Lecture 10 Notes: Some Basic Differential Geometry

18.354J Nonlinear Dynamics II: Continuum Systems 10 Lecture 10 Some basic differential geometry In the next section, we will look more closely at the the mathematical description of elastic materials. To prepare this discussion, it is useful to briefly recall a few basics of differential geometry. 10.1 Differential geometry of curves Consider a continuous curve r(t) ∈ R3 , where t ∈ [0, T ]. The length of the curve is given by Z T dt ||ṙ(t)|| (222) L= 0 where ṙ(t) = dr/dt and || · || denotes the Euclidean norm. The local unit tangent vector is defined by t= ṙ . ||ṙ|| (223) The unit normal vector, or unit curvature vector, is n= (I − tt) · r̈ . ||(I − tt) · r̈|| (224) Unit tangent vector t̂(t) and unit normal vector n̂(t) span the osculating (‘kissing’) plane at point t. The unit binormal vector is defined by ... (I − tt) · (I − nn) · r b= (225) ... . ||(I − tt) · (I − nn) · r || The orthonormal basis {t(t), n(t), b(t)} spans the local Frenet frame. The local curvature κ(t) and the associated radius of curvature ρ(t) = 1/κ are defined by κ(t) = ṫ · n , ||ṙ|| (226) τ (t) = ṅ · b . ||ṙ|| (227) and the local torsion τ (t) by Plane curves satisfy, by definition, b = const. or, equivalently, τ = 0. Given ||ṙ||, κ(t), τ (t) and the initial values {t(0), n(0), b(0)}, the Frenet frames along the curve can be obtained by solving the Frenet-Serret system      ṫ 0 κ 0 t 1    ṅ = −κ 0 τ  n . (228a) ||ṙ|| 0 −τ 0 b ḃ The above formulas simplify if t is the arc length, for in this case ||ṙ|| = 1. As a simple example (which is equivalent to our shortest path problem) consider a polymer confined in a plane. Assume the polymer’s end-points are fixed at (x, y) = (0, 0) and (x, y) = (0, L), respectively, and that the ground-state configuration corresponds to a straight line connecting these two points. Denoting the tension9 by γ, adopting the parameterization y = h(x) for the polymer and assuming that the bending energy is negligible, the energy relative to the ground-state is given by Z L p  2 E=γ dx 1 + hx − L , (229) 0 where hx = mate h0 (x). Restricting ourselves to small deformations, |hx |  1, we may approxiγ 2 E' Z L dx h2x . (230) 0 Minimizing this expression with respect to the polymer shape h yields the Euler-Lagrange equation hxx = 0. 10.2 (231) Two-dimensional surfaces We now consider an orientable surface in R3 . Possible local parameterizations are F (s1 , s2 ) ∈ R3 (232) where (s1 , s2 ) ∈ U ⊆ R2 . Alternatively, if one chooses Cartesian coordinates (s1 , s2 ) = (x, y), then it suffices to specify z = f (x, y) (233a) or, equivalently, the implicit representation Φ(x, y, z) = z − f (x, y). (233b) The vector representation (232) can be related to the ‘height’ representation (233a) by   x F (x, y) =  y  (234) f (x, y) 9 γ carries units of energy/length. Denoting derivatives by F i = ∂si F , we introduce the surface metric tensor g = (gij ) by gij = F i · F j , (235a) |g| := det g, (235b) abbreviate its determinant by and define the associated Laplace-Beltrami operator ∇2 by p 1 −1 ∇2 h = p ∂i (gij |g|∂j h), |g| (235c) for some function h(s1 , s2 ). For the Cartesian parameterization (234), one finds explicitly     1 0    F x (x, y) = 0 , F y (x, y) = 1  (236) fx fy and, hence, the metric tensor     1 + fx2 fx fy Fx · Fx Fx · Fy g = (gij ) = = fy fx 1 + fy2 Fy · Fx Fy · Fy (237a) and its determinant |g| = 1 + fx2 + fy2 , (237b) where fx = ∂x f and fy = ∂y f . For later use, we still note that the inverse of the metric tensor is given by   1 1 + fy2 −fx fy −1 −1 . (237c) g = (gij ) = 1 + fx2 + fy2 −fy fx 1 + fx2 Assuming the surface is regular at (s1 , s2 ), which just means that the tangent vectors F 1 and F 2 are linearly independent, the local unit normal vector is defined by N= F1 ∧ F2 . ||F 1 ∧ F 2 || In terms of the Cartesian parameterization, this can also be rewritten as   −fx 1 ∇Φ −fy  . N= =q ||∇Φ|| 1 + fx2 + fy2 1 (238) (239) Here, we have adopted the convention that {F 1 , F 2 , N } form a right-handed system. To formulate ‘geometric’ energy