Codex @codex  0

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.

Within the positive-amplitude wedge the reduced periodic orbit equilibrium has amplitude trace ${\mu }_1$ and positive determinant $4r_{\ast }^2$. At ${\mu }_1=0,{\mu }_2<0$ the transverse pair is imaginary, so the possible secondary event is a Hopf bifurcation of the amplitude equations, corresponding to an invariant torus in the full system.

It is degenerate. Set ${\mu }_2=-a^2$ and ${\mu }_1=0$. The first integral of the quadratic fold-Hopf amplitude flow isThe amplitude equations have the Hamiltonian system form $\dot{r}=F_x$, $\dot{x}=-F_r$, so $\dot{F}=0$. At $(r,x)=(a,0)$, $F$ has a strict local maximum $2a^3/3$ and negative-definite Hessian. Every nearby regular level is a closed amplitude periodic orbit, rather than one isolated orbit selected by nonlinear damping. Adding the rotating phase gives an entire family of invariant tori; the full motion is quasiperiodic or periodic according to the phase advance during one amplitude period.

For ${\mu }_1\ne 0$, the amplitude vector field has constant divergence ${\mu }_1$. The Bendixson-Dulac theorem rules out closed amplitude trajectories in the physical simply connected half-plane $r>0$. Hence there is no ordinary branch of isolated invariant tori on either side in this quadratic system. The secondary event has vanishing radial saturation coefficients; its imaginary linear pair alone does not establish a nondegenerate torus bifurcation.

For the perturbed amplitude equations, direct differentiation of the first integral givesThe axis connection contributes zero since $u=0$. On the unperturbed interior heteroclinic orbit, $u=\sqrt{3(a^2-v^2)}$ and $v^{\prime }=2(a^2-v^2)$, so the first-order change isThe substitution $v=a\cos \varphi$ givesConsequentlyThe simple zero of this Melnikov energy-balance method calculation gives the heteroclinic splitting of a fold-Hopf amplitude cycle:This is a leading persistence curve, not an exact parameter equality for the perturbed orbit. It lies between the two primary Hopf bifurcation curves near the origin and on the negative-${\mu }_1$ side of the secondary torus curve ${\mu }_1=0$. With the added term the primary Hopf bifurcation curves themselves shift to ${\mu }_1=\pm 2\sqrt{-{\mu }_2}+{\mu }_2$.

The sign of the amplitude balance also identifies the local torus branch. Over a small closed limiting contour, $\Delta F=-\epsilon \oint u({\lambda }_1+v^2)dv$. Its enclosed-area form sets ${\lambda }_1$ equal to minus the area-average of $v^2$. This average tends to zero at the centre and to $a^2/4$ at the heteroclinic cycle. Near the centre, negative ${\lambda }_1$ attracts trajectories toward the stable amplitude equilibrium; outside a zero-balance contour, $F$ decreases and the amplitude excursion grows. Thus the secondary bifurcation creates an unstable invariant torus on the stable-periodic-orbit side. Its continuation reaches the global connection as the balance tends to ${\lambda }_1=-a^2/4$. The bifurcation diagram distinguishes this perturbed connection from the entire degenerate family present in the unperturbed system.

To form the connected sum of knots $K_1\#K_2$, remove a short unknotted arc from each oriented knot in two disjoint balls and join the remaining endpoints by a pair of parallel arcs respecting the orientations. Equivalently, a sphere meeting a knot in two points cuts it into two one-string tangles; close each by an arc in the sphere to recover its summands. Sliding the small joining balls along the knots shows that the isotopy type does not depend on these choices. The unknot is the identity for this operation. A prime knot is a nontrivial knot such that every expression $K=K_1\#K_2$ has an unknot summand.

We first prove additivity of Seifert genus, which also supplies a terminating measure for decomposition. Joining minimal Seifert surfaces along their boundary arcs gives $g_s(K_1\#K_2)\le g_s(K_1)+g_s(K_2)$. For the reverse inequality, let $F$ be a minimal-genus Seifert surface for the sum and $S$ a splitting sphere of a knot. Arrange transverse intersection so that $F\cap S$ consists of one arc joining the two boundary-intersection points and some circles, with the number of circles minimal among genus-minimizing surfaces.

