Vector Calculus - Utrecht University 0... · •Produces a vector field from a vector field....
Transcript of Vector Calculus - Utrecht University 0... · •Produces a vector field from a vector field....
Vector CalculusA primer
Functions of Several Variables
• A single function of several variables:
𝑓: 𝑅𝑛 → 𝑅, 𝑓 𝑥1, 𝑥2, ⋯ , 𝑥𝑛 = 𝑦.
• Partial derivative vector, or gradient, is a vector:
𝛻𝑓 =𝜕𝑦
𝜕𝑥1, ⋯ ,
𝜕𝑦
𝜕𝑥𝑛
Multi-Valued Functions
• A vector-valued function of several variables:
𝑓: 𝑅𝑛 → 𝑅𝑚, 𝑓 𝑥1, 𝑥2, ⋯ , 𝑥𝑛 = 𝑦1, 𝑦2, ⋯ , 𝑦𝑚 .
• Can be viewed as a change of coordinates, or a mapping.
• We get a matrix, denoted as the Jacobian:
𝛻𝑓 =
𝜕𝑦1
𝜕𝑥1⋮
𝜕𝑦1
𝜕𝑥𝑛
⋯ ⋯𝜕𝑦𝑛
𝜕𝑥1⋮
𝜕𝑦𝑛
𝜕𝑥𝑛
https://www.math.duke.edu/education/ccp/materials/mvcalc/parasurfs/para1.html
Dot Product
• 𝑎, 𝑏 ∈ 𝑅𝑛, 𝑎 ∙ 𝑏 = 𝑎𝑖 ∗ 𝑏𝑖 ∈ 𝑅.
• We get that 𝑎 ∙ 𝑏 = 𝑎 𝑏 cos 𝜃, where 𝜃 is the angle between the vectors.
• Squared norm of vector: 𝑎 2 = 𝑎 ∙ 𝑎.
• Matrix multiplication result dot products of row and column vectors.
Dot Product
• A geometric interpretation: the part of 𝑎 which is parallel to a unit
vector in the direction of 𝑏.• And vice versa!
• Projected vector: 𝑎∥ =𝑎∙𝑏
𝑏𝑏.
• The part of 𝑏 orthogonal to 𝑎 has no effect!
Cross Product
• Typically defined only for 𝑅3.
• 𝑎 × 𝑏 = 𝑎𝑦𝑏𝑧 − 𝑎𝑧𝑏𝑦 , 𝑏𝑥𝑎𝑧 − 𝑏𝑧𝑎𝑥 , 𝑎𝑥𝑏𝑦 − 𝑎𝑦 ∈ 𝑅.
• Or more generally:
𝑎 × 𝑏 =
𝑎𝑥 𝑎𝑦 𝑎𝑧
𝑏𝑥 𝑏𝑦 𝑏𝑧
𝑥 𝑦 𝑧
Cross Product
• The result vector is orthogonal to both vector• Direction: Right-hand rule.
• Normal to the plane spanned by both vectors.
• Its magnitude is 𝑎 × 𝑏 = 𝑎 𝑏 sin 𝜃.• Parallel vectors cross product zero.
• The part of 𝑏 parallel to 𝑎 has no effect on the cross product!
Bilinear Maps
• Also denoted as “2-tensors”.
• 𝑀:𝑉 × 𝑉 → 𝑅, 𝑀 𝑢, 𝑣 = 𝑐.
• Take two vectors into a scalar.
• Symmetry: 𝑀 𝑢, 𝑣 = 𝑀 𝑣, 𝑢
• Linearity: 𝑀 𝑎𝑢 + 𝑏𝑤, 𝑣 = 𝑎𝑀 𝑢, 𝑣 + 𝑏𝑀 𝑤, 𝑣 .• The same for 𝑣 for symmetry.
• Can be represented by 𝑛 × 𝑛 matrices: c=𝑢𝑇𝑀 𝑣.
Example: Jacobian and Change of Coordinates
• Suppose change of coordinates 𝑇 𝑥1, 𝑥2, ⋯ , 𝑥𝑛 = 𝑦1, 𝑦2, ⋯ , 𝑦𝑛 .
• Infinitesimal vector 𝑢 at point 𝑥 changes into 𝑣: 𝑣 = 𝛻𝑇𝑢
• The bilinear form measures the change in length (stretch): 𝑣 2 = 𝑢𝑇 𝛻𝑇∗𝛻𝑇 𝑢.
• Where 𝛻𝑇∗𝛻𝑇 is a symmetric bilinear form.• Which is also a metric.
http://mathinsight.org/image/change_variable_area_transformation
Vector Fields in 3D
• A vector-valued function assigning a vector to each point in space: 𝑓: 𝑅3 → 𝑅3, 𝑓 𝑝 = 𝑣.
• Physics: velocity fields, force fields, advection, etc.
