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# 1 Introduction

## 1 Introduction

In 1888 Sophie Kowalevski  found and integrated new integrable case of rotation of a heavy rigid body around a fixed point. In modern terms, this is an integrable system on the orbits of the Euclidean Lie algebra $`e(3)`$ with a quadratic and a quartic in angular momenta integrals of motion.

The Kowalevski top can be generalized in several directions. We can change either initial phase space or the form of the Hamilton function. In 1981 the first author has considered the Kowalevski top on $`so(4)`$, $`e(3)`$ and $`so(3,1)`$ Lie algebras . Separation of variables for these generalizations was constructed in . Recently in 2001, the second author has found integrable deformations of the Kowalevski Hamiltonian on $`e(3)`$ and $`so(4)`$ algebra . A Lax representation for the deformed Kowalevski Hamiltonian on $`e(3)`$ was found in .

In this paper we establish an explicit nonlinear map of the Kowalevski top on $`so(4)`$ to the deformed Kowalevski case on $`e(3)`$. The connection between the systems leads to the separation of variables for the system on $`e(3)`$111 Actually, we had found first a separation of variables for this model and after that comparing it with known separation of variables for the $`so(4)`$ Kowalevski top found the Poisson map between $`e(3)`$ and $`so(4)`$. and yields a natural $`5\times 5`$ Lax pair for the Kowalevski top on $`so(4)`$ which was unknown. This Lax matrix provides an algebraic curve for the Kowalevski top on $`so(4)`$ different from the generalized Kowalevski curve  associated with known separation of variables. For the deformed Kowalevski Hamiltonian on $`so(4)`$ neither a separation of variables nor Lax representation are found yet.

The existence of the Poisson map between $`e(3)`$ and $`so(4)`$ allows us to construct also a new $`so(4)`$ generalization of the Goryachev-Chaplygin top.

## 2 Deformations of the Kowalevski top

The rigid body motion about a fixed point under influence of gravity is described by six dynamical variables: three components of the angular momentum $`𝐉=(J_1,J_2,J_3)`$ and three components of the gravity vector $`𝐱=(x_1,x_2,x_3)`$, everything with respect to a moving orthonormal frame attached to the body. The invariance under rotation about the direction of gravity leads to conservation of the angular momentum component along the gravity vector. When its value is fixed the system usually considered to have only two degrees of freedom  such that the Poisson sphere $`S^2`$ acting as a reduced configuration space. The reduced phase space may be identified with coadjoint orbit of Euclidean $`e(3)`$ algebra with the Lie-Poisson brackets

$$\{J_i,J_j\}=\epsilon _{ijk}J_k,\{J_i,x_j\}=\epsilon _{ijk}x_k,\{x_i,x_j\}=0,$$
(2.1)
where $`\epsilon _{ijk}`$ is the totally skew-symmetric tensor. These brackets have two Casimir functions

$$A=𝐱^2\underset{k=1}{\overset{3}{}}x_k^2,B=(𝐱𝐉)\underset{k=1}{\overset{3}{}}x_kJ_k.$$
(2.2)
Fixing their values one gets a generic symplectic leaf of $`e(3)`$

$$_{ab}:\{𝐱,𝐉:A=a,B=b\},$$

which is a four-dimensional symplectic manifold.

The Hamilton function for the original Kowalevski top is given by

$$H=J_1^2+J_2^2+2J_3^2+2c_1x_1,c_1.$$
(2.3)
This Hamiltonian and additional integral of motion

$$K=\xi \xi ^{},$$
(2.4)
where

$$\xi =(J_1+iJ_2)^22c_1(x_1+ix_2),\xi ^{}=(J_1iJ_2)^22c_1(x_1ix_2),$$

are in the involution and define the moment map whose fibers are Liouville tori in $`_{ab}`$.

The most general known deformation of the Hamiltonian (2.3) admitting quadratic and linear terms is defined by the following Hamiltonian

$$\widehat{H}_\varkappa =J_1^2+J_2^2+2J_3^2+2c_1y_1+2c_2J_3y_2c_2^2y_3^2+2c_3(J_3+c_2y_2),c_1,c_2,c_3$$
(2.5)
(see equation (3.2) in ). The corresponding phase space is a generic orbit of the $`so(4)`$ Lie algebra with the Poisson brackets

$$\{J_i,J_j\}=\epsilon _{ijk}J_k,\{J_i,y_j\}=\epsilon _{ijk}y_k,\{y_i,y_j\}=\varkappa ^2\epsilon _{ijk}J_k.$$
(2.6)
Notice that the deformation parameters are not only $`c_2`$ and $`c_3`$ in (2.5) but also $`\varkappa `$ entering the Lie algebra (2.6). Because physical quantities $`𝐲,𝐉`$ should be real, $`\varkappa ^2`$ must be real too and algebra (2.6) is reduced to its two real forms $`so(4,)`$ or $`so(3,1,)`$ for positive and negative $`\varkappa ^2`$ respectfully. For brevity we will call it $`so(4)`$.

Fixing values $`a^{}`$ and $`b^{}`$ of the Casimir functions

$$A_\varkappa =𝐲^2+\varkappa ^2𝐉^2,B_\varkappa =(𝐲𝐉)$$
(2.7)
one gets a four-dimensional orbit of $`so(4)`$

$$𝒪_{a^{}b^{}}:\{𝐲,𝐉:A_\varkappa =a^{},B_\varkappa =b^{}\},$$

which is the reduced phase space for the deformed Kowalevski top.

Performing a linear canonical transformation

$$\begin{array}{ccc}J_1J_1,\hfill & J_2c_4(J_2+c_2y_3),\hfill & J_3c_4(J_3c_2y_2),\hfill \\ & & \\ y_1y_1,\hfill & y_2c_4(y_2+\varkappa ^2c_2J_3),\hfill & y_3c_4(y_3\varkappa ^2c_2J_2),\hfill \end{array}$$

where $`c_4=(1+\varkappa ^2c_2^2)^{\frac{1}{2}}`$, we reduce the Hamiltonian $`\stackrel{~}{H}_\varkappa `$ (2.5) to the following Hamilton function

$$\widehat{H}_\varkappa =J_1^2+(1\varkappa ^2c_2^2)J_2^2+2J_3^2+2c_1y_1+2c_2(y_2J_3y_3J_2)+2c_3c_4^1J_3,$$
(2.8)
which is linear in $`𝐲`$.

