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These lecture notes are a continuation of the 254A lecture notes from the previous quarter.

We consider the Euler equations for incompressible fluid flow on a Euclidean space ; we will label as the “Eulerian space” (or “Euclidean space”, or “physical space”) to distinguish it from the “Lagrangian space” (or “labels space”) that we will introduce shortly (but the reader is free to also ignore the or subscripts if he or she wishes). Elements of Eulerian space will be referred to by symbols such as , we use to denote Lebesgue measure on and we will use for the coordinates of , and use indices such as to index these coordinates (with the usual summation conventions), for instance denotes partial differentiation along the coordinate. (We use superscripts for coordinates instead of subscripts to be compatible with some differential geometry notation that we will use shortly; in particular, when using the summation notation, we will now be matching subscripts with superscripts for the pair of indices being summed.)

In Eulerian coordinates, the Euler equations read

where is the velocity field and is the pressure field. These are functions of time and on the spatial location variable . We will refer to the coordinates as Eulerian coordinates. However, if one reviews the physical derivation of the Euler equations from 254A Notes 0, before one takes the continuum limit, the fundamental unknowns were not the velocity field or the pressure field , but rather the trajectories , which can be thought of as a single function from the coordinates (where is a time and is an element of the label set ) to . The relationship between the trajectories and the velocity field was given by the informal relationship

We will refer to the coordinates as (discrete) *Lagrangian coordinates* for describing the fluid.

In view of this, it is natural to ask whether there is an alternate way to formulate the continuum limit of incompressible inviscid fluids, by using a continuous version of the Lagrangian coordinates, rather than Eulerian coordinates. This is indeed the case. Suppose for instance one has a smooth solution to the Euler equations on a spacetime slab in Eulerian coordinates; assume furthermore that the velocity field is uniformly bounded. We introduce another copy of , which we call *Lagrangian space* or *labels space*; we use symbols such as to refer to elements of this space, to denote Lebesgue measure on , and to refer to the coordinates of . We use indices such as to index these coordinates, thus for instance denotes partial differentiation along the coordinate. We will use summation conventions for both the Eulerian coordinates and the Lagrangian coordinates , with an index being summed if it appears as both a subscript and a superscript in the same term. While and are of course isomorphic, we will try to refrain from identifying them, except perhaps at the initial time in order to fix the initialisation of Lagrangian coordinates.

Given a smooth and bounded velocity field , define a *trajectory map* for this velocity to be any smooth map that obeys the ODE

in view of (2), this describes the trajectory (in ) of a particle labeled by an element of . From the Picard existence theorem and the hypothesis that is smooth and bounded, such a map exists and is unique as long as one specifies the initial location assigned to each label . Traditionally, one chooses the initial condition

for , so that we label each particle by its initial location at time ; we are also free to specify other initial conditions for the trajectory map if we please. Indeed, we have the freedom to “permute” the labels by an arbitrary diffeomorphism: if is a trajectory map, and is any diffeomorphism (a smooth map whose inverse exists and is also smooth), then the map is also a trajectory map, albeit one with different initial conditions .

Despite the popularity of the initial condition (4), we will try to keep conceptually separate the Eulerian space from the Lagrangian space , as they play different physical roles in the interpretation of the fluid; for instance, while the Euclidean metric is an important feature of Eulerian space , it is not a geometrically natural structure to use in Lagrangian space . We have the following more general version of Exercise 8 from 254A Notes 2:

Exercise 1Let be smooth and bounded.

- If is a smooth map, show that there exists a unique smooth trajectory map with initial condition for all .
- Show that if is a diffeomorphism and , then the map is also a diffeomorphism.

Remark 2The first of the Euler equations (1) can now be written in the formwhich can be viewed as a continuous limit of Newton’s first law .

Call a diffeomorphism *(oriented) volume preserving* if one has the equation

for all , where the total differential is the matrix with entries for and , where are the components of . (If one wishes, one can also view as a linear transformation from the tangent space of Lagrangian space at to the tangent space of Eulerian space at .) Equivalently, is orientation preserving and one has a Jacobian-free change of variables formula

for all , which is in turn equivalent to having the same Lebesgue measure as for any measurable set .

The divergence-free condition then can be nicely expressed in terms of volume-preserving properties of the trajectory maps , in a manner which confirms the interpretation of this condition as an incompressibility condition on the fluid:

Lemma 3Let be smooth and bounded, let be a volume-preserving diffeomorphism, and let be the trajectory map. Then the following are equivalent:

- on .
- is volume-preserving for all .

*Proof:* Since is orientation-preserving, we see from continuity that is also orientation-preserving. Suppose that is also volume-preserving, then for any we have the conservation law

for all . Differentiating in time using the chain rule and (3) we conclude that

for all , and hence by change of variables

which by integration by parts gives

for all and , so is divergence-free.

