Differential geometry

Lecture 5: Submanifolds

David Lindemann

University of Hamburg
Department of Mathematics
Analysis and Differential Geometry & RTG 1670

5. May 2020

David Lindemann DG lecture 5 5. May 2020 1 / 20

1 Local diffeomorphisms and differentials

2 Embedded smooth submanifolds

3 Methods to construct smooth submanifolds

David Lindemann DG lecture 5 5. May 2020 2 / 20

Recap of lecture 4:
explained how to write down tangent vectors explicitly
with the help of local coordinates
∂
showed that coordinate tangent vectors ∂x i p
for a basis
of Tp M
defined differential, Jacobi matrix, and rank of smooth
maps
defined immersions, submersions, embeddings, local
diffeomorphisms
erratum: slight confusion in definition of local
diffeomorphisms

David Lindemann DG lecture 5 5. May 2020 3 / 20

 Local diffeomorphisms and differentials

Question: How can we check if a smooth map is a local diffeo-

morphism?
Answer: Need following theorem:

Theorem
Let F : M → N be a smooth map, dim(M) = dim(N) = n, and
p ∈ M. dFp : Tp M → TF (p) N is a linear isomorphism if and
only if ∃ open nbh. U ⊂ M of p, such that

F |U : U → F (U) ⊂ N

is a diffeomorphism.

Proof:

choose local charts (ϕ, U) and (ψ, V ) of M, N, covering

p, F (p), respectively
observation 1: dFp is a linear isomorphism if and only if
the Jacobi matrix of F in local coordinates ϕ, ψ, is
invertible
(continued on next page)
David Lindemann DG lecture 5 5. May 2020 4 / 20
 Local diffeomorphisms and differentials

observation 2: ∃ open nbh. U ⊂ M of p, such that

F |U : U → F (U) is invertible if an only if ∃ U 0 , V 0 ⊂ Rn
open with ϕ(p) ∈ U 0 , ψ(F (p)) ∈ V 0 , such that

ψ ◦ F ◦ ϕ−1 : U 0 → V 0

is a diffeomorphism
“⇒” follows from the inverse function theorem from real
analysis
“⇐” follows from fact that diffeomorphisms in the real
analysis sense have pointwise invertible Jacobi matrix
This characterises local diffeomorphisms as follows:

Corollary
F : M → N is a local diffeomorphism if and only if dFp is a
linear isomorphism for all p ∈ M.

David Lindemann DG lecture 5 5. May 2020 5 / 20

 Local diffeomorphisms and differentials

Examples
The projection map

π : S n → RP n , (x 1 , . . . , x n ) 7→ [x 1 : . . . : x n ]

is a local diffeomorphism ∀ n ∈ N but never a

diffeomorphism.
There are examples for local diffeomorphism for M
non-compact and N compact, e.g.

f : R → S1 ∼
= R/Z, t 7→ [t],

where [t] = [t 0 ] if ∃ z ∈ Z, such that t = t 0 + z.

David Lindemann DG lecture 5 5. May 2020 6 / 20

 Embedded smooth submanifolds

Recall: Smooth submanifolds of Rn defined as subsets S ⊂ Rn

that be locally written as

S ∩ U = {f (p) = 0 | p ∈ U},

U ⊂ Rn open, f : U → Rm with Jacobi matrix of maximal rank

in U. use embeddings to generalize this concept to smooth
manifold:
Definition
Let N be an n-dim., M be an m-dim. smooth manifold and
F : M → N a smooth map.
F (M) ⊂ N is called an embedded smooth submanifold
if F is an embedding.
If F is the inclusion map ι : M ,→ N, we will say that
M ⊂ N is a smooth submanifold if the inclusion is an
embedding.
If M ⊂ N is a smooth submanifold, the number
dim(N) − dim(M) is called the codimension of M in N.

David Lindemann DG lecture 5 5. May 2020 7 / 20

 Embedded smooth submanifolds

Question: is there a “good” choice of charts on N w.r.t. some

submanifold M ⊂ N?
Proposition A
Let M ⊂ N, dim(M) = m < n = dim(N), be a smooth
submanifold and let p ∈ M be arbitrary. Then there exists a
chart (ϕ = (x 1 , . . . , x n ), U) on N, such that U ∩ M is an open
neighbourhood of p in M and

x m+1 (q) = . . . = x n (q) = 0

for all q ∈ U ∩ M. The first m entries in ϕ are a local

coordinate system on M near p.

