A NNALES DE LA FACULTÉ DES SCIENCES DE T OULOUSE
S EBASTIÃO C ARNEIRO DE A LMEIDA F ABIANO G USTAVO B RAGA B RITO Closed hypersurfaces of S
4with two constant symmetric curvatures
Annales de la faculté des sciences de Toulouse 6
esérie, tome 6, n
o2 (1997), p. 187-202
<http://www.numdam.org/item?id=AFST_1997_6_6_2_187_0>
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187
Closed hypersurfaces of S4
with
two constantsymmetric curvatures(*)
SEBASTIÃO CARNEIRO DE
ALMEIDA(1)
and
FABIANO GUSTAVO BRAGA
BRITO(2)
RÉSUMÉ. - Dans cet article comme dans
([ABl], [AB2])
nous etudionsles hypersurfaces closes dans la 4-sphere unite, dont deux fonctions
symetriques de courbure sont constantes. Si l’une est la courbure scalaire et est non negative, alors l’hypersurface est isoparametrique. Il y a un resultat analogue pour les hypersurfaces dont la courbure moyenne et celle de Gauss-Kronecker sont constantes.
ABSTRACT. - In this paper as in
([ABl], [AB2])
we are concerned with the study of closed hypersurfaces in the unit 4-sphere with two constantsymmetric curvature functions. If one of the assumptions refers to the scalar curvature of the hypersurface M as a non-negative constant then
M must be isoparametric. There is a similar result for hypersurfaces with
constant mean curvature and constant Gauss-Kronecker curvature.
1. Introduction
Let M be a closed
hypersurface
of the 4-dimensional Euclideansphere 54
with scalar curvature In a recent paper[AB2],
we considered the class ~’ of closed oriented 3-dimensionalhypersurfaces
with constant meancurvature and constant scalar curvature immersed into the standard
sphere 54.
It was shown that if M E F and ~~ > 0 then M isisoparametric.
Forfuture
reference,
we state this resultexplicitly.
( *) Requ le 3 février 1995
(1) Departamento de Matematica, Universidade Federal do Ceara, Campus do Pici,
60455-760 Fortaleza-Ce (Brazil)
(2) Instituto de Matematica e Estatistica, Universidade de Sao Paulo, Cidade Univer- sitaria "Armando de Sales Oliveira", 05315-970 Sao Paulo-SP (Brazil)
THEOREM 1.1
[AB2] .
Let M be a closedhypersurface of
the4-sphere ,54. Suppose
in addition that M has constant mean curvature Hand constant scalar curvature ~ > 0. Then M isisoparametric
Recently,
S.Chang [C]
exhibited thefollowing
result.THEOREM 1.2
[C].2014
LetM3
be a closedhypersurface of
constant scalarcurvature 03BA in
S‘4.
.If
M has constant mean curvature then h > 0.Remark l. - If one combines Theorem l.l
together
with the non-existence result in
[C]
one obtains acomplete
classification of thefamily
~’.This paper is a continuation of our work in
([AB1], [AB2])
where we tryto characterize closed
hypersurfaces
of54
withgiven geometric properties.
We recall that the second fundamental form of a
hypersurface M3
C54
is
locally represented by
asymmetric
3 x 3 matrix A. In thisparticular
case the second fundamental form is
completely
determinedby
the threesymmetric
curvaturesj?i
= trace AH2
=H21
- traceA2 2 (1.1)
H3 = det A.
The functions
Hi
andH3
are called the mean curvature and the Gauss- Kronecker curvaturerespectively.
The functionH2 is,
up to a constant, the scalar curvature of M. Thehypersurface
M is said to beisoparametric
ifHI, H2 , H3
are constant. If we supposethat just
one of these functions is aconstant then it is
possible,
ingeneral,
to find nonisoparametric examples.
One way of
getting
thoseexamples
is to useequivariant geometry
methods[H].
The naturalquestion
at thispoint
is what can be said about thefamily
r s, of closed
hypersurfaces
M CS‘4
thatsatisfy
=dHs
= 0.The case where
Hi
andH2
are constant functions wascompletely
solved in([AB2], ~C~ ) .
