Past exam of the mathematics course of the University of Cambridge / 2003 / iii / Paper 28 (Geometry of 3-dimensional Manifolds)

The possible ranks and the corresponding homeomorphism types areThere is no example for $n=2$ or $n\ge 4$. The uniqueness here is topological, not uniqueness of a Riemannian metric.

To see the restrictions, use the prime decomposition of a closed orientable three-manifold. Its fundamental group is the free product of the prime three-manifold groups. A free product of two nontrivial groups is nonabelian, so at most one summand can have nontrivial fundamental group. The remaining simply connected summands are three-spheres by the Poincaré conjecture. If the nontrivial summand is not irreducible, it is $S^2\times S^1$, giving rank one. If it is irreducible and has infinite fundamental group, the sphere theorem for three-manifolds makes it aspherical. Its fundamental group is then a dimension-three Poincare duality group. But ${\mathbb{Z}}^n$ is a duality group of dimension $n$, as seen from the torus classifying space or its Koszul resolution, so $n=3$.

For rank three, the flat case of the geometrization theorem says that a closed irreducible orientable three-manifold with fundamental group ${\mathbb{Z}}^3$ admits a flat metric. Write it as ${\mathbb{R}}^3/\Gamma$. By the Bieberbach theorem, $\Gamma$ contains a full-rank translation lattice $\Lambda$. If $g=(R,v)\in \Gamma$ commutes with translation by each $\lambda \in \Lambda$, then $R\lambda =\lambda$ for every lattice vector, forcing $R=I$. Since $\Gamma$ itself is abelian, it consists entirely of translations. Its quotient is therefore the three-torus. Rank zero follows directly from the Poincaré conjecture, and rank one was already determined by the prime decomposition of a closed orientable three-manifold. Historically, before the Poincare theorem, the uniqueness conclusions were phrased allowing connected sums with homotopy three-spheres; the modern theorem removes that ambiguity.

The six flat types below mean the six closed orientable flat three-manifold types. There are infinitely many individual flat metrics and there are additional noncompact flat Riemannian manifolds. In each closed case the universal cover is Euclidean space and the deck transformation group is a torsion-free crystallographic group. The holonomy groups of closed orientable flat three-manifolds are $1,C_2,C_3,C_4,C_6,C_2\times C_2$.

The first is a flat torus ${\mathbb{R}}^3/\Lambda$, with trivial holonomy. For each cyclic case choose a planar lattice $L$ admitting the relevant rotation $R_m$, and generate the deck transformation group by translations in $L$ and the screwIts $m$th power is unit translation along the axis. A nontrivial holonomy element has nonzero axial displacement modulo integers, so has no fixed point. All transformations preserve orientation. A compact prism fundamental domain gives compactness. Equivalently, the manifold is a torus mapping torus with finite-order monodromy. In planar lattice bases one may takeThe half-turn uses any planar lattice, the quarter-turn a square lattice, and the third- and sixth-turns a hexagonal lattice. These give respectively the half-turn flat three-manifold, third-turn flat three-manifold, quarter-turn flat three-manifold, and sixth-turn flat three-manifold. Their holonomies have orders $2,3,4,6$, and their first Betti numbers are all one, since the only fixed direction of holonomy is the screw axis.

The sixth type is the Hantzsche-Wendt manifold. A concrete group is generated byTheir linear parts are commuting half-turns about perpendicular axes. Moreover ${\alpha }^2$, ${\beta }^2$ and $(\alpha \beta {)}^2$ are translations by $(1,0,0)$, $(0,1,0)$ and $(0,0,-1)$. Their translation subgroup is the unit cubic lattice and their linear quotient is $C_2\times C_2$. In each nontranslation coset, the displacement along the fixed axis is a half-integer, so the action is free. The quotient is compact and orientable. No vector is fixed by both linear parts, so its first Betti number is zero. Bieberbach classification gives precisely these six affine types; the explicit screw descriptions distinguish them without identifying arbitrary finite quotients with holonomy.

A nilpotent group has lower central series ${\gamma }_{1}G=G$, ${\gamma }_{j+1}G=[G,{\gamma }_{j}G]$ terminating at the identity. A polycyclic group has a finite subnormal series with cyclic factors, which may be finite or infinite.

