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| In [[mathematics]], and specifically [[differential geometry]], a '''connection form''' is a manner of organizing the data of a [[connection (mathematics)|connection]] using the language of [[moving frame]]s and [[differential form]]s.
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| Historically, connection forms were introduced by [[Élie Cartan]] in the first half of the 20th century as part of, and one of the principal motivations for, his method of moving frames. The connection form generally depends on a choice of ''frame'', and so is not a [[tensor]]ial object. Various generalizations and reinterpretations of the connection form were formulated subsequent to Cartan's initial work. In particular, on a [[principal bundle]], a [[connection (principal bundle)|principal connection]] is a natural reinterpretation of the connection form as a tensorial object. On the other hand, the connection form has the advantage that it is a differential form defined on the [[differentiable manifold]], rather than on an abstract principal bundle over it. Hence, despite their lack of tensoriality, connection forms continue to be used because of the relative ease of performing calculations with them.{{harvtxt|Griffiths|Harris|1978}} {{harvtxt|Wells|1980}} {{harvtxt|Spivak|1999}} In [[physics]], connection forms are also used broadly in the context of [[gauge theory]], through the [[gauge covariant derivative]].
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| A connection form associates to each [[basis of a vector space|basis]] of a [[vector bundle]] a [[matrix (mathematics)|matrix]] of differential forms. The connection form is not tensorial because under a [[change of basis]], the connection form transforms in a manner that involves the [[exterior derivative]] of the [[Atlas (topology)#Transition maps|transition functions]], in much the same way as the [[Christoffel symbols]] for the [[Levi-Civita connection]]. The main ''tensorial'' invariant of a connection form is its [[curvature form]]. In the presence of a [[solder form]] identifying the vector bundle with the [[tangent bundle]], there is an additional invariant: the [[torsion (differential geometry)|torsion form]]. In many cases, connection forms are considered on vector bundles with additional structure: that of a [[fiber bundle]] with a [[Lie group|structure group]].
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| ==Vector bundles==
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| ===Preliminaries===
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| ====Frames on a vector bundle====
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| Let ''E'' be a [[vector bundle]] of fibre dimension ''k'' over a [[differentiable manifold]] ''M''. A '''local frame''' for ''E'' is an ordered [[basis of a vector space|basis]] of [[section (fiber bundle)|local sections]] of ''E''.
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| Let '''e'''=(''e''<sub>α</sub>)<sub>α=1,2,...,k</sub> be a local frame on ''E''. This frame can be used to express locally any section of ''E''. For suppose that ξ is a local section, defined over the same open set as the frame '''e''', then
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| :<math>\xi = \sum_{\alpha=1}^k e_\alpha \xi^\alpha(\mathbf e)</math>
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| where ξ<sup>α</sup>('''e''') denotes the ''components'' of ξ in the frame '''e'''. As a matrix equation, this reads
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| :<math>\xi = {\mathbf e}
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| \begin{bmatrix}
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| \xi^1(\mathbf e)\\
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| \xi^2(\mathbf e)\\
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| \vdots\\
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| \xi^k(\mathbf e)
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| \end{bmatrix}=
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| {\mathbf e}\, \xi(\mathbf e)
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| </math>
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| ====Exterior connections====
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| {{see also|Exterior covariant derivative}}
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| A [[connection (vector bundle)|connection]] in ''E'' is a type of [[differential operator]]
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| :<math>D : \Gamma(E) \rightarrow \Gamma(E\otimes\Omega^1M)</math>
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| where Γ denotes the [[sheaf (mathematics)|sheaf]] of local [[section (fibre bundle)|sections]] of a vector bundle, and Ω<sup>1</sup>''M'' is the bundle of differential 1-forms on ''M''. For ''D'' to be a connection, it must be correctly coupled to the [[exterior derivative]]. Specifically, if ''v'' is a local section of ''E'', and ''f'' is a smooth function, then
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| :<math>D(fv) = v\otimes (df) + fDv</math>
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| where ''df'' is the exterior derivative of ''f''.
