Linear and Affine Connections

On the Bundle of (Orthonormal) Frames > s.a. metric [examples]; tetrads [calculation of curvature].
$ Linear connection: A linear connection on a smooth manifold X is a connection on the principal fiber bundle F(X) of frames on X.
$ Levi-Civita, metric or Riemannian connection: Given the reduced bundle O(M) over M (i.e., a Riemannian metric g), it is the only connection such that (i) Γ has no torsion, Γ^m_ab = Γ^m_ba, and (ii) Parallel transport preserves the metric, g_ab;m = 0.
$ Riemann-Cartan connection: The 1-form

ω_i ^j := Γ_i ^j − K_i ^j ,

where Γ is the Levi-Civita connection 1-form, and K the contorsion, with T ⁱ = θ ^j∧ K_jⁱ.
* Cartan structure equations: They describe the affine connection on a manifold through the torsion and curvature tensors (which in turn can be obtained from the connection); If T is the torsion 2-form, θ the coframe, Ω the curvature 2-form, and ω the connection,

dθ + ω ∧ θ = T ,    Ω = dω + ω ∧ ω .

> Online resources: For affine connections, see Wikipedia page and Encyclopedia of Mathematics page; for Levi-Civita connection, see Wikipedia page.

Christoffel Symbols
$ First kind: The Christoffel symbols of the first kind are defined as {ab, c} = \(1\over2\)(∂_bg_ac + ∂_ag_bc − ∂_cg_ab).
$ Second kind: The Christoffel symbols of the second kind are defined as \(\{{a \atop bc}\} = g^{ad} \{bc, d\}\).
* And connection: Given a choice of coordinates, the components of the linear connection compatible with a metric g_ab are expressed by

Γ^a_bc = \(\{{a \atop bc}\}\) = \(1\over2\)g^ad (g_bd,c + g_dc,b − g_bc,d) .

* Gauge transformation: For an infinitesimal diffeomorphism generated by v^a, δΓ^m_ab = ∇_a∇_b v^md − R^m_(ab)c v^c.

On the Tangent Bundle > s.a. coordinates [Fermi transport]; torsion.
* History: Linear connections were invented by Cartan to geometrize Newtonian gravitation.
* Existence: They always exist on a manifold with a countable basis.
* Parallel transport: To define one, start with x ∈ M, a curve γ through x, and a lift of γ to the frame bundle, γ_F(M); Fix a vector X ∈ T_x(M); Then the parallel transport of X is

γ_T(M)(t) := γ_F(M)(t) X.

* Covariant derivative: Defined in T(M) of Z = γ_T(M)(t) = b^m (∂/∂x^m) with respect to Y = c^m (∂/∂x^m) as

∇_Y Z:= (d/dt)γ_T(M) = (dx^m(t)/dt) D_m γ_F(M)(t) X ,

where D_m is the covariant derivative in F(M); One finds

∇_Y Z = cⁿ b^m_;n ∂/∂x^m ,   b^m_;n := b^m_,n − A^m_ns b^s,   A^m_ns = Γ^m_ns .

* Flat connection: If the torsion and curvature both vanish, the connection is called flat, and there exist local coordinates in which the connection vanishes; Then, in other coordinates, Γ = h⁻¹dh.
* On a Riemannian manifold: The connection can be written as

Γ^a_bc = \(\{{a \atop bc}\}\) + K^a_bc ,

where \(\{{a \atop bc}\}\) are the Christoffel symbols, Q^a_bc = K^a_[bc] the torsion, and M^a_bc = K^a_(bc) the non-metricity.
* Weyl vector: The trace of the non-metricity, B^a:= M^a_bc g^bc.

Special Types of Metrics > s.a. FLRW models; spherical symmetry; schwarzschild spacetime; symmetry.
@ References: Armstrong JGP(07) [Ricci-flat, classification]; Guadagnini et al NPB(17)-a1710 [3D, flat].

References > s.a. holonomy; Non-Metricity [including in gravity]; Parallel Transport; torsion.
@ General: Levi-Civita RCMP(17).
@ Connection and metric: Schmidt CMP(73); Hall GRG(88); Edgar JMP(92); Thompson CQG(93), JGP(96); Cocos JGP(06) [condition for symmetric connection to be Levi-Civita]; Atkins mp/06; Atkins a0804 [connections that are only locally Levi-Civita]; > s.a. formulations of general relativity.
@ Lorentz connections: Hall & Lonie JPA(06)gq/05 [4D]; Pereira AIP(12)-a1210 [in general relativity and teleparallel gravity].
@ Non-commutative geometry: Dubois-Violette et al LMP(95)ht/94 [quantum plane]; Madore et al CQG(95)ht/94 [matrix geometries]; Madore CQG(96)ht/95; Mourad CQG(95)ht/94; Sitarz ht/95; Masson & Serié JMP(05) [invariant]; > s.a. types of geodesics.
@ And field theory: Barut et al HPA(93); in DeWitt & Molina-París MPLA(98)ht [Vilkovisky connection on space of histories].
@ On use in gravitational theories: Kofinas JModP(20)-a1712; Queiruga a1912 [as spacetime defects and foam].
@ Other generalizations: Milani & Shafei Deh Abad LMP(97)ht/96 [quantized manifolds, geodesics]; Pham MJM(15)-a1408 [higher affine connections].
> Other generalizations: see finsler geometry; Lagrange Spaces [non-linear connection]; newton-cartan theory [degenerate metrics].

main page – abbreviations – journals – comments – other sites – acknowledgements
send feedback and suggestions to bombelli at olemiss.edu – modified 3 may 2021