A NNALI DELLA
S CUOLA N ORMALE S UPERIORE DI P ISA Classe di Scienze
O LD ˇ RICH K OWALSKI
Properties of hypersurfaces which are characteristic for spaces of constant curvature
Annali della Scuola Normale Superiore di Pisa, Classe di Scienze 3
esérie, tome 26, n
o1 (1972), p. 233-245
<http://www.numdam.org/item?id=ASNSP_1972_3_26_1_233_0>
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WHICH ARE CHARACTERISTIC FOR SPACES
OF CONSTANT CURVATURE
OLD0159ICH
KOWALSKI,
PrahaIf is well-known that the spaces of constant curvature are characteri- zed among all Riemannian spaces
by
thefollowing property : for
any(n -1)-
dimensional linear elements
En-l of
a Riemann space N(dim
N = n >3)
there is a
totally geodesic hypersurface
which istangent
toEn-1.
(Cf. [1]).
The purpose of this Note is topresent
a number of theorems of the abovetype ; only
therequirement
that ourhypersurfaces
should betotally geodesic
will bereplaced
be anothergeometrical
oranalytical postu-
lates. Umbilicalpoints
ofhypersurfaces
and so called « normal Bianchiidentity >> play
theleading part
here.Throughout
the paper we shallkeep
all the notations and conventions of the famous bookby Kobayashi
and Nomizu([2], [3]).
Let N be a Riemannian manifold of dimension n ~
3, g
the correspon-ding
Riemann metric on N and MC N ahypersurface.
Because all thepostulates put
onhypersurfaces
will bepurely local,
we can suppose(if
not otherwisestated)
that ~VI is a « small >>hypersurface, diffeomorphic
with an open
region
inDenote
by Vi
V’ the covariant differentation onN, M respectively.
Let~
be a field of unit normal vectorsand X,
Ytangent
vector fields onThe
formulas of
Gauss andWeinga,rten
aregiven by
Pervenuto alla Redazione il 13 Febbraio 1971.
Here h
(X, Y)
is the secondfundamental form
and ~1 is asymmetric
trans-formation on each
tangent
spaceT~ Moreover,
we haveA
point
x E M is called an umbilical.point
if A =--- A -I onTx (M),
where~ is a scalar and I is an
identity
transformation.DEFINITION 1. A
hypersurface
M c N is called aU-sphere
if A = ~, · Ion the
tangent
bundleT(M),
where 2 is aconstant, Â =0.
Denote
by R,
R’ the Riemann curvature tensors ofN,
Mrespectively.
At any
point x
E M we havewhere
~~ Y, Z E T~ (M) and $
is a normal vector to M at x.(Cf. [3]).
We introduce new tensors d
(X, Y), B (X, Y)
Z on Mby
Let us remind the
fi/rst
Bianchiidentity o (R’ (X, Y) Z) = 0
and the second Bianchiidentity a R’) (Y, Z))
=0, where X, Y, Z
aretangent
vector fieldson M and o denotes the
cyclic
sum withrespect
toX, Y,
Z.The tensor defined
by (6)
also satisfies the first Bianchiidentity
but not the second one, ingeneral.
DEFINITION 2. We say that a
hypersurface
M e N satisfies the Bianchiidentity
if for any vector fieldsX, Y, Z
on 1l~.REMARK. This definition is
independent
of the choice of a normal unit vector fieldy
A routine calculation leads to the
following
PROPOSITION 1. The normal Bianchi
identity
holds on ahypersurface
Me N
if
andonly if
in the vectoi- bundle
A2
T(M).
If N is a Riemann manifold with the constant curvature
C,
thenHence and
taking
into account(3) - (6)
we obtain(Equation of Codazzi),
’
(Equation of Gauss).
Finally, (7)
and(9) imply
PROPOSITION 2.
If
N is a spaceof
constant curvature then anyhy- persurface
M c Nsatisfies
the Codazziequation
L1(X, Y)
= 0 and also thenormal Bianchi
identity.