Parameter $`c_3`$ in (2.5) and (2.8) corresponds to the Kowalevski gyrostat ). In this paper we consider the case $`c_3=0`$.

The integration procedure for Hamiltonian (2.3) proposed by Kowalevski is based on the fact that the additional integral of motion (2.4) is a product of two quadratic factors.

For the deformed Kowalevski top (2.8) the second integral of motion $`\widehat{K}_\varkappa `$ can be written as

$$\widehat{K}_\varkappa =\widehat{\xi }\widehat{\xi }^{}+4\varkappa ^2(𝐉^2J_2^2)\left(c_1^2+c_2^2(𝐉^2J_2^2)\right),$$
(2.9)
where

$$\begin{array}{c}\widehat{\xi }=\xi c_2\{𝐉^2,y_1+iy_2\}c_2^2\left(A_\varkappa \varkappa ^2J_2^2\right)\\ \widehat{\xi }^{}=\xi ^{}c_2\{𝐉^2,y_1iy_2\}c_2^2\left(A_\varkappa \varkappa ^2J_2^2\right).\end{array}$$
(2.10)
For the same integral we have also another useful representation

$$\widehat{K}_\varkappa =\xi _\varkappa \xi _\varkappa ^{}+\varkappa ^2c_1^2(2\widehat{H}_\varkappa \varkappa ^2c_1^2)+c_2f(𝐱,𝐉),$$

where

$$\xi _\varkappa =\xi +\varkappa ^2c_1^2,\xi _\varkappa ^{}=\xi ^{}+\varkappa ^2c_1^2.$$

and the polynomial $`f(𝐱,𝐉)`$ can be easily restored from (2.9).

It follows from these formulas that the additional fourth degree integral of motion can be reduced to the product of two conjugated polynomials in the following two special cases:

$$\begin{array}{ccc}1.\hfill & c_2=0,\hfill & K_\varkappa =\xi _\varkappa \xi _\varkappa ^{},\hfill \\ & & \\ 2.\hfill & \varkappa =0,\hfill & \widehat{K}=\widehat{\xi }\widehat{\xi }^{}\hfill \end{array}$$

as well as for the original Kowalevski top. If $`c_2=0`$ the Hamiltonian for the Kowalevski top on the orbits of the Lie algebra $`so(4)`$ is given by the same formula (2.3):

$$H_\varkappa =J_1^2+J_2^2+2J_3^2+2c_1y_1,c_1.$$
(2.11)
The additional integral of motion $`K_\varkappa =\xi _\varkappa \xi _\varkappa ^{}`$ was found in . A Lax pair of the Heine-Horozov  type and a separation of variables was constructed in .

In the case $`\varkappa =0`$ the deformed Hamiltonian (2.8)

$$\widehat{H}=J_1^2+J_2^2+2J_3^2+2c_1x_1+2c_2(x_2J_3x_3J_2),$$
(2.12)
on $`e(3)`$ has been considered in .

A Lax pair with a spectral parameter for the Kowalevski top had been found in . Using this Lax representation and the standard finite-band integration technique, the authors found in  explicit expressions for the solutions of the Kowalevski top which are much simpler than the original formulae of Kowalevski and Kötter. A Lax pair generalizing the corresponding result by Reyman and Semenov-Tian-Shansky was found by Sokolov and Tsiganov in .

Below we present nonlinear Poisson maps between $`e(3)`$ and $`so(4)`$ Poisson manifolds. This allows us to relate various integrable systems on the different symplectic manifolds. As an example, we found an explicit mapping of integrable system (2.12) on $`e(3)`$ to the Kowalevski top (2.11) on $`so(4)`$. Using this, we find a Lax pair of Heine-Horozov type  and construct a separation of variables for the system with Hamiltonian (2.12) on $`e(3)`$ following . On the other hand, using the results of  we construct a Lax pair for the Kowalevski top on $`so(4)`$.

## 3 Poisson maps of $`e(3)`$ and $`so(4)`$ manifolds

Let $`_1`$ be a Poisson manifold with generators $`x_1,\mathrm{}x_n`$ and Poisson bracket $`\{,\}_1`$, and $`_2`$ another Poisson manifold with generators $`X_1,\mathrm{}X_m`$ and Poisson bracket $`\{,\}_2`$. A map $`\sigma `$ defined by

$$X_i=\mathrm{\Psi }_i(𝐱),i=1,\mathrm{},m$$
(3.1)
where $`𝐱=(x_1,\mathrm{}x_n)`$, is called Poisson map (or Poisson homomorphism) if $`\{\sigma (F),\sigma (G)\}_1=\sigma (\{F,G\}_2)`$ for any functions $`F`$ and $`G`$ on $`_2.`$

Example: Let $`p_i`$ and $`x_j,i,j=1,2,3`$ be canonical variables on manifold $`_1`$ with a Poisson bracket $`\{p_i,x_j\}_1=\delta _{ij}`$, and $`J_i,x_k`$ form the manifold $`_2`$ with respect to a Poisson bracket of $`e(3)`$ Lie algebra: $`\{J_i,J_j\}_2=\epsilon _{ijk}J_k,\{J_i,x_j\}_2=\epsilon _{ijk}x_k,\{x_i,x_j\}_2=0`$ with Casimir elements $`x_ix_i=a`$ and $`x_iJ_i=b=0`$. Then the map $`\sigma :\{,\}_1\{,\}_2`$ defined by $`J_i=ϵ_{ijk}x_jp_k`$ establishes a Poisson map $`_1_2`$.

If both Poisson brackets $`\{,\}_1`$ and $`\{,\}_2`$ are linear (and therefore are related to some Lie algebras), linear Poisson maps (3.1) corresponds to homomorphisms of these Lie algebras.

If $`_1`$ coincides with $`_2,`$ the Poisson maps are called canonical transformations. The problem of complete efficient description of all nonlinear canonical transformations is unsolvable. The reason is that for any function $`f(𝐱)`$ the flow defined by ODEs $`𝐱_t=\{f,𝐱\}_1`$ yields a one-parameter group of canonical transformations. However one can investigate some interesting subgroups of nonlinear canonical transformations.

