There is More than One Way to Frame a Curve

Author(s): Richard L. Bishop

Source: The American Mathematical Monthly, Vol. 82, No. 3 (Mar., 1975), pp. 246-251
Published by: Mathematical Association of America
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 THERE IS MORE THAN ONE WAY TO FRAME A CURVE

RICHARD L. BISHOP

The Frenet frameof a 3-timescontinuouslydifferentiable (that is, C3) non-

degeneratecurvein euclideanspace has long beenthe standardvehicleforanalysing
propertiesof the curve invariantunder euclidean motions. For arbitrarymoving
frames,thatis, orthonormalbasis fields,we can expressthederivativesof theframe
withrespectto the curveparameterin termsof the frameitself,and due to ortho-
normalitythecoefficient matrixis alwaysskew-symmetric.Thus it generallyhas three
nonzeroentries.The Frenetframegainspart of its special significance fromthefact
thatone of thethreederivativesis alwayszero.Anotherfeatureof the Frenetframe
is thatit is adapted to thecurve:themembersare eithertangentto or perpendicular
to the curve. It is the purpose of this paper to show that thereare otherframes
which have these same advantages and to compare them with theFrenetframe.
1. Relativelyparallelfields.We say thata normalvectorfieldM along a curve
is relativelyparallel ifits derivativeis tangential.Such a field turnsonlywhatever
amount is necessaryforit to remainnormal,so it is as close to being parallel as
possible withoutlosing normality.Since its derivativeis perpendicularto it,a rel-
atively parallel normal field has constantlength. Such fieldsoccur classicallyin
the discussionof curveswhichare said to be parallelto the givencurve.Indeed,if
y is a curve,consideredas a displacementvectorfunctionof a parametert, then
if M is relativelyparallel,the curvewith displacementvectory + M has velocity
(y + M)' = (v +f)T, whereTis theunittangentvectorfieldofy,v is thespeed ofy,
and M' =fT. Thus the segmentbetweenthe two curvesis perpendicularto both.
Whetheror not this segmentis locallya segmentof minimumlengthbetweenthe
two curvesdependson the curvatureand the lengthof M. It is easilyverifiedthat
this segmentlocally minimizeslengthif M is shortenough. Conversely,a curve
whichrunsat constantdistancefromymustbe givenbyy + M, whereM is relatively
parallel.
A singlenormalvectorMo at a point y(to)generatesa unique relativelyparallel
fieldM such thatM(to) = Mo. The uniquenessis trivial:the difference of two rela-
tivelyparallel fieldsis obviouslyrelativelyparallel,so if two such coincideat one
point,theirdifference has constantlength0. To show existenceone takes auxiliary
adapted frames;the Frenetframewould do if it exists,but we want existenceeven
foraegeneratecurves,thatis, thosewhichhave curvaturevanishingat some points.
Such framescan be constructedlocallyby applyingthe Gram-Schmidt processto T
and two parallel fields.If T, N1, N2 is an adapted frame,then we have

T' = po1N1+ p02N2, N1- -p0oT+ p12N2, N2 = -p02T-p12N1

Now we findthe conditionfora normalfieldof constantlengthL to be relatively

246

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 THERE IS MORE THAN ONE WAY TO FRAME A CURVE 247

parallel. Thereis a smoothangle function0 such that M = L(cos ON1+ sin ON2).
we have
Differentiating,

M' = L[(O' + P12)(-sinON1 + cosON2) - (Pol cosO + P02sinO)T].

Fromthiswe see thatM is relativelyparallelifand onlyif0' + P12 = 0. Sincethere

any initialcondition,this shows that local relatively
is a solutionfor 0 satisfying
parallelnormalfieldsexist.To getglobal existencewe can patchtogetherlocal ones,
whichexist on a coveringby intervals.Smoothnessat the points wheretheylink
togetheris a consequenceof the uniquenesspart.
We definea tangentialfieldto be relativelyparallelif it is a constantmultiple
of the unit tangentfieldT. An arbitraryfieldis relativelyparallel if its tangential
and normalcomponentsare relatively parallel. We spellout thecompletehypotheses
forthe existenceand uniquenessof thesefieldsas follows.