functionals for membranes, we still require the concept of curvature, which quantifies the local bending of the membrane. We define a 2 × 2curvature tensor R = (Rij ) by Rij = N · (F ij ) (240) and local mean curvature H and local Gauss curvature K by 1 H = tr (g −1 · R) , 2 K = det(g −1 · R). Adopting the Cartesian representation (233a), we have     0 0 F xx =  0  , F xy = F yx =  0  , fxx fxy (241)  F yy  0 = 0  fyy yielding the curvature tensor     1 N · F xx N · F xy fxx fxy (Rij ) = =q N · F yx N · F yy 1 + fx2 + fy2 fyx fyy (242a) (242b) Denoting the eigenvalues of the matrix g −1 · R by κ1 and κ2 , we obtain for the mean curvature (1 + fy2 )fxx − 2fx fy fxy + (1 + fx2 )fyy 1 H = (κ1 + κ2 ) = 2 2(1 + fx2 + fy2 )3/2 (243) and for the Gauss curvature K = κ1 · κ2 = 2 fxx fyy − fxy . (1 + fx2 + fy2 )2 (244) An important result that relates curvature and topology is the Gauss-Bonnet theorem, which states that any compact two-dimensional Riemannian manifold M with smooth boundary ∂M , Gauss curvature K and geodesic curvature kg of ∂M satisfies the integral equation Z I K dA + kg ds = 2π χ(M ). (245) M ∂M Here, dA is the area element on M , ds the line element along ∂M , and χ(M ) the Euler characteristic of M . The latter is given by χ(M ) = 2 − 2g, where g is the genus (number of handles) of M . For example, the 2-sphere M = S2 has g = 0 handles and hence χ(S2 ) = 2, whereas a two-dimensional torus M = T2 has g = 1 handle and therefore χ(T2 ) = 0. Equation (245) implies that, for any closed surface, the integral over K is always a constant. That is, for closed membranes, the first integral in Eq. (245) represents just a trivial (constant) energetic contribution. 10.3 Minimal surfaces Minimal surfaces are surfaces that minimize the area within a given contour ∂M , Z A(M |∂M ) = dA = min! M (246) Assuming a Cartesian parameterization z = f (x, y) and abbreviating fi = ∂i f as before, we have q p dA = |g| dxdy = 1 + fx2 + fy2 dxdy =: L dxdy, (247) and the minimum condition (246) can be expressed in terms of the Euler-Lagrange equations 0= Inserting the Lagrangian L =   p 0 = − ∂x  q δA ∂L . = −∂i ∂fi δf |g|, one finds  fx  1 + fx2 + fy2 (248)  + ∂y  q  fy 1 + fx2 + fy2  (249) which may be recast in the form 0= (1 + fy2 )fxx − 2fx fy fxy + (1 + fx2 )fyy (1 + fx2 + fy2 )3/2 = −2H. (250) Thus, minimal surfaces satisfy H=0 ⇔ κ1 = −κ2 , (251) implying that each point of a minimal surface is a saddle point. 10.4 Helfrich’s model Assuming that lipid bilayer membranes can be viewed as two-dimensional surfaces, Helfrich proposed in 1973 the following geometric curvature energy per unit area for a closed membrane = kc (2H − c0 )2 + kG K, 2 (252) where constants kc , kG are bending rigidities and c0 is the spontaneous curvature of the membrane. The full free energy for a closed membrane can then be written as Z Z Z Ec = dA  + σ dA + ∆p dV, (253) where σ is the surface tension and ∆p the osmotic pressure (outer pressure minus inner pressure). Minimizing F with respect to the surface shape, one finds after some heroic manipulations the shape equation10 ∆p − 2σH + kc (2H − c0 )(2H 2 + c0 H − 2K) + kc ∇2 (2H − c0 ) = 0, 10 (254) The full derivation can be found in Chapter 3 of Z.-C. Ou-Yang, Geometric Methods in the Elastic Theory of Membranes in Liquid Crystal Phases(World Scientific,Singapore, 1999). where ∇2 is the Laplace-Beltrami operator on the surface. The derivation of Eq. (254) uses our earlier result δA = −2H, δf (255) and the fact that the volume integral may be rewritten as11 Z Z 1 V = dV = dA F · N , 3 (256) which gives δV = 1, δf (257) corresponding to the first term on the rhs. of Eq. (254). For open membranes with boundary ∂M , there is no volume constraint and a plausible energy functional reads Z Z I Eo = dA  + σ dA + γ ds, (258) ∂M where γ is the line tension of the boundary. In this case, variation yields not only the corresponding shape equation but also a non-trivial set of boundary conditions. 11 Here, we made use of the volume formula dV = 13 h dA for a cone or pyramid of height h = F · N .