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C1 material regions have compatible Jordan volume integrals
Statement
Let be a bounded open set whose boundary is locally, after a rigid coordinate change, the graph of a function, with lying locally on one side of that graph. Let be open with . Let be a bijection onto an open image with and both , and let be continuous. A bounded set is Jordan measurable when its indicator is Riemann integrable by the zero-extension convention; a set has content zero when it has finite cube covers of arbitrarily small total volume. Then and are bounded open sets with locally graph boundaries, their compact closures are Jordan measurable, and have content zero, and
Thus a balance integral over an open material region agrees with the compact-Jordan integral on its closure after a diffeomorphic motion.
Statement references
The graph of a continuous function on a closed nondegenerate rectangle in has content zero in
A bounded set in is Jordan measurable iff its boundary is null, equivalently of content zero
The Euclidean inverse function theorem
Jiří Lebl, Basic Analysis II, §10.5 Jordan measurable sets — Proposition10.5.1 (boundary criterion), Definition10.5.4 and Proposition10.5.5 (zero-extension Jordan integral and continuous functions), Proposition10.5.6 (linearity/order/a.e. equality), Proposition10.5.9 (compact Jordan images under injective C1 maps); ingredients adapted in the local proof, not an attribution of the complete item verbatim.
Jiří Lebl, Basic Analysis II, §8.5 Inverse and implicit function theorems — Theorem8.5.1: local C1 inverse from invertible derivative, used for the local graph-coordinate argument. The complete C1-region compatibility statement is proved locally from the declared published suppliers.
Facts & Assumptions
Given: The open set , its local graph-boundary property, the open neighborhood , the map , and the continuous function from the statement.
The graph of a continuous function on a closed nondegenerate rectangle in has content zero in : the graph of a continuous function on a closed nondegenerate rectangle in has content zero in .
Measure zero and content zero in by countable and finite cube covers: content zero means finite cube covers of arbitrarily small total volume; it passes to subsets and finite unions, and padding such covers with degenerate cubes makes the set null.
A bounded set in is Jordan measurable iff its boundary is null, equivalently of content zero: a bounded subset of Euclidean space is Jordan measurable if and only if its boundary has content zero.
A continuous image of a compact space is compact; a continuous real-valued map on a nonempty compact space attains a maximum and a minimum; and a continuous bijection from a compact space to a Hausdorff space is a homeomorphism: the continuous image of a compact space is compact, and a continuous real-valued function on a compact space is bounded.
Lebesgue's criterion in : a bounded function on a closed nondegenerate rectangle is Riemann integrable iff its discontinuity set is null: a bounded function on a rectangle is Riemann integrable when its discontinuity set is null.
A bounded set is Jordan measurable iff its indicator is Riemann integrable, and the integral is its Jordan content: the indicator of a Jordan measurable set is Riemann integrable and its integral equals its Jordan content.
Linearity, monotonicity, the absolute-value estimate and coordinate-slice additivity for the Riemann integral in : the Riemann integral is linear, monotone, and bounded in absolute value by the integral of the absolute value.
The Riemann integral of a bounded function over a bounded Jordan measurable set: a bounded function is integrated over a bounded Jordan set by extending it by zero to a containing rectangle.
The Euclidean inverse function theorem: a map with invertible derivative at a point has a local inverse near that point.
The chain rule for total derivatives: : derivatives of composable totally differentiable Euclidean maps multiply in order.
Proof
Given: [F1]–[F11], the stated local graph condition, and the diffeomorphism .
Put . It is closed and bounded, hence compact by [F4]. At each , the local graph condition gives rigid coordinates and an open planar set on which is the graph of a function. Choose a small closed nondegenerate rectangle inside that planar set so its graph lies within the boundary chart and covers a neighborhood of in . Compactness gives finitely many such graph patches covering . Each patch has content zero by [F1]. A rigid image of a cube of side lies in an axis-parallel cube of side , so rigid coordinate changes enlarge the total covering volume by at most . Thus each patch has content zero in the original coordinates.
Parameterize a local graph patch at by on an open subset of ; its derivative has rank two because its first two coordinates are . Differentiate and use [F11] to see that is invertible. Thus has rank two. Choose rigid target coordinates so the first two coordinates of this derivative are invertible. The inverse function theorem [F10] gives a local inverse for those two coordinates, so the third coordinate expresses locally as a graph. The homeomorphism maps the local one-sided region to one side of that image graph. Hence has locally graph boundary.
By [F2], the finite union of the source graph patches in step 1.1 shows that has content zero.
The compact image has a finite cover by the local graph patches from step 1.2. By [F1] each patch has content zero in its rigid coordinates, and the cube-cover comparison in step 1.1 transfers that property to the original coordinates. Therefore has content zero. It is closed and bounded by compactness and [F4], so its boundary is a subset of that content-zero set and [F3] makes Jordan measurable.
The Jordan boundary criterion [F3] makes the bounded open set Jordan measurable by step 2.1. The closure is closed and bounded, and , so [F2]–[F4] make it compact Jordan. The compact image is bounded by [F5], and its boundary is contained in ; [F2] and [F3] make it Jordan measurable. The open image is bounded as a subset of , and its boundary is ; [F3] makes it Jordan measurable.
The function is bounded by some on the compact set by [F5]. In a common containing rectangle, its zero extensions from and differ only on , which has content zero by step 2.2. Their bounded difference has discontinuities only on that content-zero set, so [F6] makes it integrable. Moreover . By [F7], ; monotonicity and the absolute-value estimate [F8] imply . The zero-extension definition [F9] therefore gives equal integrals:
Source notes
These are source ingredients adapted in the local proof, rather than an attribution of this complete lemma verbatim.
Depends on
The graph of a continuous function on a closed nondegenerate rectangle in has content zero in
Measure zero and content zero in by countable and finite cube covers
A bounded set in is Jordan measurable iff its boundary is null, equivalently of content zero
Heine-Borel in : with the Euclidean metric a subset of is compact if and only if it is closed and bounded, and the proof by bisection uses no choice principle; the same holds on the real line
A continuous image of a compact space is compact; a continuous real-valued map on a nonempty compact space attains a maximum and a minimum; and a continuous bijection from a compact space to a Hausdorff space is a homeomorphism
Lebesgue's criterion in : a bounded function on a closed nondegenerate rectangle is Riemann integrable iff its discontinuity set is null
A bounded set is Jordan measurable iff its indicator is Riemann integrable, and the integral is its Jordan content
Linearity, monotonicity, the absolute-value estimate and coordinate-slice additivity for the Riemann integral in
The Riemann integral of a bounded function over a bounded Jordan measurable set
The Euclidean inverse function theorem
The chain rule for total derivatives: