VAN NOSTRAND REINHOLD MATHEMATICAL STUDIES Editors Paul R, Halmos, indiana University taee a Frederick W. Gehring, The University of Michigan DIFFERENTIAL GEOMETRY oul A Mtoe TURES Om BODLAN AGES Sma gncn-EDTERES OM ELITE BOORORY VALUE POLES Nel eks-NOTES ON OFFERENTIAL GEOMETRY LespaloNbiTOPOLOGY AND ORDER by ‘tee. Srbean-NOTES OF SPETEAL AEDT ‘ger (yeon-HOES OM LIE ove PhosUETORES OM G40QUTS THEDEN 1 Sr NST THEORY > NOEL J. HICKS Geog W. Maky-AECTURE ON THE THEORY OF FUNCTION FA eOMPLEKWARARLE ‘The Unioorsty of Michigon as Are-CECTHBES OW QUSIEONFRNAL MAPPINGS 1a SMMC OBITS IM LEER TaPOLOGT A fxs TRIS NTE HERY OF FONETINS OF NE COMPLEX VRE luna Gatese-SLETED ROBLENS OH EFTONL SETS yand yn espa athin-ELMERS OF APHORATION THEDRY 5. COMPLEX MOMFOLE WITHOUT POTETAL THEORY -,ens-ARANT MEAS OR ToPOLOIAL GROUPS: 1 Wisn-USTURES ON ITER RUINS fn Ge, LECTURE SERIES OFERNTAL EOUTON, 1, et. —LECTURE SERIES FFERERTL ERLAINS, Vo. 1 rl Wgon-METORES 0M MESHRE a MTERATON Sh FogsTH ERODE THEORY OF wan OES tot ohssk>-ORICMET PROBLEM, EXTREMAL EACH AMD PRIME CS ons Saneton- OTE OLE ALGEBRAS ma ol. Sapro-SMEOTHNG AX RPROCMTION OF FONE Aa ete seman SURVEY OF MINA SOFAES meee nye VAN NOSTRAND REINHOLD COMPANY op atean-AOTES OF KOMBLOIAL ALGER es laser EDMETHIAL COMBRATORL TOOLEY, ve, ies Wee! cascicaaayersuiet candle ae Lest lserCEMETECL COMBIMTORAL TOPLOEY, Vo. aan A itn —NTROUETION TO ERONG TERY et Aili MOTES ON OPEATOR TARE 1. Ge TRENDS WATERYHl eerie fat Noerhane Ramen Contany herons PORGet: iat! New York ‘Chcogo "Millrae Dllan ‘Vax Nowrean Ratno19 Conran orsign Ofces Landon "Toronto Melbourne Copyright © 198 by LITTON EDUCATIONAL PUBLISHING, INC. Al igh reserved. No pazt af this wor coneed hy the ‘ooyightbaroon may be repradaced or sed fn any {orm or by any meuns—eraphis,sactroni ar chanel including phstoopying, recon, taping x infornatin storage aad retrieval systems—wvithoat itn perio tthe publisher, Manafectared inthe United Slots of ‘America ablshed by Vay Nosreax Rnynote Courasy 480 Weat rd Street, New York, NY. 10001 Published simltancosty in Canada by D. Van Nostrand Company (Cenada), Ls, wosressce PREFACE ‘The following paragraph presents a very brief history of differen lel geometry and the notation used in these notes. Differential geometry is probably 8 old as ony mathematica dis cipline and certainly wos well leunched efter Newion and Letboite had laid the foundations of callus. Many eesults concerning ste feces in espace were obtsined by Gauss in the first half ofthe nine teenth centray, nd in 1854 Riemann laid the foundations form more betract approach. At the end ofthat century, LevisCivitae and Ricci developed the concept of parael translation ia the classical language of tonsors. This approsch received a tremendous impets ‘tom Einstein's work on relativity. Daring the eatly years of this century, E. Cartan Initiated research and methods that were indepen ent of paticular coordinate system Gavariant methods). Chevalley"s book °The Theory of Lie Groups” (1946) continued the clasification of concepts and actatio, and it hes had remarkable effect on the ‘current situation. The complete global synthesis of Cartn's epprosch Was achieved when Ehrosmans formelated connexion in tems of fiber tondle, These notes utilize an invariant local method formulated ty Koszul ‘The first thee chapters of this book provide = short course on clas- cel differential goomety and could be used at the junior level with ltl outside reading ia Lneer algebra and edvanced calculus. The fet six chapters can be used fora one-semester course in differen tial geometry at the seniorgreduate Level, Sich « course would cover fhe main topics ofclessical differential geometry (except fr the Ieterial in chapter 8) slog modem language and techniques, and it would prepare a student for farther study inthe books of Helgesoe, Lang, Stemberg, ot. (Soe lis in following