Connections & Curvatures

1
Connections, curvatures, and variation formulas
The reader is assumed to have a basic familiarity with Riemannian geometry.

For her or his convenience we review some of the basic facts. We refer the reader
to the book by Cheeger and Ebin [2] for Riemannian and comparison geometry
and the authors book [3] with Dan Knopf for an introduction to Ricci flow.
The reader may find [1] as a convenient reference for some papers on Ricci flow
including [6] on singularity formation. If the reader is having difficulty filling in
some details in these lectures, we refer her or him to [3] and also the forthcoming
book by Peng Lu, Lei Ni and the author [4].
Let M n be an n-dimensional differentiable manifold and g be a Riemannian
metric. The Levi-Civita covariant derivative X : C (T M ) C (T M ) is
the unique linear map such that
X+cY = X + cY
X (Y + f Z) = X Y + (Xf ) Z + f X Z
X (g (Y, Z)) = g (X Y, Z) + g (Y, X Z)
X Y Y X = [X, Y ] ,
(1)
(2)
for any vector fields X, Y, Z, constant c, and function f. The covariant derivative
tells us how to differentiate vector fields.
Exercise 1 ([2]) Show that
2g (X Y, Z) = X (g (Y, Z)) + Y (g (X, Z)) Z (g (X, Y ))
(3)
+ g ([X, Y ] , Z) g ([X, Z] , Y ) g ([Y, Z] , X) .
i n
Let x i=1 be a local coordinate system defined in an open set U in M n .
The Christoffel symbols are defined in U by
n
xi
+
kij k .
xj
x
k=1
From now on we shall use the Einstein summation

sum
we
Pconvention, where
=0
over repeated indices and omit the summation sign . By (3) and x
i , xj
([5])

1
kij = g k`
.
(4)
g
+
g
g
j`
i`
ij
2
xi
xj
x`
Many calculations in Ricci flow are carried out in local coordinates.
Using the covariant derivative we may define the Riemann curvature (3, 1)tensor Rm by
Rm (X, Y ) Z + X Y Z Y X Z [X,Y ] Z.
The Riemann curvature tensor measures how noncommutative covariant differentiation is; its expresses how curved the manifold is.
1
Exercise 2
Rm (f X, Y ) Z = Rm (X, f Y ) Z = Rm (X, Y ) (f Z) = f Rm (X, Y ) Z.
(5)
Since Rm is linear over C functions, it is indeed a tensor.

`
The components Rijk
of Rm are defined by

`
Rm
,
+ Rijk
xi xj xk
x`
m
and we also define Rijk` + g`m Rijk
as the components of the Riemann (4, 0)tensor:

,
,
.
Rijk` = Rm
xi xj xk x`
Exercise 3 Show that

`
Rijk
= i `jk j ìk + pjk ìp pik `jp
(6)
Exercise 4 Show the following basic symmetries of the Riemann curvature tensor:
Rijk` = Rjik` = Rij`k = Rkìj .
The Ricci tensor Rc is the trace
Its components Rjk
Rc (Y, Z) + trace (X 7 Rm (X, Y ) Z) .

+ Rc x
are given by
j , xk
Rjk =
n
X
i
Rijk
.
i=1
The scalar curvature is the trace of the Ricci tensor:

R = g ij Rij

where g ij + g 1 ij is the inverse matrix.
By the product rule, covariant differentiation is defined on tensors. The first
and second Bianchi identities are:
Rijk` + Rjki` + Rkij` = 0
i Rjk`m + j Rki`m + k Rij`m = 0.
(7)
(8)
Exercise 5 Prove the (twice) contracted second Bianchi identity

2q Rpq = p R.
(9)
The Lie derivative of with respect to X is defined by

LX + lim
t0
1
( (t ) ) .
t
(10)
The Lie derivative is related to the diffeomorphism invariance of the tensor .

We have the following fact: if f is a function, then

= 2i j f.
Lgradg f g
ij
(11)
The Ricci flow equation is
gij = 2Rij .
t
In Ricci flow we want to see how various geometric quantities evolve given a
solution to the Ricci flow. For this reason we compute the variation formulas for
the Christoffel symbols and curvature tensors. The variation of the Christoffel
symbols is given as follows. If g (s) is a one-parameter family of metrics with
gij = vij ,
s
then
1
k
= g k` (i vj` + j vi` ` vij ) .
s ij
2
From this we calculate the variation of the Ricci tensor:

p
p
i
.
Rij = p
s
s ij
s pj
(12)
(13)
and the variation of scalar curvature:
R = V + div (div v) hv, Rci ,

s
(14)
where V = g ij vij = trace (v) is the trace of v.

The volume form is given in a positively oriented local coordinate system
i
x by
p
d = det gij dx1 dxn
(15)
(we assume that M is oriented). If
s gij
= vij , then
d = V d.
s
2
The Einstein-Hilbert functional is
E (g) +
Z
3
Rd.
M
(16)

gij = vij , then
The above formulas imply that if s

Z
1
d
V + p q vpq hv, Rci + RV d
E=
ds
2
M

Z
1
=
v, Rg Rc d.
2
M
Thus we see the critical points E satisfy Einsteins equation 12 Rg Rc = 0. The

gradient flow of E is given by
gij = 2 (E (g))ij = Rgij 2Rij .

t
(17)
This is almost the Ricci flow.
References
[1] Cao, Huai-Dong; Chow, Bennett; Chu, Sun-Chin, Yau, Shing-Tung, editors.
Collected papers on Ricci flow. Internat. Press, Somerville, MA, 2003.
[2] Cheeger, Jeff; Ebin, David G. Comparison theorems in Riemannian geometry. North-Holland Mathematical Library, Vol. 9. North-Holland Publishing
Co., Amsterdam-Oxford; American Elsevier Publishing Co., Inc., New York,
1975.
[3] Chow, Bennett; Knopf, Dan. The Ricci flow: An introduction, Mathematical
Surveys and Monographs, AMS, Providence, RI, 2004.
[4] Chow, Bennett; Lu, Peng; Ni, Lei. Hamiltons Ricci flow. Preliminary version
of book to be published by Science Press, China.
[5] Eisenhart, Luther Pfahler. Riemannian geometry. Eighth printing. Princeton Landmarks in Mathematics. Princeton Paperbacks. Princeton University
Press, Princeton, NJ, 1997. x+306 pp.
[6] Hamilton, Richard S. The formation of singularities in the Ricci flow. Surveys in differential geometry, Vol. II (Cambridge, MA, 1993), 7136, Internat. Press, Cambridge, MA, 1995.

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1

Connections, curvatures, and variation formulas

The reader is assumed to have a basic familiarity with Riemannian geometry.

From now on we shall use the Einstein summation

Since Rm is linear over C functions, it is indeed a tensor.

Exercise 3 Show that

Its components Rjk

Rc (Y, Z) + trace (X 7 Rm (X, Y ) Z) .

The scalar curvature is the trace of the Ricci tensor:

Exercise 5 Prove the (twice) contracted second Bianchi identity

The Lie derivative of with respect to X is defined by

The Lie derivative is related to the diffeomorphism invariance of the tensor .

The Ricci flow equation is

and the variation of scalar curvature:

R = V + div (div v) hv, Rci ,

where V = g ij vij = trace (v) is the trace of v.

Thus we see the critical points E satisfy Einsteins equation 12 Rg Rc = 0. The

gij = 2 (E (g))ij = Rgij 2Rij .

This is almost the Ricci flow.

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