If a nilpotent group is generated by finitely many elements, then ${\gamma }_{j}G/{\gamma }_{j+1}G$ is generated by the finitely many weight-$j$ iterated commutators in these generators. Modulo the next term, commutator identities make these quotients abelian and permit this collection of words. Each quotient is thus a finitely generated abelian group. Refine each by a series with cyclic factors and splice the refinements through the finite lower central series. This proves that a finitely generated nilpotent group is polycyclic.

For the duality-group assertion, first prove the useful finite-index reduction. Induct on the length of a polycyclic series, taking its last proper term $H◃G$. By induction $H$ has a finite-index poly-infinite cyclic group. Because $H$ is finitely generated, it has only finitely many subgroups of any fixed finite index. Intersect all automorphic images of that subgroup to obtain a characteristic finite-index subgroup $H_0\subset H$ which is still poly-infinite cyclic. It is normal in $G$. The quotient $G/H_0$ is finite-by-cyclic. If it is finite, $H_0$ already suffices; if its cyclic quotient is infinite, the subgroup generated by a lift of its generator is infinite cyclic and has finite index. Its preimage in $G$ is an extension of $H_0$ by $\mathbb{Z}$, hence poly-infinite cyclic. This proves polycyclic groups are virtually poly-infinite cyclic.

Take such a finite-index subgroup $P$ of the given dimension-three Poincare duality group. It is again a dimension-three duality group. The extension rule proved in Question 3, applied successively to its infinite cyclic series, makes $P$ a duality group of dimension equal to its Hirsch length. Hence that length is three. Its last quotient giveswhere $H$ has a poly-infinite cyclic series of length two. Thus $H\cong \mathbb{Z}⋊\mathbb{Z}$, with the last generator acting on the first by $+1$ or $-1$. In the first case $H={\mathbb{Z}}^2$. In the second case $H$ is the Klein-bottle group $⟨a,b\mid ba{b}^{-1}=a^{-1}⟩$. Its characteristic subgroup $⟨a,b^2⟩\cong {\mathbb{Z}}^2$ is the centralizer of its commutator subgroup $⟨a^2⟩$. Replace $H$ by this characteristic index-two subgroup if necessary. It remains normal in $P$, and the quotient is finite-by-infinite-cyclic. Taking the preimage of a finite-index infinite cyclic subgroup givesThis extension splits: any lift $t$ of the cyclic generator supplies a section. Therefore $P_0={\mathbb{Z}}^2{⋊}_B\mathbb{Z}$ for some $B\in G{L}_2(\mathbb{Z})$.

In additive notation on ${\mathbb{Z}}^2$, $[t,v]=(B-I)v$. All its other internal commutators vanish, so induction givesConsequentlyThis is the nilpotence criterion for an abelian-by-cyclic group. If $B=I$ the group is abelian; otherwise it is two-step nilpotent. The criterion concerns this actual semidirect product. A finite extension of it is only known to be virtually nilpotent: for example ${\mathbb{Z}}^2{⋊}_{-I}\mathbb{Z}$ is virtually abelian but its lower central series never terminates.

Write elements of the real Heisenberg group as $(x,y,z)$. Direct matrix multiplication and inversion giveThese formulas show that $N_k=(k\mathbb{Z}{)}^3$ is a subgroup. It is discrete. For the right quotient, multiplying by $(ka,kb,kc)$ changes the coordinates toThus $(x\mathrm{mod}k,y\mathrm{mod}k)$ is well defined on the quotient. Over a small base rectangle choose real lifts $x,y$ of its coordinates. Every coset above that rectangle has a representative $(x,y,z)$, and two such representatives differ precisely by $z\mapsto z+kc$. Henceis a smooth local trivialization. The fibres are circles, proving the locally trivial fibration over ${\mathbb{R}}^2/k{\mathbb{Z}}^2\cong T^2$. Reducing first $x,y$ and then $z$ also gives a compact fundamental region, so $N_k$ is cocompact.

