The theory of flat Pseudo-Riemannian manifolds and flat affine manifolds is closely connected to the topic of prehomogeneous affine representations of Lie groups. In this article, we exhibit several aspects of this correspondence. At the heart of our presentation is a development of the theory of characteristic classes and characters of prehomogeneous affine representations. We give applications concerning flat affine, as well as Pseudo-Riemannian and symplectic affine flat manifolds.
For an arbitrary nondegenerate curve in a pseudo-Riemann\-ian (including Riemannian) 2-manifold, we express the equi-affine curvature with the help of the Frenet (geodesic) curvature of this curve.
A few formulas and theorems for statistical structures are proved. They deal with various curvatures as well as with metric properties of the cubic form or its covariant derivative. Some of them generalize formulas and theorems known in the case of Lagrangian submanifolds or affine hypersurfaces.
We introduce a new approach for computing curvature of sub-Riemannian manifolds. Curvature is here meant as symplectic invariants of Jacobi curves of geodesics, as introduced by Zelenko and Li. We describe how they can be expressed using a compatible affine connection and induced tensors, without any restriction on our sub-Riemannian manifold or the choice of connection. In particular, we obtain a universal Bonnet-Myers theorem of Riemannian type. We also give universal formulas for the canonical horizontal frame along each geodesic and an algorithm for computing the curvature in general. Seve…
In this paper, the Cartan frames and the equi-affine curvatures are described with the help of the Frenet frames and the Frenet curvatures of a non-null and non-degenerate curve in a 3-dimensional pseudo-Riemannian manifold. The constancy of the Frenet curvatures of such a curve always implies the constancy of the equi-affine curvatures. We show that the converse statement does not hold in general. Finally, we study the equi-affine curvatures of null curves in 3-dimensional Lorentzian manifolds, and prove that they are related to their pseudo-torsion.
In this paper, we prove that the deformed Riemannian extension of any affine Szabó manifold is a Szabó pseudo-Riemannian metric and vice-versa. We proved that the Ricci tensor of an affine surface is skew-symmetric and nonzero everywhere if and only if the affine surface is Szabó. We also find the necessary and sufficient condition for the affine Szabó surface to be recurrent. We prove that for an affine Szabó recurrent surface the recurrence covector of a recurrence tensor is not locally a gradient.
In this paper, we give a general group-theoretic construction of affine $\RR$-buildings, and more generally, of affine $Λ$-buildings, associated to semisimple Lie groups over nonarchimedean real closed fields. The construction of Kleiner-Leeb using the asymptotic cone of a Riemannian symmetric space appears as a special case. The explicit knowledge of the building arising here as the asymptotic cone simplifies the proof of the Margulis conjecture due to Kleiner-Leeb.
Consider a smooth manifold $M$ equipped with a bracket generating distribution $D$. Two sub-Riemannian metrics on $(M,D)$ are said to be projectively (resp. affinely) equivalent if they have the same geodesics up to reparameterization (resp. up to affine reparameterization). A sub-Riemannian metric $g$ is called rigid (resp. conformally rigid) with respect to projective/affine equivalence, if any sub-Riemannian metric which is projectively/affinely equivalent to $g$ is constantly proportional to $g$ (resp. conformal to $g$). In the Riemannian case the local classification of projectively and a…
In this paper, we study locally strongly convex affine hyperspheres in the unimodular affine space $\mathbb{R}^{n+1}$ which, as Riemannian manifolds, are locally isometric to the Riemannian product of two Riemannian manifolds both possessing constant sectional curvatures. As the main result, a complete classification of such affine hyperspheres is established. Moreover, as direct consequences, affine hyperspheres of dimensions 3 and 4 with parallel Ricci tensor are also classified.
