AMO | Advanced Modeling and Optimization, Volume 18, Number 1, 2016

ON PARALLEL CURVES VIA PARALLEL TRANSPORT FRAME

IN EUCLIDEAN 3-SPACE
MUHAMMED T. SARIAYDIN AND VEDAT ASIL
Abstract. In this paper, we study the parallel curve of a space curve according to parallel transport frame. Then, we obtain new results according to
some cases of this curve by using parallel transport frame in Euclidean 3-space.
Additionally, we give new examples for this characterizations and we illustrate
this examples in gures.

1. Introduction
To is a curve in plane, there exist two curves P+ = (s) + te2 (s) and P =
(s) te2 (s) at a given distance t: But these cuves is not easy to characterize in
3-dimensional space. Then, [3] developed a new construction. This construction
is carried over the three-dimensional space and as a result, two parallel curves are
obtained as well. Additionally study parallel helices in three-dimensional space.
Bishop frame, which is also called alternetive or parallel frame of the curves,
was introduced by L.R. Bishop in 1975 by means of parallel vector elds. Recently,
many research papers related to this concept have been treated in Euclidean space.
For example, in [13] the outhors introduced a new version of Bishop frame and an
application to spherical images and in [14] the outhors studied Minkowski space in
E31 .
In this paper, we obtain some characterizations about parallel curves by using
Bishop frame in E3 . Additionally, we give new examples for this characterizations
and we illustrate this examples in gures.

2. Background on parallel curves

In plane let a smooth curve (s) = (x(s); y(s)); where s is the arc-length and its
unit tangent and unit normal vectors are e1 (s) and e2 (s) ;respectively: Then, we
get
P+ (S+ ) = (s) + te2 (s) and P (S ) = (s) te2 (s) ;
1991 Mathematics Subject Classication. Primary 53B25; Secondary 53C40.
Key words and phrases. Bishop frame, Curves, Euclidean 3-space, Parallel curves.
*AMO - Advanced Modeling and Optimization. ISSN: 1841-4311
65

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M UHAM M ED T. SARIAYDIN AND VEDAT ASIL

where S = S (s) and S denotes the length along P ; at the distance t. Determining the length S , we can write
dS
=1
ds
where

is the curvature of

t ;

(s) ; [3,11].

Lemma 2.1. Two curves ; : I ! E3 are parallel if their velocity vectors _ (s)
and _ (s) are parallel for each s: In this case, if (s0 ) = (s0 ) for some one s0 in
I then, = ; [11]:
Theorem 2.2. If ; : I ! E3 are unit-speed curves such that
=
then, and are congruent, [11]:

Denote by fe1 ; e2 ; e3 g the moving FrenetSerret frame along the curve

space E3 . For an arbitrary curve with rst and second curvature, and
space E3 , the following FrenetSerret formulae is given

and

in the
in the

e_ 1 = e2 ;
e_ 2 =

e 1 + e2 ;

e_ 3 =

e2 ;

where
he1 ; e1 i = he2 ; e2 i = he3 ; e3 i = 1;
he1 ; e2 i = he1 ; e3 i = he2 ; e3 i = 0:
Here, curvature functions are dened by = (s) = ke_ 1 (s)k and (s) =
Torsion of the curve is given by the aid of the mixed product
...
( _ ; ; )
:
=
2

he2 ; e_ 3 i :

In the rest of the paper, we suppose everywhere 6= 0 and 6= 0.

The Bishop frame or parallel transport frame is an alternative approach to dening a moving frame that is well dened even when the curve has vanishing second
derivative. One can express parallel transport of an orthonormal frame along a
curve simply by parallel transporting each component of the frame. The tangent
vector and any convenient arbitrary basis for the remainder of the frame are used.
The Bishop frame is expressed as
"_1 =

1 "2

"_2 =

1 "1 ;

"_2 =

2 "1 ;

2 "3 ;

where
(2.1)
(2.2)

h"1 ; "1 i = h"2 ; "2 i = h"3 ; "3 i = 1;

h"1 ; "2 i = h"1 ; "3 i = h"2 ; "3 i = 0:

O N PARALLEL C U RVES VIA PARALLEL ...

