A dual foliation treatment of General Relativity is presented. The basic idea of the construction is to consider two foliations of a spacetime by spacelike hypersurfaces and relate the two geometries. The treatment is expected to be useful in various situations, and in particular whenever one would like to compare objects represented in different coordinates. Potential examples include the construction of initial data and the study of trapped tubes. It is common for studies in mathematical relativity to employ a double-null gauge. In such studies local well-posedness is treated by referring back, for example, to the generalized harmonic formulation, global properties of solutions being treated in a separate formalism. As a first application of the dual foliation formulation we find that one can in fact obtain local well-posedness in the double-null coordinates directly, which should allow their use in numerical relativity with standard methods. With due care it is expected that practically any coordinates can be used with this approach.
The aim of this paper is to study foliations that remain invariant by parallel transports along the integral curves of vector fields of another foliations. According to this idea, we define a new concept of stability between foliations. A particular case of stability (called regular stability) is studied, giving a useful characterization in terms of the Riemann curvature tensor. This characterization allows us to prove that there are no regularly self-stable foliations of dimension greater than 1 in Schwarzschild and Robertson-Walker space-times. Finally, we study the existence of regularly se…
Here we present an alternative approach, requiring only basic tools of differential geometry. This method was conceived by Kijowski and first presented during the IV Marcel Grossman Meeting on General Relativity in Rome (1986). It was later published in a generalized form by J. Jezierski, J. Kijowski in 1987 (Positivity of total energy in general relativity, Physical Review D {\bf 36} (1987), 1041-4). We summarize these results briefly and present a new foliation gauge.
We introduce new concepts and properties of lightlike distributions and foliations (of dimension and co-dimension 1) in a space-time manifold of dimension $n$, from a purely geometric point of view. Given an observer and a lightlike distribution $Ω$ of dimension or co-dimension 1, its lightlike direction is broken down into two vector fields: a timelike vector field $U$ representing the observer and a spacelike vector field $S$ representing the relative direction of propagation of $Ω$ for this observer. A new distribution $Ω_U^-$ is defined, with the opposite relative direction of propagation …
We examine the constraints of spherically symmetric general relativity with one asymptotically flat region, exploiting both the traditional metric variables and variables constructed from the optical scalars. With respect to the latter variables, there exist two linear combinations of the Hamiltonian and momentum constraints which are related by time reversal. We introduce a one-parameter family of linear extrinsic time foliations of spacetime. The values of the parameter yielding globally valid gauges correspond to the vanishing of a timelike vector in the superspace of spherically symmetric …
We exploit an arbitrary extrinsic time foliation of spacetime to solve the constraints in spherically symmetric general relativity. Among such foliations there is a one parameter family, linear and homogeneous in the extrinsic curvature, which permit the momentum constraint to be solved exactly. This family includes, as special cases, the extrinsic time gauges that have been exploited in the past. These foliations have the property that the extrinsic curvature is spacelike with respect to the the spherically symmetric superspace metric. What is remarkable is that the linearity can be relaxed a…
We investigate the infrared (IR) effects of Lorentz violating terms in the gravitational sector using functional renormalization group methods similar to Reuter and collaborators. The model we consider consists of pure quantum gravity coupled to a preferred foliation, described effectively via a scalar field with non-standard dynamics. We find that vanishing Lorentz violation is a UV attractive fixed-point of this model in the local potential approximation. Since larger truncations may lead to differing results, we study as a first example effects of additional matter fields on the RG running …
All strategies for the treatment of future null-infinity in numerical relativity involve some form of regularization of the field equations. In a recent proposal that relies on the dual foliation formalism this is achieved by the use of an asymptotically Minkowskian generalized harmonic tensor basis. For the scheme to work however, derivatives of certain coordinate light-speeds must decay fast enough. Presently, we generalize the method of asymptotic expansions for nonlinear wave equations to treat first order symmetric hyperbolic systems. We then use this heuristic tool to extract the expecte…
We continue our examination of the constraints in spherically symmetric general relativity begun in I (gr-qc/9411009) and II (gr-qc/9411010). We extend to general configurations with $J\ne 0$ the analysis of II which treated a moment of time symmetry. We exploit the one parameter family of foliations introduced in I which are linear and homogeneous in the extrinsic curvature to characterize apparent horizons and spatial singularities in the initial data. In particular, we demonstrate that these characterizations do not depend sensitively on the foliation.