In order to prove a converse we shall remind some well-known defini- tions.
For each
plane
p in thetangent
spaceTx (N),
i. e., for any 2.dimen- sionalsubspace
ofTx (N),
the sectional curvature K(p)
is definedby K (p)
=where
e2)
is an orthonormal basis of p.(In
thefollowing
we shallput
forabbreviation).
A
point
x E N is calledisotropic
if the sectional curvature .g( p )
isthe same for any
plane
p cTx (N).
Now we shall
present
a number of lemmas the statements of whichare well-known.
LEMMA 1.
Suppose
that there is an orthonormal basise,,]
i11,Tx (N)
and a constant C such that
ej)
= C’for
anyi, j =1, ... , n, i ~ j.
Thenr is an
isotropic point of
N.2.
Suppose
that g(R (ei, ej)
ek,ej)
= 0for
any orthonormaltriplet lei,
ej,ek) qf
vectorsof Tx (N).
Then x is anisotropic point of
N.PROOF. Consider an orthonormal basis of and for
any
triplet
of indicesput
. The
equality implies
and we can use Lemma 1.
LEMMA 3.
(Schur’s lemma).
Let N be a Riemannianinaitifold of
dimen-sion n -> 3.
If
allpoints of
N are then N is a spaceof
costantcurvature.
(Cf [2]).
Now we can derive
PROPOSI1-’ION 3. Let N be a .Riemannian
manifold of
dimension n > 3 with thefollowing property :
to anypoint
x E N and anyhyperplane
cc
Tz (N)
there is ahypersurface
M c N such thata)
M3 x,Tx (M)
=En-l, b)
Msatisfies
the Codazziequation
at x.Then N is a space
of
constant curvature.PROOF. Let a
point
x E N and an orthonormaltriplet lei, ek)
of vec.tors of
Tx (N)
begiven.
DenoteT, (X, ek)
=0).
Let jbe a
hypersurface satisfying
the conditionsa), b)
of thePropositions
withrespect
toAccording
to(3)
we obtain R(ei, ej)
ek - o. Now weapply
Lemina 3 to
complete
theproof.
Propositions
2 and 3give
usTHEOREM 1. Let N be a Riemannian
manifold of
dimension n > 3.Then the two statements are
equivalent:
(i) Any lzypersurfaee
M c Nsati.3fies
the Codazziequation
A~X, Y)
= 0.(ii)
N is a spaceof
constant curvature.We are in a
position
to prove also thefollowing
THEOREM 2. Let N be a Riemannian
manifold of
dimension nh 4.Then the
following
two statements a,reequivalent :
(i) Any hypersurface
MeNsatisfies
the normal Bia,nchiidentity.
(ii)
N is a spaceof
constant curvature.PROOF. The
implication (ii)
->(i)
was stated inProposition
2. Let usprove the converse. Let x E N be a fixed
point
and consider asystem of
normal coordinates
~x1, ... ,
in aneighbourhood Vx
of x. In this way theneighbourhood Yx
of x can berepresented
as an openregion U,,
ofa coordinate space
) ;
thepoint
,x ismapped
onto theorigin
0 E
lRn .
The spacelRn provided
with its canonical euclidean metric is called theosculating
euclidean spaceof’
N at thepoint
x.(Cf. ~1]).
We have acanonical
isomorphism
ofTx (N)
ontoTo (IRn). Suppose
thatei, ek)
isan orthonormal
triplet
of vectors ofand I
thecorresponding
orthonormal
triplet
ofTo (lRn).
Let us construct a small
piece
of acylinder $1
X withthe
following properties :
a)
M’ passesthrough
theorigin
0 ElRn
and M’ cU,, , b)
M’ is normalto ek
at0,
c)
withrespect
to the canonical identification(orthogonal decomposition !)
we have
Let Z be a vector of
Tx (N) corresponding
to a vector Z’ ETo (51).
