THE ANNIHILATOR OF A

KCONTACT MANIFOLD
Angel Mastromartino

Yuli Villarroel

Abstract
The objective of this paper is to give an algebraic formulation, using the
annihilator of higher order contact manifolds, of dierential systems of
order k and dimension n over a dierentiable manifold. In the case k = 1
we obtain the classical version of the Frobenius Theorem using dierential
1forms.
Keywords and phrases: geometric structures on manifolds, local submanifolds,
contact theory, actions of groups.
2000 Mathematics Subject Classication: Primary 53C15, Secondary 53B25
1. INTRODUCTION
Let M be a smooth m-dimensional manifold and C
k,n
M, n m, the manifold
of contact elements of order k and dimension n over M [2]. Given an n-
submanifold S M, we denote by C
k
x
S a contact element of order k of S at
x S and by
k
r
the canonical projection over C
r,n
M, with 0 r k. We
put C
0,n
M = M. There exists a natural inmersion
i
1,k
: C
k+1,n
M C
1,n
(C
k,n
M), C
k+1
x
S C
C
k
x
S
C
k
S,
where C
k
S C
k,n
M denotes the n-submanifold in C
k,n
M, dened by the
immersion x S M C
k
x
S C
k,n
M [2]. Let T
k
M J
k
0
M be the kth order
tangent vector of M, identied with the k-order jet, at 0, of curves : (, )
1 M, 0 [4], [5].
We say that two n-dimensional submanifolds S
1
, S
2
have co-contact of order k
and codimension n in x S
1
S
2
if the annihilator of the rth order tangent
vector at x S
1
, denoted by (T
r
x
S
1
)
0
, coincides with the annihilator of the rth
order tangent vector at x S
2
, where 0 r k.

Departamento de matematicas, Universidad Centro Occidental Lisandro Alvarado, Bar-

quisimeto, Venezuela, e-mail: amastrom@cantv.net

Escuela de matematicas, Universidad Central de Venezuela, Caracas, Venezuela, e-mail:

yulivilla@yahoo.com , yvillarroel@euler.ciens.ucv.ve
1
The equivalence class of co-contact elements of an n-dimensional submanifold S
is called the co-contact element of order k and codimension n at x and denoted
(C
k
x
S)
0
. The set (C
k,n
M)
0
of all co-contact elements of order k and codimension
n on M has a dierentiable manifold structure induced by local bijections with
coordinate neighborhoods of the manifold C
k,n
M.
Denote (
k
r
)
0
: (C
k
x
S)
0
(C
k,n
M)
0
(C
r
x
S)
0
(C
r,n
M)
0
, the canonical
projection, with 0 r k and (C
0,n
M)
0
= M.
By a dierential system of order k and dimension n in M we mean an imbed-
ded submanifold W
0
(C
k,n
M)
0
. A solution of a dierential system W
0
at (X
k
0
)
0
W
0
, is an n-dimensional imbedded submanifold S M, with
x
0
= (
k
0
)
0
((X
k
0
)
0
) S, such that (C
k
x
S)
0
W
0
, x S and (C
k
x
0
S)
0
= (X
k
0
)
0
.
A dierential system W
0
, of order k and dimension n in M is completely inte-
grable if given (X
k
0
)
0
W
0
, there exists a solution S M at (X
k
0
)
0
.
For k = 1, a completely integrable submanifold (W
1
)
0
denes an integrable
distribution on M, yielding the classical Frobenius Theorem in the case where
the dierential system is given by dierential 1forms.
2. CONTACT THEORY AND COMPLETELY INTEGRABLE SYSTEMS
Let (M, N, ) be a bred manifold with dimM = m, dimN = n, consider x
0
N
and k an integer, k 0.
Two sections f, g whose domains contain x
0
are k-equivalent at x
0
if given a
bred chart x = (x
i
, x
j
) at x
0
, with 1 i n, n + 1 j m, the r-partial
derivatives, 0 r k, of f and g coincide at x
0
, i.e:
r
f
j
(x
0
) =
r
g
j
(x
0
);
where f
j
= x
j
f (resp. g
j
= x
j
g) is the expression of f (resp. of g) in terms
of (x
i
, x
j
). The equivalence class of f, denoted by j
k
x
0
f, is called a k-jet of f
at x
0
. We denote by J
k
M the dierentiable manifold of all k-jets of sections
of (M, N, ), and by T
k
M J
k
0
(1 M) the kth order tangent vectors on M
[1].
Two k-jets, j
k
x
0
f, j
k
x
0
g J
k
x
0
M are equivalent at x
0
if there exists an invertible
k-jet j
k
x
0
h J
k
x
0
N, with h : N N, such that j
k
x
0
f = j
k
x
0
g j
k
x
0
h. An
equivalence class is called the contact element of order k and dimension n at
f(x
0
) M. The set of all contact elements of order k at x is denoted by C
k,n
x
M,
and C
k,n
M denotes all the k-contact elements of sections of (M, N, ).
Let S M be an imbedded n-submanifold, then the tangent space, T
x
S in
x S, denes a local bration (V, U, ) at x M such that, S is the images
of a cross section f and, the bered chart (V, x = (x
i
, x
j
)) satises x
i
f =
i
,
in terms of the canonical coordinates in 1
n
. A coordinate neighborhood at
X
k
= C
k
x
S is given by,
(1
X
k = C
k
V, (x
i
, x
j
, p
j
I
r
)), p
j
I
r
(C
k
x
g(U)) =

