Modified gravity theories have received increased attention lately due to combined motivation coming from high-energy physics, cosmology, and astrophysics. Among numerous alternatives to Einstein's theory of gravity, theories that include higher-order curvature invariants, and specifically the particular class of $f(R)$ theories, have a long history. In the last five years there has been a new stimulus for their study, leading to a number of interesting results. Here $f(R)$ theories of gravity are reviewed in an attempt to comprehensively present their most important aspects and cover the largest possible portion of the relevant literature. All known formalisms are presented---metric, Palatini, and metric affine---and the following topics are discussed: motivation; actions, field equations, and theoretical aspects; equivalence with other theories; cosmological aspects and constraints; viability criteria; and astrophysical applications.

f ( R ) theories of gravity

Modified Gravity and Cosmology

The status of experimental tests of general relativity and of theoretical frameworks for analyzing them is reviewed and updated. Einstein’s equivalence principle (EEP) is well supported by experiments such as the Eotvos experiment, tests of local Lorentz invariance and clock experiments. Ongoing tests of EEP and of the inverse square law are searching for new interactions arising from unification or quantum gravity. Tests of general relativity at the post-Newtonian level have reached high precision, including the light deflection, the Shapiro time delay, the perihelion advance of Mercury, the Nordtvedt effect in lunar motion, and frame-dragging. Gravitational wave damping has been detected in an amount that agrees with general relativity to better than half a percent using the Hulse-Taylor binary pulsar, and a growing family of other binary pulsar systems is yielding new tests, especially of strong-field effects. Current and future tests of relativity will center on strong gravity and gravitational waves.

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The Confrontation Between General Relativity and Experiment

Over the past decade, f(R) theories have been extensively studied as one of the simplest modifications to General Relativity. In this article we review various applications of f(R) theories to cosmology and gravity - such as inflation, dark energy, local gravity constraints, cosmological perturbations, and spherically symmetric solutions in weak and strong gravitational backgrounds. We present a number of ways to distinguish those theories from General Relativity observationally and experimentally. We also discuss the extension to other modified gravity theories such as Brans-Dicke theory and Gauss-Bonnet gravity, and address models that can satisfy both cosmological and local gravity constraints.

f(R) theories

QUANTUM gravitational effects are usually ignored in calculations of the formation and evolution of black holes. The justification for this is that the radius of curvature of space-time outside the event horizon is very large compared to the Planck length (Għ/c3)1/2 ≈ 10−33 cm, the length scale on which quantum fluctuations of the metric are expected to be of order unity. This means that the energy density of particles created by the gravitational field is small compared to the space-time curvature. Even though quantum effects may be small locally, they may still, however, add up to produce a significant effect over the lifetime of the Universe ≈ 1017 s which is very long compared to the Planck time ≈ 10−43 s. The purpose of this letter is to show that this indeed may be the case: it seems that any black hole will create and emit particles such as neutrinos or photons at just the rate that one would expect if the black hole was a body with a temperature of (κ/2π) (ħ/2k) ≈ 10−6 (M/M)K where κ is the surface gravity of the black hole1. As a black hole emits this thermal radiation one would expect it to lose mass. This in turn would increase the surface gravity and so increase the rate of emission. The black hole would therefore have a finite life of the order of 1071 (M/M)−3 s. For a black hole of solar mass this is much longer than the age of the Universe. There might, however, be much smaller black holes which were formed by fluctuations in the early Universe2. Any such black hole of mass less than 1015 g would have evaporated by now. Near the end of its life the rate of emission would be very high and about 1030 erg would be released in the last 0.1 s. This is a fairly small explosion by astronomical standards but it is equivalent to about 1 million 1 Mton hydrogen bombs. It is often said that nothing can escape from a black hole. But in 1974, Stephen Hawking realized that, owing to quantum effects, black holes should emit particles with a thermal distribution of energies — as if the black hole had a temperature inversely proportional to its mass. In addition to putting black-hole thermodynamics on a firmer footing, this discovery led Hawking to postulate 'black hole explosions', as primordial black holes end their lives in an accelerating release of energy.

Black Hole Explosions

The Einstein equation is derived from the proportionality of entropy and the horizon area together with the fundamental relation $\ensuremath{\delta}Q\phantom{\rule{0ex}{0ex}}=\phantom{\rule{0ex}{0ex}}T\mathrm{dS}$. The key idea is to demand that this relation hold for all the local Rindler causal horizons through each spacetime point, with $\ensuremath{\delta}Q$ and $T$ interpreted as the energy flux and Unruh temperature seen by an accelerated observer just inside the horizon. This requires that gravitational lensing by matter energy distorts the causal structure of spacetime so that the Einstein equation holds. Viewed in this way, the Einstein equation is an equation of state.

Thermodynamics of spacetime: The Einstein equation of state.

We study a generally covariant model in which local Lorentz invariance is broken by a dynamical unit timelike vector field ${u}^{a}$---the ``aether.'' Such a model makes it possible to study the gravitational and cosmological consequences of preferred frame effects, such as ``variable speed of light'' or high frequency dispersion, while preserving a generally covariant metric theory of gravity. In this paper we restrict attention to an action for an effective theory of the aether which involves only the antisymmetrized derivative ${\ensuremath{\nabla}}_{[a}{u}_{b]}.$ Without matter this theory is equivalent to a sector of the Einstein-Maxwell-charged dust system. The aether has two massless transverse excitations, and the solutions of the model include all vacuum solutions of general relativity (as well as other solutions). However, the aether generally develops gradient singularities which signal a breakdown of this effective theory. Including the symmetrized derivative in the action for the aether field may cure this problem.

