C AHIERS DE
TOPOLOGIE ET GÉOMÉTRIE DIFFÉRENTIELLE CATÉGORIQUES
P. M ICHOR
Manifolds of smooth maps III : the principal bundle of embeddings of a non-compact smooth manifold
Cahiers de topologie et géométrie différentielle catégoriques, tome 21, n
o3 (1980), p. 325-337
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Article numérisé dans le cadre du programme Numérisation de documents anciens mathématiques
MANIFOLDS OF SMOOTH MAPS III : THE PRINCIPAL BUNDLE OF EMBEDDINGS OF A NON-COMPACT SMOOTH MANIFOLD
by P. MICHOR
CAHIERS DE TOPOLOGIE ET GEOMETRIE DIFFERENTIELLE
Vol. XXI -3
(1980)
dedicated to Charles Ehresmann
A BST RACT. It is shown that the manifold
E (X, Y)
of all smooth embed-dings
from amanifold X
in a manifold Y is a smoothprincipal Diff(X)- bundle,
whereDiff(X)
is the smoothLie-group
of alldiffeomorphisms
of
X.
This paper is a
sequel
to[9]
which isagain
asequel
to[7];
in[7]
it was shown that the spaceC°° ( X, Y )
of all smoothmappings X - Y
for
arbitrary
non-compact smooth finite dimensionalmanifolds X
and Y isagain
a smooth manifold in a natural way,using
the notionC°° = Coo
ofKeller
[6] .
In[9]
it was shown that the open subsetDiff(X) C Coo ( X, Y )
of all
C°°-diffeomorphisms
is a smooth Lie group in the same notion ofdifferentiability Cm .
In this paper we show that the open subsetof all smooth
embeddings
X -Y
is a smoothprincipal Diff (X) -bundle
with base space
U(X, Y) = E(X, Y)/Diff(X),
the space of all «subma- nifolds of Y oftype X
», which isagain
a smoothCoo TT-manifold.
We remarkthat all
proofs
of[7, 9]
and this paper mayeasily
beadapted
to furnishthe results in the notion of
differentiability C’
usedby Fischer,
Gutk-necht, Yamamuro,
Omori and others. Weprefer
the notionCoo =
IICOO
c foresthetical reasons : it is
only slightly
weaker than the notionCF
but muchsimpler
and it does not needfumbling
around withexplicit
systems of semi-norms on the model spaces of the
manifolds.
The construction of the
principal Diff (X)-bundle given
here is ad-apted
from Binz and Fischer[1] ,
whoproved
this result in casethat X
iscompact.
[1]
also contains some discussions aboutapplications
of theresult to
general relativity
in the form of«hyperspace»
or superspace >>.We refer the reader to this paper for references and information about this
application.
This paper contains Sections
9
and10, continuing
thecounting
of[7] ( 1 -4 )
and[9] ( 5 -8 ).
References like6.3
refer to one of these papers without further notice.9. LOCAL ADDITIONS ON VECTOR BUNDLES.
9.1.
Webegin by repeating
a definition( 6.3 ; 3.3, 3.4 ) :
DEFINITION. A
local addition
r on alocally
compact smooth manifoldM
is amapping
r :TM - M
with thefollowing properties :
(A 1 ) (t , 77M) : T M - M
X M is adiffeomorphism
onto an openneigh-
borhood of the
diagonal
inM XM ,
where17M: TM - M
is theprojection.
( A 2 ) t (0m ) = m,
where0m E Tm M
is the zero element.A local addition has the
following (weaker)
property:For any
m E M
themapping T m =tl Tm m:
·Tn M - M
is a diffeomor-phism
onto an openneighborhood
of m .Local additions can be constructed
by using exponential
maps(which
arecanonically
associated tosprays)
andpulling
them back overthe whole tangent
bundle, using
a fibrerespecting diffeomorphism
ofTM
on the
appropriate neighborhood
of the zero section. The notion of local addition is moregeneral
than that of anexponential
map: ingeneral
thereis no «local flow property
along
curves ».DEFINITION. Let
L C M
be a submanifold and let r be a local additionon
M. L
is said to beadditively closed
with respect to r if tTL
takesits values in
L (and
so defines a local addition onL ). Compare
with thenotion of a
geodesically
closed submanifold.9.2.