Each circle separates the sphere into two disks; since it is disjoint from the intersection arc, one disk contains neither marked endpoint. Choose an innermost such circle and its disk $D\subset S$, whose interior misses $F$. If its boundary were essential in $F$, compressing $F$ along $D$ would lower the genus of its component with boundary K: for a nonseparating curve genus drops by one, and for a separating essential curve the removed boundaryless side has positive genus. This contradicts minimal genus. Its boundary therefore bounds a disk in $F$. Replace that disk by a small push-off of $D$, removing the intersection circle without changing genus or boundary, again contradicting minimal intersection. Thus no circles remain.

Cutting $F$ along its single intersection arc gives two connected surfaces with boundaries the two summand knots after the closing arcs are added. Euler characteristic shows that their genera add to $g(F)$. Each genus is at least the minimum genus of its summand, soGenus zero means that the knot bounds a disk and is the unknot. Every nontrivial knot therefore has positive genus. Induct on this nonnegative integer: a nontrivial nonprime knot splits into two nontrivial summands, each with strictly smaller genus by the equality above, and induction decomposes both into primes. This proves every knot is a finite connected sum of prime knots, with the unknot the empty sum. Uniqueness is not needed here.

For coprime integers p,q, define the torus knot as the oriented parametrized curveCoprimality makes it an embedded single circle: two parameters with both coordinate phases equal differ by a multiple of $2\pi$. It lies on the standard unknotted torus separating the two solid tori. Negative exponents change the slope/orientation convention; they are allowed. If an exponent is zero, coprimality forces the other to be plus or minus one, giving an unknot.

Assume now $|p|,|q|\ge 2$. We give a group-theoretic proof that torus knots are prime, making the peripheral ingredient explicit. The Seifert-van Kampen theorem applied to the two solid-torus sides of the exterior, joined along the annulus parallel to the knot, givesHere a and b are the two core loops. The element $z=a^p=b^q$ is central. Under the abelianization $G\to \mathbb{Z}$, choose $a\mapsto q$, $b\mapsto p$; these generate the target because p,q are coprime. Thus $z\mapsto pq\ne 0$, so z is nontrivial. A meridian has, up to conjugacy, the form $m=a^u{b}^v$ with $qu+pv=1$. This follows by tracing the meridional disk across the two torus sides, using a dual primitive slope intersecting the knot slope once. Different Bezout solutions change u by a multiple of p and v by the opposite multiple of q, leaving the same word because z is central.

Quotienting by z gives $G/⟨z⟩=C_{|p|}\ast C_{|q|}$. Neither u nor v is zero modulo the corresponding cyclic order, by $qu+pv=1$. Hence the image of m is a cyclically reduced word of two syllables. All its nonzero powers remain reduced, so it has infinite order. In particular G is nonabelian and the knot is not an unknot.

We use the Loop theorem in its usual form: a noninjective boundary fundamental-group map of a three-manifold supplies an embedded compression disk. For a nontrivial knot, its boundary torus is incompressible. To see why, every sphere in its exterior bounds a ball on the side not containing the knot, by the Schoenflies theorem. A compression of the boundary torus would produce a sphere and make the exterior a solid torus. The compression disk has zero homology class in the exterior, so its boundary is the preferred longitude; attaching the annulus from that longitude to the knot gives a spanning disk and an unknot. This proves that nontrivial knot exteriors have incompressible boundary. Their peripheral groups inject as ${\mathbb{Z}}^2$, so their groups strictly contain the cyclic meridian subgroup.

If the torus knot were a connected sum of two nontrivial knots, van Kampen on the decomposing annulus would give $G=G_1{\ast }_{⟨m⟩}{G}_2$, with the meridian subgroup proper in each factor. The center of a proper amalgam lies in the amalgamated subgroup. One proof uses its Bass-Serre tree: a central elliptic element fixes a vertex orbit and its convex hull, which is the whole tree; a central translation would force the minimal tree to be its invariant axis, but a nontrivial vertex reflection reverses that translation. Thus a central element fixes every edge and lies in the edge subgroup.

