Manifolds Denition 1: A pair (M, A), where M is a set and A is a collection of pairs (V, ) where V is a subset of M and : V Rn is a one-to-one

e mapping, is called an n-dimensional charted space if the following properties hold: 1. M = (V,)A V . 2. For any two (U, ), (V, ) A, the sets (U V ) and (U V ) are open in Rn and the mapping 1 : (U V ) (U V ) is continuous. The set A is said to be an atlas on M and the elements (V, ) A, are called the charts of the atlas A. The way to think of a charted space is to think of it as locally being like ordinary Rn . However, this denition still allows for a few pathologies that we will now disallow: For any n-dimensional charted space (M, A), we dene a topology on the set M by the following process: A set U M is declared to be open if and only if the set (U V ) Rn is open for every chart (V, ) A. (Exercise: Check that this does dene a topology on M .) We will denote this topology on M by TA . Denition 2: An n-dimensional charted space (M, A) is called an n-manifold if the topology TA is Hausdor and second countable. We have already discussed in class some of the pathologies that can arise if one does not make these assumptions. Fortunately, these restrictions turn out not to be cumbersome. In fact, as we shall see, they are essential for several of the constructions that will be made later. Denition 3: The atlas of an n-dimensional charted space (M, A) will be said to be dierentiable (respectively, smooth, real analytic , etc.) if for every pair (U, ), (V, ) A, the transition mapping 1 : (U V ) Rn is continuously dierentiable (respectively, smooth, real analytic, etc.). Although it is not logically correct to do so, it is often convenient to let the atlas A be understood and say M is a dierentiable manifold (or smooth manifold, etc.) when we actually mean A is a dierentiable atlas (or smooth atlas, etc.) . This common abuse of language will be committed whenever it is not likely to lead to confusion. Denition 4: If (M, A) is a charted m-dimensional space and (N, B) is a charted n-dimensional space, we say that a function f : M N is continuous if it is continuous with respect to the topologies TA and TB on M and N respectively. If A and B are dierentiable (respectively, smooth, real analytic), then we say that f is dierentiable (respectively, smooth, real analytic) if each of the maps f 1 : (U f 1 (V )) Rn is dierentiable (respectively, smooth, real analytic) for each (U, ) A and (V, ) B. Denition 5: If (M, A) and (N, B) are charted n-dimensional spaces, we say that a bijective mapping f : M N is a homeomorphism if both f and f 1 are continuous. If If A and B are dierentiable (respectively, smooth, real analytic), then we say that f is a diemorphism (respectively, smooth diemorphism, real analytic diemorphism) if both f and f 1 are dierentiable (respectively, smooth, real analytic).