PROPOSITION. Let p:E -
Bbe
a vectorbundle. Then there
existsa
local
addition t :T E
-E with tlae following properties:
10
B, identified with the
zero section inE,
is anadditively closed
submanifold of E with respect
to r .2°
Each
vectorsubspace of each fibre p-1 (b), be B,
isadditively
closed with resp ec t
to T .P ROO F. Let
p’: E’-
B be another vector bundle such thatE(9E’
is tri- vial(see [4],
page76,
or[5] ,
page100),
i. e.E(DE’
isisomorphic
asa vector bundle over B to B
XR’
for some n . Letr 1
be a local additionon B and let
t 2
be the affine local addition onRn ,
i. e,r 2 ; TRn -Rn
is
given by:
Then
is a local addition on B
X Rn satisfying
1 and 2. Now transportt 1 X t2
backto
E (fJ E’
via theisomorphism
and restrict it to the subbundleE
ofE (9 E’ .
This
gives
the desired local addition.QED
9.3. By
a submanifold A of an infinite dimensionalCOO
-manifold B wemean of course a subset
A C
B such that for each a c A there is a chartq5 : U - V
centered at a( i, e . O (a ) = 0
inv ,
where V is thecomplete locally
convex vector spacemodelling
B neara )
and atopological
lineardirect
summand W
in V withO-1 (W)
=A n U .
9.4.
COROLLARY.Let X,
Ybe smooth locally compact manifolds and
letL
be
asubmanifold o f Y. Then Coo ( X, L)
is aCoo TT-submanifold o f
Coo(X, Y)
viai*:Coo(X, L) - Coo(X,Y), where i: L " Y is the embedding.
P ROO F . Let
p: W - L
be a tubularneighborhood
of L inY , i. e. W
isan open
neighborhood
ofL
in Y andp : W -
L is a vector bundle whosezero section is
given by
theembedding L
c_W.
Let r be a local additionon the vector
bundle W satisfying 9.2.1
and 9.2.2. LetChoose the
canonical
chart ofCoo (X , W)
centered atf coming
from thelocal addition r
on W ( cf. 6.3), i. e.
is
given by
and
The inverse
O-1f = Vif
isgiven by Y f(s)
= r o s.Now if
gf U¡nCOO(X,L),
thensince
L
is anadditively
closed submanifoldof W by 9.2.1, so Of (g)
isin D( f * T L ) . Clearly
for eachs E D ( f * T L)
themapping Yf(s) = r o s
takes its values in
L .
SoO-1f (D( f*TL))
=UfQCoo ( X, L).
It remains to show that
D( f *TL)
is atopological
direct summand inD ( f * TW).
Since p :JY - L
is a vector bundle we haveand
consequently D ( f * TW) = D( f * T L ) X D ( f *W)
is atopological
directsum.
So we have
proved
thatCoo (X , L )
is aC; -submanifold
ofCoo (X, W),
which is
again
an open submanifold ofC°° (X, Y). QED
10. THE P RINCIPAL BUNDLE OF EMBEDDINGS.
10.1. Let
X,
Y be smoothlocally
compactmanifolds ;
neither is assumedto be compact, but we assume that
dim X dim Y .
There are two spaces of smoothembeddings
X -Y :
letE(X, Y)
denote the space of all smoothembeddings,
which is an open subset ofC°° (X, Y) ( see[5]
page37);
and let
Ep rop (X , Y)
denote the space of all properembeddings
X -Y.
Itis an open subset of
E( X, Y )
since the set of proper maps is open( 1.9 ).
The proper
embeddings
coincide with the closedembeddings,
since a pro- per map is closed if Y islocally
compact( [3]
page47).
The open subsetsE(X, Y)
andEprop(X, Y)
thus inheritCoo -manifold
structures fromCoo (X,Y) ( cf- 6.3
or3.3, 3.4, 3.6 ).
10.2.
We consider thefollowing CooTT -mappings (7.2) :
p stands for the
right
action ofDiff (X)
onE (X, Y)
andEprop (X , Y) .
E ach
g E Diff (X)
induces aCoo TT -diffeomorphism p ( g, . )
onE (X, Y)
andE prop ( X , Y) respectively;
the inverse isgiven by p ( g-1, . ).
