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Invariance of domain says that a continuous map that is an injective function between topological manifolds without boundary of the same dimension is an open map. It is useful in the Penrose singularity theorem: projecting a compact achronal boundary along timelike curves onto a Cauchy hypersurface gives a nonempty subset that is both open and closed, forcing that connected Cauchy hypersurface to be compact.

One standard form of the Penrose singularity theorem assumes a time-oriented globally hyperbolic spacetime with a noncompact Cauchy hypersurface, the null convergence condition $R_{ab}{k}^a{k}^b\ge 0$ for every null vector $k$, and a closed future trapped surface. It concludes future null geodesic incompleteness: some future-inextendible null geodesic has a finite upper endpoint of its affine parameter.

The focusing mechanism is the Null Raychaudhuri equation. The normal generators have zero null twist, soAn initial ${\theta }_0<0$ therefore gives a conjugate point to a spacelike surface within affine distance at most $2/|{\theta }_0|$, assuming the generator can be continued that far. Such a generator ceases to lie on the achronal boundary after its first focal point. Compactness of the trapped surface supplies a uniform bound for all normalized initial null normals. Future completeness would consequently make its future boundary compact. Projection along timelike curves to a connected Cauchy hypersurface is injective on the achronal boundary and has open image. Compactness makes the image closed as well; the nonempty image must therefore be the entire hypersurface, contradicting its noncompactness. This explains why the global assumptions supplement local focusing.

For Reissner-Nordstrom spacetime, the Maxwell stress-energy tensor satisfies the null energy condition; the Einstein field equations imply the required null convergence condition. The spheres in the band just found are closed and trapped. Apply the theorem to a maximal Cauchy development with a noncompact Cauchy hypersurface and containing one such sphere. That globally hyperbolic spacetime must be future null-geodesically incomplete.

The Penrose theorem at a Cauchy horizon needs care: the full maximal analytic Reissner-Nordstrom spacetime has inner Cauchy horizons and is not globally hyperbolic. It does not satisfy every hypothesis of the displayed theorem. In the exact solution some incomplete geodesics of the globally hyperbolic development reach a smoothly extendible Cauchy horizon in finite affine parameter. The theorem asserts incompleteness of the development, not that every such endpoint is a curvature singularity. The separate curvature singularity at $r=0$ does not justify silently dropping the theorem's global hypothesis.

A future trapped surface is a smooth compact spacelike two-surface without boundary whose two future-directed orthogonal null expansions are strictly negative. In four-dimensional general relativity, the Penrose singularity theorem states: a time-oriented globally hyperbolic spacetime with a noncompact Cauchy hypersurface, a trapped surface, and the null convergence condition $R_{ab}{k}^a{k}^b\ge 0$ for every null vector is future null-geodesically incomplete. With the Einstein field equations, the null energy condition implies this null convergence condition; a cosmological constant drops out of the null contraction.

The Kruskal spacetime is an example. In its black hole interior, use future null normals in Ingoing Eddington-Finkelstein coordinates:For a round sphere of areal radius $r$, its area is $4\pi r^2$ and its null expansions areBoth are negative for $0<r<2M$. The vacuum Einstein field equations give $R_{ab}=0$, and a two-ended Kruskal Cauchy hypersurface is noncompact. The future radial null geodesics reaching $r=0$ in finite affine parameter provide precisely the incompleteness predicted by the Penrose singularity theorem. A trapped surface at $r<2M$ is strictly trapped; the horizon sphere has one zero null expansion instead.

The relevant Penrose singularity theorem states: a connected time-oriented four-dimensional globally hyperbolic spacetime with a noncompact Cauchy hypersurface, a nonempty compact orientable boundaryless trapped surface, and the null convergence condition is future null-geodesically incomplete. Under the Einstein field equations, the null energy condition supplies the curvature hypothesis. A trapped surface here is spacelike and has both future normal null expansions strictly negative. The conclusion is an incomplete null geodesic, not necessarily a divergent curvature invariant at an identifiable point.

Suppose, for contradiction, that every future null geodesic is complete. Write $S$ for the trapped surface andThe equality follows because the causal future of a compact set is closed in a globally hyperbolic spacetime. This future horismos is a closed achronal boundary. It is nonempty: the restriction of a Cauchy time function to compact $S$ has a minimum, and a point at that minimum cannot be chronologically preceded by another point of $S$.

Normalize the two future null normal directions along $S$ against a smooth future timelike field, fixing the affine scale continuously. Their initial null expansions are continuous and strictly negative. Compactness of the normalized normal bundle gives a uniform $c>0$ with ${\theta }_{\pm }\le -c$ everywhere on $S$. The preceding null focusing theorem forces a conjugate point to a spacelike surface along each normal generator within affine length $L=2/c$.