We propose a new foliation of asymptotically Euclidean initial data sets by 2-spheres of constant spacetime mean curvature (STCMC). The leaves of the foliation have the STCMC-property regardless of the initial data set in which the foliation is constructed which asserts that there is a plethora of STCMC 2-spheres in a neighborhood of spatial infinity of any asymptotically flat spacetime. The STCMC-foliation can be understood as a covariant relativistic generalization of the CMC-foliation suggested by Huisken and Yau. We show that a unique STCMC-foliation exists near infinity of any asymptotica…
We give a geometric criterion for the breakdown of an Einstein vacuum space-time foliated by a constant mean curvature, or maximal, foliation. More precisely we show that the foliated space-time can be extended as long as the the second fundamental form and the first derivatives of the logarithm of the lapse of the foliation remain uniformly bounded. No restrictions on the size of the initial data are made.
The canonical description is based on the prior choice of a spacelike foliation, hence making a reference to a spacetime metric. However, the metric is expected to be a dynamical, fluctuating quantity in quantum gravity. After presenting the developments in the History Projection Operator histories theory in the last seven years--giving special emphasis on the novel temporal structure of the formalism--we show how this problem can be solved in the histories formulation of general relativity. We implement the 3+1 decomposition using metric-dependent foliations which remain spacelike with respec…
We propose, in a heuristic way, a relativistic modified gravity model as an alternative to particle dark matter at galactic scales. The model is based on a postulated preferred time foliation described by a dynamical scalar field called the "Khronon". In coordinates adapted to the foliation it appears as a modification of general relativity violating local Lorentz invariance in a regime of weak gravitational fields. The model is a particular case of non-canonical Einstein-aether theory, but in which the aether vector field is hypersurface orthogonal. We show that this model recovers the phenom…
In general relativity, the double null foliation is one for which $d$-dimensional spacetime is foliated by two families of intersecting null hyper surfaces (i.e. surfaces whose normal vectors are null) of $(d-1)$ dimensions. Their intersection is at space like surfaces of dimension $(d-2)$. This means that the leaves of this foliation are the space like surfaces of two dimensions lower than that of spacetime which are located by looking at the bundles of light rays that are going into, and emanating from them. Using this foliation, we present a reformulation of the theory which makes explicit …
A long-standing problem in numerical relativity is the satisfactory treatment of future null-infinity. We propose an approach for the evolution of hyperboloidal initial data in which the outer boundary of the computational domain is placed at infinity. The main idea is to apply the `dual foliation' formalism in combination with hyperboloidal coordinates and the generalized harmonic gauge formulation. The strength of the present approach is that, following the ideas of Zenginoglu, a hyperboloidal layer can be naturally attached to a central region using standard coordinates of numerical relativ…
A connection-independent formulation of general relativity is presented, in which the dynamics does not depend on the choice of connection. The gravity action in this formulation includes one additional scalar term in addition to the Einstein-Hilbert action. No conditions on the connection are imposed. Nevertheless, this formulation yields the Einstein equations, without adding the Gibbons-Hawking-York term even when a manifold has a boundary. Furthermore, this formulation yields a unified description of general relativity, teleparallel gravity, and symmetric teleparallel gravity.
These lecture notes provide some introduction to the 3+1 formalism of general relativity, which is the foundation of most modern numerical relativity. The text is rather self-contained, with detailed calculations and numerous examples. Contents: 1. Introduction, 2. Geometry of hypersurfaces, 3. Geometry of foliations, 4. 3+1 decomposition of Einstein equation, 5. 3+1 equations for matter and electromagnetic field, 6. Conformal decomposition, 7. Asymptotic flatness and global quantities, 8. The initial data problem, 9. Choice of foliation and spatial coordinates, 10. Evolution schemes.