In this paper we deal with linear Poisson brackets corresponding to the Lie algebras $`e(3)`$ and $`so(4)`$. For brevity we will use the same notations both for the Poisson manifolds and the Lie algebras. In the next section we consider some special subgroups of nonlinear canonical transformations of $`e(3)`$.

### 3.1 Canonical transformations of $`e(3)`$

Consider the Poisson manifold $`e(3)`$ defined by linear brackets (2.1). Linear canonical transformations of $`e(3)`$ consist of rotations

$$𝐱\alpha \mathrm{U}𝐱,𝐉\mathrm{U}𝐉,$$
(3.2)
where $`\alpha `$ is an arbitrary parameter and $`U`$ is an orthogonal constant matrix, and shifts

$$𝐱𝐱,𝐉𝐉+\mathrm{S}𝐱,$$
(3.3)
where $`\mathrm{S}`$ is an arbitrary $`3\times 3`$ skew-symmetric constant matrix.

Example 1: The composition of the scaling $`𝐱\alpha 𝐱`$ and the rotation around third axis defined by

$$\mathrm{U}=\left(\begin{array}{ccc}\mathrm{cos}\psi & \mathrm{sin}\psi & 0\\ \mathrm{sin}\psi & \mathrm{cos}\psi & 0\\ 0& 0& 1\end{array}\right)$$

relates different orbits $`_{a,b}`$ and $`_{\alpha ^2a,\alpha b}`$ of $`e(3)`$ and changes the form of original Hamiltonian by

$$H\stackrel{~}{H}=J_1^2+J_2^2+2J_3^2+2\stackrel{~}{c}_1x_1+2\stackrel{~}{c}_2x_2,\stackrel{~}{c}_1,\stackrel{~}{c}_2.$$
(3.4)
Here $`\stackrel{~}{c}_1=\alpha c_1\mathrm{cos}(\psi )`$ and $`\stackrel{~}{c}_2=\alpha c_1\mathrm{sin}(\psi )`$.

Example 2: Transformation (3.3) with

$$\mathrm{S}=\left(\begin{array}{ccc}\hfill 0& \hfill 1& \hfill 0\\ \hfill 1& \hfill 0& \hfill 0\\ \hfill 0& \hfill 0& \hfill 0\end{array}\right)$$

changes the form of the Hamiltonian (2.3) as follows

$$H\stackrel{~}{H}=J_1^2+J_2^2+2J_3^2+2c_1x_1+2(x_2J_1x_1J_2)+(x_1^2+x_2^2).$$

This form of the Hamiltonian involves the third component of the vector product $`𝐉\times 𝐱`$ and at the first glance looks similar to the deformed Hamilton function (2.12), which contains the first component. However transformations (3.2) and (3.3) are not enough to relate the deformed Kowalevski top (2.12) and the original Kowalevski top (2.3) on $`e(3)`$.

Let parameter $`\alpha `$ and matrices $`U`$ and $`S`$ in (3.2) and (3.3) be functions of the Casimir elements $`A,B`$. In this case the transformations remain to be Poisson mappings. Such Poisson maps change the form of the Hamiltonian as a function on the whole Poisson manifold. For instance, the Hamilton function (3.4) becomes

$$\stackrel{~}{H}(A,B)=J_1^2+J_2^2+2J_3^2+2\stackrel{~}{c}_1(A,B)x_1+2\stackrel{~}{c}_2(A,B)x_2,$$

where $`\stackrel{~}{c}_1(A,B)`$ and $`\stackrel{~}{c}_2(A,B)`$ are arbitrary functions on the Casimir elements (2.2). Of course, on each symplectic leaf the function $`\stackrel{~}{H}(A,B)`$ coincides with (3.4) and, therefore, the above construction of nonlinear Poisson mappings is trivial.

#### 3.1.1 Generalized shifts of $`𝐉`$

Consider the following generalizations of transformations (3.3):

$$𝐱𝐱,𝐉𝐉+𝐠(𝐱),$$
(3.5)
where components $`\text{g}_k(x_1,x_2,x_3)`$ of the vector $`𝐠`$ are nonlinear functions of the Poisson vector $`𝐱`$. Substituting new variables into (2.1) we arrive at the following conditions on the vector $`𝐠`$:

$$\mathrm{div}𝐠=2\beta ^{}(A),(𝐱𝐠)=\beta (A),$$
(3.6)
where $`\beta `$ is an arbitrary function of the Casimir element $`A=𝐱^2`$.

###### Proposition 1

General solution of equations (3.6) is given by

$$𝐠=𝐱\times (\mathrm{grad}W+F𝐧)+\beta 𝐟,$$

where potential $`W(𝐱)`$ is an arbitrary scalar function of $`𝐱`$, $`F`$ is an arbitrary scalar function of two variables $`x_1+x_2+x_3,`$ and $`x_1^2+x_2^2+x_3^2`$, and vectors $`𝐧`$ and $`𝐟`$ are given by

$$𝐧=(1,1,1),𝐟=(\frac{x_1}{x_1^2+x_2^2},\frac{x_2}{x_1^2+x_2^2},0).$$

Under the transformation (3.5) the values of the Casimir functions are changed as

$$\stackrel{~}{a}=a,\stackrel{~}{b}=b+\beta (a).$$

Thus (3.5) is a nonlinear canonical transformation which relates the symplectic manifolds $`_{ab}`$ and $`_{\stackrel{~}{ab}}`$. One can apply this transformation in order to get “new” integrable systems on these manifolds.

#### 3.1.2 Generalized rotations

Consider generalized rotations of the form

$$𝐱\stackrel{~}{𝐱}=\alpha (𝐱,𝐉)\mathrm{U}(𝐱,𝐉)𝐱,𝐉\stackrel{~}{𝐉}=\mathrm{U}(𝐱,𝐉)𝐉,$$

where the scalar factor $`\alpha (𝐱,𝐉)`$ and the orthogonal matrix $`\mathrm{U}(𝐱,𝐉)`$ are some functions of variables $`𝐱`$ and $`𝐉`$. Requiring this transformation to be a Poisson map, we obtain a system of partial differential equations for $`\alpha (𝐱,𝐉)`$ and $`\mathrm{U}_{ij}(𝐱,𝐉)`$. It would be interesting to find a general solution of this system. Here we consider a particular case when $`\alpha (𝐉)`$ and $`\mathrm{U}_{ij}(𝐉)`$ depend on one (say, third) component of angular momenta only.

