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 Path
PathIntegrals,
Integrals,
Hyperbolic
HyperbolicSpaces
Spaces and
and
Selberg
Selberg Trace
Trace Formulae
Formulae
2nd
2nd Edition
Edition

8752.9789814460071_tp.indd 1 26/6/13 2:48 PM

This page intentionally left blank
 Path Integrals,
Hyperbolic Spaces and
Selberg Trace Formulae
2nd Edition

Christian Grosche
Universität Hamburg & Stadtteilschule Walddörfer
Germany

:RUOG6FLHQWLÀF
NEW JERSEY • LONDON • SINGAPORE • BEIJING • SHANGHAI • HONG KONG • TA I P E I • CHENNAI

8752.9789814460071_tp.indd 2 26/6/13 2:48 PM

Published by
World Scientific Publishing Co. Pte. Ltd.
5 Toh Tuck Link, Singapore 596224
USA office: 27 Warren Street, Suite 401-402, Hackensack, NJ 07601
UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE

British Library Cataloguing-in-Publication Data

A catalogue record for this book is available from the British Library.

PATH INTEGRALS, HYPERBOLIC SPACES AND SELBERG TRACE FORMULAE

Second Edition
Copyright © 2013 by World Scientific Publishing Co. Pte. Ltd.
All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means,
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ISBN 978-981-4460-07-1

Printed in Singapore
Contents

List of Tables ix

List of Figures xi

Preface xiii

1 Introduction 1

2 Path Integrals in Quantum Mechanics 7

2.1 The Feynman Path Integral . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Defining the Path Integral . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Transformation Techniques . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.1 Point Canonical Transformations . . . . . . . . . . . . . . . . 16
2.3.2 Space-Time Transformations . . . . . . . . . . . . . . . . . . . 16
2.3.3 Separation of Variables . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Group Path Integration . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.5 Klein-Gordon Particle . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.6 Basic Path Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.6.1 The Quadratic Lagrangian . . . . . . . . . . . . . . . . . . . . 24
2.6.2 The Radial Harmonic Oscillator . . . . . . . . . . . . . . . . . 25
2.6.3 The Pöschl–Teller Potential . . . . . . . . . . . . . . . . . . . 25
2.6.4 The Modified Pöschl–Teller Potential . . . . . . . . . . . . . . 27
2.6.5 Parametric Path-Integrals . . . . . . . . . . . . . . . . . . . . 27
2.6.6 The O(2, 2)-Hyperboloid . . . . . . . . . . . . . . . . . . . . . 28
2.6.7 δ-Functions and Boundary Problems . . . . . . . . . . . . . . 32
2.6.8 Miscellaneous Results . . . . . . . . . . . . . . . . . . . . . . . 34

3 Separable Coordinate Systems on Spaces of Constant Curvature 35

3.1 Separation of Variables and Breaking of Symmetry . . . . . . . . . . 35
3.2 Classification of Coordinate Systems . . . . . . . . . . . . . . . . . . 39

v
vi CONTENTS

3.3 Coordinate Systems in Spaces of Constant Curvature . . . . . . . . . 41

3.3.1 Classification of Coordinate Systems . . . . . . . . . . . . . . 42
3.3.2 The Sphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.3 Euclidean Space . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.4 The Pseudosphere . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.5 Pseudo-Euclidean Space . . . . . . . . . . . . . . . . . . . . . 47
3.3.6 A Hilbert Space Model . . . . . . . . . . . . . . . . . . . . . . 48

4 Path Integrals in Pseudo-Euclidean Geometry 51

4.1 The Pseudo-Euclidean Plane . . . . . . . . . . . . . . . . . . . . . . . 51
4.2 Three-Dimensional Pseudo-Euclidean Space . . . . . . . . . . . . . . 62

5 Path Integrals in Euclidean Spaces 75

5.1 Two-Dimensional Euclidean Space . . . . . . . . . . . . . . . . . . . . 75
5.2 Three-Dimensional Euclidean Space . . . . . . . . . . . . . . . . . . . 78

6 Path Integrals on Spheres 87

6.1 The Two-Dimensional Sphere . . . . . . . . . . . . . . . . . . . . . . 87
6.2 The Three-Dimensional Sphere . . . . . . . . . . . . . . . . . . . . . 92

7 Path Integrals on Hyperboloids 103

7.1 The Two-Dimensional Pseudosphere . . . . . . . . . . . . . . . . . . 103
7.2 The Three-Dimensional Pseudosphere . . . . . . . . . . . . . . . . . . 111

8 Path Integral on the Complex Sphere 127

8.1 The Two-Dimensional Complex Sphere . . . . . . . . . . . . . . . . . 127
8.2 The Three-Dimensional Complex Sphere . . . . . . . . . . . . . . . . 132
8.3 Path Integral Evaluations on the Complex Sphere . . . . . . . . . . . 138
8.3.1 Path Integral Representations on S3C : Part I . . . . . . . . . . 138
8.3.2 Path Integral Representations on S3C : Part II . . . . . . . . . 141

9 Path Integrals on Hermitian Hyperbolic Space 147

9.1 Hermitian Hyperbolic Space HH(2) . . . . . . . . . . . . . . . . . . . 147
9.2 Path Integral Evaluations on HH(2) . . . . . . . . . . . . . . . . . . . 150

