International J.Math. Combin. Vol.

4(2017), 75-83

Intrinsic Geometry of the Special Equations in

Galilean 3−Space G3

Handan Oztekin
(Firat University, Science Faculty, Department of Mathematics, Elazig, Turkey)

Sezin Aykurt Sepet

(Ahi Evran University, Art and Science Faculty, Department of Mathematics, Kirsehir, Turkey)

E-mail: saykurt@ahievran.edu.tr

Abstract: In this study, we investigate a general intrinsic geometry in 3-dimensional

Galilean space G3 . Then, we obtain some special equations by using intrinsic derivatives of
orthonormal triad in G3 .
Key Words: NLS Equation, Galilean Space.
AMS(2010): 53A04, 53A05.

§1. Introduction

A Galilean space is a three dimensional complex projective space, where {w, f, I1 , I2 } consists
of a real plane w (the absolute plane), real line f ⊂ w (the absolute line) and two complex
conjugate points I1 , I2 ∈ f (the absolute points). We shall take as a real model of the space
G3 , a real projective space P3 with the absolute {w, f } consisting of a real plane w ⊂ G3 and a
real line f ⊂ w on which an elliptic involution ε has been defined. The Galilean scalar product
between two vectors a = (a1 , a2 , a3 ) and b = (b1 , b2 , b3 ) is defined [3]

 a b , if a1 6= 0 or b1 6= 0,
1 1
(a.b)G =
 a2 b2 + a3 b3 , if a1 = b1 = 0.

and the Galilean vector product is defined

  

  0 e2 e3 

 

  

  a1 a2 a3  , if a1 6= 0 or b1 6= 0,

 

  
 b1 b2 b3 
(a ∧ b)G =  

  e1 e2 e3 

 

  

  a1 a2 a3  , if a1 = b1 = 0.

 

  
 b1 b2 b3 

1 Received May 4, 2017, Accepted November 16, 2017.

76 Handan Oztekin and Sezin Aykurt Sepet

Let α : I → G3 , I ⊂ R be an unit speed curve in Galilean space G3 parametrized by the

invariant parameter s ∈ I and given in the coordinate form
α (s) = (s, y (s) , z (s)). Then the curvature and the torsion of the curve α are given by

1
κ (s) = kα′′ (s)k , τ (s) = Det (α′ (s) , α′′ (s) , α′′′ (s))
κ2 (s)

respectively. The Frenet frame {t, n, b} of the curve α is given by

t (s) = α′ (s) = (1, y ′ (s) , z ′ (s)) ,

α′′ (s) 1
n (s) = = (1, y ′′ (s) , z ′′ (s)) ,
kα′′ (s)k κ (s)
1
b (s) = (t (s) ∧ n (s))G = (1, −z ′′ (s) , y ′′ (s)) ,
κ (s)

where t (s) , n (s) and b (s) are called the tangent vector, principal normal vector and binormal
vector, respectively. The Frenet formulas for α (s) given by [3] are
    
t′ (s) 0 κ (s) 0 t (s)
    
 n′ (s)  =  0 τ (s)   
   0   n (s)  . (1.1)
b′ (s) 0 −τ (s) 0 b (s)

The binormal motion of curves in the Galilean 3-space is equivalent to the nonlinear Schrödinger
equation (NLS− ) of repulsive type

1 2
iqb + qss − |hq, qi| q̄ = 0 (1.2)
2
where Z s  Z s 
q = κ exp σds , σ=κexp rds . (1.3)
0 0

§2. Basic Properties of Intrinsic Geometry

Intrinsic geometry of the nonlinear Schrodinger equation was investigated in E 3 by Rogers and
Schief. According to anholonomic coordinates, characterization of three dimensional vector
field was introduced in E 3 by Vranceau [5], and then analyse Marris and Passman [3].
Let φ be a 3-dimensional vector field according to anholonomic coordinates in G3 . The
t, n, b is the tangent, principal normal and binormal directions to the vector lines of φ. In-
trinsic derivatives of this orthonormal triad are given by following
    
t 0 κ 0 t
δ   
 n = 0 0
 
   τ  
 n 
 (2.1)
δs
b 0 −τ 0 b
 Intrinsic Geometry of the Special Equations in Galilean 3−Space G3 77

    
t 0 θns (Ωb + τ ) t
δ   
 n =
 
 n 
   −θns 0 −divb   (2.2)
δn
b − (Ωb + τ ) divb 0 b
    
t 0 − (Ωn + τ ) θbs t
δ   
 n  =  (Ωn + τ )
 