If lll is a
hypersurface
of Ncorresponding
toM’,
then it is well-kiaowin that the second fundamental form of Me N at x is the same as the second fundamental form of .~’c.1Rnat
O. Hence For- mula(7) implies
and from(3)
we obtainHence g (R ej)
ek,ej)
= 0 and x is anisotropic point
of Naccording
toLemma 2. Now the Schur’s lemma
completes
ourproof.
REMARK. If N is a Riemannian manifold of dimension
3,
then the nor-mal Bianchi
identity
istrivially
satisfied on each surface M c. N.The rest of this paper is devoted
mainly
to thestudy
umbilicalpoints
and U
spheres.
Thefollowing
theorem of the linearalgebra
is well-known and it will be usefull for our further calculations :LEMMA
4. Let g, h
be twoquadratic forms
ac real vector space1Rn
andlet g
bepositifvely definite.
Then there is a basis such thatwith
respect
to the dualbasis 1
CONVENTION :
N (C)
will denote a Riemannian manifold with the con-stant curvature 0.
PROPOSITION 4. Let
N(C)
be a spaceof
dimension n> 4
and Mc N(C)
a
hypersurface. Then
thefollowing
two statements areequivalent : (i)
M is(ii)
M is a spaceM (0’),
where C’ > C.PROOF. Let us
multiply (6)
and(10) by
the vector X to theright
and
put
Z = Y. We obtainwhere is the
second fundamental form of the
bypersurface
N. Denoteby KM
thesectional curvature of ~. if
X,
Y are orthonormal vectors ofTx (M),
itfollows
The
proof
of(i)
>(ii) :
If fil is aU-sphere,
A =A. 1, 2 =}= 0,
we obtainThe
proof
of(it)=> (i) :
Let us re-write(11)
in the form IIf
(ii)
issatisfied,
we obtainfor
any orthonormalpair ~X, Y)
ofTx (iV).
Let
le,
be an orthonormal hasis ofTx (M)
such that h(X, Y)
assumes a
diagonal
form withrespect
to this basis(Lemma 4).
Puth (ei, ez)=
~
li
for i ==1~..., ~ 2013 1;
then(12) implies
as
required,
we obtain ,and on M. Hence follows on
M; the
sign depends
on the orientation of M.REMARK. If dim
N(C) = 3,
theimplication (ii)==>(i)
is false as thefollowing example
shows : let 3f be a smallpiece
of asphere 52
in theeuclidean space
.~3 ;
y consider a non-trivial isometric deformation of 3f inE3.
The deformed surface is a space of constant curvature but not a U-sphere.
Let N be a Riemannian manifold. To any
point x
E N and anysufficiently
small number r > 0 the locus of all
points
at the distance r from x is aregular
submanifold S(x ; r)
ofdimension n - 1,
called a metricsphere
withcenter x and radius r.
PROPOSITION 5. Let
N (C)
be a spaceof
dimension n ~:> 3. Then anysuf- ,ficiently
small metricsphere
in N(C)
is a spaceform N(C’)
withC’ )
O.PROOF. It suffices to cite some classical results
only (cf. [5]).
For C = 0 the assertion is trivial.
For
0 >
0(elliptic geometry)
weput k =1/V C.
Thefollowing
result it well- known : Tlae metricof
the spaceN(1/lc2)
induces on asphere of
radius If themetric of a
euclideansphere of
radius k. sin(rjk).
For C 0
(hyperbolic geometry)
weput
Let us rememberthe
following
theorem : The metricof
the spaceN(-111~2)
induces on aaphere of
radius r the metricof a
euclidean spereof
radiusk. Sh (r/k).
Hence our
Proposition
follows.PROPOSITION 6. Let
N(C)
be a, spaceof
dimension 3. Then anysufficiently
small metricsphere
inN(C)
isa U-sphere.