The ambient Lie group is diffeomorphic to ${\mathbb{R}}^3$, hence simply connected and contractible. Its quotient has fundamental group $N_k$, and the first integral homology is its abelianization. Let $a=(k,0,0)$, $b=(0,k,0)$ and $c=(0,0,k)$. Every element is uniquely $a^m{b}^n{c}^{\ell }$, since its third coordinate is $k^{2}mn+k\ell$. The commutator formula isso $c$ is central and $[a,b]=c^k$. Every commutator lies in $(0,0,k^2\mathbb{Z})$, and this subgroup is generated by $[a,b]$. Thus $N_k^{\prime }=⟨c^k⟩$. The homomorphism $(x,y,z)\mapsto (x/k,y/k,z/k\mathrm{mod}k)$ is surjective onto ${\mathbb{Z}}^2\oplus \mathbb{Z}/k$ and has exactly this kernel; the cross term in multiplication is divisible by $k$ after dividing by $k$. ThereforeFor $k=1$ the last factor is trivial. This is the Scaled Heisenberg lattice, whose fibre is central but whose total group need not split as a direct product of groups.

Use integral coefficients throughout, allowing a nontrivial orientation character. A dimension-$d$ Poincare duality group has a finite resolution by finitely generated projective group-ring modules andas abelian groups. The action on the top copy of $\mathbb{Z}$ may be by signs. This group-ring criterion is particularly suited to the Lyndon–Hochschild–Serre spectral sequence.

Apply that sequence to the extension with coefficient module $\mathbb{Z}G$:As an $N$-module, $\mathbb{Z}G$ is a direct sum of copies of $\mathbb{Z}N$ indexed by the cosets in $Q$. Cohomology of $N$ commutes with this direct sum because its projective resolution is finitely generated. Hence the inner cohomology vanishes except when $b=n$, where it is a direct sum of rank-one groups indexed by $Q$. The $Q$-action shifts these summands freely and transitively, with possible signs from the orientation module. Choosing a generator in one summand and transporting it by $Q$ identifies the resulting left $Q$-module with its regular module $\mathbb{Z}Q$. The residual right group action records the orientation twist; it need not be trivial.

Now the duality of $Q$ says that the only nonzero $E_2$ term is $(a,b)=(q,n)$ and that this term is $\mathbb{Z}$ as an abelian group. No differential can enter or leave it. Therefore $H^{\ast }(G;\mathbb{Z}G)$ has exactly the duality pattern in degree $n+q$. The usual extension-resolution construction also supplies a resolution by finitely generated projective modules: combine the finite kernel and quotient resolutions, lift the quotient differentials and add the necessary homotopy corrections. Its total length is at most $n+q$. Alternatively, the same spectral sequence for arbitrary coefficient modules gives the dimension bound, while the extension finiteness lemma supplies finite generation of the resolution. The surviving top term makes the bound sharp. This proves the extension rule for Poincare duality groups:Requiring a trivial top orientation action would need an additional orientation condition; the untwisted conclusion is not implicit in the hypotheses.

We next need two precise auxiliary dimension results. The Strebel infinite-index subgroup theorem says that an infinite-index subgroup of an integral $P{D}^d$ group has integral cohomological dimension at most $d-1$. The Stallings-Swan theorem says that a group of integral cohomological dimension at most one is free, including the trivial group. Since $G/N$ contains an element of infinite order, $N$ has infinite index in $G$, so $\mathrm{cd}N\le 2$. If its dimension is at most one, the required free-group conclusion follows, with finite rank because $N$ is finitely presented.

Suppose instead that $\mathrm{cd}N=2$. Finite presentation gives a partial free resolution with finitely generated modules through degree two. The kernel in degree one is finitely generated and, because the integral cohomological dimension is two, projective. Truncating at this kernel gives a finite resolution by finitely generated projective modules. Thus $N$ has the finiteness needed for group-ring cohomology to commute with direct sums.

Choose an infinite-order element $\bar{t}\in G/N$, lift it to $t\in G$, and let $H$ be the preimage of $⟨\bar{t}⟩$. Then $H=N⋊⟨t⟩$. Restriction of $\mathbb{Z}H$ to $N$ yields copies of $\mathbb{Z}N$ indexed by all powers of $t$. For every $j$, the quotient generator acts on $H^j(N;\mathbb{Z}H)$ by shifting this direct sum, possibly with an automorphism on each copy. Its invariants vanish, since an invariant finite-support sequence must be zero. Its coinvariants are one copy of $H^j(N;\mathbb{Z}N)$: the shift relations identify successive copies, and any twists can be removed by transporting the identifications along the integer index.

