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    Differential Geometry in The Large

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    Lecture Notes in Mathematics Edited by A. Dold and B. Eckmann 1000 Heinz Hopf Differential Geometry in the Large Seminar Lectures New York University 1946 and Stanford University 1956 With a Preface by S.S. Chern Second Edition Springer-Verlag Berlin Heidelberg New York London Paris Tokyo Hong Kong Author Heinz Hopf Nov. 19, 1894 —June 3, 1971 Professor, Eidgendssische Technische Hochschule Zirich 1931-1965 AMS Subject Classifications (1980); 51M 20, 52A25, 52A40, 583A 05, 53A 10, §3C21, 53022, 53045, 57M20 ISBN 3.640-51497-X Springer-Verlag Berlin Heidelberg New York ISBN 0-387-51497-X Springer-Verlag New York Berlin Heidelberg ISBN 8-540-12004-1 1, Auflage Springer-Verlag Berlin Heidelberg New York ISBN 0.287-12004-1 1st Edition Springer-Verlag New York Heidelberg Berlin This work is subject to copyright. Allrights are reserved, whether the whole or part ofthe material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms orin other ways, and storage in data banks. Duplication ‘of this publication or parts thereofis only permitted under the provisions of the German Copyright Law of September 9, 1966, in its version of June 24, 1985, and a copyright fee must always be ‘paid. Violations fall under the prosecution act of the German Copyright Law. © Springer-Verlag Berlin Heidelberg 1969, 1989, Printed in Germany Printing and binding: Druckhaus Beltz, Hemsbach/Bergstr. 2146/3140-549210— Printed on acid-free paper TABLE OF CONTENTS Part One Selected Topics in Geometry New York University 1946 Notes by Peter Lax chapter Chapter Chapter chapter 1 Ir 1Iz The Euler Characteristic and Related Topics Selected Topics in Elementary Differential Geometry The Isoperimetric Inequality and Related Inequalities The Elementary Concept of Area and Volume Part Two Differential Geometry in the Large Stanford University 1956 Notes by J.W. Gray Introduction Chapter Chapter Chapter chapter Chapter Chapter chapter Chapter Chapter I qr Ir vi vit VIII 1x Differential Geometry of Surfacesin the small Some General Remarks on Closed Surfaces in Differential Geometry The Total Curvature (Curvatura Integra) of a Closed Surface with Riemannian Metric and Poincaré's Theorem on the Singularities of Fields of Line Elements Hadamard's Characterization of the ovaloids Closed Surfaces with Constant Gauss Curvature (Hilbert's Method) - Generalizations and Problems ~ General Remarks on Weingarten Surfaces General Closed Surfaces of Genus 0 with Constant Mean Curvature - Generalizations Simple Closed surfaces (of Arbitrary Genus) with Constant Mean Curvature ~ Generalizations ‘The Congruence Theorem for ovaloids Singularities of Surfaces with Constant Negative Gauss Curvature page 30 47 58 1 81 82 100 107 119 123 136 147 163 174 The editors are happy to make the famous 1946 and 1956 seminar lectures of Heinz Hopf on Geometry and Differential Geometry in the large available to the mathematical community. They are pleased to have this fine volume carry the number 1000 of the Lecture Notes in Mathematics series. They express their sincere thanks to all those who have contributed to the project: To Peter Lax and John Gray who wrote the original class notes; to the Mathematics Institutes of N.Y.U. and of Stanford University for the permission to rewrite and publish the notes; to S.S. Chern for suggesting the volume and writing a preface; to Konrad Voss and Karl Weber for carefully checking the old versions ana correcting errors, partly using error lists made by Heinz Hopf himself; and to Rachel Boller for her excellent job in typing the final manuscript and drawing all illustrations. Albrecht Dold Beno Bckmann PREFACE These notes consist of two parts: 1) Selected Topics in Geometry, New York University 1946, Notes by Peter Lax. 2) Lectures on Differential Geometry in the Large, Stanford University 1956, Notes by J.W. Gray. They are reproduced here with no essential change. Heinz Hopf was a mathematician who recognized important mathema- tical ideas