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Weierstrass formula for surfaces of prescribed mean

curvature

Article in Mathematische Annalen · November 1979

DOI: 10.1007/BF01428799

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 MathematLsche
Math. Ann. 245, 89-99 (1979)
Annalen
© by Springcr-Verlag 19"/9

Weierstrass Formula for Surfaces

of Prescribed Mean Curvature
Katsuei Kenmotsu
Department of Mathematics, College of General Education, T6hoku University,
Kawauchi, Sendai, 980, Japan

1. Introduction
The purpose of this paper is to study the Gauss map of immersed surfaces in R 3
analytically. By the existence of isothermal coordinates and considering the unit
2-sphere as the Riemann sphere, the Gauss m a p is a complex mapping. At first we
shall prove that the Gauss m a p of an arbitrary immersed surface in R 3 must satisfy
a first order differential equation, that is, a Beltrami equation which is a natural
extension of the Cauchy-Riemann equation. Since it is well-known that the Gauss
m a p of a minimal surface in R 3 is a holomorphic map into the Riemann sphere,
the above result will be a generalization of the theorem in the theory of minimal
surfaces.
Next we have obtained a representation formula for immersed surfaces of
prescribed mean curvature by means of the Gauss map. This may be a generalized
Weierstrass formula, because the Weierstrass formula of a minimal surface tells us
that we can represent the minimal surface by a meromorphic function and a
holomorphic function such that the Gauss map is the meromorphic function
which is considered as a holomorphic m a p into the Riemann sphere.
As the complete integrability condition of the above obtained representation
formula we have found a second order partial differential euqation for the Gauss
map.
In the case of immersed surfaces of constant mean curvature, a solution of the
above obtained equation is a harmonic map. Therefore from our generalized
Weierstrass formula we can construct an isometric immersion of the constant
mean curvature of a simply connected two dimensional manifold into R 3 such that
the Gauss m a p is a previously given harmonic map.
Thus we can say that the theory of surfaces R 3 of constant mean curvature is
closely related to the theory of harmonic mappings into the Riemann sphere, in
such a way that the theory of minimal surfaces and the theory of holomorphic
mappings into the Riemann sphere has deep relations.
The main results of this paper were announced in[3]. This paper was written in
KiSln University when the author had received an Alexander yon H u m b o l d t
Scholarship.

0025-5831/79/0245/0089/$02.20
90 K. Kenmotsu

2. B e l t r a m i E q u a t i o n

In this section we shall give some basic formulas in a surface theory and prove that
the Gauss m a p of any immersed surface in the Euclidean 3-space R 3 satisfies a
Beltrami equation.
Let M be an oriented 2-dimensional connected Riemannian manifold and
x : M - * R 3 an isometric immersion of M into R 3. At a neighborhood of any point
of M we shall use an isothermal coordinate z={~ +i~ z and making use of it the
first fundamental form is now written by ds 2= 221dzl2, 2 > 0. We set e i = (1/2)t?x/34~,
i = 1,2, and define the unit normal vector field by e a = e a x e 2. We define 1-forms
%, Wx2, and w~3 by the following formulas : dx = w l e 1 + w2e 2, de s = w 12e2 + w 13e3,
de 2 =w21e 1 +w23e 3. Then we can write w~3 = h ~ w 1 q-hizw 2 and hij=hii. The mean
curvature is given by H =(1/2)(h11 + h22). We have

63e3.4 (~XA t~XA

~-~ = -hll-~t -h21 ~2
(2.1)
69e3A C3XA ~X A
042 h'2-~1- - h z 2 ~ '
A=I,2,3,

where we put x = (x t, x2, x3)ER 3 and e a = (ea l, eA2, eA3)" By the simple calculations
we have also
82x 1 02 8x 1 02 8x
+22hlxe3,
04~=~0G041 ,~042042
OZx 1 8Z c3x 1 t32 t3x
4 +ZZhlze3, (2.2)
0~1(~42 -- /[ (~42 ~41 2 ~41 042
~2x 1 ~2 ~x 1 ~32 ~x
(~42 = "~ (~42 (~42 ~" 6342 041 q-Z2h22e3'
The Gauss curvature K is written by K=H2-lqbl 2, where we put

q~=½(hi 1 - h z 2 ) - ihl 2. (2.3)

Let S 2 be the unit sphere in R 3 and we consider S 2 as the standard Riemann

sphere: We cover S 2 by the union of the two open sets Ui, where we set
U l = S 2 - { n o r t h pole} and U 2 = S 2 - { s o u t h pole}. Let ~i be the coordinate
functions on U v Then we know

~/I(X)= XI"JViX2 if x e U a ;
1- x3 (2.4)
x 1 -- ix 2
7Jz(x)= 1-+x-33 if x e U 2 .