r
x
i
1
x
i
r
g
j
(x),
2
where I
r
= (i
1
, , i
r
) is an ordered r-uple of integers 1, , n. The set 1
X
k
of all k-contact transversal manifolds of (V, U, ) is called the chart associated
with X
k
= C
k
x
S.
The manifold structure on C
k,n
M is given by all coordinate neighborhoods
(1
X
k, (x
i
, x
j
, p
j
I
r
)), X
k
C
k,n
M. With this dierential structure the natural
projections,

k
0
: C
k
x
S C
k,n
M x M, &
k
r
: C
k
x
S C
r
x
S C
r,n
M
are submersions, and the natural injections,
i
k
: x S C
k
x
S, i
1,k
: C
k+1
x
S C
1
C
k
x
S
(C
k
S) C
1,n
(C
k,n
M)
are immersions, moreover, the natural immersion i
1,k
lets us identify,
C
k+1
x
S C
1
C
k
x
S
(C
k
S) T
C
k
x
S
(C
k
S).
By a dierential system of order k and dimension n, or a dierentiable korder
distribution in M, we mean an imbedded submanifold W
k
C
k,n
M. A solution
of a dierential system W
k
at X
k
W
k
, is an n-dimensional imbedded subma-
nifold S M, with x =
k
0
(X
k
) S, such that C
k
S W
k
and C
k
x
S = X
k
[8]. A system W
k
is completely integrable if for each X
k
W
k
there exists a
solution S M passing through X
k
.
The rst prolongation of a submanifold W
k
C
k,n
M is dened by Olver [6]
as, PW
k
= C
1,n
W
k
C
k+1,n
M, where C
k+1,n
M is identied with its image by
i
1,k
in C
1,n
(C
k,n
M).
2.1. THEOREM. Let W
k
C
k,n
M be an imbedded submanifold and X
k

W
k
, such that the following conditions are satised:
1)
k
k1
: W
k
C
k1,n
M, is a local immersion in a neighborhood of X
k
W
k
.
2)
k+1
k
: PW
k
W
k
is a local submersion in a neighborhood of X
k
,
then W
k
is completely integrable. That is, there exists a solution S M
of the dierential system W
k
passing through X
k
. Moreover, if

S is another
submanifold of W
k
passing through X
k
, then there exists an open set A M,
x =
k
0
(X
k
) A, such that S A =

S A.
Proof. [8]

Let

C
1,n
(C
k,n
M) be the manifold of all contact elements of order 1 and dimen-
sion n, of n-submanifolds o C
k,n
M, such that the natural projection
1,k
0
restricted to o over M, has maximal rank [3].
The manifold

C
1,n
(C
k,n
M) is embedded in C
1,n
(C
k,n
M), and the natural im-
mersion,
3
i
1,k
: C
k+1,n
M

C
1,n
(C
k,n
M), C
k+1
x
S C
1
C
k
x
S
C
k
S, (2.1)
is an embedding.
3. CO-CONTACT MANIFOLDS
Given an n dimensional subspace V T
x
M we will denote by V
0
the set of forms
T

x
M which annihilate V . We say that two n-dimensional submanifolds
S
1
, S
2
have co-contact of order k and codimension n in x S
1
S
2
if the
annihilator of the rth order tangent vector at x S
1
, denoted by (T
r
x
S
1
)
0
,
coincides with the annihilator of the rth order tangent vector at x S
2
, where
0 r k. The equivalence class of co-contact elements of an n-dimensional
submanifold S is called the co-contact element of order k and codimension n at x
and denoted by (C
k
x
S)
0
. Let us also denote by (C
k,n
M)
0
the set of all co-contact
elements of order k and codimension n over M, and put (C
0,n
M)
0
= M.
Let (X
k
)
0
= (C
k
x
S)
0
be a co-contact element in (C
k,n
M)
0
, and consider a local
coordinate system (V, = (x
i
, x
j
)), 1 i n, n + 1 j m, at x M,
such that dx
i
generates T

x
S. Let (V, U, ) be a local bration of V associated
to S and let 1
k
, (1
k
)
0
be dened as,
1
k
= C
k
V, (1
k
)
0
= (C
k
V )
0
, (3.1)
then the map,

k
V
: 1
k
(1
k
)
0
, C
k
x
g(U) (C
k
x
g(U))
0
, (3.2)
is a bijection. Moreover, if Y
k
= C
k
x
g(U) is dened in coordinates as Y
k
=
(x
i
, x
j
, p
j
I
r
), then (Y
k
)
0
is generated by (d
k
n) forms (where d
k
is the dimension
of C
k,n
M) dened as follows:

j
I
r
= dp
j
I
r

p
j
I
r
,i
dx
i
, 0 r k, where dp
j
I
0
= dx
j
, (3.3)
and I
r
, i denotes the ordered (r +1)-uple of integers 1, , n given by the set
i
1
, , i
r
, i.
The maps
k
V
, allow us to dene a dierential structure on (C
k,n
M)
0
. A coor-
dinate neighborhood at (X
k
)
0
= (C
k
x
S)
0
is given by ((1
k
)
0
, x
i
, x
j
, p
j
I
r
), where
the x
i
, x
j
, p
j
I
r
are dened in (3.3). With this dierential structure the natural
injection, (i
k
)
0
: S (C
k,n
M)
0
is given in coordinates as,
(i
k
)
0
(x
i
, f
j
(x
i
)) = (x
i
, f
j
, p
j
I
r
(S) =

r
x
i
1
x
i
r
f
j
(x)), where f(U) = S,
4
is an imbedding and (i
k
)
0
(S), denoted by (C
k
S)
0
, is a regular submanifold of
dimension n. Then using (3.3) we have the expression,
(i
k
)
0
: (x
i
, f
j
(x
i
)) (
j
I
r
(x
i
, f
j
(x
i
)), 0 r k),
which is an immersion, and the natural projection,
(
j
I
s
(x
i
, f
j
), 0 s k) (C
k,n
M)
0
(
k
r
)
0
(
j
I
s
(x
i
, f
j
), 0 s r) (C
r,n
M)
0
is a submersion.
3.1. PROPOSITION. Let (X
k
)
0
= (C
k
x
S)
0
be a co-contact element in
(C
k,n
M)
0
, and (V, U, ) a local bration of V associated to S at x, then the
following diagram,

k
V
C
k
V (C
k
V )
0

k
s
(
k
s
)
0
C
s
V (C
s
V )
0

s
V
commutes.
Proof. This can easily be checked using coordinates (3.3).

Let (

C
1,n
(C
k,n
M)
0
)
0
be the manifold of all co-contact elements of order 1
and codimension n, of n-submanifolds o
0
(C
k,n
M)
0
, such that the natural
projection (
1,k
0
)
0
restricted to o
0
over M, have maximal rank [3].
3.2. PROPOSITION. There exist a natural inmersion,
(i
1,k
)
0
: (C
k+1,n
M)
0
(

C
1,n
(C
k,n
M)
0
)
0
.
Proof. Let (X
k+1
)
0
= (C
k+1
x
S)
0
. Now, (C
k
S)
0
is a regular nsubmanifold
of (C
k
M)
0
and
k
0
[
(C
k
S)
0 has rank n then,
(C
1
(C
k
x
S)
0
(C
k
S)
0
))
0
(

C
1,n
(C
k,n
M)
0
)
0
.
We dene,
(i
1,k
)
0
: (C
k+1
y
S)
0
(C
1
(C
k
y
S)
0(C
k
S)
0
)
0
.
Let ((1
k+1
)
0
, x
i
, x
j
, p
j
I
r
) be a coordinate neighborhood at (X
k+1
)
0
dened in
(3.1) and (3.3). Let : U V be a local parametrization of S, and
j
= x
j
.
5
Denote by I
r
, i the ordered (r + 1)-uple of integers 1, , n gived by the set
i
1
, , i
r
, i.
The n-submanifold (C
k
S)
0
is dened in coordinates as (x
i
,
j
, p
j
I
r
), 1 r k,
and the 1-contact element C
1
(C
k
x
S)
0
(C
k
S)
0
is generated by the vector eld,
L
i
[
x=(x
i
,
j
)
=

x
i
+

p
j
I
r
,i

p
j
I
r
, with p
j
I
0
= x
j
, 0 r k,
then (C
1
(C
k
x
S)
0
(C
k
S)
0
))
0
is generated by

j
I
r
= dp
j
I
r

p
j
I
r
,i
dx
i
, 0 r k,
and we have,
(i
1,k
)
0
: (x
i
,
j
, p
j
I
r
, p
j
I
k+1
) (x
i
,
j
, p
j
I
r
, p
j
I
r
,i
), 0 r k, 1 i n.