and new mathematical phenomena through special cases. In the simplest background the central idea or the difficulty of a problem usually becomes crystal clear. Doing geometry in this fashion is a joy. Hopf's great insight allows this approach to lead to serious ma~ thematics, for most of the topics in these notes have become the star- ting-points of important further developments. I will try to mention a few. It is clear from these notes that Hopf laid the emphasis on poly- hedral differential geometry. Most of the results in smooth differen- tial geometry have polyhedral counterparts, whose understanding is both important and challenging. Among recent works I wish to mention those of Robert Connelly on rigidity, which is very much in the spirit of these notes (cf. R. Connelly, Conjectures and open questions in ri- gidity, Proceedings of International Congress of Mathematicians, Hel- sinki 1978, vol. 1, 407-414). A theory of area and volume of rectilinear polyhedra based on de~ compositions originated with Bolyai and Gauss. Gauss realized the de- licacy of the problem for volumes, and Hilbert proposed in his famous "Mathematical Problems" that of “constructing two tetrahedra of equal pases and equal altitudes which can in no way be split into congruent (Problem no. 3). This was immediately solved by Max Dehn tetrahedra. whose results, with some modifications, are presented in Part 1, Chap- ter Iv of these notes. This work has been further pursued and treated by algebraic methods. For the modern developments I refer to C.H. Sah, Hilbert's third problem: Scissors congruence (Research Notes in Mathe- matics 33, Pitman, San Francisco 1979) . vi The main content of Part 2 consists of the study of Weingarten surfaces in the three-dimensional Euclidean space, particularly those for which the mean curvature or the Gaussian curvature is a constant. Important progress was recently made by Wu-Yi Hsiang, as he constructed many examples of hypersurfaces of constant mean curvature in the Eucli- dean space which are not hyperspheres; cf. Wu-Yi Hsiang, Generalized rotation hypersurfaces of constant mean curvature in the Euclidean spaces I (J. Differential Geometry 17 (1962), 337-356), and his other papers. But the simplest question as to whether there exists an immersed torus in the three-dimensional Euclidean space with constant mean cur- vature remains unanswered (the "soap bubble" problem) . Hopf's mathematical exposition is a model of precision and clarity. His style is recognizable in these notes. $.S. Chern March 1983 PREFACE T0 THE SECOND EDITION The text of the Hopf Lecture Notes remains nearly unchanged. A number of misprints has been corrected, for which considerable help was given by WU TA-JEN of Nankai University at Tianjin, China, who also contributed a great number of valuable remarks. One of the main questions discussed in Part-Two of the Hopf Lectures is the problem of finding all closed surfaces in E* with constant mean curvature (c.m.c.), the solution being given in these Lecture Notes for the genus O case and for the case of all simple closed surfaces of arbitrary genus (in which cases the round spheres are the only solutions), while “the question whether there exist closed surfaces of genus > 1 with and with self intersections ... remains unanswered" (p. 131). An exciting development began in 1986 with H.C. WENTE's proof of the existence of c.m.c. tori; this proof starts exactly at the point, where Heinz Hopf left the problem in 1950. In the meantime, not only have the c.m.c. tori been classified, but N. KAPOULEAS (1987) has also proved the existence of c.m.c. surfaces of arbitrary genus > 3. The case of genus 2 still seems to make siffi- culties. For references see the paper of U. PINKALL and I. STERLING: On the classification of constant mean curvature tori, to appear in Annals of Mathematics (1989). K. Voss March 1989 CHAPTER I he Euler Characteristic and Related Topics Section. The first topic to be discussed will be Euler's famous re~ lation between the number of faces, edges and vertices of a convex polyhedron. Definition. A convex 2-cell is a