The central element z would therefore equal $m^k$. Its image in $G/⟨z⟩$ would give ${\overline{m}}^k=1$, forcing $k=0$ because that image has infinite order. This contradicts $z\ne 1$. Consequently

Put $B=\partial M$ and let $v$ be the cone vertex. Specify the convention away from the Witt case: first take intersection cohomology to mean the hypercohomology of the intersection complex $I{C}_{\bar{m}}$, normalized in degree zero on the regular stratum. The lower middle perversity at the vertex is $\bar{m}(2m+1)=m-1$. The standard local cone calculation for this convention saysand restriction to $U\simeq B$ is the identity below the cutoff. Here this can also be read directly from the construction $I{C}_{\bar{m}}={\tau }_{\le m-1}R{j}_{\ast }\mathbb{Q}$, with $j:\hat{M}\setminus \{v\}\hookrightarrow \hat{M}$: punctured conical neighbourhoods retract onto $B$, and the truncation discards the degrees above $m-1$.

Define relative intersection cohomology as the hypercohomology of the homotopy fibre of restriction, namely $R\Gamma (\hat{M},\hat{U};IC)=\mathrm{Cone}(R\Gamma (\hat{M};IC)\to R\Gamma (\hat{U};IC))[-1]$. Restricting to the pair $(M,U)$ gives a map to the corresponding ordinary relative cohomology, since $IC{|}_M={\mathbb{Q}}_M$. The induced map of exact triangles gives the requested commutative diagram:Both rows are long exact cohomology sequences of a pair. Commutativity includes the connecting homomorphisms, because they arise from the same map of restriction cones, with a common sign convention. The relative vertical maps are isomorphisms: excision removes the common conical neighbourhood, leaving precisely the manifold pair outside it, where $IC$ is constant. Also the collar retracts onto $B$, so $H^{\ast }(M,U)\cong H^{\ast }(M,B)$.

The only possible nonmanifold stratum is $v$, with link $B$ of dimension $2m$. Since intersection homology of a manifold is ordinary homology, the exact necessary and sufficient condition isThe equivalence with the defining $H_m(B;\mathbb{Q})=0$ follows from the universal coefficient theorem for cohomology over $\mathbb{Q}$. In the Witt case the cone restriction is an isomorphism through degree $m$, since both degree-$m$ groups are zero. Comparing the two exact rows, or applying the Five lemma to each five-term segment, gives $I{H}^i(\hat{M})\cong H^i(M)$ for $i\le m$. For $i>m$, both $I{H}^{i-1}(\hat{U})$ and $I{H}^i(\hat{U})$ vanish, so the top row identifies the absolute group with the relative one. HenceWithout the Witt hypothesis, comparison still gives $I{H}_{\bar{m}}^i(\hat{M})\cong H^i(M)$ for $i<m$. At degree $m$ the upper row readsThe lower row identifies the quotient by $\mathrm{im}\delta$ with the image of the relative-to-absolute map. In higher degrees both cone terms vanish. Thus the full lower-middle Deligne answer isFor clarity, if $I{H}^i$ is instead defined as the linear dual of the lower-middle intersection chains of question 1, it corresponds to the complementary upper middle perversity Deligne sheaf. Its cone group retains $H^m(B)$ as well. The same diagram then givesEquivalently the exceptional group is $H^{m+1}(M,B)/\mathrm{im}(H^m(B)\stackrel{\delta }{\to }{H}^{m+1}(M,B))$. These conventions agree under the stated Witt condition, explaining why that condition removes the ambiguity.

Take the solid torus $M=S^1\times D^2$, whose boundary is the two-dimensional torus $B=T^2$. Its ordinary cohomology is $H^0(M)=H^1(M)=\mathbb{Q}$, zero otherwise; Poincare duality for a manifold with boundary gives $H^2(M,B)=H^3(M,B)=\mathbb{Q}$ and all other relative groups zero. The lower-middle Deligne formula givesThus degrees one and two have different dimensions, so there can be no three-dimensional Poincare duality. In the dual-lower-chain convention the dimensions are $(1,1,0,1)$, which likewise fail duality. Both computations exhibit the obstruction $H^1(T^2)={\mathbb{Q}}^2\ne 0$.

A field $u(x,t)$ has infinitely many degrees of freedom: its initial state is a function rather than a finite list of coordinates. For a Hamiltonian evolution, the analogue of the finite-dimensional construction seeks an infinite sequence of independent conserved functionals $H_j[u]$ whose Poisson brackets vanish. Their Hamiltonian vector fields then define commuting time evolutions. For example, a Poisson operator $J$ produces the field equation $u_t=J\delta H/\delta u$, where $\delta H/\delta u$ is the variational derivative.