###### Proposition 2

Let $`f(J_3)`$ and $`g(J_3)`$ be any functions such that

$$f^2+g^2=c^2=const,$$

then the mapping

$$\phi :𝐱\sqrt{f^2+g^2}\mathrm{U}𝐱,𝐉\mathrm{U}𝐉,$$
(3.7)
where

$$\mathrm{U}=\frac{1}{\sqrt{f^2+g^2}}\left(\begin{array}{ccc}f& g& 0\\ g& f& 0\\ 0& 0& \sqrt{f^2+g^2}\end{array}\right)$$

is a canonical transformation of $`e(3)`$, which changes the values of Casimir functions (2.2) by the rule

$$\stackrel{~}{a}=ac^2,\stackrel{~}{b}=bc.$$

The generalized rotation (3.7) changes the form of the original Hamiltonian for the Kowalevski top (2.3) as follows

$$H\stackrel{~}{H}=J_{1}^{}{}_{}{}^{2}+J_{2}^{}{}_{}{}^{2}+2J_{3}^{}{}_{}{}^{2}+x_1f(J_3)+x_2g(J_3).$$

In particular, with the help of such transformation we can obtain the following exotic Hamiltonian

$$\stackrel{~}{H}=J_{1}^{}{}_{}{}^{2}+J_{2}^{}{}_{}{}^{2}+2J_{3}^{}{}_{}{}^{2}+x_1\mathrm{sin}(J_3)+x_1\mathrm{cos}(J_3).$$

### 3.2 Poisson map between $`so(4)`$ and $`e(3)`$

In this subsection we consider Poisson maps between Poisson manifolds of $`so(4)`$ with generators $`\stackrel{~}{J}_i,y_j`$ and $`e(3)`$ with generators $`J_i,x_j`$. We restrict ourselves to special maps of the form

$$\stackrel{~}{𝐉}=𝐉,𝐲=\alpha (A,B)𝐱+\mathrm{U}(x_1,x_2,x_3,A,B)𝐉,$$

where $`\alpha `$ is a scalar function of Casimir elements (2.2) and $`U`$ is a matrix, which is not assumed to be orthogonal. Such maps identify the rotation subalgebras of $`so(4)`$ and $`e(3)`$.

The relations $`\{J_i,y_j\}=\epsilon _{ijk}y_k`$ between components of the vectors $`𝐲`$ and $`𝐉`$ bring to an overdetermined system of partial differential equations for the matrix $`\mathrm{U}`$. This system has the following general solution

$$\mathrm{U}=\beta (A,B)\text{I}_3+\gamma (A,B)\left(\begin{array}{ccc}0& x_3& x_2\\ x_3& 0& x_1\\ x_2& x_1& 0\end{array}\right)+\delta (A,B)\left(\begin{array}{ccc}x_1^2& x_1x_2& x_1x_3\\ x_1x_2& x_2^2& x_2x_3\\ x_1x_3& x_2x_3& x_3^2\end{array}\right)$$

depending on arbitrary functions $`\beta ,\gamma `$ and $`\delta `$ of the Casimir elements (2.2), where $`\text{I}_3`$ is a unit $`3\times 3`$ matrix. Notice that if $`\beta +A\delta =1,`$ $`\gamma ^2=(\beta +1)\delta ,`$ the above formula for $`U`$ coincides with the well-known Gibbs representation  of an arbitrary orthogonal matrix.

The relations $`\{y_i,y_j\}=\epsilon _{ijk}\varkappa ^2J_k`$ give rise to a system of algebraic equations for $`\alpha ,\beta ,\gamma `$ and $`\varkappa ,`$ which has only two different solutions. In the first case $`\gamma =0,\beta ^2=\varkappa ^2,\alpha =A\delta `$ and the solution describes a reduction $`e(3)`$ to $`so(3)`$ by the trivial scaling $`𝐲=\varkappa 𝐉`$.

The second solution is:

$$\beta =0,\gamma ^2=\frac{\varkappa ^2}{A}$$

and $`\delta `$ is arbitrary function which can be removed by shift $`\alpha \alpha +A\delta `$. Thus this solution corresponds to the transformation

$$\zeta :𝐉𝐉,𝐲=\alpha 𝐱+\gamma 𝐱\times 𝐉,$$
(3.8)
which maps the manifold $`e(3)`$ to the manifold $`so(4)`$. Below we consider a special case $`\alpha =const`$ in more detail.

###### Proposition 3

Suppose $`\alpha 0`$ is a constant and $`\gamma `$ is a solution of equation

$$A\gamma ^2+\varkappa ^2=0.$$
(3.9)
Then transformation (3.8) is a Poisson map of $`e(3)`$ to $`so(4)`$.

The inverse Poisson map $`so(4)e(3)`$ is given by

$$𝐱=\frac{\alpha ^2𝐲+\gamma _\varkappa ^2(𝐲𝐉)𝐉+\alpha \gamma _\varkappa (𝐲\times 𝐉)}{\alpha (\alpha ^2+\gamma _\varkappa ^2𝐉^2)},$$
(3.10)
where the algebraic function $`\gamma _\varkappa (A_\varkappa ,B_\varkappa )`$ depending on $`so(4)`$-Casimir elements (2.7) is defined by

$$B_\varkappa ^2\gamma _\varkappa ^4+A_\varkappa \alpha ^2\gamma _\varkappa ^2+\alpha ^4\varkappa ^2=0.$$
(3.11)
Notice that the branches of square roots in (3.9) and (3.11) have to be consistent.

The Poisson maps (3.8) and (3.10) give rise to the symplectic correspondence between the symplectic submanifolds $`_{ab}`$ in $`e(3)`$ and symplectic submanifolds $`𝒪_{a^{}b^{}}`$ in $`so(4)`$, where

$$a^{}=\alpha ^2a+\frac{\varkappa ^2b^2}{a},b^{}=\alpha b.$$
(3.12)
Obviously, compositions of the Poisson maps (3.8) and (3.10) with canonical transformations of $`e(3)`$ or $`so(4)`$ give rise to different Poisson maps relating $`e(3)`$ and $`so(4)`$.

The singular points of the transformation can be easily seen from the formulas (3.8)-(3.10).