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| Sometimes it is convenient to extend the definition of ''D'' to arbitrary [[vector-valued differential form|''E''-valued forms]], thus regarding it as a differential operator on the tensor product of ''E'' with the full [[exterior algebra]] of differential forms. Given an exterior connection ''D'' satisfying this compatibility property, there exists a unique extension of ''D'':
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| :<math>D : \Gamma(E\otimes\Omega^*M) \rightarrow \Gamma(E\otimes\Omega^*M)</math>
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| such that
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| :<math> D(v\wedge\alpha) = (Dv)\wedge\alpha + (-1)^{\text{deg}\, v}v\wedge d\alpha</math>
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| where ''v'' is homogeneous of degree deg ''v''. In other words, ''D'' is a [[derivation (abstract algebra)|derivation]] on the sheaf of graded modules Γ(''E'' ⊗ Ω<sup>*</sup>''M'').
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| ===Connection forms===
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| The '''connection form''' arises when applying the exterior connection to a particular frame '''e'''. Upon applying the exterior connection to the ''e''<sub>α</sub>, it is the unique ''k'' × ''k'' matrix (ω<sub>α</sub><sup>β</sup>) of [[one-form]]s on ''M'' such that
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| :<math>D e_\alpha = \sum_{\beta=1}^k e_\beta\otimes\omega^\beta_\alpha.</math>
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| In terms of the connection form, the exterior connection of any section of ''E'' can now be expressed, for suppose that ξ = Σ<sub>α</sub> e<sub>α</sub>ξ<sup>α</sup>. Then
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| :<math>D\xi = \sum_{\alpha=1}^k D(e_\alpha\xi^\alpha(\mathbf e)) = \sum_{\alpha=1}^k e_\alpha\otimes d\xi^\alpha(\mathbf e) + \sum_{\alpha=1}^k\sum_{\beta=1}^k e_\beta\otimes\omega^\beta_\alpha \xi^\alpha(\mathbf e).</math>
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| Taking components on both sides,
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| :<math>D\xi(\mathbf e) = d\xi(\mathbf e)+\omega \xi(\mathbf e) = (d+\omega)\xi(\mathbf e)</math>
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| where it is understood that ''d'' and ω refer to the exterior derivative and a matrix of 1-forms, respectively, acting on the components of ξ. Conversely, a matrix of 1-forms ω is ''a priori'' sufficient to completely determine the connection locally on the open set over which the basis of sections '''e''' is defined.
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| ====Change of frame====
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| In order to extend ω to a suitable global object, it is necessary to examine how it behaves when a different choice of basic sections of ''E'' is chosen. Write ω<sub>α</sub><sup>β</sup> = ω<sub>α</sub><sup>β</sup>('''e''') to indicate the dependence on the choice of '''e'''.
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| Suppose that '''e'''′ is a different choice of local basis. Then there is an invertible ''k'' × ''k'' matrix of functions ''g'' such that
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| :<math>{\mathbf e}' = {\mathbf e}\, g,\quad \text{i.e., }\,e'_\alpha = \sum_\beta e_\beta g^\beta_\alpha.</math>
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| Applying the exterior connection to both sides gives the transformation law for ω:
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| :<math>\omega(\mathbf e\, g) = g^{-1}dg+g^{-1}\omega(\mathbf e)g.</math>
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| Note in particular that ω fails to transform in a [[tensor]]ial manner, since the rule for passing from one frame to another involves the derivatives of the transition matrix ''g''.