We consider, for any surface in R 3, the following sequence of mappings :

M ~ , x ( M ) aa,,~s m, G $2 ~, w-plane.
Weierstrass Formula for Surfaces 91

The composed map, which will be also called the Gauss map of M,

71 : M ~ Riemann sphere

is considered as a complex mapping of a 1-dimensional complex manifold M to

the Riemann sphere.
It is well known that ifx is a minimal immersion, then 7~ is a holomorphic map
of M into S 2. For an arbitrary immersed surface, we shall prove the following
theorem which is a natural extension from the case of minimal immersions.

Theorem 1. The Gauss map 7t of an immersed surface in R 3 satisfies a Beltrami

equation:

H aW 87~ (2.5)
-~ = 4, 85

A proof of the Theorem 1 follows from Lemmas 1 and 2 which include some
another important results. Before we prove the Lemmas we shall write some
remarks for (2.5). A (local) existence theorem of a solution for some special
Beltrami equation is well-known (see, for instance, [1]). The Beltrami equation is
closely related to a quasiconformal mapping: If there is a positive constant k( < t)
such that IHI _-<klq~l, then gs is a quasiconformal mapping of M into S 2.

Lemma 1. Under the above notations, we have

-- H(l+~l~l)28(xl+ix2) (2.6)
92 2 ~75

Proof. We know ~l(z)=(e31(z)+ ie32(z))/1--e33(2 ). Since we put 8~1/85

=(a~I/aG +i8~/8~2)/2, we have, making use of (2.1),

c~g -- 2(1--e33) 2 [t\-- ~ +e33~[ --e3' 8¢,/

{8X2 ~X2 8X3~1h, ,

-
(1 /Sx 2
-e~3)[~
Ox 2
8:, ~-i~
8x 2 8x~h
92 + i .......
,?¢,J/
. /8x 3 ~x3\l
+(e31 + w 3 2 ) [ ~ z + i ~ l ) l ht2

+
:( x2 0x2

- z.{~x,
i ~ - e 3 3 ~Ox+1e 3 1 ~Oxa~l
] I h 22j.
]
92 K. Kenmotsu

By virtue of the formulas

lfax~ ax~ ax~ ax~ ax~ ax, OX10X 3 0X 10X 2 Ox2 Oxl] (2.7)
a~l a~2' 0~10~ 2 O~ 1 a~2' 0~1 a~ 2 a~l aG)'

~A(OXA) 2 ((~XAt2 ~XAOX A (2.8)

we obtain

the coefficient of hll _

(1--e33) 2 k ~ -t-l-~-),

the coefficient of h~2=0, and

-- 1 (~X 1 . OX2'~
the coefficient of h 2 2 - (1-2-e~3~k~- + l ~ - ) .

Thus we have

01tl I -- 2H (Ox 1 .Ox2~

~.~ - ( l _ e 3 3 ) z \ ~-g + ' ~ - ) "
By a formula

(1-F~l)(1--e33)=2 on UI, (2.9)

we obtain the Lemma 1. Q.E.D.

Lemma 2. Under the above notations, we have

O~r/l __ (~ (1_~ t//1 ~1)2 ( 0X1 "aX2~_[ (2.10)

az 2 t oF + ' ~ /

Since we have 0 ~ / & = 1/2(c9~/'/0~ 1 - i0 hu/c~ 2) we can prove the Lemma 2 in the
same way as its of Lemma 1. Therefore we shall omit a proof of Lemma 2.

Proof of Theorem l. We have H.~l/3z=~.g~P1/O"~ by Lemmas 1 and 2. On

U l n U 2 we have also H'OtP2/OZ=~'OtP2/C3"2by virtue of t/tlt/J2=l. By the
continuity we have the same formula on U 2. Q.E.D.
We can calculate the norms of these complex vectors 07J/Oz and 07J/02.

