R ENDICONTI
del
S EMINARIO M ATEMATICO
della
U NIVERSITÀ DI P ADOVA
F RANCESCO R ICCI
L
2vector bundle valued forms and the Laplace-Beltrami operator
Rendiconti del Seminario Matematico della Università di Padova, tome 76 (1986), p. 119-135
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and the Laplace-Beltrami Operator.
FRANCESCO RICCI
(*)
0. Introduction.
The
theory
of vector bundle valued forms has been introduced first incomplex geometry,
both forcompact
and noncompact
mani- folds.Later,
J. Eells and J. H.Sampson
used the realtheory,
y oncompact
manifoldsmainly,
y in thestudy
of harmonic maps[ES].
This paper deals with some
questions
thatnaturally
arise in thestudy
of theLaplace-Beltrami operator
on the Hilbert space of squareintegrable
bundle valuedforms,
on acomplete
Riemannian manifold.In section
1,
afterreviewing
the basic facts on vector bundle valued differentialforms,
y we introduce the relevant Hilbert spaces of forms and we prove theessentially self-adjointness
of theLapla- cian,
whichyields
theuniqueness
of theselfadjoint
extension. We establish also a condition for theunique selfadjoint
extension of theLaplacian equals
d8-f- 8d,
where d and 8 are the weak extension of the differential and codifferentialoperator respectively.
In section 2 we are concerned with some
spectral problems
of theLaplace operator
and we examine theHodge orthogonal decomposi-
tion for vector valued differential forms.
Section 3 is devoted to some
examples.
We prove avanishing
condition for harmonic 1-forms with values in the
tangent
bundleto
complete
Riemannian manifolds with nonnegative
constant sec-tional curvature at every
point.
A result of non existence is also(*)
Indirizzo dell’A.: Scuola NormaleSuperiore,
Pisa.proved
forselfadjoint
harmonic 1-forms.Furthermore,
w e establisha lower bound for the first
eigenvalue
for theLaplacian acting
onsquare
integrable
1-forms with values in thetangent
bundle to asurface with
positive
Gausscurvature,
for which the Poinear6inequality
with
compact support
holds.1. Some basic facts.
Let
(M, g)
be a smoothorientable,
connected Riemannian mani- fold of dimension n.Let ~ :
V ~ .~1 be a smooth vector bundle of finite rank m.Suppose
a(positive defined)
C- scalarproduct
isdefined on the vector
bundle $
and a connection Von ~
isgiven
suchthat
p)
_p) + c~,
for all vector fields X and allsections of
~.
Thetriple $, ( , ), V
is called a Riemannian vector bundle[EL] , [Ee].
We shall denote
by C(~)
orC( )
the vector space of smooth sec- tions of~.
The smooth sections of are calledp-forms
on ~1 with valuesin ~,
and we shall denote the space of~-valued p-forms by -E7~(~)
orIf
(~fl, g)
is a Riemannian manifold and~:
is a Rieman- nian vectorbundle,
a canonical structure is defined on0 TT --~ ~Vl,
which satisfies thefollowing equation :
Here VM is the Levi-Civita connection on -7-
M,
andwhere x EM and ... ,
en}
is an orthonormal base ofIn terms of the connection V
on E
an exterior differentialoperator
d : is defined
by
We can define the exterior
product
of forms with values in avector bundle too. For this purpose, let
~i: Vi-+ .~,
i =1, 2, 3,
be three Riemannian vector bundles with connections
Vi,
and o :Vi x
X
Y2 --~ V3 a
vector bundlepairing
such that:for all and all The exterior
product
of aVI-valued p-form
WIby
aY2-valued q-form
W2 is aV,-valued
p--~--
q- form I definedby
being
thepermutation
group on p-~- q
letters.Let be the volume element associated
with g. The
Hodge isomorphism
* :can be defined for all As in
the case of scalar valued
p-forms:
** =The codifferential
operator 6:
is the formal ad-joint
to d and is definedby 3 =
The
Laplace-Beltrami operator
J: L1 = db+
~c~is
elliptic
andformally selfadjoint [EL].
