R ENDICONTI
del
S EMINARIO M ATEMATICO
della
U NIVERSITÀ DI P ADOVA
F EI -T SEN L IANG
Level sets of Gauss curvature in surfaces of constant mean curvature
Rendiconti del Seminario Matematico della Università di Padova, tome 104 (2000), p. 1-26
<http://www.numdam.org/item?id=RSMUP_2000__104__1_0>
© Rendiconti del Seminario Matematico della Università di Padova, 2000, tous droits réservés.
L’accès aux archives de la revue « Rendiconti del Seminario Matematico della Università di Padova » (http://rendiconti.math.unipd.it/) implique l’accord avec les conditions générales d’utilisation (http://www.numdam.org/conditions).
Toute utilisation commerciale ou impression systématique est constitutive d’une infraction pénale. Toute copie ou impression de ce fichier doit conte- nir la présente mention de copyright.
Article numérisé dans le cadre du programme Numérisation de documents anciens mathématiques
http://www.numdam.org/
of Constant Mean Curvature.
FEI-TSEN
LIANG (*)
ABSTRACT - For an embedded surface M in IC~.3 with nonempty
boundary
aM, con-stant mean curvature H and Gauss curvature K, we consider the sets
Eo (k) _
K(x)
A;},E’i(/c) =
K(x) K(x) == k
},
(where M = M U If k is not a critical value of K, such that is not empty, then one andonLy
one of thefollowing
cases occurs: (1) At least one component of r(k) is a Jordan arc with two distinctendpoints
on aM ; (2)El (k)
issimply-connected,
enclosedby
T(k) andcontaining
a unique um- bilicalpoint.
T(k) is asimple
closed curve, on the other side of whichEo (k)
issituated.
Eo (k)
is of the sameconnectivity
with that of M and enclosedby
r(k)together
with aM; (3) Each component of T(k) is asimple
closed curve inside M,adjacent
to which and on two sides of which a component ofEo (k)
and a component ofEl (k)
are situated,respectively;
each of them either is diffeo-morphic
to aplanar
annulus or is of the sameconnectivity
with that of M and is enclosedby
this component of T(k),together
with either another compo- nent of r(k) or components of aM . This result thenyields
theconvexity
of M ifr z 8M)
ispositive
and M issimply-connected.
For an embedded surface M in with
boundary
aM and Gauss cur-vature
K,
we may consider the setsand
(*) Indirizzo dell’A.: Institute of Mathematics, Academia Sinica,
Taipei,
Tai-wan. E-mail:
liang@math.sinica.edu.tw
The main purpose of this paper is to characerize the
topological
proper- ties of the leval setsEo(k), El (k),
andr(k)
in case M isof
constant meancurvature
by
means of Gauss-Bonnet theorem and someapplications
ofthe
Hopf
differential. We shall show that one andonly
one of the caseslisted in Main Theorem 2 below occurs. From
this,
we draw theimpor-
tant conclusion that M is convex, in case x E
3M I
ispositive
and M is
simply-connected. Indeed,
it is theattempt
toverify
the lastresult which motivates the
investigations
made in this paper. We note also that famousexamples, (e.g. Delaunay surfaces),
show thenecessity
of the conditions of
simply- connectedness
in this result.This
convexity
result is related toHopf s conjecture
which in fact is aconsequence of the intuition that closed immersed surfaces in of con-
stant mean curvature are
necessarily
convex. Wente’scouterexample [11]
andsubsequent discovery
of ab undantexamples
of such immersions violate this intuition onconvexity.
