Vol. 36, No. 1, 2006, 141-151
CURVATURE THEORY OF GENERALIZED CONNECTION IN J
k2M
Irena ˇComi´c1, Mihai Anastasiei2
Abstract. The introduction ofJk2M manifold and its geometrical pre- sentation is given in [2]. Here, the generalized connection is defined, the torsion and curvature tensors are determined, and the Ricci equations are established.
AMS Mathematics Subject Classification (2000): 53B40
Key words and phrases: Jk2M manifold, generalized connection, curvature tensors, Ricci equation
1. Manifold J
k2M
Let M be a smooth manifold of dimension n and Jo,p(Rk, M) the set of germs of smooth mappings f : Rk → M with f(o) = p ∈ M. We say that f, g ∈ Jo,p(Rk, M) are equivalent up to order q if there exists a chart (U, ϕ) aroundpsuch that
(1.1) dho(ϕ◦f) =dho(ϕ◦g), 1≤h≤q,
where d means Frechet differentiation. It can be seen that if (1.1) holds for a chart (U, ϕ), it holds for any other chart (V, ψ) around p.
We denote byjo,pq f the equivalence class off (the coset off) and setJo,pq = {jo,pq f, f ∈Jo,p(Rk, M)}. Then we putJkqM = S
p∈M
Jo,pq and define π:JkqM → M byπ(Jo,pq ) =p.
One can see thatJmqM has a structure of smooth manifold.
We notice that fork= 1, this manifold is just the manifold OscqM studied by R. Miron [5], which reduces to the tangent manifold forq= 1. Fork=nand q= 1, we get the manifold of frames over M and for k∈ {2,3, . . . , n−1} and q= 1 it can be identified to T M⊗ · · · ⊗T M (k times), which is the manifold supporting thek-Lagrange geometry, see R. [7].
For these reasons we confine ourselves to the casesk= 2,3, . . . , n−1 and for the sake of simplicity we takeq= 2. The caseqgreater than 2 can be similarly treated.
We also notice thatJk2M is the manifold of 2-jets of the sections of the fibre bundle Rk×M →Rk but the theory of jets from the book by D.J. Saunders [8] cannot be applied since the typical fibreM of this bundle is too general.
1Faculty of Technical Sciences, University of Novi Sad, 21000 Novi Sad, Serbia, e-mail:
2Faculty of Mathematics, University ”Al. I. Cuza” la¸si, 6600, Ia¸si, Romania, e-mail: anas- [email protected]
Instead of that theory we follow the ideas and techniques from thek-Lagrange geometry and from the geometry of OscqM spaces as well, see [1], [3], [6].
Let us come back to (1.1) for q = 2. Letting ϕ◦g : Rk → Rn as fi = fi(t1, . . . , tk),gi =gi(t1, . . . , tk) this condition becomes
(1.1)’ fi(o) =gi(o) =ϕ(p), ∂fi
∂tα(o) = ∂gi
∂tα(o), ∂2fi
∂tα∂tβ(o) = ∂2gi
∂tα∂tβ(o), forα, β= 1,2, . . . , k. Let us set∂i: ∂x∂i,∂α:=∂t∂α.
Now, for another local chart (V, ψ) around p such that ψ◦ϕ−1 : xi0 = xi0(x1, . . . , xn), rank
³∂x0
∂xk
´
=n, takingψ◦f andψ◦g asfi0 =fi0(t1, . . . , tk) and gi0 = gi0(t1, . . . , tk), respectively, we get fi0 = xi0(fj(t1, . . . , tk)), gi0 = xi0(gj(t1, . . . , tk)) as well as
(1.2)
∂fi0
∂tα(o) = ∂x∂xij0(ϕ(p))∂f∂tαj(o)
∂2fi0
∂tα∂tβ = ∂x∂2jx∂xi0k(ϕ(p))∂f∂tαj(o)∂f∂tβk(o) +∂x∂xij0 ∂2fj
∂tα∂tβ.