Here, we shall call the set f"1 ; "2 ; "3 g as Bishop trihedra and
curvatures. The relation matrix may be expressed as

67

and

as Bishop

e1 = " 1 ;
e2 = cos (s)"2 + sin (s)"3 ;
e3 =
where (s) = arctan
tures are dened by

2
1

sin (s)"2 + cos (s)"3 ;

p
2+
(s) = _ (s) and (s) =
1
1

(s) cos (s) ;

(s) sin (s) :

2:
2

Here, Bishop curva-

On the other hand,

" 1 = e1 ;
(2.3)

"2 = cos (s)e2

sin (s)e3 ;

"3 = sin (s)e2 + cos (s)e3 :

3. Parallel Curves in 3-Dimensional Space

Let a : I ! E3 be a regular curve with parametrized by arc-length. Take the
derivative of (s) in accordance with s, we obtain
(3.1)

( (s)

(3.2)

_ (s)( (s)

(3.3)

P)2 = t2 ;
P) = 0;

P) + _ (s)2 = 0;

(s)( (s)

for the point P. Equations (3.1), (3.2) and (3.3) have geometrical interpretation as
follows: if (3.1) is regarded a spherical wave consisting of points P at the distance
t from the moving point (s), then (3.2) is the enveloping surface (employing the
intersection of two innitesimaly close waves) and (3.3) presents the double envelope
(the intersection of three close waves, the multiple focus of the waves), [3].
Theorem 3.1. Let
: I ! E3 be a regular curve with parametrized by arclength in 3-dimensional space. If P is a parallel curve of ; then
P =

+(

tan
2 21 sec2

where
C=

1 2C

)"2

4t2 sec2

2 tan +
2 1 sec2

1C

)"3 ;

2:
1

Proof. Considering the (2.2) and (3.2) equations, we obtain

(3.4)
where

P= "2 + "3 ;
and

are appropriate coe cients. From (3.3) and equations

_ 2 = "21 = 1 and = "_1 =

1 "2

2 "3 :

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M UHAM M ED T. SARIAYDIN AND VEDAT ASIL

Then, we can write

(

1 "2

2 "3 ) (

"2 + "3 ) + 1 = 0;

(3.5)

+ 1 = 0:

Also, if we write at (3.4) instead of the left side of (3.1) then, we get
2

(3.6)

= t2 :

Then from (3.5), we have

(3.7)

tan :

Considering together (3.6) and (3.7) equations, we get

(3.8)

2 tan +
2 1 sec2

where
C=

1C

and

2 tan
2 1 sec2

1C

4t2 sec2

2:
1

In the rest of the paper, we suppose everywhere

(3.9)

1:

And so, we get

(3.10)

tan
2 21 sec2

1 2C

After simple computation, we get

(3.11)

P =

where
=(

Corallary 3.2. If

tan
2 21 sec2

+ "2
1 2C

"3 ;

) and

=(

2 tan
1C
):
2 1 sec2

= 0; then
P =

where
C=

C
"3 ;
2

"2

4t2

2:
1

Example 3.3. Let us consider a unit speed circular helix in E3 by

s
s 7s
= (s) = (24 cos ; 24 sin ; ):
25
25 25
One can calculate its Frenet-Serret apparatus as the following
1
s
s
e1 (s) =
( 24 sin ; 24 cos ; 7);
25
25
25
s
s
e2 (s) = ( cos ; sin ; 0);
25
25
1
s
s
e3 (s) =
(7 sin ; 7 cos ; 24):
25
25
25

O N PARALLEL C U RVES VIA PARALLEL ...

Then, the curvatures of

69

is given by
24
;
625
7
(s) =
:
625
(s) =

Putting,
(s) =
where (s) =

Zs

7s
;
625

(s) ds, [8]. Then, we can write the Bishop frame from (2.3) by

s
s
1
( 24 sin ; 24 cos ; 7);
25
25
25
7s
s
7
7s
s
"2 (s) = ( cos
cos
sin
sin ;
625
25 25
625
25
7s
s
7
7s
s
24
7s
cos
sin
+
sin
cos ;
sin
);
625
25 25
625
25 25
625
s
7
7s
s
7s
cos
+
cos
sin ;
"3 (s) = ( sin
625
25 25
625
25
7s
s
7
7s
s
24
7s
sin
sin
cos
cos ; + cos
):
625
25 25
625
25 25
625
"1 (s) =

Also, the curvatures of

24
7s
cos
;
625
625
7s
24
sin
:
2 (s) =
625
625
1

(s) =

From (3.9), we get

(3.12)