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| ====Global connection forms====
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| If {''U''<sub>p</sup>} is an open covering of ''M'', and each ''U''<sub>p</sub> is equipped with a trivialization '''e'''<sub>p</sub> of ''E'', then it is possible to define a global connection form in terms of the patching data between the local connection forms on the overlap regions. In detail, a '''connection form''' on ''M'' is a system of matrices ω('''e'''<sub>p</sub>) of 1-forms defined on each ''U''<sub>p</sub> that satisfy the following compatibility condition
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| :<math>\omega(\mathbf e_q) = (\mathbf e_p^{-1}\mathbf e_q)^{-1}d(\mathbf e_p^{-1}\mathbf e_q)+(\mathbf e_p^{-1}\mathbf e_q)^{-1}\omega(\mathbf e_p)(\mathbf e_p^{-1}\mathbf e_q).</math>
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| This ''compatibility condition'' ensures in particular that the exterior connection of a section of ''E'', when regarded abstractly as a section of ''E'' ⊗ Ω<sup>1</sup>''M'', does not depend on the choice of basis section used to define the connection.
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| ===Curvature===
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| The '''curvature two-form''' of a connection form in ''E'' is defined by
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| :<math>\Omega(\mathbf e) = d\omega(\mathbf e) + \omega(\mathbf e)\wedge\omega(\mathbf e).</math>
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| Unlike the connection form, the curvature behaves tensorially under a change of frame, which can be checked directly by using the [[Poincaré lemma]]. Specifically, if '''e''' → '''e''' ''g'' is a change of frame, then the curvature two-form transforms by
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| :<math>\Omega(\mathbf e\, g) = g^{-1}\Omega(\mathbf e)g.</math>
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| One interpretation of this transformation law is as follows. Let '''e'''<sup>*</sup> be the [[dual basis]] corresponding to the frame ''e''. Then the 2-form
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| :<math>\Omega={\mathbf e}\Omega(\mathbf e){\mathbf e}^*</math>
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| is independent of the choice of frame. In particular, Ω is a vector-valued two-form on ''M'' with values in the [[endomorphism ring]] Hom(''E'',''E''). Symbolically,
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| :<math>\Omega\in \Gamma(\Omega^2M\otimes \text{Hom}(E,E)).</math>
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| In terms of the exterior connection ''D'', the curvature endomorphism is given by
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| :<math>\Omega(v) = D(D v) = D^2v\, </math>
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| for ''v'' ∈ ''E''. Thus the curvature measures the failure of the sequence
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| :<math>\Gamma(E)\ \stackrel{D}{\to}\ \Gamma(E\otimes\Omega^1M)\ \stackrel{D}{\to}\ \Gamma(E\otimes\Omega^2M)\ \stackrel{D}{\to}\ \dots\ \stackrel{D}{\to}\ \Gamma(E\otimes\Omega^n(M))</math>
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| to be a [[chain complex]] (in the sense of [[de Rham cohomology]]).
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| ===Soldering and torsion===
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| Suppose that the fibre dimension ''k'' of ''E'' is equal to the dimension of the manifold ''M''. In this case, the vector bundle ''E'' is sometimes equipped with an additional piece of data besides its connection: a [[solder form]]. A '''solder form''' is a globally defined [[vector-valued form|vector-valued one-form]] θ ∈ Γ(Ω<sup>1</sup>(''M'',''E'')) such that the mapping
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| :<math>\theta_x : T_xM \rightarrow E_x</math>
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| is a linear isomorphism for all ''x'' ∈ ''M''. If a solder form is given, then it is possible to define the '''[[torsion (differential geometry)|torsion]]''' of the connection (in terms of the exterior connection) as
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| :<math>\Theta = D\theta.\, </math>
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| The torsion Θ is an ''E''-valued 2-form on ''M''.