PROOF. If the dimension
~~4~
the result follows fromPropositions
4 and 5. For
n = 3,
we canidentify N (C)
with atotally geodesic hyper-
surface of a space form
N’ (C)
of dimension 4.Any
metricsphere
inN(C)
can be
represented
as an intersection of a metricsphere
Hence our result follows.
REMARK. The converse of
Proposition
6 is true in the euclidean and theelliptic
caseonly.
As for ahyperbolic
space N(- 1/k2),
anyU~ sphere
in N is
locally
either a metricsphere (four Ilk),
or a limithypersurface bearing
a euclidean metric=
orfinally
anequidistant hyper- surface (for
PRoPosiTioN 7. Let N be a Riemannian space
of
dimension n >:- 3.Suppose
that to any linear(n - 1)-dimensional
elementof
N there isa
tangent
to.Eri_1.
Then N is a spaceof
constant curvature.PROOF. Let M be a
U-spere tangent
to We have A = ~ · Ialong
= const. Hence we see that the Codazzi
equation
holds at the base
point x
of Now we canapply Proposition
3.PROPOSITION 8. Let N be a Riemannian space
of
dimension n. Then toany linear
(n - 1)-diinensional
elementEn-, of
N there is a metricsphere
M
tangent
toEn-1 -
·PROOF. Let xo be the base
point
ofE.-j. According
to[2],
Theorem8.7. there is a
spherical
normal coordinateneighbourhood
U(xo ; ~O)
such thateach
point
ofU (xo ; e)
has a normal coordinateneighbourhood containing U (xo ; e).
Let y be ageodesic emanating
from xo andorthogonal
toat Choose a
point
y on y at the distanced g
2 from Then themetric
sphere
S(y ; d)
satisfies ourProposition.
THEOREM 3. Let N be a Riemannian
manifold of
dimension n > 3.Then the
following
statements(i) - (iii)
areequivalent :
(i)
To any(n - I)-dimensional
linear elementof
N there is aU-sphere tangent
to(ii) Any sufficiently
small metricsphere of
N is(iii)
N is a spaceof
constant curvature.PROOF :
(iii)
->(ii) - Proposition
6,(i)
>(iii) - Proposition 7, (ii)
>(i) - Proposition
8.Now,
let us remind some further definitions. The Riccifield
is a covariant tensor field of
degree
2 on N defined as follows : for any vectors and any orthonormal basis(e1, ... , en~
ofTx (N)
weput
A Riemannian manifold N is calledan Einstein
manifold if S
= I - g onN,
where A is a constant.REMARK. From a more
general point
of view: whenever wespeak
about an Einstein
manifold,
we mean an Einstein monifold thesignature
of which in zeio
(cf. [4]).
It is well-known that an Einstein manifold of
dimension n
3 is aspace of constant curvature. We can characterize Einstein manifolds of dimension 4 as follows :
LEMMA 5. A 4-dimensional Rienlannian Einsteinian
if
and
if
theproperty
issatisfied:
For anypoint
x E N and anyorthogonal decomposition of Tx (N)
into twoplanes
p,p’
we have.K(p)
== ~ (.~’).
PROOF.
1)
Let N beEinsteinian, S = ~, ~ g,
and let us have an ortho-gonal decomposition Tx(N)= p -~-p’.
Choose an orthonormal basissuch that Then i
on the other hand We obtain
easily q. e. d.
2)
Let usaccept
theimplication 2°x (N)
== p-~- p’
->K (p)
= K( _p’).
On a fixed space
Tx (N)
the Ricci tensor S is asymmetric
bilinear formand g
ispositively
definite.Thus, according
to Lemma4,
there is an or-thonormal basis
e2 ,
e3 ,e4~
ofTx (N)
in which S takes on adiagonal
form. It means that
~S (e~ , e~) = 0
fori =l=j. Further,
for and because
, we obtain
easily
Hence weget
~’ _ ~ ~ g onTx (N). According
to[2],
p.292,
the coefficient A is inde-pendent
of thepoint
x E N.Consequently,
N is an Einstein space.The
following
Theorem is added tocomplete
ourtheory
ofU-spheres :
THEOREM 4. Let N be an Einstein
manifold of
dimension n ~:_> 3 and M c: N ahypersurface
allpoints of
which are umbilical. Then M isa U-sphere,
or a
totally geodesic submanifold.