If ~
is a Riemannian vector bundle then the curvature Rl E E2 ~~ (Y DY~)
is the tensor field for whichThe curvature of Y--j M satisfies the
following identity
where BM is the curvature of the Levi-Civita connection.
Let be the
generalized
Ricci endomor-phism:
where
p > 0, ~el, ... , en~
is an orthonormal base ofTzM
andXi E
E
If p
= 0 setSx
= 0. Thefollowing
formula(Weitzemb6ck
formula
[EL])
holds:Let
D»(V)
be the space of C~° V-valuedp-forms
withcompact
sup-port
and let(ai, _~~~, q;)Vg
The formula(1.1) implies,
for each x
Note d2W = for all W E
Working
on a coordinatedomain it is easy to show that for any x E M and for any coO E there exists such that dw = 0 in a
neighbourhood
of x and m° = oix, where ay is the value of co in x. In the vector
case we have:
PROPOSITION 1.1. Let ... ,
99’ k
E( I~ ~
T* MU Y)x
belinearly
inde-pendent,
whereproblem
has a
solution y
= ggj defined in someneighbourhood of x,
then0 in a
neighbourhood
of x.In the
proof
we need thefollowing
lemmas.LEMMA 1.2. Let W be a vector space and
Then S~ = 0 iff there are r
+
1linearly independent
1-forms wi, ...... , 7 (Or+,, such that = 0 f or i =
1,
..., r+
1.PROOF. Let
~g~~, ... ,
be a base of W=~ such that cpa = cii,~=1, ...,)-+!.
but then == 0
implies
that eitherThen
necessarly
0 for allmultindices, i.e. ,
,~ = 0.LEMMA 1.3. Let W be a vector space, De
A’W*,
and leticol
...... , be a base of W* and t
+
Then is 0 iff= 0 for all multindices I =
(iI,
... ,2t).
PROOF.
By
Lemma 1.2 this fact holds if t = 1.Assuming
it tohold for t -
1,
we have == 0 for all multindices I ==(ia,
...,it_1)
and allj.
Thenby
Lemma 1.20,
and the inductive
hypothesis yields Q
= 0.PROOF OF THE PROPOSITION 1.1. Let (pj be a solution of the
problem (1.3.j). The yj
arelinearly independent in r,
sothey
arelinearly independent
in aneighbourhood
TI of x too. Therefore= 0 and the
operator
g~ -~- is zero inU,
whichwe can assume to be a chart domain as well as a frame domain for
a frame
f
=(/1, ... , f ~) on ~.
Thenwhere
f *
=( f ~,
... ,fm)
is the dual frame. We havefor all =
1,
..., m and all I = ...,i,,)~
thusby
Lemma 1.3=
0, i.e.,
= 0-The
Stampacchia inequality
is a basic tool in thestudy
of theLaplace-Beltrami operator
oncomplete
manifolds. Itprovides
a way to estimate the behaviour of dco and 3wknowing
that of co and L1w.We do not
give
aproof
of thisinequality,
because itproceeds
as inthe scalar case
[AV].
From now onwards
g)
will bealways complete (even
if someresults are still valid more in
general).
Let ~O: M--~ .R+
be the geo- desic distance from a fixedpoint
xo E M.Set
rl, by H6pf-Rinow-de
Rhamtheorem,
Br
isrelatively compact.
PROPOSITION 1.4
(Stampacchia inequality). Let $:
V- M be aRiemannian vector bundle on a
complete
manifold M. There is aconstant
A > 0,
such that for all w E and for allpositive
realwith .R > r :
where
COROLLARY 1.5. If and
~~ +
oo thenll8w ll +
00 and ollj co 112
for0. Hence if L1ro = 0 then doi _ 3w = 0.
We shall denote
by
thecompletion
ofDp(V)
withrespect
to the
product
is the Hilbert space of.L2
1f
p-forms
with values in the Riemannian vectorbundle ~.