This leaves open thefollowing.
PROBLEM 1.2014 Determine
for (r, s) ~ (1, 2).
In this direction we have established the
following
results.THEOREM 1 .3. - Let M be a closed oriented 3-dimensional
hypersurface
immersed in the standard
4-sphere. Suppose
in addition that M has constant Gauss-Kronecker K and constant scalar curvature 03BA > 0. Then M isisoparametric.
THEOREM 1 .4. - Let M be a closed oriented 3-dimensional
hypersurface
immersed in the standard
4-sphere
with constant mean curvature Handconstant Gauss-Kronecker curvature ~~
~
0.Suppose
in addition that- 3 H/K.
Then M isisoparametric.
In Theorem 1.4 we have assumed that
Hi
andH3
were constant func-tions. This case was
partially
treated in([AB1], [R]). Using
Theorem 1.4we retrieved the
following
result.THEOREM 1.5
[AB1].2014
LetM3 C 54
be a closedminimally
immersedhupersurface of ,S4
with constant Gauss-Kronecker ~i~
0. Then M is theminimal
Clifford
toruss2 ( ~/3)
Xs1 ( 1/3
Cs4 .
2.
Preliminary
resultsThe basic
object
ofstudy
in this note is asymmetric quadratic
differential form which satisfies anidentity
of Coddazi-Mainarditype.
In this sectionwe will introduce this
quadratic form,
prove analgebraic
lemma and fix thenotation used
throughout
the paper.2.1 Notations
Let M be a compact 3-dimensional Riemannian manifold with
metric g,
volume form vol and scalar curvature K.
Suppose
a is a smoothsymmetric
tensor field on M of type
(0,2)
and let A be the tensor field oftype (1,1) corresponding
to a via g. In this section we willalways
assume that:(I)
the field oftype (0, 3)
issymmetric;
(II)
=0,
r =2,
3.Here,
as usual : M -~R,
denote theelementary symmetric
functionsof the
eigenvalues a2 A3
of the tensor field A. Inparticular
cri =
trace A,
= and 73 = det A.Let 03C3 be the
permutation given by r(l) = 2, cr(2) = 3, cr(3) =
1. Wenow define
(2.1)
where i’ = and i" =
~(i~). Obviously
~ c2 = p . (2.2)
iEI
The
following identity
can be found in[W] :
.
y2
=-4~3 f 3
+~2 f 2
+18 ~2~’3 f -
270-3 - 4~’2 . (2.3)
In
(2.3),
72, T3 are constants andf :
M -~ I~8 is the C°° functiongiven by f
= trace A .2.2 The structure
equations
Now we will take a look at the structure
equations
on the open subset Y ={p
EM:Ai(p) A2(p) As(p)}
of M. From now on we will assume that
0.
