C AHIERS DE
TOPOLOGIE ET GÉOMÉTRIE DIFFÉRENTIELLE CATÉGORIQUES
J AN K UBARSKI T OMASZ R YBICKI
Local and nice structures of the groupoid of an equivalence relation
Cahiers de topologie et géométrie différentielle catégoriques, tome 45, no1 (2004), p. 23-34
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Article numérisé dans le cadre du programme
LOCAL AND NICE STRUCTURES OF THE GROUPOID
OF AN EQUIVALENCE RELATION
by
Jan KUBARSKI and Tomasz RYBICKICAHIERS DE TOPOLOGIE ET
GEOMETRIE DIFFERENTIELLE CATEGORIQUES
Volume XLV-1 (2004)
The first author would like to thank prof Ronald Brown for internet discussions which mobilized us to write this note
RESUME. L’article propose une comparaison entre les concepts de structure locale et de bonne structure sur le group6fde d’une re-
lation d’6quivalence. On montre que ces concepts sont 6troitement
lies, et qu’ils caract6risent g6n6riquement les relations d’equivalence
induites par des
feuilletages r6guliers.
Le premier concept a ete in- troduit par J.Pradines(1966)
et 6tudi6 par R.Brown et O.Mucuk(1996),
alors que le second a ete donn6 par le premier auteur(1987).
L’importance de ces concepts en g6om6trie non-transitive est in-
diqu6e.
1. LOCAL AND NICE STRUCTURES OF EQUIVALENCE RELATIONS Let R c X x X be any
equivalence
relation on a connected paracom-pact Coo-manifold
X of dimension n. R becomes atopological groupoid
on X with the
topology
induced from X xX, namely
where a =
(pr1)|R’ B = (pr2),R’ , : Ra
x,6 R -R, ((x, y) , (z, x))
->(z, y) .
Let 6 : R xa R -R, ((x, z) , (x, y))
H(y, z) . According
to thedefinition of Brown and Mucuk
[A-B], [B-M1], [B-M2] (following
theoriginal
definition of J.Pradines[P])
R is called alocally
Liegroupoid
ifthere exists a subset W C R
equipped
with a structure of a manifoldsuch that
2000 Mathematics
Subject Classification.
Primary 58H05;Secondary
22A22, 53C12, 57R30, 22E65.Key words and phrases.
locally
Lie groupoid, equivalence relation, foliation, nice covering, nontransitive geometry .3) a) w,6
=(W
xaW)
nd-1 [W]
is open in W xaW, b)
the restriction of 6 toW6
issmooth,
4)
the restriction to W of the source and thetarget
maps a andB
are smooth and the
triple (a, (3, W)
issmoothly locally
section-able,
5)
Wgenerates
R as agroupoid.
W
satisfying 1)-5)
will be called a local smooth structure of R.Remark 1.1. The second
part of 4) implies
that a|w : W --+ X is acoregular mapping. Therefore
WXQ W
=(a|W, a|W)-1 [OR]
is a proper(i.e. embedded) submanifold of W
x W.Let F be a k-dimensional foliation on X and A =
{(Ul, Ol)}
be anatlas of foliated charts. The
equivalence
relation on X determinedby
the leaves of F is denoted
by RF.
For a chart(Ua, ol)
we writeRa
forthe
equivalence
relation onul
whoseequivalence
classes are theplaques of Ux
Qa
denotes theplaque
ofUa passing through
x. We writeBrown and Mucuk in
[B-M2] proved
thefollowing
Theorem 1.1.
If X is
aParacomPact foliated manifold,
then afoliated
atlas A may be chosen so that the
pair (RF,
W(A))
is alocally
Liegroupoid.
Clearly
W(A)
is a n + k-dimensional proper submanifold of X x X and W(A)x
:=(a|W(^))-1 (x) is a connected k-dimensional submanifold
of W (A).
The crucial role in the proof
is played by
Lemma 4.4 from
[T].