Incontrast, Huang
and Lin prove in[8]
via a variationalapproach
that for anonparametric
surfaceM,
thenegatively
curvedset, (that is,
the set ofpoints
at which K isnegative),
ifexiats,
must extend to theboundary
aM of M . Fromthis,
theconvexity
of M follows in case x E is
positive
and M is nonparame-tric, (which
is aspecial
case of the above mentioned result obtained in this paper via anentirely
irrelevantapproach). Furthermore, Huang
andLin introduce in
[8]
the notion of extremaldomains ,
and prove that forparametric
surfaces immersed inI~.3 ,
thenegatively
curvedset,
ifexists,
must be at least as
large
as an extremal domain. This result has not beensurpassed
via theapproach
used in this paper.For
nonparametric
surfaces of constant mean curvature withcapil- Lary boundary conditions,
theconvexity problem
has beeninvestigated
in Finn
[4] [5],
Korevarr[9],
andChen-Huang [3].
On the otherhand, Brascamp-Lieb [1]
and Cafferelli-Friedman[2]
obtain someconvexity properties
of solutions to certain linearelliptic
Dirichletboundary
valueproblem.
Related results for
higher
dimentionalparametric
surfaces can befound in Korevarr-Lewis
[10]
andHuang [7].
Introduction.
Gauss-Bonnet theorem says
that,
fordiffeomorphic
to the unitdisk or a connected
plane
bounded domainby
ml circles(~ ~2),
thereholds
respectively,
whereKg
is thegeodesic
curvaturealong
dA is thearea element of M and ~~ is the arc
length
ofaEo(k). Likewise,
wehave
provided
isdiffeomorphic
to the unit disk or a connectedplane
do-main bounded
by
m2 circles. In thisconnection,
we notethat,
if M has no-nempty boundary aM,
we may setthen,
if k is not a critical value of K such thatthen the
boundary
of or coincides with7"(&).
Recall also
that,
at non-umbilicpoints,
the Gauss curvature K of asurface M of constant mean curvature H satisfies the
partial
differen-tial
equation
where £1 is the
Laplace-Beltrami operator
on M.In Section
1,
we shall firstpresent
somepreliminary
results on theHopf differential 0
=H 2 - K, by
means of which(5)
iseasily
derived in the end of Section 1 and the
geodesic
curvatureKg along r(k)
is calculated in Section 2. In
particular,
for eachcomponent
ofwe obtain
precise
formulae for in terms of[
and, where V denotes the covariant differentiation on M . Name-
ly,
we shall prove in Section 2 thefollowing
MAIN THEOREM 1.
Suppose
M is an embeddedsurface
inR3
withconstant mean curvature H and suppose k is not a critical value
of
Kon M . For a
of r(k)
which is asimple
closed curve insi-de
M,
denote n as the unit outward normal withrespect
to the domainat the
left of r(k)
is traversed counterclockwise. is de- scribed counterclockwise so that acomponent of
is at theleft of r(k),
then there holdswhile, if
acomponent El (k) of El (k)
is at theleft of r(k) instead,
Here 0 denotes the covariant
differentiation
on M.In consideration of the fact
that 10 ( 2
takes the constant valueH 2 -
kalong
we may reformulateprevious
results as follows.MAIN THEOREM 1 *. Assume k and M
satisfy
the same conditionsas in Main Theorem 1. For a
component r(k) of r(k)
which is asimple
closed curve, there holds
if
theformer
case in Main Theorem 1 occurs, whileif
the latter case in Main Theorem 1 occurs.Suppose
theboundary
of M consists of mcomponents, namely
For each
i ,
1 ~ i ~ m , if there exists anumber ki ,
for which acomponent
T*
(ki )
of ~’*(ki )
is asimple
closed curveintersecting
at a finite num-ber of
points
and notenclosing
asimply-connected region
insideM,
thenwe set
81 M
= Uif, however,
fora2 M,
no such a numberki exist,
Figure
1then we set = Denote M * as the domain contained in M and enclosed
by at M U
... U8j§§M. (See Figure 1).
We then setand
Delete small
neighborhoods
of umbilicalpoints
on M first and thenafter a
simple limiting procedure,
we obtain thefollowing
resultsby
vir-tue of Main Theorem
1,
thepartial
differentialequation (5)
and Green’sidentity.
