In mathematics, a differentiable manifold is a type of manifold, locally similar enough to a linear space to allow one to do calculus. Any manifold can be described by a collection of charts known as an atlas. One may apply ideas from calculus while working within the individual charts, since each chart lies within a linear space to which the usual rules of calculus apply. If the charts are suitably compatible computations done in one chart are valid in any other differentiable chart. In formal terms, a differentiable manifold is a topological manifold with a globally defined differential structure. Any topological manifold can be given a differential structure locally by using the homeomorphisms in its atlas and the standard differential structure on a linear space. To induce a global differential structure on the local coordinate systems induced by the homeomorphisms, their composition on chart intersections in the atlas must be differentiable functions on the corresponding linear space. In other words, where the domains of charts overlap, the coordinates defined by each chart are required to be differentiable with respect to the coordinates defined by every chart in the atlas.
The maps that relate the coordinates defined by the various charts to one another are called transition maps. Differentiability means different things in different contexts including: continuously differentiable, k times differentiable and holomorphic. Furthermore, the ability to induce such a differential structure on an abstract space allows one to extend the definition of differentiability to spaces without global coordinate systems. A differential structure allows one to define the globally differentiable tangent space, differentiable functions, differentiable tensor and vector fields. Differentiable manifolds are important in physics. Special kinds of differentiable manifolds form the basis for physical theories such as classical mechanics, general relativity, Yang–Mills theory, it is possible to develop a calculus for differentiable manifolds. This leads to such mathematical machinery as the exterior calculus; the study of calculus on differentiable manifolds is known as differential geometry.
The emergence of differential geometry as a distinct discipline is credited to Carl Friedrich Gauss and Bernhard Riemann. Riemann first described manifolds in his famous habilitation lecture before the faculty at Göttingen, he motivated the idea of a manifold by an intuitive process of varying a given object in a new direction, presciently described the role of coordinate systems and charts in subsequent formal developments: Having constructed the notion of a manifoldness of n dimensions, found that its true character consists in the property that the determination of position in it may be reduced to n determinations of magnitude... – B. RiemannThe works of physicists such as James Clerk Maxwell, mathematicians Gregorio Ricci-Curbastro and Tullio Levi-Civita led to the development of tensor analysis and the notion of covariance, which identifies an intrinsic geometric property as one, invariant with respect to coordinate transformations; these ideas found a key application in Einstein's theory of general relativity and its underlying equivalence principle.
A modern definition of a 2-dimensional manifold was given by Hermann Weyl in his 1913 book on Riemann surfaces. The accepted general definition of a manifold in terms of an atlas is due to Hassler Whitney. A presentation of a topological manifold is a second countable Hausdorff space, locally homeomorphic to a vector space, by a collection of homeomorphisms called charts; the composition of one chart with the inverse of another chart is a function called a transition map, defines a homeomorphism of an open subset of the linear space onto another open subset of the linear space. This formalizes the notion of "patching together pieces of a space to make a manifold" – the manifold produced contains the data of how it has been patched together. However, different atlases may produce "the same" manifold. Thus, one defines a topological manifold to be a space as above with an equivalence class of atlases, where one defines equivalence of atlases below. There are a number of different types of differentiable manifolds, depending on the precise differentiability requirements on the transition functions.
Some common examples include the following: A differentiable manifold is a topological manifold equipped with an equivalence class of atlases whose transition maps are all differentiable. More a Ck-manifold is a topological manifold with an atlas whose transition maps are all k-times continuously differentiable. A smooth manifold or C∞-manifold is a differentiable manifold for which all the transition maps are smooth; that is, derivatives of all orders exist. An equivalence class of such atlases is said to be a smooth structure. An analytic manifold, or Cω-manifold is a smooth manifold with the additional condition that each transition map is analytic: the Taylor expansion is convergent and equals the function on some open ball. A complex manifold is a topological space modeled on a Euclidean space over the complex field and for which all the transition maps are holomorphic. While there is a meaningful notion of a Ck atlas, there is no distinct notion of a Ck manifold other than C0 and C∞, because for every Ck-structure with k > 0, there is a unique Ck-equivalent C∞-structure – a result of Whitney.