I show in this letter that it is possible to construct a Hamiltonian description for Lorentzian General Relativity in terms of two real $SO(3)$ connections. The constraints are simple polynomials in the basic variables. The present framework gives us a new formulation of General Relativity that keeps some of the interesting features of the Ashtekar formulation without the complications associated with the complex character of the latter.
An action principle for the generalized harmonic formulation of general relativity is presented. The action is a functional of the spacetime metric and the gauge source vector. An action principle for the Z4 formulation of general relativity has been proposed recently by Bona, Bona--Casas and Palenzuela (BBP). The relationship between the generalized harmonic action and the BBP action is discussed in detail.
Two geometrical well-posed hyperbolic formulations of general relativity are described. One admits any time-slicing which preserves a generalized harmonic condition. The other admits arbitrary time-slicings. Both systems have only the physical characteristic speeds of zero and the speed of light.
We discuss the relation between the canonical Hamilton-Jacobi theory and the De Donder-Weyl Hamilton-Jacobi theory known in the calculus of variations using the examples of a scalar field in curved space-time and general relativity. By restricting ourselves to the Gaussian coordinates we show how the canonical Hamilton-Jacobi equation of general relativity can be derived from the De Donder-Weyl Hamilton-Jacobi formulation of the Einstein equations.
Axisymmetric Solutions of the vacuum Einstein equations are found in the Papapetrou-Weyl gauge. The solutions depend on two pairs of functionals, each pair of two functions depends on a different arbitrarily chosen function of one variable. Some examples are given.
A formulation of Einstein equations is presented that could yield advantages in the study of collisions of binary compact objects during regimes between linear-nonlinear transitions. The key idea behind this formulation is a separation of the dynamical variables into i) a fixed conformal 3-geometry, ii) a conformal factor possessing nonlinear dynamics and iii) transverse-traceless perturbations of the conformal 3-geometry.
We investigate effective equations governing the volume expansion of spatially averaged portions of inhomogeneous cosmologies in spacetimes filled with an arbitrary fluid. This work is a follow-up to previous studies focused on irrotational dust models (Paper I) and irrotational perfect fluids (Paper II) in flow-orthogonal foliations of spacetime. It complements them by considering arbitrary foliations, arbitrary lapse and shift, and by allowing for a tilted fluid flow with vorticity. As for the first studies, the propagation of the spatial averaging domain is chosen to follow the congruence o…
We construct explicitly generators of projectable four-dimensional diffeomorphisms and triad rotation gauge symmetries in a model of vacuum gravity where the fundamental dynamical variables in a Palatini formulation are taken to be a lapse, shift, densitized triad, extrinsic curvature, and the time-like components of the Ricci rotation coefficient. Time-foliation-altering diffeomorphisms are not by themselves projectable under the Legendre transformations. They must be accompanied by a metric- and triad-dependent triad rotation. The phase space on which these generators act includes all of the…
We present a set of three PDEs for three real scalars that are equivalent to the full Einstein equations without any symmetry assumptions. The main variables in this formulation are null surfaces and a conformal factor. Furthermore, for asymptotically flat spacetimes the free data (representing gravitational radiation) enters as the source term in the resulting equations. This could be important for an asymptotic quantization procedure.
We show how to treat the constraints and reality conditions in the $SO(3)$-ADM (Ashtekar) formulation of general relativity, for the case of a vacuum spacetime with a cosmological constant. We clarify the difference between the reality conditions on the metric and on the triad. Assuming the triad reality condition, we find a new variable, allowing us to solve the gauge constraint equations and the reality conditions simultaneously.
The Hamiltonian formulation of general relativity on a null surface is established in the teleparallel geometry. No particular gauge conditons on the tetrads are imposed, such as the time gauge condition. By means of a 3+1 decomposition the resulting Hamiltonian arises as a completely constrained system. However, it is structurally different from the the standard Arnowitt-Deser-Misner (ADM) type formulation. In this geometrical framework the basic field quantities are tetrads that transform under the global SO(3,1) and the torsion tensor.
