We define the binormal indicatrix and focal developable of a nonlightlike curve in Minkowski 3-space. We establish the relationships between singularities of these subjects and geometric invariants of curves under the action of Lorentzian group.
"The Focal Developable and the Binormal Indicatrix of a Nonlightlike Curve in Minkowski 3-Space." Tokyo J. Math. 23 (1) 211 - 225, June 2000. https://doi.org/10.3836/tjm/1255958816