Gravity with a dynamical preferred frame

Two techniques for computing black hole entropy in generally covariant gravity theories including arbitrary higher derivative interactions are studied. The techniques are Wald's Noether charge approach introduced recently, and a field redefinition method developed in this paper. Wald's results are extended by establishing that his local geometric expression for the black hole entropy gives the same result when evaluated on an arbitrary cross section of a Killing horizon (rather than just the bifurcation surface). Further, we show that his expression for the entropy is not affected by ambiguities which arise in the Noether construction. Using the Noether charge expression, the entropy is evaluated explicitly for black holes in a wide class of generally covariant theories. For a Lagrangian of the functional form L\ifmmode \tilde{}\else \~{}\fi{}=L\ifmmode \tilde{}\else \~{}\fi{}(${\mathrm{\ensuremath{\psi}}}_{\mathit{m}}$, ${\mathrm{\ensuremath{\nabla}}}_{\mathit{a}}$${\mathrm{\ensuremath{\psi}}}_{\mathit{m}}$,${\mathit{g}}_{\mathit{a}\mathit{b}}$,${\mathit{R}}_{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$, ${\mathrm{\ensuremath{\nabla}}}_{\mathit{e}}$${\mathit{R}}_{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$), it is found that the entropy is given by S=-2\ensuremath{\pi}\ensuremath{\oint}(${\mathit{Y}}^{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$-${\mathrm{\ensuremath{\nabla}}}_{\mathit{e}}$${\mathit{Z}}^{\mathit{e}:\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$) \ensuremath{\epsilon}${\mathrm{^}}_{\mathit{a}\mathit{b}}$\ensuremath{\epsilon}${\mathrm{^}}_{\mathit{c}\mathit{d}}$\ensuremath{\epsilon}\ifmmode\bar\else\textasciimacron\fi{}, where the integral is over an arbitrary cross section of the Killing horizon, \ensuremath{\epsilon}${\mathrm{^}}_{\mathit{a}\mathit{b}}$ is the binormal to the cross section, ${\mathit{Y}}^{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$=\ensuremath{\partial}L\ifmmode \tilde{}\else \~{}\fi{}/\ensuremath{\partial}${\mathit{R}}_{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$, and ${\mathit{Z}}^{\mathit{e}:\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$=\ensuremath{\partial}L\ifmmode \tilde{}\else \~{}\fi{}/\ensuremath{\partial}${\mathrm{\ensuremath{\nabla}}}_{\mathit{e}}$${\mathit{R}}_{\mathit{a}\mathit{b}\mathit{c}\mathit{d}}$.Further, it is shown that the Killing horizon and surface gravity of a stationary black hole metric are invariant under field redefinitions of the metric of the form g${\mathrm{\ifmmode\bar\else\textasciimacron\fi{}}}_{\mathit{a}\mathit{b}}$\ensuremath{\equiv}${\mathit{g}}_{\mathit{a}\mathit{b}}$+${\mathrm{\ensuremath{\Delta}}}_{\mathit{a}\mathit{b}}$, where ${\mathrm{\ensuremath{\Delta}}}_{\mathit{a}\mathit{b}}$ is a stationary tensor field that vanishes at infinity and is regular on the horizon (including the bifurcation surface). Using this result, a technique is developed for evaluating the black hole entropy in a given theory in terms of that of another theory related by field redefinitions. Remarkably, it is established that certain perturbative, first order, results obtained with this method are in fact exact. A particular result established in this fashion is that a scalar matter term of the form ${\mathrm{\ensuremath{\nabla}}}^{2\mathit{p}}$\ensuremath{\varphi}${\mathrm{\ensuremath{\nabla}}}^{2\mathit{q}}$\ensuremath{\varphi} in the Lagrangian makes no contribution to the black hole entropy. The possible significance of these results for the problem of finding the statistical origin of black hole entropy is discussed.

On black hole entropy

A general formula for the entropy of stationary black holes in Lovelock higher-curvature gravity theories is obtained by integrating the first law of black hole mechanics, which is derived by Hamiltonian methods. The entropy is not simply one quarter of the surface area of the horizon, but also includes a sum of intrinsic curvature invariants integrated over a cross section of the horizon.

Black hole entropy and higher curvature interactions.

It has previously been shown that the Einstein equation can be derived from the requirement that the Clausius relation dS = �Q/T hold for all local acceleration horizons through each spacetime point, where dS is one quarter the horizon area change in Planck units, andQ and T are the energy flux across the horizon and Unruh temperature seen by an accelerating observer just inside the horizon. Here we show that a curvature correction to the entropy that is polynomial in the Ricci scalar requires a non-equilibrium treatment. The corresponding field equation is derived from the entropy balance relation dS = �Q/T + diS, where diS is a bulk viscosity entropy production term that we determine by imposing energy-momentum conservation. Entropy production can also be included in pure Einstein theory by allowing for shear viscosity of the horizon.

Ted Jacobson

Papers

Thermodynamics of spacetime: The Einstein equation of state.

Gravity with a dynamical preferred frame

On black hole entropy

Black hole entropy and higher curvature interactions.

Nonequilibrium Thermodynamics of Spacetime