3.3. Remarks.
1. Let (X
k+1
)
0
= (C
k+1
x
S)
0
(C
k+1,n
M)
0
, then we have the natural identi-
cation [10],
T
0
(C
k
x
S)
0(C
k
S)
0
(i
1,k
)
0
(C
k+1
x
S)
0
(

C
1,n
(C
k
x
S)
0
(C
k,n
M)
0
)
0
.
2. Let ((1
k+1
)
0
, x
i
, x
j
, p
j
I
r
) be a coordinate neighborhood at (X
k+1
)
0
, and
(1
k
)
0
= (
k+1
k
)
0
(1
k+1
)
0
then the 1-contact elements of n-submanifolds o
(1
k
)
0
, such that the natural projection
1,k
0
restricted to o over M, has maximal
rank, denoted by C
1,n
(1
k
)
0
, is a dierential manifold and its annihilator is given
in coordinates as: ((x
i
, x
j
, p
j
I
r
, p
j
I
r
,i
)), where p
j
I
r
,i
=
i
(p
j
I
r
), 1 i n. Notice
that generally p
j
{I
k1
,i
1
},i
,= p
j
{I
k1
,i},i
1
.
3. Let i
1,k
be the natural inmersion given in (2.1) and
1,k
V
be the map dened
as, C
1
X
k
o
k
(C
1
(X
k
)
0
(o
k
)
0
)
0
. Then the following diagram:
(i
1,k
)
0
(C
k+1,n
V )
0
(C
1,n
(C
k,n
V )
0
)
0

k+1
V

1,k
V
C
k+1,n
V C
1,n
C
k,n
V
i
1,k
(3.4)
is commutative. This can easily be checked using coordinates as in Proposition
3.2.
6
4. Let (V, U, ) be a local bration at x M and F
j
i
: V M 1 be smooth
functions. Consider : V (C
1,n
M)
0
the section of ((C
1,n
V )
0
, V, (
1
0
)
0
) de-
ned by : (x) = (x, F
j
i
(x)), then (x) is the (m n) subspace of T

M
generated by the forms w
j
= dx
j

i
F
j
i
(x
i
, x
j
)dx
i
.
4. HIGHER ORDER DIFFERENTIAL SYSTEMS
4.1. Denitions. By a dierential system of order k and dimension n in M
we mean an imbedded submanifold W
0
(C
k,n
M)
0
. A solution of a dierential
system W
0
at (X
k
)
0
W
0
, is an n-dimensional imbedded submanifold S M,
with x = (
k
0
)
0
((X
k
)
0
) S, such that
(i
k
)
0
(S) = (C
k
S)
0
W
0
, and (C
k
x
S)
0
= (X
k
)
0
.
4.2. Example. Let (M
m
, N
n
, ) be a bered manifold with local coordinates
at x M (x
i
, x
j
). Let (C
k,n
M)
0
be the k order co-contact manifold and
((1
k
)
0
, x
i
, x
j
, p
j
I
r
) a coordinate neighborhood at (X
k
)
0
associated to the local
bration (V, U, ) at x = (
k
0
)
0
((X
k
)
0
). Let F
j
I
r
: (1
k
)
0
1 be smooth
functions and w
j
I
r
dened as,
w
j
= dx
j

F
j
i
dx
i
, , w
j
I
r
= dp
j
I
r
(x
i
, x
j
)

F
j
I
r1
,i
dx
i
,
Let : V (C
k,n
V )
0
, x V (w
j
(x), , w
j
I
k
(x)).
The image (x) is dened as the (d
k
n) subspace generate by the covector
w
j
I
r
(x) (T
k
x
M)

, the dual space of the kth order tangent vectors T

k
x
M at
x M. Then the manifold W
0
dened by W
0
= (V ) is a submanifold of
(C
k,n
V )
0
and denes the dierentiable (d
k
n)-dimensional distribution of order
k generated by the w
j
I
r
(x).
4.3. Definition. The rst prolongation of an nsubmanifold W
0

(C
k,n
M)
0
is dened as:
P(W
0
) = (C
1,n
W
0
)
0
(C
k+1,n
M)
0
,
where (C
k+1,n
M)
0
is identied with its image by (i
1,k
)
0
in (