PROOF. We suppose that A =
pI
on 10. where p is a real function.Then
Let ... , be an orthonormal basis of
Zx (M) and en
a unit vectorof
Tx (N)
which is normal toTa; (M). According
to(3)
and(13)
R(ei,
=On the other
hand,
. g
(ej, en)
= 0 because N is Einsteinian. Hence we obtain ej IA = 0 for anyj = 1,
... ,n - 1 or,
what is the same, the differential(dfl)x
= 0.Consequently,
dp
= 0 on .1~ and p = const.In the end we shall
study
the normal Bianchiidentity
at the umbi-lical
points
of ahypersurface.
We start with6. Let N be a Riemannian
mani fold of
dimension n > 3. Then to any(n - 1)-dimeitsional
linear elementEn_1 of
N there is ahypersurface M c N tangent
to at its basepoint
x and such that A = I at x.PROOF. We
employ
theconcept
of anosculating
euclidean space as in theproof
of Theorem 2.PROPOSITION 9. Let N be a Riemannian
rnanifold of
dimension n ~ 4and x E N a
fixed point.
Then thefollowing
two statements areequivalent : (i) Any hypersurface
Nfor
which x is an umbilicalpoint satisfies
the normal Bianchi
identity
at x.(ii)
For any twototally orthogonal planes
p,p’ of Tx (N)
we have-g
f p)
=K(l1").
PROOF.
(i)
>(ii).
Let e1,e2 ,
1e. , e4 be orthonormal vectors ofTx (N)
such that
16..Annali delta Scuola Norm Sup. di Pisa.
cording
to Lemma 6 there is ahypersurface
Mc N such thatTz (M)
=and x is a, umbilic : AX = X for any Formula
(7)
takeson the form
then
(3)
and(14) imply
According
to the Cartan’s lemma there arenumbers a, b,
c,d, f, g
suchthat
Particularly,
wehave g (R (el , e2)
C4’C1)
= g(R (e2 , e.)
C4 ,e.)
= b.Now,
the orthonormal
quadruple
e3 ,e4)
wasarbitrary
and it can be re-placed by
thequadruple (/i?/2y/3)/4)?
whereWe
get
whenceSimilarly,
we obtainBy
the subtraction weget finally
(ii)
>(i) : Suppose
first dim N = 4. Let M c N be ahypersurface having
anumbilic at x. Denote
by e4
a unit vector ofTx (N)
normal to =Tx (M).
It suffices to prove
(15),
orequivalently, (16)
for any orthonormaltriplet
~ e ~ , e2 , e3 j
ofE~ .
Now,
eachl, ~, 3)
is normalto e4
and hence it is alinear combination of e1’ e2 , e3 . We have
only
to show the relationfor any orthonormal
triple
e2 , ofE3.
For this purpose, take thequadruple ~ given by (17)
and write up theidentity Taking
into accountwe obtain the wanted relation.
Consider now the case dim N > 5.
Then, according
to theassumption (ii)
and Lemma1,
x is anisotropic point
of N. Formula(8)
shows that(15)
is satisfiedtrivially
for any orthonormalquadruple e2 ,
es ,e4)
ofTx (N).
This
completes
theproof.
Now we can formulate two
theorems,
which are consequences of Lemma5, Proposition 9,
Lemma 1 and Lemma 3.THEOREM 5. Let N be a Riemannian
manifold of
dimension n = 4.Then the
following
two statements areequivalent :
(i) Any hyperszerface
Nsatisfies
the normal Bianchiidentity
atits umbilical
points.