10 Path Integrals on Darboux Spaces 155

10.1 Two-Dimensional Darboux Spaces . . . . . . . . . . . . . . . . . . . . 155
10.2 Path Integral Evaluations . . . . . . . . . . . . . . . . . . . . . . . . 161
10.2.1 Darboux Space D I . . . . . . . . . . . . . . . . . . . . . . . . 161
10.2.2 Darboux Space D II . . . . . . . . . . . . . . . . . . . . . . . . 162
CONTENTS vii

10.2.3 Darboux Space D III . . . . . . . . . . . . . . . . . . . . . . . 163

10.2.4 Darboux Space D IV . . . . . . . . . . . . . . . . . . . . . . . 166
10.3 Three-Dimensional Darboux Spaces . . . . . . . . . . . . . . . . . . . 169
10.3.1 The Three-Dimensional Darboux Space D 3d−I . . . . . . . . . 169
10.3.2 The Three-Dimensional Darboux Space D 3d−II . . . . . . . . . 172
10.3.3 Path Integral Evaluations on Three-Dimensional
Darboux Space . . . . . . . . . . . . . . . . . . . . . . . . . . 174

11 Path Integrals on Single-Sheeted Hyperboloids 179

11.1 The Two-Dimensional Single-Sheeted Hyperboloid . . . . . . . . . . . 179

12 Miscellaneous Results on Path Integration 193

12.1 The D-Dimensional Pseudosphere . . . . . . . . . . . . . . . . . . . . 193
12.2 Hyperbolic Rank-One Spaces . . . . . . . . . . . . . . . . . . . . . . 195
12.3 Path Integral on SU(n) and SU(n − 1, 1) . . . . . . . . . . . . . . . . 200
12.3.1 Path Integral on SU(n) . . . . . . . . . . . . . . . . . . . . . . 200
12.3.2 Path Integral on SU(n − 1, 1) . . . . . . . . . . . . . . . . . . 202

13 Billiard Systems and Periodic Orbit Theory 205

13.1 Some Elements of Periodic Orbit Theory . . . . . . . . . . . . . . . . 205
13.2 A Billiard System in a Hyperbolic Rectangle . . . . . . . . . . . . . . 208
13.3 Other Integrable Billiards in Two and Three Dimensions . . . . . . . 221
13.3.1 Flat Billiards . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
13.3.2 Hyperbolic Billiards . . . . . . . . . . . . . . . . . . . . . . . 223
13.4 Numerical Investigation of Integrable Billiard Systems . . . . . . . . . 227
13.4.1 Two-Dimensional Systems . . . . . . . . . . . . . . . . . . . . 227
13.4.2 Three-Dimensional Systems . . . . . . . . . . . . . . . . . . . 229

14 The Selberg Trace Formula 233

14.1 The Selberg Trace Formula in Mathematical Physics . . . . . . . . . 233
14.2 Applications and Generalizations . . . . . . . . . . . . . . . . . . . . 235
14.3 The Selberg Trace Formula on Riemann Surfaces . . . . . . . . . . . 248
14.3.1 The Selberg Zeta-Function . . . . . . . . . . . . . . . . . . . . 256
14.3.2 Determinants of Maass-Laplacians . . . . . . . . . . . . . . . . 258
14.4 The Selberg Trace Formula on Bordered Riemann Surfaces . . . . . . 261
14.4.1 The Selberg Zeta-Function . . . . . . . . . . . . . . . . . . . . 268
14.4.2 Determinants of Maass-Laplacians . . . . . . . . . . . . . . . . 270
viii CONTENTS

15 The Selberg Super-Trace Formula 273

15.1 Automorphisms on Super-Riemann Surfaces . . . . . . . . . . . . . . 273
15.1.1 Closed Super-Riemann Surfaces . . . . . . . . . . . . . . . . . 277
15.1.2 Compact Fundamental Domain . . . . . . . . . . . . . . . . . 278
15.1.3 Non-Compact Fundamental Domain . . . . . . . . . . . . . . 280
15.2 Selberg Super-Zeta-Functions . . . . . . . . . . . . . . . . . . . . . . 285
15.2.1 The Selberg Super-Zeta-Function Z0 . . . . . . . . . . . . . . 285
15.2.2 The Selberg Super-Zeta-Function Z1 . . . . . . . . . . . . . . 288
15.2.3 The Selberg Super-Zeta-Function ZS . . . . . . . . . . . . . . 291
15.3 Super-Determinants of Dirac Operators . . . . . . . . . . . . . . . . . 293
15.4 The Selberg Super-Trace Formula on Bordered Super-Riemann
Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
15.4.1 Compact Fundamental Domain . . . . . . . . . . . . . . . . . 297
15.4.2 Non-Compact Fundamental Domain . . . . . . . . . . . . . . 299
15.5 Selberg Super-Zeta-Functions . . . . . . . . . . . . . . . . . . . . . . 301
15.5.1 The Selberg Super-Zeta-Function R̂0 . . . . . . . . . . . . . . 302
15.5.2 The Selberg Super-Zeta-Function R̂1 . . . . . . . . . . . . . . 304
15.5.3 The Selberg Super-Zeta-Function ẐS . . . . . . . . . . . . . . 305
15.6 Super-Determinants of Dirac Operators . . . . . . . . . . . . . . . . . 307
15.7 Asymptotic Distributions on Super-Riemann Surfaces . . . . . . . . . 309

