double pendeln

Ä
Ä

configurations K ß E Tat 2,2

Iis
identified

tous

another example
2 points on

uch
G

what are the configurations r

of two points
on a circle points distinguishable taras

points are indistinguishable

t.IE

you night think

S x interval

i I
Centerpoint distance

but not quite

it's actually a Moebius ship

only one bandung
 Ati

ÜEEE

Er Ei Inuit Erlang
Tideomophism
As this is a
map from an
open subset
of IR to R we know how to
differentiate So it makes Sense to
Mund tht this map in E
 in
plugicsw sinplgwrit

YwPunscoacein.ts
n n

in O
with work I has Coordinate

i lo 0

I can view

the coordinates
UM as function

of the coachte
no
is the du ü
his function
physicsts way of alu
denolig
Irak
un

so we can with this like

Ort
D
Tu Vik

vote position of indices

This convention encodes the chain mule

with a third coordinate patch W Fw

Coorinates w W

I can view Coardients V1 as function of

Coordinates we which themselves are

functions of the no

vilws ul
du

Disks
with
E implicit

Einstein summation Convention

a repeated index once upstairs and
one downstairs is always summed
over

Du D D
wa
vw
 Often enough it's chew what coordinate

system use at the mont Then

you
instead of wily fun gen simply wilde

Now htwehatogicts
we should look at maps
between then morphisms

AI

f M w

The map f
is not only cantivionslas a
map
between topological spaces but we want it to

respect the manifold structure so it should also

be alternlinble in
PTPJ.tn
IIcoaa FaremyPoM we a coordinate

chart h Eu with Ben

und IV Er with f EV
 w

ii

f M w

iEEEEEE

Äulu

Eifott
KEEÄTEIET
in
has to be e

This is choices
independent of our in particular

of h n und Oer chain ink

Examples First of all note that open
subsets Uch are themselves
manifolds with a
single chat
la ihn

so in
particular far 4 1 we can
look at

Ula b ER W

An
path

b M W a b IR

Ab CR
II ECM
scalar function
es temperature
 let's combine the two

I
time
Ai
la b IR
Toy
Temperaturen as function of the

How does the temperature as a function

of
time change

Tor

tangent space cotangent space

Kurve
M
la b M

i
j
position y t

velocity j t will be a
taugt rector
does not exist

fing It
 E O

hat in a dat this exists U

of IR

in
vector
Noth
ein
E 70
ÄH c
in

This exists but we had to choose a

chart alt e Un V

what about a
diffus dat V E
zu vor Evo Eisner
recta
in Nofv
D Er ü En
T

habit with
Lampert
Duk
D
To
istdefilim in coordinates Far eng
chul UCR LU a it is a recta
in D such that in a chart overlap we

how j D In matt multiplied

To obtain a vector at Pe M we
mad out the paths

Consider all paths J C E E M

with plo P with an equivalence

relation

r 4
itt jul Yuto
for some chart u Eu with Pen

I
all dots
Such an equivalence class of paths
is a
tangutvertaratI
The totalling of all tangent rectus
at P denoted by TTT is
a vector space of dimension nistaugt
Sep
this can be seen in a chart

Tarif
 Ä Innen

For each ve R there

is a path in 4

Ht Eu ul t

Note There is a
taugt redar
space
for each point Pen and they
are all diffent as
they casit
of eg classes of paths with bittet
Ko but of course as recta
Spaces they are all isomorphic because
they have the same dimension
But there is no natural map preferred
isomorphism the attack t
I
te of pulp
We can tube the union of all these taugt
recter spaces

TM P v Pe M ve
TPM
this is called the tangut bundle
and is a manifold of dinnsia Zu
 chats From achat 4 En of M
construct a chat
Er
U xD Eun IP

Enid Jul

There is a
map T TM M or

TM
P u P
µ
unpping

rector space
F P
Tp M

This makes TM a nectar bundle

Äf n

Note not all refer bundles look like Mit

e
g Moebius stupst
 Famous example fur tangent bundle

Tsf Se 2 dim sphere

x Ml

ÖE

A comb a hedgehog

Ei für euch Pen

rector field Assign Va rector n
TPM
V M TM with Toll ich

the
a section of taugt bundle TM

The set of recter filds I denke by

MITM
 Talung a recter füld V e T TM

and a scalar function TECHN

v m fer each P 8 ETTA

VEIL f Tor
KIT derivativeof T along V
Lie derivative

VLT ECOLM R

VE C M M COLM R

e M R recta space
is actually
a

a commutative algebra by pointwise

multipriation addition

VI is a Linear
map
el M R
Aig T VIP ETPM

VII g lil da If g or
 Prichtun
flift Jr

GLP Eko fo
fliVIg 4 GLP VIA P

IVEfigI f.VE g leisnitz

rule

VE is linear und obegs Leibnitz Mule

it COCM.IR
is a
derivation an

Def Bertolini is the space of

einer mps ECM D C CM
Hat obey the Leibnitz rule

In fact all derivations Der LEPCM.IR

come from retur fülds
MITM Der LOCH

3rd definition of a vector

 Let's take a derivation S Der CCM

1 M R
1 P 1

1.1 1
1.5111 1.14 8 1 1 811

2dL
OLD 0

linearity 8 const fat o

U V e M open

Un V
e M
f g IR

with suppf CU

ÄCHIALBFOT
suppg c U
8
f
Ä
 O
f g 0
Ana
t
o
Slf g folg golf
O
819
Tsuppfsuppelmoup
F Off
is
P
local
can only depend

