Hamiltonians for curves
We examine the equilibrium conditions of a curve in space when a local energy penalty is associated with its extrinsic geometrical state characterized by its curvature and torsion. To do this we tailor the theory of deformations to the Frenet-Serret frame of the curve. The Euler-Lagrange equations describing equilibrium are obtained; Noether's theorem is exploited to identify the constants of integration of these equations as the Casimirs of the euclidean group in three dimensions. While this system appears not to be integrable in general, it {\it is} in various limits of interest. Let the energy density be given as some function of the curvature and torsion, $f(κ,τ)$. If $f$ is a linear function of either of its arguments but otherwise arbitrary, we claim that the first integral associated with rotational invariance permits the torsion $τ$ to be expressed as the solution of an algebraic equation in terms of the bending curvature, $κ$. The first integral associated with translational invariance can then be cast as a quadrature for $κ$ or for $τ$.