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n
0.
If a = 8, we have
s ( R ( 4 ’ ) n R(a 0 0)’
=
U{C,lS E r(a)>\U{W,IB E
=
0.
W)}
Hence, (6) is satisfied. Pick an a E A, and an (x, y) E R(a)\U4,,+,. In case 4 U { W, I y E r@)}, clearly (x, y) E R(u 0 8). So we can assume x E W, for . an i < ma some y E T(a). Take 6 E A(y) with y E L,. Assume x E 17,Find with x E UaSi.Then we have
x
ua,i x La c U6.i x Va E c @,+I, which contradicts (x, y ) 4 U@,+l. Hence it follows that (x, Y ) E
(x, Y ) E ((W,\Vd n
W)’) x L6 = R(a 0 6).
Thus (7) is satisfied. Now, we set 4 = U,,, I 4,,. By (1) and (2), 4 is a c-locally finite collection of cozero rectangles such that each U x V E % is contained in some G E Y. It remains to show that 4 covers X x Y.
Claim. I f {a,} is a sequence such that a,, E A , and (u,,)- = a,-, for each n 2 1, where a, = 8, then nn,IR(a,,)’= 8. It follows from ( 5 ) and (6) that R(a,,)’ = R(a,,-,)’ and s(R(u,,-,)’)n R(a,)’ = 0 for each n 2 1. This implies that the sequence ( s ( X ) , R(a,)’, s(R(a,)’),. . . , s(R(u,,-,)’),R(a,)’, . . .) is a play of G(DC, X). Player I necessarily wins this play. Hence, we have n,,,,R(a,)’ = 8. Assume that 4 does not cover X x Y. Pick some (x, y ) E X x Y\U%. Notice that (x, y ) E X x Y = R(0).Since (x, y ) 4 U%,,+,for each n 2 0, by
546
Y. Yajima
(7), one can inductively choose an infinite sequence (aI,a*, . . .) such that a, = (aI,. . . , a,) E A, and ( x , y ) E R(a,) for each n 2 1. So we have x E I R(a,)’, which contradicts the above claim. 0
n,,
By Corollary 3.4 and Theorem 4.1, we have this corollary. I f X is a paracompact space with a a-closure-preserving cover by compact sets, then X x Y is paracompact for every paracompact space Y.
4.2. Corollary.
4.3. Theorem (Yajima [1983b]). I f X is a regular subparacompact space and
Player I has a winning strategy in G(DC, X ) , then X x Y is subparacompact for every subparacompact space Y.
Proof. Lets be a stationary winning strategy for Player I in G(DC, X). Let Y be any open cover of X x Y. It suffices to prove that Y has a a-locally finite refinement by closed rectangles in X x Y. Let So= {O}, A . = (8) and R(O) = X x Y. For each n 2 1, we shall construct two collections 9, and { R ( a )I a = (a,, . . . , a,) E A,} of closed rectangles, satisfying the following conditions (1)-(7): For each n 2 I , (1) 9, is a-discrete in X x Y, (2) each D x L in 9, is contained in some G E Y, (3) { R ( a ) l aE A,} is a-discrete in X x Y. For each a E A, and n 2 I, (4) a- E A,-l, (5) R ( 4 = W - ) , (6) s(R(a-)’) n R(a)’ = 8, (7) R(a)\U~,+, = U@(a 0 @ ) l a6 a E A,+, 1. Assume that and { R ( a )1 a E A i } satisfying (1)-(7) have been constructed for each i < n. Pick an a E A,. Let { C, I y E T ( a ) } be a discrete collection of compact sets in R(a)’ such that @(a)’) = U {C, I y E r ( a ) } . Since R(a)’ is subparacompact and {R(a)’\U{C, I B E T ( a )with /I# y } I y E T ( a ) }is an open cover of R(a)’, ‘thereexists a a-discrete closed cover I y E T ( a )and k 2 l} of R(a)’ such that each Fyqk is disjoint from C, if fl # y , where {Fy,k I y E T ( a ) }is discrete in X for each k 2 1. Using subparacompactness of R(a)”, it is easily seen that for each y E T ( a ) and k 2 1 there exists a a-discrete collection SYsk =
{o,,ix L61i = 1, . . . , maand 6
of closed rectangles, satisfying (i) each U6,iis open in FYsk, (ii) C, n Fy,k c U, = U{U,,il i
E
A(y, k ) }
< m,} for each 6 E A(?, k),
Topological Games and Applications
541
(iii) each Dh,ix L6 is contained in some G E 9, (iv) {La16 E A(y, k)} is a a-discrete closed cover of R(a)”. Here, we set 9,+1 = U { 9 J y E T(a), a E A, and k 2 l} and A,+I = { a @ 616 E A(y, k), y E T(a), a E A, and k 2 l}.
For each a @ 6 E A,+I, where 6 E A(y, k), we put R(a @ 6) = (F7,k\UJ x La. Then it is similarly checked that 9,+1 and {R(a)la E A,,,} satisfy (1)-(7). Now, we set 5 = UnrI 9”. By (1) and (2), 9is a a-discrete collection of closed rectangles such that each D x L E 9 is contained in some G E Y. Moreover, in the same way as above, we can show from (5)-(7) that 9covers X x Y. 0 4.4. Corollary. If X is a paracompact (regular subparacompact) C-scattered space, then X x Y is paracompact (subparacompact)for every paracompact
(subparacompact) space Y.
This follows from Theorems 2.3, 4.1 and 4.3. 4.5. Theorem (Yajima [1983b]). I f X is a regular metacompact P-space and Player I has a winning strategy in G(DC, X ) , then X x Y is metacompact for
every metacompact space Y .
Proof. Lets be a stationary winning strategy for Player I in G(DC, X ) and p be a function from u,s1(2x)” into 2’ described in Definition 3.5. Let B be any open cover of X x Y. It suffices to prove that Y has a point-finite refinement by open rectangles. Let 42, = {O}, A, = (0)and R(0) = H(0) = X x Y. For each n 2 1, we shall construct a collection @n of open rectangles and a collection {{R(a), H(a)}I a = (aI, . . . , a,) E A,} of pairs consisting of a closed x open rectangle R(a) and an open rectangle H(a), satisfying the following conditions (1)-(9): For each n 2 1, (I) a,, is point-finite in X x Y, (2) each U x V in 42, is contained in some G E Y, (3) {H(a)laE A,} is point-finite in X x Y, (4) U@n c U{H(a)Ia E An-,}. For each a E A, and n 2 1, ( 5 ) a- E A,- I , (6) R(a) c R ( a - ) and R(a) c H(a) c H(a-), (7) s(R(a-)’) n R(a)’ = 0, (8) R(a)\U%+i c U{R(a @ a) l a @ E An+t 1,
548
Y . Yajima
(9) p(R(a1 l)’, . . . ,R(a I n - l)’, R(a)’)n H(a)’ = 8 (see the Introduction for the notation of a 1 i). Assume that 9i and {R(a), H ( a ) } , a E A i , satisfying (1)-(9) have been constructed for each i < n. Pick an a E A,. Let { C, I y E T(a)} be a discrete collection of compact sets in R(a)’ such that @(a)’) = U{C,I y E T(a)}.Since X is regular metacompact, it follows from Chapter 5, Theorem 7.17 that there exist two point-finite E T(a)} of open sets in X such that collections { W, I y E T ( a ) }and (0, c 0, c H(a)’\U{Csl p E
C, c W, c
T ( a ) with p # y}
for each y E T(a). Since Y is metacompact and R(a)” is open in Y , for each y E T ( a ) there exists a collection x &li = I,
%? =
. . . , m, and 6 E A(y)}
of open rectangles, satisfying (i) C, c U, = U{U,,ili < m,} c W, for each 6 E A(?), (ii) each U,,i x & is contained in some G E Y, (iii) { & 1 6 E A(y)} is a point-finite open cover of R(a)”. Here, we similarly set 9,+, = U ( 9 , I y E r(a)and a E A,} and A,+I = { a @ 616EA(y),yET(a)andaEA,} u { a @ O I a E A , } .
Pick an a @ a E A,,,. Observe that a1 i some 6 E A(y) and y E r(a),we put R(a 0 6 ) =
E
Ai for each i
<(q\u,> n R(a)’) x
< n. In case a
= 6 for
&,
H(a 0 6 ) = (O,\p(R(aI I)’, . . . , R(aln)’, R ( a 8 6)’)) x
6.
In case a = 8, we put
~
(
o el o e) 0
=
(RW\U{
w,I Y E r(m x RW”,
= ( ~ ( a ) ’ \ p ( ~I iy, (a
. . . ,~
o
( in)’, a ~ ( a e)’)) x ~ ( a ) ” .
Then it can be verified similarly that and { { R ( a ) ,H(a)}I a E A,,,} satisfy (1)-(9). Now, we set $2 = Un2,9,. By (2), 9 is a collection of open rectangles in X x Y such that each U x V E 9 is contained in some G E Y. In the same way as in the proof of Theorem 4.1, we can show from (6)-(8) that 9covers X x Y. It remains to show that 9 is point-finite in X x Y. Claim 1. If {a,} is a sequence such that a, E A , and n 2 1, where a,, = 8, then H(a,)’ = 8.
(0,)-
=
for each
Topological Games and Applications
549
By the proof of the Claim in the one of Theorem 4.1, we have T\,> ,R(a,,)’= 0. So U,,,,p(R(a,)’,. . . , R(a,)’) = X. By (9), we obtain the desired one. Claim 2. nnbl(UXfl) = 8, where Xn = { H ( a ) l a E A,,}. Assuming the contrary, pick a zo E T\,,,,(UX,,). Let A,(z,) = { a E A , I zo E H(a)}for each n 3 0. By (3), each A,,(z,) is finite. By (5) and (6), a E A,,(zo)implies a- E A,,-, (z,). It follows from Lemma 2.8 that there exists an infinite sequence (a,, a2, . . .) such that a,, = (cq, . . . , a,) E A,(z,) for each n 2 1. Then we have zo E H(a,,),which contradicts Claim 1. Pick any z E X x Y. By Claim 2, find an m 2 1 such that z r$ UXm. Observe from (5) and (6) that UX,,, c UXnfor each n 2 1. Since z 4 UX,, for each n 2 m, it follows from (4) that z $ U9,, whenever n m. Therefore, by (l), 9 is point-finite at z. Thus, 9 is point-finite in X x Y. 0
n,, , ,
=-
From Corollary 3.4, Proposition 3.6, Theorems 4.3 and 4.5, we get the following corollary. 4.6. Corollary. If X is a regular metacompact (subparacompact)space with a a-closure-preserving cover by compact sets, then X x Y is metacompact (subparacompact)for every metacompact (subparacompact)space Y. Unfortunately, we do not have an analogical result to include the 8-refinability in Corollary 4.6. So we raise the following question. 4.7. Question. Let X be a regular space with a (a-)closure-preservingcover by compact sets. Is X x Y O-refinable for every O-refinable space Y? 4.8. Remark. Quite recently, Gruenhage and Yajima [198-] have given an affirmative answer to this question. In fact, they have proved that the analogue of Theorem 4.3 is valid for O-refinability (and metacompactness).
5. The games in product spaces In this section, for two classes K , and K2 of spaces, we define a new class K , x K2. Assuming that Player I has winning strategies in G ( K , ,X) and G(K2,Y). We consider the question of whether he has a winning strategy in G(D(K, x K2),X x Y). For this question, we introduce the concept of
550
Y. Yajima
D-products. The result obtained here will be applied to dimension theory in the next section. For two classes K,and K2 of spaces, we put Kl x K2 = U { 2 X x Y I XKl~ and Y E Kz}.
That is, it consists of all product spaces X x Y such that X E K,and Y E K2 and all closed subsets of them. Here, the concept of closed rectangle, which is defined in the previous section, plays an important role.
5.1. Definition. A product space X x Y is called a D-product if for any disjoint pair {E, F } of a closed rectangle E and a closed set Fin X x Y there exists a a-discrete collection W of closed rectangles such that F c UW c X x Y\E. It is easy to see that each closed rectangle in a D-product is also a D-product. As a typical D-product, from the proof of Theorem 4.3, we get the following proposition.