By (1.2) it follows the independence of (1.1) on the chosen local chart.
For f :Rk →M with f(o) =ϕ(p)(x1, . . . , xn) we set yαi= ∂f∂tαi(o), zαβi =
∂2fi
∂tα∂tβ(o) and define a mapping φ : π−1(U) → ϕ(U)×Rkn ×Rk(k+1)2 n by φ([f]p) = (xi, yαi, zαβi).
The mappingφis invertible, its inverse associating to (xi, yαi, zαβi) the coset of the mappingϕ−1◦T, whereT is the Taylor polynomial of second order with respect tot.
2. Decomposition of T (E). Integrability conditions
Let E = Jk2M be an n+kn+ 2−1k(k+ 1)n dimensional C∞ manifold.
Some point u ∈ Jk2M in the local charts (U, ϕ) and (U0, ϕ0) has coordinates (xi, yαi, zαβi) and (xi0, yαi0, zαβi0) respectively. InU∩U0, the allowable coordi- nate transformations are given by the equation
xi0 =xi0(x1, x2, . . . , xn), rank(∂xi0
∂xi) =n, (2.1)
yαi0 = ∂xi0
∂xiyαi=yαi0(xi, yαi), α≤β, rank(yαi) =k, zαβi0 = ∂2xi0
∂xj∂xhyαjyβh+∂xi0
∂xizαβi=zαβi0(xi, yαi, zαβi) i, j, h, k, l= 1,2, . . . , n, α, β, γ, δ, κ, ε= 1,2, . . . , k.
Proposition 2.1. Transformations of type (2.1) form a pseudo group.
Proof. The neutral element of the group is given by the transformationxi0 =xi, yαi0 =yαi,zαβi0 =zαβi. Fromrank(∂x∂xii0) =nit follows that (2.1) has inverse
Curvature theory of generalized connection in JkM 143 transformation of the same type. If the pointuin some local chart (U00, ϕ00) has coordinates (xi00, yαi00, zαβi00), then inU0∩U00 the transformation law is given by equation obtained from (2.1) in such a way, that the latin indices obtain one more prime. After some calculation it follows that the coordinates of the point uinU ∩U00 satisfy the equation of type (2.1) if everywhere the index i0 is substituted byi00.
Let us introduce the notations:
(2.2) ∂i= ∂
∂xi, ∂αi= ∂
∂yαi, ∂αβi = ∂
∂zαβi,(α≤β).
The natural basis ¯B ofT(Jk2M) =T(E) is ¯B ={∂i, ∂αi, ∂αβi}.
If a change of coordinates (2.1) is performed, the elements of ¯B are trans- formed as follows:
∂i= (∂ixi0)∂i0+ (∂i∂jxi0)yαj∂αi0+ [(∂i∂j∂hxi0)yβjyγh+ (∂i∂jxi0)zβγj]∂βγi0
∂αi= (∂ixi0)∂αi0+ 2(∂i∂jxi0)yγj∂αγi0
(2.3)
∂αβi= (∂ixi0)∂αβi0. The adapted basis ofT(E) isB ={δi, δαi, δαβi}, where
(a) δi=∂i−Niαj∂αj−Niαβj∂αβj,(α≤β), (2.4)
(b) δαi=∂αi−Nαiβγj∂βγj,(β≤γ), (c) δαβi=∂αβi.
The summation is going over both types of indices.
From (2.4) it follows that∂αβi is transformed asd tensor field, i.e. ∂αβi = (∂ixi0)∂αβi0.
Proposition 2.2. The elements of B are transformed asd-tensor field, i.e.
(2.5) δi= (∂ixi0)δi0 δαi= (∂ixi0)δαi0,
if the nonlinear connection coefficients obey the following transformation law:
(a) Nαiβγj0 0(∂ixi0) =Nαiβγj(∂jxj0)−(∂αizβγj0), (2.6)
(b) Niαj0 0(∂ixi0) =Niαj(∂jxj0)−(∂iyαj0),
(c) Niαβj0 0(∂ixi0) =Niαβj(∂jxj0) +Niγj(∂γjzαβj0)−∂izαβj0. Proof. The proof follows from (2.2)–(2.5).
