Geometry of Surfaces in R5 Through Projections and Normal Sections
Geometry of Surfaces in R5 Through Projections and Normal Sections
Geometry of Surfaces in R5 Through Projections and Normal Sections
5
Abstract. We study the geometry of surfaces in R by relating it to the geom-
arXiv:2010.10976v1 [math.DG] 21 Oct 2020
4
etry of regular and singular surfaces in R obtained by orthogonal projections.
In particular, we obtain relations between asymptotic directions, which are not
5 4
second order geometry for surfaces in R but are in R . We also relate the
umbilic curvatures of each type of surface and their contact with spheres. We
6
then consider the surfaces as normal sections of 3-manifolds in R and again re-
late asymptotic directions and contact with spheres by defining an appropriate
umbilic curvature for 3-manifolds.
1. Introduction
The study of the differential geometry of manifolds in Euclidean spaces of di-
mension greater than 3 is a classical subject. In his seminal paper [14], Little in-
troduced certain objects to study immersed manifolds such as the curvature ellipse
for surfaces in R4 . However, it’s been in the last 20 years when the introduction
of Singularity Theory techniques has given a tremendous impulse to the subject
(see [5, 7, 11, 16, 17, 18], for example). As the dimension and codimension of
the immersed manifolds grow, deeper singularity theory concepts are needed. Be-
sides this, the attention has recently changed to singular manifolds Msing k ⊂ Rn ,
n > k ≥ 2, ([3, 4, 15, 23]) and the relation of their geometry with regular manifolds
k ⊂ Rn , n > k ≥ 2 ([1, 2, 6, 19, 20, 21]).
Mreg
Our main interest in this paper is the geometry of regular surfaces in R5 , i.e.
Mreg ⊂ R5 . This has been studied in [8], [16] and [22], however, our motivation
2
all these manifolds is related. For example, in [2] a relation between the asymptotic
directions at a point p ∈ Mreg n ⊂ R2n and at π (p) ∈ M n 2n−1
u sing ⊂ R , where πu is
the orthogonal projection along the tangent direction u, is given. Namely, since the
second fundamental form and the height functions coincide, a direction is asymp-
2 ⊂ R4 projected
totic for p if and only if it is asymptotic for πu (p). In fact, for Mreg
2
to Msing ⊂ R3 it is shown in [1, 21] that a point p is hyperbolic/elliptic/parabolic
if and only if πu (p) is hyperbolic/elliptic/parabolic. However, for Mreg 2 ⊂ R5 , the
definition of asymptotic directions does not depend only on the second order geom-
2
etry, and for Msing ⊂ R4 a degenerate normal direction is binormal only if it is in
Ep , the vector space parallel to the affine space which contains the curvature locus.
It is therefore not clear how to relate asymptotic directions for this situation.
In the present study we show how a point p ∈ Mreg 2 ⊂ R5 where the second
fundamental form has rank 2 behaves like a point in a surface in R4 . More precisely,
there are distinguished asymptotic directions at p which coincide and have the
same properties as the asymptotic directions at πu (p), both when u is a tangent
direction (and the projection is a singular manifold) or a normal direction (and the
projection is regular). We also establish relations between the umbilic curvatures
of the surfaces in R5 and of their projected surfaces. We study the contact with
2
spheres of Msing ⊂ R4 and show that there exists a unique umbilic focal hypersphere
at p if and only if there exists a unique umbilic focal hypersphere at πu (p).
Surfaces in R5 can also be obtained as normal sections of 3-manifolds in R6 , but
how to relate the geometry has not been clear until now. As for the projections, we
relate asymptotic directions at a point in the 3-manifold with asymptotic directions
at the corresponding point in the normal section. We define an appropriate umbilic
curvature for 3-manifolds, study the contact with spheres using this invariant and
relate it to the contact with spheres of the surface in R5 obtained as a normal
section.