Proof:
fix p ∈ M ⊂ N, choose local coordinates (x 1 , . . . , x n ) on
N and (y 1 , . . . , y m ) on M covering p
M being a submanifold means inclusion ι : M → N is an
embedding, thus dιp is in particular injective

David Lindemann DG lecture 5 5. May 2020 8 / 20

 Embedded smooth submanifolds

hence, the Jacobi matrix of ι at p in local coordinates ϕ,

ψ,  i 
∂x
(p) ∈ Mat(n × m, R)
∂y j ij

has maximal rank m

w.l.o.g. (after possibly re-ordering the x i ) assume that
first m rows are linearly independent
implicit function theorem ⇒ (x 1 , . . . , x m ) are local
coordinates on some open set V ⊂ M
after possibly shrinking V obtain that q ∈ ι(M) iff

x k (q) = f k (x 1 (q), . . . , x m (q)),

f k : (x 1 , . . . , x m )(V ) → R uniquely determined ∀

m+1≤k ≤n
choose U ⊂ N open, such that (x 1 , . . . , x n ) are defined on
U and U ∩ M = V , define for m + 1 ≤ k ≤ n

F k := x k − f k (x 1 , . . . , x m )

David Lindemann DG lecture 5 5. May 2020 9 / 20

 Embedded smooth submanifolds

define new coordinate system (ϕ, U) on N fulfilling

statement of this proposition as follows:

ϕ = (x 1 , . . . , x m , F m+1 , . . . , F n )

Jacobi matrix of ϕ at p with respect to the coordinates

(x 1 , . . . , x n ) is of the form
 
idRm 0
A idRn−m

for some A ∈ Mat((n − m) × m, R), hence invertible

hence, ϕ is a local diffeomorphism and thereby defines a
local coordinate system on N which, by construction,
fulfils

ϕ(U ∩ M) = ϕ(V ) = (x 1 , . . . , x m , 0, . . . , 0).

as required

David Lindemann DG lecture 5 5. May 2020 10 / 20

 Embedded smooth submanifolds

Definition
Local coordinates as in Proposition A for a submanifold M ⊂ N
near a given point p ∈ M are called adapted coordinates.

From the proof of Proposition A we obtain:

Corollary
Any smooth manifold M that can be realized as a submanifold
of some ambient manifold N is diffeomorphic to M, viewed as
a topological subspace of N, equipped with any atlas consisting
only of adapted coordinates.

Next: Study methods to obtain examples of smooth submani-

folds.

David Lindemann DG lecture 5 5. May 2020 11 / 20

 Methods to construct smooth submanifolds

Definition
Let M and N be smooth manifolds and let F : M → N be a
smooth map.
p ∈ M is called regular point of F if
dFp : Tp M → TF (p) N is surjective
q ∈ N, such that F −1 (q) ⊂ M consists only of regular
points, is called regular value of F
points in M that are not regular points of F are called
critical points of F
points in N such that the pre-image under F in M
contains at least one critical point of F are called critical
values of F

Remark: F : M → N can only have regular values if dim(M) ≥

dim(N)

David Lindemann DG lecture 5 5. May 2020 12 / 20

 Methods to construct smooth submanifolds

A convenient way to construct smooth submanifold is the fol-

lowing:

Proposition B
Let F : M → N be smooth, dim(M) = m ≥ n = dim(N), and
q ∈ N a regular value of F . Then the level set

F −1 (q) ⊂ M

is an (m − n)-dimensional smooth submanifold of M. The

structure of a smooth manifold on F −1 (q) is uniquely
determined by requiring that the inclusion is smooth.

in order to prove Proposition B, need additional tools

David Lindemann DG lecture 5 5. May 2020 13 / 20

 Methods to construct smooth submanifolds

Definition
Let F : M → N be a smooth, (ϕ, U) and (ψ, V ) be local
charts of M and N, respectively, such that F (U) ⊂ V , and
dim(M) = m and dim(N) = n. The coordinate representation
of F in the local coordinate systems ϕ and ψ is defined to be
the smooth map

Fb : ϕ(U) → ψ(V ),
Fb(u 1 , . . . , u m ) := (ψ ◦ F ◦ ϕ−1 )(u 1 , . . . , u m ).