paragraph). The entice ‘book can be covered in fll year couse. A selection of chapters ‘ould make up a “topics” course or a course on Riemannian geomet.For example, @coutse on manifolds end consexions could consist of ‘chepors 1, 4, 5, 7, ad sections 9.1, 9.3, and 9.4. The reader with little experience should move though the First three chapters fisly ‘icky. The problems are of several typos: (3) those that provide explicit computations to test the understanding of the theory, (0) thooe that requite the student to prove theorems similar to those inthe text, (©) those that lead the student trough supplementary material, some of which may be an integral pot of the exposition, and (E) those that lead the student to books or papers inthe literature. An introduction to bundle theory and the theory of Lie groupe is covered via problem material. Our hope i to give tho reader a solid understanding of the basic concepta and to stimelate hia to frther reading and thinking in differential goonety. ‘Besides the specific references found inthe notes, we would like to mention the fllowing general ferences: Point set topology Kelley; Hocking and Young: Pervin, Linear algebra: Halos; Jacob- son, Advanced ealeulue: Buck Keplan; Nickersoa, Seared, and Spencer, Classical differential geometry: Eisenbatt Hilbert eed CCohe-Vossen; Strlk. Contemporary differential eonety:.Auslonder ‘nd MacKenzie; Crittenden and Bishop; Guggenheimer; Helgason; Kobeyeshi and Nonirs; Lang: Normizu; Stenberg. History of difer: ental geometry: Straik; Veblen snd Whites We will use th following conventions: “iff fo “land only i"; 17 for *Q. B. DLP; Cartan? wil seer tothe third reference inthe bibliography under Catan, and when there is only one reference for an autor, we omit the superscript 1; Fp, ¥,, and 3 will all be used to indicate a sim is to be made, and int later two eases, we hope the emitted information (fange ot index of summation) is cleat fom the conte. [A this time T would Like to expcess my gratitude to formar teachers 1X, Schwid and V. J. Varineau for thele early encouragement, to Mise Margaret Bi. Genova snd Miss Gili D. Hodge for their help in Syn the manuscript, and to L. M. Dickens for his contribution tothe under standing ofthe lustratlons. Finally, Iam indebted to W, Ambrose and H, Samelson for sharing their insights via courses, notes, end N. J. HICKS, CONTENTS ger 1. MANIFOLDS ‘Be Jeeta ot map 9 2. HYPERSURFACES OF R" X3 Partie surteces (normal sa ey oo ‘Chopter 4. TENSORS AND FORNS ‘Chapter 5. CONNEXIONS Pe Ee, ‘Ghapter 6. RIEMANNIAN MANIFOLDS AND SUBMANIFOLDS 18(Chapter 7. OPERATORS ON FORMS AND INTEGRATION (Chapter GAUSS-BONNET THEORY AND RIGIDITY (Chapter 9. EXISTENCE THEORY Chapter 10, TOPICS IN RIEMANNIAN GEOMETRY 1044 Jet ede ng cone ints, Bubliogrphy Inder # 105, ws 1 176 181 1. Monifolds. 1g this chapter wo define the fundamental concepts which we deal thoughout these aotes. Specifically, the notions of manfols, {paction, and vector, and the conceot of ditferestisblity (emoothncss), est bo carefully digested form slid foundation, fhetion 14. Nanitotds porn Let R be the set of reat numbers. Foran int n> 0, fe Rb the pod space ofodeed ees of real name r=. Thus R= (Cyrwiagh 98). Fort = room ft be he | "Pptia eoontinate (it actions of RO hess Re BF {42jn018,) = ae An open set of RP wil be a Set which i ope i the | © landed ete opto idaced bythe standard mttie faction dom RE thas i= (ajay) od B= (yr) ae pots fn Rs then vd, 8)= (37.6, "81 ‘The concept of dilleretnbility i bose ultinstely on the definition fs derivative in elementary calculie. Let rte en ater > 0 Recall tom edvoced calls that «nap ftom an opens A CR* into is called C" on A if possesuen contiaous pil derivatives fn A ofall orders 1) n Cron A Aesch of ite lt fonctions f, =u, of te Cen A for lua thus foe pin RY Me) = Eph) in2 Notes on Ditlerential Geomotey We now define « manifold. Let W be » set, An ncoorinate pat on If is @ pair (@, U) consiating ofa subact U of W end 1to 1 map ‘oF U onto an open set in R. One mcvordinate pat (9, U) ix Clad to enother mecordisate psic (QV) if the maps «2 and Ges" are Cmaps wherever they ae defined (thus their domeina of definition mast he open). A.C" nesubatas on Mi 6 ecllection of mcootdinate airs (yy Uy) each of which ix C* seated to every other member of {he collection, andthe anion ofthe sets U, ix MA maximal clfection of Cr elated a-cordinate pairs in called s'C* meatlan. Ifa C* matlan contains & C’ mubatlas, we say the subatlas induces or generates the atlas. Finally, an m dimensional C* manifold ore C" rmanifold is 8 et W together with aC" niatae, When eM is castomurily cated a locally Euclidean space or topological manifold, and only when £0 4s M celled a differentiable or smooth manifold. An atlas on set M Js often called a differentiable sructire oc @ manifold simctare on Me [Notice tht one set may possess mote thin one diferetiablestucture (Gee exanple 4 below), however, a definition of “equivalent differ cntiable structures is necessary before the study of different atlases 00 ‘et becomes messing (see Munktes"). Exch meoordinate pai ( U7) on set M indaces set of reel valuod functions on U' defined by =, u, 048 for= Ineane ‘The tance tions tyre, ate called coondinats factions ot coardinale system and U is called the domsin of the coostinate system. | We list some examples “7. Let be R° with a C*meaabatas equ to the pair consisting of Go the identity map and U = R™ “2 Let I be any open set of R® and let a C'msubatles be (he identity PW. 43. Let W = GLC, R), the group of nea-tinglar Relineer transformer tons ofA into itgelf. "Then Mf con be mopped 1:1 onto en open set in Re? and thus e manifold stnicture can be defined on M via cxample 2 f(a) is a matrix representation of an elesent of M vith respect to tN usual bse of, then map Ce, int the » ur arg Maye Basra yr The image set of this map will be open since i isthe invesse mage of an open set by the deteminent esp, which is continuous (indeed i is Cas & map on R*), chon. 1 Manifolds 3 4. Lett be the Iedimeesonal C* manifold of example 1 nd ot MR withthe C! Laubatins (2, R), whore +i the entity sping on Re Then £1, since xin not C? the oii, V5. Let Fhe a C* real valued function on RO", with +> O ond ‘n> 0, and suppose the gradient of f does aot vanish on fheonstant set M = [pin R°"* f(p)~ 0). Then at each point {2M choose any patsl derivative off that doesn't vanish, ‘sey the 7 one, apply the implicit function theores obtain & reighboihood of p(eltive topology oni) hich projects in @ 1 way into th w, =O byperplane of R°", and thos define «| sbatioe which makes M'e C” nenifld Tris example covers mony Classical hypersurfaces in R, Including aphere, planes, and cylinders, V6, ‘The process in example Scan easily be generalized to obtain Cra ~ # manifolds from *coastent sete” of a C* map fs RO RE whose Jacobian matix Is of rank # onthe constant set 7. Let F bea unvelent map ftom an open set in R* into R™, with O contains a C™ stlas (see Mankzes'), There is en example of Kervalie which exhibits a C® atlas on a et which edits 90 at For further work onthe “equivalence” of differentiable structure Mulnoet 4, aunkres! **#, and Smae! The following list of nine problems ere recommended in oder to faniliasize oneself with tho notion of C™ map. In particule the pro lems are aimed at obtaining umbers 6 and 7 which ore often use Tre list (remember Ais open in My which is @ C™ nemanield), 1. The map & A+. is C™ on A if fi C™ at each point p in A, 2, Ife AN, Fis © on A, and U isan open set contained in 4, thea fy Is CU. Chop. 1 Manitotde 5 3. Let U, be a collection of open sets in M and let fy: Uy = te Con U, for each h. IFT isa function whose domi is the non ofall U, and iff, = f, forall then fis C™ on ite dowsta, 4. Ih ARM is C™ on ACRY and f: B~R is C* onthe open et BRM, then § of is C™ on ANT. If: AW is C™ 00 ACM and (6, U) is coordinate ait on W, then Fos™* ie C™ on GAN). 