By considering the projectivized spectrum of the Jacobi operator, we introduce the concept of projective Osserman manifold in both the affine and in the pseudo-Riemannian settings. If M is an affine projective Osserman manifold, then the modified Riemannian extension metric on the cotangent bundle is both spacelike and timelike projective Osserman. Since any rank 1 symmetric space is affine projective Osserman, this provides additional information concerning the cotangent bundle of a rank 1 Riemannian symmetric space with the modified Riemannian extension metric. We construct other examples of…
In these notes we survey basic concepts of affine geometry and their interaction with Riemannian geometry. We give a characterization of affine manifolds which has as counterpart those pseudo-Riemannian manifolds whose Levi-Civita connection is flat. We show that no connected semisimple Lie group admits a left invariant flat affine connection. We characterize flat pseudo-Riemannian Lie groups. For a flat left-invariant pseudo-metric on a Lie group, we show the equivalence between the completeness of the Levi-Civita connection and unimodularity of the group. We emphasize the case of flat left i…
We prove an existence result for local and global G-structure preserving affine immersions between affine manifolds. Several examples are discussed in the context of Riemannian and semi-Riemannian geometry, including the case of isometric immersions into Lie groups endowed with a left-invariant metric, and the case of isometric immersions into products of space forms.
In the present paper it is considered a class V of 3-dimensional Riemannian manifolds M with a metric g and two affinor tensors q and S. It is defined another metric \bar{g} in M. The local coordinates of all these tensors are circulant matrices. It is found: 1)\ a relation between curvature tensors R and \bar{R} of g and \bar{g}, respectively; 2)\ an identity of the curvature tensor R of g in the case when the curvature tensor \bar{R} vanishes; 3)\ a relation between the sectional curvature of a 2-section of the type \{x, qx\} and the scalar curvature of M.
In contrast to SPD matrices, few tools exist to perform Riemannian statistics on the open elliptope of full-rank correlation matrices. The quotient-affine metric was recently built as the quotient of the affine-invariant metric by the congruence action of positive diagonal matrices. The space of SPD matrices had always been thought of as a Riemannian homogeneous space. In contrast, we view in this work SPD matrices as a Lie group and the affine-invariant metric as a left-invariant metric. This unexpected new viewpoint allows us to generalize the construction of the quotient-affine metric and t…
We use the modified Riemannian extension of an affine surface to construct Bach flat manifolds. As all these examples are VSI (vanishing scalar invariants), we shall construct scalar invariants which are not of Weyl type to distinguish them. We illustrate this phenomena in the context of homogeneous affine surfaces.
Given an affine transformation $T$, we define its Fisher distortion $Dist_F(T)$. We show that the Fisher distortion has Riemannian metric structure and provide an algorithm for finding mean distorting transformation -- namely -- for a given set $\{T_{i}\}_{i=1}^N$ of affine transformations, find an affine transformation $T$ that minimize the overall distortion $\sum_{i=1}^NDist_F^{2}(T^{-1}T_{i}).$ The mean distorting transformation can be useful in some fields -- in particular, we apply it for rendering affine panoramas.
Let $M$ be an $n$-dimensional manifold with a torsion free affine connection $\nabla$ and let $T^*M$ be the cotangent bundle. In this paper, we consider some of the geometrical aspect of a twisted Riemannian extension which provide a link between the affine geometry of $(M,\nabla)$ and the neutral signature pseudo-Riemannian geometry of $T^*M$. We investigate the spectral geometry of the Szabó operator on $M$ and on $T^*M$.
We consider spacetime to be a connected real 4-manifold equipped with a Lorentzian metric and an affine connection. The 10 independent components of the (symmetric) metric tensor and the 64 connection coefficients are the unknowns of our theory. We introduce an action which is quadratic in curvature and study the resulting system of Euler-Lagrange equations. In the first part of the paper we look for Riemannian solutions, i.e. solutions whose connection is Levi-Civita. We find two classes of Riemannian solutions: 1) Einstein spaces, and 2) spacetimes with metric of a pp-wave and parallel Ricci…
We construct homogeneous flat pseudo-Riemannian manifolds with non-abelian fundamental group. In the compact case, all homogeneous flat pseudo-Riemannian manifolds are complete and have abelian linear holonomy group. To the contrary, we show that there do exist non-compact and non-complete examples, where the linear holonomy is non-abelian, starting in dimensions $\geq 8$, which is the lowest possible dimension. We also construct a complete flat pseudo-Riemannian homogeneous manifold of dimension 14 with non-abelian linear holonomy. Furthermore, we derive a criterion for the properness of the …
We construct a canonically defined affine connection in sub-Riemannian contact geometry. Our method mimics that of the Levi-Civita connection in Riemannian geometry. We compare it with the Tanaka-Webster connection in the three-dimensional case.
