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 This carefully written book is an introduction to the beautiful ideas and results of differential geometry. The first half covers the geometry of curves and surfaces, which provide much of the motivation and intuition for the general theory. The second part studies the geometry of general manifolds, with particular emphasis on connections and curvature. The text is illustrated with many figures and examples. The prerequisites are undergraduate analysis and linear algebra. This new edition provides many advancements, including more figures and exercises, and--as a new feature--a good number of solutions to selected exercises.

 Our first knowledge of differential geometry usually comes from the study of the curves and surfaces in I\!\!R^3 that arise in calculus. Here we learn about line and surface integrals, divergence and curl, and the various forms of Stokes' Theorem. If we are fortunate, we may encounter curvature and such things as the Serret-Frenet formulas. With just the basic tools from multivariable calculus, plus a little knowledge of linear algebra, it is possible to begin a much richer and rewarding study of differential geometry, which is what is presented in this book. It starts with an introduction to the classical differential geometry of curves and surfaces in Euclidean space, then leads to an introduction to the Riemannian geometry of more general manifolds, including a look at Einstein spaces. An important bridge from the low-dimensional theory to the general case is provided by a chapter on the intrinsic geometry of surfaces. The first half of the book, covering the geometry of curves and surfaces, would be suitable for a one-semester undergraduate course. The local and global theories of curves and surfaces are presented, including detailed discussions of surfaces of rotation, ruled surfaces, and minimal surfaces. The second half of the book, which could be used for a more advanced course, begins with an introduction to differentiable manifolds, Riemannian structures, and the curvature tensor. Two special topics are treated in detail: spaces of constant curvature and Einstein spaces. The main goal of the book is to get started in a fairly elementary way, then to guide the reader toward more sophisticated concepts and more advanced topics. There are many examples and exercises to help along the way. Numerous figures help the reader visualize key concepts and examples, especially in lower dimensions. For the second edition, a number of errors were corrected and some text and a number of figures have been added.

 Our first knowledge of differential geometry usually comes from the study of the curves and surfaces in $\mathbf{R$ that arise in calculus. Here we learn about line and surface integrals, divergence and curl, and the various forms of Stokes' Theorem. If we are fortunate, we may encounter curvature and such things as the Serret-Frenet formulas. With just the basic tools from multi-variable calculus, plus a little knowledge of linear algebra, it is possible to begin a much richer and rewarding study of differential geometry, which is what is presented in this book. It starts with an introduction to the classical differential geometry of curves and surfaces in Euclidean space, then leads to an introduction to the Riemannian geometry of more general manifolds, including a look at Einstein spaces. An important bridge from the low-dimensional theory to the general case is provided by a chapter on the intrinsic geometry of surfaces. The first half of the book, covering the geometry of curves and surfaces, should be suitable for a one-semester undergraduate course.

 The book is an innovative modern exposition of geometry, or rather, of geometries; it is the first textbook in which Felix Klein's Erlangen Program (the action of transformation groups) is systematically used as the basis for defining various geometries. The course of study presented is dedicated to the proposition that all geometries are created equal--although some, of course, remain more equal than others. The author concentrates on several of the more distinguished and beautiful ones, which include what he terms toy geometries'', the geometries of Platonic bodies, discrete geometries, and classical continuous geometries. The text is based on first-year semester course lectures delivered at the Independent University of Moscow in 2003 and 2006. It is by no means a formal algebraic or analytic treatment of geometric topics, but rather, a highly visual exposition containing upwards of 200 illustrations. The reader is expected to possess a familiarity with elementary Euclidean geometry, albeit those lacking this knowledge may refer to a compendium in Chapter 0. Per the author's predilection, the book contains very little regarding the axiomatic approach to geometry (save for a single chapter on the history of non-Euclidean geometry), but two Appendices provide a detailed treatment of Euclid's and Hilbert's axiomatics. Perhaps the most important aspect of this course is the problems, which appear at the end of each chapter and are supplemented with answers at the conclusion of the text. By analyzing and solving these problems, the reader will become capable of thinking and working geometrically, much more so than by simply learning the theory. Ultimately, the author makes the distinction between concrete mathematical objects called geometries'' and the singular geometry'', which he understands as a way of thinking about mathematics. Although the book does not address branches of mathematics and mathematical physics such as Riemannian and Kahler manifolds or, say, differentiable manifolds and conformal field theories, the ideology of category language and transformation groups on which the book is based prepares the reader for the study of, and eventually, research in these important and rapidly developing areas of contemporary mathematics.

