1. Objective and Purpose Introducing some kinetic (nonlinear or linear) processes in plasma physics Emphasizing those topics relevant to solar-terrestrial physics rather than basic nonlinear theories No profound and sophisticated theories will be discussed.

2. My Suggestions Do not always agree with me. I encourage you to form your own opinion and have independent viewpoint. During the course try to envision new research task by yourself. I would like to combine lectures with discussions as much as possible.

3. Introductory Remarks The scope of nonlinear plasma physics

4. Nonlinear versus Linear Plasma Physics Nonlinear and linear processes are generally not separable. Nonlinear processes are often studied with linear theories. Some nonlinear plasma processes we face everyday: heating and acceleration

5. Plasma Physics: Methodology & Approaches Single particle motion Magneto-hydrodynamics approach Kinetic and statistical theories Wave kinetics Wave-particle interactions Wave-wave interactions Linear and nonlinear approaches

6. Nonlinear Plasma Physics Nonlinear wave kinetics mid 1960s to early 1970s Quasilinear kinetic theories 1960s~ Nonlinear particle dynamices 1970s~

7. Topics to be lectured

8. Introducing nonlinear plasma physics and dynamics (4.7.09) Perception of microscopic and macroscopic physics (4.9.09) Ion pickup (4.14.09) Pitch-angle scattering (4.16.09) Waves, fluctuations and turbulence (4.21.09) Wave modes of general interest (4.23.09) Proton heating (4.28.09) Heating by Alfven waves (4.30.09) Quasilinear theory and non-resonant interactions (5.5.09) Quasilinear theory of Alfven waves (5.7.09) Collisions and fluctuations (5.12.09) Auroral kilometric radiation (5.14.09) Solar radiophysics (O)(5.29.09) Solar radiophysics (T) (6.2.09) Alfvenic turbulence in various space regions (6.4.09) Solar wind helium, cosmic ray modulation (6.9.09)

9. Sub-areas of nonlinear dynamics Nonlinear particle motion Approximate and special methods Nonlinear waves Particle motion in wave fields

10. Important References A. J. Lichtenberg and M. A. Lieberman Regular and Stochastic Dynamics Springer-Verlag New York (1992) R. Z. Sagdeev, D. A. Usikov, and G. M. Zaslavsky Nonlinear Physics Harwood academic publishers, London (1988)

11. Nonlinear dynamics has a long history Weakly inhomogeneous system Einstein (1911) WKB method (1926) Nonlinear oscillations in three-body system in astronomy Poincare (1892) Von Zeipel (1916)

12. Historical Remarks Galileo (1564-1642) I. Newton (1642-1727) Lagrange (1736-1813) W. R. Hamilton (1805-1865) Jacobi (1804-1851) Gauss (1777-1855) S. Lie H. Poincare

13. Lagrangian Equation of Motion It is derived from the principle of least action This work was done when he was about 19!

14. Lagrangian and Energy Constant Since we conclude

15. The Hamilton’s equations The Hamiltonian equations of motion are

16. Hamiltonian formulation is widely used in nonlinear dynamics Perturbation methods play important roles in solving nonlinear problems Hamiltonian formulation enables theorists to develop systematic methods for a general class of problems. The Jacobian-Hamiltonian transformation makes the Hamiltonian approach even more powerful.

17. Why nonlinear dynamics is of interest in plasma physics?

18. Some primary issues attracted attention: Stability of particle motion under nonlinear force or field The origin of stochasticity Evolution from local stochasticity to global stochasticity

19. Hamiltonian for waves In the early theories it is often considered that are conjugate canonical variables of the waves associated with wave number k while denotes frequency. Such an approach is no longer used. Instead the action-angle variables are preferred.

20. Action-Angle Variables For a periodic system a pair of canonical variables are useful. These are the action and angle variables. The action is defined as which is often a constant of motion.