Corollary. Let tP be the Gauss map of an arbitrary surface in R 3. Then we have

~- = ~(1 + 7~),H,, (2.11)

~- = ~(1 + 7t~)kb,. (2.12)

Weierstrass Formula for Surfaces 93

Proof. We shall prove only (2.11). By making use of (2.7) and (2.8) we have
4 0xl "0x212 0x 3 .~x3 2
05 + l - - ~ =222(1--e33)-- ~ 1 +10-~-2 '

0X3 .0X3l2
+,?-~ =,~:(e2~+eL).
By the above two formulas we obtain

4 Oxl .&21~ =22(1--e33)2"

07 +~--~- (2.13)

From (2.6), (2.9) and this formula, we have (2.11) on U 1. (2.12) follows from (2.10)
and (2.13). Since we have also the same formula for 7*2 by 7.17.2= 1 on U I ~ U 2 ,
we have proved the corollary. Q.E.D.
By the corollary we can see that a point p e M is a minimal point of M if and
only if ~37./c37(p)= 0 and pe M is an umbilical point if and only if ~37*fi?z(p)= 0. Thus
umbilical points can be studied analytically by the first derivative of the Gauss
map.
Remark 1. The standard metric on the Riemann sphere is represented by
dsZ=a21dwl2 , where we set o = 2 / l + w ~ and w is a local coordinate by the
stereographic projection. When we denote the Jacobian of 7* by J(7*), we know
J(7*)=1%12- I%12 .
From the corollary we get
22
---K and 7**dSE=-KdM, (2.14)
J(w)= o2.~v
where dS 2 and dM are volume elements for the respective metrics. This is a famous
formula by Gauss

3. Generalized Weierstrass Formula

In this section we shall give a Weierstrass formula for surfaces of prescribed mean
curvature. From the similar calculation as the proof of Lemma 1, we have

07*2
05 - (1+7.2 t210xl
~ 07 - ~ ) (3.t)

By 7.1 7*2 = 1 on Ulc~U2, it follows from Lemma 1 and (3.1) that we have

[05 -1~-+7.2\87 +~-~-}/=0 on Ulc~U 2. (3.2)

Since U1 - Ulc~U 2 is only one point, the above formula is valid on U~. Thus we
have a following representation formula.
94 K. Kenmotsu

Theorem 2. Let x : M--~R 3 be an isometric immersion of M into R 3 and 7/: M-*S 2

be the Gauss map of M into S 2 considered as the Riemann sphere. Then we have, on
U1,
HOxI - ( 1 - 9~2) OtP~
~ : = (1 + g"l 7,,)2 ~: ,

~X 2 .' (1 + 92) 07/1 (3.3)

H~='(l~)2 ~ '

H Sx3 ~Jl ~1
~: - 2(1+~i~1) 2 ¢?: •

(On U 2 we have also a similar formulas.)

Proof. From (3.2) we have

H(1 + ~ 2 ) ~ = ill(1 - ~2)@2c~:. (3.2')

By this equation, if (1 + ~2)(p)=0 then we have H(p)=0 or ~x2/~'~(p)=O. Under

the condition (1 + ~)(p)4:0, by virtue of (3.2') and Lemma 1, we have
H~x:, t + 0 2 c~(P,
a: = ' ( 1 ~ 7 ~ - ~ , ) 2 8 : "
This formula :is also valid in the case of(1 + ~2)(p)=0. By the similar way we have
also the first formula of (3.3). The last formula of (3.3) follows from the next
formula :

~X3(~X1 ¢~X2~= 22 I//l (3.4)

~z\-~z +i~z} ( 1 + ~ , ~ 1 ) ~'
We shall prove at first (3.4): By (2.9) we get
4 {_~z
8X 3 (~_~
~X 1- + '-~-)
.Ox2' __22 ~1
(~ + ~[/1 t~ 1)2 }_
( x3 .ex tex,

