Riemannian manifold ($(M,g)$)

A Riemannian manifold is a pair $(M,g)$ consisting of a smooth manifold $M$ and a Riemannian metric $g$. For each point $p$, the positive-definite inner product $g_p$ on its tangent space tells us the size and angle of possible instantaneous movements. The smooth manifold describes which local coordinates are possible; the Riemannian metric adds a choice of measurement.

For example, the plane can carry $d{s}^2=d{x}^2+d{y}^2$ or $d{s}^2=4d{x}^2+d{y}^2$. In the second Riemannian metric, a horizontal displacement costs twice as much length as the same coordinate displacement in the first. The underlying smooth manifold is unchanged. The coordinate transformation $X=2x,Y=y$ identifies the second geometry with an ordinary Euclidean plane, illustrating why coordinate appearance alone does not determine curvature.

A round sphere with its induced metric is another Riemannian manifold. Its tangent spaces each have an ordinary Euclidean inner product, although its global geometry is different from a plane's. This is the useful tension: measurements are Euclidean to first order at a point, while how those measurements fit together produces curvature and global restrictions on geodesics.

A linear isometry between tangent spaces of complete simply connected Riemannian manifolds extends to a global isometry when parallel transport along corresponding broken geodesics identifies their Riemann curvature tensors. In particular, complete simply connected manifolds of the same dimension and constant sectional curvature are isometric: their curvature tensors are determined by that common constant and their Riemannian metrics. This is the constant-curvature form often called Cartan's theorem.

For a connected complete Riemannian manifold of dimension $n\ge 2$ and constant sectional curvature $k>0$, its complete simply connected universal cover is the round sphere of radius $k^{-1/2}$. This is the constant-curvature case of Cartan-Ambrose-Hicks theorem. Thus the manifold is a quotient by a finite group of isometries acting freely. In even dimension, the determinant embeds this group in $\{1,-1\}$: every determinant-one orthogonal transformation in odd ambient dimension has eigenvalue one and therefore a fixed point. The only possible nonidentity element is the antipodal involution, giving Real projective space. In odd dimensions, free cyclic scalar actions on complex unit spheres instead produce lens spaces.

A Riemannian manifold is locally symmetric when its Riemann curvature tensor is parallel for the Levi-Civita connection. Along a geodesic, parallel transport then conjugates the Jacobi curvature operator at the initial point to the operator at every later point. Thus its eigenvalues stay constant. The condition is local and does not assert that global point reflections extend to isometries of the whole manifold.

Diagonalize the self-adjoint Jacobi curvature operator at the initial point and transport its orthonormal eigenbasis parallel along the geodesic. The Jacobi field equation reduces to $j_i^{\prime \prime }+{\lambda }_i{j}_i=0$. For zero initial position and initial derivative $b_i$, the solution is $b_i\sin (\sqrt{{\lambda }_i}t)/\sqrt{{\lambda }_i}$ when ${\lambda }_i>0$, $b_{i}t$ when ${\lambda }_i=0$, and $b_i\sinh (\sqrt{-{\lambda }_i}t)/\sqrt{-{\lambda }_i}$ when ${\lambda }_i<0$. Only positive eigenvalues contribute conjugate points, at $t=k\pi /\sqrt{{\lambda }_i}$. At a common zero the multiplicity is the sum of the contributing eigenspace dimensions. The displayed convention uses the curvature operator positive on a positively curved plane; reversing the tensor convention also reverses its tensor formula.

The map $(x,r)\mapsto {\exp }_x(r{\nu }_{\mathrm{in}})$ gives a collar in which the metric has this form. Two metrics with the same induced boundary metric can be identified by their normal collars, fixing the boundary and matching full tangent-space metrics there. To extend the local identification globally, interpolate the metrics, form their smoothly varying collars, and extend the resulting collar isotopy velocity by a cutoff. The time-dependent vector field vanishes on the boundary and agrees with that velocity near it, so its global flow gives the desired boundary-fixing diffeomorphism.

A compact manifold with boundary is simple when the boundary is strictly convex and any two points are joined by a unique geodesic depending smoothly on the endpoints, without conjugate points. Geodesics exit in finite time. These properties make off-diagonal boundary distance derivatives and the geodesic scattering relation well behaved.

