This textbook offers an introduction to differential geometry designed for readers interested in modern geometry processing. Working from basic undergraduate prerequisites, the authors develop manifold theory and Lie groups from scratch; fundamental topics in Riemannian geometry follow, culminating in the theory that underpins manifold optimization techniques. Students and professionals working in computer vision, robotics, and machine learning will appreciate this pathway into the mathematical concepts behind many modern applications. Starting with the matrix exponential, the text begins with an introduction to Lie groups and group actions. Manifolds, tangent spaces, and cotangent spaces follow; a chapter on the construction of manifolds from gluing data is particularly relevant to the reconstruction of surfaces from 3D meshes. Vector fields and basic point-set topology bridge into the second part of the book, which focuses on Riemannian geometry. Chapters on Riemannian manifolds encompass Riemannian metrics, geodesics, and curvature. Topics that follow include submersions, curvature on Lie groups, and the Log-Euclidean framework. The final chapter highlights naturally reductive homogeneous manifolds and symmetric spaces, revealing the machinery needed to generalize important optimization techniques to Riemannian manifolds. Exercises are included throughout, along with optional sections that delve into more theoretical topics. Differential Geometry and Lie Groups: A Computational Perspective offers a uniquely accessible perspective on differential geometry for those interested in the theory behind modern computing applications. Equally suited to classroom use or independent study, the text will appeal to students and professionals alike; only a background in calculus and linear algebra is assumed. Readers looking to continue on to more advanced topics will appreciate the authors' companion volume Differential Geometry and Lie Groups: A Second Course.

This monograph systematically explores the theory of rational maps between spheres in complex Euclidean spaces and its connections to other areas of mathematics. Synthesizing research from the last forty years, the author aims for accessibility by balancing abstract concepts with concrete examples. Numerous computations are worked out in detail, and more than 100 optional exercises are provided throughout for readers wishing to better understand challenging material. The text begins by presenting core concepts in complex analysis and a wide variety of results about rational sphere maps. The subsequent chapters discuss combinatorial and optimization results about monomial sphere maps, groups associated with rational sphere maps, relevant complex and CR geometry, and some geometric properties of rational sphere maps. Fifteen open problems appear in the final chapter, with references provided to appropriate parts of the text. These problems will encourage readers to apply the material to future research. Rational Sphere Maps will be of interest to researchers and graduate students studying several complex variables and CR geometry. Mathematicians from other areas, such as number theory, optimization, and combinatorics, will also find the material appealing. See the author's research web page for a list of typos, clarifications, etc.: https://faculty.math.illinois.edu/~jpda/research.html

It was 1976--twenty-five years after R. Buckminster Fuller introduced geodesic domes when literary critic Hugh Kenner published this fully-illustrated practical manual for their construction. Now, some twenty-five years later, "Geodesic Math and How to Use It "again presents a systematic method of design and provides a step-by-step method for producing mathematical specifications for orthodox geodesic domes, as well as for a variety of elliptical, super-elliptical, and other nonspherical contours.
Out of print since 1990, "Geodesic Math and How To Use It "is California's most requested backlist title. This edition is fully illustrated with complete original appendices.

This book is devoted to geometric problems of foliation theory, in particular those related to extrinsic geometry, modern branch of Riemannian Geometry. The concept of mixed curvature is central to the discussion, and a version of the deep problem of the Ricci curvature for the case of mixed curvature of foliations is examined. The book is divided into five chapters that deal with integral and variation formulas and curvature and dynamics of foliations. Different approaches and methods (local and global, regular and singular) in solving the problems are described using integral and variation formulas, extrinsic geometric flows, generalizations of the Ricci and scalar curvatures, pseudo-Riemannian and metric-affine geometries, and 'computable' Finsler metrics. The book presents the state of the art in geometric and analytical theory of foliations as a continuation of the authors' life-long work in extrinsic geometry. It is designed for newcomers to the field as well as experienced geometers working in Riemannian geometry, foliation theory, differential topology, and a wide range of researchers in differential equations and their applications. It may also be a useful supplement to postgraduate level work and can inspire new interesting topics to explore.