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| A solder form and the associated torsion may both be described in terms of a local frame '''e''' of ''E''. If θ is a solder form, then it decomposes into the frame components
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| :<math>\theta = \sum_i \theta^i(\mathbf e) e_i.</math>
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| The components of the torsion are then
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| :<math>\Theta^i(\mathbf e) = d\theta^i(\mathbf e) + \sum_j \omega_j^i(\mathbf e)\wedge \theta^j(\mathbf e).</math>
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| Much like the curvature, it can be shown that Θ behaves as a [[Covariance and contravariance of vectors|contravariant tensor]] under a change in frame:
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| :<math>\Theta^i(\mathbf e\, g)=\sum_j g_j^i \Theta^j(\mathbf e).</math>
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| The frame-independent torsion may also be recovered from the frame components:
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| :<math>\Theta = \sum_i e_i \Theta^i(\mathbf e).</math>
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| ===Example: The Levi-Civita connection===
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| As an example, suppose that ''M'' carries a [[Riemannian metric]], and consider the [[Levi-Civita connection]] on the [[tangent bundle]] of ''M''.<ref>See {{harvtxt|Spivak|1999}}, II.7 for a complete account of the Levi-Civita connection from this point of view.</ref> A local frame on the tangent bundle is an ordered list of vector fields '''e''' = (''e''<sub>i</sub> | i = 1,2,...,n=dim ''M'') defined on an open subset of ''M'' that are linearly independent at every point of their domain. The Christoffel symbols define the Levi-Civita connection by
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| :<math>\nabla_{e_i}e_j = \sum_{k=1}^n\Gamma_{ij}^k(\mathbf e)e_k.</math> | |
| If θ = (θ<sub>i</sub> | i=1,2,...,n), denotes the [[dual basis]] of the [[cotangent bundle]], such that θ<sub>i</sub>(''e''<sub>j</sub>) = δ<sub>ij</sub> (the [[Kronecker delta]]), then the connection form is
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| :<math>\omega_i^j(\mathbf e) = \sum_k \Gamma_{ki}^j(\mathbf e)\theta^k.</math>
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| In terms of the connection form, the exterior connection on a vector field ''v'' = Σ<sub>i</sub>''e''<sub>i</sub>''v''<sup>i</sup> is given by
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| :<math> Dv=\sum_k e_k\otimes(dv^k) + \sum_{j,k}e_k\otimes\omega^k_j(\mathbf e)v^j.</math>
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| One can recover the Levi-Civita connection, in the usual sense, from this by contracting with ''e''<sub>i</sub>:
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| :<math> \nabla_{e_i} v = \langle Dv, e_i\rangle = \sum_k e_k \left(\nabla_{e_i} v^k + \Sigma_j\Gamma^k_{ij}(\mathbf e)v^j\right)</math>
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| ====Curvature====
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| The curvature 2-form of the Levi-Civita connection is the matrix (Ω<sub>i</sub><sup>j</sup>) given by
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| :<math>
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| \Omega_i^j(\mathbf e) = d\omega_i^j(\mathbf e)+\sum_k\omega_k^j(\mathbf e)\wedge\omega_i^k(\mathbf e).
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| </math>
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| For simplicity, suppose that the frame '''e''' is [[Holonomic basis|holonomic]], so that dθ<sup>i</sup>=0.<ref>In a non-holonomic frame, the expression of curvature is further complicated by the fact that the derivatives dθ<sup>i</sup> must be taken into account.</ref> Then, employing now the [[summation convention]] on repeated indices,
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| :<math>\begin{array}{ll}
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| \Omega_i^j &= d(\Gamma^j_{qi}\theta^q) + (\Gamma^j_{pk}\theta^p)\wedge(\Gamma^k_{qi}\theta^q)\\
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| &\\
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| &=\theta^p\wedge\theta^q\left(\partial_p\Gamma^j_{qi}+\Gamma^j_{pk}\Gamma^k_{qi})\right)\\ | |
| &\\ | |
| &=\tfrac12\theta^p\wedge\theta^q R_{pqi}{}^j
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| \end{array}
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| </math>
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| where ''R'' is the [[Riemann curvature tensor]].
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| ====Torsion====
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| The Levi-Civita connection is characterized as the unique [[metric connection]] in the tangent bundle with zero torsion. To describe the torsion, note that the vector bundle ''E'' is the tangent bundle. This carries a canonical solder form (sometimes called the '''canonical one-form''') that is the section θ of Hom(T''M'',T''M'') = T<sup>*</sup>''M'' ⊗ T''M'' corresponding to the identity endomorphism of the tangent spaces. In the frame '''e''', the solder form is θ = Σ<sub>i</sub> ''e''<sub>i</sub> ⊗ θ<sup>i</sup>, where again θ<sup>i</sup> is the dual basis.
