Archivum Mathematicum

Ivan Kolář
Connections in 2-fibered manifolds

Archivum Mathematicum, Vol. 17 (1981), No. 1, 23--30

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 ARCH. MATH. 1, SCRIPTA FAC SCI. NAT. UJEP BRUNENSIS
XVII: 23—30,1981

CONNECTIONS IN 2-FIBERED MANIFOLDS

IVAN KOLÁŘ, Brno
(Received January 1,1980)

Given an arbitrary fibered manifold p; F-* X, a connection on F means any

section F: -F-> JlY(— the first jet prolongation of F), [5], [9]. To underline this
general point of view, we shall sometimes say that F is a generalized connection.
In local fiber coordinates x\ yp on F, the equations of F are
(1) r = dyp = Fp(xiy)dxi
with arbitrary smooth functions Ff. At first sight, this approach seems to be too
general to get any deeper result. However, our recent research suggests that the theory
of generalized connection can be as rich as the classical theory of principal or linear
connections.
The basic tool in the theory of generalized connections is the vertical prolongation
VF of F. This is a connection on the vertical tangent bundle VFof F considered as
a fibered manifold over X. A natural generalization leads to the concept of a projec-
table connection on a 2-fibered manifold. We treat some basic operations with such
connections and apply the results to the generalized connections on F. Another
important example of a 2-fibered manifold is thefirstjet prolongation JlYof F-» X.
We define the torsion of a projectable connection on J 1 F and give its' interpretation
in terms of the alternation tensor of a special pair of non-holonomic 2-jets. Finally,
we study a connection Jl(r, A) on J1 Y determined by a generalized connection F
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on F and a linear connection A on FX—Our consideration is in the category C .
1. A 2-fibered manifold is a quintuple U-£»• FA-X, where q: U -* Fandp; Y-+ X
are fibered manifolds, [6]. Hence r•• -= p o q: U-* Xis also a fibered manifold. In the
sequel, J1 U will always mean the first jet prolongation of r: (/-• X. Let Jlq: JlU -+
-> J*Ybe the induced map/^o- *+jl(q<f). A connection I: U'-* JlU will be called
projectable, if there exists a (unique) connection F: F~» J 1 F satisfying F o q =
= Jxq o I. In fiber coordinates xl9 yp9 u* on U-* Y-* X9 the equations of I are
/2) v ^ )^y = Ff(x9y)dxi9
Idu" = Ffcx,y,u)dx'.
In this paper, we shall study projectable connections only.

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 If U-^> Y is a vector bundle, 17-^> Y A- Xor {/---> X is said to be a semi-vector
bundle. Then JXU-* JXY-* X is also a semi-vector bundle. Given a protectable
connection I: U ~* J1 U over F: F-+ J 1 }', we have a map .T | Uy of vector space (7y
into vector space (JlU)riy) for every ye Y. If all these maps are linear, then E is
called a semi-linear connection. In linear coordinates u*, the equations of I are
p i
(3) I^idy -F!(x,y)dx ,
\du*~F*i(x,y)ufidxi.

(The second row is linear in ua, that is why I is said to be semi-linear.)

The simpliest example of a semi-linear connection is the vertical prolongation VF
rs

of a connection T: Y-*J1Y. Given a vector fields on X, £ = {'(x) r , denote by r%

dx'
the T-lift of i,
(4) H = ZKx) - / - + Ff(x, JO « X ) - ^ - .
Ox , dyp
Using flows, [6], we prolong r£ into a vector field Vr£ on VY9
i d
(5) vn = ?-?-i+Ftf-2- + ?p-t
q
tr
dx' dy" dy drf
where tip = dyp are the induced coordinates on VY. As there are no derivatives of ^'
in (5), this formula describes lifting with respect to a unique connection VF on
VY-*X,
(dy" = F!(x,y)dxi,
(6) VГ = dFp
q
dtl" = ^n dx\
dy"
(Another construction of VT is given in [1].)
Let W'-+ Y -» X be another semi-vector bundle and II a semi-linear connection
on W over T,
p f
(7) n s f d y = Ff(x,y)dx ,

The tensor product U ® W over F is a semi-vector bundle U ® JV -> F -* X.

Similarly to the classical case, see e.g. [3], one defines the tensor product £ ® U.
This is a semi-linear connection on U ® W over T with the following equations

m ran = ldyP = FKx y)dxi

' '

where f"* are the induced coordinates on U ® W.