To prove the converse implication, it is convenient to introduce the *labels map* , defined by setting to be the inverse of the diffeomorphism , thus

for all . By the implicit function theorem, is smooth, and by differentiating the above equation in time using (3) we see that

where is the usual material derivative

acting on functions on . If is divergence-free, we have from integration by parts that

for any test function . In particular, for any , we can calculate

and hence

for any . Since is volume-preserving, so is , thus

Thus is volume-preserving, and hence is also.

Exercise 4Let be a continuously differentiable map from the time interval to the general linear group of invertible matrices. Establish Jacobi’s formulaand use this and (6) to give an alternate proof of Lemma 3 that does not involve any integration in space.

Remark 5One can view the use of Lagrangian coordinates as an extension of the method of characteristics. Indeed, from the chain rule we see that for any smooth function of Eulerian spacetime, one hasand hence any transport equation that in Eulerian coordinates takes the form

for smooth functions of Eulerian spacetime is equivalent to the ODE

where are the smooth functions of Lagrangian spacetime defined by

In this set of notes we recall some basic differential geometry notation, particularly with regards to pullbacks and Lie derivatives of differential forms and other tensor fields on manifolds such as and , and explore how the Euler equations look in this notation. Our discussion will be entirely formal in nature; we will assume that all functions have enough smoothness and decay at infinity to justify the relevant calculations. (It is possible to work rigorously in Lagrangian coordinates – see for instance the work of Ebin and Marsden – but we will not do so here.) As a general rule, Lagrangian coordinates tend to be somewhat less convenient to use than Eulerian coordinates for establishing the basic analytic properties of the Euler equations, such as local existence, uniqueness, and continuous dependence on the data; however, they are quite good at clarifying the more algebraic properties of these equations, such as conservation laws and the variational nature of the equations. It may well be that in the future we will be able to use the Lagrangian formalism more effectively on the analytic side of the subject also.

Remark 6One can also write the Navier-Stokes equations in Lagrangian coordinates, but the equations are not expressed in a favourable form in these coordinates, as the Laplacian appearing in the viscosity term becomes replaced with a time-varying Laplace-Beltrami operator. As such, we will not discuss the Lagrangian coordinate formulation of Navier-Stokes here.

Throughout this post, we will work only at the *formal* level of analysis, ignoring issues of convergence of integrals, justifying differentiation under the integral sign, and so forth. (Rigorous justification of the conservation laws and other identities arising from the formal manipulations below can usually be established in an *a posteriori* fashion once the identities are in hand, without the need to rigorously justify the manipulations used to come up with these identities).

It is a remarkable fact in the theory of differential equations that many of the ordinary and partial differential equations that are of interest (particularly in geometric PDE, or PDE arising from mathematical physics) admit a variational formulation; thus, a collection of one or more fields on a domain taking values in a space will solve the differential equation of interest if and only if is a critical point to the functional

involving the fields and their first derivatives , where the Lagrangian is a function on the vector bundle over consisting of triples with , , and a linear transformation; we also usually keep the boundary data of fixed in case has a non-trivial boundary, although we will ignore these issues here. (We also ignore the possibility of having additional constraints imposed on and , which require the machinery of Lagrange multipliers to deal with, but which will only serve as a distraction for the current discussion.) It is common to use local coordinates to parameterise as and as , in which case can be viewed locally as a function on .

Example 1 (Geodesic flow)Take and to be a Riemannian manifold, which we will write locally in coordinates as with metric for . A geodesic is then a critical point (keeping fixed) of the energy functionalor in coordinates (ignoring coordinate patch issues, and using the usual summation conventions)

As discussed in this previous post, both the Euler equations for rigid body motion, and the Euler equations for incompressible inviscid flow, can be interpreted as geodesic flow (though in the latter case, one has to work

reallyformally, as the manifold is now infinite dimensional).More generally, if is itself a Riemannian manifold, which we write locally in coordinates as with metric for , then a harmonic map is a critical point of the energy functional

or in coordinates (again ignoring coordinate patch issues)

If we replace the Riemannian manifold by a Lorentzian manifold, such as Minkowski space , then the notion of a harmonic map is replaced by that of a wave map, which generalises the scalar wave equation (which corresponds to the case ).