C
1,n
(C
k,n
M)
0
)
0

4.4. PROPOSITION. Let W

0
(C
k,n
M)
0
be an imbedded submanifold, let
(X
k
)
0
W
0
and (V, U, ) be local brations at x =
k
0
(X
k
) associated to (X
k
)
0
.
Suppose that ( (
k
0
)
0
)[
W
0 is a local submersion on U. Then,
(C
k+1
x
S)
0
PW
0
(T
(C
k
x
S))
0(C
k
S)
0
)
0
(T
(C
k
x
S)
0W
0
)
0
,
indeed,
PW
0
(C
k+1
V )
0
= (C
k+1
V )
0
(C
1,n
(W)
0
)
0
.
7
Proof. Let F
1
, , F
s
be local generators of W
0
dened in a neighborhood
1
k
= (C
k
V )
0
of (X
k
)
0
then,
(C
k+1
x
S)
0
PW
0
F
j
(C
k
x
S)
0
= 0, &
x
i
(F
j
(i
k
S)
0
)[
x
= 0, j = 1, ..., s.
((i
k
S)
0
[
x
)

(

x
i
)(F
j
) = 0 ((i
k
S)
0
[
x
)

(

x
i
) T
(C
k
x
S)
0(W
0
)
(T
(X
k
)
0C
k
S)
0
(T
(X
k
)
0W
0
)
0

4.5. PROPOSITION. Let W

k
C
k,n
M be an imbedded submanifold passing
through X
k
and (W
k
)
0
(C
k,n
M)
0
its annihilator. Let (V, U, ) be a local
bration at x =
k
0
(X
k
) associated to (X
k
)
0
and
1,k
V
be the map dened in
(3.4) as C
1
X
k
o
k
C
1,n
C
k,n
V (C
1
(X
k
)
0
(o
k
)
0
)
0
. Then Z PW
k
if and only
if
1,k
V
(Z) P(W
k
)
0
.
Proof. Let Z PW
k
then,
Z = C
1

k+1
k
(Z)
o
k
C
1,n
W
k
, & Z = C
k+1

k+1
0
(Z)
S C
k+1
V.
Now,
k+1
0
o
k
projects locally onto U and we have o
k
= (U) where : U W
k
is a section.
Using (3.4) we obtain the result.

4.6. THEOREM. Let W

0
(C
k,n
M)
0
be an imbedded submanifold such that
the following conditions are satised:
1) The map (
k
k1
)
0
: W
0
(C
k1,n
M)
0
, is a local immersion in a neigh-
borhood of (X
k
)
0
W
0
.
2) The map (
k+1
k
)
0
: P(W
0
) W
0
is a local submersion in a neighborhood
of (X
k
)
0
,
then there exists a solution S M of the dierential system W
0
passing through
(X
k
)
0
. Moreover, if

S is another solution of W
0
passing through (X
k
)
0
, then
there exists an open set A M, with x = (
k
0
)
0
(X
k
)
0
A, such that S A =

S A.
Proof. Let (X
k
)
0
= (C
k
x
S)
0
be a co-contact element, let (V, U, ) be a bered
manifold associated and X
k
= (
k
V
)
1
((X
k
)
0
), where
k
V
is given in (3.2). Let
((1
k
)
0
, p
j
I
s
), (1
k
, p
j
I
s
) be coordinate systems at (X
k
)
0
and X
k
respectively, as in
(3.3) and let (F
1
)
0
, , (F
s
)
0
be smooth functions dened in a neighborhood of
(X
k
0
)
0
, such that:
(1
k
)
0
W
0
= (Y
k
)
0
(1
k
)
0
: (F
1
)
0
((Y
k
)
0
) = = (F
s
)
0
((Y
k
)
0
) = 0
8
Let
C
k
V = 1
k
, and F
j
= (F
j
)
0

k
V
,
consider the dierential system W of order k in C
k
V generated by F
j
. We
shall verify that W satises the hypothesis of theorem 2.1.
First, we observe that W C
k,n
M is a regular submanifold because (
k
V
)
1
is
an isomorphism and W
0
is a regular submanifold.
Consider the commutative diagram, given in Proposition 3.2.