5.2. Proposition. If X is a regular subparacompact space and Player I has a winning strategy in G(DC, X ) , then X x Y is a D-product for any subparacompact space Y. Here we need some more notations: Let Ni = (3n + il n 2 0 } for i = 0, 1, 2. So, w u (0) is decomposed into No, N I and Nz. For each z = ( k , , . . . , k,,) E d"' n 2 1, let Xz = kl * * * k,,. Identify z = 8 with T = (0), so that Xp = 0. For each z = ( k , , . . . , k,,) E a",n 2 1, with k, 4 No,we put z* = (kl, . . . , ki)if k,,, . . . , ki+,E N, EN^) and ki4 N, (#Nz)for some i c n. If k,,, . . . , k, E N, EN^), put z* = 8 = (0).
+
+
5.3. Theorem (Yajima [1983a]). Let X x Y be a D-product. ZfPlayer I has winning strategies in G ( K l ,X ) and G(Kz, Y ) , then he has a winning strategy in G(D(K, x K2),X x Y ) .
Proof. Let s, and s2 be stationary winning strategies for Player I in G(K,, X ) and G(Kz, Y ) respectively. From Proposition 1.4, it is sufficient to construct a winning strategy t for Player I in G(L, X x Y ) , where L = x Kz)l*
mwl
55 I
Topological Games and Applications
Let El = t(X x Y ) = sl(X) x s,(Y). Let AB = {8},B(8) = {X x Y} and Fo = R(8) = X x Y. Player I1 chooses any F, E 2’“ disjoint from E l . Now, assume that we have already constructed an admissible sequence ( E l , F,,. . . , Em, F,) in G(L, X x Y) such that Ei = t(Fo, F,,. . . ,K - , ) for each i < m and there exists a discrete collection {R(a)I a = (a,, . . . , a,,, a,,+,) E A,@&}of closed rectangles for each t E w“, n 2 0, with Ct < m - 1 and k 2 1, satisfying the following conditions (1)-(3): (I) a @ a E Are&implies a E A,. (2) For each a E A,, R(a) n q X r ) + l
= U { R ( a @ a)la @ a E Are&and k
3 I } c R(a).
(3) For each a @ a E ATek,where t = ( k , ,. . . , k,,)E w“, n 2 0, and k 2 1, (i) s,(R(a)’)n R(a €I3 a)‘ = 8 if k,, k E Nou N,, (ii) s2(R(a)”)n R(a €I3 a)” = 8 if k,,, k E Nou N,, (iii) s,(R(a*)’) n R(a a)’ = 8 if k, E N, and k E Nou N,, (iv) s,(R(a*)”)n R(a @ a)” = 8 if k,, E N, and k E Nou N,, where a* = a I i E A,. if a E A, and t* E w’. In case of t = 8, consider k, = 0 E No. Pick a t = ( k , , . . . , k,,) E w”, n 3 0, with Ct = m. Note that R(r) has been constructed since t = T- @ k,, and Ct- = m - k,, < m - 1. For each a E A,, we put E(a) = s,(R(a)‘)x s,(R(a)”)
if k,, E No,
E(a) = s,(R(a)’)x (s,(R(a*)”)n R(a)”) if k,, E NI,
E(a)
=
(s,(R(a*)’)n R(a)’) x s,(R(a)”) if k,, E N,.
Then E(a) E K, x K,.We set Em+, = t(Fo, Fl,
. . . , F,)
= (U{E(a)I a E A,
and t E Un20w“with CT = m})n F,.
Since {R(a)I a E A,} is discrete in X x Y, Em+,belongs to L. Player I1 chooses any F,+, E 2’” such that F,,, c F, and Em+,n F,+, = 8. Pick again a t E U,,20wn, with CT = m,and an a E A,. Since R(a)is a D-product and E(a) is a closed rectangle in R(a) with E(a) n F,+, = 8,there exists a collection {R(a @ a) I a E B(a, k) and k 2 l} of closed rectangles in R(a) such that { R ( a a) I a E B(a, k)} is discrete in R(a) for each k 3 1 and R(a) n F,,, c U { R ( a @ a) I a E B(a, k) and k 2 l} c R(a)\E(a).
552
Y. Yajima
Since E(a) and R(a @ a) are disjoint rectangles in X x Y, we may assume that, for each a E B(a, k),
E(a)’ n R(a @ a)’ = 0 and E(a)” n R(a @ a)” = 0 implies k
E
No,
E(a)’ n R(a @ a)’ = 0 and E(a)” n R(a @ a)” # 0 implies k
E
N, ,
E(a)’ n R(a @ a)’ # 0 and E(a)” n R(a 8 a)” = 0 implies k
E
Nz.
We set AT@k= { a 0 aim E B(a, k) and a E A,} for each k 2 1. It is easy to check that {R(b)I b E A,,,} is discrete in X x Y and (1)-(3) are satisfied. We show that t is the desired winning strategy. Since Player I1 has arbitrarily chosen each F,, it suffices to show that &,, I F, = 0. Assuming the contrary, pick (x, y ) E Om,,F,. Notice that (x, y) E X x Y = R(0). By (2), one can inductively choose some ( k i ,k z , . . .) E wo and ( a I ,a2, . . .) such that a, = ( a I ,. . . , a,) E A,,, where t, = (kl, . . . , k,), and ( x , y) E R(a,) for each n 3 1. Then x E I R(a,)’ and y E I R(a,)”. Assume that (kl, k,, . . .) contains the infinite subsequence (ki(l),ki(,),. . .) consisting of all natural numbers k, belonging to Nou N l . Let r(0) = a(0) = 0. Let t ( j ) = t i ( j = ) ( k i , . . . , k i ( j ) )and a ( j ) = q j )= (a1,. . . , a i ( j ) )for eachj 2 1. Let us show
n,
(4)
s , ( R ( a ( j ) ) ’ )n R ( a ( j
n,,
+ 1))’ = 0
for eachj 2 0.
+
Case ki(j)+l E Nou N,: Since ki(j)+l= ki(j+l), we have ~ ( j 1) = ~ ( j@) k i ( j + l ) .Hence a ( j 1) = a ( j ) @ ai(j+I) E A , ( j + l ) .So, (4) follows from
+
(3) (9. Cuseki(j)+lE N,: Letm = i ( j + 1). Leta = t ( j + 1)- = (kl, . . . , k,-l) and b = a ( j 1)- = ( a l , . . . , a,-1). Then t ( j + 1) = a @ k,, k, E Nou N, and a ( j 1) = b 0 a,,,. Since k,-l, . . . , ki(j)+lE N,, we have . a* = (kl, . . . , k i ( j ) )= ~ ( j ) Hence, b* = (a1,. . . , aiCj,)= a ( j ) E An.. Thus (4)follows from (3) (iii). BY (2) and (4), the sequence (sl(X), R(u(l))’,sl(R(a(l))’), R(a(2))’, sl(R(a(2))’),. . .) is a play of G(K,, X). Hence we have n j , l R ( a ( j ) ) ’ = 0, which contradicts x E n j a 1 R ( a ( j ) ) ’On . the other hand, if ( k , , k,, . . .) contains the infinite subsequence &(,,, ki(2),. . .) consisting of all natural numbers k, belonging to Nou N,, the same way of reasoning yields a contradiction. In this case, (3)(ii) and (3)(iv) are used instead of (3)(i) and (3)(iii), respectively. 0
+
+
A product space X x Y is called a C-product if for any disjoint pair {E, F} of a closed rectangle E and a closed set F i n X x Y there exists a countable COkCtiOn {Rklk 2 1} Of Closed reCbngleS such that F C UkalRk C X X Y\E.
Topological Games and Applications
553
5.4. Proposition. Let X x Y be a C-product. If Player I has winning strategies in G ( K l ,X ) and G(K2,Y ) ,then he has a winning strategy in G(K, x K,, X x Y ) . The proof is quite parallel to that of Theorem 5.3. In fact, we only have to replace a discrete collection {R(a) I a E A , } of closed rectangles with a closed rectangle R ( T )for each T E U n r O w n .
5.5. Remark. Let X = [0, wl) be the discrete space. Let Y = [0, wI]be the space such that w1has the nbd base {(x, w , ]I x < wl}and each x < wIis an isolated point in Y. Then it is easy to verify that the product space X x Y is a D-product but not a C-product. The author has been informed of the following question by Telgarsky. Let X and Y be completely regular spaces. If Player I has winning strategies in G(DC, X) and G(DC, Y), does he have a winning strategy in G(DC, X x Y)? 5.6. Question.
If X and Y are regular subparacompact spaces, the above question is answered in the affirmative. Since D(DC x DC) = DC, this immediately follows from Proposition 5.2 and Theorem 5.3. Next, note that if X x Y is regular Lindelof, then it is a C-product. So it follows from Telgarsky [1975a, Corollary 14.141and our Proposition 5.4 that if Player I has winning strategies in C(C, X) and G(C, Y), then he has one in G(C, X x Y ) .
6. Applications to dimension theory
In this section, we deal with the application of topological games to the sum and product theorems in dimension theory. We omit (by the restriction on the number of pages) the proofs of several basic theorems and lemmas in dimension theory. First, we give a closure-preserving sum theorem for dim and Ind, and then we deal with the product theorem for dim and Ind. 6.1. Definition. For a normal space X , we say that dim X < n (the covering dimension G n) if every finite open cover 42 of X has a (finite) open refinement 9-such that ord,V < n + 1 for each x E X .
5 54
Y. Yajima
6.2. Theorem (The countable sum theorem for dim). Zfa normal space X has a countable closed cover {Xk I k 2 I } such that dim Xk < n for each k 2 I , then dim X < n.
6.3. Theorem (The locally finite sum theorem for dim). I f a normal space X has a locallyfinite closed cover 9such that dim F < n for each F E 9,then dim X < n. 6.4. Lemma. Let X be a normal space and E a closed subset of X with dim E < n. For each finite open cover { U, I i < k} of X, there exist a finite open cover Y = { V, I i < k} of X and an open set G containing E such that (i) V, c V, for each i < k, and (ii) ord,TY< n 1 for each x E G.
+
Proof. It follows from Pears [1975, Proposition 3.1.61 that there exists a closed cover 9 = (41i < k} of E such that each 4 is contained in U, n E and o r d , 9 < n I for each x E E. Moreover, it follows from Engelking [1977, Theorem 7.1.41 that there exists a finite collection W = { i < k} of open sets such that 6.c 4 c Q for each i < k and ord,W < n + 1 for each x E X. Take an open set G in X such that E c G c G c U i G k K. Put V, = u (U,\G) for each i < k. Then Y = { V,l i < k} and G are desired ones. 0
+
vl
Let Dim, denote the class of all normal spaces with covering dimension that X E Dim, implies 2' c Dim, (cf. Pears [1975, Proposition 3.1.51). We can generalize the countable sum theorem in terms of topological games as follows.
< n. Note
6.5. Theorem (Telgarsky and Yajima [1980]). Let X be a normal space. I f Player I has a winning strategy in G(Dim,, X ) , then dim X < n.
Proof. The proof is a modification of that of Engelking [1977, Lemma 7.2.11. Lets be a stationary winning strategy for Player I in G(Dim,, X). Let { V, I j < k} be a finite open cover of X. For each i 2 0, we construct a finite open cover 4?, = { U,,jlJ < k} of X and an open set Gi in X , satisfying the following conditions: For each i 2 I , ( I ) V;.j c U,.-,,j c V,, wherej = 1 , . . . , k, (2) ord,42i < n + 1 for each x E G,, (3) s(X\G,-,) u Gi-, c G,.