The infinite cyclic group has integral cohomological dimension one, so only columns zero and one occur in the spectral sequence. Column zero vanishes and column one consists of these coinvariants. We obtain the cyclic-extension shift of group-ring cohomologyas abelian groups. Moreover $H^2(N;\mathbb{Z}N)\ne 0$. Here is a useful proof of that last point: if top cohomology of a finite projective resolution were zero, its last dual differential would be onto. Its target is projective, so that differential splits. Dualizing back splits the last injection of the original resolution, shortening it and contradicting integral cohomological dimension two.

It follows that $H^3(H;\mathbb{Z}H)\ne 0$, and hence $\mathrm{cd}H=3$. Strebel's theorem forces $H$ to have finite index in $G$. It is therefore itself a $P{D}^3$ group, by finite-index invariance of Poincare duality for torsion-free groups. The displayed shift now makes $H^j(N;\mathbb{Z}N)$ zero except for $j=2$, where it is $\mathbb{Z}$. Together with its finite projective resolution, this provesThe classification of two-dimensional Poincare duality groups identifies the latter with the fundamental group of a closed aspherical surface. This classification includes orientation-twisted surface groups; it does not include the two-sphere or real projective plane, whose fundamental groups do not have integral cohomological dimension two.

In this latter case we have also proved that $G/N$ is virtually infinite cyclic, since $H/N=⟨\bar{t}⟩$ has finite index. If necessary replace the surface group by its characteristic index-two orientable subgroup and take the subgroup generated by it and $t$. This still has finite index in $G$ and is a semidirect product of an orientable closed aspherical surface group by $\mathbb{Z}$. The Dehn-Nielsen-Baer theorem for closed orientable surfaces realizes the outer automorphism defined by conjugation by $t$ as a surface homeomorphism $f$. For the torus this is just realization of $G{L}_2(\mathbb{Z})$ by linear homeomorphisms. Changing the chosen lift accounts for an inner automorphism. The mapping torusis a surface bundle over $S^1$ with fundamental group ${\pi }_1(S){⋊}_{f_{\ast }}\mathbb{Z}$. Thus a finite-index subgroup of $G$ is the fundamental group of a surface fibration over the circle. Taking a further double cover of the base if required makes the monodromy orientation-preserving.

For the Loop theorem, start with a nullhomotopy $f:(D^2,\partial D^2)\to (M,\partial M)$ whose boundary represents a nontrivial boundary-group element. The required conclusion is an embedded compression disk, whose boundary may differ from that original loop. A tower proof proceeds as follows.

Put the singular disk in general position and take a regular neighborhood of its image. Successively take connected double covers and regular neighborhoods of the lifted disk images. Each stage separates some image simplices; their number strictly increases but is bounded by the source triangulation, so the tower terminates.

At the top there is no connected double cover, hence $H^1(-;\mathbb{Z}/2)=0$. Poincare-Lefschetz duality makes every boundary component a sphere. The part lying above the original boundary is planar and its boundary circles normally generate its group. Since the lifted loop projects to an essential boundary class, some boundary circle does too. Cap that circle on the sphere and push the disk inward.

Descend each double cover. The projected embedded disk has only double arcs and circles. Innermost disk exchanges and cut-and-paste surgeries remove these. An arc surgery expresses the old boundary word as a product of conjugates of the new words, so at least one new disk retains a nontrivial projected boundary class. Circle surgery retains that class. Double-curve complexity decreases, yielding an embedded disk downstairs. Iterating reaches the required compression disk in $M$.

Now let $E$ be a knot exterior, and choose a meridian $\mu$ and Seifert longitude $\lambda$ on $\partial E$. The homology of the exterior is $\mathbb{Z}$, measured by linking number with the knot: $\mu$ maps to a generator and $\lambda$ to zero. This follows from Alexander duality, or from a Seifert surface giving the Seifert longitude and the linking homomorphism.