This book presents a multidisciplinary guide to gauge theory and gravity, with chapters by the world's leading theoretical physicists, mathematicians, historians and philosophers of science. The contributions from theoretical physics explore e.g. the consistency of the unification of gravitation and quantum theory, the underpinnings of experimental tests of gauge theory and its role in shedding light on the relationship between mathematics and physics. In turn, historians and philosophers of science assess the impact of Weyl's view on the philosophy of science. Graduate students, lecturers and researchers in the fields of history of science, theoretical physics and philosophy of science will benefit from this book by learning about the role played by Weyl's Raum-Zeit-Materie in shaping several modern research fields, and by gaining insights into the future prospects of gauge theory in both theoretical and experimental physics. Furthermore, the book facilitates interdisciplinary exchange and conceptual innovation in tackling fundamental questions about our deepest theories of physics. Chapter "Weyl's Raum-Zeit-Materie and the Philosophy of Science" is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com

This book is an outgrowth of the conference "Regulators IV: An International Conference on Arithmetic L-functions and Differential Geometric Methods" that was held in Paris in May 2016. Gathering contributions by leading experts in the field ranging from original surveys to pure research articles, this volume provides comprehensive coverage of the front most developments in the field of regulator maps. Key topics covered are: * Additive polylogarithms * Analytic torsions * Chabauty-Kim theory * Local Grothendieck-Riemann-Roch theorems * Periods * Syntomic regulator The book contains contributions by M. Asakura, J. Balakrishnan, A. Besser, A. Best, F. Bianchi, O. Gregory, A. Langer, B. Lawrence, X. Ma, S. Muller, N. Otsubo, J. Raimbault, W. Raskin, D. Roessler, S. Shen, N. Triantafi llou, S. UEnver and J. Vonk.

This book collects original peer-reviewed contributions to the conferences organised by the international research network "Minimal surfaces: Integrable Systems and Visualization" financed by the Leverhulme Trust. The conferences took place in Cork, Granada, Munich and Leicester between 2016 and 2019. Within the theme of the network, the presented articles cover a broad range of topics and explore exciting links between problems related to the mean curvature of surfaces in homogeneous 3-manifolds, like minimal surfaces, CMC surfaces and mean curvature flows, integrable systems and visualisation. Combining research and overview articles by prominent international researchers, the book offers a valuable resource for both researchers and students who are interested in this research area.

This concise textbook introduces the reader to advanced mathematical aspects of general relativity, covering topics like Penrose diagrams, causality theory, singularity theorems, the Cauchy problem for the Einstein equations, the positive mass theorem, and the laws of black hole thermodynamics. It emerged from lecture notes originally conceived for a one-semester course in Mathematical Relativity which has been taught at the Instituto Superior Tecnico (University of Lisbon, Portugal) since 2010 to Masters and Doctorate students in Mathematics and Physics. Mostly self-contained, and mathematically rigorous, this book can be appealing to graduate students in Mathematics or Physics seeking specialization in general relativity, geometry or partial differential equations. Prerequisites include proficiency in differential geometry and the basic principles of relativity. Readers who are familiar with special relativity and have taken a course either in Riemannian geometry (for students of Mathematics) or in general relativity (for those in Physics) can benefit from this book.

This book introduces the reader to important concepts in modern applied analysis, such as homogenization, gradient flows on metric spaces, geometric evolution, Gamma-convergence tools, applications of geometric measure theory, properties of interfacial energies, etc. This is done by tackling a prototypical problem of interfacial evolution in heterogeneous media, where these concepts are introduced and elaborated in a natural and constructive way. At the same time, the analysis introduces open issues of a general and fundamental nature, at the core of important applications. The focus on two-dimensional lattices as a prototype of heterogeneous media allows visual descriptions of concepts and methods through a large amount of illustrations.