Theinjec-
tivity
of the elements ofE (X, Y ) implies
that theright
action p ofDiff (X)
on
E ( X , Y)
is free:Thus the
m apping
p(. , i ): Diff (X) -
E(X , Y) gives
abijection
ofDiff (X)
onto the orbit i o
Diff (X)
ofi ;
if i is proper, then the whole orbit of i is contained inEprop ( X, Y) .
We will see later on thatp (. , i )
is even aC; -diffeomorphism
onto the orbit.10.3.
DEFINITION. LetU(X, Y) = E(X, Y)/Diff(X)
denote the orbitspace,
equipped
w ith thequotient topology ;
letu ; E ( X , Y ) - U ( X,Y)
denote the canonical
quotient mapping.
U(X, Y) is, heuristically speaking, just
the space of all submani- f old s of typeX
inY.
10.4. PROPOSITION. Let i c
E(X, Y) and
writeL = i(X).
10
The
orbit i oDiff (X) o f
i isthe
spaceDiff (X , L ).
20
The inclusion Diff(X, L)- E(X, Y)
is aCoo TT-submanfold
em-bedding.
30
The mapping p(., i): Diff(X) -+ i o Diff(X) = Diff(X, L)
is aC’-diffeomorphism.
40
I f
i is proper,then the orbit o f
i isclosed
inEprop (X , Y).
5o
I f X has finitely
manyconnected components, then
P ROOF. 1 is clear. 2 follows from
9.4
sinceDiff(X, L)
is open inCoo ( X , L) ( cf. 5 .2
or[5]
page38)
andCoo (X,L )
is aCoo TT -submanifold
of Coo ( X , Y ).
3 is clear
by
theQ -Lemma 3.7
orby
7.1.4. Let
( ga )
be a net inDiff (X)
suchthat i o ga = p ( ga ,i)
convergesto
f ,
say, inEprop (X , Y).
Thenand since
L
is closed( i
isclosed)
inY , we
conclude thatf (X)
CL .
Now let
Xj
be one of the connected components ofX ,
soXj
is open and closed inX ,
sof (Xj)
is open inL (since f
is animmers ion )
and clos-ed in
L (since f
isproper);
thusf ( Xj)
is one of the connected compo-nents of
L .
Now letLj
be one of the connected components ofL .
If ao isbig enough,
theni 0 ga (Xk)
=Lj
for some componentXk of X
andall
a > ao .
Sof (Xk ) = Lj
andf
issurjective,
thusf E Diff(X, L ).
5. Let
X1,
...,xk
be the connected componentsof X ,
letf E E p rop (X, L).
A s above one sees that
f (Xl), ... , f ( X k)
are different connected comp-onents of
L ;
sinceL
has as many componentsas X (for i : X - L
is adiffeomorphism ),
the assertion follow s.QED
10.5 .
Fixi E E ( X ,Y)
and denotei (X) by L .
Letp L : WL - L
be a tu-bular
neighborhood
ofL
inY.
L EMMA.
I f j E Coo (X ,WL) is such that pLo jEE (X,Y), then j
is anembedding with
inverseMoreover for
x cX :
P ROOF. p L o j
isinjective so j: X - WL
isinjective, so j : X -j (X)
isinvertible with inverse
(p L o j )-1 o(pLl j (X)).
This inverse is conti- nuous,so j
is atopological embedding.
For xc X
we haveso
dim
so j
is animmersion, thus j
fE ( X ,WL).
Now the kernel ofis
Tj(x)(p-1L (pLj (x))),
thetangent
space to the fibrethrough j(x)
so the second assertion
follows. QED
10.6.
DEFINITION. In the setup of10.5
let us denoteBy 10.5
we see that R emember thatdenotes the
quotient
map.L EMM A. is
injective.
20
Qi
o V is open inE(X , Y) if V
is open inDiff (X).
PROOF. 10
Let j, j’c Qi
and supposeu(j)
=u(j’), i.e. j = j’o
g forsome g c
Diff(X) ,
thenso g =
I dX and j = j’.
20 Let us first assume that
the open
subgroup
ofdiffeomorphisms
with compact support.(pL) * : E ( X ,WL) - Coo ( X , L )
iscontinuous, i o Diff ( X ) = Diff ( X ,L)
is open in
C °° ( X , L ), p ( .,i) : Diff (X) - Diff ( X , L )
ishomeomorphic
so we have in turn that
p (. , i )(V)
is open inDiff (X , L)
and that the set(pL)-1*(p(., i)(V))
is open inE(X, WL)
and inE(X, Y). Now,
weclaim that
which proves the assertion in this
special
case: Ifso
and
Now suppose
conversely
that Thenhence
Now let
v
be anarbitrary
open subset ofDiff (X) . D ecompose v
intothe
disjoint
union of all nonempty intersections of V with the openequi-
valence classes of - in
Diff (X) ,
which wecall va .
