A simple Almost-Riemmanian Structure on a Lie group G is defined by a linear vector field and dim(G)-1 left-invariant ones. We state results about the singular locus, the abnormal extremals and the desingularization of such ARS's, and these results are illustrated by examples on the 2D affine and the Heisenberg groups.These ARS's are extended in two ways to homogeneous spaces, and a necessary and sufficient condition for an ARS on a manifold to be equivalent to a general ARS on a homogeneous space is stated.
Two-dimensional almost-Riemannian structures are generalized Riemannian structures on surfaces for which a local orthonormal frame is given by a Lie bracket generating pair of vector fields that can become collinear. We study the relation between the topological invariants of an almost-Riemannian structure on a compact oriented surface and the rank-two vector bundle over the surface which defines the structure. We analyse the generic case including the presence of tangency points, i.e. points where two generators of the distribution and their Lie bracket are linearly dependent. The main result…
We consider a generalization of Riemannian geometry that naturally arises in the framework of control theory. Let $X$ and $Y$ be two smooth vector fields on a two-dimensional manifold $M$. If $X$ and $Y$ are everywhere linearly independent, then they define a classical Riemannian metric on $M$ (the metric for which they are orthonormal) and they give to $M$ the structure of metric space. If $X$ and $Y$ become linearly dependent somewhere on $M$, then the corresponding Riemannian metric has singularities, but under generic conditions the metric structure is still well defined. Metric structures…
This article deals with 2d almost Riemannian structures, which are generalized Riemannian structures on manifolds of dimension 2. Such sub-Riemannian structures can be locally defined by a pair of vector fields (X,Y), playing the role of orthonormal frame, that may become colinear on some subset. We denote D = span(X,Y). After a short introduction, I first give a description of the local cut and conjugate loci at a Grushin point q (where Dq has dimension 1 and Dq = TqM) that makes appear that the cut locus may have an angle at q. In a second time I describe the local cut and conjugate loci at …
In the present paper we prove Liouville-type theorems: non-existence theorems for some complete Riemannian almost product manifolds and special mappings of complete Riemannian manifolds which generalize similar results for compact manifolds.
A Lie group as a 4-dimensional pseudo-Riemannian manifold is considered. This manifold is equipped with an almost product structure and a Killing metric in two ways. In the first case Riemannian almost product manifold with nonintegrable structure is obtained, and in the second case - a pseudo-Riemannian one. Each belongs to a 4-parametric family of manifolds, which are characterized geometrically.
A Sasaki-like almost contact complex Riemannian manifold is defined as an almost contact complex Riemannian manifold which complex cone is a holomorphic complex Riemannian manifold. Explicit compact and non-compact examples are given. A canonical construction producing a Sasaki-like almost contact complex Riemannian manifold from a holomorphic complex Riemannian manifold is presented and called an $S^1$-solvable extension.
For a Riemannian $G$-structure, we compute the divergence of the vector field induced by the intrinsic torsion. Applying the Stokes theorem, we obtain the integral formula on a closed oriented Riemannian manifold, which we interpret in certain cases. We focus on almost harmitian and almost contact metric structures.
Almost paracontact almost paracomplex Riemannian manifolds of the lowest dimension 3 are considered. Such structures are constructed on a family of Lie groups and the obtained manifolds are studied. Curvature properties of these manifolds are investigated. An example is commented as support of obtained results.
Almost paracontact almost paracomplex Riemannian manifolds of the lowest dimension are studied. Such structures are constructed on hyperspheres in 4-dimensional spaces, Euclidean and pseudo-Euclidean, respectively. The obtained manifolds are studied and characterised in terms of the classification used and their geometric properties.
The canonical connection on a Riemannian almost product manifold is an analogue to the Hermitian connection on an almost Hermitian manifold. In this paper we consider the canonical connection on a class of Riemannian almost product manifolds with non-integrable almost product structure. We construct and characterize an example by a Lie group.
As a generalization of slant Riemannian maps (Sahin), semi-slant Riemannian maps (Park), almost h-slant submersions (Park 2012), and almost h-semi-slant submersions (Park 2011), we introduce the notion of almost h-semi-slant Riemannian maps from almost quaternionic Hermitian manifolds to Riemannian manifolds. We investigate the integrability of distributions, the harmonicity of such maps, the geometry of fibers, etc. We also deal with the condition for such maps to be totally geodesic and study some decomposition theorems. Moreover, we give some examples.