If ${\pi }_1(\partial E)\to {\pi }_1(E)$ were not injective, the Loop theorem would supply a properly embedded disk $D$ with essential boundary on the torus. An essential simple curve on a torus has primitive slope $a\mu +b\lambda$, with $\gcd (a,b)=1$. Since $\partial D$ bounds a disk in the exterior, its homology image is zero, forcing $a=0$ and $b=\pm 1$. Thus $\partial D$ is a Seifert longitude. Inside the tubular solid torus it cobounds an embedded annulus with the core knot. Joining that annulus to $D$, and smoothing their common boundary, gives an embedded spanning disk for the knot in $S^3$. A knot bounding such a disk is the unknot. Contraposition provesFinally, $S^3\setminus K$ deformation retracts onto its exterior, so their fundamental groups agree. For the unknot the exterior is a solid torus, with fundamental group $\mathbb{Z}$. Conversely, if the knot-complement group were $\mathbb{Z}$, it could not contain an injected subgroup ${\pi }_1(\partial E)={\mathbb{Z}}^2$. The preceding result therefore forces the knot to be trivial. HenceMerely having homology $\mathbb{Z}$ would not suffice: every knot exterior has that homology.

For a connected smooth Riemannian manifold $(M,g)$ without boundary, let $I(M)$ be the group of all global diffeomorphisms $f$ with $f^{\ast }g=g$, endowed with its compact-open topology. Equivalently these maps preserve the intrinsic distance; the Myers-Steenrod theorem supplies smoothness of distance-preserving bijections and makes $I(M)$ a finite-dimensional Lie group acting smoothly. The group is metric-dependent: a topological manifold can carry a very symmetric metric or one with no continuous symmetries. Connectedness matters here. With infinitely many identical disconnected components, permutations of those components can produce a group which is not a finite-dimensional Lie group.

An isometry is determined by its value and derivative at one point. To prove this, suppose $f(p)=p$ and $d{f}_p=I$. Preservation of the Levi-Civita connection giveswhere the exponential map is defined locally. Thus $f$ is the identity in a normal neighborhood of $p$. The set where its value and derivative agree with the identity is both closed and, by the same argument, open. Connectedness makes it all of $M$. No completeness is needed for this determination argument.

The stabilizer $I(M{)}_p$ consequently acts faithfully and orthogonally on $T_{p}M$, so embeds in $O(n)$. More generally an isometry takes a chosen orthonormal frame at $p$ to one at its image point, providing an injective map into the orthonormal frame bundle. It is a smooth embedding, and the full isometry action is proper. The orbit-stabilizer dimension formula therefore givesIsotropy is compact. If $M$ is compact then $I(M)$ itself is compact, by the same frame description or Arzela-Ascoli applied to isometries and their inverses. Properness also means that the quotient by isometries has well-controlled local orbit structure, even though orbit dimensions may vary.

The infinitesimal equation is the Killing equation. Differentiating $f_t^{\ast }g=g$ at zero givesConversely a vector field satisfying this equation has local flows preserving the metric. A global one-parameter subgroup requires the field to be complete. On a geodesically complete manifold every Killing field is complete: its length is constant along each of its own trajectories, so a finite-time trajectory has bounded speed and stays in a closed bounded ball. The Hopf-Rinow theorem makes that ball compact, and the ordinary differential equation can then be continued. The caveat is real: on the Euclidean interval $(0,1)$, the field ${\partial }_x$ is Killing but its translations are not globally defined for all time. This illustrates Killing fields on incomplete manifolds need not generate global isometries.

The Killing transport identities determine a Killing field from $X(p)$ and the skew-adjoint map $(\nabla X{)}_p$. Along a geodesic the field is a Jacobi field, so uniqueness for its second-order differential equation propagates these initial data. They have $n+n(n-1)/2$ components, reproducing the dimension bound infinitesimally. The important distinction on an incomplete manifold is between all local Killing solutions and the Lie algebra of complete global isometry flows.

In dimension three the bound is six, and rotational isotropy gives stronger information. The Lie subalgebras of $\mathfrak{so}(3)$ have dimensions zero, one or three: identifying the bracket with the cross product, a two-plane is not closed under brackets. Suppose $\dim I(M)=5$. Since an orbit has dimension at most three, its stabilizer would have dimension at least two, and hence exactly three. Its connected isotropy acts as all of $SO(3)$ on the tangent space. But the orbit tangent space is invariant under that action and would have dimension $5-3=2$, impossible because the standard rotational representation is irreducible. Therefore dimension five cannot occur.

