2.1 Riemannian invariants
In this subsection we recall some basic concepts in Riemannian geometry, using mainly [
34].
Let
be an
m-dimensional Riemannian manifold. For an
n-dimensional Riemannian submanifold
M of
, we denote by
g the metric tensor induced on
M. If
is the Levi-Civita connection on
and ∇ is the covariant differentiation induced on
M, then the Gauss and Weingarten formulas are given by
and
where
h is the second fundamental form of
M,
is the connection on the normal bundle and
is the shape operator of
M with respect to
N. The shape operator
is related to
h by
for all and .
If we denote by
and
R the curvature tensor fields of
and ∇, then we have the Gauss equation:
(5)
for all .
We denote by
the sectional curvature of
M associated with a plane section
,
. If
is an orthonormal basis of the tangent space
and
is an orthonormal basis of the normal space
, then the scalar curvature
τ at
p is given by
and the normalized scalar curvature
ρ of
M is defined as
We denote by
H the mean curvature vector, that is,
and we also set
Then the squared mean curvature of the submanifold
M in
is defined by
and the squared norm of
h over dimension
n is denoted by
and is called the Casorati curvature of the submanifold
M. Therefore we have
The submanifold M is called totally geodesic if the second fundamental form vanishes identically and totally umbilical if there is a real number λ such that for any tangent vectors X, Y on M. If , then the submanifold M is said to be minimal.
The submanifold
M is called invariantly quasi-umbilical if there exist
mutually orthogonal unit normal vectors
such that the shape operators with respect to all directions
have an eigenvalue of multiplicity
and that for each
the distinguished eigendirection is the same [
35].
Suppose now that
L is an
r-dimensional subspace of
,
and let
be an orthonormal basis of
L. Then the scalar curvature
of the
r-plane section
L is given by
and the Casorati curvature
of the subspace
L is defined as
The normalized
δ-Casorati curvature
and
are given by
and
2.2 Quaternionic Kähler manifolds
We give in this subsection a quick review of basic definitions and properties of manifolds endowed with quaternionic Kähler structures, using mainly [
36].
Let
be a differentiable manifold and assume that there is a rank 3-subbundle
σ of
such that a local basis
exists on sections of
σ satisfying for all
:
where Id denotes the identity tensor field of type on M and the indices are taken from modulo 3. Then the bundle σ is called an almost quaternionic structure on M and is called a canonical local basis of σ. Moreover, is said to be an almost quaternionic manifold. It is easy to see that any almost quaternionic manifold is of dimension 4m, .
A Riemannian metric
on
is said to be adapted to the almost quaternionic structure
σ if it satisfies
for all vector fields X, Y on and any canonical local basis of σ. Moreover, is said to be an almost quaternionic Hermitian manifold.
If the bundle
σ is parallel with respect to the Levi-Civita connection
of
, then
is said to be a quaternionic Kähler manifold. Equivalently, locally defined 1-forms
,
,
exist such that we have for all
:
for any vector field X on , where the indices are taken from modulo 3.
We remark that any quaternionic Kähler manifold is an Einstein manifold, provided that .
Let
be a quaternionic Kähler manifold and let
X be a non-null vector field on
. Then the 4-plane spanned by
, denoted by
, is called a quaternionic 4-plane. Any 2-plane in
is called a quaternionic plane. The sectional curvature of a quaternionic plane is called a quaternionic sectional curvature. A quaternionic Kähler manifold is a quaternionic space form if its quaternionic sectional curvatures are equal to a constant, say
c. It is well known that a quaternionic Kähler manifold
is a quaternionic space form, denoted
, if and only if its curvature tensor is given by
(6)
for all vector fields X, Y, Z on and any local basis of σ.
A submanifold
M in a quaternionic Kähler manifold
is called a quaternionic submanifold [
37] (resp. a totally real submanifold [
38]) if each tangent space of
M is carried into itself (resp. into the normal space) by each section in
σ. In [
39], the author introduced the concept of slant submanifolds as a natural generalization of both quaternionic and totally real submanifolds. A submanifold
M of a quaternionic Kähler manifold
is said to be a slant submanifold if for each non-zero vector
X tangent to
M at
p, the angle
between
and
,
is constant,
i.e. it does not depend on the choice of
and
. We can easily see that quaternionic submanifolds are slant submanifolds with
and totally real submanifolds are slant submanifolds with
. A slant submanifold of a quaternionic Käler manifold is said to be proper (or
θ-slant proper) if it is neither quaternionic nor totally real. We note that another natural generalization of both quaternionic and totally real submanifolds in a quaternionic Kähler manifold is given by quaternionic CR-submanifolds. A submanifold
M of a quaternion Kähler manifold
is said to be a quaternionic CR-submanifold if there exist two orthogonal complementary distributions
D and
on
M such that
D is invariant under quaternionic structure and
is totally real (see [
40]). It is clear that, although quaternionic CR-submanifolds are also the generalization of both quaternionic and totally real submanifolds, there exists no inclusion between the two classes of quaternionic CR-submanifolds and slant submanifolds.
We also note that we have the next characterization of slant submanifolds in quaternionic Kähler manifolds.
Theorem 2.1 [
39]
Let M be a submanifold of a quaternionic Kähler manifold .
Then M is slant if and only if there exists a constant such that (7)
where denote the tangential component of . Furthermore, in such a case, if θ is the slant angle of M, then it satisfies .
From the above theorem it follows easily that
(8)
for and .
Moreover, every proper slant submanifold of a quaternionic Kähler manifold is of even dimension
and we can choose a canonical orthonormal local frame, called an adapted slant frame, as follows:
, where
α is 1, 2 or 3 (see [
41]).