6 Let Pho @C™ ovmenifold, IfF: A=W Is C™ on ACM end & Bis C™ on the open set BCA, then ¢c1 ie C™ on ante, ‘The map A+ is C™ on A Cw it for every coordinate pair (, U) ina subatiag on W the functions t, «ae C= 08 ANEW), fori 3 n> band g: RY RP by day, Cm on Re IEA: REAR by Ren thon hse C™ on RE, 9. Let fand g be teal valued functions that are C™ on the subseta A and B of W, respectively. Show that + ¢ and ff ate C™ on ANB, where (C+ eX) = Kp) +(e) and eK = Mohd For the record, we can and so do define & Lie group. A Lie group © iss group G whose uaderiying set is also a C™ wenifold such that the group operstions are C>, ie. the map gi: GxG = G where dle, f= a"! is C™ (wee problem 18 and 20). (One last bit of notation, let C™(4, I) denote the set of C™ fanetions rapping en open set Ain @ manifold WM into a manifold Section 1.3. Vectors and vector folds ‘The definition ofa tangent vector generalizes the “directions! Aevvative® in RP. 1X, isan ordinary (advanced ealeules) vector ste point ain R® and Fis e C™ function ina neighbochod of m thea dtine Xf =X, + (V Ny, where Vis the gradient vector field off. From the properties of the “dot” pradact an the operator V It ftlows that,6 Motes on Ditlerontia! Geometry Kylal +O) ak fs Bie Xl (kg > Akt, ‘whore is a C™ function in @ neighborhood of mand « and axe rest numbers. Notice X is not normalized to be a unit vector. We generale izo now to define s tangent vector on @ manifold as an opertor on C™ functions which obeys the above rules, Let be 8 C* nenanifold. Let m be ia M and Jet C™(a) denote the set of real valued functions that are C™ on some neighborhood of A tangent vector atm i eal valued faction X on Mm) havo the folowing properties XE) XE Xe, KON = 8D 2) AU) = CxO + Heike, Where food & re in C™(m), and b is in R, The set C™(n) is almost a ting (hore is slight problm with dowtins), and thus a tangent vector {8 often called a derivation on C™im). ‘The tangent space fo M a m, denoted by Ny isthe set of all tane sont vectors atm. Tis vector space over the cea feld where (Ee Y= XP + VF and (BX)E = AGED for X,Y ia MW, fin C™lm), and 8 real nunber, Let typing bea coordinate system about m (een, m i i the domain ofthese coordinate functions). We define fr each i, a coordinate wees tor at m, denoted (9/25), by dosnt) (tmp bore x, «4, 0 and the diffretistion onthe right side is a8 uta oa RY. The vetfication of properties (1) and (2) above we leave to the reader. In a moment we show these coordinate vectors for 1 base for the tangent space at LEMMA. Lot yu, be a coordinate system about m with 4m) = 0 fr alli. Then for every anction fin C™(m) there existe n (hep. 1 Maniftde 7 factions Fyeely in Cm) with) (8/9e ud ad = a) +, in ancighborhood of m Note the equality in qeestion ix an equality bepwecn functions, and fim) representa a constant function with value fy tho sum is taken foe f= I, 2s ated i the fate this relevant ange is 10 be understood.) Lat Fa fog roo Let & be the coontinate map belonging te the snd we know F is defined in a ball aboat the exgin ia R™, Be [pin RY distance from origin to p< rh. For (yuna) in B we have, gee 0 04 FE, Op) — FO) + FQ) = = B Ploy 8p Qn NS + FO) F023, | aati ty nn P00) + 3,6 ayy where Xu, iat F (a8) fi C™ in B since (@F/Ou,)¢ C™. Let fF, 06 andthe lenma is ved. // THEOREM. Let M be 9 C™ mmanitold aad le xy, Bo @ 2 ndinate system about m io W. Then i Xin Wy X = SAR VA/A,) op 0d the coordinate vectors form a base for W, which thus bas dimesion rool, We first prove the stated representation, Take X in M, and in Cm), Ie xf) £0 for alli ety, =, ~ xm). Then apply the lemma to £ with'respect to the coordinate system Yon), and notice (Gl/ay on (0/2 Ym. Next we see it 8 constant mp then