convex point set whose boundary con- sists of a finite collection of straight line segments (edges) which meet at points (vertices). A convex 3-cell is a convex point set whose boundary consists of a finite collection of convex two-cells. Number of vertices of a three-cell will be denoted by e Number of edges of a three-cell will be denoted by k ; Number of two-cells of a three-cell will be denoted by £ - Euler's theorem states that for convex three~cells the following relation holds. (2.4) e-k+£=2. A number of proofs of this theorem will be presented. Section 2. First Proof (Legendre) We are given P , a convex polyhedron; project its surface from an interior point into the surface of the unit sphere around that point. This may be done from theorems in the general theory of convex sets. This way we obtain a network on the surface of a sphere consist- ing of convex spherical polygons. A Theorem on Spherical Polygons. The sum of the angles of a convex spherical polygon on the surface of a unit sphere is equal to (n-2)x+A , where n is the number of sides of the polygon and A its area. This theorem can be proved by induction: for n=3 it reduces to a well-known theorem in spherical trigonometry. To proceed from n to nti we subdivide the polygon into a triangle and a polygon of (n=1) sides by means of a diagonal, which lies completely inside the original polygon because of its convexity. The theorem holds for non-convex polygons as well but we shall not bother to prove it. We return to our network consisting of convex spherical polygons. H, Hopf: LNM 1000, A. Dold and B. Eckmann (Eds.), pp. 3-29, 1983, 1989, © Springer-Verlag Berlin Heidelberg 1983, 1989 For each polygon we write down the equation =nx- 2x +A where a, is an angle of the polygon. We sum over all polygons, P; . Then E aj; = 2xe , since each vertex contributes a total angle kam, = 2k , since each edge bounds two polygons and will be counted twice in summation of edges of the polygon. £ x 2x = 2xf , since j goes from 1to £ . jet FA, = 4x, since every point of the sphere is covered once and only once, and the area of a unit sphere = 4x . But Daj = Ene - rata Bay : z od j i 2ue = 2nk - 2nf + 4x dividing by 2x we get e-k+f =2 Section 3. Corollaries of Euler's Theorem Let £, denote the number of two-cells bounding the polyhedron which have n sides; obviously (3.1) tn Ge. (3.2) the total number of edges of all the polygons. Let ¢, be the number of vertices of the polyhedron at which m edges meet, obviously (3.3) e= re. Since each edge contains two vertices: (3.4) a= me, , the total number of edges emitted from all vertices. Multiplying both sides of equation (1.1) by two and first substituting (3.4) and (3.2), (3.3), then (3.1), (3.3) and (3.4) we obtain (1.41) B2e, + u2f- 4 = onf, m ‘n n (2.1") B2e + E2f- 4 = xme ‘m n m whe, + Tf, - 8 mnf, + me, i n m O=8+ z (m4)e + £ (n-4)E . m=3 oso 4 Putting all negative terms on the left side: e,+£,=8+ F (mae + = (nae . a. m=5 ™ ss : Since all terms on the right are non-negative, it follows from this last expression that (3.5) egt £,28 - 3 In particular (3.5) implies that a) every convex polyhedron possesses either triangular faces, or ver- tices with exactly three edges, or possibly both Multiply (1.1') by two and add it to (1.1 x6e + X6£~ 12 = X2nf + ume, , m n n ‘m or -12 = we (2n-6) £, + E(m-6)e, - 3 Arranging this equation so that both sides will contain positive terms only: 3e, + 2e,+ ©, 3 12 + F (an-6£, + F (mse, . n=4 n=7 Since all terms on the right side are non-negative > 3e, + 2e, te, 212. 5 Similarly we can derive the inequality 3£, + 2£, + £212 . whese last two inequalities imply that: b) Every convex polyhedron must contain three, four or five-edged vertices. c) Every convex polyhedron must contain triangles, or quadrilaterals ox pentagons as faces. Regular polyhedra. A regular polyhedron has the property that all its faces have the same number of sides n , and all its vertices have the same number of edges m . Therefore oe fof n By the previously derived results either m= 3 and 3$n$5 or n=3, and 3

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