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| The torsion of the connection is given by Θ = ''D'' θ, or in terms of the frame components of the solder form by
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| :<math>\Theta^i(\mathbf e) = d\theta^i+\sum_j\omega^i_j(\mathbf e)\wedge\theta^j.</math>
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| Assuming again for simplicity that '''e''' is holonomic, this expression reduces to
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| :<math>\Theta^i = \Gamma^i_{kj} \theta^k\wedge\theta^j</math>,
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| which vanishes if and only if Γ<sup>i</sup><sub>kj</sub> is symmetric on its lower indices.
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| ==Structure groups==
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| A more specific type of connection form can be constructed when the vector bundle ''E'' carries a [[associated bundle|structure group]]. This amounts to a preferred class of frames '''e''' on ''E'', which are related by a [[Lie group]] ''G''. For example, in the presence of a [[metric (vector bundle)|metric]] in ''E'', one works with frames that form an [[orthonormal basis]] at each point. The structure group is then the [[orthogonal group]], since this group preserves the orthonormality of frames. Other examples include:
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| * The usual frames, considered in the preceding section, have structural group GL(''k'') where ''k'' is the fibre dimension of ''E''.
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| * The holomorphic tangent bundle of a [[complex manifold]] (or [[almost complex manifold]]).<ref>Wells (1973).</ref> Here the structure group is GL<sub>n</sub>('''C''') ⊂ GL<sub>2n</sub>('''R''').<ref>See for instance Kobayashi and Nomizu, Volume II.</ref> In case a [[hermitian metric]] is given, then the structure group reduces to the [[unitary group]] acting on unitary frames.<ref>Wells, ''ibid''.</ref>
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| * [[Spinor]]s on a manifold equipped with a [[spin structure]]. The frames are unitary with respect to an invariant inner product on the spin space, and the group reduces to the [[spin group]].
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| * Holomorphic tangent bundles on [[CR manifold]]s.<ref>See Chern and Moser.</ref>
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| In general, let ''E'' be a given vector bundle of fibre dimension ''k'' and ''G'' ⊂ GL(''k'') a given Lie subgroup of the general linear group of '''R'''<sup>k</sup>. If (''e''<sub>α</sub>) is a local frame of ''E'', then a matrix-valued function (''g''<sub>i</sub></sup>j</sup>): ''M'' → ''G'' may act on the ''e''<sub>α</sub> to produce a new frame
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| :<math>e_\alpha' = \sum_\beta e_\beta g_\alpha^\beta.</math>
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| Two such frames are '''''G''-related'''. Informally, the vector bundle ''E'' has the '''structure of a ''G''-bundle''' if a preferred class of frames is specified, all of which are locally ''G''-related to each other. In formal terms, ''E'' is a [[fibre bundle]] with structure group ''G'' whose typical fibre is '''R'''<sup>k</sup> with the natural action of ''G'' as a subgroup of GL(''k'').
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| ===Compatible connections===
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| A connection is [[metric compatible|compatible]] with the structure of a ''G''-bundle on ''E'' provided that the associated [[parallel transport]] maps always send one ''G''-frame to another. Formally, along a curve γ, the following must hold locally (that is, for sufficiently small values of ''t''):
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| :<math>\Gamma(\gamma)_0^t e_\alpha(\gamma(0)) = \sum_\beta e_\beta(\gamma(t))g_\alpha^\beta(t) </math>
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| for some matrix ''g''<sub>α</sub><sup>β</sup> (which may also depend on ''t''). Differentiation at ''t''=0 gives
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| :<math>\nabla_{\dot{\gamma}(0)} e_\alpha = \sum_\beta e_\beta \omega_\alpha^\beta(\dot{\gamma}(0))</math>
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| where the coefficients ω<sub>α</sub><sup>β</sup> are in the [[Lie algebra]] '''g''' of the Lie group ''G''.