Note that~i
is smooth onDEFINITION 2.1.2014 We say that
(U, w)
is admissibleif:
(i)
U is an open subsetof Y;
’
(ii) w
=(wi, w3)
is a smooth orthonormalcoframe field
onU;
(iii)
03C91 n 03C92 n 03C93 = vol onU
;(iv)
a=03BBi03C9i
~ 03C9i.Suppose (U, w)
is admissible. As is wellknown,
there are smooth 1-formswij on U
uniquely
determinedby
theequations
3
dwi = -
L wij
, + =0 ,
,i , j
E I .(2.4)
j’=l To
simplify
the notation we let03B8i =
03C9i"i’ . Thereforedwi
= - A , i E I .(2.5)
Let the functions E
I,
be determinedby
= 9i~j
A +L
A w~~ .(2.6)
jEI Note that
~
(2.7)
iEI
The covariant derivative of the tensor field a is
given by
’
=
L
aijkWi ® ® wkwhere
L
aijk03C9k =daij - 03A3
aim03C9mj -03A3amj03C9mi. (2.8)
k m m
We are
assuming
that(U, c~)
is admissible. Therefore aij =~i
. Weobtain from 2.8 that
d03BBi
=03A3
aiik03C9k, i ~ I ,(2.9)
kEI
ci03B8i
=03A3ai’i"k03C9k
, i E 7. .(2.10)
kEI
Let the functions
i, j
E I be determinedby
ei
=03A3tij03C9j
.(2.11)
jEI
We obtain from
(2.9), (2.10), (2.11)
and the symmetry of ~a thatc1t11 = c2t22 = c3t33
(2.12)
citii’
=Ài’i" (2.13)
citii"
=Ài"i’ (2.14)
where the functions
Àij, j
EI,
are determinedby
d03BBi = L 03BBij03C9j
on U .(2 .15)
jEI
Now
(2.12) gives
y
~ tiiti’i’
=~
Ci" ,iEI iEI
It follows that
03A3 tiiti’i’
= 0 .(2.16)
iEI
On the other
hand,
we know that eachpair (x,
E M x R satisfiesthe
polynomial equation P(x, A)
= 0 whereDifferentiating
theequation P(x, 03BBi)
=0,
i =1, 2, 3,
we obtain~P ~03BB(x,03BBi)d03BBi
=03BB2i d/.
This
gives
thefollowing
identities03B3 d03BBi
=-ci03BB2i d/,
, i E I .(2.17)
Therefore
03B303BBij
= ci03BB2ifj(2.18)
where
d f
=fiwi.
From(2.13), (2.14)
and(2.18),
we obtainci’ti’i"
= -ci"03BB2i" fi
,
ci"ti"i’
= -fi
C~/6~// == .
y
C~/~//~/2014
y
Therefore
ti’i"ti"i’
=03BB2i’03BB2i"f2i 03B32 (2.19)
and
ti’i"
- ti"i’ =(ci’03BB 2i’ ci" - ci"03BB2i"ci’) - f
i.
An
elementary computation gives
ti’i" - ti"i’ =
c2i(03BBi03C32 - 303C33)fi 03B32
.2.3 The
2-form ~
As in
[AB2]
there is one andonly
one2-form ~
on Y such that if(!7,~)
is admissible then
on U .
~~~
Suppose (!7,~)
is admissible.Using equations (2.6)
and(2.7)
we obtainA = ~~ A A - ~-/
A ~
A~~ -
A~-
A + /~- vol.Therefore
d03C8 = 03BA 2
vol - 03A303C9i A03B8i’
^ 03B8i".~
Using (2.11)
weget
== -
~
~67 We also obtain from
(2.11)
thatd f
=~
vol~7
so
(2.16), (2.19), (2.20) gives
d03C8 = 03BA 2 vol +
03BB2i’03BB2i" f2i 03B32 vol
(2.21)
dl
=03A3 c2if2i 03BBi03C32-303C33 03B32
vol .(2.22)
~=7 ~
2.4 An
algebraic
lemmaThe
following
result is thekey point
in ourproof
of Theorem 1.3LEMMA 2.2. - Let M be a
compact 3-dimensional Riemannian manifold
with metric g, volume
form
vol and scalarcurvature 03BA ~
0.Suppose
a is asmooth
symmetric tensor field
on Mof type (0,2)
and let A be the tensorfield of type (1,1) corresponding to
a via g.Suppose in
addition that:~I~
thefield of type (0, 3)
issymmetric;
(II) d03C32
= d03C33 =0;
~III~~3~0.
Then
d03C31
= 0.Proof of
Lemma ~. ~Without loss of
generality
we will assume that 0-3 = -1. Fromequation (2.3)
we may writey2 = (~? o f > 0 (2.23)
where
Q
is thepolynomial given by
Q(x)
=4x3
+~2x2 -
18 T2.r -4~2 -
27. .0,
thenf(M)
= and Lemma 2.2 will follow from thecontinuity
off.
. We will therefore assume thaty ~ 0.