Topological Games and Applications
555
Let Uo,j = V, for eachj 6 k and Go = 8. Assume that aiand Gi have been constructed for each i 6 m. Let E = s(X\G,,,). Then dim E < n. Applying Lemma 6.4 to E and Q,, we can take a finite open cover 9,,,+ I = { Um+l.j Ij 6 k} of X and an open set G containing E such that Um+l,jc Umvjfor each j 6 k and ord,Qm+I 6 n + 1 for each x E e. Since Xis normal, it may be assumed that~,,,+,vj c U,,,,jforeachj 6 k.LetG,,,+, = G,,, v G.Then9,,,+,andG,,,+, satisfy (1)-(3). Let 4 = q.,jfor each j 6 k. Pick an x E X . Since each ajis a finite cover of X , we can choose j(x) 6 k such that x E Q,jcx, for infinitely many i. By (I), we have x E U,jcx,= F/c,,. Hence 9 = (41j 6 k} is a closed cover of X such that 5 t V, for each j 6 k. From (3), {Gjli 2 l } covers .'A Take i,, 2 1 such that x E Gb. By (2), we have o r d x 9 6 ord,eb 6 n + 1. Hence o r d , f 6 n + 1 for each x E X . It follows from Pears [1975, Proposition 3.1.61 that dim X 6 n. 0
ni,,
ni,,
By Theorem 6.3, we have D(Dim,) = Dim,. So Theorems 3.3 and 6.5 yield the following corollary. 6.6. Corollary (Closure-preservingsum theorem for dim).
Ifa normal space
X has a closure-preservingclosed cover % such that C is countably compact and dim C 6 n for each C E V, then dim X 6 n. 6.7. Definition. Let Ind 8 = - 1. For a normal space X , we say that Ind X 6 n (the large inductive dimension < n ) if for each closed set E and each open set Vwith E c V there exists an open set U such that E c U c V and Ind aU 6 n - 1, where aU denotes the boundary of U. 6.8. Definition. A normal space X is said to be totally normal if for each open set U in X there exists an open cover 9 of U such that (i) each member of Q is an F,-set in X , (ii) 9 is locally finite in U .
Clearly, perfectly normal spaces are totally normal. Note that every subspace of a totally normal space is totally normal (cf. Pears [1975, Remark 1.4.121). 6.9. Theorem (The countable sum theorem for Ind). If a totally normal space X has a countable closed cover {xk I k 2 l } such that Ind Xk 6 n for each k 2 1 , then Ind X 6 n.
556
Y. Yajima
6.10. Theorem (The locally finite sum theorem for Ind). Zfa totally normal space X has a locally finite closed cover 9 such that Ind F < n for each F E 9,then Ind X < n. Let Ind, denote the class of all normal spaces with the large inductive dimension < n. Again, note that X E Ind, implies 2' c Ind, (cf. Pears [1975, Proposition 4.2.51). 6.1 1. Lemma. Let X be a totally normal space and E a closed subset in X with Ind E < n. Zf Ind F < n for each closed subset F in X disjoint from E, then Ind X < n. For example, this is found in Pears [1975, Proposition 4.4.111.
6.12. Theorem (Yajima [1979]). Let X be a totally normal space. I has a winning strategy in G(Ind,, X ) , then Ind X < n.
If Player
Proof. Lets be a stationary winning strategy for Player I in G(Ind,, X). Let A, = (0) and F0= (F(0)) = {X}. For each T E U n B O w n we, construct a collection 9, = {F(a)I a = (a,, . . . , a,,) E A,} of closed sets in Xsatisfying, for each a E A,, (1)
a- € A , - ,
(2)
{F(b)I b E A,,, each k 2 1,
(3)
U { F ( b ) ( bE A,,,
with b- = a } is locally finite in F(a)\s(F(a)) for and k 2 1 with b-
=
a } = F(a)\s(F(a)).
Assume that 9, has been constructed as above for each T E UiGmwi.Pick and an a E A,. Since F(a) is totally normal and F(a)\s(F(a)) is open a T E urn in F(a), there exists a collection @(a) = { U , I /I E B(a)} of open F,-sets in F(a) such that @(a)is locally finite in F(a)\s(F(a)) and (J@(a)= F(a)\s(F(a)). Since U pis an F, in F(a) E 2', there exists a sequence {Fp,k}of closed sets in X such that U, = U k 3 FB,, , for each 8 E B(a). Here we set A,,,
= {a
0 a Ia
=
(8, k), 8 E B(a) and a E A,}
for each k 2 1. Moreover, we set F(a 0 a ) = F,,, for each a 0 a E A,,, with a = (8, k) and Frek = {F(a 0 a)la 0 a E A,,,} for each k 2 1. Then (1)-(3) are satisfied. For each T E w m , m 2 0, we set X ( T ) = u { s ( F ( a ) ) l aE A T l i and 0 < i < m}.Using induction on m,it is not difficult to show from (1) and
Topological Games and Applications
551
(2) that
(4)
9, is locally finite in X \ X ( r - ) and UF, c X \ X ( t - ) for each t E wn.
u
nT I
So, in particular, we have (4')
{s(F(a))I a E A,} is locally finite in X\ X ( t _ ) for each T
E
u w".
" 2I
Note that X ( 8 ) = s ( X ) and X ( r ) = u{s(F(a))Ia E A,} u A'(?-) for each t E U n 2 1 ~ Assuming ". that X ( L ) is closed in X , by ( 4 ) ,X ( t ) is closed in X . Hence, (5)
X ( r ) is closed in X for each t E
u w".
n20
Clearly, Ind X(8) = Ind s ( X ) < n. Assume Ind X ( K ) < n. Let H be a closed set in X ( t ) disjoint from X ( t - ) . By (4'), {s(F(a))n HI a E A,} is a locally finite closed cover of H. Since Ind(s(F(a)) n H) < n, it follows from Theorem 6.10 that Ind H < n. Therefore, by Lemma 6.1 I , we have (6)
Ind X ( r )
< n for each t E
u w".
"20
Assume that we can pick some x E X \ U { X ( t ) I t E UnbOwn}. By Fo= {X} and (3), one can Inductively choose some (k,,k,, . . .) E wo and ( a I ,a,, . . .) such that a,,, = ( a l , . . . , a,) E A,, where z, = ( k l ,. . . , k,), and x E F(a,) for each m 2 1. By (3) again, we have F(a,+,) c F(a,) and s(F(a,,,)) n F(a,+,) = 8 for each m 2 0, where a, = 8. Hence nrnblF(a,,,)= 8. This contradicts x E n,,,,,F(a,). We have shown
If follows from (5)-(7) and Theorem 6.9 that Ind X
< n.
0
By Theorem 6.10, we have D(Ind,) = Ind,. So, Theorems 3.3 and 6.12 yield this corollary. 6.13. Corollary (Closure-preservingsum theorem for Ind). r f a totally normal space X has a closure-preserving closed cover V such that C is countably compact and Ind C < n for each C E V, then Ind X < n.
6.14. Question.
lary 6.6 or 6.13?
Is it possible to remove the "countably compact" in Corol-
558
Y. Yajima
6.15. Remark. Under the CH assumption, Ciesielski [I9851 gave a negative answer to this question. On the other hand, we can show the following: If a normal, semistratifiable space X has a closed cover {FAI A < 11) such that U,
+
Various kinds of product spaces are rectangular; see Pasynkov [1975]. In particular, the following are typical rectangular products. 6.18. Proposition. A product space X x Y is rectangular i f either (a) X is compact, or (b) X is nondiscrete metrizable and X x Y is normal. Taking together the above, Theorem 2.3, Corollary 3.4 and the proof of Theorem 4.1 get the following proposition. 6.19. Proposition. For paracompact spaces X and Y, the product space X x Y is rectangular i f either (a) X is C-scattered, or (b) X has a closure-preserving cover by compact sets. Thus, Theorem 6.17 can unify a number of product theorems for dim which had been proved before. Recall that a closed set L in a space X is called a partition between E and F if there exist disjoint open sets U and V such that E c U, F c V and X\L = u u v.
Topological Games and Applications
559
The following lemma is well-known (cf. Engelking [1978, Lemma 2.3.161); one can prove it with a standard method. 6.20. Lemma. Let E and F be disjoint closed sets in a space X . If V is a a-locally finite open cover of Xsuch that P n A = 8 or P n B = 8for each V E V , then there exists a partition L between E and F such that L c U{av: V E V } .
We say that the a-locallyfinite finite) sum theorem for Ind holds in a normal space X if Ind(U5) f sup{Ind F I F E F}for every a-locally finite (finite) collection F of closed sets in X . Note that is also normal. Concerning rectangular products, the product theorem for Ind was proved earlier than Theorem 6.17. Using the above lemma, we can give a simple proof of it. 6.21. Theorem (Nagata [1967]). Let X x Y be a normal and rectangular product. If the a-locally finite sum theorem for Ind holds in X x Y, then Ind X x Y f Ind X Ind Y.
+
Proof. We prove it by induction on Ind X + Ind Y. If Ind X + Ind Y = - 1, then it is clear. Assume that it is true if Ind X + Ind Y f n + m - 1. Let Ind X f n and Ind Y f m. Let E and F be disjoint closed sets in X x Y. Since X x Y is normal and rectangular, there exists a a-locally finite cover { U, I a E A} of X x Y of cozero rectangles such that U, n E = 8 or U, n F = 8 for each a E A. It is not difficult to see that there exists a a-locally finite cover { V, I B E B} of X x Y of open rectangles such that, for each B E B, (i) 5 is contained in some U,, (ii) Ind 8% f n - 1 and Ind 8V; f m - 1, where we recall that V, = y x Vs”. By (i), we have V, n E = 0 or 5 n F = 8. It follows from Lemma 6.20 that there exists a partition L between E and F such that L c U{8V ,I /3 E B}. Note that 8 5 = (8v x Ti) u (Pi x 8Vs”). By (ii) and the inductive assumption, we have Ind 8 V, f n + m - 1. Note that { 8V, I fi E B} is also a-locally finite in X x Y. So the assumption of our theorem gives Ind L f Ind(U{8Valb E B}) f
Hence Ind X x Y
f
sup{Ind 8 V , ( pB~) f n
n
+ m.
+ m - 1. 0
560
Y . Yajima
6.22. Remark. Pasynkov [1975] announced that “the 0-locally finite sum
theorem” in Theorem 6.21 can be replaced by “the finite sum theorem”. As far as the author knows, the proof has not been published. However, Basmanov [1981] proved that if the finite sum theorem for Ind holds in normal spaces X and Y, then ind(X x Y) < Ind X + Ind Y. Applying Theorem 5.3, we can obtain another product theorem. 6.23. Theorem (Yajima [1983a]). Let X and Y be subparacompact spaces such that the product space X x Y is (totally) normal. If either (a) X is C-scattered, or (b) X has a closure-preserving cover by compact sets, then dim X x Y < dim X dim Y (Ind X x Y < Ind X Ind Y).
+
+
Proof. Let dim X < n and dim Y < m. Now, assume that X x Y is normal. It follows from Corollaries 2.4 and 3.4 that Player I has a winning strategy in G(DC, X). So we can consider that he has winning strategies in G(DC n Dim,, X) and G(Dim,, Y). By Proposition 5.2, X x Y is a D-product. It follows from Theorem 5.3 that he has a winning strategy in G(DL, X x Y ) , where L = (DC n Dim,) x Dim,,,.Take a product E x F E L . Let {C,1 ct E A} be a discrete closed cover of E by compact sets. So Theorem 6.17 and Proposition 6.18(a) give dim C, x F
< dim C, + dim F < n + m.
Since {C, x F I tl E A} is a discrete closed cover of E x F, we have dim E x F < n m. Hence L c Dim,,,. This implies DL c Dim,,,,,. Thus, Player I has a winning strategy in G(Dim,+,,,,X x Y). By Theorem 6.5, we have dim X x Y < n m. The proof for dim is complete. In the same way as above, we can show the parenthetic part for Ind. 0
+
+
6.24. Remark. Ohta [1981] proved the following: If a (perfectly) normal space Y is not paracompact, then there exists a paracompact scattered space X with a closure-preserving cover by finite sets such that X x Y is (perfectly) normal but not rectangular. Since there exists a subparacompact, perfectly normal and nonparacompact space (e.g., Bing [1951, Example HI), Theorem 6.23 cannot be reduced to Theorem 6.17.
References Basmanov, V. N. [I9811 Inductive dimensions of products of spaces, Vesrnik Moskov. Univ. Ser. I Mat. Mekh. 36. 17-20.
