Abstract
A closed conformal vector field in de Sitter space induces a vector field on a spacelike hypersurface M of , referred to as the induced vector field on M. This article investigates the characterization of compact spacelike hypersurfaces in de Sitter space without assuming the constancy of the mean curvature. Specifically, we establish that under certain conditions, a compact spacelike hypersurface in is a sphere, that is, a totally umbilical hypersurface with constant mean curvature. We also present a different characterization of compact spacelike hypersurfaces in de Sitter space as spheres by using a lower bound on the integral of the Ricci curvature of the compact hypersurface in the direction of the induced vector field. We also consider de Sitter space as a Robertson–Walker space and provide several characterizations of spheres within its spacelike hypersurfaces.
Keywords:
spacelike hypersurfaces; de Sitter space; Ricci curvature; conformal vector field; Robertson–Walker space MSC:
53B30; 53C40; 53C42; 53C50; 53C65
1. Introduction
De Sitter space is a Lorentzian manifold with constant positive curvature, often represented as a hyperboloid embedded in a higher-dimensional Minkowski space. Let be the -dimensional Minkowski space, which is the real vector space equipped with the Lorentzian metric , with signature , and defined for all as
Let be the hypersurface of defined by
where is a positive constant.
Then, inherits a Lorentzian metric from with a constant sectional curvature , and is called a de Sitter space. This is the unique geodesically complete spacetime, which is simply connected if . Thus, de Sitter space is a vacuum solution to Einstein’s equations with a positive cosmological constant. It can be depicted as a one-sheeted hyperboloid in Minkowski space and can be written in global coordinates as a warped product (refer to Section 5).
A smooth immersion of an n-dimensional connected manifold M is called a spacelike hypersurface if the metric g induced on M is a Riemannian metric. In other words, M is a submanifold of where all tangent vectors are spacelike.
Spacelike hypersurfaces in de Sitter space have been a subject of extensive research in differential geometry. The interest in studying these hypersurfaces is motivated by their implications for general relativity and theoretical physics. There are two significant types of spacelike hypersurfaces of the de Sitter space : the totally geodesic hypersurfaces , known as great spheres, and with , namely the small spheres. One of the interesting but challenging problems in the geometry of submanifolds is to determine the necessary and sufficient conditions for a compact Riemannian hypersurface in a space form to be spherical. This investigation has been extensively discussed by several mathematicians. In [1], several generalized integral formulas of Minkowski type were derived for compact Riemannian hypersurfaces in both Riemannian and Lorentzian manifolds in the presence of an arbitrary vector field. When the vector field has a specific form, such as being Killing or conformal, these integral formulas have been utilized to characterize totally umbilical compact Riemannian hypersurfaces in both Riemannian and Lorentzian manifolds. The study of spacelike hypersurfaces with constant mean curvature in Lorentz spaces, including de Sitter and anti-de Sitter spaces, has also been explored in various works (see, for example, [2,3,4]). Additional studies can be found in [5,6,7,8,9]. In particular, a natural question arises regarding the consideration of compact spacelike hypersurfaces in without the constancy condition on the mean curvature or the scalar curvature. For a more comprehensive understanding of hyperbolic cylinders in anti-de Sitter space, totally umbilical hypersurfaces in de Sitter space, and isoparametric hypersurfaces in Lorentzian space forms, we refer to [10,11,12], as well as their respective references.
This article investigates the characterization of compact spacelike hypersurfaces in de Sitter space without assuming constant mean curvature. It provides necessary and sufficient conditions for such hypersurfaces to be spheres, based on Ricci curvature constraints. The motivations for characterizing spheres in de Sitter space are as follows: First, de Sitter spacetime models a universe with a positive cosmological constant, and studying spheres with specific Ricci conditions can help identify other geometric structures. Second, examining Ricci curvature in a specific direction deepens our understanding of its impact on the geometric and physical properties of spacelike hypersurfaces. Third, restricting Ricci curvature may provide new geometric insights and lead to novel characterizations of spacelike hypersurfaces in Lorentzian manifolds.
In Section 2, we state preliminaries and some basic concepts and fundamental formulas in the theory of hypersurfaces in a de Sitter space (cf. [13,14,15]). In Section 3, we provide a brief overview of spheres in de Sitter space. In Section 4, we present the main result (Theorem 2), which characterizes spheres in by utilizing the Ricci curvature of the induced vector field on a compact spacelike hypersurface M in In Section 5, we give a characterization of spheres of de Sitter space, viewed as a Robertson–Walker space.