For an inward unit boundary vector, the geodesic scattering relation returns the next boundary point and its outgoing unit velocity. On outward vectors it can be extended using the first backward exit, giving an involution on the full boundary unit bundle, with tangential vectors fixed. Exit time is separate lens data; on a simple manifold it equals boundary distance between the endpoint pair.

With the full boundary metric fixed, first variation gives $d_x{d}_g(w)=-⟨v_{\mathrm{in}},w⟩$ and $d_y{d}_g(z)=⟨v_{\mathrm{out}},z⟩$ for tangential endpoint variations. These covectors recover the tangential parts of both unit velocities. Their normal components follow from unit length and the inward/outward sign, so equal boundary distances give equal scattering relations. Without a fixed boundary metric, the bundle identification must first be gauged by a boundary-fixing diffeomorphism.

The boundary distance is the intrinsic distance between boundary points. Its infinitesimal limit along boundary curves recovers the induced metric on the boundary tangent bundle. It does not directly fix the normal and mixed metric components, which can be changed by boundary-fixing diffeomorphisms.

A Riemannian manifold is homogeneous when its isometry group acts transitively on points. For example, a Lie group with a left-invariant metric is homogeneous under left translations. Homogeneity gives the same local metric-ball geometry at every point, which yields the completeness of homogeneous Riemannian manifolds. It does not imply two-point homogeneity: that stronger property also controls directions and pairs at equal distance.

A connected Riemannian manifold is two-point homogeneous if its isometry group is transitive on ordered pairs at each fixed Riemannian distance. The equal-distance condition is necessary because isometries preserve distance. Round spheres and Euclidean spaces are examples. The unit tangent transitivity characterizes two-point homogeneity lemma shows that this pair condition is equivalent to transitivity on the unit tangent bundle.

For a connected Riemannian manifold, two-point homogeneity is equivalent to the isometry group being transitive on the unit tangent bundle. One direction follows by taking short equal-length radial geodesic segments: the Gauss lemma identifies their distance, and injectivity of the exponential map identifies the initial directions after the endpoints are matched. Conversely, unit tangent transitivity implies point homogeneity, hence completeness. The Hopf-Rinow theorem supplies minimizing geodesics for arbitrary equal-distance pairs. Matching their initial unit tangent vectors and using uniqueness of the geodesic equation matches their other endpoints.

In a homogeneous Riemannian manifold, choose $r>0$ so that one closed metric ball $\overline{B}(o,r)$ is compact. Such a ball exists from local compactness and the metric topology. Every radius-$r$ ball is isometric to it. A Cauchy sequence eventually lies in one such compact ball, has a convergent subsequence, and therefore converges. This proves metric completeness; the Hopf-Rinow theorem gives geodesic completeness and minimizing geodesics between points.

A conical singularity is a failure of smoothness at the apex of a metric cone. If $\vartheta$ has period $P$, small circles have circumference-to-radius ratio $aP$. The two-dimensional apex is smooth precisely when this equals $2\pi$. Euclidean black-hole regularity condition applies this test to the imaginary-time and radial plane.

A Killing-Yano tensor is a differential form satisfying the displayed equation for the Levi-Civita connection. Its covariant derivative is totally antisymmetric. Contraction with the velocity of an affinely parametrized geodesic gives a form that is carried by parallel transport along that geodesic. This differs from a Killing tensor, which is symmetric.

For a Killing-Yano two-form, ${\nabla }_a{Y}_{bc}$ is a differential three-form. Along a geodesic with velocity $v$, the covector $w_c=Y_{bc}{v}^b$ is carried by parallel transport, since $v^a{v}^b{\nabla }_a{Y}_{bc}=0$.

The square is a rank-two Killing tensor. It is symmetric because it pairs the covectors $Y_{a\cdot }$ and $Y_{b\cdot }$ using the metric. Along every affinely parametrized geodesic, its contraction $K(v,v)$ is the squared norm of the carried by parallel transport covector $Y(v,\cdot )$. Metric compatibility makes that norm constant, proving the Killing tensor equation. On a Riemannian manifold this tensor is positive semidefinite.