16 Summary and Discussion 311

16.1 Results on Path Integrals . . . . . . . . . . . . . . . . . . . . . . . . . 311
16.1.1 General Results . . . . . . . . . . . . . . . . . . . . . . . . . . 311
16.1.2 Higher Dimensions . . . . . . . . . . . . . . . . . . . . . . . . 312
16.1.3 Super-Integrable Potentials in Spaces of Non-Constant
Curvature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
16.1.4 Listing the Path Integral Representations . . . . . . . . . . . . 321
16.2 Results on Trace Formulæ . . . . . . . . . . . . . . . . . . . . . . . . 324
16.3 Miscellaneous Results, Final Remarks, and Outlook . . . . . . . . . . 325

Bibliography 329

Index 369
List of Tables

2.1 Path Integration on Homogeneous Spaces . . . . . . . . . . . . . . . . . . 10

2.2 Path Integration on Darboux Spaces . . . . . . . . . . . . . . . . . . . . 11

3.1 Operators and Coordinate Systems in IR3 . . . . . . . . . . . . . . . . . 40

4.1 Coordinates in Two-Dimensional Pseudo-Euclidean Space . . . . . . . . 61

4.2 Coordinates in Three-Dimensional Pseudo-Euclidean Space . . . . . . . . 73

5.1 Coordinates in Two-Dimensional Euclidean Space . . . . . . . . . . . . . 78

5.2 Coordinates in Three-Dimensional Euclidean Space . . . . . . . . . . . . 84

6.1 Coordinates on the Two-Dimensional Sphere . . . . . . . . . . . . . . . . 91

6.2 Coordinates on the Three-Dimensional Sphere . . . . . . . . . . . . . . . 96
6.3 Description of Coordinate Systems on Spheres . . . . . . . . . . . . . . . 98

7.1 Coordinates on the Two-Dimensional Pseudosphere . . . . . . . . . . . . 110

7.2 Coordinates on the Three-Dimensional Pseudosphere . . . . . . . . . . . 122

8.1 Coordinates on the Two-Dimensional Complex Sphere . . . . . . . . . . 129

8.2 Coordinate Systems on S3C . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.3 Coordinates on the Three-Dimensional Complex Sphere . . . . . . . . . . 143

9.1 Coordinates on the Four-Dimensional Hermitian Hyberbolic Space . . . . 153

10.1 Some Limiting Cases of Coordinate Systems on D II . . . . . . . . . . . . 162

10.2 Some Limiting Cases of Coordinate Systems on D III . . . . . . . . . . . 165
10.3 Some Limiting Cases of Coordinate Systems on D IV . . . . . . . . . . . . 166
10.4 Coordinates on Two-Dimensional Darboux-Spaces . . . . . . . . . . . . . 168
10.5 Coordinates on Three-Dimensional Darboux-Space D 3d−I . . . . . . . . . 171
10.6 Coordinates on Three-Dimensional Darboux-Space D 3d−II . . . . . . . . 177

11.1 Coordinates on the Two-Dimensional Single-Sheeted Hyperboloid . . . . 191

ix
x LIST OF TABLES

13.1 Spectral Rigidity and Berry’s Theory . . . . . . . . . . . . . . . . . . . . 219

13.2 Comparison of the Two-Dimensional Billiard Systems . . . . . . . . . . . 228
13.3 Comparison of the Three-Dimensional Billiard Systems . . . . . . . . . . 229

16.1 Coordinates in Four-Dimensional Euclidean Space . . . . . . . . . . . . . 314

16.2 Parametric Coordinates in Four-Dimensional Euclidean Space . . . . . . 316
16.3 Separation of Variables for the Super-Integrable Potentials on D I . . . . 317
16.4 Separation of Variables for the Super-Integrable Potentials on D II . . . . 318
16.5 Separation of Variables for the Super-Integrable Potentials on D III . . . . 319
16.6 Separation of Variables for the Super-Integrable Potentials on D IV . . . . 320
16.7 Number of Path Integral Solutions . . . . . . . . . . . . . . . . . . . . . 321
List of Figures

6.1 Wireframe of a two-dimensional sphere and the depiction of cylindrical

coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
6.2 Depicting a double-cone and a conical coordinate system . . . . . . . . . 99
6.3 An oblate spheroid, wireframe of an oblate spheroid, the respective
surfaces, and a prolate spheroid . . . . . . . . . . . . . . . . . . . . . . 100
6.4 An ellipsoid with wireframe. Tri-axial ellipsoid with distinct semi-axes
lengths c > b > a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
6.5 Earth and Jupiter as ellipsoids . . . . . . . . . . . . . . . . . . . . . . . 102