The real part of the above formula is equal to

_{1 l { ~ x x 8x2 0x2 x,t/( x2 ax3 x21

22 \8~1 8~2
-
Ox3 8xl +
8x 3 ~x:
~41 84: a~2 ~'2
1__fax, 8x2 ax2 ax3 ax2&l&3 axl&3&2
+ 22 ~,a~: a~ 2 8~, 042 841 8~2 ~ 2 ~ 1 ~41 ~ 2 t- ¢741 ~41 a42 c~42}
Weierstrass Formula for Surfaces 95

: 7~t777, 77~ t?~-7 o~2 + o~, ~ ÷ o~ o ~ i

By the similar way we can see that the imaginary part of (3.4) is also zero. We have
proved (3.4).
Under the condition ~ 7'1/~7(p):I: 0, the third formula of (3.3) follows from (2.13)
and (3.4). In the case of ~9~1/~2(p)=0, the formula is trivial because of
H(p)=O. Q.E.D.
Remark 2. We can prove the following formula:

0z - \ ~ -'~7-} (3.5)

By making use of (2.9) and (2.10), we obtain another expression:

c~2 ( 1 + ~ i ~ , ) 2 63z '

(~(~X
2_ . (1 "4:-~2) (~~f/1
=t - --2 (3.6)
0~ (l+TJl~l) ~z '
(~X3 tPl ~lt/J l
63~ = - 2 ( 1 + ~ 1 ~ 1 ) 2 ~z "

Now we assume 4)4:0 and set

1 (~TJx
~b(l+ ~e~l) 2 +Tz"
Then we have
Ox:
( c~x' ,
~z c~z' c~z]
%1
=(F(1 - ~ ) , iF(1 + ~ ) , 2F~1)

and (3.7)

If we assume that x is a minimal immersion, then the coordinate functions x A are

harmonic functions. It follows that F is holomorphic. This means that (3.7) is a
classical Weierstrass formula for a minimal surface (cf. [4]).

4. Generalized Harmonic Mapping

We shall show in this section that the Gauss map of an arbitrary surface in R 3
satisfies a second order differential equation which is a complete integrability
condition for the system (3.3).
96 K. Kenmotsu

Theorem 3. Let x : M ~ R 3 be an isometric immersion of M into R 3. Then the Gauss

map 7" must satisfy
H{027" 2T 871 87"~ _ ~H 07"
(4.1)
\0z0,5 1+-~7" 0z ~-] 0z 0-5"
Proof. If H(p)=0 at a point p, then (4.1) is trivial by (2.10). We shall prove (4.1) in
the case of H 4=0. From a formula in the proof of Lemma 1 and (2.2) we have
027"1 2H { ~ . OX3)O(xl +ix2)
~'5z - ( 1 - e 3 3 ) 3 ( h l l + i h l j +i(h22-thlJ~21 8-5

2 4 H 01og2t~.2O(Xl+iX2)o'5 (1 --3H3)222~9(e31+ie32)
- (1 --e33) e

OH 2 8(x 1 + ix2)
0-5 (1--e33) 2 0-5
2H IHOX3 + 2~b~_z3}O(xa +ix2) 2 01og2 87"l
- (1 - e 3 3 ) 3 [ 0-5 0-5 {- 0-5 0-5
H22~9 1 8711 OH
- - 7"1 + [because of (2.6)].
1--e33 H 0-5 0-2
In general we know
0(22~) /-/c~
- 22 - ' " (4.2)
0-5 8z "
The formula (4.2) was firstly proved by H. Hopf but we can prove it simply by the
definitions and the Codazzi equation. Thus we obtain
027"1 1 0(]) ~7"1
+ (~ 027"1" ~) 07"1 OH
0zO,5 H 05 0"5 H 0-5 2 H 2 0-5 0-5
1 87" 1 1 0(22¢) 2¢ (HOX3 +2":8x3\O(xl+ix2)
~ U o5 22 0 ~ + ( 1 - e 3 3 ) ~ \ 0-5 CU/-z) -~2
).21¢12
- - 7"1
1 --e33
1 ~H 07" 1 4 (HOX3t~¢ (~(X1 +ix2) ~
- H 0z 05 + (1--e33)~\ 0-5][ ~ J
[because of (2.9) and (3.4)]
1 OH &Pl 2 - - 7"1 07"1 07"1 [because of (2.10) and (3.3)].
-H 0z 0-5 ~- l+~vxt~x Oz ~-5
On U 1c~U 2 we get the same formula for 7"2 by 7"17"2= 1. We have proved (4.1) on
M. Q.E.D.
If H = constant on M, ,then we have
027" 2T 07"07"
=0. (4.3)
&0-5 1+7'7" & 0-5
Weierstrass Formula for Surfaces 97