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 Consider now a 2-fibered manifold U -» Y-> X with connection (2) and a map/:
Z-» X, x* =/ J (z). On the induced 2-fibered manifold /*<7-+/*r-> Z, we get an
induced connection f*Z over/*T, [7],

d/-.Ғf(/(-),y)-^-dЛ
(9) f*Z = oz
dи« = Ff(Лz),*н)-fÇd-'.
<7Z

A more interesting situation is if we have another fibered manifold s: W~+ Z and

a fibered manifold morphism F:W-* Yover/: Z ~* X. The induced fibered manifold
F* U -» JVis 2-fibered over Z. Let J : W -> J1 PV be a connection F-related with f, [7],
(10) d = dwx = G^(z, w) dza.
Then we construct an induced connection F*(Z, A) on F*U as follows. Let (w, u) e
eF*U,Z(u) =Ji<r, d(w/) =JZV- so that F(t/w) = fxsa and sections s<r and # satisfy
so of = F o g . Hence (g(0>°"(/(0))» teZ, is a section of F*c7and we set F*(Z, A)
(H>, U) = JifeW, <K/(0))- ^ coordinates,
fdwA = G* (z,w)dzfl,
(11) F*(I,d) = { . a/1 a
dw =F*(/( Z ), g(z,w),u) — dza,
where x* = / g (z), >>p = gp(z, w) is the coordinate expression of F. Thus, F*(I, A) is
a projectable connection over A. Obviously, if Z is semi-linear, then F*(Z, A) is
also semi-linear.
2. Given a section <r: X-» 7, yp = <rp(x), the absolute differential Vj4(x) of <r
with respect to connection (1) at x e X is the projection of the tangent map Txa
into VyY in the direction r(y), y = <r(x). The coordinate expression of Vr<r: X-*
-> VY® T*Xis

(12) Vr<r = ^ = -^~Ff(x,<T(x)).

Let s: Z~* X be another fibered manifold with a connection A,

(13) A = za = G?(x, z) dx1,
and <p: F-* Z, za = <pa(x, >>), a base-preserving morphism. We have r(y)**flp
for a local section <r of Y and <p o <r is a local section of Z, y e Y. The absolute differ-
ential of q> o <r with respect to J at x will be denoted by r^d9iy)* Hence rVj<p:
F-+FZ®F*X,

(14) rAA<p -zCa~^+^~F!~ G?(x, <*>(*> y)).

dx dyp
By (14), we deduce

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 Proposition 1. rV4<p == 0 iff vectorfieldsF{ and A% are <p~related for any vector
field t on X.
To express (14) in a more concise form, we recall that every function ^ : Y-+ R
determines the formal differential Dij/: JlY-+ F*X, D\f/ = ( J t + - J L ^ f jdx1,
Vdx1 3yp /
where vf are the induced coordinates on F 1 y, [4]. The function DM*: = — : H yf
1 L J
ax1- ayp
1
is called the i-th formal derivative of ij/. Given F: y -• J Y, the composition Dn\j/ : =
:=W)or,
05) M = ^+ilFf
dx1 3yp
will be said to be the i-th derivative of ^ with respect to F. We can now rewrite (14) as
a a a
(16) rVA<p = C = Dn<p - G (x, cp).

Consider a semi-vector bundle (7-> y-* X with a semi-linear connection (3)

and a section
q>: y-+ U® A*F*X,wa = <... lk (x, j)dx f l A ... Adx'\
We shall show that q> determines a section dxq>: Y-+ U® A * +1 F*X(in the classical
case of a linear connection on a vector bundle this concept is due to Koszul). The
shortest way how to define dxq> is as follows. Take an auxiliary linear symmetric
connection A on FXthat determines a connection A */l* on A *F*X. Then I ® A */l*
is a semi-linear connection on CI® A *F*X and we can construct rvx®A*A*<P: Y~*
-+ V((7® A *F*X) ® F*X. Applying antisymmetrization and natural identifications,
we obtain a section dx(p: Y-+ U® A * +1 F*X that does not depend on the choice
of A. In coordinates,
(17) dx<p s u* = (Dri<p*^ik - F>f,.. fk ) dx< A dxh A ... A d A
We are going to use this operation in the theory of generalized connections. We
recall, [5], that the curvature of F is a section Qr: y-* VY® A 2F*X,
(18) Qr s ^p » (DfiFf) dx* A dxj' = : Qfj dx< A dx'.
Using the vertical prolongation VF, we can construct d Kr Q r : y-» Vy® A 3FX*.
By direct evaluation, we deduce
Proposition 2. (Bianchi identity.) It holds
(19) d Kr O r = 0.
Since F 1 y -+ y is an affine bundle associated with Vy ® F*X, two connections (1)
and A,

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(20) A~dyp~Gf(x,y)dxi,
determine a section Fzl: Y-+VY® T*Xy

(21) /^^^-^(Gf-FDdx1.