On the other
hand,
in[K2]
there is a secondapproach
to thegroupoid
of an
equivalence
relationcharacterizing
the fact that thefamily
of allequivalence
classes forms a k-dimensional foliation.Theorem 1.2
(J.Kubarski [K2,
Th.3]). If X
is aparacompact
mani-fold,
then thefollowing
conditions areequivalent:
(1)
thefamily of
allequivalence
classesof
R is a k-dimensionalfo- liation,
(2)
there exists a subset W C R such that(i) OR
eWeR,
(ii)
W isa proper n+k-dirnensional C°°-submanifold of X x X, (iii)
a|W : W -> X is asubmersion,
(iv)
For(x, y)
ER,
the setis open in the
manifold Wx
=(a|W) (x), where D(x,y) :
I?y ---+ R.,,,, (y, z) -> (, z), (v)
Wgenerates
R as agroupoid,
(vi)
themanifolds Wx
are connected.We can choose W to be
symmetric,
i.e. W =W-1.
The crucial role in theproof
of the theorem isplayed by
the nicecovering [H-H, 1981]
and the Frobenius theorem in the version
[D, p.86].
The manifold Wsatisfying
the above conditions(i)-(vi)
is said to be a nice structureof
R
(thanks
to the nicecovering
used in theproof,
see also[K3]).
In theabove theorem it is
proved
that W(A)
is a nice structure if A is any nicecovering.
The aim of this note is to
explain
the relations between theconcepts
of local and nice structures of anequivalence
relation. It occurs thatunder mild
assumptions
theconcepts
are notonly equivalent
but alsoidentical. Moreover each of them can characterize the
(regular)
foliationrelations among
equivalence relations,
and the axioms of a nice structureare
considerably simpler.
In the final section it is indicated how theseconcepts
are related with leafpreserving diffeomorphisms
on a foliatedmanifold and
automorphisms
of aregular
Poisson structure.Finally
let us mention that in[K2]
there is alsogiven
a characteri- zation(by
suitable axioms of a subset W cR)
of some wider class ofequivalence
relations R on X for which thefamily
of all arcwise con- nectedcomponents
of allequivalence
classes of R is aregular
foliationand every
equivalence
class of R has a countable number of such com-ponents.
As a consequence a new shortproof
of classical Godement’stheorem on division is
presented.
2. LOCAL STRUCTURE => NICE STRUCTURE
First we show that under mild
assumptions
any local structure is anice one.
Proposition
2.1.If
W C R is a local smooth structure such that W is a proper + k-dimensionalCoo-submanifold of
X x X andW, =
(a|W)-1 (x) are connected then W carries a nice structure. Conse-
quently,
thefamily of equivalence
classesof
Rforms
a k-dimensionalfoliation.
Proof.
We haveonly
to prove the condition(iv).
For this purpose fixarbitrarily (xo, yo) E R
and consider the smoothmapping
It is easy to see that
Let
, then
and iWb
which means that andand then
Finally (2.1) implies (iv).
03. NICE STRUCTURE => LOCAL STRUCTURE
In view of Theorems 1.2 and 1.1 each nice structure admits a local structure
(as
a suitablesubset).
Theproblem
is whether every nice structure is a local one.This
problem
amounts toreducing
the axioms of a local smooth struc- ture. The firststep
consists in thefollowing
Proposition
3.1.If
W C Rfulfils (i)-(iii) and
W =W-1
then thetriPle (a, B, W) is smoothly locally
sectionable.Proof.
Since/3
= a o l, and the inverse map t : W -W, (x, y)
H(y, x)
is adiffeomorphism, B
is asubmersion,
too. For(x, y)
EW,
Vl
:= kera.(x,y)
andV2
:=ker B*(x,y)
are k-dimensional andVi
nv2
= o.Choose an
(n - k)-dimensional
vectorsubspace
V CT(x,y)W
such thatand find a k-dimensional vector
subspace %
CVI
(Bv2
transversal toboth V1
andV2.
Forexample
if(u1, ..., Uk)
and(VI, ..., Vk)
are basisof
Vl
andV2, respectively,
we can takeY0 = Lin Jul
+ vi, ..., Uk +vk}.
Putting
we have that U
n V2 = 0,
and thisimplies
that a* : U -TxX
is anisomorphism.
Since a : W -> X is a submersion there exists a local cross-section s of a near x such thats.TxX
= U. It is clear thatis an
isomorphism:
if(/3 o s)* (v) = 0y then s* (v)
EV2 n
U = 0 whichyields v
= 0. From thisB
o s is adiffeomorphism
near thepoint
x. 0To finish the
problem
of reduction of axioms of a local smooth struc- ture we have to prove that the conditions(i)-(iv) together
with thesymmetry
W =W-1 imply
condition3).
Let F be any foliation on a manifold X and denote
by Lx
the leaf of Fthrough
x. Fix apoint
xo E X and yo ELx0.