g an
f in anmighbourhood oft
9 arbitrarily small
IgioTR
SIR SIR g glp O

PER
815 g o on R
S
g IP
P
S
g
i
Stg g g 1

S g D
only depends on
glp
for any neighborhood R of P

fis local
 Ä Slf P depends only
on
flu

fu So instead

flu I
of
can
looking

study
at

F
fo ü
which is a scalar faction
an
on In a CIR

ÖEIH S f Eil tut's also

a deviation it s in 1 1
eorespune
with derivations on M

Study Sf in the coordinate chat

let's assume Eu LP 0 ER

84111 E F o

Fl
ft FAX Flo

Flo t dt MIO F t

l
 Flo t XP Got O F t

EI l
Elfi It d

5k o dat cont E 1

ilo 8 fat of t

ly Ort
o
Öl

SMEE 9µF
when Ö when Fappen
appears
and this 8
The whale deivalia Ö is deter und by
its values on the coordinate functions

It is characterized
by UM Ölx

ÖH Und F

ö Vier
 µ

We fand Derivations are the same as

1st order differential operators on scalar

functions adare the same as rector fields
D

Eg For two weiter fülds VW TITTY

I can define a new vector füld commat.tw

VIVI H V
WEI WIVES

fuers fee n

VW CCM TIM linear

We med to show that Uw is deintia

Pf
a

Thw fg VEW f wow

f WG gut Vew

V f WEG tfVIWEGJJTUGJW.SI
g TW Ew
 f V WIES
g V W Lt

So U W is a deivation is a recta füll

alterhourly In coordinates as 1st order diff ops

V Vid W W Du

IV w
f Vid Woof Widulurort

Um
lomwld.tt hundert
Wo d UM
Orf Wutach
umlaut wider auf
F
This is 1st order again und thus a rector
fuß
 Ä

am

Def For a ve tu füld V e T TM a

flog is function

F Ir e x M D

IF M M te te te

with PEM
F ich

LEIB VIEIT

let's look at this in cordite

tu simplicity tube to
 ALLE D V Eda

This is a differential equation feel

the fuckin Eu OF

n an

Sulu t µ EINE LP V n t Ut

Um H UM ask.n.su
wild Fal
1st order ODE initial condition

From ODE theory we know about

existence solutions
uniqueness of

Said diltully given a rector field

teure at
exists a
unique flow least
for shut times locally

recturfüld is tin derivative of

flow
leer flow is integral of rect
 füld

Differential ferns Stutry from rectus atp

has actual
Tp M as a rector
space
Tp TIM
contains all linear function

X TPM IR

Similarly to TM there is also

TAM cotangent bundle the

the
union of all
TIM's
DE TITAN
X MST'M Xp ETAT

We have aloud seen those

Take Then
for each
feel M

recta füld VE MITM we had

 VII EELM

Fix
f vang V

V Vlt
at each this is linear
point map

TIM CCM einar

This is a section of TM a co rede

Eld It is denoted
df ETITT
It is called
themtoff
Or said dilfutly we fand a
up

d O M
TITTY
4ID.VE

corectwfuldsareadsocalleA fom
In coordinates U En with local

coordinates lui n a recturfüld V

can be written as
or o
und i
a basis
µ are

of TPM
Dual basis
of TIM coordinate basis

absurd UM is a scalar function on Uch

Jour dom

dar oo 8

So dat are a dual basis to Die

Every d farm can this be witten as

fakanlutdu
t ÄH
AI

X E TITAN
How can I map stuff beveen manifolds

scalar function on N

of scalar function on M
FAG
p
pull back of 9
I contravariant

rectors come from Cannes

N
Fog is a are in

J gives rise to a
taugt vector
V j o at P Hole M

is mopped to a vector

FAV at FCP EN

push forward

covarat same direction as F

What about vector fields instead

of single
vectors
No At best a rectorfield
on FCM C N
 F is ingictive
and ohg if
Push forward does not work

universally

What about dilfentine farms

Take a ET T N and V e
Tp M

FAV E
TEL N

plug ato x

X FAV E R

U m X FAV ER

This is a dillential farm on M

FAX pull back

FAX X FAV

Diffentine forms do transport

from N to M
 Let's do this in coordinates

M A fer M n um

N
10 Io for u un

PEU F CP

In un E P FCPJ lvii.vn

basisofTpM Op Fun

comes from thepath

that fixes all coordinates
but Changes the coardmt
um at unit velocity

F
push forward with
Flut 4Mt n

tung devirahens

V Changes under this path

DF
as
je t

for
transport to
Ö Ö
 TÖTETE

Flu
Itt
unt w

t u nun

how much does the

µ u tu coordinate
of F
chug
ou
Fun

Now the dilution farm

Xp der N
x on

x
f X Fl
 E
mit
Kw

du't
ff
T

let's look at dilfulinl ferns tut

came from sealers N R
Y
game rise to dy
Mq

YId Id
F de

COLN E CCM
check at home
Id Id diagram counts
TITAN E TITAN
 In coordinates you should find

FM4 d e Ö du
DF

In particular if F is id M D

dann
dy
jfduef.tn
u forms Define an anti Commlig
multi hier product on
TIM
X Lu E TE M
X 1 Kz 1 1
du
make this hinan in each slot and
anti camming

X 1 A Xp 1 Lpt 1 Xy

X 1 X
Apt 1
Xp 1 14k

All those and this lineare combinations

group togter in ATEM

 K farms rector
again a
spur

Because of the anti Symmetry for Lotta

X 1L Lex

911 0

So a basic for MTEM are

du n n n dat
wir µ µ
Aus the dimsion of Mit M is

in
You can see scalar functions are

nothy but O farms

We can extend the map d to

d MT M M TAM

XY Xy P du n n du
µ
c
sca ft 1 ge
AN Ip day a dahin na dann
y
 exterior derivative