Example 2 (-particle interactions)Take and ; then a function can be interpreted as a collection of trajectories in space, which we give a physical interpretation as the trajectories of particles. If we assign each particle a positive mass , and also introduce a potential energy function , then it turns out that Newton’s laws of motion in this context (with the force on the particle being given by the conservative force ) are equivalent to the trajectories being a critical point of the action functional

Formally, if is a critical point of a functional , this means that

whenever is a (smooth) deformation with (and with respecting whatever boundary conditions are appropriate). Interchanging the derivative and integral, we (formally, at least) arrive at

Write for the infinitesimal deformation of . By the chain rule, can be expressed in terms of . In coordinates, we have

where we parameterise by , and we use subscripts on to denote partial derivatives in the various coefficients. (One can of course work in a coordinate-free manner here if one really wants to, but the notation becomes a little cumbersome due to the need to carefully split up the tangent space of , and we will not do so here.) Thus we can view (2) as an integral identity that asserts the vanishing of a certain integral, whose integrand involves , where vanishes at the boundary but is otherwise unconstrained.

A general rule of thumb in PDE and calculus of variations is that whenever one has an integral identity of the form for some class of functions that vanishes on the boundary, then there must be an associated differential identity that justifies this integral identity through Stokes’ theorem. This rule of thumb helps explain why integration by parts is used so frequently in PDE to justify integral identities. The rule of thumb can fail when one is dealing with “global” or “cohomologically non-trivial” integral identities of a topological nature, such as the Gauss-Bonnet or Kazhdan-Warner identities, but is quite reliable for “local” or “cohomologically trivial” identities, such as those arising from calculus of variations.

In any case, if we apply this rule to (2), we expect that the integrand should be expressible as a spatial divergence. This is indeed the case:

Proposition 1(Formal) Let be a critical point of the functional defined in (1). Then for any deformation with , we havewhere is the vector field that is expressible in coordinates as

*Proof:* Comparing (4) with (3), we see that the claim is equivalent to the Euler-Lagrange equation

The same computation, together with an integration by parts, shows that (2) may be rewritten as

Since is unconstrained on the interior of , the claim (6) follows (at a formal level, at least).

Many variational problems also enjoy one-parameter continuous *symmetries*: given any field (not necessarily a critical point), one can place that field in a one-parameter family with , such that

for all ; in particular,

which can be written as (2) as before. Applying the previous rule of thumb, we thus expect another divergence identity

whenever arises from a continuous one-parameter symmetry. This expectation is indeed the case in many examples. For instance, if the spatial domain is the Euclidean space , and the Lagrangian (when expressed in coordinates) has no direct dependence on the spatial variable , thus

then we obtain translation symmetries

for , where is the standard basis for . For a fixed , the left-hand side of (7) then becomes

where . Another common type of symmetry is a *pointwise* symmetry, in which

for all , in which case (7) clearly holds with .

If we subtract (4) from (7), we obtain the celebrated theorem of Noether linking symmetries with conservation laws:

Theorem 2 (Noether’s theorem)Suppose that is a critical point of the functional (1), and let be a one-parameter continuous symmetry with . Let be the vector field in (5), and let be the vector field in (7). Then we have the pointwise conservation law

In particular, for one-dimensional variational problems, in which , we have the conservation law for all (assuming of course that is connected and contains ).

Noether’s theorem gives a systematic way to locate conservation laws for solutions to variational problems. For instance, if and the Lagrangian has no explicit time dependence, thus

then by using the time translation symmetry , we have

as discussed previously, whereas we have , and hence by (5)

and so Noether’s theorem gives conservation of the *Hamiltonian*

For instance, for geodesic flow, the Hamiltonian works out to be

so we see that the speed of the geodesic is conserved over time.

For pointwise symmetries (9), vanishes, and so Noether’s theorem simplifies to ; in the one-dimensional case , we thus see from (5) that the quantity

is conserved in time. For instance, for the -particle system in Example 2, if we have the translation invariance

for all , then we have the pointwise translation symmetry

for all , and some , in which case , and the conserved quantity (11) becomes

as was arbitrary, this establishes conservation of the *total momentum*

Similarly, if we have the rotation invariance

for any and , then we have the pointwise rotation symmetry

for any skew-symmetric real matrix , in which case , and the conserved quantity (11) becomes

since is an arbitrary skew-symmetric matrix, this establishes conservation of the *total angular momentum*

Below the fold, I will describe how Noether’s theorem can be used to locate all of the conserved quantities for the Euler equations of inviscid fluid flow, discussed in this previous post, by interpreting that flow as geodesic flow in an infinite dimensional manifold.

One of the most important topological concepts in analysis is that of *compactness* (as discussed for instance in my Companion article on this topic). There are various flavours of this concept, but let us focus on sequential compactness: a subset E of a topological space X is sequentially compact if every sequence in E has a convergent subsequence whose limit is also in E. This property allows one to do many things with the set E. For instance, it allows one to maximise a functional on E:

Proposition 1.(Existence of extremisers) Let E be a non-empty sequentially compact subset of a topological space X, and let be a continuous function. Then the supremum is attained at at least one point , thus for all . (In particular, this supremum is finite.) Similarly for the infimum.