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| With this observation, the connection form ω<sub>α</sub><sup>β</sup> defined by
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| :<math>D e_\alpha = \sum_\beta e_\beta\otimes \omega_\alpha^\beta(\mathbf e)</math>
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| is '''compatible with the structure''' if the matrix of one-forms ω<sub>α</sub><sup>β</sup>('''e''') takes its values in '''g'''.
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| The curvature form of a compatible connection is, moreover, a '''g'''-valued two-form.
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| ===Change of frame===
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| Under a change of frame
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| :<math>e_\alpha' = \sum_\beta e_\beta g_\alpha^\beta</math>
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| where ''g'' is a ''G''-valued function defined on an open subset of ''M'', the connection form transforms via <!--Todo: incorporate index version above as well. -->
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| :<math>\omega_\alpha^\beta(\mathbf e\cdot g) = (g^{-1})_\gamma^\beta dg_\alpha^\gamma + (g^{-1})_\gamma^\beta \omega_\delta^\gamma(\mathbf e)g_\alpha^\delta.</math>
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| Or, using matrix products:
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| :<math>\omega({\mathbf e}\cdot g) = g^{-1}dg + g^{-1}\omega g.</math>
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| To interpret each of these terms, recall that ''g'' : ''M'' → ''G'' is a ''G''-valued (locally defined) function. With this in mind,
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| :<math>\omega({\mathbf e}\cdot g) = g^*\omega_{\mathfrak g} + \text{Ad}_{g^{-1}}\omega(\mathbf e)</math>
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| where ω<sub>'''g'''</sub> is the [[Maurer-Cartan form]] for the group ''G'', here [[pullback (differential geometry)|pulled back]] to ''M'' along the function ''g'', and Ad is the [[adjoint representation]] of ''G'' on its Lie algebra.
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| ==Principal bundles==
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| The connection form, as introduced thus far, depends on a particular choice of frame. In the first definition, the frame is just a local basis of sections. To each frame, a connection form is given with a transformation law for passing from one frame to another. In the second definition, the frames themselves carry some additional structure provided by a Lie group, and changes of frame are constrained to those that take their values in it. The language of principal bundles, pioneered by [[Charles Ehresmann]] in the 1940s, provides a manner of organizing these many connection forms and the transformation laws connecting them into a single intrinsic form with a single rule for transformation. The disadvantage to this approach is that the forms are no longer defined on the manifold itself, but rather on a larger principal bundle.
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| ===The principal connection for a connection form===
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| Suppose that ''E'' → ''M'' is a vector bundle with structure group ''G''. Let {''U''} be an open cover of ''M'', along with ''G''-frames on each ''U'', denoted by '''e'''<sub>U</sub>. These are related on the intersections of overlapping open sets by
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| :<math>{\mathbf e}_V={\mathbf e}_U\cdot h_{UV}</math>
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| for some ''G''-valued function ''h''<sub>UV</sup> defined on ''U'' ∩ ''V''.
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| Let F<sub>G</sub>''E'' be the set of all ''G''-frames taken over each point of ''M''. This is a principal ''G''-bundle over ''M''. In detail, using the fact that the ''G''-frames are all ''G''-related, F<sub>G</sub>''E'' can be realized in terms of gluing data among the sets of the open cover:
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| :<math>F_GE = \left.\coprod_U U\times G\right/\sim</math>
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| where the [[equivalence relation]] <math>\sim</math> is defined by
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| :<math>((x,g_U)\in U\times G) \sim ((x,g_V) \in V\times G) \iff {\mathbf e}_V={\mathbf e}_U\cdot h_{UV} \text{ and } g_U = h_{UV}^{-1}(x) g_V. </math>
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| On F<sub>G</sub>''E'', define a [[connection (principal bundle)|principal ''G''-connection]] as follows, by specifying a '''g'''-valued one-form on each product ''U'' × ''G'', which respects the equivalence relation on the overlap regions. First let
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| :<math>\pi_1:U\times G \to U,\quad \pi_2 : U\times G \to G</math>
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| be the projection maps. Now, for a point (''x'',''g'') ∈ ''U'' × ''G'', set
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| :<math>\omega_{(x,g)} = Ad_{g^{-1}}\pi_1^*\omega(\mathbf e_U)+\pi_2^*\omega_{\mathbf g}.</math>
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| The 1-form ω constructed in this way respects the transitions between overlapping sets, and therefore descends to give a globally defined 1-form on the principal bundle F<sub>G</sub>''E''. It can be shown that ω is a principal connection in the sense that it reproduces the generators of the right ''G'' action on F<sub>G</sub>''E'', and equivariantly intertwines the right action on T(F<sub>G</sub>''E'') with the adjoint representation of ''G''.
