11/8/2019 differential geometry - Proving diffeomorphism invariance of boundary - Mathematics Stack Exchange

Proving diffeomorphism invariance of boundary

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I'm trying to follow Lee's book Introduction to Smooth Manifold in details. In chapter 2, Exercise
2.19 asks the reader to prove that if F : M → N is a smooth diffeomorphism between manifolds
2 with boundary, then F (∂ M ) = ∂ N .

It suffices to show that F (∂ M ) ⊆ ∂ N . I thought about mimicking the proof given in the book that,
in a smooth manifold, a point cannot be a boundary point and be in the domain of an interior chart
at the same time (Theorem 1.46).
4
However, I noticed that the argument would rely on knowing forehand that the two manifolds have
the same dimension, that is to say their charts map to open subsets of the same H , but it is not n

clear for me at all that I can assume that.

For completeness, a sketch of my proof would go like this:

Given p ∈ ∂M , by definition of F smooth there exists (U , ϕ) and (V , ψ) charts such that

F (U ) ⊆ V and F^ = ψ ∘ F ∘ ϕ is smooth. Since p is a boundary point, this means there exists
−1

an open set U containing x = ϕ(p) and F : U → R such that F = F in ϕ(U ) ⊂ H (and

x x x
n
x
m

not necessarily m = n ).

Now let us suppose that F (p) ∈ int M . Then, since F is a diffeomorphism (and thus an open
mapping), by restricting if necessary we may suppose that F (U ) = V . If G = F : N → M , it
−1

is known that G^
= ϕ ∘ G ∘ ψ
−1
: ψ(V ) → ϕ(U ) is smooth (in the sense of R , because F (p) is
n

an interior point).

Now, we may find a ball B around ψ(F (p)) ^

= F (x) such that G
^
(B) ⊆ ϕ(U ) ∩ Ux . Thus, we
could write

^
IdB = F x ∘ G

as a composition of smooth functions in the regular sense (defined on open subsets of R and n

R , respectively).
m

The conclusion would follow by noticing that pointwise DF ∘ DG ^

= Id and thus DG is non-
x
^

singular, but this would only be true if m = n - otherwise I can only conclude it has a left-inverse.

I wonder if:

1. there's some independent more basic argument that allows me suppose that m = n right from
the start; or
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along = n .

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An answer for 1. or a tip for 2. would be appreciated.

differential-geometry smooth-manifolds manifolds-with-boundary

asked Sep 30 '17 at 19:50

ulilaka
580 2 10

Invariance of the domain is a difficult topic in topology, but in the differentiable context It follows from the
inverse function theorem (or, equivalently, the implicit function theorem), that a diffeomorphism preserves
the dimension. See the third remark on this page: en.wikipedia.org/wiki/Diffeomorphism – Thomas Sep
30 '17 at 20:12

I know that a diffeomorphism preserves dimension when it exists between two manifolds without
boundary. This is easy because all charts are interior charts, and thus the expression of F in coordinates
yields a diffeomorphism between open sets of R and R , and thus by the inverse function theorem the
m n

dimensions are the same. Here the question is slightly more subtle. – ulilaka Sep 30 '17 at 20:17

2 No, it's not more subtle. You determine the dimension away from boundary points. (If you like, start with a
point of N − ∂ N .) Assuming connectedness, it stays constant. – Ted Shifrin Sep 30 '17 at 22:39

Ok, I thought about that, but then what ensures that the inverse image of a neighborhood of such point, say
(U ) , will be contained in int M ? The argument relies in finding interior charts around both p and
−1
F

F (p) as well. – ulilaka Sep 30 '17 at 23:40

@TedShifrin Could you explain the connectedness part? – Zero Oct 21 '17 at 22:53

1 Answer

I thought exactly the same and I think I've found a satisfactory solution. Basically your po\text{int }
1. is right, but the argument is indeed quite subtle. I'm gonna divide this proof in 4 parts:
2 Part 1: If M is a nonempty manifold with boundary then int (M ) ≠ ∅ .

Proof: I'll leave this one as homework :) because it's not subtle.

Part 2: If M → N are nonempty diffeomorphic smooth manifolds with boundary then

dim M = dim N .

Proof: This part is subtle, so I'll write the details carefully. Let f : M → N be a diffeomorphism.
Then f |int M : int M → f (int M ) is a diffeomorphism where int M is a nonempty smooth
manifold (this is because of part 1.) and f (int M ) is a nonempty smooth manifold with boundary.
Let's rename f |int M : int M → f (int M ) as f : M → N . Using the same trick
1 1 1

(int N ) → int N is a diffeomorphism between nonempty smooth

−1 −1
f |f1 (int N ) : f 1 1 1
1 1

manifolds. By Proposition 2.17 (Diffeomorphism Invariance of Dimension) we have that

(int N ) and int N have the same dimension, so the same is true for M and N .
−1
f 1 1
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Part 3: If M is a smooth manifold with boundary, (U , ϕ) is a smooth chart for M and

f : ϕ(U ) → V is a diffeomorphism between open subsets of H or R then (U , f ∘ ϕ) is a smooth
n n

chart for M .

Proof: I'll also leave this one for homework because it's also not subtle.

Part 4: (Theorem 2.18, Diffeomorphism Invariance of the Boundary): Suppose M and N are smooth
manifolds with boundary and F : M → N is a diffeomorphism. Then F (∂ M ) = ∂ N .

Proof: Let p ∈ ∂ M . This means there is a smooth chart (U , ϕ) for M such that p ∈ U , ϕ(U ) ⊆ H n

and ϕ(U ) ∈ ∂ H . By restricting U (this is essentially what Lee does in his proof of Theorem 2.17,
n

Diffeomorphism Invariance of Dimension) we may find a chart (F (U ), ψ) for N . Then

: ϕ(U ) → ψ(F (U )) is a diffeomorphism between open subsets of the same H or R
−1 n n
ψ ∘ F ∘ ϕ

because of part 2. Define F^ = ψ ∘ F ∘ ϕ

−1
, then by part 3. (U , F^ ∘ ϕ) is a smooth chart for M . By
Theorem 1.46 (Smooth Invariance of the Boundary) F^(ϕ(U )) ⊆ H and F^(ϕ(p)) ∈ ∂ H , this is the
n n

same as saying ψ(F (U )) ⊆ H and ψ(F (p)) ∈ ∂ H , which implies F (p) ∈ ∂ N . So F (∂ M ) ⊆ ∂ N

n n

and we are done.

This is the kind of details that always drives me crazy, but hopefully now I can fill most of the gaps.
When I ask people about this kind of details I sometimes get offtopic answers by people that think
this is a trivial detail. For example, I don't see how connectedness plays a role here, care to explain
@Ted Shifrin?

edited Oct 22 '17 at 18:15 answered Oct 21 '17 at 22:53

Zero
2,338 12 27

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