The df o la de o

Pt d Ip OYjdndndumn.edu
d da 1 dlojfndaiedurnndn.tn
024 na

EI.IE 4n.a
Iwann under
Sad

Let's do examples Tam M IR

For I use coordinates Ca ü ü x
g z

1 farm A Ax Axt Ag dyt Azdz

Ä di

www.dr GE

2 farms Basis dx 1dg

dyndz
dt 1 dz

d
 Put in a roter di
dandy
Gene 2 Farm

B B di

3 forms basis vector

Only am dandgedz

du
What is the d doing
ou a O farm scalar function
9 RB IR

dy da
gg dy jde
Eg di

on a 1 form

DA dEx Idf dAgndgtdtzn.dz

dxtfd.gr EE4z rd
Erdig 91414
Hdz
 Of Egd Ö dude

IT Egg YE D

dandz
Gj dyndz

L 8 anij
dyndz
Ey E
Ü E C den d

Ex A dä

d on 1 fans is curl

2 forms B B dä
dB dBx dyndz
dBy den dt
d Bz dyndy

JE den dyndz
 Etage
deduct
II GBI dxndgn.dz

I B dendyndz
d an 2 forms is dinge

d O on Ofons
ix y di
O
day
Carl of grad 0

on 1 fan
O ddA I HÄ
divergence of Carl O

more examples Minkowski space time

coordinates It x
y z

O fans scalar function

1 farms basis dt di
potential
A dt A di
q
Scala potential rectorpotential
 2 forms basis dte di di

F E
electric
die di D di
magnetic
füldstigten fold strength
3 farms basis didi du

dt edits du
j
Sensing
derivalienäensitg
exterior
O farm Neeee n Gange parameter

AN oft dt Es di gange
tran formation

1 form Ä ET RÄT

DA den dt die di

Ag dindt dt Ädtedith di

da F die di Ä di
EI
füldstugh is
gange invaiat
LEY
F dt friend stugth from potential
2 forms dt deindte di dördi
dF dldA o fixe dtido d dte di
E D du nomas
ÖEnopoks
2 homogener
equations
Maxwell
IEEE dtiditil.IN
 q

3 forms
dy djidtiitde.edu
E g dtndut des dta du

i dt edu
dg g

df O Es continuity equation
far change

Integration
dy Symbol for deuchne
before n

dx symbol for total durch

wow d dx is Aform
ex dei carat

but dx also appens

ff der
To give means to this expression we define
an integral for differential farms

FTF X
Actually far top farms ie.ae

XD du n die

Sp pladin
n du

ala du
at least if all of M
the coordint
is covered by
chart of coordinates n
 This definition uses a coordinate system
n or hlu

X X Lulu du lu n n dulu

xluiullloj.duxgicr
I _

XluluD dvn.nndun
iii

Jacobian

almost the
Jacobian
absolute value
sign missing

same if der 8 o

upshot GL is independent of the choice

of coordinates as long as
der 0 changes sign
otherwise
 Sign of GX is
only well defined if
M
we can pick an
orientation of M

that is a preferred order of du n 1 du

eg If my manifold can be witten as

the boundary of another manifold

there is a pretend
wrink es S XEN Kh I

the bounding of of ball

is Bsf teilw
Here the orientation comes from picking
the outside direction

What happens if there is more than one coordinate

patch Use standard trick partition of unity

If you here an atlas Ui Ea IF

for your manifold M

Then find scalar functions

you can
G ie

Gi ECR such that

EIS 1

and
suppy c Ui
4 Y
 With these functions can detie
you
Xi Go X
hi his support also on U

J SEE E S.fi E Suit

an be coupled
in ni cordite
as before

What can we do with other k forms

F
AÄ

pull back f X ENT M

This we can integrate as long as K dimm

On N of any dimension we can

 integrate k forms over the image
of maps f M N of k dimensional
manifolds M by seltis

So Gfk
f
It turns out up to the
usual
sign
this integral depends only on the Set
f CM C N and not on the details
of M and N

For example
you
can integrate 2 forms
over the inges of 2 manifolds in other
manifolds

One concrete example

1 forms in As
A ÄH di

Look at images of 1 manifolds in IP

ie paths

J M I
dim M 1 interval ar St

let's use a coordinate t far M

 locally J t JH ER

f JAA

L III III

fi
ÄHH dt

In ILIAD T dt

This is the term in the Lagrangian

that couples a charged particle te
a magnetic füld
Or in Minkowski

4
A Gatt A di

Sy JAA E ÄHHH dt
GIA
now there is also the
coupling to scalar potential
 In stug Theory the world him is

gemerdited to a two dimensional

ward sheet that sweeps out a 2 manfred
in
space time

There is a similar coupling to a

2 farm potential B Neven Schwarz
2
fan
S

The most important than re integration

of diffentine farms Stoke's Theorem

For this med the boundary manifold

we
of a

Take the ball

is a mantel
B o Xe xp 1

it has a boundary

031,10 SZ XEN 4 1 1
Ü boundary of
 LÜ

stone
dich
Th let M be a manifold with boundary On
and a ET ATT a d forum
tun

M
da Ja
OM

this includes fu M 3 dim

X d di

F dvd da t.dz
Jop OD
M

and in 2D M 2 dim eg
a 2 dim surface in IR

di
1 form ß ß
SERIE
M
Saß Saß Grids
Stone's law
 ar in A dimsin Tl a b

O farm in
y a a function JH
b H

Stadt Sadr Song 815 ru

Tarietetia
529 b of Oil

In the case where OM e

g
M is a
boundary itself
Sda 0
M

It X L n tz using the

product rule dla na d n 4

H Xin daz
e TIM TAT

L E TCM TAT
K Kz 4

da f Sparda
finde M
in

integration byparts

oflina
n
C F.fi dtf
 Back 4 dim M
to Maxwell equations
Recall dim ATEM I n

4
dim MTA
As rector spaces of equal dimension

ATEM and Ä TAM are isomorphic

But with the information we here there is

no preferred canonical identification
But of we add a bit of structure we can make
this choice unique
We can add a medic to make this unique
I for v s
TM
gives us the notion