If we denote by TH, TV1 and TV2 the subspaces of T(E) (at the point u) spanned by{δi},{δαi},{δαβi}, then we have
T(E) =TH⊕TV1⊕TV2, where dimTH =n,dimTV1 =nk,dimTV2 = 2−1k(k+ 1)n.
The dual basis of ¯B is ¯B∗={dxi, dyαi, dzαβi}. By a change of coordinates (2.1) the element of ¯B∗ are transformed as follows:
dxi0 = (∂ixi0)dxi, (2.7)
dyαi0 = (∂i∂jxi0)yαjdxi+ (∂ixi0)dyαi,
dzαβi0 = [(∂i∂j∂hxi0)yαjyβh+ (∂i∂jxi0)zαβj]dxi+ (∂j∂hxi0)(yβhdyαj+yαhdyβj) + (∂ixi0)dzαβi. The adapted basis ofT∗(E) isB∗={dxi, δyαi, δzαβi}, where
δyαj=dyαj+Miαjdxi (2.8)
δzαβj=dzαβj+Mγiαβjdyγi+Miαβjdxi. The functionsM are, for the time being, undetermined.
Proposition 2.3. The necessary and sufficient conditions that the bases B and B∗ to be dual to each other (when B¯ and B¯∗ are dual) are the following equations:
(a) Miαj=Niαj (b)Mγiαβj =Nγiαβj,(α≤β) (2.9)
(c) Miαβj=Niαβj+NiγhNγhαβj,(α≤β).
Proof. The proof follows from (2.4)–(2.9).
Remark. The basesBandB∗ are more general than those used in [2], but they are not in accordance with the operatorJα, where
(2.10) Jαδi=δαi, Jβδαi=δβαi, Jγδαβi= 0.
If we take the basis ˜B={δi, δαi, δαβi}, whereδi andδαβi are determined by (2.4a) and (2.4c) and
δαi=∂αi−Niβj∂αβj
then (2.10) are satisfied. The coresponding dual basis ˜B∗is determined by (2.8), but now (2.9) has different form (see (2.16) in [2]).
Proposition 2.4. The horizontal distributionTH is integrable iff the following relations are satisfied
(2.11) Ki jβk = ¯Ki jβk =δjNiβk−δiNjβk= 0,
(2.12) Ki jγδk = ¯Ki jγδk +Ki jβhNβhγδk= 0,
(2.13) ( ¯Ki jγδk =δjNiγδk−δiNjγδk).
Curvature theory of generalized connection in JkM 145 Proof. A straightforward calculation gives
(2.14) [δi, δj] =Ki jκkδκk+Ki jκρkδκρk, and from (2.11)–(2.13) it follows the statement.
Proposition 2.5. The vertical distributionTV1 is integrable iff Kαi βjδκk = δβjNαiδκk−δαiNβjδκk= 0.
The proof follows from
(2.15) [δαi, δβj] =Kαi βjδκk δδκk. TV2 is integrable distribution because
(2.16) [δαβi, δγδj] = 0.
3. The generalized connection on T (E)
Definition 3.1. The generalized connectionD:T(E)×T(E)→T(E),(X, Y)
→DXY,X, Y ∈T(E)is the linear connection defined by:
Dδiδj=Fj ikδk+Fj iκkδκk+Fj iκρkδκρk
(3.1)
Dδiδγj=Fγj ik δk+Fγj iκkδκk+Fγj iκρkδκρk
Dδiδγδj=Fγδj ik δk+Fγδj iκkδκk+Fγδj iκρkδκρk
Dδαiδj=Fj αik δk+Fj αiκk δκk+Fj αiκρkδκρk
Dδαiδγj=Fγj αik δk+Fγj αiκk δκk+Fγj αiκρk δκρk
Dδαiδγδj=Fγδj αik δk+Fγδj αiκk δκk+Fγδj αiκρk δκρk
Dδαβiδj=Fj αβik δk+Fj αβiκk δκk+Fj αβiκρk δκρk
Dδαβiδγj=Fγj αβik δk+Fγj αβiκk δκk+Fγj αβiκρk δκρk
Dδαβiδγδj=Fγδj αβik δk+Fγδj αβiκk δκk+Fγδj αβiκρk δκρk (κ≤ρ).