11.1 A one- and double-sheeted hyperboloid . . . . . . . . . . . . . . . . . . 181

11.2 An ellipsoid, a paraboloid, and a hyperbolic paraboloid . . . . . . . . . 181
11.3 Spherical coordinates (u0 , u1, u2 ) on the double-sheeted hyperboloid
and for the single-sheeted hyperboloid . . . . . . . . . . . . . . . . . . . 183
11.4 Equidistant coordinates (u0, u1, u2) on the double-sheeted hyperboloid
and for the single-sheeted hyperboloid . . . . . . . . . . . . . . . . . . . 184
11.5 Horicyclic coordinates (u0 , u1 , u2 ) on the double-sheeted hyperboloid
and for the single-sheeted hyperboloid . . . . . . . . . . . . . . . . . . . 185
11.6 Elliptic coordinates (u0 , u1, u2 ) on the double-sheeted hyperboloid and
for the single-sheeted hyperboloid . . . . . . . . . . . . . . . . . . . . . 186
11.7 Hyperbolic coordinates (u0 , u1 , u2) on the double-sheeted hyperboloid
and for the single-sheeted coordinates . . . . . . . . . . . . . . . . . . . 187
11.8 Semi-hyperbolic coordinates (u0 , u1, u2 ) on the double-sheeted hyper-
boloid and for the single-sheeted hyperboloid . . . . . . . . . . . . . . . 187
11.9 Elliptic-parabolic coordinates (u0 , u1, u2 ) on the double-sheeted hy-
perboloid and on the single-sheeted hyperboloid . . . . . . . . . . . . . 188
11.10 Hyperbolic-parabolic coordinates (u0 , u1, u2 ) on the double-sheeted
hyperboloid and on the single-sheeted hyperboloid . . . . . . . . . . . . 189
11.11 Semi-circular-hyperbolic coordinates (u0 , u1 , u2) on the double-sheeted
hyperboloid and on the single-sheeted hyperboloid . . . . . . . . . . . . 190

xi
xii LIST OF FIGURES

13.1 Tesselations in the hyperbolic strip . . . . . . . . . . . . . . . . . . . . . 210

13.2 Tesselations in the Poincaré upper half-plane . . . . . . . . . . . . . . . 211
13.3 Tesselations in the Poincaré disc . . . . . . . . . . . . . . . . . . . . . . 211
13.4 Analysis of the entire square . . . . . . . . . . . . . . . . . . . . . . . . 217
13.5 Semiclassical length spectrum . . . . . . . . . . . . . . . . . . . . . . . . 221
13.6 Analysis for the rectangle with b = π/3 . . . . . . . . . . . . . . . . . . 226
13.7 Analysis for the hyperbolic circle . . . . . . . . . . . . . . . . . . . . . . 227
13.8 Distribution of deviations in the Euclidean plane and in the hyperbolic
plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
13.9 Analysis for the parallelepiped with a = π/3 . . . . . . . . . . . . . . . 230
13.10 Analysis for the hyperbolic sphere . . . . . . . . . . . . . . . . . . . . . 231
Preface

Motivation.

In this monograph I want to give an overview and summary of two lines of research I
have carried out: These are the theory of path integrals on the one hand, and Selberg
trace formulæ on the other. The first topic, the study of path integrals I started
with my Diploma Thesis which was entitled “Das Coulombpotential im Pfadintegral”
[195]. I calculated the radial path integral for the Coulomb potential, however, in a
somewhat complicated way: I used a two-dimensional analogue of the Kustaanheimo-
Stiefel transformation. My Diploma Thesis was the starting point for an intensive
investigation of path integral formulations on curved manifolds.
Later on, I could generalize these results to the path integral formulation for some
specific coordinate systems in spaces of constant curvature on the sphere and the
pseudosphere, for general hyperbolic spaces of rank one, for hermitian spaces (later
also for hermitian hyperbolic spaces), and for single-sheeted hyperboloids. I started a
systematic investigation of the path integral formulation (and evaluation if possible)
in spaces of constant curvature, where all coordinate systems which separate the
Schrödinger equation or the path integral, respectively, were taken into account.
Motivated by string theory, in particular by the Polyakov approach to string
perturbation theory which is a path integral formulation, and quantum mechanics
in spaces of constant negative curvature, I started an investigation in the theory of
the Selberg trace formula, i.e., quantum field theory on Riemann surfaces. The first
principal achievement I presented in my Dissertation [203]. It included a thorough
discussion of the Selberg super-trace formula on super-Riemann surfaces, and I could
derive the trace formula for super-automorphic forms of integer weight. Analytic
properties of the Selberg super-zeta-functions could be discussed by a proper choice
of testfunctions in the trace formula, and super-determinants of Laplacians on super-
Riemann surfaces could be expressed in terms of the Selberg super-zeta-functions,
thus giving well-defined expressions for all genera in the integrand of the Polyakov
partition function. It is interesting to note that the Selberg trace formula can be
derived by a path integration. This is true for the usual as well as the super-hyperbolic
plane.
I developed the theory further, first by including elliptic and parabolic conju-
gacy classes in the Selberg super-trace formula, and secondly by the incorporation of

