Given N relativistic scalar free particles described by N mass-shell first class constraints in their 8N-dimensional phase space, their N-time description is obtained by means of a series of canonical transformations to a quasi-Shanmugadhasan basis adapted to the constraints. Then the same system is reformulated on spacelike hypersurfaces: the restriction to the family of hyperplanes orthogonal to the total timelike momentum gives rise to a covariant intrinsic 1-time formulation called the "rest-frame instant form" of dynamics.The relation between the N-and 1-time descriptions, the mass spectrum of the system and the way how to introduce mutual interactions among the particles are studied. Then the 1-time description of the isolated system of N charged scalar particles plus the electromagnetic field is obtained. The use of Grassmann variables to describe the charges together with the determination of the field and particle Dirac observables leads to a formulation without infinite self-energies and with mutual Coulomb interactions extracted from classical electromagnetic field theory. A comparison with the Feshbach-Villars Hamiltonian formulation of the Klein-Gordon equation is made. Finally a 1-time 1 covariant formulation of relativistic statistical mechanics is found.

In a special class of globally hyperbolic, topologically trivial, asymptotically flat at spatial infinity spacetimes selected by the requirement of absence of supertranslations (compatible with Christodoulou-Klainermann spacetimes) it is possible to define the rest-frame instant form of ADM canonical gravity by using Dirac's strategy of adding ten extra variables at spatial infinity and ten extra first class constraints implying the gauge nature of these variables. The final canonical Hamiltonian is the weak ADM energy and a discussion of the Hamiltonian gauge transformations generated by the eight first class ADM constraints is given. When there is matter and the Newton constant is switched off, one recovers the description of the matter on the Wigner hyperplanes of the rest-frame instant form of dynamics in Minkowski spacetime.

We study the coupling of N charged scalar particles plus the electromagnetic field to Arnowitt–Deser–Misner (ADM) tetrad gravity and its canonical formulation in asymptotically Minkowskian space–times without super-translations. To regularize the self-energies, both the electric charge and the sign of the energy of the particles are Grassmann-valued. The introduction of the noncovariant radiation gauge allows reformulation of the theory in terms of transverse electromagnetic fields and to extract the generalization of the Coulomb interaction among the particles in the riemannian instantaneous 3-spaces of global noninertial frames, the only ones allowed by the equivalence principle. Then we make the canonical transformation to the York canonical basis, where there is a separation between the inertial (gauge) variables and the tidal ones inside the gravitational field and a special role of the eulerian observers associated with the 3+1 splitting of space–time. The Dirac hamiltonian is weakly equal to the weak ADM energy. The Hamilton equations in Schwinger time gauges are given explicitly. In the York basis they are naturally divided into four sets: (i) the contracted Bianchi identities; (ii) the equations for the inertial gauge variables; (iii) the equations for the tidal ones; and (iv) the equations for matter. Finally, we give the restriction of the Hamilton equations and of the constraints to the family of nonharmonic 3-orthogonal gauges, in which the instantaneous riemannian 3-spaces have a nonfixed trace 3K of the extrinsic curvature but a diagonal 3-metric. The inertial gauge variable 3K (the general-relativistic remnant of the freedom in the clock synchronization convention) gives rise to a negative kinetic term in the weak ADM energy vanishing only in the gauges with 3K = 0: is it relevant for dark energy and back-reaction? In the second paper will appear the linearization of the theory in these nonharmonic 3-orthogonal gauges to obtain hamiltonian post-minkowskian gravity (without post-newtonian approximations) with asymptotic Minkowski background, nonflat instantaneous 3-spaces and no post-newtonian expansion. This will allow the exploration of the inertial effects induced by the York time 3K in nonflat 3-spaces (they do not exist in newtonian gravity) and to check how well dark matter can be explained as an inertial aspect of Einstein’s general relativity: this will be done in a third paper on the post-minkowskian 2-body problem in the absence of the electromagnetic field and on its 0.5 post-newtonian limit.

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By using the 3+1 point of view and parametrized Minkowski theories we develop the theory of non-inertial frames in Minkowski space-time. The transition from a non-inertial frame to another one is a gauge transformation connecting the respective notions of instantaneous 3-space (clock synchronization convention) and of the 3-coordinates inside them. As a particular case we get the extension of the inertial rest-frame instant form of dynamics to the non-inertial rest-frame one. We show that every isolated system can be described as an external decoupled non-covariant canonical center of mass (described by frozen Jacobi data) carrying a pole-dipole structure: the invariant mass and an effective spin. Moreover we identify the constraints eliminating the internal 3-center of mass inside the instantaneous 3-spaces.In the case of the isolated system of positive-energy scalar particles with Grassmann-valued electric charges plus the electro-magnetic field we obtain both Maxwell equations and their Hamiltonian description in non-inertial frames. Then by means of a non-covariant decomposition we define the non-inertial radiation gauge and we find the form of the non-covariant Coulomb potential. We identify the coordinate-dependent relativistic inertial potentials and we show that they have the correct Newtonian limit.In the second paper we will study properties of Maxwell equations in non-inertial frames like the wrap-up effect and the Faraday rotation in astrophysics. Also the 3+1 description without coordinate-singularities of the rotating disk and the Sagnac effect will be given, with added comments on pulsar magnetosphere and on a relativistic extension of the Earth-fixed coordinate system. 2