~}{x}_s^{(\mu )}(0)`$\] is arbitrary, reflecting the arbitrariness in the absolute location of the origin of the internal coordinates on each hyperplane in Minkowski spacetime.

One obtains in this way a new kind of instant form of the dynamics, the Wigner-covariant 1-time rest-frame instant form with a universal breaking of Lorentz covariance restricted to $`\stackrel{~}{x}_s^{(\mu )}`$ independently from the given isolated system. It is the special relativistic generalization of the non-relativistic separation of the center of mass from the relative motion \[$`H=\frac{\stackrel{}{P}^2}{2M}+H_{rel}`$\]. The role of the center of mass is taken by the Wigner hyperplane, identified by the point $`\stackrel{~}{x}^{(\mu )}(\tau )`$ and by its normal $`p_s^{(\mu )}`$.

The invariant mass $`M_{sys}`$ of the system, which is also the internal energy generator of the isolated system, replaces the non-relativistic Hamiltonian $`H_{rel}`$ for the relative degrees of freedom, after the addition of the gauge-fixing $`T_s\tau 0`$ \*∥\**\*∥\**\*∥\**It identifies the time parameter $`\tau `$, labelling the leaves of the foliation, with the Lorentz scalar time of the center of mass in the rest frame, $`T_s=p_s\stackrel{~}{x}_s/M_{sys}`$; $`M_{sys}`$ generates the evolution in this time.: it happens like with the frozen Hamilton-Jacobi theory, in which the time evolution can be reintroduced by using the energy generator of the Poincaré group as Hamiltonian.

After the gauge fixings $`T_s\tau 0`$, the embedding of the Wigner hyperplane into Minkowski spacetime is

$$z^{(\mu )}(\tau ,\stackrel{}{\sigma })=x_s^{(\mu )}(\tau )+ϵ_r^{(\mu )}(u(p_s))\sigma ^r=x_s^{(\mu )}(0)+u^{(\mu )}(p_s)\tau +ϵ_r^{(\mu )}(u(p_s))\sigma ^r,$$
(A32)
where $`x_s^{(\mu )}(0)`$ is an arbitrary point and $`ϵ_r^{(\mu )}(u(p_s))=L^{(\mu )}{}_{r}{}^{}(p_s,\stackrel{}{p}_s)`$.

Finally, when fields are present, to identify the natural gauge-fixings to eliminate the three 1st class constraints $`\stackrel{}{p}_{sys}0`$, one needs to find a rest-frame canonical basis containing the internal 3-center-of-mass \[$`\stackrel{}{\sigma }_{sys}`$\] and relative variables for fields (in analogy to particles). A basis with a center of phase has already been found for a real Klein-Gordon field both in the covariant approach and on spacelike hypersurfaces . In this case also the internal center of mass has been found, but not yet a canonical basis containing it.

The determination of $`\stackrel{}{\sigma }_{sys}`$ may be done with the group theoretical methods of Ref.: given a realization on the phase space of a given system of the ten Poincaré generators one can build three 3-position variables only in terms of them, which in our case of a system on the Wigner hyperplane with $`\stackrel{}{p}_{sys}0`$ are: i) a canonical 3-center of mass (the internal center of mass $`\stackrel{}{\sigma }_{sys}`$); ii) a non-canonical internal Møller 3-center of energy $`\stackrel{}{\sigma }_{sys}^{(E)}`$; iii) a non-canonical internal Fokker-Price 3-center of inertia $`\stackrel{}{\sigma }_{sys}^{(FP)}`$. Due to $`\stackrel{}{p}_{sys}0`$, we have $`\stackrel{}{\sigma }_{sys}\stackrel{}{\sigma }_{sys}^{(FP)}\stackrel{}{\sigma }_{sys}^{(E)}=\{boostgenerator/energy\}`$. By adding the gauge fixings $`\stackrel{}{\sigma }_{sys}0`$ one can show that the origin $`x_s^{(\mu )}(\tau )`$ becomes simultaneously the Dixon center of mass of an extended object and both the Pirani and Tulczyjew centroids \*∥††\*∥††\*∥††See Ref.  for the application of these methods to find the center of mass of a configuration of the Klein-Gordon field after the preliminary work of Ref... With similar methods, see also Refs.,one can construct three external collective 4-positions (all located on the Wigner hyperplane): i) the external canonical non-covariant center of mass $`\stackrel{~}{x}_s^{(\mu )}`$; ii) the external non-canonical and non-covariant Møller center of energy $`R_s^{(\mu )}`$; iii) the external covariant non-canonical Fokker-Price center of inertia $`Y_s^{(\mu )}`$ (when there are the gauge fixings $`\stackrel{}{\sigma }_{sys}0`$ it coincides with the origin $`x_s^{(\mu )}`$). It turns out that the Wigner hyperplane is the natural setting for the study of the Dixon multipoles of extended relativistic systems and for defining the canonical relative variables with respect to the center of mass. The Wigner hyperplane with its natural Euclidean metric structure offers a natural solution to the problem of boost for lattice gauge theories and realizes explicitly the Machian aspect of dynamics that only relative motions are relevant.

In the rest-frame instant form there are two realizations of the Poincaré algebra: i) a degenerate internal one with generators $`M_{sys}`$, $`\stackrel{}{p}_{sys}0`$, $`\stackrel{}{S}_{sys}`$, $`\stackrel{}{K}_{sys}`$ \*∥‡‡\*∥‡‡\*∥‡‡One can take $`\stackrel{}{\sigma }_{sys}=\frac{\stackrel{}{K}_{sys}}{M_{sys}}`$ as gauge internal 3-center of mass.; ii) an external one with generators $`p_s^\mu `$, $`J_s^{ij}=\stackrel{~}{x}_s^ip_s^j\stackrel{~}{x}_s^jp_s^i+S_{sys}^{ij}`$, $`J_s^{oi}=\stackrel{~}{x}^op_s^i\stackrel{~}{x}_s^i\sqrt{M_{sys}^2+\stackrel{}{p}_s^2}\frac{S^{ij}p_s^j}{M_{sys}+\sqrt{M_{sys}^2+\stackrel{}{p}_s^2}}`$ (it is independent from the boosts $`S_{sys}^{oi}`$).