We shallgive
theproof
of Lemma 2.2 in two different steps.Step
1. . -~y-1 {0) _
Using equation (2.21)
and Stokes’ theorem weget
M (03BA 2 + |A-1(~f) 03B3| 2)vol= 0 .
Since 03BA ~
0 it follows thatd f
= 0 on M andf
= R is a constantfunction.
Step
2. --y-1 (0) ~ ~.
The discriminant of the
polynomial
isgiven by
D =
42 (~2 - 27) 3 .
We
begin by assuming
that 72 3. With thishypothesis
thepolynomial
has
only
one real root,Q.
SinceQ
of
>0,
it follows thatf
>,C3
on M .An easy
computation
shows thatÀl
0a2 a3 .
.(2.24)
For each 6; > 0
sufficiently
small we setX~=f 1~~~~+~]~ (2.25)
Obviously,
.Note that
Yo 5~ 0.
For each e >0,
we will choose a C°° function : Il~ -~ II8 such that :(a) r~~>0,0r~~l, (b)
= 0 ift ,(~
+e/3, (c) r~~ {t ) = 1 if t > ,t3 + ~,
and then we
apply
Stokes’theorem tod
~(~lE
° -(~I~
°f )
+ °f ) df
n~
to obtain
Y0 (~~
of) d03C8
+/ (~’~
of) df
= 0.(2.26)
From
(2.21), (2.22)
weget
{2.27) dl 03C8
=03A3 c2if2i 03BBi03C32+3 03B32
vol.(2.28)
iEI ~
It is easy to see that for i =
2,
3and ~ ~
0sufficiently
small+3~1
1 onIt follows from
(2.26), (2.27)
and(2.28)
that0 ~ Y0 (~~
of ) d03C8 ~ - / (~’~
of ) c2103BB103C32f21 03B32
vol.(2.29)
An
argument analogous
to onegiven
in[AB2]
shows thatlim /
of ) d03C8
= 0 .(2.30)
From this it follows that
f
: M ~ R is a constant function which is acontradiction.
We next assume that = 3. In this case the
polynomial
isgiven
by Q(x)
=4(x + 3)2(~ - ~3),
where,~3
=15/4. Since y2
= 0 it followsthat
f > ,Q
on M. Theproof proceeds exactly
as before and also leads to a contradiction.The
remaining
case ~2 > 3 isanalogous
and will not be done here.3. Proof of Theorem 1.3
Let : M ~
S4
be an isometric immersion of M into the standard 4-sphere.
We suppose in addition that M has constant scalar curvature K>
0 and constant Gauss-Kronecker curvature K. Choose a unit normal vector field valong
x, and denoteby
h the second fundamental form associated to v. If the Gauss-Kroneckercurvature ~~ ~ 0, Theorem 1.3
will followdirectly
from Lemma 2.2.Suppose
now that !{ == 0. With the notation of section2,
we have.~’2 - ~2 (. f 2 ’_ 40’2 ) ] ~ .
The
equality
is reachedonly
atpoints p ~ Y,
where as in section 2 Y ={p
CM Ai A2 As} .
We will assume first that
0 ~
6. In this casey2 ~
0 and M = Y.Using (2.21)
and Stokes’s theorem weget
~ = 0 = /2 . (3.1)
Let :r* : ~Vf -~
54
be the associated Gauss map of x. It is definedpointwise
as the
image
of the unit normal translated to theorigin
ofR~.
Since K = 0we have that
~2 -
0 andÀIÀ3
= -3. Therfore x* is a map of rank two.It follows that the
image x*(M)
is aregular
surface~2
CS4 . Using (2.8)
and the fact that
~2
= 0 it is not difficult to see that M is foliatedby great
circles C
,S‘4.
These great circles are the lines of curvatures associated to theprincipal
curvatureÀ2 =
0. One can seeeasily
thatM3
is the tube ofgeodesic
radius over~2
in5‘~ .
We have thefollowing commuting
diagram
’Here 7r is the natural
projection, N1
is the unit normal bundle of £ and 03A6 is thepolar mapping given by 03A6(p, v)
= v(see [L]).