It turns out that the Poisson maps (3.8) and (3.10) establish a correspondence between the reduced four-dimensional phase spaces of the Kowalevski top on $`so(4)`$ and the deformed Kowalevski top on $`e(3):`$

###### Theorem 1

Transformation (3.8) sends the Hamilton function

$$H_\varkappa =J_1^2+J_2^2+2J_3^2+2\stackrel{~}{c}_1y_1$$

on $`𝒪_{a^{}b^{}}`$ to the Hamilton function

$$\widehat{H}=J_1^2+J_2^2+2J_3^2+2c_1x_1+2c_2(x_2J_3x_3J_2)$$
(3.13)
on $`_{ab}`$, where $`c_1=\alpha \stackrel{~}{c}_1,`$ $`c_2=\gamma \stackrel{~}{c}_1`$ and the constants $`a,b,a^{},b^{}`$ are related by (3.12).

Notice that $`c_1`$ in formula (3.13) is a constant whereas $`c_2`$ is a function of the Casimir element $`A`$. However, on each symplectic leaf $`c_1`$ and $`c_2`$ are constants and $`\widehat{H}`$ from (3.13) coincides with (2.12).

Remark. In  a different Poisson map

$$𝐉𝐉,𝐲𝐱=\frac{𝐉\times (𝐲\times 𝐉)}{|𝐉\times (𝐲\times 𝐉)|}$$

from $`so(4)`$ to $`e(3)`$ was considered. This mapping takes any symplectic leaf $`𝒪_{a^{}b^{}}`$ of $`so(4)`$ to the same symplectic leaf $`(𝐱,𝐉)=0,𝐱^2=1`$ of $`e(3)`$ and therefore it is not invertible. This mapping allows to lift integrable Hamiltonians from $`e(3)`$ to $`so(4)`$ but it involves radicals and don’t preserve the property of the Hamiltonians to be rational.

## 4 Lax representation for the so(4) Kowalevski top

A Lax representation

$$\frac{d}{dt}L=[M,L]$$
(4.1)
for the Kowalevski top (2.3) was found by Reyman and Semenov-Tian-Shansky . The corresponding Lax matrices are

$`L(\lambda )`$ $`=`$ $`\left(\begin{array}{ccccc}0& J_3& J_2& \lambda & 0\\ J_3& 0& J_1& 0& \lambda \\ J_2& J_1& 0& 0& 0\\ \lambda & 0& 0& 0& J_3\\ 0& \lambda & 0& J_3& 0\end{array}\right){\displaystyle \frac{c_1}{\lambda }}\left(\begin{array}{ccccc}0& 0& 0& x_1& 0\\ 0& 0& 0& x_2& 0\\ 0& 0& 0& x_3& 0\\ x_1& x_2& x_3& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right)`$
$`\stackrel{\text{def}}{=}`$ $`\lambda 𝒜+{\displaystyle \underset{i=1}{\overset{3}{}}}J_i𝒥_i{\displaystyle \frac{c_1}{\lambda }}{\displaystyle \underset{i=1}{\overset{3}{}}}x_i𝒳_i`$
and

$`M(\lambda )=2\left(\begin{array}{ccccc}0& 2J_3& J_2& \lambda & 0\\ 2J_3& 0& J_1& 0& \lambda \\ J_2& J_1& 0& 0& 0\\ \lambda & 0& 0& 0& 0\\ 0& \lambda & 0& 0& 0\end{array}\right).`$ (4.18)
The characteristic curve $`\mathrm{Det}(L(\lambda )\mu \text{I})=0`$, where $`\text{I}=diag(1,1,1,1,1)`$ is the unit matrix, provides a complete set of first integrals for the Kowalevski top .

It is essential for general group-theoretical approach to integrable systems  that the matrices $`𝒜,𝒥_i,𝒳_i`$ belong to the matrix realization of the Lie algebra $`so(3,2)`$ by $`5\times 5`$ matrices $`𝒵`$ satisfying the identity

$$𝒵^T=\text{I}_{3,2}𝒵\text{I}_{3,2},$$
(4.19)
where $`\text{I}_{3,2}=diag(1,1,1,1,1)`$. The Lax matrices (4) are invariant with respect to the following involution

$$\tau :Z(\lambda )Z^T(\lambda ).$$

Using the well-known isomorphism $`so(3,2)sp(4,)`$ one can obtain also a $`4\times 4`$ Lax pair for the Kowalevski top .

A Lax representation for the deformed Kowalevski top on $`e(3)`$ with the Hamilton function (2.12) was found in . This representation involves an additional matrix

$$Y=\left(\begin{array}{ccccc}0& 0& 0& x_1& 0\\ 0& 0& 0& x_2& 0\\ 0& 0& 0& x_3& 0\\ x_1& x_2& x_3& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right)\stackrel{\text{def}}{=}\underset{i=1}{\overset{3}{}}x_i𝒴_i.$$

The constant matrices $`𝒴_i`$ are symmetrized anticommutators of matrix coefficients of the initial Lax matrix $`L`$ (4)

$$𝒴_i=\epsilon _{ijk}\left(𝒳_j𝒥_k+𝒥_k𝒳_j\right).$$

They do not respect involution (4.19) and hence do not belong to the algebra $`so(3,2)`$.

###### Proposition 4

(Sokolov, Tsiganov ) The flow with the Hamiltonian $`\widehat{H}`$ (2.12) is equivalent to the matrix differential equations

$$\frac{d}{dt}\widehat{L}_i(\lambda )=\widehat{L}_i(\lambda )\widehat{M}(\lambda )+\widehat{M}^T(\lambda )\widehat{L}_i(\lambda ),i=1,2,$$
(4.20)
where

$$\widehat{L}_1(\lambda )=L(\lambda )+\frac{c_2}{2}\underset{i=1}{\overset{3}{}}x_i\left((𝒳_i𝒴_i)𝒜𝒜(𝒳_i+𝒴_i)\right),\widehat{L}_2(\lambda )=\text{I}+\frac{c_2}{\lambda }Y,$$
(4.21)
$$\widehat{M}=M+2c_2\left(\begin{array}{ccccc}x_1& 0& 0& 0& 0\\ x_2& 0& 0& 0& 0\\ x_3& 0& 0& 0& 0\\ 0& 0& 0& x_1& 0\\ 0& 0& 0& x_2& 0\end{array}\right),$$

and the superscript $`T`$ stands for matrix transposition.