Topological Games and Applicarions
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Bing, R. H. [I9511 Metrization of topological spaces, Canad. J. Math. 3, 175-186. Ciesielski, K. [I9851 L-space without any uncountable 0-dimensional subspace, Fund. Math. 125, 231-235. Engelking, R. [ 19771 General Topology (Polish Scientific Publishers, Warszawa). [ 19781 Dimension Theory (North-Holland, Amsterdam). Galvin, F. [I9791 Indeterminacy of point-open games, Bull. Acad. Polon. Sci. Ser. Math. 26, 4 4 5 4 9 . Galvin, F. and R. Telgfrsky [I9861 Stationary strategies in topological games, Topology Appl. 22, 51-69. Gruenhage, G. and Y. Yajima (198.1 A filter property of submetacompactness and its application to products, Topology Appl., to appear. Hattori, Y. [1985] A note on infinite dimensional spaces defined by topological games, Proc. A M S 94, 360-362. Junnila, H. J. K. [1978a] Stratifiable pre-images of topological spaces, in: A. Csaszar, ed., Colloquia Mathematica Societas Janos Bolyai 23 (North-Holland, Amsterdam) 689-703. [1978b] On submetacompactness, Topology Proc. 3, 375-403. [ 19791 Metacompactness, paracompactness and interior-preserving covers, Trans. A M S 249, 373-385. Junnila, H. J. K., T. Nogura and R. Telgarsky [1987] A singular space related to the point-open game, Proc. AMS 99, 568-570. Junnila, H. J. K., J. C. Smith and R. Telgarsky [ 19861 Closure-preserving covers by small sets, Topology Appl. 23, 237-262. Katuta, Y. (19711 On the normality of the product of a normal space with a paracompact space, General Topology Appl. 1, 295-319. [ 19741 On spaces which admit closure-preserving covers by compact sets, Proc. Japan Acad. 50, 826-828. Michael, E. [I9551 Point-finite and locally finite coverings, Canad. J. Math. 7 , 275-279. Morita, K. [1964] Products of normal spaces with metric spaces, Math. Ann. 154, 365-382. Nagami, K. [I9571 Some theorems in dimension theory for non-separable spaces, J. Math. SOC.Japan 9, 80-92. Nagata, J. (19671 Product theorems in dimension theory, Bull. Acad. Polon. Sci. Ser. Math. 15, 4 3 9 4 8 . [1985] Modern General Topo/ogy (North-Holland, Amsterdam). Nogura, T. [I9831 A compact-like space which does not have a countable cover by C-scattered closed subsets, Proc. Japan Acad. 59, 83-84.
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Nyikos, P. [ 19771 Covering properties on o-scattered spaces, Topology Proc. 2, 509-542. Ohta, H. [I9811 On normal, non-rectangular products, Quart. J. Math. Oxford 32, 339-344. Pasynkov, B. A. [I9751 On the dimension of rectangular products, Soviet Math. Dokl. 16, 344-347. [I9811 Factorization theorems in dimension theory, Russian Math. Surveys 36, 175-209. Pears, A. R. [ 19751 Dimension Theory of General Spaces (Cambridge Univ. Press). Peregudov, S. A. [I9741 On normal spaces which admit a closure-preserving cover by bicompact sets, Vestnik Moskov. Vniv. Ser. I Mat. Mekh. 5, 40-42. Potocny, H.B. [I9721 A non-paracompact space which admits a closure-preserving cover of compact sets, Proc. A M S 32, 309-3 11. [19731 Closure-preserving families of compact sets, General Topology Appl. 3, 243-248. Potocmy, H.and H. Junnila [ 19751 Closure-preserving families and metacompactness, Proc. A M S 53, 523-529. Tamano, H. [I9621 On compactifications, J. Math. Kyoto Univ. 1, 161-193. [I9711 A characterization of paracompactness, Fund. Math. 72, 189-201. Telgarsky, R. [I9711 C-scattered and paracompact spaces, Fund. Math. 73, 59-74. [ 19741 Closure-preserving covers, Fund. Math. 85, 165-1 75. [1975a] Spaces defined by topological games, Fund. Math. 88, 193-223. [l975b] A characterization of P-spaces, Proc. Japan Acad. 51, 802-807. [I9761 Concerning two covering properties, Colloq. Math. 36, 57-61. [I9831 Spaces defined by topological games 11, Fund. Math. 116, 189-207. [I9871 Topological games: On the 50th Anniversary of the Banach-Mazur game, Rocky Mountain J . Math. 17, 227-276. Telgarsky, R. and Y. Yajima [I9801 On order locally finite and closure-preserving covers, Fund. Math. 109, 21 1-216. Yajima, Y. [I9771 On spaces which have a closure-preserving cover by finite sets, Pacific J. Math. 69, 571-578. [I9791 On order star-finite and closure-preserving covers, Proc. Japm. Acad. 55, 19-21. [I9791 A note on order locally finite and closure-preservingcovers, Bull. Acad. Polon. Sci. Ser. Math. 27, 401-405. [I9811 Topological games and products I, Fund. Math. 113, 141-153. [1983a] Topological games and products 11, Fund. Math. 117, 47-60. [1983b] Topological games and products 111, Fund. Math. 117, 223-238. [I9841 Notes on topological games, Fund. Math. 121, 31-40.
K. Morita, J. Nagata, Eds., Topics in General Topology 0Elsevier Science Publishers B.V.(1989)
CHAPTER 14
CATEGORICAL TOPOLOGY
Ryosuke NAKAGAWA Institute of Maihemaiics, Universiiy of Tsukuba, Ibaraki, 305 Japan
Contents I. 2. 3. 4. 5.
6. 7. 8. 9. 10.
1 I. 12. 13.
Introduction . . . . . . . . . . . . Categories and functors . . . . . . . Monomorphisms and epimorphisms . . Diagrams and limits. . . . . . . . . Complete categories . . . . . . . . . Factorizations of morphisms . . . . . Reflective subcategories . . . . . . . Characterization theorem . . . . . . (E, M)-categories. . . . . . . . . . Epireflective vs. bireflective in Top. . . Separation axioms and connectedness . Simplicity of epireflective subcategories Topological functors. . . . . . . . . Topological categories . . . . . . . . References. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .... . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . .
. . . . . . . .
. . . .. . . . .. . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .
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. . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .. .. . . . . . . . . .
. . . . . .
563 565 569 575 579 582 588 592 598 602 606 61 I 614 618 622
Introduction In this chapter we will show the first steps of categorical topology. We start from the definitions of category and functor (Section 1) and proceed to the characterization theorem of epireflective subcategories (Section 7). In the course of proving this theorem, several standard methods in categorical topology will be given. Roughly speaking, the characterization theorem is a categorical version of the theory of Stone-Cech compactification. As is well known, the notions of embedding and product play the essential role in the construction of the compactifications of Tychonoff spaces. Hence we first
564
R. Nakagawa
define the notion of extremal monomorphism in abstract category which corresponds to that of embedding in Top, the category of all topological spaces (Section 2). Then we consider the notions of diagram and limit, which include the notion of product (Sections 3 and 4). For a given continuous map f :X + Y, there is a factorization (Z, g, h ) o f f such that g : X + 2 is a surjection, h : Z + Y is an embedding andf = h 0 g. This fact is also used in the construction of the compactifications. Hence factorization structures of categories are discussed in Section 5 , and in Section 8 again with more general treatments. The universality of the Stone-Cech compactification corresponds to the notion of reflective subcategory, which will be introduced in Section 6. Then we arrive at the characterization theorem (Sections 7 and 8). Although the proof is essentially easy, the result is very powerful. In fact, other universal type theorems, such as abelianization of groups, completion of uniform spaces and Hewitt realcompactification of Tychonoff spaces are also special cases of the above result. The purely categorical treatment provides this power. Moreover, it follows by this treatment that the dual statement is also valid. We add some topics in the succeeding sections. In Section 9, we deal with the structure of thc collection of all epireflective subcategories of Top. In Section 10, we introduce a new notion which induces both separation axioms and connectedness. Section 11 is devoted to the classical problem concerning the special epireflective subcategories of Top. In recent developments of categorical topology, the investigations of topology functors and topological categories are most important. To conclude this chapter we shall demonstrate their definitions and several fundamental results (Sections 12 and 13). There exist good text books for category theory, e.g., Freyd [1964], Mitchell [1965], MacLane [1971] and Herrlich and Strecker [1979]. The last one is standard for students who want to learn categorical topology. There are also some surveying papers, e.g., Herrlich [1971], Wyler [I9711 and Nel [1976]. Herrlich [1983a] gave a wide survey of this area with a complete list of papers published in 1971-1980. Although I intend to give a brief and rudimentary introduction for those who are not familiar with category theory, the contents may be too narrow. For example, though the notion of reflective subcategory is a special case of that of adjoint functor, the general theory of adjoint functors is not discussed. The references are also incomplete. They do not contain the valuable papers which contributed to the theorems treated here. I would like to express my gratitude for indebtedness to all authors in this area. I hope that readers will obtain some interests in categorical topology and proceed to study it.
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1. Categories and functors We consider the collection of all sets or the collection of all topological spaces. As is well known, these collections cannot be considered as sets. Hence we need the notion of classes. However, it is not necessary for us to take a strictly formal axiomatic treatment of set and class theory. A class is considered to be a collection of sets. If P is a “property”, then there exists a class consisting precisely of those sets which have the property P. This is called the class of all sets with property P and is denoted by { x I x is a set and P ( x ) } . Sets can be considered as classes and are called small classes. Those classes which are not sets are called proper classes. For given families of classes, we can construct several kinds of new classes, such as, unions, intersections, Cartesian products and disjoint unions. We can also consider functions between classes, relations and equivalence relations on classes and so forth. The axiom of choice for classes is also assumed, i.e., every equivalence relation on a class has a system of representation. 1.1. Definition. A category A consists of two classes 0 and M, two functions dom and cod from A4 into 0 and a function 0 from D = {(f, g)lf, g E M and cod f = dom g} into M satisfying the following conditions: ( I ) If (f,g) E D, then dom(g 0f ) = dom f and cod(g 0f ) = cod g, where gof denotes o ( f , g) and is called the composition off and g. (2) If (f,g), (g, h) E D,then h 0 (g of 1 = (h 0 g) of. (3) For each X E 0, there exists an element e E M such that dom e = cod e = X , f o e = f, whenever dom f = X and eog = g, whenever cod g = X . (4) For any pair ( X , Y) with X , Y E 0 the class [ X , Y] = { f I f € M , d o m f = X a n d c o d f = Y}isaset. Elements of 0 are called objects of A (or A-objects) and those of M are called morphisms of A (or A-morphisms). The class 0 is denoted by Ob A and M by Mor A . If it is needed, we use the notations dom,, Cod,, o , , DA and [ , 1., For an object X of A the morphism e given in (3) is uniquely determined and is called the A-identity of X and denoted by I,. For a morphismf, dom f is called the domain off and cod f is called the codomain off. f E [ X , Y], is expressed by f : X --+ Y. It is noted that if A is a category, the class Ob A can be considered as a subclass of Mor A consisting of all identities, and that categories can be defined as classes of morphisms satisfying several conditions.
R. Nakagawa
566
1.2. Definition. There is a category A such that Mor A is the empty class, which will be called the empty category. If a category A has only one object X , Mor A is a set which has the structure of a semigroup with the unit 1,. Conversely, a semigroup with a unit can be considered as a category with only one object. A category A is said to be small when Mor A is a set (or, equivalently, Ob A is a set). A category A is said to be discrete when every morphism in A is an identity of some object in A, in other words, when Ob A = Mor A. 1.3. Example. (1) Set: the category of sets. Ob Set is the class of all sets, Mor Set is the class of all functions between sets, and the functions dom, cod and are defined as usual as domains, codomains and composition of functions between sets respectively. (2) Grp: the category of groups. Ob Grp is the class of all groups, Mor Grp is the class of all homomorphisms between groups, and dom, cod and are equal to those in (1). (3) Top: the category of topological spaces. Ob Top is the class of all topological spaces, Mor Top is the class of all continuous functions between topological spaces, and dom, cod and are equal to those in (1). (4) pTop: the category of pointed topological spaces. Ob pTop is the class of all pairs of the form ( X , x,), where X is a topological space and x, is an element of X called base point, Mor pTop is the class of all base-point preserving continuous functions, and dom, cod and are equal to those in (I). ( 5 ) Products of categories: Let A and B be categories. Then the product category A x B of A and B consists of Ob(A x B) = Ob A x Ob B, Mor(A x B) = Mor A x Mor B, dom = dom, x dorn,, cod = cod, x cod, and is defined by (h, k) V; g ) = (h o A f , k 0,g) for (f,g), (h, k) E Mor(A x B) with (f, h) E DA and (8, k ) E D,. 0
0
0
0
0
0
1.4. Definition. Let A and B be categories. B is said to be a subcategory of A if the following conditions are satisfied: (1) There exists an inclusion i: Ob B --t Ob A. (2) There exists an inclusion j : Mor B --t Mor A. (3) i*dom, = dom,*j, i*cod, = cod,*j and j - 0 , = o A - k , where means compositions of functions between classes and k is a function from DB into DA defined by k ( f , g ) = (j(f), j(g)). (4) For each X E Ob B, j(B-identity of X) = A-identity of i ( X ) . A subcategory B of a category A is said to be full if, for all X , Y E Ob B, j(iX,
ylB)
=
rX,
y],4.