2. Preliminaries
Consider the de Sitter as the hypersurface of the Minkowski space defined in the previous section. Define the spacelike position vector field with . Then, it has a shape operator with respect to the spacelike unit normal vector field where I denotes the identity operator.
Consider a compact connected n-dimensional spacelike hypersurface in the de Sitter space A vector field X in is called spacelike if , timelike if , and lightlike or null if everywhere. and D denote the Levi–Civita connections of and , respectively. Let and denote the sets of all smooth vector fields on M and , respectively. Then, the Gauss and Weingarten formulas for in are given by
for all
Recall that a smooth vector field Z on a pseudo-Riemannian manifold is said to be conformal if the Lie derivative of with respect to Z satisfies
for all where is a smooth function on called the potential function of Z. In addition, we say that Z is closed conformal if there exists a smooth function on such that
for all , where is the Levi–Civita connections of
Closed conformal vector fields are also referred to as concircular vector fields, and are called concurrent vector fields when .
Recall that every compact spacelike hypersurface M in is diffeomorphic to an n-sphere [13], and hence is orientable. Therefore, there exists a timelike unit normal vector field globally defined on M. Let N be a timelike unit normal vector field on M. Then, the Gauss and Weingarten formulas for M in are given by
for all where A is the shape operator of M in derived from the timelike unit normal vector field N.
The Ricci curvature of M can be expressed as
where H is the mean curvature of M, defined by
Since the de Sitter space is of constant curvature, the Codazzi equation for M has the form
where and
By using (7) and the symmetry of the shape operator A, the mean curvature H has the gradient
where is a local orthonormal frame on
For a nonzero parallel (constant) vector field on Minkowski space we denote the restriction of to by Z. Then, we denote by the smooth function on , called the support function, which is defined by , where is the Lorentzian metric on If is the tangential component of Z to then Z can be expressed as
Note that is timelike in the case where Z is timelike or lightlike, and it could be timelike, spacelike, or lightlike in the case where Z is spacelike.
It follows from (10) that is a closed conformal (timelike) vector field on with potential function . If the restriction of to the hypersurface M is denoted by then we have
where is the tangential component of (called the induced vector field on M) and is the support function on where N is a timelike unit vector field normal to M that can be chosen so that Indeed, it is evident that when the manifold is Lorentzian (in this case, the de Sitter space), the reversed Cauchy–Schwarz inequality gives
Now, we utilize to denote the restriction of the support function to the hypersurface We call the function the associated function of the hypersurface. Then, the tangential and the normal components of the gradient can be, respectively, expressed as
It follows, by (14), that the divergence of is given by
A hypersurface of the de Sitter is called totally umbilical if its shape operator A is a multiple of the identity, that is, where is a scalar. In particular, M is called totally geodesic if A is identically zero (cf. [15]).
3. Types of Spheres in de Sitter Space
Before presenting the main results, we will first provide a brief overview of spheres in de Sitter space. In this context, spheres refer to spacelike hypersurfaces that are locally spherical and arise as intersections between the de Sitter space and Euclidean spheres in the ambient Minkowski space.
Consider, as above, the de Sitter space as a hypersurface of the Minkowski space For the small sphere in can be defined as
Consequently, is a hypersurface of the de Sitter space , with a timelike unit normal vector field of the form
for all
Let and ∇ denote the Levi–Civita connections of and , respectively. Then, we have
for all
Hence, the shape operator of the hypersurface is given by
where H is the mean curvature of the hypersurface
Since , H is a nonzero constant, which means that the small sphere is a totally umbilical submanifold of the de Sitter space although it is not totally geodesic. A similar result concerning small spheres in Riemannian geometry was given in [16].
Now, denote the tangential component of the vector field onto the small sphere as , and define . Then, we have
and by using the definitions of and we can easily see that
and consequently,
where is the restriction of to
It follows that the divergence of is given by
The Ricci curvature of the small sphere is given by
for all .