In Section 2 we establish the notation and preliminary constructions. In Section
3 we deal with Mreg 2 ⊂ R5 projected orthogonally along a tangent direction to
2 4
Msing ⊂ R . In Section 4 we study regular projections. Section 5 establishes
relations between the contact with spheres of Mreg 2 ⊂ R5 and M 2 4
sing ⊂ R . Finally,
Section 6 deals with Mreg 2 ⊂ R5 obtained as a normal section of M 3 ⊂ R6 .
reg
Aknowledgements: The authors thank their families for understanding, since
this work was developed mostly during confinement. The authors also thank Farid
Tari for useful conversations. The first author would like to express his gratitude
to the Universitat de València, where this work was partially carried out, for its
hospitality.
These subjects have been studied extensively but we mainly follow the approach
in [3, 5, 8, 10, 12, 14, 16].
2.1. Regular k-dimensional manifold in Rn . Given a smooth surface Mreg k ⊂
Case n = 4: The points on a surface Mreg 2 ⊂ R4 are classified according to the po-
sition of the point p with respect to the curvature ellipse ∆4e (Np Mreg 2 is viewed as
Case n = 5: If Af fp denotes the affine space which contains the curvature el-
2 and the orthogonal
lipse, Ep is the vector subspace parallel to Af fp in Np Mreg
⊥
complement of Ep in Np M is denoted by Ep . The distance from p to Af fp is the
non-negative real number κreg
u called umbilic curvature ([8]).
2
Consider the subsets of Mreg
2
Mi = {p ∈ Mreg | rank αp = i}, i ≤ 3.
Points in these subspaces are called Mi -points and can be characterized in terms
of the relative positions of Ep and Af fp : If p ∈ M3 , Af fp is a plane that does
not contain the origin of Np Mreg2 . If p ∈ M , Af f is either a plane through the
2 p
2 (and thus coincides with E ), or a line that does not contain the
origin of Np Mreg p
2 . It is shown in [16] that for generically immersed surface in R5 ,
origin of Np Mreg
2
Mreg = M3 ∪ M2 , with M2 a regular curve on Mreg 2 . When p ∈ M , Af f is a
1 p
line through the origin p of Np Mreg2 , that is Af f = E .
p p
A point p ∈ Mreg 2 is called semiumbilic if the curvature ellipse ∆5 degenerates
e
to a line segment that does not contain p. In this sense, points in M2 are either
semiumbilics, or points at which Af fp passes through the origin p of Np Mreg 2 .
p
Moreover, a point p ∈ M2 can be classified as Me2 , Mh2 or M2 according to
whether the origin p of Np Mreg2 lies inside, outside, or on the curvature ellipse ∆5
e
at p. In particular, semiumbilic points can be considered as points of type Mh2 .
A geometrical characterization of points on Mreg 2 using singularity theory is car-
ried out in [16] via the family of height functions h : Mreg 2 × S 4 → R given by
h(p, ν) = hp, νi, where S 4 denotes the unit sphere in R5 . For ν fixed, the height
function hν (p) = h(p, ν) is singular if and only if ν ∈ Np Mreg 2 . It is shown in [16]
that for a generic surface, p ∈ M3 if and only if hν has only Ak -singularities for
any ν ∈ Np Mreg2 . A point p ∈ Mh ∪ Me (respectively, p ∈ Mp ) if and only if there
2 2 2
exists ν ∈ Np M such that hν has a singularity of type D4± (respectively, D5 ) at p.
This direction ν is called the flat umbilic direction and it is perpendicular to Ep .
([16], see also Remark 3.6).
The quadratic form IIpν can be identified with Hess(hν )(p) at a ν ∈ Np Mreg 2 ,
up to smooth local changes of coordinate in Mreg 2 ([5, 16, 22]). A unit vector
2
ν ∈ Np Mreg is called a degenerate direction if hν has a singularity of type A2 or
worse at p and it is a binormal direction if the singularity is of type A3 or worse at p.
A unit vector in u ∈ Tp Mreg2 is called a contact direction associated to a degenerate
2 , but only
However, when ν is a flat umbilic direction ker(Hess(hv )(p)) = Tp Mreg
certain directions are called asymptotic (see Section 3 for details).