ordered of anatho normal basis

For an arthonanwirbasis dx du
we can define an operator MT D ATEM
operator
Hodge
dir n n dir dxhn ndxln.ee

g TI AL Lena

Xix drinnen
ja ja la n
lan 1 in
 It turns out this is basis independent

NB There is a sign to wong

about
To see how to do it properly Check

Wikipedia Hodge star

Home work Rewrite the German Wikipedia

article to cover non Euclidean

signature propileg as the English aitice

does

Spur D
Example Minkowski t Xyz
1 fans dt di

dt du den dyndz
die dtido

2 farms
dts d di

di dt edi

No matter what is
your sign convention
S it n odd
1
A
C1 s if never

i
 I
form degree

S Signature of the were

H Signs
y

For Minkowski 4 4 5 1

A A far odd farms

unfs Afoermte

electrodynamics

F E die di t dä

F Edi E dt edi

E D
D E

d F die dt edi E du
xD dt edi

die xD dtndr E.edu

So dAF
J ES

n
9
J AE ED Maxwell
I E equation
g

dt O and
J d
ÜNF

conservation
charge
F dt
J did A

The operate 8 Adt is called the

co diffental Applied to a k fand

8L DAX

So 8 ATEM AKTEN
Ä SF
 J g dt j di FÜ
Home work There is another operator
Laplace Beltrami Operator

A D8 Sd ATEM ATEM
Check that this is in componts in the

examples the Laplace ware operator D

in in Minkowski

J OF Td A DA
ASI
Turns out we can chaos a
gauge
such that
SEO

8 At d JA Sdt

JA DX

by solveig SA DA
an inhomogenes ware eqution

In this gange which happens to be

I
 Lorenz gange SA o
Ort c
as

DA.IT
ie the gage potum
obeys aware equation

deRhancokomologgittÖ
O HTM ENTAMENTAMT 4Mt Th

Recall d o this is exact

sequence
da O
Ed
jmd o Ker di

AKG Kerdündu net

Kth de Rham cohomology grouf

be dim n co K Betti number

3
example for I H in classical langung

Which Carl free vetarfülds

are not gradients
now

Hz Which divergence free

vector fields are not
carts more

A more interesting example D S

let's investigate s

Consider a
1 farm X

such that da o

automatic since
S ist dim

Is a dß for some
BeNTs
In coordinates

X 4 dx
BIN dß G dt
 Take
Pk Sly dg

that does the job

At least in thecoordinate patch where
X is a coordinate
µ
cannot be a global
coordinate but ma
f

you
another one that cows
the gap x Ö
X E O K G
e I 3T
g
You could also express x and
ß in the
coordinate
G
Problem the overlap of the two coordinate
regions are two paces

0
 10 IT
On the first one transition function
x
y
Cast
Blg Ax
on the other one transition futun is

I am no
layer at to choose a

constant
liberty
i

We have fand
the red pot
ß
on

Also in conanw
g
ßfly gly
constant
up to an integration
still the integral of dlg
fly is

Question these values for Pl fly

are

the same once

you go around the circle
 The two volms differ by G s

Only if 0 there is a global

O farm ß und tut
df x

Upshot There is a 1 dimensional

d that closed
space of forms is
but not exact
It is measured
by Sg

A basis elent is dx

This looks
p exact
Cd of sanity
But does not exist
globally

L Sind dx

Steppig
bude What made this work is the
fact that there is a how in
 the Circle

Let's
generdige this
ich Take IT and
punch out a
couple of points

für

ÜEE

da O

and look
far ß sind that
df x

We find la
can
ß by integrutg

x along paths just as before

by
ß defined Blg Sg
where is path that ends at
J a
y
does the job df x

except that the definition uses

 choice
a
of path J
Does
ß change when we use
8
instead

p p Sp Sp Ga Sa

S
III
the boudry
of S

Well this works only as long as S exists

ÄF

Then S mit OS tut

does not exist as the area betrei
 the paths has another boundary

compont arand the hole

f Sp fhow

this is only O of f 0

The obstacle of hang a

globally well
defied ß am the integrals of X
around the holes

dim H II Pport p

The first Betti number counts

the number of holes

F.tign.FI i.tposiceum
4
Use polar coordinates
use x
dy Yi auuuuuuu.my
an au o nur zu a a

I
 Cartesian Coordna
arctan
x r

r
cosy
9
9 sing

Ü
dx
tidy
Massey

Miis x Ins integral O arand

fangpaintinnexaptthear
Sind diftutig dim counts the

number that not

of closed paths are

the boundary of a surface modulo continians

deformation
 n

a basis of HI
mag

The higher H measure cont higher

dimensional spheres S that are not

boundinis modulo deformation

HO NAM an funtius
locally
da so
is
konstant
function

TH

din Ho muberof connected componts

What about the physics of this
Recall Maxwell tells us

dt O

F is closed
So far we solved this via Edt
ice that F is exact
assung
But this is the Sun only if A o