The class of the Riemannian almost product manifolds with nonintegrable structure is considered. Some identities for curvature tensor as certain invariant tensors and quantities are obtained.
To determine the Lie groups that admit a flat (eventually complete) left invariant semi-Riemannian metric is an open and difficult problem. The main aim of this paper is the study of the flatness of left invariant semi Riemannian metrics on quadratic Lie groups i.e. Lie groups endowed with a bi-invariant semi Riemannian metric. We give a useful necessary and sufficient condition that guaranties the flatness of a left invariant semi Riemannian metric defined on a quadratic Lie group. All these semi Riemannian metrics are complete. We show that there are no Riemannian or Lorentzian flat left inv…
A Lie group $G$ endowed with a left invariant Riemannian metric $g$ is called Riemannian Lie group. Harmonic and biharmonic maps between Riemannian manifolds is an important area of investigation. In this paper, we study different aspects of harmonic and biharmonic homomorphisms between Riemannian Lie groups. We show that this class of biharmonic maps can be used at the first level to build examples but, as we will see through this paper, its study will lead to some interesting mathematical problems in the theory of Riemannian Lie groups.
Lie groups considered as three-dimensional almost paracontact almost paracomplex Riemannian manifolds are investigated. In each basic class of the classification used for the manifolds under consideration, a correspondence is established between the Lie algebra and the explicit matrix representation of its Lie group.
An almost-Riemannian structure on a surface is a generalized Riemannian structure whose local orthonormal frames are given by Lie bracket generating pairs of vector fields that can become collinear. The distribution generated locally by orthonormal frames has maximal rank at almost every point of the surface, but in general it has rank 1 on a nonempty set which is generically a smooth curve. In this paper we provide a short introduction to 2-dimensional almost-Riemannian geometry highlighting its novelties with respect to Riemannian geometry. We present some results that investigate topologica…
We obtain the natural diagonal almost product and locally product structures on the total space of the cotangent bundle of a Riemannian manifold. We find the Riemannian almost product (locally product) and the (almost) para-Hermitian cotangent bundles of natural diagonal lift type. We prove the characterization theorem for the natural diagonal (almost) para-Kählerian structures on the total spaces of the cotangent bundle.
In this paper we study geodesics of left-invariant sub-Riemannian metrics on SO(3) and almost-Riemannian metrics on $S^2$. These structures are connected with each other, and it is possible to use information about one of them to obtain results about another one. We give an explicit parameterization of sub-Riemannian geodesics on SO(3) and use it to get a parameterization of almost-Riemannian geodesics on $S^2$. We use symmetries of the exponential map to obtain some necessary optimality conditions. We present some upper bounds on the cut time in both cases and describe periodic geodesics on S…
We define a class of Riemannian and pseudo-Riemannian 2-step nilpotent Lie groups with nondegenerate centers that generalize the H-type groups of Kaplan. Examples are given and geometric properties are investigated.
Notions of compatible and almost compatible pseudo-Riemannian metrics, which are motivated by the theory of compatible (local and nonlocal) Poisson structures of hydrodynamic type and generalize the notion of flat pencil of metrics, are introduced and studied.
We give some fundamental properties of the induced structures on submanifolds immersed in almost product or locally product Riemannian manifolds. We study the induced structure by the composition of two isometric immersions on submanifolds in an almost product Riemannian manifold. We give an effective construction for some induced structures on submanifolds of codimension 1 or 2 in Euclidean space.
We show that pseudo-Riemannian almost quaternionic homogeneous spaces with index 4 and an H-irreducible isotropy group are locally isometric to a pseudo-Riemannian quaternionic Kähler symmetric space if the dimension is at least 16. In dimension 12 we give a non-symmetric example.
In the present work, we introduce a linear connection (preserving the almost product structure and the Riemannian metric) on Riemannian almost product manifolds. This connection, called P-connection, is an analogue of the first canonical connection of Lichnerowicz in the Hermitian geometry and the B-connection in the geometry of the almost complex manifolds with Norden metric. Particularly, we consider the P-connection on a the class of manifolds with nonintegrable almost product structure.
Non-trivial examples of Riemannian almost product structures are constructed on the product bundle of the positive and negative twistor spaces of an oriented Riemannian four-manifold. The Gil-Medrano and Naveira types of these structures are determined and a geometric interpretation of the corresponding classes is given.