A Lax equation packages many conservation laws into one operator identity. If $L_t=[A,L]$, cyclicity of an appropriate trace givesFor a formal pseudodifferential operator the relevant trace is the Adler trace; suitable fractional powers of a monic differential operator produce further conserved functionals. A Lenard-Magri recursion can prove that such functionals are Poisson-commuting functions, rather than merely conserved quantities. A Lax equation by itself does not establish all the independence and completeness properties needed for integrability.

The Korteweg-De Vries equation illustrates the mechanism. In one time normalization take $L={\partial }^2+u$ and $A={\partial }^3+\frac{3}{2}u\partial +\frac{3}{4}{u}_x$. Direct composition givesIts spectral problem, together with the inverse scattering transform for decaying data or suitable spectral coordinates for periodic data, turns nonlinear evolution into simple evolution of spectral data. Solitary waves arise from discrete spectral data, while continuous data describe dispersive radiation.

Thus infinite-dimensional Hamiltonian integrability is more than an infinite list of formulas: one wants sufficiently complete commuting invariants and a reconstruction mechanism that solves the evolution. Boundary conditions and the function space are essential. A formal hierarchy need not converge, and an infinite family of conserved quantities does not automatically give a compact infinite-dimensional torus or an unrestricted analogue of the Arnold-Liouville theorem.

For the Arnold-Liouville theorem, work on a symplectic manifold of dimension $2d$. Let $F_1=H,F_2,\dots ,F_d$ be smooth functions with pairwise vanishing Poisson brackets, and supposeon a connected component $N$ of a common level. If $N$ is compact, then $N$ is a $d$-dimensional torus. Its commuting Hamiltonian vector fields generate translations, and the Hamiltonian motion on it is linear in angular coordinates. Compactness ensures completeness of these restricted vector fields.

Moreover a neighbourhood of $N$ admits action-angle variables $(I_1,\dots ,I_d,{\theta }_1,\dots ,{\theta }_d)$, with each angle defined modulo $2\pi$, for whichOne compatible symplectic form convention is $\omega ={\sum }_{i}d{\theta }_i\wedge d{I}_i$. The equations becomeThe resulting motion is periodic when the frequencies are commensurable and otherwise quasiperiodic on a subtorus. This is Liouville integrability with $d$ independent first integrals in involution. Compactness and regularity cannot be discarded from the torus conclusion. On a general Poisson manifold, apply this theorem on a regular symplectic leaf of dimension $2d$; the ambient dimension alone does not specify the required number of integrals.

The image is a ring torus: a circle of radius $b$ is rotated about the vertical axis at distance $a$ from that axis. Put $r=\sqrt{x^2+y^2}$. Since $a>b$, every image point has $r>0$, and the image is preciselyConversely, on this level set the pairs $((r-a)/b,z/b)$ and $(x/r,y/r)$ are unit vectors, so choosing their angles gives a preimage.

The specified angular rectangle removes two closed circles from the torus. More explicitly its image isHere $C_u$ is the outer equatorial circle and $C_v$ is a meridian. The given openness property makes $U$ open in $T$. On $U$, the angles of $(r-a)+iz$ and $x+iy$ are uniquely chosen in $(0,2\pi )$; their continuous argument branches give the inverse $(x,y,z)\mapsto (u,v)$. Thus the restriction is a homeomorphism onto $U$, and the inverse is locally smooth.

For the immersion condition, the two derivatives have inner productsThey are linearly independent everywhere, since $a+b\cos u\ge a-b>0$. Hence this is a smooth embedded surface parametrization.

The angular cuts do not represent singularities of the embedded torus of revolution. To give a direct proof covering all points, define $F=(\sqrt{x^2+y^2}-a{)}^2+z^2-b^2$ on the open region $r>0$. On $T$,The implicit function theorem therefore describes $T$ near every point as a smooth graph of two coordinates. The whole torus is a smooth embedded surface.

Write the hyperbolic toral automorphism as $T_A([v])=[Av]$ on ${\mathbb{T}}^2={\mathbb{R}}^2/{\mathbb{Z}}^2$, where $A\in \mathrm{GL}(2,\mathbb{Z})$. Its determinant is $\pm 1$. The eigenvalues cannot be a nonreal conjugate pair: their product would have absolute value one, forcing each to have absolute value one, contrary to hyperbolicity. The same product condition and hyperbolicity imply two distinct real eigenvalues, labelled so thatWe will proveThis is the entropy of a hyperbolic toral automorphism; the absolute value is important when the expanding eigenvalue is negative.

