MA455 Manifolds Exercises 1 January 2008 1. (i) Given real numbers a < b, nd a dieomorphism (a, b) R.

. (ii) Find a dieomorphism (0, ) R. (iii) Let f : R R be a smooth map, and let graph(f ) be the set {(x, y ) R R : y = f (x)}. Show that the map x (x, f (x)) is a dieomorphism from R to graph(f ). (iv) Let C0 be the cylinder S 1 (0, ) and let C be the cylinder S 1 R (you can draw both in R3 ). Find dieomorphisms C0 R2 \ {0} and C R2 \ {0}. (iv) Let C1 be the cylinder S 1 [0, 1]. Find a subset of R2 to which this is dieomorphic. (v) Show that S 2 is not dieomorphic to any subset of R2 . 2. (i) Let n be the regular n-simplex {(t1 , . . ., tn+1 ) Rn+1 :
i

ti = 1, ti 0 for all i}.

1 is shown here.
x2

1
x1

Draw 2 . (ii) Let Bn be the set {(x1 , . . ., xn )} Rn : 0 x1 xn 1}. Find a dieomorphism Bn n . Hint: given (x1 , . . ., xn ) Bn , there is a natural choice of an (n + 1)-tuple of non-negative numbers with sum equal to 1. 3. Show that if U Rn is open, f : U Rn is smooth, and det(dx f ) = 0 for all x U , then f (U ) is open in Rn . Note that in particular this holds if f : U f (U ) is a dieomorphism. 4. (i) Show that if L : Rn Rp is a linear map then for all x Rn , dx L = L. (ii) If M Rn and N Rp are smooth manifolds and f : M N is the restriction of a linear map L : Rn Rp , show that for all x M , dx f : Tx M Tf (x) N is just the restriction of L to Tx M . 5. Show that if X Y Rn are manifolds and i : X Y is inclusion then for each x X , dx i : Tx X Tx Y is also inclusion. Its obvious if you use the right denition of derivative. 6. i) Let f : X Y X be the projection. Show that d(x,y) f : T(x,y) X Y Tx X is also projection.

ii)Fixing any y Y gives an injection mapping f : X X Y , dened by f (x) = (x, y ). Show that dx f ( x) = ( x, 0). iii) If f1 : X1 Y1 and f2 : X2 Y2 are maps then f1 f2 : X1 X2 Y1 Y2 is dened by (f1 f2 )(x1 , x2 ) = (f1 (x1 ), f2 (x2 )). Let f: X1 Y1 , f2 : X2 Y2 be smooth maps. Show that d(x1 ,x2 ) (f1 f2 ) = dx1 f1 dx2 f2 . 7. (i) Prove that Rk and R are not dieomorphic if k = . (Hint: imagine that is a dieomorphism, and its inverse, and use the chain rule). (ii) Prove that smooth manifolds M, N of dimension k, cannot be dieomorphic if k = . 8. Prove that if M k Rn and N Rp are smooth manifolds then (i) M N Rn+p is a smooth manifold of dimension k + , and (ii) T(x,y) M N = Tx M Ty N . 9. A Lie group is a manifold G which is also a group, for which the operations of multiplication: p:GG G (g1 , g2 ) g1 g2 and inversion: i:GG g g 1
2

are smooth maps. Show that Gl(n, R) := {invertible n n real matrices under multiplication} Matn (R) = Rn is a Lie group.

10. Let V be a k-dimensional vector subspace of Rn . Show that V is a smooth manifold dieomeorphic to Rk , and that all linear maps on V are smooth. For each v V , nd a natural isomorphism V Tv V . The term natural is not precisely dened, of course, but there is a way of making it precise here: the general prcedure establishing an isomorphism iV,v : V Tv V for every vector space V and point v V is natural, if, whenever L : V1 V2 is a linear map, then the diagram V1 iV1 ,v1 Tv1 V1 commutes. 11 . i) If M N are manifolds of the same dimension, show that M is open in N (Hint: use exercise 3 and the inverse function theorem.) Show that no compact 2 dimensional manifold is dieomorphic to any manifold M contained in R2 . 12 . (To do after reading Example 1.30(ii), page 23). If G is a Lie group, the tangent space Te G is known as the Lie algebra of G. Show that the following are Lie groups, and determine their Lie algebras: i) Sl(n, R) = {A Gl(n, R)|det(A) = 1} ii) 0(k, n k) = {A Gl(n, R)|At Ik,nk A = Ik,nk }, where Ik,nk is the n n matrix with k 1s followed by (n k) -1s down the diagonal, and 0s elsewhere. Hint: use the fact that these are contained in Gl(n, R) to show that the operations are smooth; note that O(n) = O(n, 0); proving that O(k, n k) is a manifold will be a generalisation of the proof given in the lecture that O(n) is a manifold. 13 . i) Find the derivative of the map det : M (n, R) R, where M (n, R) is the vector space of n n matrices with real entries. Dont attempt to dierentiate a complicated polynomial in the entries; instead, use the fact that the determinant is linear in each row of the matrix. 2
dv1 L L