   0 divn   
 n , (2.3)
δb
b −θbs −divn 0 b
δ δ δ
where δs , δn and δb are directional derivatives in the tangential, principal normal and binormal
directions in G3 . Thus, the equation (2.1) show the usual Serret-Frenet relations, also (2.2) and
(2.3) give the directional derivatives of the orthonormal triad {t, n, b} in the n- and b-directions,
respectively. Accordingly,
δ δ δ
grad = t +n +b , (2.4)
δs δn δb
where θbs and θns are the quantities originally introduced by Bjorgum in 1951 [2] via

δt δt
θns = n · , θbs = b · . (2.5)
δn δb
From the usual Serret Frenet relations in G3 , we obtain the following equations

δ δ δ δt δt
divt = (t +n + b )t = t(κn) + n +b = θns + θbs , (2.6)
δs δn δb δn δb
δ δ δ δn δn δn
divn = (t +n + b )n = t(τ b) + n +b =b , (2.7)
δs δn δb δn δb δb
δ δ δ δb δb δb
divb = (t +n + b )b = t(−τ n) + n +b =n . (2.8)
δs δn δb δn δb δn
Moreover, we get
 
δ δ δ
curlt = t× +n × +b × t
δs δn δb
δt δt
= t × (κn) + n × +b ×
  δn δb
δt δt
= b − n (1, 0, 0) + κb
δn δb

⇒ curlt = Ωs (1, 0, 0) + κb, (2.9)

where
δt δt
Ωs = t · curlt = b · −n · (2.10)
δn δb
is defined the abnormality of the t-field. Firstly, the relation (2.9) was obtained in E 3 by
78 Handan Oztekin and Sezin Aykurt Sepet

Masotti. Also, we find

 
δ δ δ
curln = t× +n × +b × n
δs δn δb
δn δn
= t × (τ b) + n × +b ×
  δn  δb  
δn δn δn
= t· −τ n + b (1, 0, 0) − t b
δb δn δn

⇒ curln = − (divb) (1, 0, 0) + Ωn n + θns b, (2.11)

where
δn
Ωn = n · curln = t · −τ (2.12)
δb
is defined the abnormality of the n-field and
 
δ δ δ
curlb = t× +n × +b × b
δs δn δb
       
δb δb δb
= t × (−τ n) + n × t t +b × t t+ n n
δn δb δb
     
δb δb δn
= − τ +t · b+ t n+ b (1, 0, 0),
δn δb δb

⇒ curlb = Ωb b − θbs n + (divn) (1, 0, 0) , (2.13)

where  
δb
Ωb = b · curlb = − τ + t · (2.14)
δn
is defined the abnormality of the b-field. By using the identity curlgradϕ = 0, we have
     
δ2ϕ δ2ϕ δ2 ϕ δ2 ϕ δ2 ϕ δ2ϕ
− t+ − n+ − b
δnδb δbδn δbδs δsδb δsδn δnδs

δϕ δϕ δϕ
+ curlt + curln + curlb = 0. (2.15)
δs δn δb
Substituting (2.9), (2.11) and (2.13) in (2.15), we find

δ2φ δ2φ δφ δφ δφ
− = − Ωs + (divb) − (divn)
δnδb δnδb δs δn δb
δ2 φ δ2φ δφ δφ
− = − Ωn + θbs
δbδs δsδb δn δb
δ2φ δ2 φ δφ δφ δφ
− = − κ− θns − Ωb . (2.16)
δsδn δnδs δs δn δb
By using the linear system (2.1), (2.2) and (2.3) we can write the following nine relations
in terms of the eight parameters κ, τ, Ωs , Ωn , divn,divb, θns and θbs . But we take (2.20),
 Intrinsic Geometry of the Special Equations in Galilean 3−Space G3 79

(2.21) and (2.22) relations for this work.