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1.5. Example. (1) The category of abelian groups, denoted by Ab, is the full subcategory of Grp whose class of objects is that of all abelian groups. (2) The category of q-spaces, denoted by Top,, is the full subcategory of Top whose class of objects is that of all T,-spaces for i = 0, 1, 2, 3. (3) Intersections of categories: Let A be a category, A a class, and A, be a subcategory of A for each 1 E A. Then we can define an intersection niE,,A, of the class ( A l ) l , A of subcategories such that Ob(n,,,A,) = n,,,Ob Ai and Mor(nAe,,Al) = nlphMOr A,. 1.6. Definition. Let C and D be categories. D is said to be a quotient category of C if the following conditions are satisfied: (1) Ob D = Ob C. (2) There exists a surjection m: Mor C --+ Mor D. (3) dom,*m = dom,, cod,-m = cod, and m.0, = o D * n , where n is a function from D, into Do defined by n(f, g) = (m(f), m(g)).
The homotopy category of topological spaces, hTop, is a quotient category of Top with Ob hTop = Ob Top and Mor hTop = the quotient class of Mor Top by the equivalence relation “homotopic”. 1.7. Definition. Let A and B be categories. B is said to be a dual (or an opposite) category of A if the following conditions are satisfied: (1) Ob B = Ob A. (2) Mor B = Mor A. (3) For the identity i : Mor B --* Mor A, dom, = COdA*iand cods = dOmA i. (4) For the function j : Ds DA defined by j ( f , g) = (i(g), i( f)), --+
i*oB
= oAmj.
For any category A, the dual category B of A can be constructed by the = A. above conditions and will be denoted by A’. Obviously, (A’‘)’ 1.8. Definition. Let A and B be categories. A functor Ffrom A to B is a function F from Mor A into Mor B satisfying the following conditions: (1) If cod, f = domAg,then cod,F(f) = dom,F(g). (2) F * o A = oB*F’,where F’ is a function from DA into DB defined by F’(f, g) = (F(f), F(g)). (3) If e is an A-identity of X E Ob A, then F(e) is a B-identity of Y = dom,F(e).
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A functor from A to B will be denoted by F : A + B and A and B are called a domain and a codomain of F respectively. For any X E Ob A , dom,F(l,) is denoted by F(X). Then we have a function F from Ob A into Ob B. A functor F : A + B may be defined as a pair of two functions F : Ob A + Ob B and F : Mor A 3 Mor B satisfying the following conditions: (1) F o r f : X + Y E Mor A , F(f): F(X) + F(Y) E Mor B. (2) F o r f : X + Y a n d g : Y + Z i n M o r A , F(g0,f) = F(g)o,F(f)in Mor B. (3) W,) = IF(,). For two functors F : A 3 B and G : B + C,we can define a functor G 0 F : A + C by the function G F : Mor A + Mor C.The functor G F will be called the composition of F and G . If B is a subcategory of A with the inclusions i: Ob B + Ob A and j : Mor B .+ Mor A , j satisfies the conditions (l), (2) and (3) in Definition 1.8. Then we have a functor j : B + A , called the inclusion functor. If B = A , the inclusion functorj: B 3 A will be called an identityfunctor and denoted by 1A . 0
1.9. Example. Letf : X Y be a continuous function between topological spaces X and Y and I f 1 : I XI + I Y I be a function between their underlying sets. Then a function F: Mor Top + Mor Set defined by F(f) = If1 induces a functor F : Top -, Set, which is called the forgetful functor.
1.10. Definition. Let A and B be categories. A contravariant functor F : A + B is a function F from Mor A into Mor B satisfying the following conditions: (1) If Cod, f = dom,g, then dom,F(f) = cod,F(g). (2) F * o A = oB*F”,where F” is a function from DA into DB such that F“(Lg) = (F(g), F(f)>. (3) If e is an A-identity of X E Ob A , then F(e) is a B-identity of Y = dom,F(e). If F : A + B and G : B -P C are contravariant functors, then the composition G.F of the functions F : Mor A + Mor B and G :Mor B + Mor C induces a functor Go F : A -, C.When one of F and G is a functor and another a contravariant functor, we have a contravariant functor G 0 F. If Aop is a dual category of A , an identity function i :Mor A + Mor Aop induces a contravariant functor i : A --* Aop. For any contravariant functor F : A .+ B, we have a functor F’ : Aop + B such that F = F 0 i.
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1.11. Example. Let A be an arbitrary category, X E O b A and g E [ Y , Z ] , . For YE [ X , Y ] , , let F,(g)(f) = go, f :X + Z . Then we have a function F,(g): [ X , Y ] , + [ X , Z ] , , which is a morphism in Set. Thus we obtained a functor F, : A + Set. If we define a function G * ( g ) : [Z, X I , + [ Y , X I , by G X ( g ) ( h )= h 0 g : Y + X for h E [ Z , XI,, we obtain a contravariant functor G X :A + Set.
2. Monomorphisms and epimorphisms 2.1. Definition. A morphism f :X + Y of a category A is said to be an isomorphism in A (or A-isomorphism) if there exists an A-morphism g : Y + X such that gof = 1, andfog = 1,. f : X + Y is said to be a section in A if there exists an A-morphism g : Y + Xsuch thatgof = I,. f:X + Y is said to be a retraction in A if there exists an A-morphism g : Y + Xsuch thatfog = 1,.
If f : X + Y is an isomorphism, a morphism g : Y -+ X satisfying g c>f = 1, andfog = 1 is uniquely determined. Hence g is called an inverse ojfand denoted b y f - ’ . Iff is both a section and a retraction, thenfis an isomorphism. An object X of A is said to be A-isomorphic with an A-object Y (denoted by X x Y ) if there exists an A-isomorphismf: X -, Y . The relation “A-isomorphic” is an equivalence relation on the class Ob A. 2.2. Definition. A morphism f:X + Y of A is said to be a monomorphism in A if, for any pair of A-morphisms u, v : Z + X such that fo u = f o v, it follows that u = v. A morphism f :X + Y of A is said to be an epimorphism in A if, for any pair of A-morphisms u, v : Y + Z such that u o f = v o f , it follows that u = v.
2.3. Proposition. Suppose that f : X + Y , g : Y -, Z and h :X + Z are morphisms of a category A such that h = g o $ (1) Iff and g are monomorphisms in A, then h is a monomorphism in A. ( 2 ) Iff and g are epimorphisms in A, then h is an epimorphism in A. ( 3 ) If h is a monomorphism in A, then f is a monomorphism in A. (4) Ifh is an epimorphism in A, then g is an epimorphism in A.
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2.4. Definition. A morphism of A is said to be a bimorphism in A if it is both a monomorphism and an epimorphism in A. In any category each isomorphism is a bimorphism, but the converse does not hold in general. A category A is said to be balanced if each bimorphism in A is an isomorphism in A. By the propositions below, we have that the categories Set, Grp and Ab are balanced and that Top and Top, are not balanced for each i = 0, 1, 2, 3. 2.5. Proposition. For the categories Set, Grp and Ab, (1) a morphism f : X + Y is a monomorphism i r it is injective; ( 2 )f is an epimorphism it is surjective.
Proof. We will show that epimorphisms in Grp are surjective. Other implications are easily shown. Suppose thatf: X + Y is not surjective. Then f (X) is a proper subgroup of Y. Let S be a set { y f (X) 1 y E Y } u { P }consisting of all left f (X)-cosets of Y and another element P, and let Z be the set of all bijective functions a : S + S. For a, /l E 2, define a multiplication a/l by the composition a 0 8. Then Z becomes a group with this multiplication. Define elements cto, r( y), s( y ) E Z for y E Y as follows: ao(P) = f W ) ,
ao(f(X)) = p,
ao( Y ’ f ( X ) ) = y ’ f ( X ) for Y’
~ ( Y ) ( P= ) P, S(Y)
=
# f( X ) ,
r ( y ) ( y l f ( X ) ) = Y Y X X ) fory’ E Y and
aor(Y)G’.
Then we have homomorphisms r, s : Y + Z such that r 0f = s ofand r # s. This implies that f is not an epimorphism. 0 2.6. Proposition. In any full subcategory of Top, (1) a morphism is an isomorphism iff it is a homeomorphism; ( 2 ) a morphism is a monomorphism iflit is injective. The proof is easy. 2.7. Proposition. ( I ) In Top and Top,, a morphism is an epimorphism iff it is surjective. (2) In Top, and Top,, a morphism f : X + Y is an epimorphism it is a dense map, i.e., f ( X ) is a dense subset of Y.
ir
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(3) In Top,, a morphismf : X + Y is an epimorphism ifffor any y E Y, every neighborhood of y intersects f ( X ) n C1( y} (Baron [1968]). Proof. We shall prove (3). (1) and (2) can be shown similarly. Letf :X -, Y be a morphism in Top, and b( f (X)) = { y E Y I every neighborhood of y intersects f ( X ) n Cl{ y}}. Then b( f (X))3 f ( X ) . Suppose that b ( f ( X ) )is a proper subset of Y. Let {P, Q} be a discrete space with two points, Z the product space Y x (P, Q } and j , k : Y -,Z the continuous maps defined byj( y) = ( y, P) and k( y) = ( y , Q). Consider an equivalence relation on Z such that
-
Let Z’ = Z / - be the quotient space and q : Z + Z’ be the quotient map. Then we can show that Z’ is a T,-space. For morphisms r = q o j , s = q k : Y + Z’ in Top,, we have that r f = s f and r # s. This implies that f is not an epimorphism. Next, suppose that b(f(X)) = Y and u, v : Y -+ W are Top,-morphisms with u f = v of. If there exists an element y E Y with u( y ) # v( y), we may assume that there exists an open set U in Wsuch that u( y) E U and v ( y) 4 U . Then u - ’ ( U ) is a neighborhood o f y and there is an element y’ E u - ’ ( U ) n f(X) n CI{ y}. Hence, u ( y ’ ) = v ( y ’ ) E v(Cl{ y}) c Cl{v( y)}. On the other hand, u( y’) E U and v ( y) 4 U and this is a contradiction. Hence, u = v and f is an epimorphism. 0 0
0
0
0
For an injective continuous map f : X + Y between topological spaces, let Z be a subspace of Y with the underlying set f (X). Then we have a surjective continuous map g : X --f Z and an embedding h :Z + Y such that f = h 0 g. fcan be considered as an embedding if and only if g is a homeomorphism. This induces the following definition. + Y of a category A is said to be an extremal monomorphism in A when f is such that iff = h 0 g with an epimorphism g : X + Z and a morphism h : Z + Y , then g must be an isomorphism. An epimorphism f : X + Y of A is said to be an extremal epimorphism in A whenf is such that iff = h 0 g with a morphism g : X + Z and a monomorphism h : Z + Y, then h must be an isomorphism.
