2020-09-05

曲率求解

Let $\alpha :I\to R^3$ be a regular parametrized curve(not necessarily by arc length) and let $\beta :J\to R^3$ be a reparametrization of $\alpha (I)$ by the arc length $s=s(t)$,mearusred from $t_0\in I$(see Remark 2).Let $t=t(s)$ be the inverse function of $s$ and set $\frac{d\alpha }{dt}={\alpha }^{\prime }$,$\frac{d^2\alpha }{d{t}^2}={\alpha }^{\prime \prime }$,etc.Prove that
a. $\frac{dt}{ds}=\frac{1}{|{\alpha }^{\prime }|}$,$\frac{d^{2}t}{d{s}^2}=-\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|a^{\prime }{|}^4}$
b. The curvature of $\alpha$ at $t\in I$ is
$$k(t)=\frac{|{\alpha }^{\prime }\wedge {\alpha }^{\prime \prime }|}{|{\alpha }^{\prime }{|}^3}$$
该题是曲线和曲面的微分几何的习题。对于理解曲线的曲率和挠率非常重要，因此将证明过程记录如下：
答：
a) 因为$s(t(s))=s,\frac{ds}{dt}=|{\alpha }^{\prime }|$,对两边s求导有：
$\frac{ds}{dt}\frac{dt}{ds}=1$
所以$\frac{dt}{ds}=\frac{1}{|{\alpha }^{\prime }|}$
$\frac{d^{2}t}{d{s}^2}=\frac{d\frac{1}{|{\alpha }^{\prime }|}}{ds}=\frac{d\frac{1}{|{\alpha }^{\prime }|}}{dt}\frac{dt}{ds}=-\frac{1}{|{\alpha }^{\prime }{|}^2}\frac{d|{\alpha }^{\prime }|}{dt}\frac{1}{|{\alpha }^{\prime }|}$
又因为
$\frac{d|{\alpha }^{\prime }|}{dt}=\frac{d\sqrt{(\frac{\partial {\alpha }_x}{\partial t}{)}^2+(\frac{\partial {\alpha }_y}{\partial t}{)}^2+(\frac{\partial {\alpha }_z}{\partial t}{)}^2}}{dt}$，最终求导可以得到$\frac{d|{\alpha }^{\prime }|}{dt}=\frac{1}{2|{\alpha }^{\prime }|}(2\frac{\partial {\alpha }_x}{\partial t}\frac{{\partial }^2{\alpha }_x}{\partial t^2}+2\frac{\partial {\alpha }_y}{\partial t}\frac{{\partial }^2{\alpha }_y}{\partial t^2}+2\frac{\partial {\alpha }_z}{\partial t}\frac{{\partial }^2{\alpha }_z}{\partial t^2})=\frac{({\alpha }^{\prime }\cdot {\alpha }^{\prime \prime })}{|{\alpha }^{\prime }|}$
所以$\frac{d^{2}t}{d{s}^2}=-\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }{|}^4}$
b)
因为$\beta$ 为$\alpha$的重参数化，并且$\beta$是以arc length s为参数的参数化曲线。所以$\alpha$在$t\in I$处的曲率$k(t)$与$\beta$在$s\in J$处的曲率相等。除此之外，根据$\beta$的定义，有$\beta =\alpha \circ t$，即$\beta$是$\alpha$和$t$的复合函数。
因此有：
$$k(t)=|\frac{d^2\beta }{d{s}^2}|$$

而$\frac{d\beta }{ds}=\frac{d\alpha \circ t}{ds}=\frac{d\alpha }{dt}\frac{dt}{ds}={\alpha }^{\prime }\frac{1}{|{\alpha }^{\prime }|}$

所以，$\frac{d^2\beta }{d{s}^2}=\frac{d\frac{{\alpha }^{\prime }}{|{\alpha }^{\prime }|}}{ds}=\frac{d\frac{{\alpha }^{\prime }}{|{\alpha }^{\prime }|}}{dt}\frac{dt}{ds}=\frac{d{\alpha }^{\prime }|{\alpha }^{\prime }|-{\alpha }^{\prime }d|{\alpha }^{\prime }|}{|{\alpha }^{\prime }{|}^2}\frac{ds}{dt}=\frac{{\alpha }^{\prime \prime }|{\alpha }^{\prime }|-{\alpha }^{\prime }d|{\alpha }^{\prime }|}{|{\alpha }^{\prime }{|}^2}\frac{ds}{dt}$

而由之前计算得到的
$$\frac{d|{\alpha }^{\prime }|}{dt}=\frac{({\alpha }^{\prime }\cdot {\alpha }^{\prime \prime })}{|{\alpha }^{\prime }|}$$
可得$\frac{d^2\beta }{d{s}^2}=\frac{{\alpha }^{\prime \prime }|{\alpha }^{\prime }|-{\alpha }^{\prime }\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }|}}{|{\alpha }^{\prime }{|}^3}$
所以
$$k(t)=|\frac{{\alpha }^{\prime \prime }|{\alpha }^{\prime }|-{\alpha }^{\prime }\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }|}}{|{\alpha }^{\prime }{|}^3}|$$
所以
$$k(t{)}^2=|\frac{{\alpha }^{\prime \prime }|{\alpha }^{\prime }|-{\alpha }^{\prime }\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }|}}{|{\alpha }^{\prime }{|}^3}{|}^2$$
而根据
$$|\vec{x}-\vec{y}{|}^2=|\vec{x}{|}^2-2\vec{x}\vec{y}+|\vec{y}{|}^2$$
可得

$k(t{)}^2=\frac{1}{|{\alpha }^{\prime }{|}^6}(|{\alpha }^{\prime }{|}^2|a^{\prime \prime }{|}^2-2|{\alpha }^{\prime }|\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }|}({\alpha }^{\prime }\cdot {\alpha }^{\prime \prime })+(\frac{{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }|}{)}^2|{\alpha }^{\prime }{|}^2)=\frac{1}{|{\alpha }^{\prime }{|}^6}(|{\alpha }^{\prime }{|}^2|{\alpha }^{\prime \prime }{|}^2-{\alpha }^{\prime }\cdot {\alpha }^{\prime \prime })$
而根据叉乘公式
$$|u\wedge v{|}^2=|u{|}^2|v{|}^2(1-co{s}^2\theta )=|u{|}^2|v{|}^2(1-(\frac{u\cdot v}{|u||v|}{)}^2)=|u{|}^2|v{|}^2-(u\cdot v{)}^2$$
可得
$$k^2(t)=\frac{1}{|{\alpha }^{\prime }{|}^6}|{\alpha }^{\prime }\wedge {\alpha }^{\prime \prime }{|}^2$$
所以最终得到
$$k(t)=\frac{{\alpha }^{\prime }\wedge {\alpha }^{\prime \prime }}{|{\alpha }^{\prime }{|}^3}$$