Different types of linear connection in higher order geometries are given in [4]–[7].
Definition 3.2. If on the right-hand side of (3.1) all terms vanish except for the underlined then the generalized connection reduces to the distinguished d- connection.
If on the right-hand side of (3.1) all terms vanish except for Fj ik, Fγj αiκk , Fγδj αβiκρk , the generalized connection reduces to the strongly distinguished (s.d.) connection.
For the sake of brevity it is convenient to use new kind of indices, the latin capitals, which take values from 1 ton+nk+ 2−1k(k+ 1)n. Using them, (3.1) can be written in the form
DδIδJ=FJ IKδK= (3.2)
FJ Ik δk+FJ Iκkδκk+FJκρkI δκρk. LetX andY be vector fields determined onT(E) by:
(3.3) X=XIδI =Xiδi+Xαiδαi+Xαβiδαβi, (3.4) Y =YJδJ =Yjδj+Yγjδγj+Yγδjδγδj
then (3.2) has the form
(3.5) DXY =DXIδIYJδJ=XI(δIYJ+FHIJ YH)δJ =XIY|IJδI.
Using the explicit forms of (3.3) and (3.4) for (3.5) we get the following propo- sition.
Proposition 3.1. The generalized connectionDcan be expressed by covariant derivatives in the form:
DXY = (XiYj|i+XαiYj|αi+XαβiYj|αβi)δj+ (3.6)
(XiYγj|i +XαiYγj|αi+XαβiYγj|αβi)δγj+ (XiYγδj|i +XαiYγδj|αi+XαβiYγδj|αβi)δγδj.
In (3.1), all the connection coefficients F are arbitrary smooth function of x,y andz, but they should satisfy prescribed transformation law with respect to (2.1). Our intention is to find these laws of transformations. All covariant derivatives
(3.7) YJ|I =δIYJ+FH IJ YH =δIYJ+Fh IJYh+Fνh IJ Yνh+Fµνh IJ Yµνh which appear in (3.6) ared-tensor fields.
In (3.7) I∈ {i, αi, αβi},J ∈ {j, γj, γδj}.
For thed-connection (3.7) takes the form:
Y|Ij =δIYj+Fh Ij Yh Y|Iγj =δIYγj+Fδd IγjYδd Y|Iαβj =δIYαβj+Fµνh IαβjYµνh
I∈ {i, κk, γκk}.
The necessary and sufficient conditions that all covariant derivatives YJ|I appeared in (3.6) bed-tensor fields are given in the following proposition.
Curvature theory of generalized connection in JkM 147 Proposition 3.2. All the connection coefficients FH IJ that appear in (3.7) transform as d-tensor fields except for the case whenI=i. Then we have (3.8) (FHJ00i0)(∂ixi0)(∂hxh0) =FH iJ (∂jxj0)−(∂h∂ixj0).
Proof. If we suppose thatYJ|i (I=i in (3.7)) isd-tensor field, then YJ|i(∂jxj0) =YJ|i00(∂ixi0),
i.e.
(3.9) (δiYJ+FH iJ YH)(∂jxj0) = (δi0YJ0+FHJ00i0YH0)(∂ixi0).
As (see (2.4a) and (2.5))
δiYJ(∂jxj0) =δi(YJ∂jxj0)−YJδi(∂jxj0) = (∂ixi0)δi0YJ0−YJ(∂i∂jxj0)
the substitution of the above equation in (3.9) gives
FH iJ YH∂jxj0−YH(∂h∂ixj0) =FHJ00i0YH(∂hxh0)(∂ixi0)
from which follows (3.8). The connection coefficients from (3.8) appeared in the first three lines of (3.1).