Let(p, v)
EN103A3
anddenote
by v),
i =1, 2,
theprincipal
curvatures of~2
in the normal direction v. Since =M3
it follows that03BA1(p,03BD) = 1 03BB1(03BD), 03BA2(p,03BD) = 1 (v)
By
a standardargument
we can find a normal direction v E such that /~i + /c2 = 0. ThereforeAi
=-B/3
and~3 = ~/3.
To finish this part of theproof
of the theorem we note that from(3.1)
it follows thatf 2
= 0.This
implies
thatAi
andA3
are constant in each leaf. It follows thatAi
and
A3
are constant on M. Therefore M is Cartan’s minimalhypersurface of S4.
We will assume now that ~ > 6. With this
assumption
it iseasily
seenthat M is not an
isoparametric hypersurface
and 0-2 > 0. Therefore,f 2 - ~2 ~ o
where 0
~3
= Without loss ofgenerality
we will assume thatf > ~3.
This
gives
inparticular
that 0 =Ai a2 a3- Using (2.22)
we see thatfor any C°°
function ~ : R ~
IR:d
((~
o =(o .f )
+f )
2’l vol.
(3.2)
iEI ~
Since
f (M) ~ ~~3~
we may choose asufficiently
small 6; > 0 and0 r~
1so that:
(a) ~’>-o~~~f~o~
(b)
= 0 if t,Q
+~/3;
(c)
Applying
Stokes’ theorem to(3.2)
weget
a contradiction.Finally
we will assume now that x M --~S’~
is an isometric immersion with scalar curvature - 6.Using
Ricatti typeequation coming
fromCodazzi
equations
it ispossible
to prove theimpossibility
offoliating (even
locally) M3 by totally geodesic 2-spheres.
This reduces the case 03C32 = K = 0 tototally geodesic 3-spheres (see
forexample [BD]).
4. Proof of Theorem 1.4
Let x M 2014~
~‘~
be an immersion into the standard4-sphere S4 satisfying
the
hypothesis
of Theorem 1.4 and let x* : N~ --~54
be its associated Gauss map. Theprincipal
curvatures of a?* aregiven by k*i
= i =1, 2, 3,
where
k1, k2
andk3
are theprincipal
curvatures of M[L].
The scalarcurvature and the Gauss-Kronecker curvature of x* are constant and
given by:
03BA* = 6 + 2H , >o,
K* = 1 ,.(4.1)
It follows from Theorem 1.3 that the mean curvature H* =
(K - 6) /2K
ofx* is a constant and M is
isoparametric.
5.
Examples
and further commentsThe results
presented
in this work in some sense characterize theisopara-
metric
hypersurfaces
of the 4-dimensionalsphere ,S4.
From well known results we know that in54
there areonly
three families ofisoparametric hypersurfaces.
We will now describeexplicitly
thosehypersurfaces.
Example 1 (Spheres).
- Let x: ,S’3{r)
-~S4
be the isometric immersiongiven by x(p)
=(p, s),
wheres2
+r2
= 1. It is not difficult to see thatM =
S‘3 (r)
is all umbilic withprincipal
curvaturesl~i
=s/r,
i =1, 2, 3.
An
elementary computation
shows that the mean curvature(H),
the scalarcurvature
(K)
and the Gauss-Kronecker curvaturesatisfy
thefollowing
relations:
H = 3K1/3, 03BA = 6(1 + K2/3) = 6 + 2H2 3
.(5.1)
Example 2 (Clifford tori).
- Let xS’2(r)
xS’1 (s)
-~54
be the isometric immersiongiven by X(p, q)
=(p, q).
It hasprincipal
curvaturesgiven by k1
=-r/s, k2
=k3
=s/r.
The mean curvature(77),
the scalar curvature K and Gauss-Kronecker curvature Ii of the immersion xsatisfy
theequations:
H=_2~ + ~> 1
>~=2(1+A~)=3+~~~~.
.(5.2)
Example
3(Cartan’s isoparametric family).