Otherwise there is more infernution in F

than A There is also
just
SF
holes

Tut
spurten to be 312 3 12
time
Space

Js F is around the
s
origin in IR

ie 5 is spatial

The integral only involves the spatial

 componts of F is the magnetic
füld What we am integrating is
ach

gp ie the magnetic flux

5 arand the origin

magnetic charge at the origin

This is magnetic monopole
a located at
the origin of IP which we made nd
part of space the

H cantais tue information of magnetic

in the chores
monopoles of space

What about It Look at IRI z axis

and let's assen there is no

magnetic
Guild ie B 0
A closed
What about A d B A 0 is a

valid choice und all

gaugeeqivwhtchan A
xactdtA
But it to there are other chains
of A such that dt B O bat
 A is not
gange equivalet to A O

We A jde Eady
saw above
dy
AA O

But as
J 2T Afd

Is there any physics

in it

Yes but only quantum physics

This is the Aharon Bohm effect

The two in equivalent

paths lead to a

phase diffnee JA
 Hint Wave function change under

gauge transformations

4C
gange transformation A dx

ÄH Yu eie
Dur A fried A die can almost
be ganged away using 1
9 except
at the discontinuity whey
between 0 and IT
fürs

the gange trotos for the wwe

factions for the too paths of

elechus will dilfer by
eies
Vector filds flows b Lie derivative

V is vector fild Verl TM

If a

we can integrat it to a How

F I e E xD M

Ft M M

Fo ihn

This allows us to define the Lie

all Dira en
kinds of fülds Zensur as follows

mm
As tensors at diffent point Lire in
 dilfer fibres Vector spaces we cannot

compare subtract them

We med o
map
between the fibres he
we use pull back push forward of
The flow Ft

PHILIP For farms X TIM TIM

ÄH
im
so FYI Hum at

K
TIEF

Lux derivative along

the flow of the
rectorfüld v

Läden
NB To compute Lu p you
need the

rector field v around the paint p not just

Up Said ältully Lux is ne tensor

in V Or
KfW f f Lux
ingend
Not Calm linear

A few properties

For scalar functions

fo COM o fans

Auf Vlt dfl

Far vector filds WE TITTY

LW V W

Leibnitz rule tar tensors T.TL

Lu T a
Lu
TOLLE
specifically for a k form x
and k veterfülds W Wu

Lü
Lux tun wat
talk Wz Wal

91W Wan Lu

Lullwa Kw X t
w x
 Sinn back commutes with ext
pull
derivation d also du das

dann Lulda
Catars magic formula
input
weiter fild W
K farm X

Lw X ETH'T'M

lud X v insertion

tara tula

symplectionetg

DA M W is called a
sgeplecke

manifold it it is a manifold

2 form WE aTINT M that

is Closed
du O
 and Ludegeneral
at
p
EM If V e TPM a rector
atp
his KW e TPM
W KW O

ten V O

Es W Wir die du
Ä
matik
Wm is invertible

as WU W
war dinde Pds W

V Wo
Wir
auf in even dimm
Why non degenerate
Farretarfüld V
What Vb w is a one form

w recturfülds one forms

non deg 4 this is invertible

the imuse f Wo
L sharp
example M R with coordinates

µ N Pu
P

w di ndp t t dir dpa

dir n
dir
p
thinly du O

is inntible

A Hamiltonian is a scalar function Held M

dit is a 1 farm

dt X is a vector füll
dH
Wlt
with X comes a
flow
solution to the equations

of motion
In our example H xp

dit
II der
ftp.dpr

Iitt la

TI
w X dirndin x

Elkidpard
Thus
Fm E
the
This is
Hamilton
Hamiltonian H
for our
 What the How Xa
is
F of

Xy
Äh Ft

at the point x P

Flap Nt pH

ft Htt.PH 8

or FM
Jt Hamilton equations

Pp df or equations of
motion

Th flau as the integral of Xy ts ts

hotig put the solution to this system

of coupled ODES

That all was about MR and w dornap

 How general is this

The Durban A w
sympl manifold
Far peil there is coordinate
eng a

neighbourhood U En peu in

these coordinates Eu W c I
w
Eddie dir

NB This is about Ighbohood not only a

Single pointi

At single point
W Opa dindyo
the state mt would be that you can

skew diagonnlize
Wir a

You should
compare this to the metro case

Gan can find an ON basis at each

TPM
But not in a mighbourhood Curvature
prevents you from any that
 Upshot In these Darbont Coordinates

we can do our calculation from

above to find the Hamiltonian
equations of motion

What happens it we here two Hamiltonian

fg.ee M
Xy Xy
dfl WIN Xg

XL L f

dgl dt Lg in w

d
lxgixfwtlygdkxgw
dlwlxf.gl tixgd d

d
dit
 In coardintes

get G
f g wlxs.ly
Poisson bracket

using the How of

this tells us that

H
1,4 X t A

Homework Check

AGs 4 t
g
h f tfh.lt.sk

Where does w come from

examples

M is 2 dimensional In any coordinate

 system W WG dx n da

This is symplectic as long as WHO

for all as du O automatically
M S by insisting on
ey
rotational invariance up to a Constant
would pick the standard volume
gon
form in spherical coordinate
w sind doch n
die
danke dy
it
use
far spin