The volume consists of a set of surveys on geometry in the broad sense. The goal is to present a certain number of research topics in a non-technical and appealing manner. The topics surveyed include spherical geometry, the geometry of finite-dimensional normed spaces, metric geometry (Bishop-Gromov type inequalities in Gromov-hyperbolic spaces), convexity theory and inequalities involving volumes and mixed volumes of convex bodies, 4-dimensional topology, Teichmuller spaces and mapping class groups actions, translation surfaces and their dynamics, and complex higher-dimensional geometry. Several chapters are based on lectures given by their authors to middle-advanced level students and young researchers. The whole book is intended to be an introduction to current research trends in geometry.

This volume presents lectures given at the Wisla 19 Summer School: Differential Geometry, Differential Equations, and Mathematical Physics, which took place from August 19 - 29th, 2019 in Wisla, Poland, and was organized by the Baltic Institute of Mathematics. The lectures were dedicated to symplectic and Poisson geometry, tractor calculus, and the integration of ordinary differential equations, and are included here as lecture notes comprising the first three chapters. Following this, chapters combine theoretical and applied perspectives to explore topics at the intersection of differential geometry, differential equations, and mathematical physics. Specific topics covered include: Parabolic geometry Geometric methods for solving PDEs in physics, mathematical biology, and mathematical finance Darcy and Euler flows of real gases Differential invariants for fluid and gas flow Differential Geometry, Differential Equations, and Mathematical Physics is ideal for graduate students and researchers working in these areas. A basic understanding of differential geometry is assumed.

This book includes four courses on geometric measure theory, the calculus of variations, partial differential equations, and differential geometry. Authored by leading experts in their fields, the lectures present different approaches to research topics with the common background of a relevant underlying, usually non-Riemannian, geometric structure. In particular, the topics covered concern differentiation and functions of bounded variation in metric spaces, Sobolev spaces, and differential geometry in the so-called Carnot-Caratheodory spaces. The text is based on lectures presented at the 10th School on "Analysis and Geometry in Metric Spaces" held in Levico Terme (TN), Italy, in collaboration with the University of Trento, Fondazione Bruno Kessler and CIME, Italy. The book is addressed to both graduate students and researchers.

Sub-Riemannian geometry is the geometry of a world with nonholonomic constraints. In such a world, one can move, send and receive information only in certain admissible directions but eventually can reach every position from any other. In the last two decades sub-Riemannian geometry has emerged as an independent research domain impacting on several areas of pure and applied mathematics, with applications to many areas such as quantum control, Hamiltonian dynamics, robotics and Lie theory. This comprehensive introduction proceeds from classical topics to cutting-edge theory and applications, assuming only standard knowledge of calculus, linear algebra and differential equations. The book may serve as a basis for an introductory course in Riemannian geometry or an advanced course in sub-Riemannian geometry, covering elements of Hamiltonian dynamics, integrable systems and Lie theory. It will also be a valuable reference source for researchers in various disciplines.

This volume features selected papers from The Fifteenth International Conference on Order Analysis and Related Problems of Mathematical Modeling, which was held in Vladikavkaz, Russia, on 15 - 20th July 2019. Intended for mathematicians specializing in operator theory, functional spaces, differential equations or mathematical modeling, the book provides a state-of-the-art account of various fascinating areas of operator theory, ranging from various classes of operators (positive operators, convolution operators, backward shift operators, singular and fractional integral operators, partial differential operators) to important applications in differential equations, inverse problems, approximation theory, metric theory of surfaces, the Hubbard model, social stratification models, and viscid incompressible fluids.

This book describes analytical methods for modelling drop evaporation, providing the mathematical tools needed in order to generalise transport and constitutive equations and to find analytical solutions in curvilinear coordinate systems. Transport phenomena in gas mixtures are treated in considerable detail, and the basics of differential geometry are introduced in order to describe interface-related transport phenomena. One chapter is solely devoted to the description of sixteen different orthogonal curvilinear coordinate systems, reporting explicitly on the forms of their differential operators (gradient, divergent, curl, Laplacian) and transformation matrices. The book is intended to guide the reader from mathematics, to physical descriptions, and ultimately to engineering applications, in order to demonstrate the effectiveness of applied mathematics when properly adapted to the real world. Though the book primarily addresses the needs of engineering researchers, it will also benefit graduate students.