 This book is an introduction to basic concepts in ergodic theory such as recurrence, ergodicity, the ergodic theorem, mixing, and weak mixing. It does not assume knowledge of measure theory; all the results needed from measure theory are presented from scratch. In particular, the book includes a detailed construction of the Lebesgue measure on the real line and an introduction to measure spaces up to the Caratheodory extension theorem. It also develops the Lebesgue theory of integration, including the dominated convergence theorem and an introduction to the Lebesgue $L^p$spaces. Several examples of a dynamical system are developed in detail to illustrate various dynamical concepts. These include in particular the baker's transformation, irrational rotations, the dyadic odometer, the Hajian-Kakutani transformation, the Gauss transformation, and the Chacon transformation. There is a detailed discussion of cutting and stacking transformations in ergodic theory. The book includes several exercises and some open questions to give the flavor of current research. The book also introduces some notions from topological dynamics, such as minimality, transitivity and symbolic spaces; and develops some metric topology, including the Baire category theorem.

 Differential geometry arguably offers the smoothest transition from the standard university mathematics sequence of the first four semesters in calculus, linear algebra, and differential equations to the higher levels of abstraction and proof encountered at the upper division by mathematics majors. Today it is possible to describe differential geometry as "the study of structures on the tangent space," and this text develops this point of view. This book, unlike other introductory texts in differential geometry, develops the architecture necessary to introduce symplectic and contact geometry alongside its Riemannian cousin. The main goal of this book is to bring the undergraduate student who already has a solid foundation in the standard mathematics curriculum into contact with the beauty of higher mathematics. In particular, the presentation here emphasizes the consequences of a definition and the careful use of examples and constructions in order to explore those consequences.

 Very roughly speaking, representation theory studies symmetry in linear spaces. It is a beautiful mathematical subject which has many applications, ranging from number theory and combinatorics to geometry, probability theory, quantum mechanics, and quantum field theory. The goal of this book is to give a holistic'' introduction to representation theory, presenting it as a unified subject which studies representations of associative algebras and treating the representation theories of groups, Lie algebras, and quivers as special cases. Using this approach, the book covers a number of standard topics in the representation theories of these structures. Theoretical material in the book is supplemented by many problems and exercises which touch upon a lot of additional topics; the more difficult exercises are provided with hints. The book is designed as a textbook for advanced undergraduate and beginning graduate students. It should be accessible to students with a strong background in linear algebra and a basic knowledge of abstract algebra.

 One of the most widely used texts in its field, this volume introduces the differential geometry of curves and surfaces in both local and global aspects. The presentation departs from the traditional approach with its more extensive use of elementary linear algebra and its emphasis on basic geometrical facts rather than machinery or random details. Many examples and exercises enhance the clear, well-written exposition, along with hints and answers to some of the problems. The treatment begins with a chapter on curves, followed by explorations of regular surfaces, the geometry of the Gauss map, the intrinsic geometry of surfaces, and global differential geometry. Suitable for advanced undergraduates and graduate students of mathematics, this text's prerequisites include an undergraduate course in linear algebra and some familiarity with the calculus of several variables. For this second edition, the author has corrected, revised, and updated the entire volume.