For each a, takega
Eva ,
thenV o ga 1
is an open subset of thesubgroup ofdiffeomorphisms
with compact support, so
Qi
o(Va
oi;.1)
is open inE (X , Y ) by
the firstpart of the
proof.
But thenis open too and thus
10.7. COROLLARY.
With the above notation, u(Qi)
is open inthe
quo- tienttopology
inU(X, Y)
=E(X, Y)/Diff(X).
PROOF.
By
Lemma 10.6(for h
=Diff(X) )
we see thatQi o Diff(X),
the full inverse
image
ofu ( Qi )
under u , is open inE ( X , Y ) .
Sou(Qi)
is open in
U(X, Y)
in thequotient topology.
QED10.8. A s in
10.5
let i cE (X , Y), L - i (X)
and letpL : W L -+
L be a tub-ular
neighborhood
ofL
inY ;
furthermore lettL: TWL - WL
be a localaddition for the vector bundle
WL
as constructed in9.2.
Sincep L: WL - L
is a vector
bundle,
we maydecompose it: TWL IL =
T LOWL,
where wehave identified
the tangent space to the fibre
through l .
For reasons of
clarity
we w ill notidentify
asradically
as we havedone above : Let
VL - L
denote the subbundle ofT WL l L consisting
ofthe vertical elements of
T WL l L ,
those tangent to the fibres ofAjL .
Thenthe
decomposition
mentioned above may be written asTWLl L = T L
’9hL .
By 9.2
we have thefollowing:
is a
diffeomorphism
onto for each lE L.
So T LI v : VL -* W L
is a dif-feomorphism
onto.10.9.
PROPOSITION. Inthe setting o f 10.8, the subset Qi of
10.6 is aCooTT -submanifold of E (X, Y).
PROOF. ’We will show that
Qi
is aC;-submanifold
of the open subsetE(X, WL)
ofE(X, Y).
Letbe the canonical chart
coming
from the local additionand
since
r L
is ontoW L by
construction. SoQi
CUi , and Qi
carries aglo-
bal chart.
Now j E Qi means that j - i and p L o j = i , so j (x) E p-1L ( i (x) )
andsince the fibre
piJl (i (x))
isadditively
closed with respect totL. By
the same reason we see that for any s c
D (i*VL),
So
Oi lQ. : Qi - D (i * VL)
is abijection,
andÐ(i * V L)
is atopological
1,
direct summand
in D(i *( T WIL I L )),
since(cf. 9.4). QED
10.10. Now we can show that u:
E(X, Y ) - U(X, Y)
is aprincipal Diff(X)-
bundle. Let
i E E(X, Y),
denotei = u(i ) E U(X, Y) ,
thenQi - u(Qi)
is an open
neighborhood of i
inU (X, Y ) ,
which we will show to be tri-vializing.
10 DEFINITION. Let
si:(Qi-E(X,Y)
begiven by si=(ulQi)-1,
which is well
defined,
sinceu I Q,
isinjective by 10.6.l.
2o The fibres of u:
E(X, Y)- U(X,Y) (which
are theDiff (X)-or-
bits)
over thepoints
ofQi meet
atexactly
onepoint
eachby
construc-tion;
since moreover the action ofDiff (X)
is free we see that themapping
is
bijective,
so there is an inverseSo
and furthermore
and
30
"We claimthat Iii
isCooTT -differentiable :
(
thisimplies
thatpL 0 i
isdefined too ),
soor
By
10.4 and theQ -Lemma 3.7,
we seethat Ili
isCooTT -differentiable.
40 We claim that
8i
isCooTT -differentiable
too :or
By
10.2 and 8.1 we see that6i
isC’-d’fferentiable.
50 So
p:Diff(X)xQi-
is aC--diffeomorphism.
This willprovide
thetrivializing
map.6o
We claimthat si: Qi- Q i (from 1 )
is continuous(so Q
i is homeo-morphic
toQi):
Fory (Qi
we have{si (y)} = di(u-1(y)) by
construc-tion.