The exterior differential x(F, A) := dvrrA: Y-+ VY® A 2T*X will be called the
mixed curvature of the ordered pair (F, A). In coordinates,

(22) x(T, A) = t," - [ ( - W " - V f - | - £ (G? - Ff)] d^A dx'.

Taking into account x(A, F) = dKJ.dF, we verify directly the following relation
(23) x(F, A) - x(A, F) = 2 0 r - 20„.
The connections F = F0 and A = F x determine a pencil F, = tri -f (1 — 0 F 0 l
f e R. We find easily
Proposition 3. The curvature Qt of Ff is
(24) Qt = O0 - ta(F0, F J + / 2 |>(F 0 , rx) - .Q0 + O j .
In particular, all connections of a pencil are integrable if any three connections of
the pencil are integrable.
3. Consider a projectable connection Z over F on 2-fibered manifold JlY-+
•UY-Z+X,
(25) ' fd/-=Ff(x,>;)dx<,
Wf = Ff/x,^)dx',
where j ; denotes the collection yf. There is a canonical morphism ^: TJlY ~+ VY
(called the structure 1-form in [2]),
(26) \j/ ~rip ~dyp -yfdx*.
Combining this morphism with lifting with respect to F, we get a section (^, F):
JlY->p*VY® T*X9
(27) (fc F) m rf « (Ff(x, y) - yf) dx\
By (11), we derive from VT and I an induced connection j8*(FF, I) on j8*FF,
V^Fftx.jOdx',
djf-=Ff/x,>>,y)dx'',
(28) ß*(VГ,Z) = \
drf-^rfáx1ą.
дy

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We define the torsion xl of I by
(29) TZ : = d.. (Kr>J) (^, r): J1 Y -> J?* VY <g> A 2 T*X
In coordinates,

(30) xl s i , ' - ^DnF"j + Fu-ft (Fj ~ yJ)\ **' A dxA

To find an interpretation of TJ, we first introduce a general concept related with

non-holonomic 2-jets. Given two manifolds M, N, there are two natural projections
Pis Pi of the space of all non-holonomic 2-jets J2(M,N) into J1(M,N), namely
Pi<Jl°) = <r(x) and P2(j» = jl(M- Let A, Be J2(M, N)n satisfy
(31) ptA = p2£, p2A = ptB.
In coordinates, let A = (af, 6f, afj) and i? = (ftf, af, bfj). By direct evaluation, we
deduce that
(32) <n + Kn
are coordinates of a tensor, which will be denoted by Q(A,B)eTyN® A2T*M
and called the alternation tensor of A and B. In particular, if A is a semi-holonomic
2-jet and B any holonomic 2-jet over the same first order jet, then Q(A, B) coincides
with the difference tensor of A.
In our situation, F: F-* JlY is prolonged into / J F : J1Y-+ J2Y. (This is not
a connection, as Z1/" is a section of p2 and not ofp t .) However, E and / J F satisfy (31)
at every point, so that we obtain a map Q(I, /^T): JXY^ ^*V7® A 2F*X. By (30)
and (32), we deduce
Proposition 4. 7* Ao/ds
(33) xl = -20*& r + ^(2;, JXT).
4. Using flows, we prolong vector field (4) into a vector field JlT£ on JXY, [8],

(34) m s n + IWj) ^ + -|L- (FJ - jrpl A..