It is easy to verify that the matrices $`\widehat{L}_{1,2}`$ (4.21) can be rewritten as follows

$$\widehat{L}_1=(\text{I}g^\tau )^1L(\text{I}g)+V,\widehat{L}_2=(\text{I}g^\tau )^1(\text{I}+g^\tau g)(\text{I}g),$$
(4.22)
where

$$g=\frac{c_2}{\lambda }\left(\begin{array}{ccccc}0& 0& 0& x_1& 0\\ 0& 0& 0& x_2& 0\\ 0& 0& 0& x_3& 0\\ 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right),$$

and

$$V=\frac{c_2}{\lambda }\left(\begin{array}{ccccc}0& 0& 0& (𝐱\times 𝐉)_1& 0\\ 0& 0& 0& (𝐱\times 𝐉)_2& 0\\ 0& 0& 0& (𝐱\times 𝐉)_3& 0\\ (𝐱\times 𝐉)_1& (𝐱\times 𝐉)_2& (𝐱\times 𝐉)_3& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right).$$

Notice that the matrix $`V`$ depends on the components $`(𝐱\times 𝐉)_i`$ of the cross product $`𝐱\times 𝐉`$ only.

Relations (4.20) imply that matrices

$$\widehat{L}_+=\widehat{L}_1(\lambda )\widehat{L}_2^1(\lambda ),\widehat{L}_{}=\widehat{L}_2^1(\lambda )\widehat{L}_1(\lambda )$$
(4.23)
satisfy the usual Lax equations (4.1)

$$\frac{d}{dt}\widehat{L}_+=[\widehat{L}_+,\widehat{M}^T(\lambda )],\frac{d}{dt}\widehat{L}_{}=[\widehat{L}_{},\widehat{M}(\lambda )].$$

The explicit form of the Lax matrices (4.23) is rather complicated. However matrices $`\widehat{L}_\pm `$ can be simplified with the help of a gauge transformation. Let us define a new matrix $`\widehat{L}`$ by the formula

$$\widehat{L}(\lambda )=(\text{I}g)\widehat{L}_{}(\text{I}g)^1.$$

Using (4.22) and the following property of $`V`$:

$$(\text{I}g^\tau )V(\text{I}g)^1=V,$$

this matrix can be rewritten in the form

$$\widehat{L}(\lambda )=(\text{I}+g^\tau g)^1\left(L(\lambda )+V\right).$$

It can be verified that

$$\widehat{L}^\tau (\lambda )=(\text{I}g^\tau )\widehat{L}_+(\text{I}g^\tau )^1.$$

The next statement describes a Lax pair for the deformed Kowalevski top on $`e(3)`$ with Hamiltonian (2.12) related to the matrix $`\widehat{L}`$.

###### Proposition 5

The flow with the Hamiltonian $`\widehat{H}`$ (2.12) is equivalent to the Lax equation (4.1), where

$$\widehat{L}(\lambda )=(\text{I}+g^\tau g)^1\left(L(\lambda )+V\right)\text{and}\widehat{M}(\lambda )=M(\lambda )(\text{I}+g^\tau g).$$
(4.24)
It is important that the product $`g^\tau g`$ depends on the Casimir function only:

$$g^\tau g=\frac{c_2^2𝐱^2}{\lambda ^2}𝒢,𝒢=\left(\begin{array}{ccccc}0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0\\ 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0\end{array}\right).$$
(4.25)
Taking into account this formula, we get

$$\widehat{L}(\lambda )=\left(\text{I}\frac{c_2^2𝐱^2}{\lambda ^2+c_2^2𝐱^2}𝒢\right)\left(\lambda 𝒜+\underset{i=1}{\overset{3}{}}J_i𝒥_i\frac{1}{\lambda }\underset{i=1}{\overset{3}{}}y_i𝒳_i\right),$$

where $`y_i=c_1x_i+c_2(𝐱\times 𝐉)_i`$. We see that in the case $`c_2=0`$ the matrix $`\widehat{L}`$ coincides with (4).

Thus in order to construct the Lax matrices (4.24) for the deformed Kowalevski top on $`e(3)`$ we have to substitute $`y_i`$ instead of $`x_i`$ into the Lax matrices found by Reyman and Semenov-Tian-Shansky  and multiply the result by matrices depending on the Casimir element only.

The fact that $`\widehat{L}`$ depends only on variables $`J_i`$ and $`y_i=c_1x_i+c_2(𝐱\times 𝐉)_i`$, which define transformation (3.8), allows us to construct a Lax representation for the Kowalevski top on $`so(4).`$ Namely, an obvious combination of Proposition 3 and Proposition 5 leads to

###### Theorem 2

The matrices

$`L_\varkappa (\lambda )`$ $`=`$ $`(\text{I}+{\displaystyle \frac{\stackrel{~}{c}_1^2\varkappa ^2}{\lambda ^2\stackrel{~}{c}_1^2\varkappa ^2}}𝒢)\times `$ (4.37)
$`\times `$ $`\left[\left(\begin{array}{ccccc}0& J_3& J_2& \lambda & 0\\ J_3& 0& J_1& 0& \lambda \\ J_2& J_1& 0& 0& 0\\ \lambda & 0& 0& 0& J_3\\ 0& \lambda & 0& J_3& 0\end{array}\right){\displaystyle \frac{\stackrel{~}{c}_1}{\lambda }}\left(\begin{array}{ccccc}0& 0& 0& y_1& 0\\ 0& 0& 0& y_2& 0\\ 0& 0& 0& y_3& 0\\ y_1& y_2& y_3& 0& 0\\ 0& 0& 0& 0& 0\end{array}\right)\right]`$
and