The dif-ferential
operators
we have introduced before live in e.g., d : and the domainof d, D(d),
is the space of those C1p-forms
(JJ such that anddWEL:+1(V), similarly D(d) _
- w is 02 and
In the case of
ordinary p-forms,
if if hasnegligible boundary, i.e., d
and 8 areadjoint
for all p, and if the Riemann curvature tensor is of classC5,
then theLaplace-Beltrami operator
isessentially
self-adjoint [Ga].
SinceGaffney’s proof
does not seem to beeasily
extend-ible to vector bundle valued
f orms,
we shall follow another way,proving
that the restriction4~
to forms withcompact support
of theLaplace-Beltrami operator 4,
hasselfadjoint
closure.Let
d,
and6,
be the restrictions of d and 6 to LetJe
and
d*
berespectively
the closure and theadjoint
ofde
in the Hilbertspace
L2(Y) (similarly 3, and 8*c
denoterespectively
the closure and theadjoint
of We have[Ve]
PROPOSITION 1.6. The
following
statements holdi) Dp(V)
is dense inD(6*)
with the normii) Dp(V)
is dense inD(d*)
with the normiii)
is dense in - w ith the normCOROLLARY 1.7.
dJ~ = 3~ and 6* =
·From now onwards we shall set
de
=~* - d and = dt =
8.If
ro E D(d)
then from the formaladjointness
of dand 8 we
get (ro, bp) = (dro, p), i.e. ,
ro and dro -6* to
sod c
bt. Similarly 6 c dt.
Thereforeby Corollary
1.7d c cic
and 8So the
adjointness of de and 3, implies
that of d and 6. From d c6*
weget 6,
andd D dc yields
d* cd*
= Thus d* =6,
and
analogously b*
=d, proving thereby
COROLLARY 1.8. The
operators d
and 8 areadjoint
and we haveLet t : -+ R be the
symmetric non-negative
bilinearform defined on
D(t) = D~(Y) by t[m, q] = (4m, p).
This form is closable[Ka,
p.318].
The domain of theclosure t
is the Hil- bert space of those such that there is a sequencein with and We have
and the norm of is
given by
Proposition
1.6 wc have Now we are ableto prove
THEOREM 1.9. The
Laplace-Beltrami operator,
restricted to forms withcompact support,
isessentially selfadjoint
inL2(Y).
PROOF.
Setting d’ = d ~ -f - I,
thenJ’ === J c + I
andJ,
c is selfad-joint
iffJ’
is. We shall prove thatJ’
isselfadjoint.
If to ED(A,)
we have
Therefore
by
the Schwarzinequality
,i.e., (d’ )-1
existsas a bounded
operator.
So.R(d’)
= is closed. We want to show = If q then(d’g~, q)
= 0 for all qJEDp(V).
The linear differential
operator
d’ : iselliptic
and for-mally selfadjoint
as welld,
thereforeby regularity theorems, ([EL]
or [We]),
q EEP(V)
and =0, i.e., 4q
== - r¡.By Corollary
1.5Ildr¡11 +
oo and+
oo ED(d)
nD(8)
= Thenwe can find a sequence with 7y~ -~~,
-* dq
and3qn -+
We haveTherefoise q
== 0 and = soA’-’
isselfadjoint, i’
isselfadjoint
andd~
isessentially selfadjoint.
REMARK 1.10. The conclusion of Theorem 1.9 holds if the
hypoth-
esis that the Riemannian metric of ~ be
complete
isreplaced by
theassumptions
that L1 be nonnegative.
Theorem 1.9
implies
that there isonly
oneselfadjoint
extensionof
d o .
We denote this extensionby 0 ;
we have 4Y =~c
=L1:
=3t.
In the same way as for
Corollary
1.8 one can show that L1 is sym- metric and d * =d -
0.In
[Ga] Gaffney
shows that if M hasnegligible boundary
theoperator 3~ &Jf
isselfadjoint
andequals d .