In this paper, we study non integrable distributions in a Riemannian manifold with a semi-symmetric metric connection, a semi-symmetric non-metric connection and a statistical connection. We obtain the Gauss, Codazzi, and Ricci equations for non integrable distributions with respect to the semi-symmetric metric connection, the semi-symmetric non-metric connection and the statistical connection. As applications, we obtain Chen's inequalities for non integrable distributions of real space forms endowed with a semi-symmetric metric connection and a semi-symmetric non-metric connection. We give so…
For any k which is at least 2, we exhibit complete k-curvature homogeneous neutral signature pseudo-Riemannian manifolds which are not k+1-affine curvature homogeneous, and hence not locally homogeneous. All the local scalar Weyl invariants of these manifolds vanish. These manifolds are Ricci flat, Osserman, and Ivanov-Petrova.
In this paper, we introduce semi-symmetric metric Koszul forms and semi-symmetric non-metric Koszul forms on singular semi-Riemannian manifolds. Semi-symmetric metric Koszul forms and semi-symmetric non-metric Koszul forms and their curvature of semi-regular warped products are expressed in terms of those of the factor manifolds. We also introduce Koszul forms associated to the almost product structure on singular almost product semi-Riemannian manifolds. Koszul forms associated to the almost product structure and their curvature of semi-regular almost product warped products are expressed in …
We prove that a bounded affine vector field on a complete Finsler manifold is a Killing vector field. This generalizes the analogous result of Hano for Riemannian manifolds. Even though our result is more general, the proof is significantly simpler.
We study the affine quasi-Einstein Equation for homogeneous surfaces. This gives rise through the modified Riemannian extension to new half conformally flat generalized quasi-Einstein neutral signature $(2,2)$ manifolds, to conformally Einstein manifolds and also to new Einstein manifolds through a warped product construction.
For k at least 2, we exhibit complete k-curvature homogeneous neutral signature pseudo-Riemannian manifolds which are not locally affine homogeneous (and hence not locally homogeneous). The curvature tensor of these manifolds is modeled on that of an indecomposible symmetric space. All the local scalar Weyl curvature invariants of these manifolds vanish.
Using a coordinate free characterization of hyperplanes intersection, we provide explicitly a set of local generators for a smooth affine distribution given by those smooth vector fields $X\in\mathfrak{X}(U)$ defined eventually on an open subset $U\subseteq M$ of a smooth Riemannian manifold $(M,g)$, that verifies the relations $g(X,X_1)=\dots =g(X,X_k)=0$, $g(X,Y_1)=h_1, \dots, g(X,Y_p)=h_p$, where $X_1,\dots, X_k, Y_1, \dots, Y_p \in\mathfrak{X}(U)$, and respectively $h_1,\dots, h_p \in \mathcal{C}^{\infty}(U,\mathbb{R})$, are a-priori given quantities. In the case when $X_1,\dots, X_k, Y_1,…
We show that the extended principal bundle of a Cartan geometry of type $(A(m,\mathbb{R}),GL(m,\mathbb{R}))$, endowed with its extended connection $\hatω$, is isomorphic to the principal $A(m,\mathbb{R})$-bundle of affine frames endowed with the affine connection as defined in classical Kobayashi-Nomizu volume I. Then we classify the local holonomy groups of the Cartan geometry canonically associated to a Riemannian manifold. It follows that if the holonomy group of the Cartan geometry canonically associated to a Riemannian manifold is compact then the Riemannian manifold is locally a product …
We consider a 3-dimensional Riemannian manifold with additional structure q. We find a condition that the affine structure q is parallel with respect to the Riamannian connection.We prove the sectional curvatures of three 2-sections formed linearly independent vectors are equal among them.