Using vertical and complete lifts, any left invariant Riemannian metric on a Lie group induces a left invariant Riemannian metric on the tangent Lie group. In the present article we study the Riemannian geometry of tangent bundle of two families of Lie groups. The first one is the family of special Lie groups considered by J. Milnor and the second one is the class of Lie groups with one-dimensional commutator groups. The Levi-Civita connection, sectional and Ricci curvatures have been investigated.
We classify homogeneous pseudo-Riemannian manifolds of index 4 which admit an invariant almost hyper-Hermitian structure and an H-irreducible isotropy group. The main result is that all these spaces are flat except in dimension 12.
As a generalization of anti-invariant Riemannian submersions, we introduce anti-invariant Riemannian maps from almost Hermitian manifolds to Riemannian manifolds. We give examples and investigate the geometry of foliations which are arisen from the definition of an anti-Riemannian map. Then we give a decomposition theorem for the source manifold of such maps. We also find necessary and sufficient conditions for anti-invariant Riemannian maps to be totally geodesic and show that every pluriharmonic Lagrangian Riemannian map, which is a special anti-invariant Riemannian map, from a Kähler manifo…
We study Wick-rotations of left-invariant metrics on Lie groups, using results from real GIT (\cite{1}, \cite{2}, \cite{3}). An invariant for Wick-rotation of Lie groups is given, and we describe when a pseudo-Riemannian Lie group can be Wick-rotated to a Riemannian Lie group. We also prove a general version (for general Lie algebras) of $\acute{E}$. Cartan's result, namely the existence and conjugacy of Cartan involutions.
We show that any left invariant metric with harmonic curvature on a solvable Lie group is Ricci-parallel. We show the same result for any Lie group of dimension $\leq$ 6.
A 3D almost-Riemannian manifold is a generalized Riemannian manifold defined locally by 3 vector fields that play the role of an orthonormal frame, but could become collinear on some set $\Zz$ called the singular set. Under the Hormander condition, a 3D almost-Riemannian structure still has a metric space structure, whose topology is compatible with the original topology of the manifold. Almost-Riemannian manifolds were deeply studied in dimension 2. In this paper we start the study of the 3D case which appear to be reacher with respect to the 2D case, due to the presence of abnormal extremals…
In this paper, we use the powerful tool Milnor bases to classify all the $3-$dimensional connected and locally symmetric Riemannian Lie Groups by solving system of polynomial equations of structure constants of each Lie algebra . Moreover, we showed that $E_0(2)$, is the only Lie group with locally symmetric left invariant Riemannian metrics which are not symmetric.
We introduce Riemannian Lie algebroids as a generalization of Riemannian manifolds and we show that most of the classical tools and results known in Riemannian geometry can be stated in this setting. We give also some new results on the integrability of Riemannian Lie algebroids.
A Riemannian almost product manifold with integrable almost product structure is called a Riemannian product manifold. In the present paper the natural connections on such manifolds are studied, i.e. the linear connections preserving the almost product structure and the Riemannian metric.
In the presented paper left-invariant pseudo-Riemannian metrics on four-dimensional Lie groups with zero Schouten-Weyl tensor are investigated. The complete classification of these metric Lie groups is obtained in terms of the structure constants of corresponding Lie algebras.
We investigate contact Lie groups having a left invariant Riemannian or pseudo-Riemannian metric with specific properties such as being bi-invariant, flat, negatively curved, Einstein, etc. We classify some of such contact Lie groups and derive some obstruction results to the existence of left invariant contact structures on Lie groups
We discuss the integrability of orthogonal almost complex structures on Riemannian products of even-dimensional round spheres and give a partial answer to the question raised by E. Calabi concerning the existence of complex structures on a product manifold of a round 2-sphere and a round 4-sphere.
The authors find geodesics, shortest arcs, diameter, cut locus, and conjugate sets for left-invariant sub-Riemannian metric on the Lie group SO(3), under condition that the metric is right-invariant relative to the Lie subgroup $SO(2)\subset SO(3)$.
The authors found geodesics, shortest arcs, cut loci, and conjugate sets for left-invariant sub-Riemannian matric on the Lie group $SL(2)$, which is right-invariant relative to the Lie subgroup $SO(2)\subset SL(2)$ (in other words, for invariant sub-Riemannian metric on weakly symmetric space $(SL(2)\times SO(2))/SO(2)$).
In this paper we construct infinitely many examples of a Riemannian submersion from a simple, compact Lie group $G$ with bi-invariant metric onto a smooth manifold that cannot be a quotient of $G$ by a group action. This partially addresses a question of K. Grove's about Riemannian submersions from Lie groups.