δ δ
θns + (Ωn + τ ) = (divn) (Ωs − 2Ωn − 2τ ) + (θbs − θns ) divb + κΩs , (2.17)
δb δn
δ δ
(Ωn − Ωs + τ ) + θbs = divn (θns − θbs ) + divb (Ωs − 2Ωn − 2τ ) , (2.18)
δb δn

δ δ
(divb) + (divn) = (τ + Ωn ) (τ + Ωn − Ωs ) − θns θbs − τ Ωs
δb δn
− (divb)2 − (divn)2 , (2.19)

δ δκ
(τ + Ωn ) + = −Ωn θns − (2τ + Ωn ) θbs , (2.20)
δs δb
δ 2
θbs = −θbs + κdivn − Ωn (τ + Ωn − Ωs ) + τ (τ + Ωn ) , (2.21)
δs
δ δτ
(divn) − = −Ωn (divb) − θbs (κ + divn) , (2.22)
δs δb
δκ δ
− θns = κ2 + θns
2
+ (τ + Ωn ) (3τ + Ωn ) − Ωs (2τ + Ωn ) , (2.23)
δn δs
δ
(τ + Ωn − Ωs ) = −θns (Ωn − Ωs ) + θbs (−2τ − Ωn + Ωs ) + κdivb, (2.24)
δs
δτ δ
+ (divb) = −κ (Ωn − Ωs ) − θns divb + (divn) (−2τ + Ωn + Ωs ) . (2.25)
δn δs

§3. General Properties

The relation
δn
= κn n n = −θns t − (divb) b (3.1)
δn
gives that the unit normal to the n-lines and their curvatures are given, respectively, by

−θns t − (divb) b −θns t − (divb) b

nn = = , (3.2)
k−θns − (divb) bk −θns

κn = −θns . (3.3)

In addition, from the relation (2.11) can be written,

curln = Ωn n + κn b n, (3.4)

where
− (divb) (1, 0, 0) + θns b
bn = n × nn = (3.5)
−θns
80 Handan Oztekin and Sezin Aykurt Sepet

gives the unit binormal to the n-lines. Similarly, the relation

δb
= κb n b = −θbs t − (divn) n (3.6)
δb
gives that the unit normal to the b-lines and their curvature are given, respectively, by

θbs t + (divn) n
nb = , (3.7)
θbs

κb = −θbs . (3.8)

Moreover, from the relation (2.13) we can be written as

curlb = Ωb b + κb b b , (3.9)

where
θbs n − (divn) (1, 0, 0)
bb = b × nb = (3.10)
θbs
is the unit binormal to the b-line. To determine the torsions of the n-lines and b-lines, we take
the relations
δb n
= −τn n n , (3.11)
δn
δb b
= −τb n b , (3.12)
δb
respectively. Thus, from (3.11) we have

δ δ
− (ln |κn |) (divb) − (divb) − θns (Ωb + τ ) = τn θns , (3.13)
δn δn
δ δ
− ln |κn | θns + θns = τn (divb) . (3.14)
δn δn
Accordingly,
 θ 

 − (Ωb + τ ) +

divb δ
θns δn ln  divb
ns 
if divb 6= 0, θns 6= 0
τn = − (Ωb + τ ) if divb = 0, θns 6= 0 (3.15)



or θns = 0, divb 6= 0.

Similarly, from (3.12) we have

δ δ
− (ln κb ) (divn) + (divn) − θbs (Ωn + τ ) = τb θbs , (3.16)
δb δb
δ δ
(ln κb ) θbs − θbs = τb (divn) . (3.17)
δb δb
 Intrinsic Geometry of the Special Equations in Galilean 3−Space G3 81

Thus, 
(divn ) δ
 θ 

 − (Ωn + τ ) −
 θbs δb ln  divn
bs 
if divn 6= 0, θbs 6= 0,
τb = (Ωn + τ ) if divn = 0, θbs 6= 0 (3.18)



or θbs = 0, divn 6= 0.