Using the above definition, we can formulate the so-called rank

theorem: (next page)

David Lindemann DG lecture 5 5. May 2020 14 / 20

 Methods to construct smooth submanifolds

Theorem A
Let M be an m-dim. and N be an n-dim. smooth manifold.
Let F : M → N be a smooth map of constant rank r . Then for
each p ∈ M ∃ local charts (ϕ, U) of M with p ∈ U and (ψ, V )
of N with F (p) ∈ V , such that F (U) ⊂ V and that the
coordinate representation of F is of the form

Fb(u 1 , . . . , u r , u r +1 , . . . , u m ) = (u 1 , . . . , u r , 0, . . . , 0).

Proof: See Thm. 4.12 in Introduction to Smooth Manifolds

(John M. Lee), or in the real analysis setting with a slightly
different formulation Thm. 9.32 in Principles of Mathematical
Analysis (W. Rudin).

David Lindemann DG lecture 5 5. May 2020 15 / 20

 Methods to construct smooth submanifolds

Theorem B
Let M and N be smooth manifolds and F : M → N smooth
and of constant rank r . Each level set F −1 (q) ⊂ M, q ∈ N, is
a smooth submanifold of codimension r in M.

Proof:
fix q ∈ N and p ∈ F −1 (q)
Theorem A choose charts (ϕ = (x 1 , . . . , x m ), U) of M,
p ∈ U, and (ψ, V ) of N, q ∈ V , fulfilling

ϕ(p) = 0, ψ(q) = 0,

such that the coordinate representation Fb of F is of the

form

Fb : ϕ(U) → ψ(V ),
Fb(u 1 , . . . , u r , u r +1 , . . . , u m ) = (u 1 , . . . , u r , 0, . . . , 0)

David Lindemann DG lecture 5 5. May 2020 16 / 20

 Methods to construct smooth submanifolds

obtain (ψ ◦ F )(x 1 , . . . , x m ) = (x 1 , . . . , x r , 0, . . . , 0)
this shows that

F −1 (q) ∩ U = {p ∈ U | x 1 (p) = . . . = x r (p) = 0}

hence, (x r +1 , . . . , x m ) are (up to reordering) adapted

coordinates on F −1 (q) ∩ M
cover F −1 (q) with so constructed coordinates, obtain that
F −1 (q) ⊂ M is, in fact, a submanifold of M
every max. atlas on F −1 (q), such that the inclusion is
smooth, contains all so constructed adapted coordinates
hence structure of a smooth manifold on F −1 (q), such
that the inclusion is smooth, is unique

David Lindemann DG lecture 5 5. May 2020 17 / 20

 Methods to construct smooth submanifolds

Need one more result:

Proposition C
Let F : M → N be smooth. The set of regular points of F is
open in M.

Proof: Exercise!

Using Theorem B and Proposition C we can finally prove Propo-

sition C:
Proof (of Proposition C):
let F : M → N be smooth, q ∈ N a regular value of F
Proposition C

reg(F ) := {p ∈ M | p regular point of F }

open in M

David Lindemann DG lecture 5 5. May 2020 18 / 20

 Methods to construct smooth submanifolds

by assumption we have F −1 (q) ⊂ reg(F ), hence

F |reg(F ) : reg(F ) → N

is a submersion and, hence, of constant rank equal to

dim(N)
Theorem B F −1 (q) ⊂ reg(F ) is a smooth submanifold
the composition of the inclusions F −1 (q) ⊂ reg(F ) and
reg(F ) ⊂ M is still the inclusion, in particular still a
smooth embedding
hence F −1 (q) ⊂ M is a smooth submanifold
reg(F ) ⊂ M open and Theorem B imply
dim(F −1 (q)) = m − n
structure of a smooth manifold on F −1 (q) uniquely
determined by requiring that the inclusion in M is smooth
by Theorem B

David Lindemann DG lecture 5 5. May 2020 19 / 20

 Methods to construct smooth submanifolds

END OF LECTURE 5

Next lecture:
vector bundles

David Lindemann DG lecture 5 5. May 2020 20 / 20