An affine hypersurface (AH) structure is a pair comprising a conformal structure and a projective structure such that for any torsion-free connection representing the projective structure the completely trace-free part of the covariant derivative of any metric representing the conformal structure is completely symmetric. AH structures simultaneously generalize Weyl structures and abstract the geometric structure determined on a non-degenerate co-oriented hypersurface in flat affine space by its second fundamental form together with either the projective structure induced by the affine normal o…
Motivated by the construction of Bach flat neutral signature Riemannian extensions, we study the space of parallel trace free tensors of type $(1,1)$ on an affine surface. It is shown that the existence of such a parallel tensor field is characterized by the recurrence of the symmetric part of the Ricci tensor.
The Oscillator Groups,$\G_λ,$ are the only solvable, non commutative, simply connected Lie groups to admit a Lorentzian bi-invariant metric. For these groups, we give sufficient conditions for a left-invariant pseudo-Riemannian metric to be complete, we determine the group of isometries, we exhibit a left-invariant affine structure and prove that it is not Lorentzian. As an application, we provide new examples of compact pseudo-Riemannian (sometimes Lorentzian) locally symmetric, occasionally affine, manifolds, complete or incomplete.
The results of the paper concern the topological structure of complete riemannian manifolds with cyclic holonomy groups and low-dimensional orientable complete flat manifolds. We also discuss related results such as the affine classification of orientable complete flat 4-manifolds, an algebraic criterion of an affine equivalence, the relationship between holonomy homomorphisms and some algebraic and geometric invariants.
In previous papers, a fundamental affine method for studying homogeneous geodesics was developed. Using this method and elementary differential topology it was proved that any homogeneous affine manifold and in particular any homogeneous pseudo-Riemannian manifold admits a homogeneous geodesic through arbitrary point. In the present paper this affine method is refined and adapted to the pseudo-Riemannian case. Using this method and elementary topology it is proved that any homogeneous Lorentzian manifold of even dimension admits a light-like homogeneous geodesic. The method is illustrated in d…
These notes on Riemannian geometry use the bases bundle and frame bundle, as in Geometry of Manifolds, to express the geometric structures. It has more problems and omits the background material. It starts with the definition of Riemannian and semi-Riemannian structures on manifolds. Affine connections, geodesics, torsion and curvature, the exponential map, and the Riemannian connection follow quickly. The Taylor series for of the metric in normal coordinates is an unusual feature. The last third covers, first and second variation of energy, completeness, cut points, the Hadamard-Cartan theore…
Let $(M,\nabla,\langle\;,\;\rangle)$ be a manifold endowed with a flat torsionless connection $\nabla$ and a Riemannian metric $\langle\;,\;\rangle$ and $(T^kM)_{k\geq1}$ the sequence of tangent bundles given by $T^kM=T(T^{k-1}M)$ and $T^1M=TM$. We show that, for any $k\geq1$, $T^kM$ carries a Hermitian structure $(J_k,g_k)$ and a flat torsionless connection $\nabla^k$ and when $M$ is a Lie group and $(\nabla,\langle\;,\;\rangle)$ are left invariant there is a Lie group structure on each $T^kM$ such that $(J_k,g_k,\nabla^k)$ are left invariant. It is well-known that $(TM,J_1,g_1)$ is Kähler if…
In this paper, we consider the cyclic parallel Ricci tensor condition, which is a necessary condition for an affine manifold to be Szabó. We show that, in dimension $3$, there are affine manifolds which satisfy the cyclic parallel Ricci tensor but are not Szabó. Conversely, it is known that in dimension $2$, the cyclic parallel Ricci tensor forces the affine manifold to be Szabó. Examples of $3$-dimensional affine Szabo manifolds are also given. Finally, we give some properties of Riemannian extensions defined on the cotangent bundle over an affine Szabó manifold.