4. Characterizations of Spheres in de Sitter Space
Consider the de Sitter space , and let M be a compact spacelike hypersurface with mean curvature H, induced vector field support function and associated function
In this section, we derive an interesting characterization of spheres in using a lower bound on the integral of the Ricci curvature . Many researchers have investigated such characterizations of spheres in the unit sphere in Euclidean space (see [17,18]), typically using the tangent component of the position vector field on the hypersurface. However, for Riemannian hypersurfaces in spheres and spacelike hypersurfaces in de Sitter spacetime, since the position vector field may change its causal character, we use constant (i.e., parallel) vector fields from the ambient manifold instead.
The following lemmas are crucial for proving the main results.
Lemma 1.
Let be a compact n-dimensional spacelike hypersurface of the de Sitter space , with mean curvature induced vector field support function and associated function Then,
Proof.
By using (15), we obtain
which yields the result. □
Lemma 2.
Let be a compact n-dimensional spacelike hypersurface of the de Sitter , with mean curvature induced vector field support function and associated function Then,
Proof.
By (13), we have
which yields the result. □
We are now ready to express the Laplacian of the support function in terms of the norm of the shape operator A of
Lemma 3.
Let be an n-dimensional spacelike hypersurface of the de Sitter space , with mean curvature induced vector field and associated function Then, the Laplacian of the support function θ is given by
where denotes the trace of .
Proof.
Let be a local orthonormal frame of vector fields in Taking the divergence for the second equation in (14), we obtain
The first result of this paper directly follows from Formula (21).
Theorem 1.
Let be a compact n-dimensional spacelike hypersurface of the de Sitter space , with , that has a constant mean curvature along the integral curves of the induced vector field . Then, is isometric to a sphere.
By integrating both sides of the above equation over M, we obtain
Since and is nonzero with a constant sign (as indicated by Inequality (12)), and assuming that H is constant along the integral curves of , it follows from the Cauchy–Schwarz inequality that
This leads to the conclusion that . Equality in the Cauchy–Schwarz inequality occurs if and only if
Thus, is a totally umbilical hypersurface in . According to Lemma 4.35 and Proposition 4.36 in [15], is isometric to a sphere . □
Corollary 1.
Let be a constant mean curvature compact n-dimensional spacelike hypersurface of the de Sitter space , with . Then, is isometric to a sphere.
Our second result outlines the conditions that a spacelike hypersurface in de Sitter space must meet to be classified as a sphere.
Theorem 2.
Let be a compact n-dimensional spacelike hypersurface of the de Sitter space with induced vector field . Then,
if and only if is isometric to a sphere.
Proof.
Then, (5) yields
Since M is compact, integrating both sides of the above equation yields
Applying inequality (24) to the equation above, it follows that
Since by the Cauchy–Schwarz inequality, it follows that
This, combined with , leads to the conclusion that . This represents equality in the Cauchy–Schwarz inequality, which occurs if and only if
It follows, by (23), that M is a totally umbilical hypersurface of . Hence, according to Lemma 4.35 and Proposition 4.36 in [15], is isometric to a sphere
Conversely, assume that M is a totally umbilical hypersurface which is isometric to the sphere It follows, by (18), that the Ricci curvature of is given by
By using (17), we have
The following result is a different formulation of Theorem 2.
Theorem 3.
Let be a compact n-dimensional spacelike hypersurface of the de Sitter space , , with induced vector field and support function θ. Then,
if and only if M is isometric to a sphere of radius , with .
Integrating both sides of the above equation and recalling that M is compact, we obtain
Given that , by the Cauchy–Schwarz inequality, and the assumption (31), we deduce from (32) that , meaning that is totally umbilical. According to Lemma 4.35 and Proposition 4.36 in [15], the mean curvature H is constant, and is isometric to a sphere
The converse can be established in a similar manner to the proof of Theorem 2. □
Example 1.
Consider the small sphere introduced in Section 3. From (17) and (18), we obtain
which simplifies to
Therefore,
which yields
This shows that the small sphere is an example of a compact spacelike hypersurface in de Sitter space that satisfies the Ricci curvature condition (24) stated in Theorem 2.
Remark 1.
We note that spheres are not present in Minkowski spaces or anti-de Sitter spaces (see [19]). However, in general Lorentzian manifolds, we can discuss the existence of extrinsic spheres, which are totally umbilical hypersurfaces with nonzero constant mean curvatures.
Remark 2.
A similar result to Theorem 3 was provided in [17] for the case where is a Riemannian hypersurface of the unit sphere .
