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MATH3968 Lecture 4: DR Emma Carberry 4 August 2009

The document summarizes key concepts relating to curves in the plane from a mathematics lecture, including: 1) It defines total curvature as the integral of curvature over the curve, and defines a closed curve as one where the endpoints are equal. 2) For a closed curve, the total curvature must equal 2πn, where n is the integer rotation index of the curve. 3) The winding number of a curve around a point is also defined. 4) It states theorems that the rotation index of a regular simple closed curve and a piecewise-regular simple closed curve is 1.

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59 views

MATH3968 Lecture 4: DR Emma Carberry 4 August 2009

The document summarizes key concepts relating to curves in the plane from a mathematics lecture, including: 1) It defines total curvature as the integral of curvature over the curve, and defines a closed curve as one where the endpoints are equal. 2) For a closed curve, the total curvature must equal 2πn, where n is the integer rotation index of the curve. 3) The winding number of a curve around a point is also defined. 4) It states theorems that the rotation index of a regular simple closed curve and a piecewise-regular simple closed curve is 1.

Uploaded by

TOM DAVIS
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MATH3968 Lecture 4

Dr Emma Carberry
4 August 2009

Last Lecture

• Geometric definition of curvature using circles;


dθ(s)
• k0 (s) = ;
ds
• Frenet equations giving derivative of Frenet frame (t, n, b);
• There exists a regular curve with any given smooth curvature and torsion, and this curve is unique
up to rigid motions.

We return now to curves in the plane.


•
α : (a, b) → R2 ,
parameterised by arc length s.
• As above, write
t(s) = α0 (s) = (cos(θ(s)), sin(θ(s)))
where θ is a continuous choice of angle for t.

• The total curvature of α is


Z b
ktot = ko (s)ds
a
Z b
dθ
= ds
a ds
= θ(b) − θ(a).

Definition 1. α : [a, b] → R2 is closed if α(a) = α(b).


If α : (a, b) → R2 is a closed curve, then there is a least value L for which

α(a + L) = α(a).

Definition 2. Then Z a+L


ko (s)ds = θ(a + L) − θ(a) = 2πn,
a

for some n ∈ Z, since t(a + L) = t(a). n is called the rotation index of α.

n=1 n = −2

1
Definition 3. We can also define the winding number wp (α) of α with respect to p ∈
/ α(0, b) by
1
wp (α) = (φ(L) − φ(0)).
2π
where φ(s) is a continuous choice of angle for the vector α(s) − p.

α(s) α(s)
φ(s) φ(s)
p q

wp (α) = 1 wq (α) = 0

Can you see why we require p ∈ / α(0, b)?


Terminology Warning This is the standard definition of winding number, and agrees with do Carmo
section 5.7. However, the class notes use the words “winding number” for what we have called “rotation
index”.
The winding number wp (α) is preserved under continuous deformations of α in which it does not
“cross” p. This is because it is a continous function under such deformations, but takes discrete values
(so can’t “jump”, eg from 1 to 2).
By “continuous deformations” we mean the following:
Definition 4. Let α, β : [0, l] → Rn be continuous, with α(0) = β(0) = p and α(l) = β(l) = q. We say
that α and β are homotopic if there is a continuous map H : [0, l] × [0, 1] → Rn such that
1. H(s, 0) = α(s) H(s, 1) = β(s) for all s ∈ [0, l]
2. H(0, t) = p, H(l, t) = q for all t ∈ [0, 1].
we call H a homotopy from α to β.
Think of t as a time parameter; we continuously deform from α (t = 0) to β (t = 1).
Equivalently, the winding number wp (α) is invariant under moving p along an arc which does not
intersect α.
The rotation index n is defined from the tangent t, rather than from α directly. It is invariant under
continuous deformations of t, again because it is a continous function under such deformations, but takes
discrete values (so can’t “jump”, eg from 1 to 2).
In particular, n is preserved under smooth deformations of α that keep it regular as these result in
continuous deformations of t.
Definition 5. If a closed curve α has no self-intersections, it is called a simple closed curve.
Theorem 6 (Theorem of Turning Tangents For Regular Curves (p396, do Carmo)). Let α : [0, b] → R2
be a regular simple closed curve, oriented anticlockwise. Then the rotation index of α is 1.

Proof

• Take a horizontal line which is below the curve α, and translate it upwards until it is first tangent
to α. Let p be a point of tangency.
• Reparameterise α if necessary so that α(0) = p.
• Let T be the triangle {(u, v) ∈ [0, l] × [0, l] : 0 ≤ u ≤ v ≤ l} and define ψ : T → S 1 by
α(v) − α(u)
ψ(u, v) = , if u 6= v and (u, v) 6= (0, l)
|α(v) − α(u)|
α0 (u)
ψ(u, u) = 0
|α (u)|
α0 (0)
ψ(0, l) = − 0
|α (0)|

2
• Set A = (0, 0), B = (0, l), C = (l, l)
• Note that along AC, the restriction of ψ is t, the tangent map
• The tangent map is thus homotopic to the restriction of ψ to the sides AB, BC
α0 (0) −−−→
• ψ(A) = |α0 (0)| , along the interior of AB, the map ψ gives the vector in the direction pα(u) and
α0 (0)
ψ(B) = − |α 0 (0)|

• Thus ψ|AB covers the top half of the unit circle, anti-clockwise

angle(ψ|AB (B)) − angle(ψ|AB (A)) = π.

(assuming a continuous choice of angle)

• Similarly, ψ|BC covers the bottom half of the unit circle, anti-clockwise

angle(ψ|BC (C)) − angle(ψ|BC (B)) = π.

• Hence, recalling that we write θ for a continuous choice of angle for t,

θ(l) − θ(0) = 2π

so the rotation index is 1

Definition 7. If α is regular except at finitely many points, it is said to be piecewise-regular.


Let α : [0, L] :→ R2 be a simple closed curve, regular except at points si ,

0 = s0 < s1 < · · · < sn−1 < sn = L

(we are assuming that the curve is parameterised by arc length).

θ− (s2 )
α(s2 )

θ+ (s2 )
θ+ (s1 )
θ− (s1 )

α(s0 ) = α(s3 ) α(s1 )


θ+ (s0 )
θ− (s3 )

The total curvature is


Z L n−1
X Z si+1
ko ds = dθ
0 i=0 si
n−1
X
= (θ− (si+1 ) − θ+ (si ))
i=0
n−1
X
= (θ− (si ) − θ+ (si )) + θ− (sn ) − θ+ (s0 ).
i=1

α(s2 )
γ2

γ1

α(s0 ) = α(s3 ) γ0 α(s1 )

3
• Write γi for the angle (∈ (−π, π)) from the vector lims→s− t(s) to the vector lims→s+ t(s), 1 ≤ i ≤
i i
n−1
• Write γ0 for the angle (∈ (−π, π)) from the vector lims→s−
n
t(s) to the vector lims→s+ t(s),
0

• Then
θ− (si ) − θ+ (si ) = −γi
θ− (sn ) − θ+ (s0 ) = −γ0 + 2πn
for some n ∈ Z.
• We call n the rotation index of the piecewise-regular curve α, and from above
Z n−1
X
ko ds + γi = 2πn.
i=0

Theorem 8 (Theorem of Turning Tangents). Let α : [0, b] → R2 be a piecewise-regular simple closed


curve, oriented anticlockwise. Then the rotation index of α is 1.

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