Assume that U and V are two foliated coordinateneighbourhoods
of zo and yorespectively,
and cp : U - V is a foliated
diffeomorphism (i.e.
cp(x)
ELx)
onto anopen subsets of V. Set
Clearly, Rcp
is an n + k-dimensional proper submanifold of U x V. Of course, ifU’
c U is any coordinatesubneighbourhood
of x0 and cpo :U’ -> V and ç1 : U’ -> ç
[U’]
are inducedmappings
thenRepo
andRepl
are open submanifolds of
Rep.
Lemma 3.1. Let
ç, & :
U -> V be anyfoliated diffeomorphisms
suchthat ç (x0) ç (xo) belong
to the sameplaque of V,
i. e.Qt(xo)
=QçV(x0).
If Rcp
flRç
is an open subsetof Rç (therefore
alsoof Rç)
then thereexists a coordinate
neighbourhood U1
such that x0 EUi
C Uand cp (x) , ç(x)
lie on the sameplaque of V for
all x EU1,
i. e.Qç(x)V
=Qç(x)V,
xEUI.
Proof.
Thetopology
onRep
andRç
is induced from U xV,
so there existopen
neighbourhoods W, W’
C U x V such thatRçnRç = W n Rç =
0’ n
Rç. Then n
= 0 n 0’ is an open subset of U x V andAnalogously S2
nRç
=Rç
nRç.
ThereforeNow we can choose
neighbourhoods Ul and Vi
such that xo EUl
CU,
cp
(xo) E Yi
C V andUl
xVi
cS2.
We can also assume that cp[U1]
cVl.
Then
Consequently,
for all x EUl
we obtaini.e. cp
(x)
EQç(x)V,
orequivalently Qç(x)V
=Qt(x),
x EUl.
0The
following
twopropositions
describe furtherproperties
of nicestructures.
Proposition
3.2.If W
C Rfulfils (i)-(vi)
and W =W-1
thenfor
any(xo, yo) E
W there exist coordinateneighbourhoods Uxo
andUyo of xo
and yo,
respectively,
and afoliated diffeomorphism 0 : Ux0
-Uy0
suchthat
Ro
C WProof. Suppose
W C R fulfils(i)-(vi)
and W =W-1. Then, by
Theorem1.2,
thefamily
of allequivalence
classes of R is a k-dimensionalfoliation,
say F. Observe that
FW
:= a*F is a 2k-dimensional foliation onW,
and
Fyy
=(3* F.
Let
(xo, yo) E
W . There exist an openneighborhood
Q of(xo, y0)
in W and vector fields
Xi,.... Xk, Yi,..., Yk, Z1, ... , Zn-k
defined on Qand
spanning T(x0,y0)W at (xo, yo)
with theproperties
thatX1, ... , Xk
are sections of the bundle
TFW
nker B*
andYl, ... , Yk
are sections ofthe bundle
T Fyy
n ker a* . Denoteby çXt
the local flow of a vector field X. There is E > 0 andQ’,
an open subset inQ,
such thatis a
diffeomorphism and, consequently,
anFw-foliated
chart. HereUm
={t
E R- :|ti| E}
is the e-cube centered at theorigin.
It follows thatand
are F-foliated charts at z0 and yo,
respectively. Moreover, a|W’ :
n’ -> U andB|W’
n’ -> V are foliationpreserving
submersions. Therefore the opensUx0 = U, Vy0
= V and themapping
satisfy
therequired
condition. 0Proposition
3.3. Let W C R be a nice structureof
anequivalence
rel ation
R,
such that W =W-1.
Take xo E X and yo, zo EWxo.
Weassume that all the
points
arepairwise
distinct and zo EWy0.
Then thereexist coordinate
neighbourhoods Uxo, Uyo, Uzo of
Xo, Yo, Zo,respectively,
and
foliated diffeomorphisms
ç :Uxo
-Uy0, ç : Uy0
-Uzo,
such thatProof.
Denoteby Lx
the leaf of the foliation determinedby
R. Takecontinuous and without selfintersections arc a :
[0, 1]
-B [Wx0]
CL.0
such that
a(0) = x0, cx (1/2) -
yo and a(1) =
zo.By Proposition
3.2there exist coordinate
neighbourhoods Uo, Ul, U2
of thepoints
xo, yo, zo,respectively.,
and foliateddiffeomorphisms
cp :Ul
-U2, 1/; : U2 -> U3,
such that
R., Ry
C W. We will prove that there exists a coordinatesubneighbourhood Ux0
of xo contained inUl
such thatRçoç|Ux0
C Wfrom which our
proposition
followsimmediately.