2.8. Definition. A monomorphism f : X
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In balanced categories, every monomorphism is an extremal monomorphism and every epimorphism is an extremal epimorphism. 2.9. Proposition. (1) In Top and Top,, a morphism is an extremal monomorphism iff it is an embedding. (2) In Top, and Top,, a morphism is an extremal monomorphism iff it is a closed embedding. (3) In Top,, a morphism f : X + Y is an extremal monomorphism i f f it is a front closed embedding, i.e., an embedding satisfying the following condition: Ifany neighborhood of y E Y intersects f ( X ) n C1{ y } ,y E f ( X ) (Nel-Wilson [ 19721). (4) In Top and Top,for i = 0,1,2,3, a morphism is an extremal epimorphism iff it is a quotient map. Proof. (3): Suppose that f : X + Y is a front closed embedding in Top,, i.e., b( f ( X ) ) = f ( X ) ,and suppose that f = h g with an epimorphism g : X -, Z and a morphism h : Z + Y in Top,. For z E Z and for any neighborhood U of h(z) in Y , there exists an element z’ E h.’(U) n g ( X ) n Cl{z}. Then h(z’) E U n f ( X ) n Cl{h(z)}and hence, h(z) E b( f ( X ) ) = f ( X ) . Since f is injective, we have a function k : Z + X between sets such that h = f o k . It is easily shown that k is a morphism in Top, and k o g = Ix. Hence, g is an isomorphism and f is an extremal monomorphism in Top,. Next, suppose that f : X + Y is an extremal monomorphism in Top,. For a subspace Z = b( f ( X ) ) of Y , there exist an epimorphism g : X 4 Z and a morphism h : Z + Y such that f = hog. Then g is an isomorphism and hence b ( f( X I ) = f (XI. (I), (2) and (4)are proved similarly. 0 0
2.10. Remark (Duality Principle). Let B be a dual category of a category A and denote the identities by i : Ob B 4 Ob A and i : Mor B + Mor A . It is easily verified that f : X + Y is an epimorphism in B if and only if i ( f ): Y + X is a monomorphism in A . In fact, the definition of epimorphisms can be obtained by reversing all arrows of morphisms in that of monomorphisms. In general, for a statement S concerning objects and morphisms, we can construct a statement Sopby reversing all arrows of morphisms in S. If a statement S defines a property P for objects and morphisms, then Sopalso defines a property for objects and morphisms, which is denoted by Popand is called a dual property of P . Sometimes, the dual property of P is named by co-P, e.g., sections will be called coretractions from now on. If a statement S holds for all categories, then Sopalso holds for all categories. These facts
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are called the duality principle for categories. For example, the notion of extremal epimorphism can be given by stating that it is the dual notion of extremal monomorphism. After this, the dual of each notion will be given only by its name, and the dual of a proposition or a theorem will be frequently omitted but used freely. 2.11. Definition. An equalizer in a category A of morphisms u, v : X -+ Y is a pair ( Z ,f ) (or A in brief) consisting of an object Z and a morphism f : Z -, X satisfying the following conditions: (1) uof = v o f ; (2) for any pair ( Z ’ ,f ‘) of an object Z ’ and a morphism f ’ : Z’ + X with uof ‘ = v of’, there exists a unique morphism cp : Z’ + Z such that f‘ =fop
z‘ Dual: coequalizer. 2.12. Proposition. If(Z,f ) is an equalizer of u and v , thenf is a monomorphism. This follows from the uniqueness of cp in the definition of equalizers. 2.13. Definition. A morphism f : X + Y of a category A is said to be a regular monomorphism if there exist morphisms u and v such that ( X ,f ) is an equalizer of u and v . Dual: regular epimorphism. 2.14. Proposition. For a morphism in any category thefollowing implications hold: isomorphism * coretraction => regular monomorphism * extremal monomorphism, isomorphism * retraction * regular epimorphism * extremal epimorphism.
Proof. Suppose that f : X -+ Y and g : Y + X satisfy g f = 1,. Then we have that f is an equalizer of 1 and f g . This shows that any coretraction is a regular monomorphism. Next, we will show that any regular monomorphism is an extremal monomorphism. Let f : X -+ Y be an equalizer of u, v : Y + Z . It was shown in Proposition 2.12 that f is a monomorphism. Let 0
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f = h 0 g with an epimorphism g : X + Wand a morphism h : W + Y. Then u h o g = v 0 hog. Since g is an epimorphism, u o h = v 0 h. Since f is an equalizer of u and v , there exists a morphism cp : W + Xsuch thatfo cp = h. Then f 0 cp 0 g = f. By the definition of equalizers, cp og = l X and hence, go cp og = g. Since g is an epimorphism, g o cp = 1w. Thus we have that g is an isomorphism and that f is an extremal monomorphism. 0
W.
’
2.15. Corollary. In any category the following statements on a morphism f are equivalent: (1) f is an isomorphism. (2)f is both an epimorphism and a coretraction. ( 3 )f is both an epimorphism and an extremal monomorphism. (4) f is both a monomorphism and a retraction. ( 5 ) f is both a monomorphism and an extremal epimorphism. 2.16. Proposition. In Top and Top,for i = 0, 1, 2, 3, each extremal monomorphism is a regular monomorphism. This follows from Proposition 2.9 and the proof of Proposition 2.7. 2.17. Definition. For an object X of a category A, a monomorphism f : Y --* Xis called a monomorphism into Xor sometimes a subobject of X. Let M ( X ) be a class of all monomorphisms into X, andf : Y + X and g :Z + X be two elements of M ( X ) . f i s said to be isomorphic with g if there exists an isomorphism rp : Y + Z such that f = go cp. It is clear that “isomorphic” is an equivalence relation on M ( X ) . (Each equivalence class is called a subobject of X by some authors.) A subclass R of M ( X ) is said to be a representative set of monomorphisms into X if it is a set and for any f E M ( X ) there exists an element g E R such that g is isomorphic withf. A category A is said to be well-powered (or locally small) if each object X of A has the representative set of monomorphisms into X. If for each object X of A the class of all extremal monomorphisms into X has a representative set of extremal monomorphisms into X,then A is said to be (Exmono)-wellpowered. Well-powered categories are (Ex mono)-well-powered.
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Dual: representative set of epimorphismsfrom X , co-well-powered, (Ex epi)-cowell-powered. Small categories are obviously well-powered and co-well-powered. Set, Grp, Ab, Top and Top, for i = 0, 1 , 2 , 3 are not small, but we can show that they are well-powered and co-well-powered.
3. Diagrams and limits 3.1. Definition. A functor D : K + A from a small category K to a category A is called a diagram D in A over K.
LetK,beacategorywithObK,= {1,2}andMorK2= { l , , 1 2 , a : l+2}. For a morphism f : X + Y in a category A, define a functor D : K2 + A by D(l) = X , D(2) = Y and D(a) = f. Then we have a diagram D : K2 + A, which is expressed by X
L
Y
Sometimes we do not need the specific contents of objects and morphisms of a small category K. In this case, K is called a diagram scheme of D. We shall express a small category with a few morphisms by showing all objects and all morphisms except identities, e.g., the category K2 is expressed by "l2 The diagram scheme K2 is also expressed by
3.2. Definition. Let D : K + A be a diagram in A over K. A pair (X, (ai)iGObK) of an A-object Xand a family of A-morphisms a i : X + D ( i )for i E Ob K is said to be a natural source for D if for any K-morphism a :i +j , D(a)Oa, = a j .
(natural source)
(natural sink)
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Dual: A pair ( X , ( a i ) i & b K ) of an A-object X and a family of A-morphisms a i : D ( i ) + X for i E Ob K is said to be a natural sink for D if for any K-morphism a : i + j , ai = uj0 D(a). 3.3. Definition. For a diagram D in A over K, a natural source ( X , ( a i ) i e O b X ) for D is said to be a limit for D provided that the following holds: For any natural source ( Y , ( f i , ) i e O b X ) for D , there exists a unique morphism cp : Y + X in A such that pi = uio cp for any i E Ob K.
a connecting morphism from the natural source ( y , ( f i i ) i s O b X ) to the limit (x, (ai)ieObK)* Dual: colimit for a diagram D . cp will be called
The following example shows the motive for this naming: For a directed set (A, <), we shall construct a category. For each 1 E A, consider an object 1 and for each pair (1,p) of A, p E A such that A < p, consider a morphism pi.p:p --* 1.Then classes of these objects and morphisms form a small category, which will be denoted by A. Let A be the category Set, Grp or Top. A functor D : A -+ A defines an inverse system ( X i , A+) in A by X , = D(1) and & = D(p,,). Then ( X , ( f l ) i & b A ) is a limit for the diagram D if and ony if ( X , (A);,€,,) is an inverse limit of the inverse system ( X i ,A,+)in A. 3.4. Proposition. For a diagram D in a category A over a small category K, a limit ( X , ( a i ) i E O b K ) is uniquely determined up to isomorphism. Proof. Suppose that ( X , ( r x i ) i E O b K ) and ( Y , ( f i i ) i s O b K ) are limits for D. Then there exist connecting morphisms cp: Y + X and $ : X + Y such that fii = aiocpandui = f i i 0 $ f o r i ~ O b K . H e n c e , u i o c p o $= a i f o r i ~ O b K and this implies that cp $ is a connecting morphism from ( X , ( t l i ) i & b K ) to itself. By the uniqueness of connecting morphism, we have that cp $ = 1,. Similarly, cp = I ,,and this means that ( X , ( a i ) i & b K ) and ( Y , ( f i i ) i & K ) are isomorphic natural sources. 0 0
0
$ 0
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3.5. Proposition. For a category A each notion of thefollowing can be deJined us the limit for a suitable diagram D in A over a suitable diagram scheme K: equalizer, pullback, product, terminal object, intersection, multiple pullback, multiple equalizer.
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Proof. ( I ) Equalizer: Let K be a category expressed by 1 2. For a pair of morphisms J g : X + Y in A, let D : K -+ A be a functor such that D(a) = f and D(b) = g. Then the limit for D is an equalizer off and g defined in Definition 2.1 1. (2) Pullback: Let K be a category with Ob K = { I , 2, 3} and Mor K = { I I , 1 2 , I,, a : 1 + 3, b : 2 -+ 3). For a pair of morphisms f : X -+ 2 and g : Y + 2 in A, let D :K -+ A be a functor such that D ( a ) = f and D(b) = g. Then the limit ( W , (a,, a2, a j ) ) for D is called a pullback of the pair ( J g). Since a3 = f al = go a2,a3is usually omitted. In other words, ( W , (aI,a 2 ) ) is a pullback of ( J g ) if and only if the following hold: (a)fo@l = goa2; (b) for any triple ( V , (/II, /I2)) such thatfo /II = g /I2, there exists a unique morphism rp : V -, W such that /I, = a, rp and p2 = a2 rp. 0
0
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r-
0
2
( 3 ) Product: Let I be a set and K be a discrete category with Ob K = I. For a family of objects in a category A, define a diagram D :K -+ A by D ( i ) = X, for i E I. Then the limit ( X , ( p i ) i c lfor ) D is called a product of a family (A&, and each morphism p i : X -+ is called a projection. X will be denoted by l I i s l X , . (4) Terminal object: In the definition of product, suppose that I is the empty set. Then the limit for D consists of an object X such that for any object Y in A, there exists exactly one morphism rp : Y -+ X. X is called a terminal object of A. ( 5 ) Intersection: Let I be a set, 0 4 I and K be a category with Ob K = I u {0} and Mor K = { l i l i E I } u ( 1 , ) u { a i : i + O l i ~ l } For . a family (f;:X, -, Y ) i s l of monomorphisms in a category A, define a diagram D : K -+ A by D ( i ) = D(0) = Y and D(ai) = f;. Then the limit (X,((gi:X-+ g,:X + Y ) ) (or go) for D is called an intersection of
xi
xi,
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( f ; ) i s l . By the uniqueness of connecting morphism, we have that go is an A-monomorphism. X is denoted by nislX,.
(6)Multiplepullback: In the above definition, if we do not assume that each A-morphismf; is a monomorphism, the limit ( X , ((gi)iEI, go))for D is called It is noted that if I is a set { 1, 2}, the multiple a multiple pullback of (&,. pullback of a pair (f,,fi) coincides with its pullback. (7) Multiple equalizer: Let I be a set and K be a category with . a family Ob K = (1, 2) and Mor K = { l , , 1 2 } u {ai:1 + 2 1 i ~ I ) For ( f ; : X + Y ) i p lof A-morphisms, define a diagram D : K + A by D(ai) = f;, i E I. Then the limit (Z, ( g :Z + X , h :Z + Y)) for D (or (Z, g), in brief) is called a multiple equalizer of ( j J i s , . 0 3.6. Proposition. Suppose that ( W , (a,, a2)) is a pullback of ( f : X + Z, g : Y + Z ) and that f is a monomorphism in A. Then a2 is a monomorphism in A, which is called an inverse image off by g. The proof follows from the uniqueness of connecting morphism.