625
7s
1
7s
sin
+ cos2
24
625 2
625

(4t2

390625
7s
) sec2
:
144
625

Therefore, by using (3.7) equation, we have

(3.13)

7s
625
cos
24
625

1
7s
7s
cos
sin
2
625
625

4t2

390625
144

sec2

After simple computation, we get

P = (24 cos

s
s 7s
; 24 sin ; ) + "2
25
25 25

where
625
7s
1
7s
7s
=
cos
+ cos
sin
24
625 2
625
625
and
=

625
7s
1
7s
sin
+ cos2
24
625 2
625

(4t2

(4t2

"3 ;

390625
7s
) sec2
144
625
390625
7s
) sec2
:
144
625

7s
:
625

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M UHAM M ED T. SARIAYDIN AND VEDAT ASIL

F igure 3:1; 0

=6

Example 3.4. Let us consider a unit speed curve in E3 by, [10],

9
sin 16s
208
The transformation matrix
2
3 2
T
1
4 N 5=4 0
B
0
=

where

(s) = (

1
sin 36s;
117
for the curve

9
1
6
cos 16s +
cos 36s;
sin 10s):
208
117
65
= (s) has the form
32
3
0
0
T
cos(24 sin 10s) sin(24 sin 10s) 5 4 M1 5 ;
sin(24 sin 10s) cos(24 sin 10s)
M2

(s) =

Zs

24 cos(10s) =

24
sin 10s:
10

Then, we can give gure of this curve as

F igure 3:2; 0

O N PARALLEL C U RVES VIA PARALLEL ...

71

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[1] V. Asil, Velocities of Dual Homothetic Exponential Motions in D3 , Iranian Journal of Science
& Tecnology Transaction A: Science 31 (4) (2007), 265-271.
[2] L.R. Bishop, There is More Than One Way to Frame a Curve, Amer. Math. Monthly, 82
(3) (1975), 246-251.
[3] V. Chrastinova, Parallel Curves in Three-Dimensional Space, Sbornik 5. Konference o
matematice a fyzice 2007, UNOB.
[4] T. Krpnar, New characterization of b-m2 developable surfaces, Acta Scientiarum. Technology 37(2) (2015), 245250
[5] T. Krpnar, E. Turhan, On Characterization of B-Canal Surfaces in Terms of Biharmonic
B-Slant Helices According to Bishop Frame in Heisenberg Group Heis 3 , Journal of Mathematical Analysis and Applications 382 (1) (2011), 57-65.
[6] T. Krpnar, Faraday Tensor for Time-Smarandache TN Particles Around Biharmonic Particles and its Lorentz Transformations in Heisenberg Spacetime, Int J Theor Phys 53 (2014),
41534159
[7] T. Krpnar, New type surfaces in terms of B-Smarandache Curves in Sol 3 , Acta Scientiarum. Technology 37(2) (2015), 245250
[8] T. Krpnar, A New Method for Inextensible Flows of Timelike Curves in Minkowski SpaceTime, International Journal of Partial Dierential Equations (2014), Article ID 517070.
[9] T. Krpnar, B-tubular surfaces in Lorentzian Heisenberg Group, Acta Scientiarum. Technology 37(1) (2015), 6369
[10] T. Krpnar, New Characterizations for Minimizing Energy of Biharmonic Particles in
Heisenberg Spacetime, Int. J. Theor. Phys., 53 (9) (2014), 32083218.
[11] B. ONeil, Elementary Di erential Geometry, Academic Press, New York, 1967.
[12] I.M. Yaglom, A. Shenitzer, A Simple Non-Euclidean Geometry and Its Pysical Basis,
Springer-Verlag, New York, 1979.
[13] S. Ylmaz, M. Turgut, A New Version of Bishop Frame and An Aplication to Spherical
Images , J. Math. Anal. Appl., 371 (2010), 764-776.
[14] S. Ylmaz, Poition Vectors of Some Special Space-like Curves According to Bishop Frame in
Minkowski Space E31 , Sci Magna, 5 (1) (2010), 48-50.
[15] S. Ylmaz, E. zylmaz, M. Turgut, New Spherical Indicatrices and Their Characterizations,
An. S
t. Univ. Ovidius Constanta, 18(2) (2010), 337-354.
MuS Alparslan University, Department of Mathematics,49250, MuS, Turkey, Frat
University, Department of Mathematics,23119, ElazG , Turkey
E-mail address : talatsaraydn@gmail.com, vedatasil@gmail.com