2.1.2. Case k = 3 and n = 6: In this case, the curvature locus is denoted by
∆v and is studied in [5]. Here, a direction u ∈ Tp Mreg 3 is called an asymptotic
3 3 such that II (u, v) =
direction of Mreg at p if there is a non zero vector ν ∈ Np Mreg ν
hII(u, v), νi = 0 for all v ∈ Tp Mreg 3 . Moreover, in such case, we say that ν is
Example 3.1. Consider a regular surface Mreg 2 whose 2-jet is given by (x, y, x2 , 2xy, y 2 )
2
and (X, Y, Z) the coordinates of Np Mreg . Its curvature ellipse is given by ηe (θ) =
2 cos2 (θ), sin(θ) cos(θ), sin2 (θ)). Here Af fp is the plane X + Z = 2 and, conse-
√
quently kureg (p) = 2 2. When projecting the surface along the tangent direction
u = (0, 1) we obtain a singular surface whose 2-jet of the parametrisation is A 2 -
equivalent to (x, xy, y 2 , 0) (i.e. equivalent by 2-jets of smooth changes of coordinates
in the source and target) and the curvature parabola is given by ηp (y) = 2 1, y, y 2 ).
GEOMETRY OF SURFACES IN R5 THROUGH PROJECTIONS AND NORMAL SECTIONS 7
Here Af fπu(p) is the plane X = 2 and kusing (πu (p)) = 2, so Af fp 6= Af fπu(p) and
κreg sing
u 6= κu .
the projections of Mreg 2 to 4-spaces (i.e. under the action of the group A ). If T S 4
denotes the tangent bundle of the 4-sphere S 4 , the family of projections to 4-planes
is given by
2 × S4 → T S4
Π : Mreg
(p, u) 7→ (u, πu (p))
where πu (p) = p−hp, uiu. For a given u ∈ S 4 , the map πu can be considered locally
as a germ of a smooth map R2 , 0 → R4 , 0. Then the generic A -singularities of πu
are those that have Ae -codimension less than or equal to 4 (which is the dimension
of S 4 ). These are listed in Table 1 (see [13]).
Proof. If p ∈ Mh2 (resp. Me2 and Mp2 ) then ∆5e is a non-degenerate ellipse with p
lying outside the ellipse (resp. inside and on the ellipse), and Af fp = Ep is a plane
passing through the origin that contains the image of the second fundamental form.
Let S 1 ⊂ Tp Mreg
2 be the unit sphere parametrized by θ and u = u(θ). We have
∂ηe (u)
∂θ = II(u, u)θ = 2II(u, uθ ). Since {u, uθ } is linearly independent, the tangency
happens if and only if {II(u, u), 2II(u, uθ )} is linearly dependent. This happens
if and only if there exists a non zero w ∈ Tp Mreg 2 such that II(u, w) = 0, i.e.
w ∈ ker II(u, ·). This means that the image of the map II(u, ·) lies in a line in Ep
and so there exists ν ∈ Ep such that hII(u, w), νi = 0 for all w ∈ Tp Mreg 2 , and this
the origin of the curvature parabola will remain the same. By [1, Proposition
3.8], the curvature parabola of the projection along the tangent direction (0, 1) is
parametrized by
ηp (y) = (a20 + 2a11 y + a02 y 2 , b20 + 2b11 y + b02 y 2 , 0).
Suppose first that u is a non-asymptotic direction or a Dk -asymptotic direction,
i.e. an asymptotic direction such that the projection πu (p) is an Ik singularity.
Then ∆πu (p) is a non-degenerate parabola. The point p lies on the curvature ellipse
if the resultant of the two quadratic polynomials given by the first two components
of ηe (θ) is 0, i.e. they have a common root. Similarly the point lies outside/inside
the ellipse if the resultant is > 0/ < 0. This resultant is the discriminant used to
distinguish hyperbolic/elliptic/parabolic points of regular surfaces in R4 ([14, 17]).
Notice that the same resultant gives the common roots of the quadratic polynomials
in ηp (y) and so the point p lies inside/outside/on the ellipse if and only if the point
πu (p) lies inside/outside/on the parabola. The result follows.
Suppose now that u is an Ak -asymptotic direction. We distinguish into cases:
If p ∈ Mh2 then, by Proposition 3.9 in [22] there are exactly 2 Ak -asymptotic
directions ui , i = 1, 2, in which the projection has an II2 singularity. Therefore
j 2 πui f (0) ∼A 2 (x, y 2 , 0, 0) and by Theorem 3.6 in [3] the curvature parabola is a
half-line. Since the point is in M2 , this half line is not radial and therefore has 2
asymptotic direction, i.e. the projection is a hyperbolic point.