This formula represents a map of thefiberproduct J1 Y © Z1 I T into F / 1 Y. Consider
further a linear connection A: TX-» JlTX,
(35) A^&? = r%(x)?dxk.
If we compose A with (34), we obtain a mapping JlY ® TX -• J / 1 F. This is lifting
with respect to a connection JX(F, A) on JlY called the prolongation of F with
respect to A. In coordinates,

(36) 7V\^)-j d '' = Ff(X

'' )dX ''

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 We now describe another construction of /*(F, A). Let Tln be the functor of first
order /i-dimensional velocities, n = dim X. Hence p: Y-* X is prolonged into T*p:
T^Y-^T^X. According to [5], F determines a connection T„T on the latter fibered
manifold,
dyp = Ff(x9y)dxi9
(37) TjF s <
^-џ^^-Џ)**'**'^
where {/, rjf are the induced coordinates on Tl Y. The elements of TnXbeing ^-tuples
of tangent vectors onX, denote by f^Xthe subspace of linearly independent n-tuples.
Obviously, A induces the following connection on t^X
(38) •dtf-r&rJldx'.
l
Let TnY be the restriction of T^Y over f„ X. The composition of (37) and (38) is
a connection II on f^Y-* X9 whose equations are (1), (38) and

(39) drf - (tf ^ - + tf ^ - + I V W ) dx*.

There is a canonical projection A: f„lY-+ /^transforming a vector n-tuple into its

linear span, k = yf = jyjf/ with £/£* =- 5k. Denote by A the conjugate connection
(40) A = de = rkj(x)Qjdxk.
By direct evaluation, we deduce
Proposition 5. U is k-projectable and Jl(T9 A) is the underlying connection on J1 Y9
i.e. J\r9 A) o k = Jlk o 17.
By (30), we find the following coordinate formula for the torsion of /*(F, A)

(41) xj\r9 A)=zrip = [~2Qfj + rkn(Fpk- y£)] dxl A dxJ.

To interpret (41) geometrically, we recall that the classical torsion tA of A is a map-
ping tA: X-» TX® A 2T*X9 ? = rtj dxl A dx'. Consider further ($9 F): Z 1 ^
-*j8*Vr® T*X and construct tensor contraction <(^r,F),t/l>: ^ F - * 0*Vr ®
® A 2T*X. By (27) and (41), we deduce
Proposition 6. It is
(42) Tp(F, A) -= ~2p*Qr - <(^, F), tA}.
In particular, /*(F, /l) is without torsion iffT is integrable and A is symmetric.
To determine the curvature Qjiir,Ay JXY-+ V(JlY) ® A 2T*X, we first recall an
exact sequence
(43) 0->P*VY® T*X-+ VJlY^> VY->0,

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see e.g. [4]. The classical curvature Qj of A can be considered as a map X-+ TX ®
® T*X0 A2T*X. Applying tensor contraction, we obtain <(^,r),0^>: JXY-+
->p*VY® T*X® A 2 r*X.By(43),thevaluesof<(^,r),flj>liein VJXY® A 2 r*X
Hence
(44) J\Qr : = QJHFIA) - <(*, r), Qj)

is a well-defined map JlY-~* VJlY® A 2T*X with the following coordinate expres-
sion
.7P = Ofj dx1 A dxJ,
(45) r,* = (DkQfj + riA 1 / + /.iiO© dxf A dx'.
(We shall give a direct construction of J^Qp in a next paper.) In particular, (44)
and (45) imply that / ! ( r , A) is integrable iff both T and A are integrable.

REFERENCES

[1] A. Dekret: On connections and covariant derivative on fibre manifolds, CSSR—GDR—Polish

Scientific School on Differential Geometry, Boszkowo 1978, Proceedings, 40—55.
[2] P. L. Garcia: Connections and t-jets fiber bundles, Rend. Sem. Mat. Univ. Padova, 47 (1972),
227—242.
[3] I. Kolaf: On the reducibility of connections on the prolongations of vector bundles, Colloq. Math.
30 (1974), 245—257.
[4] I. Kolar: On the Hamilton formalism infiberedmanifolds, Scripta Fac. Sci. Nat. UJEP Brunensis,
Physica, 5 (1975), 249—254.
[5] I. Kolaf: On generalized connections, to appear in Beitrage zur Algebra und Geometric
[6] I. Kol&f: Structure morphisms of prolongation functors, to appear in Math. Slovaca.
[7] I. Koldf: Induced connections and connection morphisms, CSSR—GDR—Polish Scientific School
on Differential Geometry, Boszkowo 1978, Proceedings, 125—132.
[8J D. Krupka: Lagrange theory infiberedmanifolds,Rep. Mathematical Phys., 2 (1972), 121—133.
[9] P. Libermann: Parallelismes, J. Differential Geometry, 8 (1973), 511—539.

/. KoW
Institute of Mathematics of the CSA V,
branch Brno,
662 95 Brno, Janddkovo ndm. 2a,
Czechoslovakia

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