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An open parallelizable manifold immerses in Euclidean space of equal dimension

Example

Assume ACω. Let M be an open (no compact component) smooth m-manifold whose tangent bundle is trivial, TM≅M×Rm; for instance M=Rm minus a point, the open annulus S1×(0,1)⊂R2 in the case m=2, or any open subset of Rm. Then M immerses in Rm, and even every formal immersion M→Rm (equivalently, after fixing a global frame of TM and the standard frame of TRm, a pair consisting of a smooth map M→Rm and a smooth map M→GLm(R)) is homotopic through formal immersions to a genuine immersion. Indeed a global frame of TM together with the standard frame of TRm defines a formal immersion (f,F) for every smooth f, and the open-source Smale–Hirsch theorem deforms it to a genuine immersion in the equidimensional case. For m≥1, a nonempty closed m-manifold is excluded by the equidimensional obstruction, so the open-source hypothesis is essential. In dimension zero an open manifold in this convention is empty; nonempty compact zero-manifolds do admit immersions into R0.

Facts & Assumptions

Given: ACω and an open (no compact component) smooth m-manifold M whose tangent bundle is trivial, TM≅M×Rm.

[F1]

A vector bundle is trivial if and only if it has a global frame, and a global frame is the same as a family of everywhere linearly independent sections (Local and global frames of a vector bundle, A vector bundle is trivial if and only if it has a global frame).

[L1]

The open-source Smale–Hirsch theorem: for an open source M and m≤n the derivative map D:Imm⁡(M,N)→FImm⁡(M,N) is a weak homotopy equivalence, with the relative parametric form; in particular every formal immersion is homotopic through formal immersions to a genuine immersion (Smale–Hirsch for open source manifolds).

[L2]

A smooth map f:M→Rm together with a bundle map F:TM→TRm over f that is fibrewise injective is a formal immersion (Formal immersion between smooth manifolds); after fixing frames of both trivial bundles, smooth bundle maps TM→TRm over a fixed base correspond exactly to smooth matrix-valued maps M→Mat⁡m×m(R); the fibrewise injective maps correspond exactly to smooth maps M→GLm(R) (Smooth vector bundles, rank, fibres, and trivial bundles).

Verification

technique · direct
1.1F1L2givenconstruct

Choose a global frame of TM by [F1] and the standard frame of TRm; for any smooth f:M→Rm, define F to be the bundle map over f that carries the frame of TM to the standard frame of TRm fibrewise. Then F is a fibrewise linear isomorphism, hence fibrewise injective, and (f,F) is a formal immersion by [L2].

2.1L1step 1.1

Since M has no compact component, [L1] applies in the equidimensional case m=n: the formal immersion (f,F) is homotopic through formal immersions to a genuine immersion g:M→Rm, so M immerses in Rm and every formal immersion is homotopic through formal immersions to a genuine one.

3.1L1step 2.1∎

For m≥1, a nonempty closed m-manifold is excluded: by the equidimensional obstruction A nonempty closed n-manifold cannot immerse in R-n for n at least one no nonempty closed m-manifold immerses in Rm, so openness of the source is essential; the examples M=Rm minus a point, the open annulus S1×(0,1)⊂R2, and open subsets of Rm have trivial tangent bundles and no compact component, so the theorem applies to them. For m=0, the no-compact-component condition forces M=∅, since each point is a compact component; its unique map to R0 is an immersion. The countable-choice assumption of [L1] is inherited.

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