Let now V be a Riemannian vector bundle on thecomplete
manifoldM,
for whicha
unique selfadjoint
extension of L1 exists. Thequestion
arise wheth-er A = d8
+
8d. Here is aparticular
result. Let T be the linearoperator
definedby
for all m ED2, (V).
THEOREM 1.11. If the linear
operator
T is bounded theno d8 +
8d.PROOF.
a)
Webegin by proving
that+ (~~ d~ ) ~ .
Ifro E
D(l~)
letbe
a sequence in such that ron --~ ro andFurthermore
In view of our
hypothesis, (~cvn)nEN
and areconvergent,
y forTherefore
as n, 9n- 00. So and are
Cauchy
sequence andb)
We show now that For let(W,JnEN
be a sequence in such that andWe have
so
~ay --~
WED(6,)
and this enta,ils that wE and (o -= (d~ 3~ ) " m. Similarly
one shows that(~~d~ ) ~
cc)
In view of thecompleteness
of(M, g) a)
andb) imply
thatd5
-~-
8d D A. Nowby
a theorem of von Neumann[Ka,
p.275]
theoperators
Sd and d8 areselfadjoint,
so d8-E-
8d issymmetric.
There-LEMMA 1.12. There is a constant which
depends only
ondim
M,
such that forall 9
PROOF. Let
e.1
be an orthonormal base ofwhere
c(n)
is a constantdepending only
on dim.lVl,
If we set
we
get
REMARK 1.13. Lemma 1.12
implies
that ifBY)
is a boundedfunction on M then the
operator
T is bounded. That is the case, e.g., if ~ iscompact
or if .~ islocally symmetric and $
is a tensorproduct
of tensor power and exterior power of thetangent
bundleand
cotangent
bundle of Indeed we have = 0 andRv, Rv)
is constant.
2.
Wp2(V)-ellipticity
andA Riemannian vector bundle is called
([AV])
ifthere is a constant c > 0 such that for all
(JJ E
W-1, ,(V).
The smallest constant for which the aboveinequality
holds is called the constant of
Wp2(V)-ellipticity
of$.
ticity implies
there are no non zeroL2
harmonic forms.Following [Gi]
we introduce another
notion,
weaker thanWp2(V)-ellipticity.
We shallsay that a Riemannian vector
bundle $
isRI(V)-elliptic
if there isa
positive
constant c’ such thatand we shall call the smallest
constant,
for which theinequality holds,
the constant of
Rp2(V)-ellipticity.
__Note that we have and
by regularity
the-orems
N(4l) =
40 = 0 and The spaceN(A),
which we also denote
by
is the space ofL2
harmonicp-forms
with values in the vector
bundle $.
The square root of4Y,
whichwill be need in the
proof
of Theorem2.1,
is theoperator
4Y’ :L2( Y)
-- Lp2(V), selfadjoint
and nonnegative
as well as0,
such that(å})2
= 4Y.Recall that 4l" has the
following properties [Ka]:
THEOREM 2.1.
Let ~ :
V-* lf be a Riemannian vector bundleon a
complete
manifold.Then E
isWp2(V)-elliptic
iff 0belongs
tothe resolvent of
A, i.e.,
A has a bounded inverse. Theticity
constant is][
and(by selfadjointness
ofA-1)
is alsoequal
to the
spectral
radius ofPROOF. is then =
101
and A is inver- tible. Let c be theWp2(V)-ellipticity
constant and(J) E D(I1):
we have(,~c~, c~) c ~ (c~, c~),
therefore so fori.e.,
/1-1 is bounded andConversely
suppose W1 is bounded. Then A-’ isselfadjoint
and nonnegative
as wellL1,
andREMARK 2.2. If S :
.L2 ( V’)
is thegeneralized
Ricci endo-morphism
and if there is apositive
constant k such that for all then we havesee
(1.2),
andby density
thisinequality
holds for all w EWp2(V).
In order to characterize the
Rp2(V)-ellipticity
oncomplete
mani-folds,
we need thefollowing
lemma[Ho].