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Mathematics includes the study of such topics as quantity, structure and change. Mathematicians use patterns to formulate new conjectures; when mathematical structures are good models of real phenomena mathematical reasoning can provide insight or predictions about nature. Through the use of abstraction and logic, mathematics developed from counting, calculation and the systematic study of the shapes and motions of physical objects. Practical mathematics has been a human activity from as far back; the research required to solve mathematical problems can take years or centuries of sustained inquiry. Rigorous arguments first appeared in Greek mathematics, most notably in Euclid's Elements. Since the pioneering work of Giuseppe Peano, David Hilbert, others on axiomatic systems in the late 19th century, it has become customary to view mathematical research as establishing truth by rigorous deduction from appropriately chosen axioms and definitions. Mathematics developed at a slow pace until the Renaissance, when mathematical innovations interacting with new scientific discoveries led to a rapid increase in the rate of mathematical discovery that has continued to the present day.
Mathematics is essential in many fields, including natural science, medicine and the social sciences. Applied mathematics has led to new mathematical disciplines, such as statistics and game theory. Mathematicians engage in pure mathematics without having any application in mind, but practical applications for what began as pure mathematics are discovered later; the history of mathematics can be seen as an ever-increasing series of abstractions. The first abstraction, shared by many animals, was that of numbers: the realization that a collection of two apples and a collection of two oranges have something in common, namely quantity of their members; as evidenced by tallies found on bone, in addition to recognizing how to count physical objects, prehistoric peoples may have recognized how to count abstract quantities, like time – days, years. Evidence for more complex mathematics does not appear until around 3000 BC, when the Babylonians and Egyptians began using arithmetic and geometry for taxation and other financial calculations, for building and construction, for astronomy.
The most ancient mathematical texts from Mesopotamia and Egypt are from 2000–1800 BC. Many early texts mention Pythagorean triples and so, by inference, the Pythagorean theorem seems to be the most ancient and widespread mathematical development after basic arithmetic and geometry, it is in Babylonian mathematics that elementary arithmetic first appear in the archaeological record. The Babylonians possessed a place-value system, used a sexagesimal numeral system, still in use today for measuring angles and time. Beginning in the 6th century BC with the Pythagoreans, the Ancient Greeks began a systematic study of mathematics as a subject in its own right with Greek mathematics. Around 300 BC, Euclid introduced the axiomatic method still used in mathematics today, consisting of definition, axiom and proof, his textbook Elements is considered the most successful and influential textbook of all time. The greatest mathematician of antiquity is held to be Archimedes of Syracuse, he developed formulas for calculating the surface area and volume of solids of revolution and used the method of exhaustion to calculate the area under the arc of a parabola with the summation of an infinite series, in a manner not too dissimilar from modern calculus.
Other notable achievements of Greek mathematics are conic sections, trigonometry (Hipparchus of Nicaea, the beginnings of algebra. The Hindu–Arabic numeral system and the rules for the use of its operations, in use throughout the world today, evolved over the course of the first millennium AD in India and were transmitted to the Western world via Islamic mathematics. Other notable developments of Indian mathematics include the modern definition of sine and cosine, an early form of infinite series. During the Golden Age of Islam during the 9th and 10th centuries, mathematics saw many important innovations building on Greek mathematics; the most notable achievement of Islamic mathematics was the development of algebra. Other notable achievements of the Islamic period are advances in spherical trigonometry and the addition of the decimal point to the Arabic numeral system. Many notable mathematicians from this period were Persian, such as Al-Khwarismi, Omar Khayyam and Sharaf al-Dīn al-Ṭūsī. During the early modern period, mathematics began to develop at an accelerating pace in Western Europe.