We must consider first the minimal immersion ~ :5~(B/3)
-~-5’~ given by
~ ( x ~ y~ z )
-1 (
xz> y z ~ 1 2 12 2
~1 ( x2 + y 2 - 2)
.This defines an
imbedding
of the realprojective plane
into54.
This realprojective plane
embedded in54
is called the Veronese surface. LetN1 {~)
denote the unit normal
sphere
bundle of the Veronese surface E. We canexpress
Nl {~)
as~Vi(E) ==
.At
{x, v)
ENl {~)
theprincipal
curvatures of the Veronese surface aregiven by v)
=-~2 {x, v)
=~/3.
Therefore the Veronese surface is a minimal submanifold of54.
We now take thepolar mapping ~L~:
~ : N1 { ~ ) -~ ,5‘4
given by ~(x, v)
= v. Theprincipal
curvatures of the immersion ~ are-
0, B/3. Finally,
we define theisoparametric family ~t : N1 {~)
~,S’4 by
v)
= cost~{x, v)
+ sint x .The
principal
curvatures of the immersion~t
are:3 + tan t 1 - 3 tan t,
tan t - 3 1 + 3 tan t
, tan t
(5.3)
An easy
computation
shows that the mean curvature(Ht),
the scalar curvature Kt and Gauss-Kronecker curvature fo the immersion~t satisfy
thefollowing interesting
relations:, .
(5.4)
In
[CDK],
Chern-doCarmo-Kobayashi
asked whether the value of the scalar curvature K M of a closed minimalhypersurface
M C woulddetermine the
hypersurface
up to arigid
motion of,5‘n+1.
In theirconjecture they
assumed that ~~ was a constant function.They
also asked if the values of the scalar curvature ~~ was a discrete set of real numbers. To solve theconjecture
of Chern-doCarmo-Kobayashi
for 3-dimensionalhypersurfaces
one
just
has to combine Theorem 1.1together
with the non-existence result in[C].
~=s+3H2
’8
"~ ~=3-1-4 (Hz~~I 8+~I ~
2
K=0
- 4 -2 ~ 0
2 H
4Fig. 1
Remark 2. -
Figure
1 shows thepossible
values for the mean curvature(H)
and for the scalar curvature~~)
of a closedhypersurface
M EFor
fixed n 2:: 3,
we still denoteby
the colection of all closedhypersurfaces
M Chaving dHr
=dHs
= 0. Theconjecture
above isa
particular
case of thefollowing
moregeneral question.
_Question
1. . - Determine for all r~
s.In this note we considered
only
the case n = 3. It isinteresting
to notethat,
even in thisparticular
case,Question
1 is notcompletely
solved.2s
~~~
2a~‘s(I-t-K2~3~
B ~~/~ x = 2 (1 + K2)
"’""’" ~==0
- 4 -2 ~ 0
2 K
4Fig. 2 (K, r~~
Remark 3. . -
Figure
2 shows thepossible
values for the Gauss-Kronecker curvature and for the(unnormalized)
scalar curvature(K)
of a closedhypersurface
M E~’2,3
when ~ > 0.H=_3K
H=3Kl/3
Fig. 3 , H)
Remark 4. -
Figure
3 shows thepossible
values for the Gauss-Kronecker curvature and for the mean curvature(H)
of a closedhypersurface
M E
~’1,3. Only
the shadedregion
was not considered in Theorem 1.4.References
[AD] ALENCAR (H.) and DO CARMO (M.) .2014 Hypersurfaces with constant mean
curvature in spheres, Proc. Amer. Math. Soc. 120 (1994), pp. 1223-1229.
[AB1] DE ALMEIDA (S. C.) and BRITO (F. G. B.).2014 Minimal hypersurfaces of S4
with constant Gauss2014Kronecker curvature, Math. Z. 195
(1987),
pp. 99-107.[AB2] DE ALMEIDA (S. C.) and BRITO (F. G. B.). 2014 Closed 3-dimensional hypersur-
face with constant mean curvature and constant scalar curvature, Duke Math. J.
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