xiii
xiv PREFACE

bordered super-Riemann surfaces. In the latter case I could generalize results from
a joint paper with Jens Bolte, where we merged results from Venkov, Hejhal and
Bolte and Steiner to derive a Selberg trace formula on bordered Riemann surfaces for
automorphic forms of integer weight.
Also, the asymptotic distribution for the lengths of geodesics and the eigenvalues of
Laplacians, i.e. analogies for Huber’s and Weyl’s law, respectively, on super Riemann
surfaces could be stated.
In the first edition of this monograph I successfully solved the path integral rep-
resentations for many coordinate systems on two- and three-dimensional pseudo-
Euclidean space, Euclidean space, the sphere and the pseudosphere. These coordinate
systems separate the Schrödinger equation, respectively the path integral. However,
several path integral representations could not be evaluated, which is mainly due
to that they are parametric systems. Surprisingly several path integral representa-
tions for elliptic and spheroidal coordinate systems could be derived which is due
to expansion-theorems for elliptic and spheroidal coordinates in three-dimensional
Euclidean space.
In the second edition of this monograph I was able to extend this study to more
spaces: The two- and three-dimensional complex spheres, which are, however, some-
what only a formal level, because the complex sphere is a complex space. However,
parametric coordinate systems cannot be treated generally.
Furthermore I can include path integral representations and solution on the her-
mitian hyperbolic space HH(2), and for two- and three-dimensional Darboux spaces.
Darboux spaces have the interesting property that they are spaces of non-constant
curvature, which contain as limiting case spaces of constant curvature, though, i.e.
spheres and hyperboloids. In two dimensions four cases of Darboux spaces are studied,
and in three dimensions two cases of Darboux spaces. Another interesting property of
Darboux spaces is that in some of them there is a zero-point energy for the free motion
in the continuous spectrum (D II , D IV , D 3d−II ). Also, for the free motion, a discrete
spectrum can arise (D III ). Another feature in three-dimensional Darboux spaces is
the fact that a proper quantum theory must be set up. The incorporation of the third
dimension changes the corresponding momentum operators (and the Hamiltonian) in
such a way that without a proper additional quantum potential no calculations at all
would be possible.
A further extension to the so-called Koenig-spaces I have omitted here. Including
them would require more space without giving more substantial information and
insight.
Also omitted are the discussions of super-integrable potentials, also called Smo-
rodinsky-Winternitz potentials. Including them would extend this work far too much.
In the future it is planned to publish another monograph about the topic of super-
integrable potentials in spaces of constant and non-constant curvature. Also complex
spaces will be included, as well as the investigations on the O(2, 2) and SU(2, 2)
hyperboloids.
PREFACE xv

In the path integral representation on the single-sheeted hyperboloid no new re-

sults have been added. This is due to the fact that an extensive study of the free
motion of the O(2, 2) hyperboloid is still missing. In Chapter 11 I only provide some
more information about the coordinate systems on the two-dimensional single-sheeted
hyperboloid.
In the investigation of billiard systems and periodic orbit theory I have added
several more integrable systems in two and three dimensions, this includes billiard
systems in flat space as well in hyperbolic space (e.g. in the Poincaré disc), for instance
triangles, circles, parallelepipeds, and spheres. The numerical investigations nicely
confirm the semiclassical theory.
In the theory of the Selberg trace formula I have added a study on asymptotic
distributions on super-Riemann surfaces, i.e. Huber’s and Weyl’s law. Here, not
surprisingly, the feature is recovered that in super-symmetric quantum mechanics
there are as many bosonic as fermionic states, except for a (zero-energy) ground
state. In some sense, Weyl’s law for compact super-Riemann surfaces can be quite
boring.

Acknowledgements for the Second Edition.

I would like to thank the publisher, World Scientific Publishing, for giving me the
possibility to publish a second edition of this monograph. I could include a lot of new
material.
I would like thank my friend and colleague George Pogosyan. We wrote several
papers an integrable coordinate systems and superintegrability in spaces of constant
and non-constant curvature. I enjoyed very much several visits in Dubna (Russia)
and Yerewan (Armenia) with him and his family. It was always a great pleasure for
me. Im memoriam I also thank Prof. Alexei Sissakian who passed away too early in
2010 for the collaboration in our joint work and given me the possibilty for visiting
Russia.
I also thank the “Stadtteilschule Walddörfer, Hamburg” for giving me the possi-
bility to compile and finish this second edition of this monograph.
Furthermore I would like to thank in addition to the first edition Yota Ardamerina,
Jochen Bartels, Cornelia Brandl-Hoff Sensei and Feliks Hoff Sensei, Wolf Beiglböck
and his wife Urda Beiglböck, Christian Caron, Inken Eckelmann, Rafael Gil-Brand,
Stefan Gößling and Verena Reisemann, Dieter Greschok, Dieter Haidt, Burkhard
Hofmann, Gertrude Huber, Ernie Kalnins, Hagen Kleinert, Angela Lahee, Ole Nydal,
Elisabeth Thölke, Pavel Winternitz, for support, fruitful discussions, useful hints,
friendship, and many more.
Last but not least I would like to thank my son Urs, who gives me a lot of joy.
xvi PREFACE

Acknowledgements for the First Edition.