LEMMA 2.3. Let Hand IT be two Hilbert spaces and T : H -+ H’
be a
densely
defined closedoperator. Further,
let F be a closed sub- space of H’ such thati)
IfR( I) = li
then for allwhere c is a
positive
constant.ii)
If then the equa-tion u,
with u E F,
has a solution v such thatc llull.
THEOREM 2.4.
Let $:
V-* M be a Riemannian vector bundleon a
complete
manifold. Thefollowing
statements areequivalent:
a) JR(A)
is closed.b)
is closed.C) ~
isPROOF.
a) ~ b). By property ii)
of 4l’ weget N(4l’) =
therefore
We conclude
noting R(4li) D R(4l)
holds.b ) ~ c) . By
Lemma2.3 i )
there is a constant c such thatc) ~ a).
If then there is a sequencesuch that Ocv. Further
by Corollary
1.5and are
Cauchy
sequences andBy hypothesis
there is a constant c > 0 such thatfor all therefore we have
if we
get
for all , andby
Lemma 2.3
ii)
we concludeR(f1)
is closed.REMARK 2.5.
Rp2(V)-ellipticity
isequivalent
to thepossibility
ofsolving
theequation
4lw =f ,
for allf
ER(0) coupled
with the exist-ence of a constant c > 0 such that the solution a~ can be so chosen that The
Rp2(V)-ellipticity
is alsoequivalent
to theHodge orthogonal decomposition
=REMARK 2.6. Vesentini
[Ve] proved
in the scalar casethat,
ifthere is a
compact K
c if and a constant c > 0 such that for allwe have
(So, ro)x ccyx,
for all wE thenis
Rp2(R)-elliptic
and everyeigenspace relatively
to a proper value I c is finite dimensional. This result iseasily
estensible to thegeneral
case of forms with values in a Riemannian vector bundle.3. Particular cases and
examples.
Some of the results established will now be
applied
to thetangent
bundle of an oriented connected
complete
Riemannian manifold. For the sake ofsimplicity
we shall be concernedonly
with 1-forms.The Weitzembock formula
(1.1)
forC(End (TM))
takes the local
expressions
on coordinate domainIf either n, > 2 and M has constant sectional curvature at every
point,
or .~C is a
surface,
then the Riemann and Ricci curvature tensors areexpressed by,
where k is a real C°° function on
M,
which is constant if k > 2.The
operator
S’: isselfadjoint
on everyfiber, i.e., (S’m, q;)x == (w,
for all x EM.So,
if we fix apoint
x E .~ and we choose a Riemann normal coordinate
system at x,
weget,
the proper values of ~’ in x are determinedby
theequation
Solving
thisequation
wedecompose
every fiberT,,* M 0 T, M
intothree
mutually orthogonal eigenspaces:
Setting .
we define three sub bundles of T .1V1.Now
using (1.2)
weget
for alland ill _ W2
+
Wa, with Wi E is theorthogonal decomposi-
tion. If
k> 0
and if the manifold iscomplete
then :for all co E
W~(TM).
Here are a few consequences of this
equation (for
similar resultson scalar valued 1-forms see
[Do1], [Do2], [Do3], [GW]).
PROPOSITION 3.1. Let (J) E
EI(TSn), n
>2,
where Sn is then-sphere.
4m = 0 iff ro = const
6,
where 6 is the 1-form with values in IS"defined
by 6(X) - X,
for allPROOF.
Equation (3.4) implies
both Wa == W2 = 0 and Vro =0,
then ro = where
f
is a smoothfunction,
and Vo _V(fb)
=df0
& 6
=0, i.e., d f =
0 andf
is a constant.If .hC is a
surface,
let or E be the skewadjoint operator,
or E
C(A2),
witheigenfunctions + V-1
a exists since M is orientable.PROPOSITION 3.2. Let .1~ be a
complete
surface with non nega- tive Gauss curvature. If co E n and 4w = 0 then Vco = 0. If the Gauss curvature ispositive
at somepoint
and L1w = 0then m = const 6
+
const ~.Hence,
if Vol M = oo there are noL,
harmonic forms with values in
PROOF.