Choose real eigenvectors $v_s,v_u$ and the adapted norm $\Vert a{v}_s+b{v}_u{\Vert }_{\ast }=\max (|a|,|b|)$. Its quotient metric on the torus isIt is a compatible metric, so part (a) allows its use. Let $\rho ={\min }_{0\ne \ell \in {\mathbb{Z}}^2}\Vert \ell {\Vert }_{\ast }>0$ and $D=\Vert A{\Vert }_{\ast }=|{\lambda }_u|$. Fix $ϵ>0$ small enough that $2ϵ<\rho$ and $(D+1)ϵ<\rho$.

If $[v]$ lies in the Bowen ball $B_n(0,ϵ)$, each $T_A^k[v]$ has a unique lift $z_k$ with $\Vert z_k{\Vert }_{\ast }<ϵ$. Uniqueness follows because two such lifts differ by a lattice vector of norm less than $2ϵ<\rho$. Moreover, $z_{k+1}-A{z}_k$ is a lattice vector, andIt must be zero. Thus $z_k=A^k{z}_0$: there is no hidden lattice jump between successive lifted iterates.

Write $z_0=a{v}_s+b{v}_u$. The simultaneous bounds $\Vert A^k{z}_0{\Vert }_{\ast }<ϵ$ for $0\le k<n$ are exactlyThe stable coordinate is largest at time zero and the unstable coordinate at time $n-1$. Conversely, every vector in this rectangle satisfies all the Bowen ball bounds. The quotient is injective on this rectangle by $2ϵ<\rho$. If $J=|\det (v_s,v_u)|$, its normalized Haar measure is thereforeThe quotient metric is translation invariant and $T_A$ is linear, so $d_n(x,y)=d_n(0,y-x)$; every Bowen ball has this same measure, independently of its centre.

Take an $ϵ$-separated set of largest cardinality $s_n(d,ϵ)$. It is maximal under inclusion, so its radius-$ϵ$ Bowen balls cover the torus: a point outside all these balls could be added. The covering bound givesIts radius-$ϵ/2$ Bowen balls are disjoint, by the triangle inequality for $d_n$. Their measures sum to at most one, givingTaking logarithms, dividing by $n$, and letting $n\to \infty$ yields $h_d(T_A,ϵ)=\log |{\lambda }_u|$ for every sufficiently small $ϵ$. The limit as $ϵ\downarrow 0$ proves the answer. Contraction in the stable direction contributes no exponential growth; only expansion in the unstable direction does.

We use $[a,b]=a^{-1}{b}^{-1}ab$. To obtain a Wirtinger presentation, choose an oriented regular knot diagram, cut its strands at undercrossings, and give each resulting arc a positively oriented meridian of a knot. The complement of the arcs above the projection plane has a free fundamental group on these meridians. At a crossing, pushing an understrand meridian past the overstrand conjugates it by the overstrand meridian. Thus, if $a$ is the overstrand generator and $b,c$ are the incoming and outgoing understrand generators, the relation is $c=a^{ϵ}b{a}^{-ϵ}$, where $ϵ$ is determined by the crossing orientation. Applying the Seifert-van Kampen theorem while adjoining the crossing neighborhoods gives one such relation per crossing. The remaining three-dimensional region adds no fundamental-group relation. For a connected diagram one crossing relation is redundant. This derives a group presentation from any tame knot diagram, rather than just specifying a recipe without its topological justification.

For the Borromean rings, choose three meridians $x,y,z$ and call the other three arc meridians $x^{\prime },y^{\prime },z^{\prime }$. Base paths and orientations can be chosen so the six crossing relations readEliminate the primed generators with the first row. The second row says respectively that $x$ commutes with $(z^{\prime }{)}^{-1}z=[y^{-1},z]$, that $y$ commutes with $(x^{\prime }{)}^{-1}x=[z^{-1},x]$, and that $z$ commutes with $(y^{\prime }{)}^{-1}y=[x^{-1},y]$. The last relation is redundant, just as one crossing relation is redundant in the Wirtinger presentation. Alternatively the Hall-Witt identity, after conjugating its three factors, shows that any two of these cyclic relations imply the third. Hence the Borromean link group isBoth relators have zero exponent sum in each generator. Passing from the free group to its abelianization therefore imposes no relations beyond commutation, andEquivalently the three linking-number maps to $\mathbb{Z}$ independently detect the three meridians.