If we putI =αi in (3.7), and suppose thatYJ|αi is d-tensor field, then we get
YJ|αi(∂jxj0) =YJ|αi0 0(∂ixi0)
(3.10) (δαiYJ+FH αiJ YH)(∂jxj0) = (δαi0YJ0 +FHJ00αi0YH0)(∂ixi0).
As (see (2.4b) and (2.5))
(δαiYJ)(∂jxj0) =δαi(YJ∂jxj0)−YJδαi(∂jxj0) = (∂ixi0)(δαi0YJ0), ((δαi∂jxj0) = 0)
the substitution of the above equation in (3.10) results in (3.11) FH αiJ (∂jxj0) =FHJ00αi0(∂hxh0)(∂ixi0).
From the above equation follows that all connection coefficients that ap- peared in the middle three lines of (3.1) are transformed asd-tensor fields.
In a similar way one can prove
(3.12) FH αβiJ (∂jxj0) =FHJ00αβi0(∂hxh0)(∂ixi0),
i.e. all connection coefficients that appeared in the last three lines of (3.1) are tensor fields.
The torsion tensor of the generalized connection D is determined by T(X, Y) =DXY −DYX−[X, Y].
A straightforward calculation gives
T(X, Y) ={(FJ IK −FI JK)δK−[δI, δJ]}YJXI. If we introduce the notation
(3.13) [δI, δJ] =KI JKδK, we get
(3.14) T(X, Y) = (FJ IK −FI JK −KI JK)YJXIδK=TJ IKYJXIδK. Now the components of KJ IK should be determined. [δi, δj], [δαi, δβj] and [δαβi, δγδj] are determined by (2.14), (2.15) and (2.16). Further, we obtain
[δi, δγj] =Ki γjκk δκk+Ki γjκρk δκρk, (3.15)
Ki γjκk =δγjNiκk
Ki γjκρk = ¯Ki γjκρk + ¯Ki γjδk Mδhκρk K¯i γjκρk =δγjNiκρk−δiNγjκρk [δi, δγδj] =Ki γδjκk ∂κk+Ki γδkκρk ∂κρk Ki γδjκk =∂γδjNiκk
Ki γδjκρk =∂γδjNiκρk [δαi, δγδj] =Kαi γδjκρk ∂κρk
Kαi γδjκρk =∂γδjNαiκδk
Theorem 3.1. The components of the torsion tensor
T(X, Y) =TJ IKYJXIδK
of the generalized connection D are determined by TJ IK =FJ IK −FI JK
except for the case when KI JK 6= 0(see (3.13), (3.14)), and then they have the
Curvature theory of generalized connection in JkM 149 form (see (2.14), (2.15) and (3.15)):
(a) Tj iκk =Fj iκk −Fi jκk −Ki jκk (3.16)
(b) Tj iκρk =Fj iκρk −Fi jκρk −Ki jκρk (c) Tγj αiκρk =Fγj αiκρk −Fαi γjκρk −Kαi γjκρk (d) Tγj iκk =Fγj iκk −Fi γjκk −Ki γjκk (e) Tγj iκρk =Fγj iκρk −Fi γjκρk −Ki γjκρk (f) Tγδj iκk =Fγδj iκk −Fi γδjκk −Ki γδjκk (g) Tγδj iκρk =Fγδj iκρk −Fi γδkκρk −Ki γδjκρk (h) Tγδj αiκρk =Fγδj αiκρk −Fαi γδjκρk −Kαi γδjκρk
AsTJ IK are components of thed-tensor field, using (3.16), (3.8), (3.11) and (3.12) we can obtain the transformation laws ofKJ IK.