Dual: coequalizer, pushout, coproduct, initial object, cointersection, multiple pushout, multiple coequalizer, co-(inverse image). Notions of unions and images in category theory are also defined (Mitchell [1965]), but they are not the dual notions of intersections and inverse images
respectively. The following shows that it is useful to construct new categories from given data. The proof is easy and so omitted. 3.7. Proposition. Suppose that D : K + A is a diagram in a category A over a small category K and &fine a category (0)as follows: Ob (0)h the class of all natural sources ( X , (ai)i&bK)for D, andfor ( X , (ai)),( Y , (pi)) E Ob ( D ) the set of (D)-morphisms [(X, (ai)), ( Y , (pi))](D,consists of all A-morphisms f:X -, Y such that ai = pioffor each i E Ob K. Then ( X , (ai)ieObK) is a limit for D i f it is a terminal object in ( D ) .
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3.8. Example. ( I ) In Ab, the product is the direct product and the coproduct is the direct sum, while in Grp the product is the direct product and the coproduct is the free product. In both categories, the terminal object coincides with the initial object (called zero object, in general). Set and Top do not have zero objects. (2) In Top, the product is the topological product and the coproduct is the topological sum. For morphismsf, g : X + Y, let Z = { x E XI f ( x ) = g ( x ) } be the subspace of X and h : Z + X be the embedding map. Then (2,h) is the equalizer off and g . Next, for morphismsf, g : X + Y, define a relation on Y as follows: For y, y’ E Y, y y’ iff there exists an element x E X such that y = f ( x ) and y’ = g ( x ) . Then the relation generates an equivalence relation on Y. The quotient map h : Y + Z = Y / - is the coequalizer of f and g . The terminal object is a space consisting of exactly one point, and the initial object is the empty space. For morphismsf : X + Z and g : Y + Z, let (X x Y , ( p x ,p , ) ) be the product of X and Y and (W. (a, : W + X , a*: W Y)) be the equalizer of f o p x and g o p , . Then (W, (a,, a*)) is the pullback of (f,g). We can show that in any category, pullbacks are constructed from products and equalizers in this way. In the next section we will show several relations among special limits in general categories.
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4. Complete categories 4.1. Definition. Let K be a small category. A category A is said to be K-complete if for any diagram D: K + A in A over K, there exists a limit for D. A is said to be complete if, for any small category K,A is K-complete. A is called finitely complete if for any finite category K (i.e., Mor K is a finite set), A is K-complete. Dual: K-cocomplete, cocomplete,Jiniteb cocomplete. If A is K-complete for a diagram scheme K expressed by m A is said to have equalizers (see Proposition 3.5(1)) and so forth. 4.2. Theorem. For a category A , the following are equivalent. ( I ) A is complete. ( 2 ) A has multiple pullbacks and terminal objects. ( 3 ) A has products and pullbacks. (4) A has products and inverse images. (5) A has products andjnite intersections.
i
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(6) A has products and equalizers. (7) A has products and intersections. Proof. (1)=42) follows from Proposition 3.5. (2)*(3) follows from Lemma 4.3 below, which is easily verified. be 4.3. Lemma. Let T be a terminal object in A, I a nonempty set and T ) )is a multiple pullback a family of A-objects. ( X , ( ( p i :X -+ X , ) i E l , tx : X of ( t i : X ,+ T ) i c l fi and only if ( X , ( p i ) i s l )is a product of (X,)iEI, where ti : X, + T, i E I and t,: X -+ T are morphisms determined uniquely by the property of terminal object. -+
Proof of Theorem 4.2 (continued). (3)*(4) is obvious. (4)=45): For a family ( f ; : X , -+ Y ) i c l of A-monomorphisms with I = { I , 2}, an intersection ( X , ( ( g i : X X,)iEI, g,:X Y ) ) of ( J , f , )is obtained by the formation of a pullback of ( J ,fi), i.e., by that of an inverse can be obtained image offi byf,. For a finite set I, an intersection of by iterating the formation of inverse images. (5)-(6) follows from Lemma 4.4 below, which is easily verified. -+
-+
4.4. Lemma. Suppose that A hasfinite products. For a pair CI; g ) of morphisms -+ Y there exists a pair ( f ’, g‘) of morphisms f ’, g‘ : X -+ X x Y such that pxOf’ = l,, pYOf’ =f, pxog’ = 1, and puog‘ = g. I f ( Z , ((h, k :2 X ) , 1 : 2 -+ X x Y ) )is an intersection of ( f ’, g’), then h = k and ( Z , h) is an equalizer of (f,g). I f ( Z , h) is an equalizer of (f,g), then (2, ((h, h),f ’ h)) is an intersection of ( f ’, g’).
f, g :X
-+
0
Z
h
X
X g f X x Y
In order to prove (6)=.(1) lemma.
of Theorem 4.2, we shall show the following
4.5. Lemma. I f A has products and equalizers, it has intersections of regular monomorphisms. Proof. Let Z be a set and, for each i E Z,let hi:Zi + X be an equalizer off;, gi:X -+ Y,. For a product (Y, ( p i :Y -+ Y,)iEI)of the family there
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exist morphismsf, g : X + Y such that pi"f = f; and pi 0 g = gi for each i E I. Let ( W, h : W -+ X) be an equalizer of (f,8).Then we have thatf; 0 h = gi 0 h and that there exists a morphism cpi: W --+ Z, such that h = hio (pi for each i E I. Thus we can verify that (W, ( ( ~ p ~ ) ~ ~ ,h)) , is an intersection of (hi)is,. 0
W
-r
Proof of Theorem 4.2 (conclusion). Now we will return to the proof of (6)*(1). Let K be an arbitrary small category and D :K A a diagram in A over K. We shall construct a limit for D. Let (X, ( p i :X D(i)),,,,,) be a product of the family (D(i))isObK. For each K-morphism a : i -+ j , let ( Z o ,h, :Z , -, X) be an equalizer in A of D(a)" p i and p,. Then there exists ~ ~ of ~ , (hu)aEMorK. We can show that an intersection (Z, ( ( ( P , ) , ~ ~h)) (Z, (pi" h : Z + D(i))icObK) is a limit for D. ( 1 ) 4 7 ) and (7)*(5) are obvious and we complete the proof of Theorem 4.2. 0 -+
-+
4.6. Theorem. For a category A , the following are equivalent. (1) A is finitely complete. (2) A has pullbacks and terminal objects. ( 3 ) A has finite products and pullbacks. (4) A has finite products and inverse images. ( 5 ) A has finite products and finite intersections. (6) A has finite products and equalizers. 4.7. Example. The categories Set, Grp and Top are complete and cocomplete. The full subcategory of Set consisting of all finite sets is finitely complete and finitely cocomplete but it is neither complete nor cocomplete.
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5. Factorizations of morphisms For a continuous mapf :X + Y between topological spaces, let Z = f ( X ) be a subspace of Y. Then we have a continuous and surjective map g :X -+ Z and an embedding h :Z + Y such thatf = h 0 g. In other words, a morphism fin Top has a factorization (Z,g, h ) with an epimorphism g and an extremal monomorphism h. If Z’ = f ( X ) is a quotient space of X,we have a factorization (Z’, g’, h’) with an extremal epimorphism g’ and a monomorphism h’. From the point of view of category theory, these are very important properties of the category Top. In this section we discuss general categories which have such properties.
5.1. Proposition. Suppose that a category A is well-powered and has intersections and equalizers. Then, for any morphism f : X -+ Y, there exists a triple ( Z , g, h ) consisting of an object Z, an extremal epimorphism g :X -+ Z and a monomorphism h :Z -+ Y such that f = h 0 g. Proof. Let J be a class of all triples j = (Z,, g,, h,) consisting of an object Z,, a morphism gj:X + Z, and a monomorphism h, : Z, -+ Y such that f = hjogj. If h, = hi. for j , j’ E J , then gj = gi. and hence j = j’. Since A is well-powered, the class {hjlj E J } has a representative set {hiI i E I } , which contains 1 y : Y -+ Y. Let ( Z , ((ki:Z -+ Z i ) i a fh, : Z -+ Y ) )be an intersection of (hi:Zi -+ Y ) i , f .Then h is a monomorphism and there exists a morphism g : X -+ Z such that f = hog. In order to show that (Z, g, h) is a desired triple, it is sufficient to prove that g is an extremal epimorphism. Suppose that r, s :Z + Ware morphisms such that r 0 g = s 0 g. For an equalizer I : V + Z of r and s, there exists a morphism cp : X + V such that g = 1 0 cp. Then f = h 10 cp. Since h 0 1 is a monomorphism, the triple ( V , cp, h 0 I ) belongs to J and there exist an element i = ( Z i ,gi, hi) E I and an isomorphism m : Z i + V such that hi = h0l.m. Then h o l o m o k i = hioki = h = ho I, and hence 10 m 0 ki = I,. By Corollary 2.15, I is an isomorphism and hence r = s. Thus we have obtained that g is an epimorphism. Similarly, we can show that g is an extremal epimorphism. 0 0
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5.2. Proposition. Suppose that a category A has pullbacks and that an extrema1 epimorphkm f:W + X, morphkms g : W + Y, h :X + Z and a monomorphism k : Y + Z satisfy that h f = k 0 g. Then there exists a morphism d : X + Y such that g = dof and h = k o d . 0
k
’
Z
y-
k
’Z
Proof. Let (V, ( I : V + X , m : V + Y)) be a pullback of (h, k). Then 1 is a monomorphism and there exists a morphism cp : W + V such that f = 10 cp and g = m cp. Sincefis an extremal epimorphism, I is an isomorphism. Thus we can obtain a desired morphism d : X + Y putting by d = m I - ’ . 0 0
0
5.3. Definition. A category A is said to be (Ex epi, Mono)-factorizable if, for each morphism f :X + Y , there exists a triple (Z, g , h ) consisting of an object Z, an extremal epimorphism g : X + Z and a monomorphism h : Z + Y such that f = h og. ( Z ,g , h ) is called an (Ex epi, Mono)-factorization off. A is said to be uniquely (Ex epi, Mono)-factorizable if it is (Ex epi, Mono)-factorizable and for two (Ex epi, Mono)-factorizations (Z, g, h) and (Z’, g’, h‘) of each morphismf, there exists an isomorphism cp :Z + Z’ such that h = h’ 0 cp (or, equivalently, g’ = cp 08).
A is said to have the (Ex epi, Mono)-diagonalization property provided that whenever an extremal epimorphism f :W + X , morphisms g: W + Y , h :X + Z and a monomorphism k : Y + Z satisfy h of = k o g, there exists a morphism d : X + Y such that g = dof and h = k d. d is called a diagonal 0
morphism (or a diagonal) of the square (f,g, h, k ) .
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5.4. Proposition. I f a category A is (Ex epi, Mono)-factorizable and has the (Ex epi, Mono)-diagonalization property, then it is uniquely (Ex epi, Mono)factorizable.