First of all I would like to thank my beloved friend Claudia Renner for her endurance
and patience.
I am grateful to my parents, Emmy and Dr. Heinz Grosche, for their support, and
also my brother Karl Rudolf Grosche and his wife Gloria for reading a big manuscript
on short notice.
I would like to thank my teacher Frank Steiner for his constant encouragement
and support for completing this Habilitationsschrift. I particularly appreciated his
attitude to be open for discussions all the time, his fruitful hints and suggestions, and
the friendly atmosphere during all the years of our collaboration, and I thank him for
a critical reading of the manuscript.
I am very grateful to George Pogosyan who drew my attention to the subject of
interbasis expansions and coordinate systems in spaces of constant curvature.
I would like to thank Akira Inomata and Georg Junker for fruitful discussions
concerning path integration on group manifolds, in particular during my visit to the
State University of New York at Albany, N.Y., which was made possible by the invi-
tation of A. Inomata and financial support of the Deutsche Forschungsgemeinschaft.
I also thank Pavel Winternitz for his kind invitation to the University of Montreal
during my stay in Albany, N.Y., and I thank Dennis Hejhal for the encouragement
for studying Selberg trace formulæ.
Furthermore I would like to thank my friends and colleagues at the II. Institut
für Theoretische Physik, Hamburg, for their friendship and help in discussing issues
arising in the work; among them in particular Ralf Aurich, Arnd Bäcker, Guido
Bennecke, Jens Bolte, Thomas Hesse, Claudia Matthies, Jens Marklof, Holger Nin-
nemann, Christer Oldhoff, and Oliver Rudolph.
I am also grateful to several people in the computing center at DESY for software
support, among them Erwin Deffur, Jan Hendrik Peters, and Katherine Wipf.
This work was supported by Deutsche Forschungsgemeinschaft under contract
number GR 1031/2–1.
Chapter 1
Introduction

Path Integrals.
Contrary to common believe, the proper quantum potential in the path integral in
quantum mechanics is in general not just a constant proportional to the curvature.
There may be a formulation, where this is the case, but not necessarily. In particular,
if the path integral is formulated in terms of the classical Lagrangian, thus giving
rise to an effective Lagrangian, then the quantum potential is explicitly coordinate-
dependent.
Our first paper [248] was followed by other instructive examples of path integrals
which could be treated by this theory in a consistent way. Among them were the path
integral on the Poincaré upper half-plane [247], and its related conformally equivalent
formulations, the Poincaré disc and the hyperbolic strip [202], and the pseudosphere
[249]. Some potential problems [198, 204] and the incorporation of magnetic fields
[197, 200] could also be discussed in this context, among them the Kepler problem
on the pseudosphere [201]. Here a useful lattice formulation of the path integral was
extensively used, which I have called “product form” [196]. In comparison to the
often used (arithmetic) mid-point formulation, this lattice prescription is basically
a geometric mid-point formulation. Also the already in [248] improved space-time
transformation (also Duru-Kleinert transformation) technique could be further devel-
oped in [218] by the incorporation of explicitly time-dependent transformations.
The part of this volume concerned with path integrals is designed as follows: In
Chapter 2 I review the definition of path integrals on curved manifolds. This includes
the explicit construction of the path integral in its lattice definition. The two most
important lattice prescriptions, mid-point and product-form are presented with the
emphasize on the latter. Other lattice representations are not discussed, and neither
the Vielbein approach of Kleinert [352]. Furthermore, transformation techniques are
outlined. This includes point canonical transformations, space-time transformations,
pure time transformations, and separation of variables. Some of the path integral
investigations were done in joint work with Frank Steiner [248]. It must be noted that
in recent years several review articles and textbooks following the classical books of
Feynman and Hibbs [164] and Schulman [460] on exactly solvable path integrals with
many examples have been published, e.g., Albeverio et al. [5, 3], Dittrich and Reuter

1
2 CHAPTER 1. INTRODUCTION

[131], Glimm and Jaffe [182], Inomata et al. [289], Khandekar and Lawande [337],
Kleinert [352], Roepstorff [454]. Simon [470], and Wiegel [519].
In Chapter 3 I give a summary of the classification of coordinate systems in spaces
of constant curvature. This includes some remarks about the physical significance
concerning separation of variables and breaking of symmetry, a general classification
scheme, and an overview of the coordinate systems in Euclidean and Minkowski spaces
and on spheres and hyperboloids.
In the next nine Chapters the path integral representations in several classes
of (homogeneous) spaces are discussed. It includes the two- and three-dimensional
Minkowski or pseudo-Euclidean spaces (Chapter 4), the two- and three-dimensional
Euclidean spaces (Chapter 5), the two- and three-dimensional spheres (Chapter 6)
and hyperboloids (Chapter 7), the two- and three-dimensional complex sphere (Chap-
ter 8), hermitian hyperbolic space (Chapter 9), and Darboux spaces (Chapter 10).
Additional results for the two-dimensional single-sheeted hyperboloid are presented in
Chapter 11 and for more general homogeneous and hyperbolic spaces in Chapter 12.
This includes the single-sheeted two-dimensional hyperboloid, the hyperbolic space
corresponding to SO(p, q) and SU(p, q), and the case of hyperbolic spaces of rank one.
In comparison to the first edition of this monograph, the Chapters 8, 9 and 10
are entirely new. They contain results, which have been achieved in the course of
studying more general cases as just real spaces, respectively real spaces of constant
curvature, respectively spaces whose curvature is not constant, i.e. the Darboux
spaces. However, I will not discuss the so-called Koenig-spaces which emerge from,
say, usual flat space by multiplying the metric with a super-integrable potential in
this flat space. This can be done in two- and three-dimensional Euclidean space,
respectively. In two dimensions these potentials are the isotropic harmonic oscillator,
the Holt-potential, and the Coulomb potential, e.g. [241]. The quantum motion
then can be analyzed in the usual way by path integration [235, 237]. However, the
quantization conditions for the energy-levels turn out to be rather complicated. They
require the solution of an equation of eighth order in the energy E. Surprisingly,
special cases of the Koenig-spaces turn to be Darboux spaces, spaces of constant
(negative) curvature, and, of course, Euclidean space.
Koenig spaces which emerge form an analogous way from, say, Minkowski space,
or spaces with constant (positive and negative) curvature with their corresponding
super-integrable potentials have not been discussed yet. Their construction should
be straightforward, though, including a path integral evaluation.
The cases of two- and three-dimensional Darboux spaces have been partly done
in collaboration with George Pogosyan [244], in particular in the context of super-
integrable potentials in these spaces. This was an extension of earlier work of super-
integrable potentials on spaces of constant curvature [241]–[243].
Generally, I denote by “u” coordinates with indefinite metric, and by “q” coordi-
nates with a positive definite metric. I start with the case of the pseudo-Euclidean
space, because the proposed path integral solutions are entirely new. Some of the path
integral solutions in the remaining three other spaces have been already reviewed in
[223], and I do not discuss all the solutions in detail once more. Only the new so-
CHAPTER 1. INTRODUCTION 3