k+1
V
1
k+1
(1
k+1
)
0

k+1
k
(
k+1
k
)
0
1
k
(1
k
)
0

k
V

k
k1
(
k
k1
)
0
1
k1
(1
k1
)
0

k1
V
Now, by hypothesis (
k
k1
)
0
: W
0
(C
k1,n
M)
0
is a local immersion, then

k
k1
: W 1
k
C
k1,n
M,
is also a local immersion, and condition 1) of theorem 2.1. is veried.
To verify that
k+1
k
: PW W is a local submersion we consider the commu-
tative diagram given in Remark 3 of 3.3,
(i
1,k
)
0
(C
k+1,n
V )
0
(C
1,n
(C
k,n
V )
0
)
0

k+1
V

1,k
V
C
k+1,n
V C
1,n
C
k,n
V
i
1,k
where,
(i
1,k
) : C
k+1
x
S C
k+1
V C
1
C
k
x
S
(C
k
S) C
1
(C
k
V )
is an immersion [8] and

1,k
V
: C
1
X
ko
k
(C
1,n
(X
k
)
0
(o
k
)
0
))
0
Now using Proposition 4.5 we have,
Z PW
1,k
V
(Z) (C
1,n
W
0
)
0
(C
k+1,n
V )
0
= P(W
0
)
9
Hence
1,k
V
(PW) = P(W
0
). Now, by hypothesis:
(
k+1
k
)
0
: P(W
0
) W
0
is a local submersion and

k
V

k+1
k
= (
k+1
k
)
0

k+1
V

Consequently:

k+1
k
: PW W,
is a local submersion, and condition 2) of theorem 2.1. is satised. Hence, there
exists a solution S of W at (X
k
)
0
and (C
k
S)
0
=
k
V
(S) which is contained in
(W
0
), in consequence S is a solution of W
0
at (X
k
)
0
.
If

S is another solution of W
0
at (X
k
)
0
, then (C
k
x
S)
0
= (C
k
x

S)
0
.
In particular T

x
S = T

x

S and therefore there exists a bered manifold (V, U, ),
associated to (X
k
)
0
, and a coordinate system (x
i
, x
j
) such that S,

S are sections
of this bred manifold.
Since S (resp.

S) is solution of W
0
at (X
k
)
0
we have: (C
k
S)
0
W
0
(resp
(C
k

S)
0
W
0
), and (C
k
x
S)
0
= (C
k
x

S)
0
. Then by uniqueness of germ solutions
of completely integrable systems, there exits an open set B V such that S[
B
=

S[
B
.

4.7. Remark.
For k = 1 the submanifold W
0
denes a dierential ideal E

M, i.e d
.
By condition 1) (
1
0
)
0
: W
0
M is a local inmersion in a neighborhood 1
0
of
(X)
0
. Then it is possible to dene a section ()
0
= (
1
0
[
W
0
(V)
0)
1
.
We can nd coordinate neighborhoods (V, x
i
, x
j
) and (1
0
, x
i
, x
j
, p
j
i
) of x and
X
0
respectively, such that the section ()
0
is given as,
()
0
(x
i
, x
j
) = (x
i
, x
j
, F
j
i
(x
i
, x
j
)), with F
i
j
: V 1
Let be the ideal dened by the forms
j
I
r
dened as follows:

j
= dx
j

p
j
i
dx
i
,
j
I
r
= dp
j
I
r

p
j
I
r1
,i
dx
i
, 1 r k. (4.1)
Let W C
1,n
M be the smooth submanifold with annihilator W
0
, generated by
the section,
()
0
(x
i
, x
j
) = (x
i
, x
j
, F
j
i
(x
i
, x
j
)), (x
i
, x
j
) (L
s
(x
i
, x
j
))
0
,
10
where,
L
i
=

x
i
+

F
j
i

x
j

Now, d
j
(L
i
, L
s
) = L
i

j
(L
s
) L
s

j
(L
i
)
j
([L
i
, L
s
] = 0 if and only if,

j
([L
i
, L
s
] = 0, since
j
.
Also,
[L
k
, L
i
] = (
F
j
i
x
k
+
m

l=n+1
F
j
i
x
l
F
l
k
) (
F
j
k
x
i
+
m

l=n+1
F
j
k
x
l
F
l
i
)
By condition 2) we have:
(
2
1
)
0
: (C
1,n
W)
0
(C
2,n
M)
0
W
is a local submersion. Then, given Z W, there exits Z
2
(C
1,n
W)
0

(C
2,n
M)
0
such that (
2
1
)
0
(Z
2
) = Z.
Since Z
2
(C
2
M)
0
we have:
p
j
ik
(Z
2
) = p
j
ki
(Z
2
).
Moreover, Z
2
(C
1,n
W)
0
hence:
Z = (x
i
, x
j
, F
j
i
), Z
2
= (x
i
, x
j
, F
j
i
,
k
F
j
i
),
p
j
ki
(Z
2
) =
k
F
j
i
=
F
j
i
x
k
+
m

s=n+1
F
j
i
x
s
F
s
k
.
Since p
j
ik
(Z
2
) = p
j
ki
(Z
2
), then [L
k
, L
i
] = 0, and
j
([L
i
, L
s
] = 0.
Therefore d
j
(L
i
, L
s
) = 0, and d is a dierential ideal.