If there are distinguished position coordinates

we if there is configuration span Q
Q is a manifold Then the co taugt
bundle TAQ be turned into
can a

symplectic manifold in a anime way

as follows

ET Q where
q g GEQ
p
e
TE Q
 bundle progestin
T D TAG Q

glp q
I as a
map between manifolds can

be used to push forward vectors

TA di TM TQ

OOH m
q p tu by PETE Q
R einar
p Tga
Tm ME Tg Q AIR
O podt
E
ein

this O E TITAN is a d farm

1
Canonical farm

In coordinates
P Pr I
a general elentof TM IIItig
Vi UM feu t
lo Sp TM

di V di
knfget lu
Kofu
In

Otv Olung r e Ep

km Fg
p

p da
Kif
Pik
dt

KM
Pr
Äon
I Sommerfeld

Tus
gastrulation condition
 Now simply set

w do
dpa ndg dein dir
is a
symplectic farm
Upshot Starting from Q configuration space
can construct a
symplectic
you
manifold as M TAQ we do

O can be characterized more abstractly

ht
ß
a one form on Q
PETIT Q

ß Q THQ
q q ß
BETE Q
V E
TE Q
 ß V E T THQ

di las
Av
u computed
above

8 0 Opa Au
r

Aldi par
Balu

to
O cancels puh back
Gan can also defin O by imposing that

AO p holds for all

ß PITH
 Co taught bundles are
very convenient
symplectic manifolds and there is no freedom

to choose
angtug Note however that not
manifold is a co taugt
eng symplectic
bundle S2 is not
for example
I 54 TAS
ü
Symmt
We med Lie groups

Def A hier G is a
group
that

is also a manifold and

o Gx G G graplan
G G inne

are diffeomorphisms

A vector spun
If Life of
is a

with a bilinear bracket

 E gag ag
that is anti symmetrie und obeys Jacobi
identity
O U W U W UNI EIN

For Lü
ge G rise
a
group gives
to a
map

Rg G G
hm hog
I can use it to push forward
rectors Ve TI TG

Rg Lu

V is called
mit öff

Rga Un Ung

het e eh be the identity Pick VeeteG

this gives rise to a
unique night invat
rector füldV
Ve
Vg Rgt
Them is a 11 correspondence between
right invariant recta fields and Tear

This way I can define a bracket

Oh Teh via commutator
of verterfüld
We We V W le
Tea

It turns out this braut turns Tel into

li
a algebra thalgebrofte
In Gras
the elents of the Lü algebra can

be vowed es infinitesimal group

transformations

Mechanics with symmetries M W symplectic

manifold Lie group G with a
grat
of a M
Yon
on
 o G M M dito
9 h ER
g Kom goh am

w should also be pressed that is

for all G
go

go M n

w w t
g

symplectic group action

let be the Liu algetraofG

of
group actio me Xe of
X is mapped to a recta
füld T e T TM

Ly W O

Carta
ix
df dlix
 d w w O

W is closed

It H M o Iie eng closed

on farm is exact

w Td Ö for som

Qeeln
constant
at least locally

ie I da
Q is called Noether charge

Hamiltonian
If in addition there is a

He ETC that is
symanic under
the
group operte
Algox
x

ar infinitesimally if X Eof
Ly H O
 ICH Xa H

Xa Xy

Q H

Ö 0

ie Noether charge is conserved

under time evolution

North's theorem

What did we do

XE of In R

Q e ECM

OLM is linear
g
is for each men we here
the mp R
G A
M x
g
 This is the same as a

n
get
We can view Q as such a
up

J M
oft momentum map

examples o G R acting as translations

then this up
to
gt.IS IR

is linear munter

G SOC acting as rotations

tun this map SOB ins

hi
alg so P
so IN

angular momtum

linear mounten M IR
Kauf g f
G R g w
2dg
i
in dpi
 g E F Gig
translations
infinitesimally are generated by
constant vector fields
Gw Wk
gifi
Lg W das w t
Gdf
dlg dpi
giddpi
o

dQ usw g dpi
Q g p

Ilg
 conserved
day
J of p
of translation is
1 the Einar momtum
basis ehrt of Of

maulen IR A Neat OE
example angular in

SOB 7A
LAHTI
infinitesimally ä at antisymuhre

E.ua
ä
jo ja
E
aij
antisym 3 3

11 ATA ATreatt 11 Eat

IntelEg
t

Edgin dpi
v WER ve w du
M Nx IR AG SOB A 1 3

Beso 3 B g Bei
grpa.tn
 91

g
i
Aig qi Fi Air Pj
from contravariant
infinitesimally

gi Bij Pi Bij
w gib j dpi Pi Bij dgb

d
Bij g Pi

7
Q BG p
5 g p
Erf 5 B
J

_iE

G M

Note There are two dimensions of M

 per degree of freedom
Modiding out one compont should
also remove the canonical conjugate

Thy let M w be
symplectic a manifold
with a symplectic G action and an

ad invariant moment map T

J
s
oft
Aufurter that
and
oft
Methat
is a

regular value of J therotanzgrad

isotopy subgroup G geh Aditi p

acts freely and properly on
J 111,1
has
Then
Tr J 913
gg
with
a
unique symplectic farm on
T Wp
if w

where Ir J Ip J EM G is

the projection and

M
in 1 is inclusion
What is all this lie algebra
If group on
adjoined action Geg geh
Adg 9 959
is push forward to rector Guilds of
at the group Level
h geh
Adg ht 9h51
glhi.kz g
gh.ggheg
co