lutions are treated more explicitly. In particular, I concentrate on the path integral
solutions which can be obtained by means of interbasis expansions. This includes the
case of elliptic coordinates in two-dimensional Euclidean space, on the sphere and on
the pseudosphere, the case of spheroidal coordinates in three-dimensional Euclidean
space, and some cases of ellipsoidal coordinates in spaces of constant curvature in
three dimensions. As we will see, all the developed path integral techniques will come
into play. I have cross-checked the solutions with the ones available in the literature
achieved by other means. My hope is that my presentation will serve as a table for
path integral representations in homogeneous spaces. I did not intend a discussion
according to Camporesi [94] with a generalization to higher dimensions, applications
of my results in cosmology, zeta-function regularization, etc. In addition, some results
of path integration on generalized hyperbolic spaces are given.

Periodic Orbit Theory and Selberg Trace Formulæ.

For about twenty years trace formulæ have played a major role in mathematical
physics and string theory. Generally, trace formulæ relate the classical and the quan-
tum properties of a given system to each other. This can be very easily visualized
with a simple example, the drum: The periodic orbits are the classical trajectories
on the drum, and the energy eigenvalues are related to its modes (hence the question
“Can one hear the shape of a drum?” [296]). This is true for every system one wants
to study, however, trace formulæ become particularly important and useful when the
system under consideration is classically chaotic. A necessary condition that a clas-
sical system can be solved exactly is that the phase space separates into invariant
tori. If this is not the case, the usual tools of a perturbative approach break down
and because of the exponentially diverging distance of initially nearby trajectories
described by the Lyapunov exponent, no statement about the long-time behaviour
of the system can be made. In the mathematical literature explicit statements of
this feature were first made by Hadamard [261] and Poincaré [445]. They considered
classical motion on spaces of constant negative curvature.
Surprisingly enough it was Einstein [147] who pointed out that any attempt to
quantize a generic classical system runs into trouble if there are not enough con-
stants of motion in this system. The existence of constants of motion in conservative
classical systems - the energy E being just one constant of motion among others -
cause that the phase space corresponding to this system separates into invariant tori.
Einstein made this observation in connection to the “old” quantum theory,
and he
considered the problem under which conditions the quantization rule p · dq = n
makes sense. It makes sense if one can find in IRD , say, a coordinate system such that
for any generalized coordinate qa one can find a generalized conjugate momentum pa
with pa a conserved quantity. In other words, we must find in a D-dimensional space
(D > 1) at least one coordinate system which separates the classical equations of
motions or the Laplacian, respectively. Finding such a coordinate system is equiva-
lent in finding a set of observables. If this is not the case a quantization procedure
cannot be found in the usual way by introducing position and momentum operators
and impose commutation relations among them. A minimum of two dimensions is
4 CHAPTER 1. INTRODUCTION