COROLLARY 1. Assume k and M
satisfy
the same conditions as in Main Theorem 1. Consider acomponent Eo (k) of Eo (k)
or acomponents
whose
boundary
consistso, f q components 0, together components 1,
eachof which is
asimple
clo-sed curve.
If, for
such acomponent boundary
is de-scribed counterclockwise so that at then we have
if,
on the otherhand, for
such acomponent Ei (k),
itsboundary a Ei (k)
is described counterclockwise so thatthe left
wethen have
Corollary
1 and the Gauss-Bonnet formula(3.1) yield
thefollowing
result.
THEOREM 1. Assume k and M
satisfy
the same conditions as in Main Theorem 1. Then acomponent
which isof
thetype
indicated in
Corollary
1 must bediffeomorphic
to aplanar annulus;
and hence the
component Eo(k) of Eo(k) (defined
in( 1.1 )) containing Eo*(k)
either isdiffeomorphic
to aplanar
annulus or isof
the same con-nectivity
with thatof
M .Also, by
Lemma 2 and Lemma 3 in Section 1below, together
with thefact
that 95
vanishesprecisely
at umbilicalpoints,
we haveLEMMA 1. For each
simple
closed curve r on M traversed counter-clockwise,
we havewhere m is a
positive integer.
Lemma
1, Corollary
1 and the Gauss-Bonnet formula(3.2)
enable usto infer the
following
THEOREM 2. Assume k and M
satisfy
the same conditions as in Main Theorem 1. Then acomponent Ei(k) of Ei (k)
which isof
thetype
indicated in
Corollary
1 must bediffeomorphic
to either a unit disk ora
plan
nar annulus. In theformer
case,Ei(k)
coicides with a compo- nentE1 ( k ) of
contains aunique
umbilicalpoint
andf
2 z. In the latter case, thecomponent El (k) of El (k)
con- 3El (k) astaining Ei (k)
either isdiffeomorphic
to aplanar
annulus or isof
thesame
connectivity
with thatof
M .Theorem 1 and Theorem 2 then
yield
THEOREM 3.
Suppose
M issimply-connected
and either acomplete surface of
constant mean curvature H without umbilicalpoints
or aminimal
surface,
i. e. H = 0 .Suppose
k is not a critical valueof
K on M .Then each
component of Eo (k)
orcomponent 21 (k) of El (k)
which contains acomponent k* (k) of Eo (k)
or acomponent Ei (k) of Et (k) of
the
type
indicated inCorollary
1 must either bediffeomorphic
to apla-
nar annulus or is
of
the sameconnectivity
with thatof
M .Also we obtain from Theorem 1 the
following
result.THEOREM 4. Assume k and M
satisfy
the same conditions as in Main Theorem 1.If
nocomponent of r(k)
is a Jordan arc with two di- stinctendpoints
on aM andif
asimply-connected component of E1 (k)
N /V
is enclosed
by
aof r(k), then, adj acent
toT(k)
and onthe other side
of
there situates acomponent of Eo(k)
which either isdiffeomorphic
to aplanar
annulus orof
the sameconnectivity
wit hthat
of
M.Figure
2We
shall, however,
prove in Section 3 thefollowing
result.THEOREM 5. In Theorem
4,
thecomponent of Eo(k)
indicated there cannot be enclosedby
twocomponents of r(k);
in otherwords,
this com-ponent of Eo(k)
is enclosedby
acomponent of r(k)
and one or morecomponent of
aM.Assuming
the truth of Theorem5,
wehave, by
virtue of Theorem1,
Theorem2,
Theorem 4 and Theorem5,
thefollowing
MAIN THEOREM 2. Assume k and M
satisfy
the same conditions asin Main Theorem 1.
If I(k)
is notempty,
one andonly
oneof
thefollo- wing
cases occurs.(1)
At least onecomponent of r(k)
is a Jordan arc with two di-stinct
endpoints
on aM.(See Figure 2).