5. Spacelike Hypersurfaces in de Sitter Space Viewed as a Robertson–Walker (RW) Spacetime
As mentioned in Section 1, assuming , de Sitter space is the unique geodesically complete, simply connected spacetime with constant positive curvature . If represents the standard unit sphere (i.e., the round Riemannian sphere with constant curvature ), de Sitter space can be expressed in global coordinates as the Lorentzian warped product
In other words, de Sitter space can be viewed as a Robertson–Walker (RW) spacetime. In fact, RW spacetimes are well known for their importance in physics, especially in the theory of general relativity.
The vector field is a timelike unit constant vector field in Minkowski space , and the vector filed can be shown to be a closed conformal vector field in , satisfying
for all vector fields , where denotes the Levi–Civita connection of , and is the space of all vector fields in .
Let be a spacelike hypersurface in . Since establishes an orientation for , let N be a globally defined unit normal vector field to M. We define , the support function of a , as a smooth function on M given by . Referring to the notation introduced in the middle of Section 2, we observe that if , then . Since , then by applying (12) to , we obtain
If denotes the component of that is tangent to M, then it can be expressed as
Consider the function (called the height function) defined by , where is the isometric immersion representing as a spacelike hypersurface of , and is the projection on the base .
It is clear that the gradient of the projection satisfies . It follows that the gradient of h is given by
The next two formulas, which describe the norm (i.e., length) and Laplacian of h, are established in [20].
The following result provides a characterization of spheres in through an inequality similar to (24) involving the height function h.
Theorem 4.
Let be a compact spacelike hypersurface in . Then, is isometric to a sphere if and only if the height function h satisfies
Proof.
We conclude with the following result, which can be obtained from Theorem 4 by examining (34), (35), and (36).
Corollary 2.
Let be a compact spacelike hypersurface in . Then, is isometric to a sphere if and only if
6. Conclusions
In conclusion, we emphasize that while spheres in Euclidean geometry are typically characterized by their mean or full Ricci curvature, many descriptions of spheres in de Sitter space depend on assumptions about mean curvature, scalar curvature, or Ricci curvature. For instance, Reference [2] assumes constant mean curvature. In contrast, this paper introduces a new approach by characterizing spheres in de Sitter spacetime using a condition focused on Ricci curvature in a specific direction, rather than considering the full Ricci curvature. This approach is motivated by several key reasons: First, de Sitter spacetime represents a universe with a positive cosmological constant, and by applying specific Ricci curvature conditions, we can create more precise criteria for identifying spheres and other geometric structures within this context. Second, concentrating on Ricci curvature in a particular direction contributes to a better understanding of how directional curvature impacts the geometric and physical properties of spacelike hypersurfaces in de Sitter spacetime. Third, restricting the Ricci curvature to a specific direction may reveal new geometric results that are not evident when examining the full Ricci curvature, offering the potential for innovative characterizations and classifications of spacelike hypersurfaces in Lorentzian manifolds. Finally, our characterization of spheres within the spacelike hypersurfaces of de Sitter space, viewed as a Robertson–Walker space, offers a valuable approach for studying the properties of spacelike hypersurfaces in de Sitter space and determining the conditions under which such a hypersurface is a slice (that is of the form ). De Sitter space is characterized by a positive cosmological constant that leads to an accelerated exponential expansion of spacetime. By expressing de Sitter space as a generalized Robertson–Walker spacetime (refer to Section 5), this cosmological constant can be calculated in terms of . Additionally, analyzing spacelike hypersurfaces (particularly spacelike slices) within this spacetime contributes to a deeper understanding of its structure.
Author Contributions
Conceptualization, M.G.; investigation, Y.L., M.B.-A., K.S.A. and M.G.; methodology, Y.L., M.B.-A., K.S.A. and M.G.; validation, M.G.; writing—original draft, M.B.-A. and K.S.A.; writing—review and editing, Y.L., M.B.-A., K.S.A. and M.G. All authors have read and agreed to the published version of the manuscript.
Funding
This work was supported and funded by the Deanship of Scientific Research at Imam Mohammad Ibn Saud Islamic University (IMSIU) (grant number IMSIU-DDRSP2502).
Data Availability Statement
Data are contained within the article.
Conflicts of Interest
The authors declare no conflicts of interest.
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