$`M_\varkappa =2\left(\begin{array}{ccccc}0& 2J_3& J_2& \lambda & 0\\ 2J_3& 0& J_1& 0& \lambda \\ J_2& J_1& 0& 0& 0\\ \lambda & 0& 0& 0& 0\\ 0& \lambda & 0& 0& 0\end{array}\right)\left(\text{I}{\displaystyle \frac{\stackrel{~}{c}_1^2\varkappa ^2}{\lambda ^2}}𝒢\right),`$ (4.43)
where $`𝒢`$ is given by (4.25), define a Lax representation for the $`so(4)`$-Kowalevski top with the Hamiltonian

$$H_\varkappa =J_1^2+J_2^2+2J_3^2+2\stackrel{~}{c}_1y_1,\stackrel{~}{c}_1.$$

The characteristic curve $`\mathrm{Det}(L_\varkappa (\lambda )\mu \text{I})=0`$ provides a complete set of first integrals of motion

$$(\stackrel{~}{c}_1^2\varkappa ^2\lambda ^2)\mu ^4+\mu ^2(2\lambda ^4(H_\varkappa +\stackrel{~}{c}_1^2\varkappa ^2)\lambda ^2+\stackrel{~}{c}_1^2A_\varkappa )=\lambda ^6H_\varkappa \lambda ^4K_\varkappa \lambda ^2\stackrel{~}{c}_1^2B_\varkappa ^2.$$

It is seen that the Lax pair (4.37), (4.43) on $`so(4)`$ is formed from the Lax pair (4), (4.18) on $`e(3)`$ by substitution $`x_iy_i,c\stackrel{~}{c}`$ and multiplication by the $`\lambda `$-meromorphic diagonal constant matrix factors from the left and right correspondingly

$`L_\varkappa (\lambda )`$ $`=`$ $`\left(\text{I}+{\displaystyle \frac{\stackrel{~}{c}_1^2\varkappa ^2}{\lambda ^2\stackrel{~}{c}_1^2\varkappa ^2}}𝒢\right)L(\lambda )|_{x_iy_i,c_1\stackrel{~}{c}_1},`$
$`M_\varkappa (\lambda )`$ $`=`$ $`M(\lambda )|_{c_1\stackrel{~}{c}_1}\left(\text{I}{\displaystyle \frac{\stackrel{~}{c}_1^2\varkappa ^2}{\lambda ^2}}𝒢\right).`$
This Lax pair for the Kowalevski top on $`so(4)`$ allows us to apply the standard finite-band integration technique to this system.

The following comments are in order:

* Multiplying $`L_\varkappa `$ by the factor $`\lambda ^2\stackrel{~}{c}_1^2\varkappa ^2,`$ one can remove the poles at $`\lambda =\pm \stackrel{~}{c}_1\varkappa `$. Nevertheless just operator $`L_\varkappa `$ tends to the original Lax matrix from  as $`\varkappa 0`$. Probably this means that the poles in the Lax matrix for the Kowalevski top on $`so(4)`$ are essential.
* Substituting the Lax matrices for the Kowalevski gyrostat on $`e(3)`$ (see ) for $`L`$ and $`M`$ in (LABEL:Lax-o44), one gets a Lax pair for the Kowalevski gyrostat on $`so(4)`$.
* The matrices $`\widehat{L}_{1,2}`$ and $`\widehat{L}`$ do not respect the involution (4.19) and, therefore, are out of the matrix realization of the Lie algebra $`so(3,2)`$. They can not be rewritten as $`4\times 4`$ matrices via the isomorphism $`so(3,2)sp(4)`$. Nevertheless precisely the matrices $`\widehat{L}_{1,2}`$ and $`\widehat{L}`$ provide a multi-dimensional generalization of the Kowalevski gyrostat .

Applying the Poisson map from Proposition 3 to a similar Lax matrix for the Lagrange top on $`e(3)`$ , we get the following

###### Proposition 6

For the Lagrange top on $`so(4)`$ defined by the Hamiltonian

$$H_\varkappa ^{Lag}=J_1^2+J_2^2+J_3^2+2cy_1,c$$

a Lax matrix is given by

$$L_\varkappa ^{Lag}(\lambda )=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1+\frac{c^2\varkappa ^2}{\lambda ^2c^2\varkappa ^2}\end{array}\right)\left(\begin{array}{cccc}0& J_3& J_2& \hfill \lambda \frac{cy_1}{\lambda }\\ J_3& 0& J_1& \hfill \frac{cy_2}{\lambda }\\ J_2& J_1& 0& \hfill \frac{cy_3}{\lambda }\\ \lambda \frac{cy_1}{\lambda }& \frac{cy_2}{\lambda }& \frac{cy_3}{\lambda }& \hfill 0\end{array}\right).$$

The corresponding characteristic curve

$$(c^2\varkappa ^2\lambda ^2)\mu ^4(\lambda ^4H_\varkappa ^{Lag}\lambda ^2+c^2A_\varkappa )\mu ^2=\left(K_\varkappa ^{Lag}\lambda ^2cB_\varkappa \right)^2,$$

where $`K_\varkappa ^{Lag}=J_1`$, provides a complete set of integrals of motion.

## 5 Separation of variables

The separation of variables for the Hamilton function $`H_\varkappa `$ (2.11) on $`so(4)`$ was obtained in  by a non-canonical reduction to the Neumann system. (Beforehand in the unpublished calculations the first author obtained the result by a variant of the original Kowalevski approach.) The results of  were based on the fact that the evolutionary equations for the Kowalevski top, written in special variables of Haine and Horozov , coincides with the Neumann system.

Applying Propositions 1 and 2 one can derive explicit formulas for separation of variables for the model (2.12) on $`e(3)`$ from the paper . But historically we have obtained these formulas following the original Kowalevski work . Below we follows this line.

Consider the Hamiltonian on $`e(3)`$

$$\widehat{H}=J_1^2+J_2^2+2J_3^2+2c_1x_1+2c_2(x_2J_3x_3J_2).$$
$`(2.13)`$
It is easy to prove that variables

$$z_1=J_1+iJ_2,z_2=J_1iJ_2,$$

satisfy the following system of equations

$$\dot{z}_{1}^{}{}_{}{}^{2}F(z_1)+\widehat{\xi }(z_1z_2)^2=0,\dot{z}_{2}^{}{}_{}{}^{2}F(z_2)+\widehat{\xi }^{}(z_1z_2)^2=0$$

where $`\widehat{\xi },\widehat{\xi }^{}`$ are given by (2.10) with $`\varkappa =0`$:

$$\widehat{\xi }=\xi c_2\{𝐉^2,x_1+ix_2\}c_2^2A,\widehat{\xi }^{}=\xi ^{}c_2\{𝐉^2,x_1ix_2\}c_2^2A.$$