In this paper we prove that geodesic mappings of (pseudo-) Riemannian manifolds preserve the class of differentiability \hbox{$(C^r, r\geq1)$}. Also, if the Einstein space $V_n$ admits a non trivial geodesic mapping onto a \hbox{(pseudo-)} Riemannian manifold $\bar V_n\in C^1$, then $\bar V_n$ is an Einstein space. If a four-dimensional Einstein space with non constant curvature globally admits a geodesic mapping onto a (pseudo-) Riemannian manifold $\bar V_4\in C^1$, then the mapping is affine and, moreover, if the scalar curvature is non vanishing, then the mapping is homothetic, i.e. $\bar …
In Theorem 1, we generalize the results of Szabo for Berwald metrics that are not necessary strictly convex: we show that for every Berwald metric F there always exists a Riemannian metric affine equivalent to F. As an application we show (Corollary 3) that every Berwald projectively flat metric is a Minkowski metric; this statement is a "Berwald" version of Hilbert's 4th problem. Further, we investigate geodesic equivalence of Berwald metrics. Theorem 2 gives a system of PDE that has a (nontrivial) solution if and only if the given essentially Berwald metric admits a Riemannian metric that is…
The affine Grassmannian is a noncompact smooth manifold that parameterizes all affine subspaces of a fixed dimension. It is a natural generalization of Euclidean space, points being zero-dimensional affine subspaces. We will realize the affine Grassmannian as a matrix manifold and extend Riemannian optimization algorithms including steepest descent, Newton method, and conjugate gradient, to real-valued functions on the affine Grassmannian. Like their counterparts for the Grassmannian, these algorithms are in the style of Edelman--Arias--Smith --- they rely only on standard numerical linear alg…
We consider different sub-Laplacians on a sub-Riemannian manifold $M$. Namely, we compare different natural choices for such operators, and give conditions under which they coincide. One of these operators is a sub-Laplacian we constructed previously in \cite{GordinaLaetsch2014a}. This operator is canonical with respect to the horizontal Brownian motion, we are able to define the sub-Laplacian without some a priori choice of measure. The other operator is $\operatorname{div}^ω \operatorname{grad}_{\mathcal{H}}$ for some volume form $ω$ on $M$. We illustrate our results by examples of three Lie…
A Sim(n-1,1) affine manifold is an affine manifold whose linear holonomy is contained in the similarity lorentzian group but not in the lorentzian group. The class of similarity lorentzian affine manifolds is a small part in the nice class of conformally lorentzian flat manifolds. In this paper we show that a compact Sim(n-1,1) affine manifold is incomplete. We characterize the universal cover of radiant compact Sim(n-1,1) affine manifolds whose developing map is injective. Let q be the quadratic form which define the Sim(n-1,1) structure, using riemannian foliation theory, we classify compact…
The authors Balogh-Tyson-Vecchi in arXiv:1604.00180 utilize the Riemannian approximations scheme $(\mathbb H^1,<,>_L)$, in the Heisenberg group, introduced by Gromov, to calculate the limits of Gaussian and normal curvatures defined on surfaces of $\mathbb H^1$ when $L\rightarrow\infty$. They show that these limits exist (unlike the limit of Riemannian surface area form or length form), and they obtain Gauss-Bonnet theorem in $\mathbb H^1$ as limit of Gauss-Bonnet theorems in $(\mathbb H^1,<,>_L)$ when $L$ goes to infinity. This construction was extended by Wang-Wei in arXiv:1912.00302 to the …
In every point of a Kähler manifold there exist special holomorphic coordinates well adapted to the underlying geometry. Comparing these Kähler normal coordinates with the Riemannian normal coordinates defined via the exponential map we prove that their difference is a universal power series in the curvature tensor and its iterated covariant derivatives and devise an algorithm to calculate this power series to arbitrary order. As a byproduct we generalize Kähler normal coordinates to the class of complex affine manifolds with (1,1)-curvature tensor. Moreover we describe the Spencer connection …