This textbook is suitable for a one semester lecture course on differential geometry for students of mathematics or STEM disciplines with a working knowledge of analysis, linear algebra, complex analysis, and point set topology. The book treats the subject both from an extrinsic and an intrinsic view point.The first chapters give a historical overview of the field and contain an introduction to basic concepts such as manifolds and smooth maps, vector fields and flows, and Lie groups, leading up to the theorem of Frobenius. Subsequent chapters deal with the Levi-Civita connection, geodesics, the Riemann curvature tensor, a proof of the Cartan-Ambrose-Hicks theorem, as well as applications to flat spaces, symmetric spaces, and constant curvature manifolds. Also included are sections about manifolds with nonpositive sectional curvature, the Ricci tensor, the scalar curvature, and the Weyl tensor. An additional chapter goes beyond the scope of a one semester lecture course and deals with subjects such as conjugate points and the Morse index, the injectivity radius, the group of isometries and the Myers-Steenrod theorem, and Donaldson's differential geometric approach to Lie algebra theory.

This brief focuses on the structural properties of nonlinear time-delay systems. It provides a link between coverage of fundamental theoretical properties and advanced control algorithms, as well as suggesting a path for the generalization of the differential geometric approach to time-delay systems . The brief begins with an introduction to a class of single-input nonlinear time-delay systems. It then focuses on geometric methods treating them and offers a geometric framework for integrability. The book has chapters dedicated to the accessibility and observability of nonlinear time-delay systems, allowing readers to understand the systems in a well-ordered, structured way. Finally, the brief concludes with applications of integrability and the control of single-input time-delay systems. This brief employs exercises and examples to familiarize readers with the time-delay context. It is of interest to researchers, engineers and postgraduate students who work in the area of nonlinear control systems.

Filtering is the science of nding the law of a process given a partial observation of it. The main objects we study here are di usion processes. These are naturally associated with second-order linear di erential operators which are semi-elliptic and so introduce a possibly degenerate Riemannian structure on the state space. In fact, much of what we discuss is simply about two such operators intertwined by a smooth map, the \projection from the state space to the observations space," and does not involve any stochastic analysis. From the point of view of stochastic processes, our purpose is to present and to study the underlying geometric structure which allows us to perform the ltering in a Markovian framework with the resulting conditional law being that of a Markov process which is time inhomogeneous in general. This geometry is determined by the symbol of the operator on the state space which projects to a symbol on the observation space. The projectible symbol induces a (possibly non-linear and partially de ned) connection which lifts the observation process to the state space and gives a decomposition of the operator on the state space and of the noise. As is standard we can recover the classical ltering theory in which the observations are not usually Markovian by application of the Girsanov- Maruyama-Cameron-Martin Theorem. This structure we have is examined in relation to a number of geometrical topics.

This book is devoted to Killing vector fields and the one-parameter isometry groups of Riemannian manifolds generated by them. It also provides a detailed introduction to homogeneous geodesics, that is, geodesics that are integral curves of Killing vector fields, presenting both classical and modern results, some very recent, many of which are due to the authors. The main focus is on the class of Riemannian manifolds with homogeneous geodesics and on some of its important subclasses. To keep the exposition self-contained the book also includes useful general results not only on geodesic orbit manifolds, but also on smooth and Riemannian manifolds, Lie groups and Lie algebras, homogeneous Riemannian manifolds, and compact homogeneous Riemannian spaces. The intended audience is graduate students and researchers whose work involves differential geometry and transformation groups.

This book provides an introduction to the main geometric structures that are carried by compact surfaces, with an emphasis on the classical theory of Riemann surfaces. It first covers the prerequisites, including the basics of differential forms, the Poincare Lemma, the Morse Lemma, the classification of compact connected oriented surfaces, Stokes' Theorem, fixed point theorems and rigidity theorems. There is also a novel presentation of planar hyperbolic geometry. Moving on to more advanced concepts, it covers topics such as Riemannian metrics, the isometric torsion-free connection on vector fields, the Ansatz of Koszul, the Gauss-Bonnet Theorem, and integrability. These concepts are then used for the study of Riemann surfaces. One of the focal points is the Uniformization Theorem for compact surfaces, an elementary proof of which is given via a property of the energy functional. Among numerous other results, there is also a proof of Chow's Theorem on compact holomorphic submanifolds in complex projective spaces. Based on lecture courses given by the author, the book will be accessible to undergraduates and graduates interested in the analytic theory of Riemann surfaces.