THEOREM 1. Let y be a Ck curvein euclidean 3-space which is regular,that

is, the velocitynevervanishes(k > 2). Then for any vectorVOat y(to) thereis a
unique Ck-l relativelyparallel field Valong ysuch thatV(to) = VOand the scalar
productof tworelativelyparallelfieldsis constant.

Proof. The firstpart is merelya matterof checkingthatthesmoothnesshypoth-

esis has been correctlydeterminedand that the normaland tangentialparts add
togetherwithoutdifficulty. To provethatthescalarproduct<V, W> of tworelatively
parallelfieldsV, W is constant,we observethatit is trivialfortangentialones and
may be verifiedfor the tangentialand normalparts separately.Thus we assume
V and W are normal,withderivatives fT and gT. Then the derivativeof < V,W> is
<f T, W> + < V,gT> = 0, as desired.

2. Special adaptedframes.It should be clear that the relativelyparallel fields

on a C2 regularcurveforma 3-dimensional vectorspace overR withdistinguished
subspacesconsistingofan oriented1-dimensionaltangentialpartand a 2-dimensional
normalpart,and thereis a scalarproductinheritedfromthepointwisescalarproduct
on the ambienteuclideanspace. We call an orthonormalbasis of thisvectorspace
whichfitsthe two subspaces a relativelyparallel adapted frame,or RPAF. If we
assume that the ambienteuclideanspace has a preferred orientation,then so does
thenormalspace of the curve,and we may referto a properlyorientedRPAF. The
totalityofRPAF'S are in theformof twocircles,one in each orientationclass, since
theydan be parametrizedby the 2-dimensionalorthogonalgroup,accordingto the
followingobvious result.

THEOREM 2. If (T,M1,M2) is a RPAF, then the totalityof RPAF's consists

offrames of theform (T, aM1 + bM2, cM1 + dM2), where [c d] runs through
orthogonalmatriceshaving constantentries.

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248 R. L. BISHOP [March

Now if (T, M1,M2) is a RPAF, denotingderivativeswithrespectto arc length

by a dot, we have
T = k1Ml + k2M2
Ml = -k,T
M' = -k2T.
This shows that we have accomplishedour originalgoal of showingthatthereare
otheradaptedframeswhichhave onlytwononzeroentriesin theirCartan matrices.
(See [1] or [2, pp. 85-97] fora moregeneraldiscussionofCartanmatrices.)In fact,
given one such RPAF, Theorem2 tells us that the possible Cartan matricesfor
RPAF's are
[0 ak1 + bk2 ck, + dk2

where* denotesan entrywhichcan be determinedby using skew-symmetry.

The
Frenet framehas Cartan matrix

O K O
Ic0
* 0 -r

_O * O_
and is unique once the orientationof the ambientspace and a conventionon the
signof thetorsionr have beenchosen. The onlyotherpossibility
fora Cartanmatrix
withone entryvanishingwould be

0O O f

but this is easily seen to be merelya remakeof the Frenetframe,havingf = + K,

g= + .
It is simple to relate the entriesof the various Cartan matrices. Indeed,
K = IT = | klMl + k2M2| = (kj + k2)+. Writing the principal normal as

N = cosOM, + sin0M2 = (k1/K)M1 + (k2/K)M2,

and differentiating
we obtain
N = -KT+ rB= -KT +0W(-sin OM1 + cos OM2).
If (T, M1,M2) is properlyoriented,we concludethatB = - sinOM1 + cos OM2 and