(2) El(k)
issimply-connected,
enclosedby r(k)
ccndcontaining
aunique
umbilicalpoint. r(k)
is asimple
closed curve, on the other sideof
whichEo(k)
is situated.Eo(k)
isof
the sameconnectivity
with thatof
M and enclosed
by r(k) together
with aM.(See Figure 3).
(3)
Eachcomponent of 1’(k)
is asimple
closed curve insideM,
ad-jacent
to which and on two sidesof
which acomponent of Eo(k)
and acomponent of El (k)
aresituated, respectively;
eachof
them either isdif
feomorphic
to aplanar
annulus or isof
the sameconnectivity
with thatof
M and is enclosedby
thiscomponent of F(k), together
with eitherFigure
3another
components of T( k )
or one or morecomponents of aM . (See Figu-
re
4).
As a consequence of Main Theorem 2 and Theorem
3,
we haveFigure
4MAIN THEOREM 3.
Suppose
M issimply-connected
and is either acomplete surface of
constant mean curvature without umbilicalpoints
or a minimal
surfaces. Suppose
k is not a critical valueof
K and M.Then either
(1)
or(3)
in Main Theorem 2 must occur.We may observe that Main Theorem 2
yields
thefollowing
MAIN THEOREM 4.
If M is simply-connected
andif Ko defined in (4)
ispositive,
then K > 0 insideM ;
i. e. M is convex.Indeed,
ifKo
ispositive,
for each numberk 0,
case(1)
in Main Theorem 2 cannot occur.Moreover,
as M issimply connected,
case(3)
in Main Theorem 2 cannot occur for any number I~ .Thus,
case(2)
in MainTheorem 2 occurs for some number k ; 0. This amounts to the truth of Main Theorem 4.
1.
Preliminary
results.Let M be an oriented two-dimensional connected surface and
x :
M -~ IE~3
be an isometric immersion of M intoI~3 .
At aneighborhood
ofany
point
ofM,
we mayadapt
an isothermal coordinate z= ~
1 +i~ 2
insuch a way that the first fundamental form
is,
for some scalar~,>0,
Let us set
and define the unit normal vector field
by
We may define 1-forms wi , w12 ,
i =1, 2 , by
thefollowing
formulaeThen, writing,
for i =1, 2,
we have
h12
=h21,
and the mean curvature of M isgiven by
Furthermore, setting
there holds
where K is the Gauss curvature of M.
The
following
result is a consequence of the Codazziequation.
LEMMA 2.
(Hopf [1],
page37)
There holdsFrom Lemma
2,
weimmediately
obtain thefollowing
result.LEMMA 3.
(Hopf [1],
page38)
M has constant mean curvature if andonly
if the function~, 2 ~
is ananalytic
function of z .Hence,
at a non-umbilicpoint
of the surface M of constant mean cur-vature,
we haveOn the other
hand, by
the Gaussequation
These last two identities can be combined to
yield (5).
2. Geodesic curvature
Kg along
the level curveF(k)
ofK;
Proof ofMain Theorem 1.
and choose such that is a smooth
curve
where s is the arc
length
of as a curve on a surface M of constantmean curvature H .
Let, henceforth, subscripts
denote the variables withrespect
to whichpartial
differentiation is taken andstand for the unit normal to M .
Also, throughout
thissection,
let dot de- note thepartial
differentiation withrespect
to s , andthen, along T( k ),
the
geodesic
curvaturewhere the last
equality
follows from the fact thatAlong T(k), ~ ~ ~ 2 =
constantH2 - k,
whichyields
This
identity
enables us to express theright
hand side of(7)
in terms of~ ~ ~ 2
and its differentiation withrespect
to z and ~.2.1. To motivate our
calculation,
we assume, first ofall,
thatThen, by (9), along
i.e.