If p ∈ Me2 there are no Ak -asymptotic directions.
Finally, if p ∈ Mp2 and u is the only Ak -asymptotic direction where the projection
is an VII1 singularity, the 2-jet of the projection is equivalent to (x, xy, 0, 0) and
the curvature parabola is a non-radial line, which means that there is only one
asymptotic direction and the projection is a parabolic point.
Now, when projecting along u, as seen above, Ep = Eπu (p) . The degenerate
direction ν dual to the Ak -asymptotic direction v which lies in Ep may be binormal
or not (depending on whether the singularity of hν is of type Ak≥3 or A2 ). In any
case, since the height functions for p ∈ Mreg 2 and for π (p) ∈ M 2
u sing coincide, ν
is a binormal direction at πu (p). The associated contact directions are therefore
asymptotic at πu (p) and coincide with the Ak -asymptotic directions at p.
Following [22], we choose local coordinates at p and consider the surface taken
in Monge form
(3) (x, y, Q1 + f 1 (x, y), Q2 + f 2 (x, y), Q3 + f 3 (x, y)),
GEOMETRY OF SURFACES IN R5 THROUGH PROJECTIONS AND NORMAL SECTIONS 11
M3 -points case: In this case, we take the Monge form as in (3). Without loss
of generality, we assume ν = (0, 0, 1) belongs to a unit sphere S 2 ⊂ R3 and
(Z, W, T ) the coordinates in R3 of Np Mreg 2 . We parametrize the directions near
p
to ν byp η = (ν3 , ν4 , 1 − ν32 − ν42 ). Instead of the regular projection to the plane
(ν3 , ν4 , 1 − ν32 − ν42 )⊥ , we project to the fixed plane (Z, W ). The modified family
of the orthogonal projections is given by
π: (R2 × R2 , 0) → (R4 , 0)
((x, y), (ν3 , ν4 )) 7→ πη (x, y),
where
πη (x, y) = x, y, x2 + f 1 (x, y) − ν3 (y 2 + f 3 (x, y)), xy + f 2 (x, y) − ν4 (y 2 + f 3 (x, y))
and πν (x, y) = (x, y, x2 +f 1 (x, y), xy+f 2 (x, y)) are parametrizations of the surfaces
Sη and Sν , respectively. Moreover, at generic points, by [22], the Ak -asymptotic
directions u = (u1 , u2 ) are given as solutions of the following equation
c30 u51 − (2b30 − c21 )u41 u2 + (c12 − 2b21 + a30 )u31 u22 + (c03 − 2b12 + a21 )u21 u32
(4)
+(a12 − 2b03 )u1 u42 + a03 u52 = 0.
For any normal direction ν (not necessarily a binormal direction), we can associate
the number of Ak -asymptotic directions with the geometry of Sη and Sν as follows.
Proposition 4.1. With the above conditions, given p ∈ M3 , we have the following:
i) πη (p) is a hyperbolic point Sη if and only if ν42 − ν3 < 0.
ii) πη (p) is an elliptic point Sη if and only if ν42 − ν3 > 0.
iii) πη (p) is a parabolic point Sη if and only if ν42 − ν3 = 0. There are at most
5 and at least 1 normal directions η where the surface Sη has a P3 (c)-point
at the origin. In addition, the number of the Ak -asymptotic directions in
M3 -points and the number of the points where the asymptotic direction of
Sη is tangent to its parabolic set are the same. These are the solutions of
the following equation
c30 ν45 − (2b30 − c21 )ν44 + (c12 − 2b21 + a30 )ν43 + (c03 − 2b12 + a21 )ν42
(5)
+(a12 − 2b03 )ν4 + a03 = 0.
