 Solution

Normalize the scale factor to $a(t_0)=1$, use $c=1$, and define the instantaneous critical density by ${\rho }_{\mathrm{cr}}(t)=3H(t{)}^2/(8\pi G)$. Separately conserved pressureless matter and radiation in cosmology obey the cosmological continuity equation,The present cosmological density parameters areThe cosmological constant has equivalent energy density ${\rho }_{\Lambda }=\Lambda /(8\pi G)$. Substituting into the Friedmann equation yieldsAt the present epoch this gives $k=H_0^2({\Omega }_0-1)$, or curvature contribution ${\Omega }_{K0}=-k/H_0^2=1-{\Omega }_0$. Dividing each component by $H_0^2$ provesSpatial curvature is not included in the total physical-density parameter ${\Omega }_0$. In particular, positive vacuum density does not have the radiation or matter scaling.