21. The line integral is defined over a period of motion in the canonical coordinate q while p is the conjugate canonical momentum. The action J has a dimension of energy times time. If we consider J to be a canonical variable its conjugate pair is the phase angle of the periodic motion. The reason is that the pair must satisfy the Hamiltonian equation of motion.

22. The equations of motion are: If the Hamiltonian is not a function of phase angle, the action J is not time dependent. Then for a system that is autonomous, Hamiltonian may be written a very simple form

23. System with more than one degree of freedom So far, for simplicity, we have only consider one degree of freedom. If the system has several degrees of freedom, the Hamiltonian may be written as In the following we give an example.

24. An Example Particle moving in a magnetic field with an axially symmetrical configuration. In such a field the Hamiltonian takes the form We have used cylindrical coordinates in which the local magnetic field is in the z direction. There is a vector potential.

25. The azimuthal component of canonical momentum is In the following we study several actions. The first one is which is the magnetic moment.

26. Bounce Motion We consider that the magnetic field forms an adiabatic trap so that a particle can be trapped due to mirror effect. The action of interest is The integral is defined over a bounce period. is an averaged kinetic energy.

27. Azimuthal drift motion We suppose that the magnetic field has a mild gradient in the radial direction so that particles can execute drift motion in the azimuthal direction. The corresponding action is The integral is defined over the azimuthal angle.

28. The above discussions show that there are three adiabatic invariants. However, one should always keep in mind that these invariants are only in the approximate sense. It is assumed implicitly that the magnetic field varies very mildly.

29. Adiabatic Invariants In general adiabatic invariants are discussed in either asymptotic or approximate sense. The system is considered to be either slightly time dependent or spatially weakly inhomogeneous. Adiabatic invariant breaks down in the presence of resonance.

30. Particle Motion Trajectories in phase space Liouville’s theorem Poincare’s integral invariants Resonance Action-angle variables Poincare’s mappings

31. Singularity and resonance Singularity is usually of mathematical origin while resonance is of physical nature. In some cases singularity is created unnecessarily and may not be physically important.

32. Generic Phase Space Orbits Kol’mogorov (1954), Arnol’d (1963) and Moser (1962) (KAM) show: when an integrable Hamiltonian system is perturbed there are in general three types of orbits in phase space.

33. Four Primary Types of Orbits Stable periodic (regular) orbits Stable quasi-periodic orbits (KAM tori) Chaotic (stochastic) orbits Arnol’d diffusion

34. Particles in wave fields Nonlinear effects of wave field may result in regular or stochastic particle orbits in a wave field. Stochastic orbits are due to high order nonlinear resonance.

35. Methods Approximate methods perturbation theories averaging methods Special methods KAM theory nonlinear resonance phase space trajectories

36. Three Cases of General Interest An oscillating system driven by an external force which is a function of the amplitude. The system is driven by a periodic force which tends to modulate the oscillation. An oscillating system which is slowly varying.

37. Perturbation Methods In the first case nonlinear effect can invalidate the simple-minded method of perturbation due to secular terms in the perturbation solution. In the second case resonance can lead to singularity. In the third case the problem of so-called “singular perturbation” appears.

38. Three Perturbation Methods The Poincare’s method Method of removing resonance Slowly varying system

39. Expansions for small perturbation and slow perturbation For small perturbation For slow perturbation

40. Numerical Method A useful numerical method by Poincare is often adopted.

41. Poincare’s section

42. Early KAM theorem Different chaotic regions are often isolated by KAM tori

43. More recent theories show In high-dimensional cases due to “Arnold diffusion”, now a well known phenomenon, the chaotic orbits can reach every where in phase space. When the perturbation increases the KAM tori destabilize and become discrete sets

45. Issues Single particle dynamics versus kinetic theory Mathematics versus physics Numerical versus analytic methods Common sense versus usefulness

46. Comments The stochastic particle motion found in nonlinear dynamics may be relevant to plasma heating. But heating is a process involving many particles. Motion of single particle is not conclusive. Relative motion among particles may be chaotic while the motion of each particle is still regular.