**Proof.** Let be the supremum . By the definition of supremum (and the axiom of (countable) choice), one can find a sequence in E such that . By compactness, we can refine this sequence to a subsequence (which, by abuse of notation, we shall continue to call ) such that converges to a limit x in E. Since we still have , and f is continuous at x, we conclude that f(x)=L, and the claim for the supremum follows. The claim for the infimum is similar.

**Remark 1.** An inspection of the argument shows that one can relax the continuity hypothesis on F somewhat: to attain the supremum, it suffices that F be upper semicontinuous, and to attain the infimum, it suffices that F be lower semicontinuous.

We thus see that sequential compactness is useful, among other things, for ensuring the existence of extremisers. In finite-dimensional spaces (such as vector spaces), compact sets are plentiful; indeed, the Heine-Borel theorem asserts that every closed and bounded set is compact. However, once one moves to infinite-dimensional spaces, such as function spaces, then the Heine-Borel theorem fails quite dramatically; most of the closed and bounded sets one encounters in a topological vector space are non-compact, if one insists on using a reasonably “strong” topology. This causes a difficulty in (among other things) calculus of variations, which is often concerned to finding extremisers to a functional on a subset E of an infinite-dimensional function space X.

In recent decades, mathematicians have found a number of ways to get around this difficulty. One of them is to weaken the topology to recover compactness, taking advantage of such results as the Banach-Alaoglu theorem (or its sequential counterpart). Of course, there is a tradeoff: weakening the topology makes compactness easier to attain, but makes the continuity of F harder to establish. Nevertheless, if F enjoys enough “smoothing” or “cancellation” properties, one can hope to obtain continuity in the weak topology, allowing one to do things such as locate extremisers. (The phenomenon that cancellation can lead to continuity in the weak topology is sometimes referred to as *compensated compactness*.)

Another option is to abandon trying to make *all* sequences have convergent subsequences, and settle just for extremising sequences to have convergent subsequences, as this would still be enough to retain Theorem 1. Pursuing this line of thought leads to the Palais-Smale condition, which is a substitute for compactness in some calculus of variations situations.

But in many situations, one cannot weaken the topology to the point where the domain E becomes compact, without destroying the continuity (or semi-continuity) of F, though one can often at least find an intermediate topology (or metric) in which F is continuous, but for which E is still not quite compact. Thus one can find sequences in E which do not have any subsequences that converge to a constant element , even in this intermediate metric. (As we shall see shortly, one major cause of this failure of compactness is the existence of a non-trivial action of a non-compact group G on E; such a group action can cause compensated compactness or the Palais-Smale condition to fail also.) Because of this, it is *a priori* conceivable that a continuous function F need not attain its supremum or infimum.

Nevertheless, even though a sequence does not have any subsequences that converge to a constant x, it may have a subsequence (which we also call ) which converges to some non-constant sequence (in the sense that the distance between the subsequence and the new sequence in a this intermediate metric), where the approximating sequence is of a very structured form (e.g. “concentrating” to a point, or “travelling” off to infinity, or a superposition of several concentrating or travelling *profiles* of this form). This weaker form of compactness, in which superpositions of a certain type of profile completely describe all the failures (or *defects*) of compactness, is known as *concentration compactness*, and the decomposition of the subsequence is known as the *profile decomposition*. In many applications, it is a sufficiently good substitute for compactness that one can still do things like locate extremisers for functionals F – though one often has to make some additional assumptions of F to compensate for the more complicated nature of the compactness. This phenomenon was systematically studied by P.L. Lions in the 80s, and found great application in calculus of variations and nonlinear elliptic PDE. More recently, concentration compactness has been a crucial and powerful tool in the non-perturbative analysis of nonlinear *dispersive* PDE, in particular being used to locate “minimal energy blowup solutions” or “minimal mass blowup solutions” for such a PDE (analogously to how one can use calculus of variations to find minimal energy solutions to a nonlinear elliptic equation); see for instance this recent survey by Killip and Visan.

In typical applications, the concentration compactness phenomenon is exploited in moderately sophisticated function spaces (such as Sobolev spaces or Strichartz spaces), with the failure of traditional compactness being connected to a moderately complicated group G of symmetries (e.g. the group generated by translations and dilations). Because of this, concentration compactness can appear to be a rather complicated and technical concept when it is first encountered. In this note, I would like to illustrate concentration compactness in a simple toy setting, namely in the space of absolutely summable sequences, with the uniform () metric playing the role of the intermediate metric, and the translation group playing the role of the symmetry group G. This toy setting is significantly simpler than any model that one would actually use in practice [for instance, in most applications X is a Hilbert space], but hopefully it serves to illuminate this useful concept in a less technical fashion.

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