A Killing tensor is a symmetric covariant tensor satisfying the displayed equation for the Levi-Civita connection. Its contraction with $r$ copies of a geodesic velocity is constant along every affinely parametrized geodesic. The converse follows because the resulting symmetric derivative is determined by its homogeneous polynomial on tangent vectors. Rank one recovers the Killing vector field after metric duality.

A symmetric two-tensor satisfying this equation gives a quadratic geodesic first integral. Examples include the Riemannian metric, symmetric products of metric-dual Killing vector fields, and the square of a Killing-Yano two-form.

A quadratic homogeneous polynomial in the fibre variables of the cotangent bundle is a first integral of the geodesic Hamiltonian exactly when its symmetric lowered coefficients form a rank-two Killing tensor. For $v=g^{-1}p$, the Poisson bracket is $\{K,H\}={\nabla }_{(a}{K}_{bc)}{v}^a{v}^b{v}^c$, so the equivalence follows by comparing cubic coefficients at every point.

A spin manifold is an oriented Riemannian manifold whose orthonormal frame bundle lifts from $SO(n)$ to its double cover $\mathrm{Spin}(n)$. Such a lift defines a spinor bundle.

A chosen spin structure on a spin manifold defines the complex spinor bundle associated to the spin representation. In dimension $2m$ its vector bundle rank is $2^m$. Its chirality matrix is $\Gamma =i^{m}c(e^1)\cdots c(e^{2m})$ in the negative Clifford multiplication convention. It satisfies ${\Gamma }^2=1$ and anticommutes with each $c(e^i)$, giving $S=S^{+}\oplus S^{-}$ and an odd Dirac operator. In odd dimension there is no such canonical chiral splitting of the irreducible spinor bundle.

A spin structure is a consistent choice of lifting oriented orthonormal frame changes to their spin double cover, permitting globally defined spinor fields. For a spatial circle in a worldsheet, the two choices give periodic and antiperiodic fermions, hence the Ramond sector and Neveu–Schwarz sector. Local field equations do not choose the global spin structure.

A Spin-c structure on an oriented rank-$n$ real vector bundle is a lift of its oriented frame bundle to ${\mathrm{Spin}}^c(n)=(\mathrm{Spin}(n)\times U(1))/\{(1,1),(-1,-1)\}$. Its determinant line bundle is associated with $[s,z]\mapsto z^2$; its First Chern class reduces modulo two to the second Stiefel–Whitney class. When such structures exist, their isomorphism classes form an affine space over $H^2$; tensoring by a complex line bundle of first Chern class $h$ changes the determinant class by $2h$. On a closed oriented three-manifold they always exist. On a four-manifold, the determinant class is characteristic: $⟨c_1(\mathfrak{s}),v⟩\equiv v\cdot v(\mathrm{mod}2)$.

A spinor field is a section of a spinor bundle. Clifford multiplication by tangent vectors acts fiberwise on spinor fields.

The Dirac operator is the first-order elliptic operator obtained by composing the spin connection with Clifford multiplication. On an even-dimensional compact spin manifold it exchanges positive and negative chirality spinors.

For the oriented round unit two-sphere, positive and negative spinor bundles have degrees $-1,+1$. Its Dirac operator has $D^2=C+1/4$ on their homogeneous sections, where $C$ is the angular-momentum Casimir operator; the eigenvalues of $D$ are the nonzero integers. Therefore the chiral phase is a unitary between the two L2 chiral spaces, commuting with $SU(2)$. For a smooth function $f$, $[D,f]=c(df)$ is bounded. The sign-operator resolvent integral expresses its phase commutator as a norm-convergent integral of compact resolvent products bounded by a constant times $(1+t^2{)}^{-1}$. Thus it intertwines multiplication by every continuous function modulo compacts. Its full graded phase is self-adjoint; the chiral phase is the component relevant to nonzero compressed indices.