Put
where pt : Ut
->Ut, ’l/Jt : u;
->U3,
are foliateddiffeomorphisms (into)
such that
xo E Ut C Ul,
çt(xo) = a (t) , Ot (a (t))
= zo. We prove that I isnonempty open-closed
subset of[0, 1].
o 0 E I.
Indeed, by Proposition
3.2 we can find coordinateneigh-
bourhoods
Uvo
andUzo
of yo and zo and a foliateddiffeomorphism
Uyo
->U zo
such thatRy
C W.Taking Ux0 = Uyo
and po =idu.0
weobtain the conclusion.
. I is open.
Indeed,
letto E I
and (pto :Ut0
->Uto, 1/Jto : U’t0 -> U3
satisfy
theproperties
from definition of I. There exists E > 0 such that if|t - to|
c thena (t)
EQc(to).
Consider anarbitrary
foliateddiffeomorphism
ct :Uto
->Uto
such that ct(a (t))
= a(to) .
Then weput
. I is closed. Let
to
E I. Choosearbitrarily
coordinateneighbour-
hoods
Uto, Uto of xo a (to) respectively,
and foliateddiffeomorphisms
Wto :Uto
->Uto, Oto : U’t0 -> U3,
such that Wt.(xo)
= a(to) , oto (a (to))
= zo,and
Rtpt, Rçt0
c W. We can find t E I such that a(t)
EQc(to)
andçt,
çt
from definition of I. We can assume thatUt
CU’t0,
and thatoto (a (t))
EQbs.
Consider onUt
two foliateddiffeomorphisms 1/Jt
andç’t0 = 1/Jto I U£. By assumption, Rp,
andlioo (so
alsoRç’t0)
are opensubsets of W. Since a
(t)
and a(to)
lie on the sameplaque
ofUto
andoto (a (t0))
= zo= 1/Jt (a (t))
lie on the sameplaque
ofU3
we obtain thatSince
Røt
andRyj
aren+k-dimensional
submanifolds of W we see thatRøt
nRç’t0
isnonempty
open subset of the manifoldRøt
as well as ofRç’t0. By
Lemma(3.1 )
there exists a coordinateneighbourhood Ut
cUt
such that
lbt
andç’t0
maps eachplaque
inUt
into the sameplaque
inU3. By
the well known Lemma 4.4. from[T]
we can diminish the setUt
in such a way that eachplaque
ofUt°
cuts the setUt along
at mostone
plaque
ofU’t.
Consider the saturationUt°
ofUt
inUt° by plaques
of the last.
Clearly,
a(t0) EU’t0,
and letUt0
CUm
be a coordinateneighbourhood
of xo such that Wto[Crto]
C6rt’o.
The restrictions of (pt.to
Ut°
and1/Jto
toU’t0
we denoteby Oto
andçt0, respectively.
Noticethat
Rçt0 oçt0
C W. Infact,
take(x, z)
ERçt0 oçt0,
i.e. x E6to
andz E
Qt:oorpto(x).
U3 There exists y EUt
such that y andçt0 (x)
lie on thesame
plaque
ofU’t0. Therefore,
theplaques passing through 1/Jto (y)
and1/Jto (§5m (x))
are the same, andwhich
implies
that(x, z)
E W.From the above I =
[0,1]
and ourproposition
isproved.
DNow we can prove our main result.
Theorem
3.1. If W C R is a
nice structureof an equivalence
relationon a
manifold
X then W is a local smooth structureof
R.Proof.
It remains to prove theproperty
thatW5
=(W
xaw) n 6-1 [W]
is open in W xa W
(it
is clear that 6 :Wd ->
W issmooth).