adjart action group du dual of

of
the Lü algebra

VEGA GEG GEG

u
9 Adg
Adige
ad invariat
J M Oft montags obeys

IJIS.in AdEXk
 you have to fix the constant in

the definitiv da es w accordingly

what does this mean

In the case of angular monk

4 sags
E ä xp
is a rector
1
4
it beware as a recta under
rotations

Angular mounten example SO 3 rotations

actig an IP x IR

Fix ER So
µ
 J E E F ERIN

ELI ELI
P compont Ito F is

given by It
is 3 dimensional

on the other had s 3 is one dnsia.cl

E
E
so is 2 dimensional

radial motion radial mehr

with effective poutine

µ
sping top

Enter angels

configuration space 5063

M TA SOB

the deserted diskette

top is by a mass

µ
 µ
At time t we here ftw AH E
Alt 5013

angular velocity SG A f ÄH Sol

c

kinetic energy

KH
ES HÄH Kmk dx

ICH ICH

with
29,97 SKA G readi
there is another natural metre on sols

Jets g Tr
sg
the two are relate by a linar mp
I sol so 3 tensor of inertia

HLIG g 9
g
I has 3 eigenvectors principal axes
 und 3 eigenvalues moments
of india

N
potential energy ugh
öff
h E ICH
E AG
so
e
total energy ELA R Ex Ess a

Rotational symnig H Adg X E

SOL arand E

remainge z compont of angular

mmountum is conserved
reduce by this Soll symmte

J Geld Solz

reduce the Hamiltonian Euler

equations
see Ratin van Moerbek
The Lagrange Rigid Body Motion

Änisadiana
ware functions EC
4 x

but the phase is not really physical

ICH Ö 44
is gange equivalent to 4

GEÄFT

M
The lord plage rotations rotate the
Circles Ul s that make the tube
up

Idea Consider and 4 as the

4 same

if they dilter by local phase rotation

44 ei 44

What happens to derivatives of 4

AT ei d4 ei i
day
4
g
e
 d is another derivative

Hat

e
I
I du
In this class
equivalence of gange
equivalent wave functions there are
derivatives covariant debates Connection
many
Zusammenhang

What Kind of rules should such a

gutted
deriuchmobeg
E linear D
14 µ X

XD 4 DX
µ
far o_0
Xp
Leibniz tale
for
ECM
multiplication
E
by f E
 f

IHHHEI.net
If we have two such covanztderivatves
M D we have

A Hq f D D
Y A

ms D D is not only C linear

but it is actually CCM G linear

physics language D n is a tensor

Why ACH
take otte

Ö
Suppf mighbarkood oft

Evanate RHS of t atx

fakt
ten x sees only the
 function
4 in
suppf
the
Shark sappf futur
value XD D
4
4 can only

depent an and its

4
derivatives at x the gemof 4
at

Using a similar argent as the one

that showed that derivations area

are rector folds Vegingereaint
Leibniz one as here
you can show

4 a
4 4 i 144
for a 1 form Ae TITAN
or said diffntly
D D t i A
Where are we

We have all these denvatines that

starting from one D sag we

can
paramelize es Rt it

If we do a
gange tausfarantin
4 reitet wehre
seen that we need to change of

A m Ä A di

Gange invariat object B DA

magnetic füld
But there is more actually A EH LM
is also
gange invariat Aharon Bohn
effect
 M IRI aa ER ZER

or IIIa
with B
Pick some Dann
We do
can
gange transformation
a

ACH EA
GA
for a
path g from to to x

as DA A

gange transformed A vanishes

Ä A dll

But We had to make choices namely

und
Xo J
What happens when we pick a
diltut
r
 Ä

SA
SA SA OF

dt Stokes

0
GB
Tus Alt does not change when
we change to ge
g
This argent required that we could fill
in F between y und
g

But since we punched out part of 13

ar this is not always possible
 D

As x approach it is not granted

that Nx Xx in fact the
dittmar will be

JA E

This phase flux we cannot

remove In
fact it is visible
in
experts Lim a double seit
expert
 Y
Hund

F l

Internet
Changin ei will make the interfere
pattern change

EH CM
E is in
fact AJ

With a vetar potential A classically

you
can observe the magnetic field
strength B but quantum mechanically
you can also measure eilt
 ja

Coordits
example polar v74
X er cosy
er
y Sing

YI YI
A de
cochiats of da d v2
 Monopole
D RI lo with magnetic füll

Big It
But we still had dB O
everywhere
Gange potential does not exist globally

only on Contractible coordinate patches

Eat
a line
out
On II PN we O to
for
have
infinity
B d Ag
Divacst
PS
on II ps we heu
B d AN
Now we have some rector potential eng
where bat we have to do a
gange
transformation to more
from on to
the other On the overlap II Props

AN Ast d1

Let's do an Aharon
F
Bohm
expert on Rhlaßfp

Interference pattern is gorend

by the phase
ein eieft
The phase is observable so it should not
depend on wetter we compute if usin
AN or As