The application of numerical relativity to cosmological spacetimes is providing new insights into the behavior of Einstein's equations, beyond common approximations. In order for simulations to be performed as accurately and efficiently as possible, we investigate a novel formulation of Einstein's equations. This formulation evolves differences from a "reference" solution describing the dominant behavior of the spacetime, which mitigates error due to both truncation and approximate finite difference calculations. We find that the error in solutions obtained using the reference formulation can …
It is shown by several authors going back to Huisken-Yau that asymptotically Schwarzschildean time-slices possess a unique foliation by stable constant mean curvature (CMC) spheres defining the so-called CMC center of mass. We analyze how the leaves of this foliation evolve in time under the Einstein equations. More precisely, we prove that, asymptotically, their time evolution is a translation induced by the quotient of their linear momentum and mass, as to be expected from the corresponding Newtonian setting. In particular, the definitions of mass and linear momentum defined by Arnowitt-Dese…
In this paper (Part II), the so-called inverse problem is treated. This means the question whether it is possible to define pre-radar charts, i.e. generating functions in arbitrary space-times. This problem is subtle. A local general constructive solution of it is presented. Sufficient conditions for the existence of global solutions are given.
We derive the pure spin connection and constraint-free BF formulations of real four-dimensional Lorentzian vacuum General Relativity. In contrast to the existing complex formulations, an important advantage is that they do not require the reality constraints that complicate quantization. We also consider the corresponding modified gravity theories and point out that, contrary to their self-dual analogues, they are not viable because they necessarily contain ghosts. In particular, this constrains the set of potentially viable unified theories one can build by extending the gauge group to the on…
We discuss high order absorbing constraint preserving boundary conditions for the Z4c formulation of general relativity coupled to the moving puncture family of gauges. We are primarily concerned with the constraint preservation and absorption properties of these conditions. In the frozen coefficient approximation, with an appropriate first order pseudo-differential reduction, we show that the constraint subsystem is boundary stable on a four dimensional compact manifold. We analyze the remainder of the initial boundary value problem for a spherical reduction of the Z4c formulation with a part…
We discuss a successful three-dimensional cartesian implementation of the Bona-Massó hyperbolic formulation of the 3+1 Einstein evolution equations in numerical relativity. The numerical code, which we call ``Cactus,'' provides a general framework for 3D numerical relativity, and can include various formulations of the evolution equations, initial data sets, and analysis modules. We show important code tests, including dynamically sliced flat space, wave spacetimes, and black hole spacetimes. We discuss the numerical convergence of each spacetime, and also compare results with previously teste…
The initial singularity problem in standard general relativity is treated on the light of a viewpoint asserting that this formulation of Einstein's theory and its conformal formulations are physically equivalent. We show that flat Friedmann-Robertson-Walker universes and open dust-filled and radiation-filled universes are singularity free when described in terms of the formulation of general relativity conformal to the canonical one.
We present a formulation for the internal motion of equilibrium configurations with a rotational Killing vector in general relativity. As an approximation, this formulation is applicable to investigation of the internal motion of quasi-equilibrium configurations such as binary neutron stars. Based on this simple formulation, a condition for the general relativistic counter rotation has been obtained, though in the recent work by Bonazzola, Gourgoulhon and Marck, their condition for the counter rotation is not enough to specify the internal velocity field. Under the condition given in this pape…
We present a parameter-free gauge formulation of general relativity in terms of a new set of real spin connection variables. The theory is constructed by extending the phase space of the recently formulated conformal geometrodynamics for canonical gravity to accommodate a spin gauge description. This leads to a further enlarged set of first class gravitational constraints consisting of a reduced Hamiltonian constraint and the canonical generators for spin gauge and conformorphism transformations. Owing to the incorporated conformal symmetry, the new theory is shown to be free from an ambiguity…
We give a pedagogical introduction into an old, but unfortunately not commonly known formulation of GR in terms of self-dual two-forms due to in particular Jerzy Plebanski. Our presentation is rather explicit in that we show how the familiar textbook solutions: Schwarzschild, Volkoff-Oppenheimer, as well as those describing the Newtonian limit, a gravitational wave and the homogeneous isotropic Universe can be obtained within this formalism. Our description shows how Plebanski formulation gives quite an economical alternative to the usual metric and frame-based schemes for deriving Einstein eq…
Well-posedness of the initial (boundary) value problem is an essential property, both of meaningful physical models and of numerical applications. To prove well-posedness of wave-type equations their level of hyperbolicity is an essential ingredient. We develop helpful tools and classify a large class of Hamiltonian versions of Einstein's equations with live gauge conditions with respect to their hyperbolicity. Finally we find a symmetric hyperbolic Hamiltonian formulation that allows for gauge conditions which are similar to the puncture gauge.