This shows that 7~ is a harmonic mapping of M into the Riemann sphere S z. So we

may consider the differential Eq. (4.1) for p as a generalization of the harmonicity
(cf. [5]).
We remark that (4.1) implies that 7~ satisfying (4.1) does not depend on the
metric 2=ldzlz on M, but only on the conformal structure on M.
By a direct computation we can see that the Eq. (4.1) is the complete
integrability condition for the system (3.3). Therefore we have

Theorem 4. Let M be a simply connected 2-dimensional smooth manifold and

H : M--,R be a non-zero Cl-function. Let 7j : M---+N 2 be a smooth mapping which is
defined on U 1 (resp. U2) by ~1 (resp. 7J2). We assume ~ satisfies the differential
Eq. (4.1) for the above H. Then ~ is a Gauss map of some surface: More precisely
we put, in the case of 7J(z)E U 1,

= R e ~j(-1) (1-7s~) a~ I
x1 0 2 dz+c ,

xz=Rei(-i) (l+7J~) 07~x

0 H (1_t_~1~r.11)2 ~?g d z + c 2, (4.4)
Z

x3=ZRe S0 ( -H1 ) (l+TJlgJl)2 8q'i

8"f dz+c3"

I f we have gS(z)e U2, we set

x~=Rei(-1) (1-~P~) 3T 2
0 H (l+TS2~z) 2 c32 d z + c l '

i
x 2 = R e oJ H ( l + ~ 2 ~ 2 ) 2 Og
2:
x3 = 2 R e ~ 1 I//2 ~IF 2
o H (1+1/J2~2) 2 ~3~ d z + c 3 "

Then x = (xl, xz, x3) is a branched surface such that the mean curvature is H and the
Gauss map of x is 7L Moreover, if ~ + 0 on M, then x is a regular surface.
Proof. This follows from Theorems 2 and 3. The map x : M ~ R 3 is a branched
immersion in the sense of Gulliver-Osserman-Roydon (see, Proposition 2.4 of
[23). Q.E.D.
We have found a correspondence from the set of solutions of the differential
Eq. (4.1) to the set of surfaces in R 3 by Theorem 4. Next we shall study the
uniqueness of the correspondence.
Theorem 5. Let ~(z) (resp. ~(w)) be a smooth mapping satisfying (4.1) for some
positive Junction H(z) (resp. IYI(w)) on a simply connected 2-dimensional manifold M.
We define a branched immersion x(z) (resp. Yc(w)) by Theorem 4. Then the following
two conditions are equivalent:
i) There exist a holomorphic mapping w =f(z) with f'(z) ~ 0 on M and a motion 0
o f R 3 such that Ycof(z)=Oox(z), z 6 M .
98 K, Kenmotsu

ii) There exists a holomorphic mappin 9 w = f ( z ) with f'(z)4:0 on M such that it

has relations
7'(z) = q'oflz),

H(z)=IYtof(z), zeM.
Proof [i)~ii)]. We may assume 0=identity. We have Xz(Z)=Y%.f'(z) and
x~(z) = 5c~ .f'(z). Since we have
(e I + ie2) (z) = (f'(z)/[f't) (O1 + i~2) (f(z)),
we get
2e3(z) = i(e 1 + ie2) (z) x (e 1 - ie2) (z) = 2~3(f(z)).
It follows that we have T(z)= Tof(z) and from this formula the latter is easily
verified by the Lemma 1. [ii)~i)] : By the assumptions and Theorem 4, we have
8XA/OZ=SXA/Ow'f'(z), A = 1 , 2 , 3 and we get XA(Z)=XA(f(z))+Ca, where c A are
constants. Q.E.D.