eie eiefs
AN As
Es 1 eief
0
g is the boundary
y
 southern hemisphere

eiefoutw ief.us
A
Hs
Ems eiefftiutief.gs

eieSaß tief I O
HNU Hs Sz

eilt Es

eieg

legt
Dirac charge quantization

there of
If is a
monopole magnetic charge

g anywhere in the uninse tun all

electric chores have to be integer
multiples of

q Eg

coupling to
electromagnetic füll
g
small off g large
9
Es
F

electromagnetic füld arises

from electroweak farce

via spontaneous symmetry
breunig In the
cosmological
phase transition you would

also expect to create monopoles

 But they would here been diluted
So small
by inflation a desilg

is expected
in
SUSI Ä

50137 50121 04 50153

Non abelian symmetries

gauge
and bundles
principle fibre

let's assume we have a

leigrapG
that is a
symmetry of our wave

Gucken
Ware functions take values in some

complex rector space V

Ture is a
reputation
s G GL

glgi.gr 91g gegen

Takprochet
Make this local ie U M G

gangetrafo
UK
4K s 44

94104 lortglunga
Ägebra
This tie here to modify the
we

derivative by an deut of the

lie to the couniat
algebra four
darum

ii

reprsrhlimsofA0
asexnpl ELx.Ly
iLz

mle.mjElLxrilg
ageli LzIlmI

Lt ll.ms Ll ml

eetwmefe.IE
as reprenletin l files the tepeln
 le l Il 1115 IX C

2 er dimensional rector
space

adjoit reprstlin V
of
b b
gla a

Dr 4 k for ist SCUD 44

SM Ortsteil
ig WHY 14k

Iglu Du 474
EIN
ÄH i dpk ht Uk Anhält
 EG
or infinitesimally Ma eitle

SA 0µA AH
Af
dp i An X

There is a new term with An so this

Linear
gauge transformation is now non

Field strength

Fm Dr Du ildnto O.AM AA
also linear
non in
Ap
Under a transformation
gange

Fpu UG Fro Lily

Components are no longer gauge invariant
 but traces are like

Sgutfad NEM FM Gang Mills action

Start your
QFT
machinery from here
denke Feynman inks etc

Note thate because F DA EAA

Fr looks him COAT A An

Fu
T

Kinetic zum AG
interactius
Ao
A
Ma
MA
gute

Au

The
gauge field has self interactions
In the language of differential ferns

A is a valued 1 farm
of
D d i Ag
F DA AAA

DF 0 Bianchi identity

Now
tpictur
Principle Fibre Bundles

Df A E F M F G or EIN

for short E

E
M

called I
is a
fibrebende
D E total span
is a manifold
 2 M base space is a manifold

3 F fibre is a
manifold

4 T E M is a sergiction Reprägelhi

with Kpett FIPS Fp E F

5 G is a li with a left
group
action on F state group

G F

h Lg 4 hog
in

6 An open Ui of M with
corny
dilleos U x F Hlu
 with di
T p f p
local trivializations

7 Wikis di pif p f
F Fp is diffeo
p
Ui
on overlaps n
Uj
F
tij p
_ftp.djp F

with EG
t.jp
Eig Kink G dilfeo
transition function

A gectic is a
map S M E with
id the
Ios and get of schrons
is denoted T ME Note typically
TIM E is empty
 FIG then E 7M called
If is

G bundle
a
prindle or

PFB in
Hauptfaserbündel German

Me For a PFB hi hi e
Elp
there is
geh Ring u

With a
section S U E there
are local trivializatius
E T
U
P
u
gi Slp
and this it induces a

local finalization
Ux G

So sections and tividitation are

the seine
Ang
 from C 10 of Nakahara

a ÖV

F
vertical subspace
U e
Tfp
Tu E s Va E

from right action of the

grop G
On h
dim KE dim G

Make a choice of the some point in a

nighbang fibre
 This choice corresponds to dong
another subspue E horizontal
Sub Such tut
Spur
Hut NE TUE

such choice is carted a connection

Für ne and A defin

p of
A Affoltern E TUE

and UNE
g

Df A connection is a rector bundle HETE

with

D TUE VUE HUE

2 For WE TITE Wp Up Hp

with Vp EVE Ape ARE

and V und H are smooth sections
 3 Hug E
Rg Hut

Equivalent to

Det A connection 1
form w

is a
Fdd form WEGTE
wir
WG A

R w
Adg W

This specifies HE as HUE XETEN

Exe Wednesday Feb 16

startig 99 in moodle Zoom

expected work time 2h

hours to
you have 24
inKick
submit your solution
I
locally we can pick a section so ETA

Ti

h.cn

A o.tw
I valued 1
formon M
g
Can we do the opposite this going
from Hi to w Ges
Far pe Ui all he
p can

be written as u sic gi hi 4
g
At a w can be written as

Wi gi A gi gi dpg
 If I have another section how
Gj
is
Aj related to Ai
First How is related tori
Gj
Tj Ei tij
where Min
tij kj G

Take a rector Xe Tp M and

puts
g with glos p jo X

Gj X 1,7184 t.gl

t.it
Äh silo

Oi 4 ti
ritt ftp.otij
Ai
Gtwk r 1
toting
Who X
K

Titty X
tädtij

t.gg
Aj tibitij tüdtig
gange transformation by tj
here use different sections to
pull down W from Eton

Note W is a global object

 Lit lives an E in
particular
overall of M
whereas Ai is a local object

only which hires an Mi only

For
Det Paraispot a

path J in M parallel trugt

is E
a
path j in

such tut

TJ X

je Haus P

This allows us to define a

Covariant derivative D
 ein
E 0 KITTY

For this sign

I need to compare
stuff abarer e to

statt above rot

Parallel transport allows
me to do this

Det For a e MY LEET The comint

derivate
DX X Xan
ÜTE

da Kit
The urvater 2
farm is
 DW d

Prod Roth g Rg
SH
g dwlx.GS wld w

locally with a section Ti

Fi of D difittint
Bianchi identity
DR O

locally d Ft A F O

t os.eu
an 2 form AAF F

So you can
split
 F Ft F

FI
FEI
AFI
F dt

M
In E
GdL An F
M

i So A1 F
total drink
cannot enter

classical equations
of motion
It turns out for a
DFB

FAF E
G Z

For each ke 2
you can find
a Connection an M with

JEF J K

ESF
F AGEE
GDW

Statt Ok
Z DA e
KEE

More onthis in Justantons

and Black Holes in the summer