We consider two strongly hyperbolic Hamiltonian formulations of general relativity and their numerical integration with a free and a partially constrained symplectic integrator. In those formulations we use hyperbolic drivers for the shift and in one case also for the densitized lapse. A system where the densitized lapse is an external field allows to enforce the momentum constraints in a holonomically constrained Hamiltonian system and to turn the Hamilton constraint function from a weak to a strong invariant. These schemes are tested in a perturbed Minkowski and the Schwarzschild space-time.…
We construct a Hamiltonian formulation of quasilocal general relativity using an extended phase space that includes boundary coordinates as configuration variables. This allows us to use Hamiltonian methods to derive an expression for the energy of a non-isolated region of space-time that interacts with its neighbourhood. This expression is found to be very similar to the Brown-York quasilocal energy that was originally derived by Hamilton-Jacobi methods. We examine the connection between the two formalisms and find that when the boundary conditions for the two are harmonized, the resulting qu…
Affine variational principle for General Relativity, proposed in 1978 by one of us (J.K.), is a good remedy for the non-universal properties of the standard, metric formulation, arising when the matter Lagrangian depends upon the metric derivatives. Affine version of the theory cures the standard drawback of the metric version, where the leading (second order) term of the field equations depends upon matter fields and its causal structure violates the light cone structure of the metric. Choosing the affine connection (and not the metric one) as the gravitational configuration, simplifies consi…
We establish the Hamiltonian formulation of the teleparallel equivalent of general relativity, without fixing the time gauge condition, by rigorously performing the Legendre transform. The time gauge condition, previously considered, restricts the teleparallel geometry to the three-dimensional spacelike hypersurface. Geometrically, the teleparallel geometry is now extended to the four-dimensional space-time. The resulting Hamiltonian formulation is different from the standard ADM formulation in many aspects, the main one being that the dynamics is now governed by the Hamiltonian constraint H_0…
In a recent paper the first coauthor presented a new parabolic extension (PADM) of the standard 3+1 Arnowitt, Deser, Misner formulation of the equations of general relativity. By parabolizing first-order ADM in a certain way, the PADM formulation turns it into a mixed hyperbolic - second-order parabolic, well-posed system. The surface of constraints of PADM becomes a local attractor for all solutions and all possible well-posed gauge conditions. This paper describes a numerical implementation of PADM and studies its accuracy and stability in a series of standard numerical tests. Numerical prop…
The subject of cosmological backreaction in General Relativity is often approached by coordinate-dependent and metric-based analyses. We present in this letter an averaging formalism for the scalar parts of Einstein's equations that is coordinate-independent and only functionally depends on a metric. This formalism is applicable to general 3+1 foliations of spacetime for an arbitrary fluid with tilted flow. We clarify the dependence on spacetime foliation and argue that this dependence is weak in cosmological settings. We also introduce a new set of averaged equations that feature a global cos…
As basic variables in general relativity (GR) are chosen antisymmetric connection and bivectors - bilinear in tetrad area tensors subject to appropriate (bilinear) constraints. In canonical formalism we get theory with polinomial constraints some of which are II class. On partial resolving the latter we get another polinomial formulation. Separating self- and antiselfdual parts of antisymmetric tensors we come to Ashtekar constraints including those known as "reality conditions" which connect self- and antiselfdual sectors of the theory. These conditions form second class system and cannot be …
Our attempts to find an explanation for quantum behavior of the Early Universe appeal, as a rule, to the Wheeler - DeWitt Quantum Geometrodynamics which relies upon Hamiltonian formulation of General Relativity proposed by Arnowitt, Deser and Misner (ADM). In spite of the fact that the basic ideas of this approach were put forward about fifty years ago, even now we do not have clear understanding what Hamiltonian formulation of General Relativity must be. An evidence for it gives a recent paper by Kiriushcheva and Kuzmin [arXiv:0809.0097], where the authors claim that the formulation by ADM an…
The aim of this paper (Part III) is formulating GR as a scalar field theory. The basic structural elements of it are a generating function, a generalized density and a generalized temperature. One of the axioms of this theory is a generalized Einstein equation which determines the generating function directly. It is shown that basic concepts like orientation, time orientation and isometry are expressible in terms of generating functions. At the end of the paper six problems are formulated which are still unsolved and can act as a stimulant for further research.