Moreover, the unique asymptotic direction at P3 (c)-point in Sν is an Ak -
5 .
asymptotic direction in Mreg
12 J. L. DEOLINDO SILVA, R. OSET SINHA
Proof. Consider (x, y, x2 −ν3 y 2 , xy−ν4 y 2 ) the 2-jet of πη at the origin. The resultant
of the last two coordinates of j 2 πη (0) is ∆ = ν42 − ν3 , so a point at surface is
hyperbolic/elliptic/parabolic if and only if ∆ </>/= 0. The other part of the
proof of statement iii) follows by making changes of coordinates in order to reduce
the appropriate jet of πη . When projecting a regular surface in R4 along the
unique asymptotic direction u at a parabolic point, the projection has a P3 (c)-
singularity at isolated points on the parabolic set, i.e. it is A -equivalent to (x, y) 7→
(x, x2 y + cy 4 , xy + y 3 ) with c ∈ R \ {0, 21 , 1, 32 } (see [9]). In particular, the unique
asymptotic direction is tangent to the parabolic set of Sη at a P3 (c)-point. As the
discriminant of (4) coincides with the discriminant of (5), we have the statement.
Moreover, the projection along ν = (0, 0, 1) gives a regular surface Sν which has
a P3 (c)-point if and only if a03 = 0. In this case, the unique asymptotic direction
u = (0, 1) at πν (p) ∈ Sν is an Ak -asymptotic direction at p in Mreg 5 .
M2 -points case: In [3, Theorem 4.14], the authors associate a regular surface in
R4 to any singular surface in R4 . To do so they consider the regular surface in R5
that gives the singular surface in R4 when projected along a tangent direction u
2 ⊕ π −1 (E
and project it to the 4-space given by Tp Mreg u πu (p) ). This regular surface
⊥
is Sν when ν ∈ Ep (see the following diagram).
2 ⊂ R5
Mreg
:: ▲▲▲
✈✈ ▲▲π▲ν
i ✈✈✈ πu
✈ ▲▲▲
✈✈ ▲&&
φ ✈✈ g
R2 oo M̃ // M 2 ⊂ R4 Sν ⊂ R 4
f
77 sing
Proof. The proof follows from Theorem 3.9 and Theorem 4.14 in [3]. The second
2 and
order geometry is the same because the second fundamental forms at p ∈ Mreg
at πν (p) ∈ Sν coincide.
From Proposition 4.2 we obtain as a corollary [16, Theorem 7] with some extra
information about the asymptotic directions:
Corollary 4.3. If p ∈ M2 and the normal direction ν ∈ Ep⊥ , then
i) p ∈ Mh2 if and only if πν (p) is a hyperbolic point of Sν .
GEOMETRY OF SURFACES IN R5 THROUGH PROJECTIONS AND NORMAL SECTIONS 13
not a flat umbilic. Then ν ∈ Ep if and only if the regular surface Sν obtained by
2 along ν has an inflection point at π (p).
projecting Mreg ν
iii) If p ∈ M1 and
2
1) ∆p is a half-line, then the focal set of Msing at p is the union of two
2
parallel planes in Np Msing , which can be coincident.
2
2) p is umbilic non flat, then the focal set of Msing at p is the hyperplane
2
Np Msing . In addition, there is a plane of umbilical foci at p given by
1
ν = p + tν2 + ν3 + rν4 , t, r ∈ R.
κsing
u
2
Proof. The first assertion that dν is singular if and only if ν ∈ Np Msing is obvious.
2
In all the cases we assume that p = 0 and Msing is parametrised by f (x, y) =
GEOMETRY OF SURFACES IN R5 THROUGH PROJECTIONS AND NORMAL SECTIONS 15
(x, f2 (x, y), f3 (x, y), f4 (x, y)) with j 2 fi (0, 0) = 0, for i = 2, 3, 4. After smooth
changes of coordinates in the source and isometries in the target, the surface can
be taken with one of the following parametrisations (see [3]):
• (x, xy + p(x, y), b20 x2 + b11 xy + b02 y 2 + q(x, y), c20 x2 + r(x, y)) iff ∆p is a
non-degenerate parabola;
• (x, a20 x2 + y 2 + p(x, y), b20 x2 + q(x, y), r(x, y)) iff ∆p is a half-line;
• (x, xy + p(x, y), b20 x2 + q(x, y), r(x, y)) iff ∆p is a line;
• (x, p(x, y), b20 x2 + q(x, y), r(x, y)) iff ∆p is a point,
where aij , bij , cij ∈ R, b02 > 0 and p, q, r ∈ M32 . If we denote the coordi-
nates in R4 by (v1 , v2 , v3 , v4 ), in all the four cases we have that [ν2 , ν3 , ν4 ] =
2
[(0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1)] is the adapted frame of Np Msing and take ν =
(v1 , v2 , v3 , v4 ). Thus dν is singular at p if and only if v1 = 0.