Proposition 3.3. Ki jκk,Ki jκρk,Kαi γjκρk ,Kαi γδjκρk are d-tensor fields, Ki γjκk , Ki γjκρk , Ki γδjκk , Ki γδjκρk
are not d-tensor fields and they transform in the following way:
(3.17) Ki γjκk =Ki0κkγj0 0(∂ixi0)(∂jxj0)(∂k0xk) + (∂i∂jxk0)(∂k0xk) (similar for the next three K).
Proof. From (3.8) it follows, that Fj iκk −Fi jκk is ad-tensor, and from (3.16a) follows that Ki jκk is the difference of twod-tensors, so itself is ad-tensor.
As in (3.16d),Tγj iκk andFi γjκk ared-tensors (see (3.11)), so Fγj iκk −Ki γjκk is a d-tensor. Using this fact and (3.8) we obtain (3.17).
For thed-connection and s.d. connection in (3.15) all terms KA BC remain, because they are not functions of different connection coefficients, they only depend onN andM, which are involved in adapted bases. In some components ofTJ IK some ΓJ IK vanish (see definition 3.2).
4. The curvature theory of generalized connection
The curvature tensor
(4.1) R(X, Y)Z=DXDYZ−DYDXZ−D[X,Y]Z
can be calculated in the usual way. ForX =XAδA,Y =YBδB,Z=ZCδC we get
(4.2) DYZ =DYBδBZCδC =YB(δBZC)δC+YBZCFC BD δD,
DXDYZ=DXAδA[YB(δBZC)δC+YBZCFC BD δD] = (4.3)
XA(δAYB)(δBZC)δC+XAYBδA(δBZC)δC+ XAYB(δBZC)FC AD δD+XA(δAYB)ZCFC BD δD+ XAYB(δAZC)FC BD δD+XAYBZC(δAFC BD )δD+ XAYBZCFC BE FE AD δD.
Further, using the notation [δA, δB] =KA BD δD, we get D[X,Y]Z=D[XAδA,YBδB]ZCδC = (4.4)
XA(δAYB)[(δBZC)δC+ZCΓC BD δD]− YB(δBXA)[(δAZC)δC+ZCΓC AD δD] +
XAYB{[δA, δB]ZC}δC+XAYBZCKA BE FC ED δD. Finally we obtain
Theorem 4.1. The curvature tensor of the generalized connectionDonT(E) is given by
(4.5) R(X, Y)Z =RC BAD XAYBZCδD, where
(4.6) RC BAD =KC BAD +FC ED KB AE ,
(4.7) KC BAD =δAFC BD +FC BE FE AD −δBFC AD −FC AE FE BD .
The values of KA BE which are different from zero are determined by (3.16).
Since the latin capitals as indices are connected with TH(i, j, k, h, . . .),TV1(αi, βj, γk, . . .) orTV2(αβi, γδj, κρk, . . .) there are 34types of curvature tensors.
From (4.2) it follows
DYZ =YBZC|BδC,
DX(DYZ) =XA(YBZC|B)|AδC= (4.8)
XA(YB|AZC|B+YBZC|B|A)δC. hand,side from (4.2) we get
(4.9) D[X,Y]Z =ZC|D[X, Y]DδC=A+B, where
A = ZC|B(XAδAYB−YAδAXB)δC= (4.10)
[XAYBAZC|B−YBXA|BZC|A− (FB AD −FA BD )XAYBZC|D]δC,
Curvature theory of generalized connection in JkM 151 (4.11) B=KA BD XAYBZC|DδC.
Substituting (4.10) and (4.11) into (4.9), then (4.9) and (4.4) into (4.1), we obtain
(4.12) R(X, Y)Z= (ZC|B|A−ZC|A|B+TB AD ZC|D)XAYBδC. From (4.12) and (4.5) it follows
Theorem 4.2. The Ricci equations for the generalized connectionD have the form:
ZC|B|A−ZC|A|B+TB AD ZC|D=RD BAC ZD, where
A∈ {i, αi, αβi}, B∈ {j, γj, γδj}, C∈ {k, εk, ερk}, D∈ {h, νh, νµh}.
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Received by the editors February 22, 2006