String topology on Gorenstein spaces

The purpose of this paper is to describe a general and simple setting for defining $(g,p+q)$-string operations on a Poincar\'e duality space and more generally on a Gorenstein space. Gorenstein spaces include Poincar\'e duality spaces as well as classifying spaces or homotopy quotients of connected Lie groups. Our presentation implies directly the homotopy invariance of each $(g,p+q)$-string operation as well as it leads to explicit computations.