 In the past decade there has been a significant change in the freshman/ sophomore mathematics curriculum as taught at many, if not most, of our colleges. This has been brought about by the introduction of linear algebra into the curriculum at the sophomore level. The advantages of using linear algebra both in the teaching of differential equations and in the teaching of multivariate calculus are by now widely recognized. Several textbooks adopting this point of view are now available and have been widely adopted. Students completing the sophomore year now have a fair preliminary under standing of spaces of many dimensions. It should be apparent that courses on the junior level should draw upon and reinforce the concepts and skills learned during the previous year. Unfortunately, in differential geometry at least, this is usually not the case. Textbooks directed to students at this level generally restrict attention to 2-dimensional surfaces in 3-space rather than to surfaces of arbitrary dimension. Although most of the recent books do use linear algebra, it is only the algebra of ~3. The student's preliminary understanding of higher dimensions is not cultivated.

 Elementary Differential Geometry presents the main results in the differential geometry of curves and surfaces suitable for a first course on the subject. Prerequisites are kept to an absolute minimum – nothing beyond first courses in linear algebra and multivariable calculus – and the most direct and straightforward approach is used throughout. New features of this revised and expanded second edition include: a chapter on non-Euclidean geometry, a subject that is of great importance in the history of mathematics and crucial in many modern developments. The main results can be reached easily and quickly by making use of the results and techniques developed earlier in the book. Coverage of topics such as: parallel transport and its applications; map colouring; holonomy and Gaussian curvature. Around 200 additional exercises, and a full solutions manual for instructors, available via www.springer.com ul>

 It is remarkable that so much about Lie groups could be packed into this small book. But after reading it, students will be well-prepared to continue with more advanced, graduate-level topics in differential geometry or the theory of Lie groups. The theory of Lie groups involves many areas of mathematics. In this book, Arvanitoyeorgos outlines enough of the prerequisites to get the reader started. He then chooses a path through this rich and diverse theory that aims for an understanding of the geometry of Lie groups and homogeneous spaces. In this way, he avoids the extra detail needed for a thorough discussion of other topics. Lie groups and homogeneous spaces are especially useful to study in geometry, as they provide excellent examples where quantities (such as curvature) are easier to compute. A good understanding of them provides lasting intuition, especially in differential geometry. The book is suitable for advanced undergraduates, graduate students, and research mathematicians interested in differential geometry and neighboring fields, such as topology, harmonic analysis, and mathematical physics.

 The study of 3-dimensional spaces brings together elements from several areas of mathematics. The most notable are topology and geometry, but elements of number theory and analysis also make appearances. In the past 30 years, there have been striking developments in the mathematics of 3-dimensional manifolds. This book aims to introduce undergraduate students to some of these important developments. Low-Dimensional Geometry starts at a relatively elementary level, and its early chapters can be used as a brief introduction to hyperbolic geometry. However, the ultimate goal is to describe the very recently completed geometrization program for 3-dimensional manifolds. The journey to reach this goal emphasizes examples and concrete constructions as an introduction to more general statements. This includes the tessellations associated to the process of gluing together the sides of a polygon. Bending some of these tessellations provides a natural introduction to 3-dimensional hyperbolic geometry and to the theory of kleinian groups, and it eventually leads to a discussion of the geometrization theorems for knot complements and 3-dimensional manifolds. This book is illustrated with many pictures, as the author intended to share his own enthusiasm for the beauty of some of the mathematical objects involved. However, it also emphasizes mathematical rigor and, with the exception of the most recent research breakthroughs, its constructions and statements are carefully justified.

 This book consists of two parts, different in form but similar in spirit. The first, which comprises chapters 0 through 9, is a revised and somewhat enlarged version of the 1972 book Geometrie Differentielle. The second part, chapters 10 and 11, is an attempt to remedy the notorious absence in the original book of any treatment of surfaces in three-space, an omission all the more unforgivable in that surfaces are some of the most common geometrical objects, not only in mathematics but in many branches of physics. Geometrie Differentielle was based on a course I taught in Paris in 1969- 70 and again in 1970-71. In designing this course I was decisively influ enced by a conversation with Serge Lang, and I let myself be guided by three general ideas. First, to avoid making the statement and proof of Stokes' formula the climax of the course and running out of time before any of its applications could be discussed. Second, to illustrate each new notion with non-trivial examples, as soon as possible after its introduc tion. And finally, to familiarize geometry-oriented students with analysis and analysis-oriented students with geometry, at least in what concerns manifolds.