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1975] THERE IS MORE THAN ONE WAY TO FRAME A CURVE 249

henceX = 6'. Thus Kcand an indefiniteintegralSzds are polar coordinatesforthe

curve (kl,k2).
3. The normaldevelopment of a curve.We want to view (k1, k2) as a sort of
invariantof the curvey. This is slightlymore difficult to conceivethanin the case
of (K, T), sincethe RPAF is not unique. However,we have spelledout whatdegree
of freedomthereis in Theorem 2: (kl,k2) is determinedup to an orthogonal
transformation in the nonorientedcase and up to a rotationabout the originin the
orientedcase. Thus we mustthinkof (k1,k2) as a parametrized(by an arclength
parameterfory) continuouscurvein a centro-euclidean plane, that is, a euclidean
plane havinga distinguished point. When conceivedof in thisway we call (k1,k2)
the normaldevelopment of y. The situationis not reallyso differentfromthe case
of the Frenetinvariants(K, T), becausein thenonorientedcase (K, z) and the Frenet
frameare determined onlyup to an actionby thetwo-element group, withthenon-
identitychangingthe sign of z and B. That is, (K, T) cannot be distinguished from
(K,-T). The standardfactsabout the relationbetween(K,) and the curvey as an
object of euclideangeometrycorrespondto similarfactsabout (k1,k2) and y. The
proofsare identicalwiththe Frenetcase, and in factare partlygivenin unifiedform
in [2, p. 121].
THEOREM3. Two C2 regular curvesin euclidean space are congruentif and
only if theyhave the same normal development.For any parametrisedcontin-
uous curvein a centro-euclidean
plane thereis a C2 regular curve in euclidean
space having the given curveas its normal development.
The modificationsforthe orientedcase are clear: make boththeeuclideanspace
and the centro-euclidean
plane be orientedand the congruencesbe proper.
4. Comparisonand applications.The uniqueness and the ease of geometrical
interpretationof the Frenetinvariantswill clearlymake themretaintheirfavored
position. Their existence,however,requiresa "more generallypositioned" curve
thandoes theexistenceof a normaldevelopment. fora Frenetapparatus
Specifically,
the curvey is requiredto be C3 and y',y" mustbe linearlyindependent (nondegen-
eracy). For the normaldevelopmentwe need onlyC2 and y' nonzero.
Justas withK and r, the normaldevelopmentfrequentlyhas simpleproperties
forspecialtypesof curves.Clearlya straightline has its normaldevelopmentequal
to theconstantcurve0. WhenK is constantand z = 0 we geta circleof radius 1/K;
for the normal developmentwe get the constantcurve (K,O), since the distance
fromthe originis K and the polar angle 0 satisfiesW = = 0. The other curves -

obtainedas orbitsof a one-parameter subgroupof euclideanmotions are helices,

and theyhave normaldevelopmentwhichis obtainedby a one-parametersubgroup
of the centro-euclideanplane group,namely,a centralcirclewithconstant speed.
A plane nondegenerateC3 curveis characterizedby r = 0. This means that the
normaldevelopmenthas 0 = constant,that is, lies on a line throughthe origin.

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250 R. L. BISHOP [March

This fact generalizes:a C2 regularcurvelies in a plane if and only i-fits normal

developmentlies on a line throughthe origin.If we take a curve whose normal
developmentmovesthroughthe originon a line,it switchesfrombendingone way
in the plane to the other.If we take a normaldevelopmentwhichis C' and moves
to the originon one line and out on anotherline, then the correspondingspace
curvehas X = 0 wheneverit is defined,but is not planar.
The conditionfor a C3 regularcurvein space to lie on a spherein termsof K
and X is so complicatedthat the various elementarytextsare filledwithversions
which are eitherincompleteor erroneous.Usually this involvessomethingabout
satisfyingthe differential = T/K.The difficulty
equation (K'/zKC2)' arises fromthe
factthatX and mayvanishat somepointsofthecurvebutnoteverywhere.
K' Correct
versionswhichcoverthis difficulty are givenin [3, 4]. If we take into accountthe
relationbetween(K, r) and (kl,k2), the versionin [4] is essentiallythe following
simple geometriccharacterization:
A C2 regular curveis spherical ifand only if its normal developmentlies on
a line not throughthe origin. The distanceof this line from the origin and the
radius of the sphereare reciprocals.
Proof. If y lies on a spherewithcenterP and radiusr, then <y- P, y- P> = r2.
Differentiatingwithrespectto arclengthgives< T,y- P> = 0,so y-P = fM1 + gM2
for some functions f, g. But

f' = <y-P,M,X> = <T,M1> + <y-P, -k,T> = 0;

g is also constant.Then differentiating
similarly, <Ty-P>, we get

<k1Mj + k2M2,Y-P> + <T, T> =fk + gk2 + 1 = 0.