By the supplied boundary-generator result, every point of $E^{+}(S)$ is reached by an orthogonal future null geodesic which has no earlier conjugate point. No such boundary generator can remain on the boundary beyond its first focal point. Every point of $E^{+}(S)$ therefore lies inThe parameter set is compact. Future null completeness makes its geodesic flow defined throughout this common finite interval, and smooth dependence on initial data makes its image $K$ compact. Since $E^{+}(S)$ is closed and contained in $K$, it is compact. This is the compactness of the future horismos of a trapped surface step; a merely pointwise finite bound would not suffice without compactness and uniform normalization.

Choose a smooth complete timelike vector field, obtained if necessary by positive rescaling against a complete auxiliary Riemannian metric. Its inextendible integral curves of a vector field meet a chosen smooth Cauchy hypersurface $C$ exactly once. Projection along those curves defines a continuous map ${\pi }_C:E^{+}(S)\to C$. The achronal set property makes this map an injective function: two boundary points on the same timelike integral curve of a vector field would be timelike related.

An achronal boundary is a topological hypersurface without boundary, even at nonsmooth generator junctions; the submanifold property allowed in the question supplies this fact. Thus domain and codomain are both three-dimensional topological manifolds without boundary. Invariance of domain makes ${\pi }_C(E^{+}(S))$ open in $C$. Compactness makes it closed in the Hausdorff space $C$, and it is nonempty. Connectedness of the spacetime gives connectedness of $C$, so this image is all of $C$. That would make $C$ compact, contradicting the noncompact Cauchy hypersurface hypothesis. The completeness assumption is false, proving the theorem.

The noncompactness hypothesis and strict trapping are essential to this version. Global hyperbolicity cannot simply be omitted in the compactness and projection steps, and nonpositive initial expansion with zeros does not supply the uniform focusing bound used here.

The Penrose singularity theorem concludes future null-geodesic incompleteness; it does not require a divergent curvature invariant. This spacetime supplies exactly that distinction. For a null geodesic in the static coordinates, the Killing constantsand the null condition giveAs $r\to 0$, $f\to -r_{+}^2/L^2$. A radial geodesic with $J=0$ reaches $r=0$ linearly in finite affine parameter. If $J\ne 0$, then $|\dot{r}|\sim r_{+}|J|/(Lr)$, so it again reaches zero in finite affine parameter. The anti-de Sitter quotient ends these geodesics at $r=0$ even though local curvature remains finite. Thus the trapped circles lead to the BTZ causal singularity, satisfying the theorem through geodesic incompleteness rather than curvature blowup.

Suppose, for contradiction, that every future null geodesic orthogonal to the compact trapped surface $T$ extends beyond $L=A/|{\theta }_0|$. Both families begin with expansion at most ${\theta }_0<0$, so part d gives a point conjugate to $T$ on every generator by affine length $L$. A generator of the achronal boundary ${\dot{J}}^{+}(T)$ cannot remain on that boundary beyond its first conjugate point, because afterward it can be deformed to a timelike curve from $T$.

The two bundles of initial null directions over compact $T$, restricted to $0\le \lambda \le L$, form a compact set. Their image under the geodesic exponential map contains all of ${\dot{J}}^{+}(T)$, so this achronal boundary is compact. Project it along a complete timelike flow onto the noncompact Cauchy hypersurface $\Sigma$. The projection is both open and closed in the connected Cauchy surface, hence would be all of $\Sigma$; compactness of the source would then make $\Sigma$ compact, a contradiction.

Therefore at least one orthogonal future null geodesic cannot extend to affine length $L$. Its maximal future development is future-inextendible with total affine lengthwhich is the incompleteness conclusion of the Penrose singularity theorem.

Apply the time-reversed Penrose singularity theorem. The two past-directed null congruences orthogonal to the compact anti-trapped surface have negative expansion. The null energy condition, through the Einstein field equations, supplies the null convergence condition, and the null focusing theorem forces each generator to acquire a conjugate point within finite affine length if it can be extended that far.

If every past-directed null generator were complete, the boundary of the causal past of the surface would therefore be generated only for a bounded affine interval. Compactness of the initial surface and continuous dependence of geodesics on initial data would make that achronal boundary compact. A globally hyperbolic spacetime provides a Cauchy hypersurface and a timelike flow projecting the boundary onto it. The standard Penrose argument then makes its image both open and closed, forcing the connected Cauchy hypersurface to be compact. This contradicts its stipulated topology ${\mathbb{R}}^3$.

Hence at least one past-directed null generator ends after finite affine parameter: the universe is null-geodesically incomplete to the past. Global hyperbolicity controls the causal boundary, the noncompact spatial topology supplies the contradiction, and the energy condition supplies focusing.

The globally hyperbolic maximal Cauchy development of appropriate Reissner-Nordstrom spacetime data obeys the Penrose singularity theorem when it contains a closed trapped surface. Its resulting null geodesic incompleteness can include generators reaching a smoothly extendible inner Cauchy horizon in finite affine parameter. The full analytic extension is not globally hyperbolic and cannot be substituted into that version of the theorem. Incompleteness alone does not establish curvature blowup at every endpoint.