It might seem that a choice of a time coordinate in Hamiltonian formulations of general relativity breaks the full four-dimensional diffeomorphism covariance of the theory. This is not the case. We construct explicitly the complete set of gauge generators for Ashtekar's formulation of canonical gravity. The requirement of projectability of the Legendre map from configuration-velocity space to phase space renders the symmetry group a gauge transformation group on configuration-velocity variables. Yet there is a sense in which the full four-dimensional diffeomorphism group survives. Symmetry gen…
Two new formulations of general relativity are introduced. The first one is a parabolization of the Arnowitt, Deser, Misner (ADM) formulation and is derived by addition of combinations of the constraints and their derivatives to the right-hand-side of the ADM evolution equations. The desirable property of this modification is that it turns the surface of constraints into a local attractor because the constraint propagation equations become second-order parabolic independently of the gauge conditions employed. This system may be classified as mixed hyperbolic - second-order parabolic. The secon…
With the aim of deriving symmetric hyperbolic free-evolution systems for GR that possess Hamiltonian structure and allow for the popular puncture gauge condition we analyze the hyperbolicity of Hamiltonian systems. We develop helpful tools which are applicable to either the first order in time, second order in space or the fully second order form of the equations of motion. For toy models we find that the Hamiltonian structure can simplify the proof of symmetric hyperbolicity. In GR we use a special structure of the principal part to prove symmetric hyperbolicity of a formulation that includes…
We give a correct tensor proof of the positive energy problem for the case including momentum on basis of conditions of existence of the two-to-one correspondence between the Sen-Witten spinor field and the Sen-Witten orthonormal frame. These conditions were obtained in our previous publications, but true significance of our works was not estimated properly by G.Y.Chee, and these were not correct quoted in his publication. On other hand, the main result of our work is key argument in favour of geometrical nature of the Sen-Witten spinor field.
We consider the initial boundary value problem for free-evolution formulations of general relativity coupled to a parametrized family of coordinate conditions that includes both the moving puncture and harmonic gauges. We concentrate primarily on boundaries that are geometrically determined by the outermost normal observer to spacelike slices of the foliation. We present high-order-derivative boundary conditions for the gauge, constraint violating and gravitational wave degrees of freedom of the formulation. Second order derivative boundary conditions are presented in terms of the conformal va…
Hamiltonian gravity, relying on arbitrary choices of "space," can obscure spacetime symmetries. We present an alternative, manifestly spacetime covariant formulation that nonetheless distinguishes between "spatial" and "temporal" variables. The key is viewing dynamical fields from the perspective of a field of observers -- a unit timelike vector field that also transforms under local Lorentz transformations. On one hand, all fields are spacetime fields, covariant under spacetime symmeties. On the other, when the observer field is normal to a spatial foliation, the fields automatically fall int…
We describe a numerical code that solves Einstein's equations for a Schwarzschild black hole in spherical symmetry, using a hyperbolic formulation introduced by Choquet-Bruhat and York. This is the first time this formulation has been used to evolve a numerical spacetime containing a black hole. We excise the hole from the computational grid in order to avoid the central singularity. We describe in detail a causal differencing method that should allow one to stably evolve a hyperbolic system of equations in three spatial dimensions with an arbitrary shift vector, to second-order accuracy in bo…