LetV
be open inQi ,
then8il (V)
is open inu-1 (Qi) by 4, u-1 (Qi)
is itself open in
E (X, Y),
sois open in
E (X ,Y) .
Thisimplies
thats-li (v)
is open inU ( X , Y)
inthe
quotient topology.
10.11. We have
proved
thefollow ing
theorem:THEOREM.
u:E(X,Y)-+U(X,Y)
is atopological principal Diff(X)- bundle, trivial
overthe
openneighborhood Qi of i
inU(X, Y) for each
i c
E ( X, Y ),
atrivializing
mapbeing given by :
10.12. THEOREM.
U (X, Y) is
aCooTT-manifold.
PROOF. For each iE
E(X, Y)
the openneighborhood Qi
is homeomor-phic
to the submanifoldQi
ofE (X, Y ) (cf. 10.10.6
and10.9)
so weonly
have to check that these «fit
together nicely.
In otherwords,
we use them appings :
as charts. We have to check whether the
chart-change
isCooTT-differentiable.
Let i, k
cE(X, Y)
be such thatQir)QkA 0
inU(X, Y) .
Let us firstassume that i and
k
lie on the sameDiff(X)-orbit,
then there is somegE
Diff(X)
with i =ko
g. Then we haveL = i(X)
=k(X)and
So
Qi
andQk
are translates of eachother, Qi = Qk
andwhich is a
CooTT -diffeomorphism by
10.2 and10.9.
So let us now suppose
that i , k
fE (X , Y)
withQ in Qk f O,
but that i andk
do not lie on the same orbit. LetL = i ( X), K = k (X) .
ThenForic Qk we have pK o j = k and j - k ,
sofor some
If
moreover j f u-1 ( Qi)
thenand
So if then
where we have used
again
the argument of 10.10.6. This lastmapping
isCooTT -differentiable
in tby 10.10.4 and 10.9. QED
10.13.
PROPOSITION.u:E (X,Y)- U(X,Y) is
asubmersion, i. e., for
each i E (X , Y), the mapping
is
surjective,
atopological quotient
map,and the kernel
is a
linear
andtopological direct summand.
PROOF. That the kernel of
Tiu
issplitting
has beenproved
in10.9;
thatTiu
is aquotient
map followsdirectly
from the construction of the chartsfor U(X,Y). QED
10.14. THEOREM. u:
E(X, Y), U( X, Y) is
aCoo TT-differentiable principal
Diff (X)-buvable, trivial
overthe
openneighborhoods Qi of i in U(X, Y)
for each i
cE (X), Y), a trivializing
mapbeing given by:
PROOF,
s i : Qi - Qi
is aC;;-diffeomorphism by
the construction of thecharts for
U(X, Y). QED
10.15.
LetUprop (X , Y)
denote the space of all properorbits,
i.e.( cf.
10.1, 10.2, 10.4) Uprop(X, Y) = u(Eprop(X, Y)).
COROLLARY. u:
Eprop (X, Y) - Uprop (X, Y)
is asmooth principal
Diff (X)-bundle. Eprop (X , Y) = E(X, Y)U prop (X y), the
restrictionof
the bundle E(X, Y) , U(X, Y)
tothe
opensubset Uprop(X, Y) of E(X,Y).
REFERENCES.
1. E. BINZ & H. R.
FISCHER,
Themanifold of embeddings of
a closedmanifold,
Mannheim, 1977.2. H. G. GARNIR, M. DE WILDE &
J. SCHMETS, Analyse fonctionnelle,
Tome 1,Birkhäuser,
Basel-Stuttg art,
1968.3. M. GOLUBITSKY & V. GUILLEMIN, Stable
mappings
and theirsingularities, Springer, 1973, G. T. M .
14.4. W. GREUB, S. HALPERIN & R. VANSTONE,
Connections,
Curvature and Co-homology
I, Academic Press, 1972.5. W. W. HIRSCH,
Differential topology, Springer 1976,
G. T. M. 33.6. H. H. KELLER, Differential calculus in
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convex spaces, Lecture Notes in Math.417, Springer
( 1974).7. P. MICHOR, Manifolds of smooth maps, Cahiers
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et Géom.Diff.
XIX- 1 ( 1978 ), 47- 78.8. P.
MICHOR,
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diffeomorphisms
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et Géom.Diff.
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Srudlhofgasse
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