Thus
by (10), where,
aswe have
and
Inserting (12)
and(13)
into(11),
we obtain2.1.1. To
proceed further,
we notethat, along ro(k),
asconstant,
We
emphasize
here that the calculationsperformed
in this subsection is valid no matter whether(10)
holds. We aim atderiving (27) below, which, together
with the discussion made in 2.1.2 and thebeginning
of2.1.3 will
yield Proposition
and hence Theorem 6 in the end of 2.1.3.Suppose
firstthat, along T(1~),
thereholds,
that
is,
is described in such a way that acomponent Eo ( k )
ofEo ( k ) (defined
in(1.1))
situates at the left ofT(I~). Then, observing
thatwe
have, by (15)
and(16),
and
which
gives
We may observe
that,
as(15) yields
we have
and
By (19),
we haveThus,
in consideration of(20.1)
and(20.2),
we obtainLikewise,
we haveWe may observe
and also
Inserting (23.1 )
and(23.2)
into(21)
and(22),
we obtainand also
And
hence,
aswe have
For the first term in the bracket in the
right
hand side of(25),
wehave
by (24). Inserting (26)
into(25),
we obtain2.1.2. Assume
again
that(10)
holds and hence so does(14). Inserting (27)
into(14), noting
and
observing that, by (17)
and(18),
we obtain
2.1.3. Under the
assumption
of(10),
in case(16)
fails to holdalong F(k),
then there must holdalong
which will reverse the
positive
andnegative signs
in theright
hand sideof
(17)
and(18). Thus,
thesigns
in(27)
and(28)
will both bereversed,
and hence
(29)
is still valid in case(30)
holdsalong
2.2. Now assume that
(10)
fails tohold;
i.e. at somepoint
ofr(k),
In case
at some
point
ofT(k ), then, by (9),
there must also hold( 1 ø 2 )v
=0;
hen-ce
1 Bl K I
= 0 at thispoint
ofT(k).
This says that k is a critical value of K andI
= 0 at everypoint
ofT( k ).
On the other
hand,
if v = 0 and( 1 q5 |2)u # 0, then, by (9),
there alsoholds it
= 0, contradicting (8). Thus,
it remains to consider the caseDifferentiating (9)
withrespect to s ,
we haveIn consideration of
(31),
thisgives
usin which
Inserting (31)
into(27),
weobtain, by (33),
in case
(16)
holds.(We
recallthat,
asemphasized
in thebeginning
of2.1.1, (27)
holds without theassumption (10).) By (31)
and(32),
wehave,
however,
and,
in case(16) holds, by (17)
and(18),
Inserting (34)
and(36)
into(35),
we see that(29)
is valid in case(16)
hol- ds. The same observation with that made in 2.1.3 shows that(29)
is validin case
(30)
holds instead.Thus,
we may formulatePROPOSITION 1.
If k is
not a critical valueo, f K,
thensetting
and
there
holds,
at everypoint of F(k)
We may note
that, by (24),
forf and g
defined in(37)
and(38),
re-spectively,
we haveAlso,
we may define0(s) by
Then
f(s)
=cos 2 0(s)
andg(s)
=sin 2 0(s),
whichyield
In this
connection,
we may denote x and ybeing
real-valued function of s and observe that the unit outward normal to the cur-
ve 195 I I 2
= constant in the(x, y)-plane
iswhich,
if acomponent
1of
r(k)
is asimple
closed curve, coincides withif a
component (defined
in(1.2))
situates at the left whileI I
is if a
component (defined
in(1.1))
situa-tes at
theleft of r(k). Hence, by (3 9), (40)
and(41),
we obtain thefollowing
THEOREM 6.
Suppose
k is not a critical value and acomponent of r(k)
is asimple
closed curve.Then, if
is so described that acomponent of Eo(k)
situates at theleft of
we havewhile, if
is so described that acomponent of El (k)
situates at theleft of r(k),
we havewhere
arg 0
denotes theargument of 0.
