Differential Geometry and the Quaternions
DIFFERENTIAL GEOMETRY AND THE QUATERNIONS Nigel Hitchin (Oxford) The Chern Lectures Berkeley April 9th-18th 2013 3 26th December 1843 • 16th October 1843 2 3 RIEMANNIAN MANIFOLDS OF FOUR DIMENSIONS 965 We call a frame an ordered set of four mutually perpendicular unit vectors eo, Ci, C2, 63. There exists one and only one rotation carrying 3 one frame to another. The coordinates Xof X\, &2, Xz of a point ï&S with respect to the frame eo, ei, C2, e3 are defined by the equation (2) % = XQCO + Xtfi + X2t2 + Xst3. Let eo*, ei*, e2*, e3* be a frame related to eo, ei, e2, e3 by means of the rela- tions 3 (3) e«* = ]F) daftp, a = 0, 1, 2, 3, OwherN RIEMANNIAe (aap) is a propeN MANIFOLDr orthogonaSl OmatrixF FOU, anR d DIMENSIONSlet #0*, #1*, #2*1 , #3* be the coordinates of the same point x with respect to the frame SHIING-SHEN CHERN eo*, ei*, e2*, e3*. Then we have Introduction. It is well known that3 in three-dimensional elliptic or spherica(3a) l geometry the so-callex*d Clifford'= X) a<*p%p,s parallelis m or parataxot = 0,y 1ha, 2s, 3. locallymany interestinµ = µ ωg properties+ µ ω .+ Aµ group-theoretiω c reason for the most • 1 1 2 2 3 3 importanThe propertiet of thess oef propertiespherical sgeometr is the facy art etha thost the ewhich universa, whel ncoverin expresseg d grouin pterm of ths eo fprope coordinater orthogonas withl grourespecp itn tfouo ar framevariable, remais is thn e invariandirect t ifproducµunde= 0tr chango distinguishedf thee universaof the framel almostcoverin.
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