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| ===Connection forms associated to a principal connection===
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| Conversely, a principal ''G''-connection ω in a principal ''G''-bundle ''P''→''M'' gives rise to a collection of connection forms on ''M''. Suppose that '''e''' : ''M'' → ''P'' is a local section of ''P''. Then the pullback of ω along '''e''' defines a '''g'''-valued one-form on ''M'':
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| :<math>\omega({\mathbf e}) = {\mathbf e}^*\omega.</math>
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| Changing frames by a ''G''-valued function ''g'', one sees that ω('''e''') transforms in the required manner by using the Leibniz rule, and the adjunction:
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| :<math>\langle X, ({\mathbf e}\cdot g)^*\omega\rangle = \langle [d(\mathbf e\cdot g)](X), \omega\rangle</math>
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| where ''X'' is a vector on ''M'', and ''d'' denotes the [[pushforward (differential)|pushforward]].
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| ==See also==
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| * [[Ehresmann connection]]
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| * [[Cartan connection]]
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| * [[Affine connection]]
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| * [[Curvature form]]
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| ==Notes==
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| <references/>
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| ==References==
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| * Chern, S.-S., ''Topics in Differential Geometry'', Institute for Advanced Study, mimeographed lecture notes, 1951.
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| * {{citation|author=Chern S. S. and Moser, J.K.|title=Real hypersurfaces in complex manifolds|journal=Acta Math.|volume=133|pages=219–271|year=1974|doi=10.1007/BF02392146}}
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| * {{citation| last1=Griffiths | first1=Phillip | last2=Harris | first2=Joseph |author-link1=Phillip Griffiths |author-link2=Joseph Harris |title=Principles of algebraic geometry|isbn=0-471-05059-8|year=1978|publisher=John Wiley and sons}}
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| * {{citation | author=Kobayashi, Shoshichi and Nomizu, Katsumi | title = [[Foundations of Differential Geometry]], Vol. 1 | publisher=Wiley-Interscience | year=1996 (New edition) |isbn = 0-471-15733-3}}
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| * {{citation | author=Kobayashi, Shoshichi and Nomizu, Katsumi | title = Foundations of Differential Geometry, Vol. 2 | publisher=Wiley-Interscience | year=1996 (New edition) |isbn = 0-471-15732-5}}
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| * {{citation|last=Spivak|first=Michael|title=A Comprehensive introduction to differential geometry (Volume 2)|year=1999|publisher=Publish or Perish|isbn=0-914098-71-3}}
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| * {{citation|last=Spivak|first=Michael|title=A Comprehensive introduction to differential geometry (Volume 3)|year=1999|publisher=Publish or Perish|isbn=0-914098-72-1}}
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| * {{citation|last=Wells|first=R.O.|authorlink=Raymond O. Wells, Jr.|title=Differential analysis on complex manifolds|year=1973|publisher=Springer-Verlag|isbn=0-387-90419-0}}
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| * {{citation|last=Wells|first=R.O.|authorlink=Raymond O. Wells, Jr.|title=Differential analysis on complex manifolds|year=1980|publisher=Prentice–Hall }}
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| {{Tensors}}
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| [[Category:Differential geometry]]
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| [[Category:Fiber bundles]]
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| [[Category:Connection (mathematics)]]
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