• Special vector fields:• Constant
• Rotational
• Gradients of scalar functions: 𝑣 = 𝛻𝑔.
http://vis.cs.brown.edu/results/images/Laidlaw-2001-QCE.011.html
Integration over a Curve
• Given a curve 𝐶 𝑡 = 𝑥 𝑡 , 𝑦 𝑡 , 𝑧(𝑡) , 𝑡 ∈ [𝑡0, 𝑡1].
• And a vector field 𝑣(𝑥, 𝑦, 𝑧)
• The integration of the field on the curve is defined as:
𝐶
𝑣 ∙ 𝑑 𝐶 =
𝑡0
𝑡1
𝑣 ∙𝑑𝑥
𝑑𝑡,𝑑𝑦
𝑑𝑡,𝑑𝑧
𝑑𝑡𝑑𝑡
Conservative Vector Fields
• A vector field 𝑣 is conservative if there is a scalar function 𝜑 so that for every curve 𝐶 𝑡 , 𝑡 ∈ [𝑡0, 𝑡1]:
𝐶
𝑣 ∙ 𝑑 𝐶 = 𝜑 𝑡1 − 𝜑 𝑡0
• Equivalently: if 𝑣 = 𝛻𝜑.
• The integral is then path independent.
Conservative Vector Fields
• Physical interpretation: the vector field 𝑣 is the result of a potential 𝜑.
• Example: the work (potential energy) 𝑊 done by gravity force 𝐺 =𝛻𝑊 is only dependent of the height gained\lost.
• Corollary: the integral of a conservative vector field over a closed curve is zero!
The Curl (Rotor) Operator• Definition: 𝛻 × 𝑣 = 𝜕 𝜕𝑥 , 𝜕 𝜕𝑦 , 𝜕 𝜕𝑧 × 𝑣.
• Produces a vector field from a vector field.
• Geometric intuition: 𝛻 × 𝑣 encodes local rotation (vorticity) that the vector field (as a force) induces locally on the point.• Direction: the rotation axis 𝑛.
• Integral definition:
𝛻 × 𝑣 ∙ 𝑛 = lim𝐴→0
1
𝐴 𝐶
𝑑 𝑣 ∙ 𝑑 𝐶
• 𝐶 is an infinitesemal curve around the point• 𝐴 is the area it encompasses.
http://www.chabotcollege.edu/faculty/shildreth/physics/gifs/curl.gif
Irrotational Fields
• Fields where 𝛻 × 𝑣 = 0.• Also denoted Curl-free.
• Conservative fields => irrotational.• as for every scalar 𝜑:
𝛻 × 𝛻𝜑 = 0
• It is evident from the integral definition: lim𝐴→0
1
𝐴 𝐶 𝑑 𝑣 ∙ 𝑑 𝐶.
• Is irrotational => Conservative fields also correct?
• Only (and always) for simply-connected domains!
Divergence
• Definition: 𝛻 ∙ 𝑣 = 𝜕 𝜕𝑥 , 𝜕 𝜕𝑦 , 𝜕 𝜕𝑧 ∙ 𝑣.
• Produces a scalar value from a vector field.
• Geometric intuition:𝛻 ∙ 𝑣 encodes local change in density induced by vector field as a flux.
• Integral definition:
𝛻 ∙ 𝑣 = lim𝑉→ 𝑝
1
𝑉
𝑆(𝑉)
𝑣 ∙ 𝑛
• 𝑆(𝑉) is the surface of an infinitesimal volume around the point.
• 𝑛 is the outward local normal.
http://magician.ucsd.edu/essentials/WebBookse8.html
Laplacian
• The divergence of the gradient of a scalar field:
∆𝜑 = 𝛻2𝜑 = 𝛻 ∙ 𝛻𝜑 .
• Produces a scalar value from a scalar field.
• Geometric intuition: Measuring how much a function is diffused or similar to the average of its surrounding.• Found in heat and wave equations.
• Used extensively in signal processing, e.g. for denoising.
Stokes Theorem
• A more general form of the idea of “conservative fields”
• The modern definition:
𝑉
𝑑𝑤 =
𝜕𝑉
𝑤
• Geometric interpretation: Integrating the differential of a field inside a domain integrating the field on the boundary.
Stokes Theorem
• Generalizes many classical results.
• Integrating along a curve: 𝐶
𝛻𝜑 ∙ 𝑑 𝐶 = 𝜑 𝑡1 − 𝜑 𝑡0 .
• Special case: Fundamental theory of calculus: 𝑥0
𝑥1 𝐹′ 𝑥 𝑑𝑥 = 𝐹 𝑥1 − 𝐹(𝑥0).
• Kelvin-Stokes Theorem:
𝜕𝑆 𝑣 ∙ 𝑑 𝐶 = 𝑆
𝛻 × 𝑣 𝑑𝑆.
• Divergence theorem:
𝑉
𝛻 ∙ 𝑣 𝑑𝑉 = 𝜕𝑉
𝑣 ∙ 𝑛 𝑑𝑆
• …and many similar more.