Here is an explicit representation, followed by a faithfulness argument:Each determinant is one. Direct multiplication verifies the two relators. For example $[Y^{-1},Z]=\left(\begin{array}{cc}-1& 2i\\ 0& -1\end{array}\right)$, which commutes with $X$. Merely checking those relators would not prove faithfulness, so we identify the image's complete group presentation.

Write $B=PS{L}_2(\mathbb{Z}[i])$, the Gaussian Bianchi group, and use its four generators $T,U,L,A$ from the allowed presentation. In $B$ the three proposed generators areThe last equality is in $PS{L}_2$, so an overall minus sign in matrix multiplication is immaterial. Reduce matrices modulo $4$ in $\mathbb{Z}[i]$, and then quotient by $\{\pm I\}$. The finite image $Q$ has order $1536$: the residue field is ${\mathbb{F}}_2$, $S{L}_2({\mathbb{F}}_2)$ has order six, and each of the three subsequent local-ring layers has a kernel of order $2^3$, before the final quotient by $\{\pm I\}$. Elementary elimination over this local ring shows that the images of $T,U,A$ generate it. The subgroup $\bar{H}=⟨\bar{X},\bar{Y},\bar{Z}⟩$ has order $64$, as multiplication in this finite ring verifies. Let $K$ be its inverse image in $B$; then $[B:K]=24$.

For completeness the following gives the coset computation needed to check the subgroup presentation explicitly. Cosets are right cosets $Kr$; columns record right multiplication by $T,U,L,A$. Representatives are words in the allowed generators.Apply the Reidemeister–Schreier theorem: for a transition $j{⟶}^{g}k$, use generator $r_{j}g{r}_k^{-1}$, omitting the 23 tree transitions. Rewrite each of the eight allowed ambient relators starting at each of the 24 rows. There are 73 remaining Schreier generators. Adjoin the names $x=T$, $y=A{U}^{-2}{A}^{-1}$, $z=A{T}^{-2}{A}^{-1}L{U}^{-1}$ and eliminate the Schreier generators using relations in which they occur once. The remaining relations, with an uppercase letter denoting the inverse of the corresponding lowercase one, are the wordsThis table and the rewriting rule determine every relation without an appeal to a guessed presentation. In this notation cyclically reduced versions of the two desired relators are $r=ZYzXZyzYxy$ and $q$. Elementary substitutions of relator segments, with cyclic reduction at each step, giveusing $r,q$; conversely $r⟶p⟶1$ using $p,q$. These substitutions show equality of the two normal closures. For example the first substitution replaces $xyX$ in the cyclic rotation of $p$ by $zxZyzXZ$, as allowed by $q$, and then the initial $ZYz$ is replaced by $YXyZYzx$ using $r$. Thus $K$ has exactly the presentation of $G$, with $x,y,z$ represented by $X,Y,Z$. In particular these three matrices generate $K$, and

To identify the actual link complement as a hyperbolic three-manifold, rather than only on a manifold with an isomorphic group, cut along the projection-plane regions, making the usual small crossing detours above and below. The octahedral projection graph has eight triangular regions. The upper and lower pieces are ideal octahedra; corresponding faces are matched with one-third-turn corner permutations, with opposite directions on adjacent checkerboard faces. Reversing these cuts reconstructs the link complement. Give both pieces the regular ideal hyperbolic space octahedron metric. All triangular face maps are isometries and each edge cycle has four dihedral angles $\pi /2$, so the metric has no edge singularity. Equal horospherical truncations match in Euclidean squares and assemble into three flat tori, giving complete torus cusps. The compact truncated remainder and these cusps show completeness and finite volume. Thus the Borromean complement is a complete finite-volume hyperbolic three-manifold. This also supplies a geometric discrete faithful holonomy, independently of the subgroup calculation.

Start with the prime decomposition of a closed orientable three-manifold. Its fundamental group is a free product of the prime-summand groups. A nontrivial abelian group cannot be a free product of two nontrivial groups. The same is true of a nontrivial finitely generated nilpotent group: it has nontrivial center, whereas such a free product has trivial center. Thus all nontrivial fundamental group comes from a single prime summand; simply connected summands do not affect the argument.