(ii)
N is an .Einstein space.THEOREM 6. Let N be a Riemannian
manifold o f
dimension n -,> 5.Then the
following
two statements areequivalent :
(i) Any hypers1trface
.llle Nsatisfies
the normal Bianchiidentity
atits umbilical
points.
(ii)
N is a spaceof
constant curvature.Theorem 6 is
closely
related to a theoremby
T. Y. Thomas :MC En,
n >5,
is ahypersurface
thetype
numberof
which is > 4 at eachpoint,
then the Codazziequations
arealgebraic
consequencesof
the Gaussequations. (Cf. [6]).
Appendix.
In Theorem 4 we have characterized space of constant curvature as
Riemannian manifolds
containing
«sufficiently
many »U-spheres.
A directgeneralization
of aU-sphere
is an umbilicalhypersurface,
i. e., ahypersur-
face l~e N all
points
of which are umbilical. One can ask about the natu-re of spaces
containing «sufficiently
many >> umbilicalhypersurfaces.
Theanswer is
given by
thefollowing
Theorem :THEOREM 7. Let N be a Riemannian
manifold of
dimension n -,~! 4.Then the
followircg
two statements areequivalent :
(i)
To any(n -1 )
dimensional linear element.En_1 of
N there is anumbilical
hypersurface tangent
toEn-I.
(ii)
N islocally conformally flat.
PROOF.
(ii)
>(i).
Remind the well-know fact that all umbilicalpoints
of a submanifold Mc N remain umbilical under conformal transformations of the metric g on N
(See
e.g.[7]). Thus,
we canalways
use anauxiliary
euclidean
neighbourhood
to realize ageometrical
constructionrequired by (i).
(i)
->(ii).
Let x EN,
cTx (N )
begiven,
and let N be ahy- persurface
such thatTx (M)
= =fl. I
on M.Similarly
as in theproof
of Theorem 4 we obtain the relation forE
E,,-,
and aunit en
normal to Hence for any orthonormalquadruple
en 1 En-I.
Because the elementTx (M)
can bearbitrary,
we obtainfor any orthonormal
quadruple I
of
Using
a similarargument
as in theproof
ofProposition
9(Formula (17),
we obtainfinally :
for any orthonormal
quadruple
As was shown
by
R. S.KULKARNI, [8],
this last condition isequiva-
lent to the
requirement
that theconfor1nal
curvature tensor C vanishes. at thepoint
x.Consequently,
the Riemannian space N islocally conformally
flat.As a consequence of Theorem 7 we can state
THEOREM 8. Let N be a Riemannian
manifold of
dimension ’YI ~> 4.Suppose
that anysufficiently
small metricsphere of
N consistsof
umbilicalpoints.
Then N islocally conformally flat.
PROBLEM. Does a converse of Theorem 8
hold,
too IAdded in
Proof,
March15,
1972: It has beenpointed
to meby
R. S.JCulkarni that the conclusion of Theorem 8 may be
strenghtened
to theeffect that N be a space of constant curvature.
Old0159ich Kowalski
Matematicky Ustav Univ. Karlovy Malostranské nám. 25 Praha 1, Czechoslovakia
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[3]
KOBAYASHI S., NOMIZU K. - Foundations of Differential Geometry, Vol. II, Intersc. Publ.,New York - London - Sydney, 1969.
[4]
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ROZENFEL’D B. A. - Neevklidovy geometrii, Gos. izd. tech.-teor. literatury, Noskva 1955(Russian).
[6]
THOMAS T. Y. - Riemann spaces of class one and their characterization, Acta Mathematica,Vol. 67 (1936) pp. 169-211.
[7]
FIALKOW A. - Conformal differential geometry of a subspace, Trans. Amer. Math. Soc.Vol. 56 (1944), pp. 309-433.
[8]
KULKARNI R. S, - Curvature structures and conformal transformations, Bull. Amer. Math.Soc. 75 (1969), pp. 91-94. (MR