That is, (k1,k2) is on the line fx + gy + 1 =0. Moreover, r2 = <y_p,y-_P>

= f2 + g2 = l/d2, whered is the distanceof this line fromthe origin.
Conversely,suppose thatfkl +gk2 + 1 = 0, wheref and g are constant.Let
P = Y -fM1 - gM2; thenPJ = T+ (fkl + gk2)T = 0, so P is constant.A similar
derivationshowsthatr2 = <y- P, y- P> is constant,so y lies on a sphereof radiusr
and centerP.
More generally, theradiusof the osculatingsphereof a C3 regularspace curveis
given by the reciprocalof the distancefromthe originto the tangentline of the
normaldevelopment.
Now take a C' normal developmentwhich runs along one line in the plane,
stops,turnsa cornerand runsalong anotherline,withneitherlinethroughtheorigin.
Thus the correspondingspace curvepasses fromone sphereto another,possibly
runningalong thecircleof intersectionat thejoin. The torsionand curvatureof this
curvesatisfythe differential
equation (K /zK2). = -r/Kwheneverit makes sense, but
the curveis not spherical.

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 1975] INNER PRODUCT SPACES 251

5. Generalizations.
For curvesin n-dimensionalorientedeuclidean space, with
multipleassumptionsof higher-order nondegeneracyand Cn smoothness,we can
definea unique Frenetframe;all but n-1 of the independententriesof its Cartan
matrixvanish and n-2 of these are positive.These entriesare a completeset of
absolute differential
euclideaninvariantsof the curve,havingorders2 throughn
[1, p. 159].
The normal developmentof a curve in n-dimensionalorientedeuclideanspace
is definedby a straightforwardgeneralizationof the 3-dimensionalcase. It existsfor
any C2 regularcurve and is a continuousparametrizedcurve in orientedcentro-
euclideanspace of dimensionn-1; thatis, it is definedup to a properorthogonal
transformation. It arises froma RPAF whose Cartan matrixhas all but n-1 in-
dependententrieszero (the firstrow). Curves in n-space whichlie in a lower-di-
mensionalflator sphereare characterizedsimplyas those whichhave theirnormal
developmentlyingin a lower-dimensional flatof the same codimension.
The correspondingidea for affinegeometryseems to be hintedat in the first
paragraphon page 172 of [1].

References
1. Heinrich
W. Guggenheimer, Differential
Geometry, McGraw-Hill,NewYork,1963.
2. BarrettO'Neill,ElementaryDifferential
Geometry, AcademicPress,New York,1966.
3. Yung-chowWong,A globalformulation of the conditionfora curveto lie on a sphere,
Monatsh.Math., 67 (1963) 363-365.
4. , On an explicitcharacterization
of sphericalcurves,Proc. Amer. Math. Soc., 34
(1972) 239-242.

DEPARTMENT OF MATHEMATICS, UNIVERSITY OF ILLINOIS, URBANA, IL 61801.

CORRECTION TO: "INNER PRODUCT SPACES"

STANLEY GUDDER

ProfessorJiirgRatz, University
of Bern,recentlypointedout an errorin mypaper
"Inner ProductSpaces," (thisMONTHLY,81 (1974) 29-36). Thereis a gap in theproof
of Theorem3.2. In thisproof,the existenceof the vectorz has not been justified.
In particular,it has not been shown that the seriesXdixi (or the series Xciyi)
converges.As faras I know, whetherthistheoremis trueor notis open.
The givenproofis valid undersomestrongerhypotheses.For example,thefollow-
ing weakerresultscan be proved using similarmethods.

THEOREM.Let V be an innerproductspace. If for everyclosedsubspace M every

maximalorthonormal
set in M is basic in M, thenV is complete.

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