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Topics inDifferential Geometry
Peter W. Michor
Institut f¨ur Mathematik der Universit¨at Wien, Strudlhofgasse 4, A-1090 Wien,Austria.Erwin Schr¨odinger Institut f¨ur Mathematische Physik, Boltzmanngasse 9, A-1090Wien, Austria.
peter.michor@esi.ac.at
These notes are from a lecture course
Differentialgeometrie und Lie Gruppen
which has been held at the University of Vienna during the academic year 1990/91,again in 1994/95, in WS 1997, in a four term series in 1999/2000 and 2001/02, andparts in WS 2003 It is not yet complete and will be enlarged.
Typeset by
AMS 
-TEX
 
ii
Keywords:Corrections and complements to this book will be posted on the internet at theURL
http://www.mat.univie.ac.at/~michor/dgbook.html
Draft from October 1, 2007 Peter W. Michor,
 
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TABLE OF CONTENTS
0. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 1CHAPTER I Manifolds and Vector Fields . . . . . . . . . . . . . . . 31. Differentiable Manifolds . . . . . . . . . . . . . . . . . . . . . . 32. Submersions and Immersions . . . . . . . . . . . . . . . . . . . 153. Vector Fields and Flows . . . . . . . . . . . . . . . . . . . . . 20CHAPTER II Lie Groups and Group Actions . . . . . . . . . . . . 394. Lie Groups I . . . . . . . . . . . . . . . . . . . . . . . . . . 395. Lie Groups II. Lie Subgroups and Homogeneous Spaces . . . . . . . . 566. Transformation Groups and
G
-manifolds . . . . . . . . . . . . . . 617. Polynomial and smooth invariant theory . . . . . . . . . . . . . . 76CHAPTER III Differential Forms and De Rham Cohomology . . . . . 898. Vector Bundles . . . . . . . . . . . . . . . . . . . . . . . . . 899. Differential Forms . . . . . . . . . . . . . . . . . . . . . . . . 10110. Integration on Manifolds . . . . . . . . . . . . . . . . . . . . . 10911. De Rham cohomology . . . . . . . . . . . . . . . . . . . . . . 11512. Cohomology with compact supports and Poincar´e duality . . . . . . . 12413. De Rham cohomology of compact manifolds . . . . . . . . . . . . 13514. Lie groups III. Analysis on Lie groups . . . . . . . . . . . . . . . 14115. Extensions of Lie algebras and Lie groups . . . . . . . . . . . . . 152CHAPTER IV Bundles and Connections . . . . . . . . . . . . . . 16116. Derivations on the Algebra of Differential Formsand the Fr¨olicher-Nijenhuis Bracket . . . . . . . . . . . . . . . . . . 16117. Fiber Bundles and Connections . . . . . . . . . . . . . . . . . . 16918. Principal Fiber Bundles and
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-Bundles . . . . . . . . . . . . . . 17819. Principal and Induced Connections . . . . . . . . . . . . . . . . 19420. Characteristic classes . . . . . . . . . . . . . . . . . . . . . . 21321. Jets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227CHAPTER V Riemannian Manifolds . . . . . . . . . . . . . . . . 23522. Pseudo Riemann metrics and the Levi Civita covariant derivative . . . 23523. Riemann geometry of geodesics . . . . . . . . . . . . . . . . . . 24824. Parallel transport and curvature . . . . . . . . . . . . . . . . . 25625. Computing with adapted frames, and examples . . . . . . . . . . . 26626. Riemann immersions and submersions . . . . . . . . . . . . . . . 28127. Jacobi fields . . . . . . . . . . . . . . . . . . . . . . . . . . 297CHAPTER VI Isometric Group Actions and Riemannian
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-Manifolds . 31328. Homogeneous Riemann manifolds and symmetric spaces . . . . . . . 31329. Riemann
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-manifolds . . . . . . . . . . . . . . . . . . . . . . 31830. Polar actions . . . . . . . . . . . . . . . . . . . . . . . . . . 331CHAPTER VII Symplectic Geometry and Hamiltonian Mechanics . . . 35531. Symplectic Geometry and Classical Mechanics . . . . . . . . . . . 35532. Completely integrable Hamiltonian systems . . . . . . . . . . . . 37533. Poisson manifolds . . . . . . . . . . . . . . . . . . . . . . . . 38034. Hamiltonian group actions and momentum mappings . . . . . . . . 390References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413List of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . 419Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
Draft from October 1, 2007 Peter W. Michor,
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