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Differential - Geometry Contents PDF
Differential - Geometry Contents PDF
Contents
1 Preliminaries 1
1.1 Categories and Functors . . . . . . . . . . . . . . . . . . . . . 1
1.2 Linear Algebra . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 Linear Spaces and Linear Maps . . . . . . . . . . . . . 3
1.2.2 Determinant of Matrices and Linear Endomorphisms . 7
1.2.3 Orientation of a Linear Space . . . . . . . . . . . . . . 11
1.2.4 Tensor Product . . . . . . . . . . . . . . . . . . . . . . 11
1.2.5 Exterior Powers . . . . . . . . . . . . . . . . . . . . . . 15
1.2.6 Euclidean Linear Spaces . . . . . . . . . . . . . . . . . 21
1.2.7 Hodge Star Operator . . . . . . . . . . . . . . . . . . . 30
1.3 Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.3.1 Affine Geometry . . . . . . . . . . . . . . . . . . . . . 33
1.3.2 Euclidean Spaces . . . . . . . . . . . . . . . . . . . . . 40
1.4 Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.4.1 Separation and Countability Axioms . . . . . . . . . . 56
1.4.2 Compactness . . . . . . . . . . . . . . . . . . . . . . . 58
1.4.3 Fundamental Group and Covering Spaces . . . . . . . 60
1.5 Multivariable Calculus . . . . . . . . . . . . . . . . . . . . . . 62
1.6 Measure and Integration . . . . . . . . . . . . . . . . . . . . . 67
1.7 Ordinary Differential Equations . . . . . . . . . . . . . . . . . 75
2 Curves in En 81
2.1 The Notion of a Curve . . . . . . . . . . . . . . . . . . . . . . 81
2.2 The Length of a Curve . . . . . . . . . . . . . . . . . . . . . . 83
2.3 Crofton’s Formula . . . . . . . . . . . . . . . . . . . . . . . . 86
2.4 The Osculating k-planes . . . . . . . . . . . . . . . . . . . . . 92
2.5 Frenet Frames and Curvatures . . . . . . . . . . . . . . . . . 97
2.6 Limits of Some Geometrical Quantities . . . . . . . . . . . . . 107
2.7 Osculating Spheres . . . . . . . . . . . . . . . . . . . . . . . . 112
2.8 Plane Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
3 Hypersurfaces in Rn 141
3.1 General Theory . . . . . . . . . . . . . . . . . . . . . . . . . . 141
3.1.1 Definition of a Parameterized Hypersurface . . . . . . 141
3.1.2 Curvature of Curves on a Hypersurface . . . . . . . . 143
3.1.3 The Weingarten Map and the Fundamental Forms . . 145
3.1.4 Umbilical Points . . . . . . . . . . . . . . . . . . . . . 151
3.1.5 The Fundamental Equations of Hypersurface Theory 152
3.1.6 Surface Volume . . . . . . . . . . . . . . . . . . . . . . 161
3.2 Surfaces in R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
3.2.1 Surfaces of Revolution . . . . . . . . . . . . . . . . . . 162
3.2.2 Lines of Curvature, Triply Orthogonal Systems . . . . 166
3.2.3 Ruled and Developable Surfaces . . . . . . . . . . . . 173
3.2.4 Asymptotic Curves on Negatively Curved Surfaces . . 179
3.2.5 Surfaces of Constant Negative Curvature . . . . . . . 183
3.2.6 Minimal Surfaces . . . . . . . . . . . . . . . . . . . . . 195
4 Manifolds 201
4.1 Topological and Differentiable Manifolds . . . . . . . . . . . . 201
4.1.1 Basic Definitions . . . . . . . . . . . . . . . . . . . . . 201
4.1.2 Configuration Spaces . . . . . . . . . . . . . . . . . . . 205
4.1.3 Submanifolds of Rn . . . . . . . . . . . . . . . . . . . 206
4.1.4 Remarks on the Classification of Manifolds . . . . . . 209
4.2 The Tangent Bundle . . . . . . . . . . . . . . . . . . . . . . . 212
4.2.1 The Tangent Bundle . . . . . . . . . . . . . . . . . . . 217
4.2.2 The Derivative of a Smooth Map . . . . . . . . . . . . 218
4.3 The Lie Algebra of Vector Fields . . . . . . . . . . . . . . . . 219
4.3.1 The Lie Algebra of Lie Groups . . . . . . . . . . . . . 227
4.3.2 Subspace Distributions and the Frobenius Theorem . 229
4.4 Tensor Bundles and Tensor Fields . . . . . . . . . . . . . . . 233
4.5 The Lie Derivative . . . . . . . . . . . . . . . . . . . . . . . . 238
4.6 Differential Forms . . . . . . . . . . . . . . . . . . . . . . . . 243
4.6.1 Interior Product by a Vector Field . . . . . . . . . . . 243
ii
Bibliography 336
Index 338