If p ∈ M3 then ∆p is a non-degenerate parabola. The degenerate directions are
given when the height function hν has singularity A2 or worse, i.e. are solutions of
the equation
−v22 − 2b11 v2 v3 − 2v2 v4 + (4b02 b20 − b211 )v32 + (4b02 c20 − 2b11 )v3 v4 − v42 = 0.
Furthermore, dv is given by
dν (x, y) = (v2 − xy)2 + (v3 − (b20 x2 + b11 xy + b02 y 2 ))2 + (v4 − c20 x2 )2 + s(x, y),
2
where s ∈ M25 . The focal set of Msing at p is given by solutions of the equation
−v22 − 2b11 v2 v3 − 2v2 v4 + (4b02 b20 − b211 )v32 + (4b02 c20 − 2b11 )v3 v4 − v42 − 2b02 v3 = 0
which is a quadric and it intersects the set of degenerate directions when v3 = 0.
Moreover
dv has a singularity of corank 2 if and only if κsing
u = 2c20 6= 0 and
1
ν = 0, 0, 0, sing .
κu
Suppose that p ∈ M2 is semiumbilic. If ∆p is a half-line then the degenerate
directions are given by v2 (a20 v2 + b20 v3 ) = 0 and
dν (x, y) = (v2 − (a20 x2 + y 2 )2 + (v3 − b20 x2 )2 + v42 + s(x, y),
where s ∈ M25 . The focal set of Msing 2 at p is given by solutions of the equation
v2 (2a20 v2 + 2b20 v3 − 1) = 0 that intersect the set of degenerate directions in the
plane Ep⊥ (v2 = 0). In this case, if κsing
u = 2b20 6= 0 we have two transverse planes,
intersecting on the line (0, 0, sing , v4 ). Otherwise, if κsing
1
u = 0, then p ∈ M1 we
κu
have two parallel planes. In both cases, v2 = 0 is one of the planes. Moreover,
there
sing 1
is a corank 2 singularity only in the case that κu 6= 0 and ν = 0, 0, sing , v4 .
κu
Now suppose that ∆p is a line. The distance-squared function is given by
dν (x, y) = (v2 − xy)2 + (v3 − b20 x2 )2 + v42 + s(x, y)
where s ∈ M25 . The focal set and the set of degenerate directions are equal to Ep⊥
(v2 = 0). Furthermore, the singularity is of corank 2 if and only if κsing
u = 2b20 6= 0
1
and ν = 0, 0, sing , v4 .
κu
16 J. L. DEOLINDO SILVA, R. OSET SINHA
i) There exists a unique umbilical focus at p ∈ Mreg 2 if and only if there exists
2
a unique umbilical focus at πu (p) ∈ Msing .
ii) The point p ∈ M2 is not semiumbilic and the umbilical focus of Mreg 2 lies
dim Ep = 2 (i.e. the curvature locus is a planar region), then there exists a unique
umbilical focus at p given by
1
a =p+ 6v
κu
where v is a unit vector in Ep⊥ .
3 and a = p + λv we have
Proof. For v = v4 e4 + v5 e5 + v6 e6 ∈ Np Mreg
1 − λ 3i=1 ai vi λ 3i=1 bi vi λ 3i=1 ci vi
P P P
3
X 3
X 3
X
bi vi = ci vi = ri vi = 0.
i=1 i=1 i=1
This is equivalent to
3
X 3
X 3
X 3
X 3
X
(ai − di )vi = (−ai − di + 2si )vi = bi vi = ci vi = ri vi = 0,
i=1 i=1 i=1 i=1 i=1
which is equivalent to
hv, Bj i = 0
for j = 1, . . . , 5. This means that v is in Ep⊥ .
Furthermore, we get
3
1 1X
= (ai + di + si )vi = hH, vi,
λ 3
i=1
1 1
so λ = hH,vi = κ6u
.
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20 J. L. DEOLINDO SILVA, R. OSET SINHA