This book focuses on a selection of special topics, with emphasis on past and present research of the authors on "canonical" Riemannian metrics on smooth manifolds. On the backdrop of the fundamental contributions given by many experts in the field, the volume offers a self-contained view of the wide class of "Curvature Conditions" and "Critical Metrics" of suitable Riemannian functionals. The authors describe the classical examples and the relevant generalizations. This monograph is the winner of the 2020 Ferran Sunyer i Balaguer Prize, a prestigious award for books of expository nature presenting the latest developments in an active area of research in mathematics.

The package of Gromov's pseudo-holomorphic curves is a major tool in global symplectic geometry and its applications, including mirror symmetry and Hamiltonian dynamics. The Kuranishi structure was introduced by two of the authors of the present volume in the mid-1990s to apply this machinery on general symplectic manifolds without assuming any specific restrictions. It was further amplified by this book's authors in their monograph Lagrangian Intersection Floer Theory and in many other publications of theirs and others. Answering popular demand, the authors now present the current book, in which they provide a detailed, self-contained explanation of the theory of Kuranishi structures. Part I discusses the theory on a single space equipped with Kuranishi structure, called a K-space, and its relevant basic package. First, the definition of a K-space and maps to the standard manifold are provided. Definitions are given for fiber products, differential forms, partitions of unity, and the notion of CF-perturbations on the K-space. Then, using CF-perturbations, the authors define the integration on K-space and the push-forward of differential forms, and generalize Stokes' formula and Fubini's theorem in this framework. Also, "virtual fundamental class" is defined, and its cobordism invariance is proved. Part II discusses the (compatible) system of K-spaces and the process of going from "geometry" to "homological algebra". Thorough explanations of the extension of given perturbations on the boundary to the interior are presented. Also explained is the process of taking the "homotopy limit" needed to handle a system of infinitely many moduli spaces. Having in mind the future application of these chain level constructions beyond those already known, an axiomatic approach is taken by listing the properties of the system of the relevant moduli spaces and then a self-contained account of the construction of the associated algebraic structures is given. This axiomatic approach makes the exposition contained here independent of previously published construction of relevant structures.

This volume arose from a semester at CIRM-Luminy on "Thermodynamic Formalism: Applications to Probability, Geometry and Fractals" which brought together leading experts in the area to discuss topical problems and recent progress. It includes a number of surveys intended to make the field more accessible to younger mathematicians and scientists wishing to learn more about the area. Thermodynamic formalism has been a powerful tool in ergodic theory and dynamical system and its applications to other topics, particularly Riemannian geometry (especially in negative curvature), statistical properties of dynamical systems and fractal geometry. This work will be of value both to graduate students and more senior researchers interested in either learning about the main ideas and themes in thermodynamic formalism, and research themes which are at forefront of research in this area.

This book is a collection of selected research papers, some of which were presented at the International Conference on Differential Geometry, Algebra and Analysis (ICDGAA 2016), held at the Department of Mathematics, Jamia Millia Islamia, New Delhi, from 15-17 November 2016. It covers a wide range of topics-geometry of submanifolds, geometry of statistical submanifolds, ring theory, module theory, optimization theory, and approximation theory-which exhibit new ideas and methodologies for current research in differential geometry, algebra and analysis. Providing new results with rigorous proofs, this book is, therefore, of much interest to readers who wish to learn new techniques in these areas of mathematics.

This book is an introduction to the theory of quasiconformal and quasiregular mappings in the euclidean n-dimensional space, (where n is greater than 2). There are many ways to develop this theory as the literature shows. The authors' approach is based on the use of metrics, in particular conformally invariant metrics, which will have a key role throughout the whole book. The intended readership consists of mathematicians from beginning graduate students to researchers. The prerequisite requirements are modest: only some familiarity with basic ideas of real and complex analysis is expected.