Here $`F(z)`$ is a polynomial of four degree with coefficients being integrals of motion

$$F(z)=z^42\widehat{H}z^2+8c_1Bz+\widehat{K}4Ac_1^2+2c_2^2(2B^2\widehat{H}A)c_2^4A^2.$$

According to , we define the biquadratic form

$$F(z_1,z_2)=\frac{1}{2}\left(F(z_1)+F(z_2)(z_1^2z_2^2)^2\right)$$

and the separated variables

$$s_{1,2}=\frac{F(z_1,z_2)\pm \sqrt{F(z_1)F(z_2)}}{2(z_1z_2)^2}$$
(5.1)
such that

$$\dot{s}_1=\frac{\sqrt{P_5(s_1)}}{s_1s_2},\dot{s}_2=\frac{\sqrt{P_5(s_2)}}{s_2s_1},P_5(s)=P_3(s)P_2(s).$$
(5.2)
Here $`P_3(s)`$ and $`P_2(s)`$ are polynomials of third and second degree:

$`P_3(s)`$ $`=`$ $`s\left(4s^2+4s\widehat{H}+\widehat{H}^2\widehat{K}+4c_1^2A+2c_2^2(\widehat{H}A2B^2)+c_2^4A^2\right)+4c_1^2B^2,`$
$`P_2(s)`$ $`=`$ $`4s^2+4(\widehat{H}+c_2^2A)s+\widehat{H}^2\widehat{K}+2c_2^2\widehat{H}A+c_2^4A^2.`$
To integrate equations (5.2) one should substitute the values of integrals of motion and Casimir elements found from initial data. Equations (5.2) are integrated in terms of genus two hyperelliptic functions of time.

As well as in the case of initial Kowalevski top  one can check by direct computations that functions $`s_{1,2}`$ (5.1) defined on the whole phase space commute with respect to initial Poisson brackets (2.1)

$$\{s_1,s_2\}=0.$$

The reasons why the functions $`s_1,s_2`$ give rise to canonical variables on $`e(3)`$ seem to be unclear (see comments in , where the Poisson commutativity of $`s_1`$ and $`s_2`$ was originally pointed out).

The momenta $`p_{1,2}`$ conjugated to coordinates $`s_{1,2}`$ can be introduced according to  (see  for another approach). The result is

$$p_i=\frac{1}{4\sqrt{s_i}}\mathrm{ln}\left(\frac{2\sqrt{s_iP_5(s_i)}P_3(s_i)s_iP_2(s_i)}{4(as_i+b^2)(c_1^2c_2^2s_i)}\right).$$
(5.3)
In variables (5.1), (5.3) the Hamilton function (2.12) is given by

$$\widehat{H}=s_1s_2+\frac{c_1^2b^2}{2s_1s_2}\frac{ac_2^2}{2}+\frac{d_1\mathrm{cosh}(4p_1\sqrt{s_1})d_2\mathrm{cosh}(4p_2\sqrt{s_2})}{2(s_1s_2)},$$

where

$$d_i=\frac{(c_2^2s_ic_1^2)(as_i+b^2)}{s_i}.$$

Using this relation, we obtain two separated equations

$$2s_i^3+\left(2\widehat{H}+c_2^2a\right)s_i^2\kappa s_i+c_1^2b^2=(c_2^2s_ic_1^2)(as_i+b^2)\mathrm{cosh}(4p_i\sqrt{s_i}),$$
(5.4)
where

$$4\kappa =(\widehat{H}+c_2^2a)^2\widehat{K}+2c_1^2a.$$

As usual, canonical variables $`s_i`$ (5.1) and $`p_i`$ (5.3) are defined up to arbitrary canonical transformations that mix together $`s_i`$ and $`p_i`$ with the same $`i`$. Evidently, such transformations change the form of separated equations. Equations (5.4) coincide with the separated equations from  up to a canonical scaling of $`p_i`$ and $`s_i`$. The mapping from  between the $`so(4,)`$ Kowalevski top and the Neumann system relates the separated variables $`s_1,s_2`$ of Kowalevski top and separated variables $`\lambda _{1,2}`$ for the Neumann top by $`s_{1,2}=2\lambda _{1,2}+H`$.

## 6 Summary

We present a Poisson map which relates rank-two Poisson manifolds $`e(3)`$ and $`so(4)`$. Using such transformations in rigid body dynamics we get new results on deformations of the $`e(3)`$ and $`so(4)`$ Kowalevski tops.

The same Poisson map can be applied to another integrable systems, for instance to the deformation of the Goryachev-Chaplygin gyrostat proposed in . In this case mapping (3.8)-(3.10) sends the integrable Hamilton function on $`e(3)`$

$$H^g=J_1^2+J_2^2+4J_3^2+2\alpha c_1x_1+2\gamma c_1(x_2J_32x_3J_2),$$

to the following function on $`so(4)`$ manifold

$$H_\varkappa ^g=J_1^2+J_2^2+4J_3^22c_1y_1+\frac{2\varkappa ^2c_1J_3}{\gamma 𝐲^2}\left(\alpha y_2+\gamma (y_1J_3y_3J_1)\right),$$

where $`A_\varkappa \gamma ^2+\alpha ^2\varkappa ^2=0`$. This Hamiltonian commutes with

$$K_\varkappa ^g=c_1y_3J_1+\left(J_1^2+J_2^2\frac{\varkappa ^2c_1J_2}{\gamma 𝐲^2}\left(\alpha y_3\gamma (y_1J_2y_2J_1)\right)\right)J_3$$

on a special level of the Casimir function $`B_\varkappa =0`$. Another version of the Goryachev-Chaplygin top on $`so(4)`$ was proposed in .

One of our main results is a Lax representation for the Kowalevski top on $`so(4)`$ provided by Theorem 2. The Lax matrix $`L_\varkappa (\lambda )`$ (LABEL:Lax-o44) generate algebraic curve different from the original Kowalevski one. Matrix $`L_\varkappa (\lambda )`$ should originate separated variables which in turn differ from that considered in section 5. Such separation of variables remains an open question as well as for the original $`e(3)`$ Kowalevski case.

Acknowledgments. The authors are grateful to M.A. Semenov-Tian-Shansky for useful discussions. The research was partially supported by RFBR grants 02-01-00888 and 02-01-00431.