In this paper, we study locally strongly convex Tchebychev hypersurfaces, namely the {\it centroaffine totally umbilical hypersurfaces}, in the $(n+1)$-dimensional affine space $\mathbb{R}^{n+1}$. We first make an ordinary-looking observation that such hypersurfaces are characterized by having a Riemannian structure admitting a canonically defined closed conformal vector field. Then, by taking the advantage of properties about Riemannian manifolds with closed conformal vector fields, we show that the ellipsoids are the only centroaffine Tchebychev hyperovaloids. This solves the longstanding pr…
Our aim here is to investigate the holomorphic geometric structures on compact complex manifolds which may not be Kähler. We prove that holomorphic geometric structures of affine type on compact Calabi-Yau manifolds with polystable tangent bundle (with respect to some Gauduchon metric on it) are locally homogeneous. In particular, if the geometric structure is rigid in Gromov's sense, then the fundamental group of the manifold must be infinite. We also prove that compact complex manifolds of algebraic dimension one bearing a holomorphic Riemannian metric must have infinite fundamental group.
I study Gromov-Hausdorff limits of complex curves endowed with singular flat metrics of constant diameter. I formulate a criterion that the limit is collapsed in terms of a certain piecewise affine weight function on the dual intersection complex of a semi-stable model of the degeneration introduced by Kontsevich and Soibelman. I describe the collapsed and non-collapsed limits, which are, respectively, metric graphs and finite collections of complex curves with flat metrics glued along finitely many points. I show that the collapsed limit of any positive genus can occur.
An AH (affine hypersurface) structure is a pair comprising a projective equivalence class of torsion-free connections and a conformal structure satisfying a compatibility condition which is automatic in two dimensions. They generalize Weyl structures, and a pair of AH structures is induced on a co-oriented non-degenerate immersed hypersurface in flat affine space. The author has defined for AH structures Einstein equations, which specialize on the one hand to the usual Einstein Weyl equations and, on the other hand, to the equations for affine hyperspheres. Here these equations are solved for …
One says that a smooth manifold M is a pseudo-Riemannian manifold of signature (p,q) if the tangent bundle TM is equipped with a smooth non-degenerate symmetric inner product g of signature (p,q). Similarly one says that M is an affine manifold if TM is equipped with a torsion free connection. One says g is Osserman if the eigenvalues of the Jacobi operator are constant on the pseudo-sphere bundles of unit timelike and spacelike vectors. We extend this concept from the pseudo-Riemannian to the affine setting to define the notion of a projectively Osserman manifold. This notion is the focus of …
We study the geodesic orbit property for nilpotent Lie groups $N$ when endowed with a pseudo-Riemannian left-invariant metric. We consider this property with respect to different groups acting by isometries. When $N$ acts on itself by left-translations we show that it is a geodesic orbit space if and only if the metric is bi-invariant. Assuming $N$ is 2-step nilpotent and with non-degenerate center we give algebraic conditions on the Lie algebra $\mathfrak n$ of $N$ in order to verify that every geodesic is the orbit of a one-parameter subgroup of $N\rtimes\operatorname{Auto}(N)$. In addition …
The group action which defines the moduli problem for the deformation space of flat affine structures on the two-torus is the action of the affine group $\Aff(2)$ on $\bbR^2$. Since this action has non-compact stabiliser $\GL(2,\bbR)$, the underlying locally homogeneous geometry is highly non-Riemannian. In this article, we describe the deformation space of all flat affine structures on the two-torus. In this context interesting phenomena arise in the topology of the deformation space, which, for example, is \emph{not} a Hausdorff space. This contrasts with the case of constant curvature metri…