5. The Case of H = Constant

In this section we shall summarize the results for the case of constant mean
curvature. We assume that the mean curvature H is constant >0. Then, from the
results of previous sections, we obtain
2 (1 +1
ds2= [H ~kV J2[dz[2
~ -~z (5.1)

827~ 2{' 87j S ~

-- =0, (5.2)
OzS~ 1 + T T Oz c32

hll--H(Re 'Z+1 , h 2=-H m h22=-H R e N - 1 . (5.3)

(5.1) says that the Riemannian metric of M can be represented by the Gauss map.
It is well-known that the Eq. (5.2) shows the harmonicity of T. By (5.1) and (5.3)
the second fundamental tensor is represented by ~ and 2. Conversely, for any non-
zero real number H and any harmonic mapping T : M ~ S 2 considered as the
Riemann sphere, we can construct a branched immersion of the universal covering
of M into R a with the constant mean curvature H by Theorem 4.
When we fix the non-zero real value H for a given harmonic map of M into the
Riemann sphere, such an immersion is uniquely determined up to conformal
transformations of M by Theorem 5. Thus we will be able to translate theorems for
harmonic mappings to the theory of surfaces of constant mean curvature and
conversely.
At last we shall give here some known examples:
Examples. 1) Let ~ : C - {0}-~ C b'e ~(z)= - 1/g and H = 1. Then the immersion x o
obtained by this ~P(z) is the standard immersion of the unit sphere in R 3 :
•- - z-~ -l+z~) z~C- {0}.
x°(z)=~l+z'~'ti+z'~' l+z~ ]'
Weierstrass Formula for Surfaces 99

(Since we consider the inner normal unit vector field, the Gauss m a p is
7 / ( z ) = - l / g . ) More generally we set X(w)=9(w), where 9(w) is holomorphic
function with 9'(w)+ 0 on a simply connected domain D. Since we have Xw= 0 and
Z~ + 0 on D, the immersion y(w) made by this Z(w) is umbilical and so this is a part
of a sphere. In fact y(w) is an isometric immersion of the 2-dimensional riemannian
manifold (D, dsZ), where we put ds 2 = 19'(w)lZdx2, into the unit sphere in R 3 and we
have y(w)= Ooxo(-1/9(w)), where 0 is a reflection of R 3.
2) Let 7J:C~C be 7 / ( z ) = - ( c o s ~ l + i s i n ~ l ) , Z = ~ t + i ~ 2 , and H = l / 2 . Then
the surface obtained by this 7/is the unit circular cylinder in R 3.
3) Let 7 / : 0 - * 8 2 be a harmonic m a p of a simply connected domain D into S 2.
The conjugate ~ of 7/is also a harmonic m a p because ~ also satisfies (5.2). For
any non-zero constants H, /4, x denotes the surface obtained by 7/ and H. y
denotes the surface obtained by t~ a n d / t . Then we have, because of ~3~U/Oz= 07J/g2
and c~7//~ = 07//0z,

H x l + iYly l _
17/++7J7/+
~J
cl '

Hxz+IYly2=i 7 / - ~ - +c 2 (5.4)
1+7/7/ ,

H x 3 + f f l Y 3 _ 1+7/71
1 - 7/~J + c 3 ' (z~M),

where c A, A = 1, 2, 3, are constants. This shows that y is a parallel surface o f x and we

have, by (2.11) and (2.12),

Iq~l2 • 2
IdyJ 2 = ( ~ ax on D.

Therefore umbilical points of x correspond to branch points of y. This is a result

by Bonnet. F r o m (5.4) we remark that the map Hx + H y is included in the unit
sphere in R 3 centered at (cl, c 2, c3).

References
1. Ahlfors, L.V. : Lectures on quasiconformal mappings. New York: Van Nostrand 1966
2. Gulliver 11, R.D., Osserman, R., Roydon, H.L. : A theory of branched immersions of surfaces. Am. J.
Math. 95, 750-812 (1973)
3. Kenmotsu, K.: The Weierstrass formula for surfaces of prescribed mean curvature. Minimal
submanifolds and geodesics. Tokyo: Kaigai Publications 1978
4. Osserman, R. : A survey of minimal surfaces. New York: Van Nostrand 1969
5. Ruh, E.A., Vilms, J. : The tension field of the Gauss map. Trans. Am. Math. Soc. 149, 569 573 (1970)

Received July 14, 1978

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