2.3 We now
proceed
to calculate the sumof
the last two terms in(7)
in termsof ~ ~ ~ 2, namely
Assuming that 0 ;d
0 onT(1~),
i.e. no umbilicalpoint
is onT(1~),
we ha-ve,
by (6)
in Lemma 2 and the fact that H isconstant,
and
hence,
there holdsand
Hence
in which
But
and
Hence
Thus, (44) yields
and then
(43) yields
Inserting
this into(42),
weobtain, along r(k),
In virtue of this
identity, (14)
and Theorem6,
we thuscomplete
theproof
of Main Theorem 1.3. Proof of Theorem 5.
Assume that Theorem 5 is false. That
is, assuming k
and Msatisfy
the same conditions as in Main Theorem
1,
acomponent T1(k)
ofT(k)
en-closes a
simply-connected component
ofE1 ( k ), adjacent
to whichIV N
situates a
component E0(k) of Eo ( k )
enclosedby
and another com-ponent T2 (1~)
ofr(k), being
asimple
closed curve.(cf. Figure 5).
Then, by
Theorem2,
Main Theorem1,
and the location of2?i(&),
wehave
where nl denotes the unit outward normal of
r1 (k)
withrespect
toEl (k).
Likewise, by
Main Theorem 1 and the location of we havewhere n2 denotes the unit outward normal of
T2 (k)
withrespect
toEo (k).
However, by
Green’s Theorem and thepartial
differentialequation (5),
(Delete
smallneighborhoods
of umbilicalpoints
insideexists,
first and then
perform
alimiting procedure
to obtainthis.) Thus, by (4.5)
and
(4.6)
contradicting (3.1)
and the fact thatEo ( k )
isdiffeomorphic
to aplanar
annulus.
REFERENCES
[1] H. S. BRASCAMP - E. LIEB, On extention
of the
Brunn-Minkowski and Pre-koja-Leindler theorems,
J. Funct. Anal., 11 (1976), pp. 366-389.[2] L. A. CAFFARELLI - A. FRIEDMAN,
Convexity of solutions of semilinear ellip-
tic
equations,
Duke. Math. J., 52 (1985), pp. 31-456.[3] J. T. CHEN - W. H. HUANG,
Convexity of capillary surfaces
in outer space, Invent. Math., 67 (1982), pp. 253-259.[4] R. FINN, Existence criteria
for capillary free surfaces
withoutgravity,
In-diana Univ. Math. J., 32 (1982), pp. 439-460.
[5] R. FINN,
Comparison Principles
inCapillarity,
Calculus of Variations, Lec-ture Notes in Mathematics, vol. 1357,
Springer-Verlag,
1988.[6] H. HOPF, Lectures on
Differential Geometry
in theLarge,
Lecture Notes in Mathematics, vol. 1000,Springer-Verlag,
1983.[7] W. H. HUANG,
Superhamonicity of
curvaturesfor surfaces of
constant mean curvature, Pacific J. of Math., 152, no. 2 (1992), pp. 291-318.[8] W. H. HUANG - CHUN-CHI LIN,
Negatively
Curved Sets inSurfaces of
Con-stant Mean Curvature in
R3,
Arch. Rat. Mech. Anal., 141, no. 2 (1998),pp. 105-116.
[9] N. J. KOREVARR, Convex solutions to nonlinear
elliptic
andparabolic
boun-dary
valueproblems,
Indiana Univ. Math. J., 32 (1983), pp. 603-614.[10] N. J. KOREVARR - J. L. LEWIS, Convex solutions to nonlinear
elliptic
equa- tionshaving
constant rank Hessians, Arch. Rat. Mech. Anal., 32 (1987),pp. 19-32.
[11] H. WENTE,
Counterexample
to aconjecture of H. Hopf,
Pacific J. Math., 121 (1986), pp. 193-243.Manoscritto pervenuto in redazione il 15