 This book is based on the full year Ph.D. qualifying course on differentiable manifolds, global calculus, differential geometry, and related topics, given by the author at Washington University several times over a twenty year period. It is addressed primarily to second year graduate students and well prepared first year students. Presupposed is a good grounding in general topology and modern algebra, especially linear algebra and the analogous theory of modules over a commutative, unitary ring. Although billed as a "first course" , the book is not intended to be an overly sketchy introduction. Mastery of this material should prepare the student for advanced topics courses and seminars in differen tial topology and geometry. There are certain basic themes of which the reader should be aware. The first concerns the role of differentiation as a process of linear approximation of non linear problems. The well understood methods of linear algebra are then applied to the resulting linear problem and, where possible, the results are reinterpreted in terms of the original nonlinear problem. The process of solving differential equations (i. e., integration) is the reverse of differentiation. It reassembles an infinite array of linear approximations, result ing from differentiation, into the original nonlinear data. This is the principal tool for the reinterpretation of the linear algebra results referred to above.

 Differential geometry began as the study of curves and surfaces using the methods of calculus. In time, the notions of curve and surface were generalized along with associated notions such as length, volume, and curvature. At the same time the topic has become closely allied with developments in topology. The basic object is a smooth manifold, to which some extra structure has been attached, such as a Riemannian metric, a symplectic form, a distinguished group of symmetries, or a connection on the tangent bundle. This book is a graduate-level introduction to the tools and structures of modern differential geometry. Included are the topics usually found in a course on differentiable manifolds, such as vector bundles, tensors, differential forms, de Rham cohomology, the Frobenius theorem and basic Lie group theory. The book also contains material on the general theory of connections on vector bundles and an in-depth chapter on semi-Riemannian geometry that covers basic material about Riemannian manifolds and Lorentz manifolds. An unusual feature of the book is the inclusion of an early chapter on the differential geometry of hyper-surfaces in Euclidean space. There is also a section that derives the exterior calculus version of Maxwell's equations. The first chapters of the book are suitable for a one-semester course on manifolds. There is more than enough material for a year-long course on manifolds and geometry.

 Matrix groups touch an enormous spectrum of the mathematical arena. This textbook brings them into the undergraduate curriculum. It makes an excellent one-semester course for students familiar with linear and abstract algebra and prepares them for a graduate course on Lie groups. Matrix Groups for Undergraduates is concrete and example-driven, with geometric motivation and rigorous proofs. The story begins and ends with the rotations of a globe. In between, the author combines rigor and intuition to describe the basic objects of Lie theory: Lie algebras, matrix exponentiation, Lie brackets, maximal tori, homogeneous spaces, and roots. This second edition includes two new chapters that allow for an easier transition to the general theory of Lie groups.

 This book provides a student's first encounter with the concepts of measure theory and functional analysis. Its structure and content reflect the belief that difficult concepts should be introduced in their simplest and most concrete forms. Despite the use of the word terse'' in the title, this text might also have been called A (Gentle) Introduction to Lebesgue Integration. It is terse in the sense that it treats only a subset of those concepts typically found in a substantial graduate-level analysis course. The book emphasizes the motivation of these concepts and attempts to treat them simply and concretely. In particular, little mention is made of general measures other than Lebesgue until the final chapter and attention is limited to $R$ as opposed to $R^n$. After establishing the primary ideas and results, the text moves on to some applications. Chapter 6 discusses classical real and complex Fourier series for $L^2$ functions on the interval and shows that the Fourier series of an $L^2$ function converges in $L^2$ to that function. Chapter 7 introduces some concepts from measurable dynamics. The Birkhoff ergodic theorem is stated without proof and results on Fourier series from Chapter 6 are used to prove that an irrational rotation of the circle is ergodic and that the squaring map on the complex numbers of modulus 1 is ergodic. This book is suitable for an advanced undergraduate course or for the start of a graduate course. The text presupposes that the student has had a standard undergraduate course in real analysis.