In this paper, we formulate a procedure to obtain a generalization of Milnor frames for left-invariant pseudo-Riemannian metrics on a given Lie group. This procedure is an analogue of the recent studies on left-invariant Riemannian metrics, and is based on the moduli space of left-invariant pseudo-Riemannian metrics. As one of applications, we show that any left-invariant pseudo-Riemannian metrics of arbitrary signature on the Lie groups of real hyperbolic spaces have constant sectional curvatures.
In this paper we study almost complex and almost para-complex Cayley structures on six-dimensional pseudo-Riemannian spheres in the space of purely imaginary octaves of the split Cayley algebra $\mathbf{Ca}'$. It is shown that the Cayley structures are non-integrable, their basic geometric characteristics are calculated. In contrast to the usual Riemann sphere $\mathbb{S}^6$, there exist (integrable) complex structures and para-complex structures on the pseudospheres under consideration.
Let M be a smooth compact manifold without boundary. We consider two smooth Sub-Semi-Riemannian metrics on M. Under suitable conditions, we show that they are almost conformally isometric in an Lp sense. Assume also that M carries a Riemannian metric with parallel Ricci curvature. Then an equation of Ricci type, is in some sense solvable, without assuming any closeness near a special metric.
In this paper we obtain the structure equation of a contact-complex Riemannian submersion and give some applications of this equation in the study of almost cosymplectic manifolds with Kaehler fibres.
We classify biharmonic and harmonic homomorphisms $f:(G,g_1)\rightarrow(G,g_2)$ where $G$ is a connected and simply connected three-dimensional unimodular Lie group and $g_1$ and $g_2$ are left invariant Riemannian metrics.
There are considered 4-dimensional pseudo-Riemannian spaces with inner products of signature (3,1) and (2,2). The objects of investigation are space-like and time-like hyperspheres in the respective cases. These hypersurfaces are equipped with almost contact B-metric structures. The constructed manifolds are characterized geometrically.
In this paper, we present the classification of all possible signatures of the Ricci curvature of left-invariant Riemannian metrics on 4-dimensional Lie groups and discuss some related questions.
We consider a 3-dimensional Riemannian manifold V with a metric g and an affinor structure q. The local coordinates of these tensors are circulant matrices. In V we define an almost conformal transformation. Using that definition we construct an infinite series of circulant metrics which are successively almost conformaly related. In this case we get some properties.
We show that the unit tangent bundle of S^4 and a real cohomology CP^3 admit Riemannian metrics with positive sectional curvature almost everywhere. These are the only examples so far with positive curvature almost everywhere that are not also known to admit positive curvature.
Length spectra for Riemannian metrics are well studied, while sub-Riemannian length spectra have been largely unexplored. Here we give the length spectrum for a canonical sub-Riemannian structure attached to any compact Lie group by restricting its Killing form to the sum of the root spaces. Surprisingly, the shortest loops are the same in both the Riemannian and sub-Riemannian cases. We provide specific calculations for SU(2) and SU(3).
We provide examples of naturally reductive pseudo-Riemannian spaces, in particular an example of a naturally reductive pseudo-Riemannian 2-step nilpotent Lie group $(N, < \,,\,>_N)$, such that $< \,,\,>_N$ is invariant under a left action and for which the center is degenerate. The metric does not correspond to a bi-invariant one.
We studied rules of transformations of Christoffel symbols under third type almost geodesic mappings in this paper. From this research, we obtained some new invariants of these mappings. These invariants are analogies of Thomas projective parameter and Weyl projective tensor.
There are introduced and studied a pair of associated Schouten-van Kampen affine connections adapted to the paracontact distribution and an almost paracontact almost paracomplex Riemannian structure generated by the pair of associated metrics and their Levi-Civita connections. By means of the constructed non-symmetric connections, the basic classes of the manifolds with the considered structure are characterized. Curvature properties of the studied connections are obtained. A family of examples on a Lie group is constructed.
Sub-Riemannian cubics are a generalisation of Riemannian cubics to a sub-Riemannian manifold. Cubics are curves which minimise the integral of the norm squared of the covariant acceleration. Sub-Riemannian cubics are cubics which are restricted to move in a horizontal subspace of the tangent space. When the sub-Riemannian manifold is also a Lie group, sub-Riemannian cubics correspond to what we call a sub-Riemannian Lie quadratic in the Lie algebra. The present article studies sub-Riemannian Lie quadratics in the case of $\mathfrak{su}(2)$, focusing on the long term dynamics.