Take(yo, x0), (yo, zo) E
W such that(xo, zo)
E W. Then((yo, xo) , (yo, zo)) E (W
XQW)
n6-1 [W]
and 6((yo, xo) , (yo, zo)) = (xo, zo) . By Proposition
4 we can find coordinate
neighbourhoods Ux0, Uy0, Uxo
of thepoints
zo,yo, zo,
respectively,
and foliateddiffeomorphisms
cp :Ux0
-Uyo, 1/J : Uy0 -> Uzo
such thatRç, Rap, Rçoç
C WBy
thesymmetry
W =W-1
we obtain that
R-1ç
C W.Clearly
and
R-1ç
XQ14
is open in W xa W. FromRçoç
C W we havewhich
implies
that4. FINAL REMARKS
A)
Let us observe that the submanifold W that appears in the both definitionsplays
a crucial role inconstructing
aspecial
chart of the leafpreserving diffeomorphism
group of aregular
foliation F onX, cf.[R1].
Namely,
in the construction of a chart on this group the notion of a foliated local addition is needed.By
afoliated
local addition we mean a smoothmapping 4):
TF D U - X such that(1) (O(0x)
= x, and(2)
themapping (p, iP) :
TF CU -> U’
C W is adiffeomorphism,
where U is some
neighborhood
of the zerosection,
U’ is open inW,
and7r : TF - X is the canonical
projection.
Consequently,
it is shown that this group carries the structure of an infinite-dimensionalregular
Lie group. Next the existence of W enablesas well to show that the group of
automorphisms
of aregular
Poissonmanifold is a
regular
Lie group. It follows that the fluxhomomorphism
can be considered for
regular
Poisson manifolds and a characterization of Hamiltoniandiffeomorphisms
can begiven.
It occurs that under naturalassumption
on the group ofperiods
the Hamiltoniandiffeomorphisms
form a
splitted
Liesubgroup (see [Rl]
for allthis).
One can say that theexistence of W
usually
ensures that nontransitivegeometries
with theset of orbits
forming
aregular
foliations do not differessentially
fromtheir transitives
counterparts.
Analogous problem
for foliations withsingularities
is open as W can-not be then defined. Similar difficulties arise when the group of foliation
preserving diffeomorphisms (i.e. sending
each leaf to aleaf)
is consid-ered.
Introducing
Lie group structures ondiffeomorphism
groups can be viewed in a moregeneral
context ofgroupoids, cf.[R2]. Namely
in the"non-foliated" case one can consider the group of
global
bisections of aLie
groupoid
rather thandiffeomorphism
groups, but this method fails in the nontransitive case. The reason is the "holonomicimperative"
(see,
e.g.,[B-M1] ) according
to which any Liegroupoid
structure overthe
equivalence
relation R of a foliation F contains the information of theholonomy
of F.B)
What does the "local-nice"problem
look like forgroupoids?
Aforthcoming
paper will be devoted to thisproblem.
Here we mentiononly
that in[K3]
there is ageneralization
of the notion of a nice struc- ture forgroupoids.
Hovewer in[K3]
there are consideredgroupoids
onmanifolds for which the total space possesses a structure
stronger
thantopology
but weaker than differentialmanifold, namely
the structure ofa differential space in the Sikorski sense
([Sl], [S2]).
Hausdorff man-ifolds carry a natural structure of a differential space consistent with the
topology.
Since any subset of a differential space has the induced structure of a differential space, anyequivalence
relation R C X x X ona manifold X or the
groupoid DR
=(a,B)-1 [R]
CO,
where O is any transitive Liegroupoid
on X and R is anyequivalence
relation onX,
areexamples
ofgroupoids
with the structure of a differential space. More- over, R andOR
are then differential spaces of the classDo ([W1],[W2], [K-K]) [i.e. locally
at aneighbourhood
of everypoint
there are extendedto a manifold of dimension
equal
to the dimension of thetangent
space to this differential space at thispoint].
To any nice structure W of (Done can attach a Lie
algebroid A(O)
on X.By
a nicegroupoid [K3]
we mean agoupoid 4)
on a manifold Xtogether
with nice structures W of O andWo
of the inducedequiva-
lence relation
RO
on X such that themapping (a, B) :
W ->Wo
is a submersion. In[K3, Th.4.29]
there aregiven
some natural conditionsfor a
groupoid O
of the classDo
whichimply
that it is a nicegroupoid.
Many
ideas from[K3]
can be realized(in
ourpreliminary opinion)
onabstract or
topological groupoids
on manifolds as well.Notice that Aof and Brown
[A-B] provide examples
oflocally
Liestructure of
groupoids
different that anequivalence relation,
e.g. of an actiongroupoid. Finally
let us observe that the recent paperby
Crainicand Fernandes
([C-F], Example 4.4)
shows that there are Liealgebroids
which are not
even locally integrable.
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