The development of calculus by Newton and Leibniz in the 17th century revolutionized mathematics. Leonhard Euler was the most notable mathematician of the 18th century, contributing numerous theorems and discoveries; the foremost mathematician of the 19th century was the German mathematician Carl Friedrich Gauss, who made numerous contributions to fields such as algebra, differential geometry, matrix theory, number theory, statistics. In the early 20th century, Kurt Gödel transformed mathematics by publishing his incompleteness theorems, which show that any axiomatic system, consistent will contain unprovable propositions. Mathematics has since been extended, there has been a fruitful interaction between mathematics and science, to
In mathematics, a moving frame is a flexible generalization of the notion of an ordered basis of a vector space used to study the extrinsic differential geometry of smooth manifolds embedded in a homogeneous space. In lay terms, a frame of reference is a system of measuring rods used by an observer to measure the surrounding space by providing coordinates. A moving frame is a frame of reference which moves with the observer along a trajectory; the method of the moving frame, in this simple example, seeks to produce a "preferred" moving frame out of the kinematic properties of the observer. In a geometrical setting, this problem was solved in the mid 19th century by Jean Frédéric Frenet and Joseph Alfred Serret; the Frenet–Serret frame is a moving frame defined on a curve which can be constructed purely from the velocity and acceleration of the curve. The Frenet–Serret frame plays a key role in the differential geometry of curves leading to a more or less complete classification of smooth curves in Euclidean space up to congruence.
The Frenet–Serret formulas show that there is a pair of functions defined on the curve, the torsion and curvature, which are obtained by differentiating the frame, which describe how the frame evolves in time along the curve. A key feature of the general method is that a preferred moving frame, provided it can be found, gives a complete kinematic description of the curve. In the late 19th century, Gaston Darboux studied the problem of constructing a preferred moving frame on a surface in Euclidean space instead of a curve, the Darboux frame, it turned out to be impossible in general to construct such a frame, that there were integrability conditions which needed to be satisfied first. Moving frames were developed extensively by Élie Cartan and others in the study of submanifolds of more general homogeneous spaces. In this setting, a frame carries the geometric idea of a basis of a vector space over to other sorts of geometrical spaces; some examples of frames are: A linear frame. An orthonormal frame of a vector space is an ordered basis consisting of orthogonal unit vectors.
An affine frame of an affine space consists of a choice of origin along with an ordered basis of vectors in the associated difference space. A Euclidean frame of an affine space is a choice of origin along with an orthonormal basis of the difference space. A projective frame on n-dimensional projective space is an ordered collection of n+1 linearly independent points in the space. Frame fields in general relativity are vierbeins, in German. In each of these examples, the collection of all frames is homogeneous in a certain sense. In the case of linear frames, for instance, any two frames are related by an element of the general linear group. Projective frames are related by the projective linear group; this homogeneity, or symmetry, of the class of frames captures the geometrical features of the linear, Euclidean, or projective landscape. A moving frame, in these circumstances, is just that: a frame. Formally, a frame on a homogeneous space G/H consists of a point in the tautological bundle G → G/H.
A moving frame is a section of this bundle. It is moving in the sense that as the point of the base varies, the frame in the fibre changes by an element of the symmetry group G. A moving frame on a submanifold M of G/H is a section of the pullback of the tautological bundle to M. Intrinsically a moving frame can be defined on a principal bundle P over a manifold. In this case, a moving frame is given by a G-equivariant mapping φ: P → G, thus framing the manifold by elements of the Lie group G. Although there is a substantial formal difference between extrinsic and intrinsic moving frames, they are both alike in the sense that a moving frame is always given by a mapping into G; the strategy in Cartan's method of moving frames, as outlined in Cartan's equivalence method, is to find a natural moving frame on the manifold and to take its Darboux derivative, in other words pullback the Maurer-Cartan form of G to M, thus obtain a complete set of structural invariants for the manifold. Cartan formulated the general definition of a moving frame and the method of the moving frame, as elaborated by Weyl.
The elements of the theory are A Lie group G. A Klein space X whose group of geometric automorphisms is G. A smooth manifold Σ which serves as a space of coordinates for X. A collection of frames ƒ each of which determines a coordinate function from X to Σ; the following axioms are assumed to hold between these elements: There is a free and transitive group action of G on the collection of frames: it is a principal homogeneous space for G. In particular, for any pair of frames ƒ and ƒ′, there is a unique transition of frame in G determined by the requirement ƒ = ƒ′. Given a frame ƒ and a point A ∈ X, there is associated a point x = belonging to Σ; this mapping determined by the frame ƒ is a bijection from the points of X to those of Σ. This bijection is compatible with the law of composition of frames in the sense that the coordinate x′ of the point A in a different frame ƒ′ arises from by application of the transformation; that is, = ∘. Of interest to the method are parameterized submanifolds of