required in order that this feature can occur. Therefore the only systems which can
be quantized semiclassically are those whose classical phase space consists of D-fold
separating invariant tori. Among them are many well-known standard systems as the
harmonic oscillator, the hydrogen atom, anharmonic oscillators like the Morse- or the
Pöschl–Teller oscillators, and all one-dimensional systems. Excluded are the motion
on spaces of constant negative curvature, billiard systems with boundaries which have
defocusing properties, and many others like a hydrogen atom in a uniform magnetic
field or the anisotropic Kepler problem. All these systems are classically chaotic.
In the 1960’s Gutzwiller [258] was the first who developed by means of path
integrals a semiclassical theory for systems, which are classically chaotic and cannot
be quantized semiclassically, because no set of invariant tori exists. What do exist,
however, are periodic orbits and energy levels, the very things physicists are interested
in. Gutzwiller discovered his periodic orbit formula in the study of the problem of the
semiclassical quantization of separable and non-separable (chaotic) systems, where
the most important separable system under consideration was the hydrogen atom
[258]. The semiclassical trace formula of Gutzwiller has been applied successfully to
many physical systems, like the anisotropic Kepler problem [260], the Helium-atom
[522], the hydrogen-atom in crossed electric and magnetic fields [493], and billiard
systems, e.g., [23, 467, 469]. Later on, in the study of more general systems, in
particular for the classical and quantum motion on a Riemann surface, he realized
that he had rediscovered the Selberg trace formula [259]. A sound mathematical
footing for a large class of systems is also due to Albeverio et al. [2].
The second part of this volume is therefore devoted to periodic orbit theory,
the theory of the Selberg (super-) trace formula, and some of its applications in
mathematical physics. It is important to keep in mind that contrary to one’s first
impression, these topics do have a relation to path integral techniques indeed. First of
all, for the derivation of the periodic orbit formula the path integral is essential. Only
the path integral gives in its semiclassical (stationary phase etc.) approximation all
the necessary information for a proper set up for a correct and comprehensive periodic
orbit formula. This is due to the property of the path integral that it represents in
quantum mechanics not just only a summation over paths, but a summation over all
paths. This huge amount of information goes into the periodic orbit formula if one
studies more and more refinements and improvements of it, i.e., information about the
Maslov-indices, caustics, discontinuities in the van Vleck-Pauli-Morette determinant,
and many more. Another line of reasoning is valid in the case of the Selberg trace
formula. Considering a path integral formulation on a Riemann surface represents
just but a special case of the Selberg trace formula, i.e., the Selberg trace formula
for the heat kernel: Usually the propagator or the Green’s function, respectively, in
a hyperbolic space can be evaluated in closed form. Applying the composition law
for a path integral on a coset space yields an expansion over group elements for the
propagator. In the case of Riemann surfaces the summation is over the elements of a
Fuchsian group. Taking the trace gives the Selberg trace formula.
In Chapter 13 I start with an elementary introduction into the periodic orbit
theory and the periodic orbit trace formula of Gutzwiller [258]–[260] and Sieber and
CHAPTER 1. INTRODUCTION 5

Steiner [467, 469]. Aspects of mathematical rigour are set aside, e.g., Albeverio et al.
[2]. I give a simple derivation of the periodic orbit formula, the regularized periodic
orbit formula is stated without proof, and I give some arguments that the periodic
orbit theory is the proper semiclassical quantization procedure for classically chaotic
systems. These remarks are supposed to be on an informal level, and in Chapter 14 I
give some more details of the theoretical background. This emphasizes the importance
of trace formulæ, and in particular the importance of Selberg trace formulæ. The
remainder of Chapter 13 is then devoted several integrable billiard system. One of
them I have called a billiard system in a “rectangle in the hyperbolic plane”. A
numerical analysis has been presented in [219], and some of the most important
features are reported here. Furthermore, I give some additional analysis concerning
the fluctuations of the number of energy levels about the mean number of energy
levels. The other two- and three-dimensional integrable billiard systems have been
investigated in [238], which included the numerical evaluation of the corresponding
energy-levels and the statistics.
These studies of Selberg trace formulæ in the connection with periodic orbit theory
and quantum chaos led to the investigation of a separable billiard system in the
hyperbolic plane. This system was analyzed in [211]. The most important results are
reported in Chapter 13, including some new studies concerning the statistic of the
fluctuations of the number of energy levels about the mean number of levels.
A conjecture of Steiner et al. [18, 480] predicts for classically chaotic systems a
Gaussian distribution of the fluctuations of the spectral staircase about the mean
number of energy levels (Weyl’s law), whereas the fluctuations for classically inte-
grable systems should be all non-Gaussian. Within the error margins, the conjecture
is supported by the investigated systems. Whereas the original attempt of periodic
orbit theory was to determine from the knowledge of the classical periodic orbits the
quantal energy levels, it can also be used to do the analysis the other way round:
Take the energy levels and determine the lengths of the periodic orbits. This analysis
is done for the rectangular billiard system in the hyperbolic plane, and it is found
that the two shortest periodic orbits (and their multiplies) can be indeed determined.
However, a systematic investigation of the periodic orbits of this system has not been
done yet; this and a desirable extended and refined determination of the energy levels
have not been the topic of this volume.
In the next two Chapters I deal with the Selberg trace formula on Riemann sur-
faces and with the Selberg super-trace formula on super-Riemann surfaces, respec-
tively. Selberg trace formulæ in symmetric space forms of rank higher than one as,
e.g., considered by Efrat [145] and Wallace [516], are not taken into account. In
Chapter 14 I give a summary of the theory of the Selberg trace formula. I start with
an overview of several applications in Mathematical Physics, i.e., cosmology, string
theory, relation with the Riemann zeta functions, and higher dimensional general-
izations, i.e., hyperbolic space forms of rank one. I am concerned mainly with the
statement of the trace formulæ, including the incorporation of elliptic and parabolic
conjugacy classes. After using the trace formula for the determination of the analytic
properties of the Selberg zeta-function, I show how determinants of Laplacians on
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