Let $P$ project onto a degree-one equivariant line bundle on the complex-oriented round two-sphere, and let $V$ be its positive-to-negative chiral Dirac operator phase. The compressed map has parametrix $P{V}^{\ast }P$ modulo compacts. Its domain bundle has degree zero and its target degree two. Their homogeneous line-bundle representations on the two-sphere are respectively $E_0\oplus E_2\oplus E_4\oplus \cdots$ and $E_2\oplus E_4\oplus \cdots$, so the equivariant Fredholm index is the trivial representation and the ordinary index is one. Reversing chirality negates the index. Compressing the full self-adjoint phase instead gives ordinary index zero.

For a Twisted Dirac operator on a closed even-dimensional spin manifold, the theorem identifies its analytic Fredholm index with the integral of the top-degree part of the A-hat form times the Chern character. This is one geometric specialization of the general theorem for elliptic differential operators, which expresses the analytic index in terms of the topological class of the principal symbol. The heat proof pairs all positive eigenvalues by the odd Dirac operator, leaving only the index in the supertrace; Getzler rescaling computes its local limit from curvature.

Getzler rescaling combines the change $x\mapsto \sqrt{t}x$ in geodesic normal coordinates with the Clifford algebra filtration, assigning degree one to a derivative and to a Clifford generator and degree minus one to a coordinate. The associated graded Clifford algebra is the exterior algebra. This is useful because the spinor supertrace annihilates every Clifford monomial except the top-degree one. Applied to the Lichnerowicz formula for a twisted Dirac operator, it retains a quadratic curvature model, whose heat kernel is computed by a Gaussian ansatz; all terms of smaller rescaling degree disappear from the local index limit. Thus the cancellations in a supersymmetric heat trace can be computed before solving the complete curved heat equation.

On a spin manifold, tensor the spinor bundle $S$ with a Hermitian vector bundle $W$ carrying a unitary connection. Composing the induced tensor-product connection on a vector bundle with Clifford multiplication defines the twisted Dirac operator. In even dimension it maps $S^{+}\otimes W$ to $S^{-}\otimes W$ and conversely. On a closed manifold its chiral restriction $D_W^{+}:H^1(S^{+}\otimes W)\to L^2(S^{-}\otimes W)$ is a Fredholm operator.

At the centre of geodesic normal coordinates, expand the square of the Twisted Dirac operator. The diagonal terms give the rough Laplacian; the off-diagonal terms are ${\sum }_{i<j}c(e^i)c(e^j)[{\nabla }_i,{\nabla }_j]$. The tensor-product vector-bundle curvature is the sum of spin curvature and $F^W$. Substituting spin curvature $\frac{1}{4}{\sum }_{a,b}⟨R(e_i,e_j)e_a,e_b⟩c(e^a)c(e^b)$ and using the Clifford algebra relations yields the scalar term $\mathrm{Scal}/4$: the four-generator contribution vanishes by the algebraic Bianchi identity and the contracted terms are the scalar curvature. This proves the displayed identity at every point.

An equivariant index theorem expresses the supertrace of a symmetry on the kernel and cokernel of an elliptic operator as an integral of local characteristic data over the symmetry's fixed-point set.

An immersion $F:M\to N$ into a Riemannian manifold $(N,h)$ inherits the Riemannian metric $g=F^{\ast }h$: measure two tangent vectors after mapping them into the surrounding tangent space. This is a pullback of a Riemannian metric, withThe injective derivative of an immersion makes this inner product positive-definite. For a parametrized surface in Euclidean space, its coefficients are simply the scalar products of the coordinate tangent vectors: the first fundamental form.

For the circular cylinder $F(\theta ,z)=(R\cos \theta ,R\sin \theta ,z)$, the tangent vectors $F_{\theta }$ and $F_z$ are orthogonal, with squared norms $R^2$ and $1$. ConsequentlyThe unrolled coordinate $x=R\theta$ gives $d{s}^2=d{x}^2+d{z}^2$. This calculation explains intrinsic flatness of a circular cylinder and makes Riemannian distance on a circular cylinder a planar problem with repeated endpoint lifts.

Preserving a Riemannian metric locally preserves the arc length of every mapped curve, but it need not preserve distances measured by unrestricted paths in the surrounding space. The great-circle distance between two sphere points, for example, exceeds their straight chord length unless they coincide. ^[ref].