Equation (3.5) implies
the first statement. If k > 0 atsome
point
then c~3 = 0everywhere
and so (o =fb +
ga, wheref and g
are smooth functions on M. Vd = Vb .= 0implies
0 = Vro ====
+
Butd f ~ ~
anddg 0 a
aremutually orthogonal,
PROPOSITION 3.3. Let .1~ be a
complete
Riemannian manifold with nonnegative
sectional curvature. If m EEl(T M)
nis
selfadjoint,
andL1ro
= 0 then Ve) = 0. Thus if Vol .1~ == oo thereare no
selfadjoint L2
harmonic 1-forms with values in TM.PROOF. Choose a normal coordinate
system ( y, U)
at x E suchthat =
1,
... ,n}
is an orthonormal base ofTxM,
made upby eigenvectors
of wz. Since aydyi(x),
where thei,f
are the
eigenvalues
of cvx, the Weitzemb6ek formulayields
The
equation implies
But this
yields
the conclusion sinceRMirir
is the sectional curvature of the orientedplane
Let .M be now a surface and The
equations
imply V(oils
aremutually orthogonal
as well as theWi’S.
FurthermoreNow if the Poinear6
inequality
for functions withcompact support
holds
(for
someexamples
related to theisoperimetric inequality
andthe
eigenvalue problem
for theLaplacian
see[Ya]), i.e.,
if aposi-
tive constant c
exists,
such that for all smoothM M
functions
f
withcompact support,
thenSo if k has a
positive
lowerbound,
say thenand, by
adensity argument,
for all m E We have the fol-lowing proposition.
PROPOSITION 3.4. Let M be a
complete
Riemannian surface with Gauss curvature and for which the Poinear6inequality
forcompactly supported
C’ functionsholds,
y with constant c. Then TM isW12(TM)-elliptic
and min{c, 2k0}
is a lower bound for the firsteigenvalue
of theLaplace-Beltrami operator
onL2
TM-valued 1-forms.REMARK 3.5. The constant c that appears in the Poinear6
inequality
is also the first
eigenvalue
for theLaplace operator
on functions withcompact support [Ya] ,
and this extablishes a link between the La-placian
on functions and theLaplacian
onL2
TM-valued 1-f ormsin the case of a
compact
orientable connected surface.BIBLIOGRAPHY
[AV]
A. ANDREOTTI - E. VESENTINI,Sopra
un teorema di Kodaira, Ann. Sc.Norm.
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Pisa, (3), 15 (1961), pp. 283-309.[CV]
E. CALABI - E. VESENTINI, On compactlocally symmetric
Kähler mani-folds,
Ann. Math., 71 (1960), pp. 472-507.[Do1]
J. DODZIUK,Vanishing
theoremsfor square-integrable
harmonicforms,
in the volume in memory of V. K. Patodi, Indian Math. Soc. and Tata Institute.
[Do2]
J. DODZIUK,Vanishing
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squareintegrable
harmonicforms,
Proc. Indian Acad. Sci., Mat. Sci., 90 (1981), pp. 21-27.
[Do3]
J. DODZIUK,L2
harmonicforms
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in : Seminar onDifferential Geometry,
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[Ee] J. EELLS,
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J. EELLS - L. LEMAIRE, Selectedtopics
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[ES]
J. EELLS - J. SAMPSON, Harmonicmappings of
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M. P. GAFFNEY, Hilbert space methods in thetheory of
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[Gi]
G. GIGANTE, Remarks onholomorphic
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R. E. GREEN - H. Wu, Harmonicforms
on non compact Riemannian and Kählermanifolds, Michigan
Math. J., 28(1981),
pp. 63-81.[Hö]
L. HÖRMANDER, Existence theoremsfor
~-operatorby
L2 methods, Acta Math., 113 (1965), pp. 89-152.[Ka]
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