If the dimension is six, each orbit has dimension three and each stabilizer dimension three. All orbits are open, so connectedness makes the action transitive. At each point the isotropy is transitive on tangent two-planes, forcing sectional curvature to be independent of the plane; transitivity makes its value independent of the point. Thus a maximally symmetric connected three-manifold has constant sectional curvature. Homogeneous Riemannian manifolds are complete, so its simply connected cover is the round sphere, Euclidean space or hyperbolic space after normalization. Conversely these three simply connected metrics attain dimension six:Here $O^{+}(3,1)$ preserves the chosen sheet of the hyperboloid; it includes orientation-reversing hyperbolic isometries. Constant curvature alone does not imply that a quotient retains six-dimensional global symmetry.

Dimension four likewise forces transitivity: stabilizer dimension three would give a one-dimensional invariant orbit tangent space, again impossible for full rotational isotropy. The stabilizer thus has dimension one and the orbits are three-dimensional. Typical four-dimensional isometry groups occur for $S^2\times \mathbb{R}$ and ${\mathbb{H}}^2\times \mathbb{R}$, where the factor groups have dimensions three and one. The usual Nil metric has three translation symmetries and one rotational isotropy symmetry. In centred Heisenberg coordinates it iswhich exhibits the horizontal rotations. Its distinct vertical and horizontal Ricci eigenvalues bound continuous isotropy by that rotation group, so its full isometry dimension is four. Standard metrics on $\widetilde{S{L}_2(\mathbb{R})}$ and nonround Berger spheres also have dimension four. The standard Sol geometry has a three-dimensional translation group and only finite isotropy, giving dimension three. These examples show how a preferred vertical direction reduces rotational symmetry.

The isometry dimensions in dimension three are precisely $0,1,2,3,4,6$, all realizable. A compact hyperbolic three-manifold gives zero; the product of a circle and a closed hyperbolic surface gives one. For dimension two take $T^2\times (0,1)$ withIts scalar curvature is the constant $-14$, but its Ricci eigenvalues are the distinct constants $-3,-6,-5$ in the two horizontal directions and the vertical direction. Hence connected isotropy is trivial and possible isometries preserve these line distributions. A local isometry preserving them has $t^{\prime }=t+c$ and would require constant dilations $e^{-c}$ and $e^{-2c}$ of the two circle coordinates. A global circle diffeomorphism with such a constant dilation has degree $\pm 1$, forcing $c=0$. The identity component is therefore exactly the two circle translations. A flat three-torus gives dimension three; $S^2\times \mathbb{R}$ gives four; a simply connected constant-curvature model gives six. This construction distinguishes local homogeneity from the smaller global isometry group.

For quotients, let a complete simply connected Riemannian manifold $X$ cover $M=X/\Gamma$. Every isometry of $M$ lifts to an isometry of $X$ which normalizes the deck transformation group. Conversely, every normalizing isometry descends. Two lifts differ by a deck transformation, giving the isometry group of a Riemannian quotient formulaThus one should not replace the isometry group of a quotient by that of its model geometry. For a flat torus, for example,The second factor is finite, whereas translations give the three-dimensional identity component.

There is a useful curvature test for compact manifolds. Contracting and differentiating the Killing equation gives ${\nabla }^{\ast }\nabla X=\mathrm{Ric}(X)$, with the nonnegative rough-Laplacian convention. Integration yields the integrated Bochner identity for Killing fieldsIf Ricci curvature is negative definite, no nonzero Killing field exists. The compact isometry group then has dimension zero and is finite. This explains why closed hyperbolic manifolds have finite global symmetry, despite the six-dimensional isometry group of their universal cover. Compactness is essential to this conclusion.

For a compact flat Riemannian manifold, the same identity makes every Killing field parallel. Parallel fields are exactly the vectors fixed by linear holonomy. ThereforeApplied to the six flat types of Question 1, this gives dimensions three for the torus, one for each of the four nontrivial cyclic types, and zero for the Hantzsche-Wendt manifold. These are identity-component dimensions; disconnected finite symmetries can still be present. Local curvature symmetry, global deck-group constraints, and completeness thus play different roles in determining the isometry group.