5. SINGULAR ORBITS IN HOMOGENEOUS SPACES

Let G be a compact, connected Lie group and H G a closed subgroup. Consider
the homogeneous space M = G/H, the canonical projection : G G/H, the
canonical action : GM M and the unique analytic manifold structure
on M under which both and are analytic.
The canonical action induces an action (
k
)
0
of G on (C
k,n
M)
0
,
(
k
)
0
: G(C
k,n
M)
0
(C
k,n
M)
0
, (g, (C
k
x
S)
0
) = (C
k
gx
g S)
0
,
where g x denotes (g, x) and g S the image of S by
11

g
: x M (g, x) M.
A co-contact element (X
k
)
0
is singular if the dimension of the isotropy group
G
k
(X
k
)
0
of (X
k
)
0
coincides with the dimension of the isotropy group G
k1
(X
k1
)
0
of
(
k
k1
)
0
((X
k
)
0
).
5.1. PROPOSITION. Let M = G/H be a homogeneous space and (X
k
)
0

(C
k,n
x
M)
0
a singular element.
Suppose that the induced action of G on (C
k1,n
M)
0
is transitive, then the orbit
O
k
= G.(X
k
)
0
denes a differential integrable system of order k.
Proof. Let O
k1
= G.(X
k1
)
0
.
The map (
k
k1
)
0
is a local submersion, moreover, dim O
k
= dim O
k1
, indeed:
G
k
(X
k
)
0
= G
k1
(X
k1
)
0
, then
(
k
k1
)
0
: G/G
k
(X
k
)
0 O
k
G/G
k1
(X
k1
)
0
O
k1
,
is a submersion, moreover O
k1
C
k1,n
M and
(
k
k1
)
0
: O
k
(C
k1,n
M)
0
,
is a inmersion because G acts transitively on (C
k1,n
M)
0
.
Now the prolongation of the orbit O
k
projects on O
k
, then condicions 1 and 2
of Proposition 4.6 are satised and so there exists a germ of solutions S M
of a k order dierential system O
k
passing through (X
k
)
0
.

5.2. PROPOSITION. Let M = G/H be a homogeneous manifold, K G a

closed subgroup with dim K(0) = n. Let (X
2
)
0
= (C
2
0
K(0))
0
.
If G acts transitively on (C
1,n
M)
0
and S = K(0) is the orbit of 0 = (H) under
the restriction of to K, then (W
2
)
0
= G.(C
2
0
S)
0
is a dierential system of
orden k = 2 and dimension n.
Furthermore, given (Y
2
)
0
(W
2
)
0
, there exists a germ of solutions S M of
the differential system (W
2
)
0
at (Y
2
)
0
.
Proof. The canonical action induces an action (
r
)
0
of G on (C
r,n
M)
0
.
(
r
)
0
: G(C
r,n
M)
0
(C
r,n
M)
0
, (g, (C
r
x
S)
0
) = (C
r
gx
g S)
0
,
where gx denotes (g, x) and gS the image of S by
g
: x M (g, x) M.
Since the order of (X
2
)
0
is one [7], and the induced action of G on (C
1,n
M)
0
is
transitive, we have that (X
2
)
0
is a singular element and by Proposition 5.1 the
orbit (W
2
)
0
= G. (X
2
)
0
is a dierential system of order 2 and dimension n.
12
Moreover (W
2
)
0
satises the conditions of theorem 4.6, so given (Y
2
)
0
(W
2
)
0
we have that K(0) V is a germ of solutions of (W
2
)
0
at (Y
2
)
0
, where V M
is an open subset such that (V, U, ) is a local bration with section K(0) V .