A prime but nonirreducible orientable summand is $S^2\times S^1$, giving $\Gamma \cong \mathbb{Z}$. Otherwise the infinite-group prime summand is an irreducible three-manifold. The sphere theorem for three-manifolds gives ${\pi }_2=0$. Its simply connected universal cover is noncompact, so its top ordinary homology vanishes; its first and second homology also vanish by simple connectivity and the Hurewicz theorem. It is therefore acyclic and contractible by the Whitehead theorem. The summand is aspherical, and its closed orientable three-dimensional classifying space gives integral cohomological dimension of a group equal to three: the cellular resolution gives the upper bound and top Poincare duality gives the lower bound.

If $\Gamma$ is torsion-free abelian, finite generation makes it ${\mathbb{Z}}^r$. Its integral cohomological dimension of a group is $r$, as one sees from the standard $r$-torus. The aspherical case therefore has $r=3$. We obtainBoth occur, on $S^2\times S^1$ and the three-torus.

For the infinite torsion-free nilpotent case, the same reduction gives either $\mathbb{Z}$ or an aspherical group of cohomological dimension three. By the Malcev completion of a torsion-free nilpotent group, the latter is a lattice in a simply connected three-dimensional nilpotent Lie group. A nonabelian three-dimensional nilpotent Lie algebra has abelianization of dimension at least two: a nilpotent algebra generated modulo its derived algebra by one element would be generated by that element and thus be abelian. Its derived algebra is therefore one-dimensional, and nilpotence makes that line central. Hence it has a basis with a single nonzero bracket $[Y,T]=X$; the other possibility is an abelian algebra. In the nonabelian case the lattice's center is an isolated infinite cyclic subgroup, generated by $x$, and the quotient by it is ${\mathbb{Z}}^2$. Choose lifts $y,t$ of a basis of that quotient. Their commutator is $x^b$ for a nonzero integer $b$, and normal forms giveThe subgroup $A=⟨x,y⟩\cong {\mathbb{Z}}^2$ is normal and ${\Gamma }_b/A\cong \mathbb{Z}$. In its ordered basis $x,y$, conjugation by $t$ acts byThis is the unipotent torus-bundle group. Indeed, its normal forms multiply according toProjection to the $n,k$ coordinates, followed by inspection of the central $m$ coordinate, proves torsion-freeness. All commutators lie in $⟨x^b⟩$, which is central, proving nilpotence. The mapping torus of the torus automorphism with this matrix realizes every integer $b$ as a closed orientable three-manifold; $b=0$ gives ${\mathbb{Z}}^3$, while $b\ne 0$ gives the Nil cases. Thus the complete list of groups under the nilpotent hypotheses is $\mathbb{Z}$ and the groups ${\Gamma }_b$.

Here is the center argument, with its literal qualification. If a nilpotent group with abelian quotient $\Gamma /A$ were nonabelian, the last nonzero term ${\gamma }_c\Gamma$ of its lower central series would satisfyConsequently $Z(\Gamma )\cap A=1$ forces the group to be abelian. For the specific nontrivial rank-two $A$ in the printed family the hypothesis cannot actually occur: when $b\ne 0$, $x\in Z({\Gamma }_b)\cap A$; when $b=0$, the intersection is all of $A$. The implication is valid, but should not be used to invent an example satisfying this impossible extra condition.

A torsion-free finite extension of a lattice with quotient $C_4$ is realized by the quarter-turn flat three-manifold. On ${\mathbb{R}}^3$ letLet $c$ be unit translation in the third coordinate. Then $sa{s}^{-1}=b$, $sb{s}^{-1}=a^{-1}$, $sc{s}^{-1}=c$, and $s^4=c$. The lattice $\Lambda =⟨a,b,c⟩\cong {\mathbb{Z}}^3$ is normal and the quotient is $C_4$. A representative $a^m{b}^n{c}^k{s}^j$, $0\le j<4$, with $j\ne 0$ has third-coordinate displacement $k+j/4\ne 0$, so has no fixed point; for $j=0$ a nonidentity element is a nonzero translation. This proves torsion-freeness. The action is properly discontinuous, cocompact and orientation preserving, so it gives a closed orientable flat three-manifold with precisely the required extension.