Also, we obtain an important relation

1
Ωs − τ = (Ωs + Ωn + Ωb ) (3.19)
2
is obtained by combining the equations (2.10), (2.12) and (2.14). Ωs , Ωn and Ωb are defined
the total moments of the t, n and b congruences, respectively.
In conclusion, we see that the relation (3.19) has cognate relations

1
Ωn − τn = (Ωn + Ωnn + Ωbn ) , (3.20)
2
1
Ωb − τb = (Ωb + Ωnb + Ωbb ) , (3.21)
2
where
Ωnn = n n · curln n , Ωb n = b n · curlb n ,
(3.22)
Ωnb = n b · curln b , Ωbb = b b · curlb b .

§4. The Nonlinear Schrödinger Equation

In geometric restriction
Ωn = 0 (4.1)

imposed. Here, our purpose is to obtain the nonlinear Schrodinger equation with such a restric-
tion in G3 . The condition indicate the necessary and sufficient restriction for the existence of a
normal congruence of Σ surfaces containing the s-lines and b-lines. If the s-lines and b-lines are
taken as parametric curves on the member surfaces U = constant of the normal congruence,
then the surface metric is given by [4]

IU = ds2 + g (s, b) db2 . (4.2)

where g11 = g(s, s), g12 = g(s, b), g22 = g(b, b), and

δ δ ∂ b ∂
gradU = t +b =t + 1/2 . (4.3)
δs δb ∂s g ∂b

Therefore, from equation (2.1) and (2.3), we have

    
t 0 κ 0 t
∂   
 n = 0 0
 
   τ  
 n 
 (4.4)
∂s
b 0 −τ 0 b
82 Handan Oztekin and Sezin Aykurt Sepet

    
t 0 − (Ωn + τ ) θbs t
∂     
g −1/2  n  =  (Ωn + τ )
   0 divn   
 n . (4.5)
∂b
b −θbs −divn 0 b

Also, if r shows the position vector to the surface then (4.4) and (4.5) implies that

∂t
rbs = = g 1/2 [−τ n + θbs b] (4.6)
∂b
and
∂  1/2  ∂g 1/2
rsb = g b = −g 1/2 τ n + b. (4.7)
∂s ∂s
Thus, we obtain
1 ∂ ln g
.
θbs = (4.8)
2 ∂s
In the case Ωn = 0, the compatibility conditions equations (2.20)-(2.22) become the non-
linear system
∂τ ∂κ
+ = −2τ θbs , (4.9)
∂s ∂b
∂ 2
θbs = −θbs + κdivn + τ 2 , (4.10)
∂s
∂ ∂τ
(divn ) − = −θbs (κ + divn). (4.11)
∂s ∂b
The Gauss-Mainardi-Codazzi equations become with (4.8)

∂ 1/2 ∂ ∂τ
(g divn) + κ (g 1/2 ) − = 0, (4.12)
∂s ∂s ∂b
∂ ∂κ
(gτ ) + g 1/2 = 0, (4.13)
∂s ∂b
(g 1/2 )ss = g 1/2 (κdivn + τ 2 ). (4.14)

With elimination of divn of between (4.12) and (4.14), we have

"
#
∂τ ∂ g 1/2 ss
− τ 2 g 1/2 ∂  1/2 
= +κ g . (4.15)
∂b ∂s κ ∂s

If we accept
g 1/2 = λκ,

where λ varies only in the direction normal congruence, then λb → b, thus the pair equations
(4.13) and (4.15) reduces to
κb = 2κs τ + κτs , (4.16)
 
κss κ2
τb = τ 2 − + . (4.17)
κ 2 s
 Intrinsic Geometry of the Special Equations in Galilean 3−Space G3 83

By using equations (4.16) and (4.17), we obtain

1 2
iqb + qss − |hq, qi| q̄ − Φ (b) q = 0, (4.18)
2
 
κss κ2
where Φ (b) = τ 2 − κ + 2 . This is nonlinear Schrodinger equation of repulsive type.
s=s0

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