5.3. Examples.
1. Let G be the group of the rigid motions of the 3dimensional euclidean
space R
3
and H = SO(3) the isotropy subgroup at 0 R
3
.We represent G and
the action GR
3
by:

(A, x) : A SO(3), x R
3

, (A, x) y = Ay +x
Let

(
i
), (
i
j
)

be the Maurer-Cartan forms of G. The forms

i
vanish on H
and can be projected onto T

R
3
. This allows us to dene a basis
i
at 0 as

i
(v) =
i
(V ) where V is a left invariant eld such that the projection of V
e
is
v. The forms
i
can be extended to R
3
and we will denote them again as
i
.
Consider the co-contact element of order 1 and codimension 2 at 0 R
3
dened
by the subspace

X
1

0
T

R
3
generate by

1
(0),
2
(0)

, and the local bra-

tion (V, U, ) at 0 R
3
dened by

X
1

0
.The forms
1
3
,
2
3
annihilating the
isotropy subgroup of

X
1

0
can be projected onto T
(X
1
)
0(C
1,2
R
3
)
0
and we can
be extended them to (C
1,2
R
3
)
0
([2], p. 50).
Let (W
2
)
0
(C
2,2
R
3
)
0
be the submanifold dened by the section,
(x
1
, x
2
, x
3
(x
1
, x
2
)) = (x
1
, x
2
, x
3
(x
1
, x
2
), 0, 0, k
1
, 0, 0, k
2
), i.e
3
= 0 ,
1
3
=
k
1

1
,
2
3
= k
2

2
.
Then (W
2
)
0
is a dierential system of order 2 and dimension 2.
2. Let G be the rigid motions group of R
3
as above and H = SO(3).
Consider (W
2
)
0
(C
2,2
M)
0
the submanifold dened by the section,
(x
1
, x
2
, x
3
(x
1
, x
2
), 0, 0, k, 0, 0, k) , i.e
3
= 0,
1
3
= k
1
,
2
3
= k
2
, k R,
k > 0.
Let K G be the analytic subgroup of G whose Lie algebra is the annihilator
of (W
2
)
0
, and let K(0) be the orbit of 0 = (H), under the restriction of
to K.
Denote by (G
k
)
0
,the isotropy subgroup de G of the induced action (
k
)
0
on the
space of co-contact element at (C
k
0
K(0))
0
and by (g
k
)
0
its Lie algebra.
Then (g
1
)
0
= (g
2
)
0
, and therefore the order of the orbit of K(0) is 1 , moreover
since G acts transitively on (C
1,n
M)
0
, then by Proposition 5.2 we have that
(W
2
)
0
= G.(C
2
0
K(0))
0
denes an integrable dierential system of orden 2 and
dimension 2.
3. Consider M = G/H a homogeneous manifold, K G a closed subgroup
with dimK(0) = n, let (X
2
)
0
= (C
2
0
K(0))
0
, and assume that G acts transitively
on (C
1,n
M)
0
, then the isotropy subgroup (G
1
)
0
at (C
1
0
K(0))
0
is connected, and
S = K(0) is the orbit of 0 = (H) under the restriction of to K.
13
Let K(z) be a totally geodesic submanifold, by corollary of Proposition 2 given
in [7], we have that the order of the orbit K(0) is one.
Since (G
1
)
0
is connected, the Lie algebra (g
1
)
0
of the isotropy group (G
1
)
0
is equal to the Lie algebra (g
2
)
0
[9], then (G
1
)
0
= (G
2
)
0
and by Proposi-
tion 5.2 the orbit K(0) is the solution at (C
2
0
K(0))
0
of a dierential sistem
W = G(C
2
0
K(0))
0
of order 2 and dimension n = dimK(0) over M.
References
[1] C. Ehresmann, Les prolongements dun space bre diferentiable. C.R.
Acad. Sci. Paris, 240 (1955), 1755-1757.
[2] G. Jensen, Higher order contact of submanifolds of homogeneous spaces.
Lectures notes in Math. vol 610 (1977), Springer, Berlin .
[3] G. Kolar, On the invariant method in dierential geometry of submani-
folds. Czechoslovak Math. J., 27 (1977), 301-305.
[4] M. Kuranishi, Lectures on involutive systems of Partial Dierential
Equations. Public, Sci. Mat. Sao Paulo, Brazil, (1967).
[5] A. Morimoto, Prolongation of Geometric Structures. Math. Inst. Na-
goya University, Nagoya, (1969).
[6] P. Olver, Symmetry Groups and Group invariant solutions of partial
differential equations. Jour. Dierential Geometry, 14 (1979),497-542.
[7] J. Szenthe, Transformations groups on homogeneous spaces. Rend. Sem.
Mat., Univers. Politecn, Torino, (1982).
[8] Y. Villarroel, On completely integrable systems. Revue Roumaine de
Mathematiques Pures et Appliquees, XLI, 5-6 (1996), 417-427.
[9] Y. Villarroel, Order of orbits in homogeneous spaces. Acta Matematica
Hungarica , 69(4) (1995), 263-272 .
[10] Y. Villarroel, On inmersions in contact manifolds. Dierential Geome-
try and Applications, Proceedings of the 6th International Conference
Bsno, (1995).
14