V2 iV2 ,L(v2 ) Tv2 V2

ii) Prove that the set of all 22 matrices of rank 1 is a three-dimensional submanifold of R4 = space of 22 matrices. Hint: prove that the determinant function is a submersion at every point of the manifold of non-zero 2 2 matrices. 14.(i) Let i : Gl(n, R) Gl(n, R) be the inversion map, i(A) = A1 . Find dA i. Hint: Proposition 1.18 of the lecture notes gives the answer when A is the identity matrix In . For a general A, apply the chain rule to the commutative diagram i (Gl(n, R), In ) (Gl(n, R), In ) A rA 1 (Gl(n, R), A)
i

(Gl(n, R), A1 )

in which A is left-multiplication by A, A (B ) = AB , and rA1 is right-multiplication by A1 , rA1 (C ) = CA1 ; note that both A and rA1 are the restriction to Gl(n, R) of linear maps on the ambient space of all matrices 2 (= Rn ). (ii) In any Lie group G, each element g determines a left-multiplication map g : G G and a right-multiplication map rg : G G. Use these maps and their derivatives, together with 1.18, to nd expressions for (a) the derivative at (x1 , x2 ) G G of the multiplication map p : G G G, and (b) the derivative at x of the inversion map i : G G. 15. (Stack of records theorem). Suppose that M and N are smooth manifolds of the same dimension, with M compact, f : M N is a smooth map, and that y is a regular value of f . Show that f 1 (y ) is nite, and that there exists a neighbourhood V of y in Y such that f 1 (V ) is a disjoint union of open sets of X , each of which is mapped dieomorphically to V by f . Does either statement still hold if we drop the requirement that X be compact? 16. With the hypotheses of the previous exercise, suppose also that f is a local dieomorphism and that Y is connected. Show that f is onto, and indeed that any 2 points in Y have the same number of preimages in X . 17. Prove that the following are not manifolds: i) The union of the two coordinate axes in R2 ; ii) the double cone {(x, y, z ) R3 |x2 + y 2 = z 2 }. iii) The single cone {(x, y, z ) R3 |x2 + y 2 = z 2 , z 0} (if this last part is dicult, use the result of the next exercise). 18. Prove that if X Rn is a (smooth) (n 1)-dimensional manifold and x X then for any (n 1)-dimensional vector subspace V of Rn with V = Tx X , the intersection of the ane subspace x + V with X is smooth and of dimension n 2 in some neighbourhood of x. (Hint: Write down a pair of dening equations for X (x + V ) in Rn .) Section C: harder? 19. The tangent bundle of a manifold M Rn is the set {(x, x ) M Rn |x Tx M }. (i) Show that T M is a manifold. (ii) Show that T S 1 is dieomorphic to S 1 R. (iii) Show that if V Rn is a vector subspace then T V is naturally dieomorphic to V V (see exercise 7). 20. Prove that the set of m n matrices of rank r is a manifold (in Matmn (R) = Rmn ) and nd its dimension. Hint: Show rst that the set of matrices of rank r is open in Matmn (R) (recall that rank A r A has an r r submatrix with non-zero determinant). Next, suppose rank(A) r , and after permuting rows and columns, that A has the form B C D E where B is nonsingular of size r r. Postmultiply by the nonsingular matrix I B 1 C 0 I 3

to prove that rank(A) = r if and only if E DB 1 C = 0. 21. Let f be the embedding S 1 S 1 S 1 given by ei (e2i , e3i ), and let g be the dieomorphism S 1 S 1 T 2 described in the lecture. Sketch the image of g f . What is it? 22. Prove that if U Rk is open and f : U Rp is not smooth then graph(f ) Rk Rp is not a (smooth) manifold. 23. RP2 is the identication space obtained from S 2 by identifying antipodal points. (Recall that if X is a topological space and is an equivalence relation on X , then the identication topology on the quotient space X/ is dened by declaring a set in X/ to be open if and only if its preimage in X is open.) Show that the mapping S 2 R6 given by f (x, y, z ) = (x2 , xy, y 2 , xz, yz, z 2 ) gives rise to a homeomorphism from RP2 to a smooth manifold X R6 .
f