Dual: (Epi, Ex mono)-factorizable, (Epi, Ex mono)-factorization, uniquely (Epi, Ex mono)-factorizable, (Epi, Ex mono)-diagonalization property. 5.5. Theorem (Factorization Theorem I). If a category A is well-powered and has intersections andfinite products, then A is uniquely (Ex epi, Mono)factorizable. This follows from Propositions 5.1, 5.2, 5.4 and Theorem 4.6. Dual (Factorization Theorem co-I): If a category A is co-well-powered and has co-intersections and finite coproducts, A is uniquely (Epi, Ex mono)factorizable. Since Top is well-powered, co-well-powered, complete and cocomplete, it is uniquely (Ex epi, Mono)-factorizable and uniquely (Epi, Ex mono)factorizable. In the following, we will deduce the unique (Epi, Ex mono)factorizability o f A under the assumption similar to the one in Theorem 5.5 (not the dual type). 5.6. Lemma. Suppose that A is well-powered and has intersections and equalizers. Let f : X + Y be a morphism and M be a class of monomorphisms satisfying the following conditions: ( 1 ) Closed under the formation of intersections: i.e., i f ( U , ((ui: U + q.)iel, u,, : U -, V ) )is an intersection of a family (vi : U, + V ) i s lof monomorphisms into V and if each vi E M for i E I, then uo E M. (2) r f a morphism q : X + U , a regular monomorphism r : U + V and a morphism s: V + Y satisfy that f = s o r o q a n d s E M , then sor E M . (3) 1 E M . Then there exists a triple ( Z ,g , h) of an object Z , an epimorphism g : X -, Z and a monomorphism h : Z + Y belonging to M such that ( a ) f = hog; (b) if a triple ( Z ‘ ,g’ : X + Z ’ , h‘ : Z ’ + Y ) satisfies that f = h’og’ and h E M , then there exists a morphism k : Z -, Z‘ with h = h o k, (c) if a triple ( W , 1 : X + W , m : W + Z ) satisfies that g = m 1 and h m E M , then m is an isomorphism. 0
0
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This is a generalization of Proposition 5.1 and the proof is obtained in a similar way to that of Proposition 5.1.
5.7. Lemma. Suppose that a category A is well-powered and has intersections and equalizers. Then A has the (Epi, Ex mono)-diagonalization property. Proof. Let an epimorphism f:W X, morphisms g : W + Y , h : X -+ Z and an extremal monomorphism k : Y + Z satisfy that h of = k og. We shall apply Lemma 5.6 for the morphism k : Y + Z and the class M of all monomorphisms n : V -, Z such that there exist morphisms I : X + V and m : Y -+ V with n 0 I = h and n om = k. To show that M satisfies condition (2) of Lemma 5.6, let k = soroq with a morphism q : Y + U, an equalizer r : U + V' of u, 'u: V' + V" and a morphism s : V' -+ Z belonging to M. Then there is a morphism I' : X + V' such that s I' = h and I' of = r 0 q og. Hence, u o l ' o f = u 0 r o q . g = v o r o q o g = v o l ' o f . Sincefis an epimorphism, u I' = 'u I'. Since r is the equalizer of u and 'u, there is a morphism I": X -+ U such that s r I" = h. This means that s r E M and that M satisfies (2). It is easy to show that M satisfies (1) and (3) of Lemma 5.6. Hence there exists a triple (Vo, m,:Y + 6 , no: 6 -, Z ) satisfying the conditions (a), (b) and (c) in Lemma 5.6. Since no E M , there exists a morphism lo: X + 6such that n,,0 I, = h. Since m, is an epimorphism and k is assumed to be an extremal monomorphism, m, is an isomorphism. A diagonal morphism of the square (Lg , h, k ) is given by d = mi' lo. 0 -+
0
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5.8. Lemma. Zf a category A has the (Epi, Ex mono)-diagonalization property, then the following hold in A : The composition of extremal monomorphisms is an extremal monomorphism. The intersection of extremal monomorphisms is an extremal monomorphism. The inverse image of an extremal monomorphism is an extremal monomorphism. The product of extremal monomorphisms is an extremal monomorphism.
Proof. First, we show (3). Let ( W , f , g ) be a pullback of ( h : X -+ 2, k : Y + 2) and let k be an extremal monomorphism. We already showed that f is a monomorphism. Let f = mo I with an epimorphism I: W -+ V and a morphism m : V + X.Then there exists a diagonal morphism n : V -+ Y of the square (I, g, h 0 m, k). Since ( W,f,g ) is a pullback of (h, k), there exists a morphism cp : V + Wsuch thatf cp = m and g 0 cp = n. By the uniqueness of connecting morphism, we have that cp I = 1 and hence, I is an isomorphism. This shows that f is an extremal monomorphism. Next, we will make sure the meaning of (4). Let (L: X, -+ YJiElbe a family of morphisms and ( X , ( p i ) i e l )and ( Y , (qJiC,) be products of families ( & ) i s , and ( K)iE,respectively. Then there exists a unique morphism f :X + Y such that qi 0f = f; " p i for each i E I. The statement (4) claims that if eachJ is an extremal monomorphism for i E I, then f is an extremal monomorphism. The proofs of (l), (2) and (4) are similar to that of (3) and so omitted. 0 0
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k
+z
If a category A has two extremal monomorphisms f and g whose composition h = g 0f is not an extremal monomorphism, then A contains morphisms I and k such that h = 10 k and k is not an isomorphism but an epimorphism. Since f and g are not epimorphisms, A contains morr # s, u o g = v o g and u # v. phisms r, s, u and v such that rof = SOL Thus we have the following example of categories (see below) in which compositions of extremal monomorphisms are not necessarily extremal 5.9. Example.
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monomorphisms. All objects are shown by dots and all morphisms except the identities are shown by arrows.
5.10. Theorem (Factorization Theorem 11). Zfa category A is well-powered and has intersections and equalizers, then it is uniquely (Epi, Ex mono)factorizable. Proof. For a morphism f : X + Y and the class M of all extremal monomorphisms of A, we can apply Lemma 5.6 and then obtain an (Epi, Ex mono)-factorization of$ Hence A is (Epi, Ex mono)-factorizable. By Lemma 5.7 and Proposition 5.4, A is uniquely (Epi, Ex mono)-factorizable. 0
5.1 1. Theorem. ZfA is well-powered, (Ex epi)-co-well-poweredand complete, then A has coequalizers. Proof. Let f, g :X + Y be A-morphisms. Then the class of all extremal epimorphisms h from Y with the property h of = h 0 g has a representative set (hi:Y + Zi)iel. Let (Z, ( p i ) i s l )be the product of ( Z j ) i eThen l. there exists a morphism k: Y -, Z such that pjok = hi for i e I. Let ( W , I : Y + W , m : W + Z) be an (Ex epi, Mono)-factorization of k . We will show that I is a coequalizer off and g . It is easily shown that lof = log. Let n : Y + V satisfy that nof = nog and let ( U , r : Y + U, s: U + V) be an (Ex epi, Mono)-factorization of n. Then r of = r g and hence there exist an element i E Z and an isomorphism t i :Zi + U such that r = t i o hi. Thus we obtain a connecting morphism q : W + V from (W, I ) to ( V , n) by putting q = tiopiom.The uniqueness follows from the fact that I is an epimorphism. 0
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6. Reflective subcategories 6.1. Definition. A subcategory B of a category A is said to be rejective in A (or, a reflective subcategory of A) if any A-object X has a B-reflection r x :X + Y , i.e., there exist an object Y and a morphism r x :X + Y in A satisfying the following conditions: ( I ) Y E Ob B; (2) for any A-morphism f : X + Z with Z E Ob B, there exists a unique B-morphism f : Y + Z such that f rx = f. f will be called an extension off.
'
'
'
0
6.2. Proposition. Let B be a rejective subcategory of A and let rx : X + Y be a B-reflection of an A-object X . Then we have the following. ( I ) IfA g : Y + Z are B-morphisms and i f f 0 rx = g r x , then f = g. ( 2 ) rx is essentially unique. 0
Proof. ( 1 ) follows from the uniqueness of extension. (2): Let s x : X + W be another B-reflection of X . Then there exist B-morphisms (sX)O: Y + Wand (rX)':W + Y such that (sX)'orx = sx and (rX)'osx = r x . Hence, ( s x ) o ~ ( r x ) o ~=s xsx and ( r x ) o o ( s x ) o ~ r=x r x .
By ( I ) we have that (sX)' (rX)' = 1 and (rX)' (s,)' rx is essentially unique. 0
0
=
1 y . This means that
0
6.3. Definition. Let B be a reflective subcategory of a category A and denote the B-reflection of each A-object X by r x :X + RX. For an A-morphism f : X + Y , there exists a unique B-morphism Rf : RX + R Y such that Rf = (ryef )', i.e., Rf rx = ry0f . By assigning Rf tof, we obtain a functor R : A + B, which will be called a B-rejector. 0
6.4. Remark. Let B be a subcategory of a category A with the inclusion functor E: B + A. Then B is reflective in A with the B-reflector R iff E has the left adjoint functor R : A -, B. Hence reflectors are considered as special cases of adjoint functors. The theory of adjoint functors is the most important
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theme treated in every text book of category theory. However, considering applications for general topology, we do not discuss here the general theory but restrict ourselves to the theory of reflective subcategories.
6.5. Proposition. Let B be a reflective subcategory of A. Then B is full in A i f f o r each B-object X the identity 1 : X + X is a B-rejection. 6.6. Proposition. Let B be a subcategory of A and C be a full subcategory of Bsatisfying the following condition: For any X E Ob B, there exist Y E Ob C and a B-isomorphism c p : X + Y . Then C is reflective in A if B is reflective in A.
These statements are easily proved. Most of reflective subcategories which we shall consider are full and isomorphism-closed, where a subcategory B of a category A is said to be isomorphism-closed whenever if X E Ob B and cp: X + Y is an A-isomorphism, then Y E Ob B. 6.7. Convention. From now on, all subcategories will be assumed to be full and isomorphism-closed. 6.8. Definition. Let E be a class of morphisms of a category A which is closed under composition with isomorphism. A reflective subcategory B of A is said to be E-reflective in A if each B-reflection rx of each A-object X belongs to E. For the case E = Epi A, the class consisting of all epimorphisms in A, B is called epireflective in A and similarly we use notations Mono A, Bi A, Ex epi A and terminologies monoreflective, bireflective, (Ex epi)-reflective and so forth.
If B is monoreflective in A, then B is epireflective in A.
6.9. Proposition.
Proof. Let X E Ob A and r x :X -, RX be the B-reflection of X . If = v o r x for A-morphisms u, v : R X + Y , then r y o u o r x = r y o v o r x . Since B is full in A, we have that r Y o u = r Y o v by Proposition 6.2. Since r y is assumed to be a monomorphism, we have that u = v . This implies that r x is an epimorphism in A. 0 # O r X
. x i
7[ry
RX-
RY
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Dual: corefective, coextension, corefector, monocorefective and so on. 6.10. Definition. An object S of a category A is called a separator whenever i f f , g : X + Y are different A-morphisms, then there exists a morphism x : S + Xsuch that f o x # g o x . In Set or Top, all nonempty objects are separators and in Grp or Ab, the additive group Z of all integers is a separator. 6.11. Proposition. Suppose that a category A has a separator S, and B is a subcategory of A which contains S. Then B is bicorefective in A ifl it is corefective in A. Proof. It is sufficient to show that if B is coreflective in A, B is epicoreflective in A. Let r,: RX + X be the B-coreflection of an A-object X and let u, v : X + Y be A-morphisms such that u o rx = er 0 r x . If u # 01, there exists an A-morphism x : S -, X such that u 0 x # v 0 x . Since S E Ob B, there exists a morphism y : S + RX such that rxOy = x . Then u o x = uorx o Y = v 0 r,o y = v 0 x and this is a contradiction. Thus we obtain that rx is an epimorphism and that B is epicoreflective in A. 0
Dual: coseparator. 6.12. Remark. Proposition 6.1 1 has some applications to Top and its subcategories, but the dual version has few. In fact, a topological space X is a coseparator in Top iff it contains a nontrivial indiscrete subspace. 6.13. Example. ( I ) Let X be a completely regular Hausdorff space. The Stone-Cech compactification / J x : X + /J X of X is a dense embedding from X into a compact Hausdorff space /J X with the "universal property". This means that the category CompT, is an E-reflective subcategory of the category Tyc, where Tyc (respectively CompT,) is the full subcategory of Top consisting of all completely regular Hausdorff spaces (respectively all compact Hausdorff spaces) and E is the class of all dense embeddings in Tyc. (2) Tyc is epireflective in Top. The reflector R : Top + Tyc is known as the Tychonoff functor. (3) Ab is an epireflective subcategory of Grp. The reflection rx : X + RX of a group X is the abelianization a,: X + X / [ X ,X I . (4) Let n be an integer > 1 and let Ab'") be the full subcategory of Ab consisting of all objects X such that nX = 0. Then Ab'"' is epireflective in Ab and the reflection of X is the quotient homomorphism r x :X + X/nX.
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( 5 ) The full subcategory Tor of Ab which consists of all abelian torsion groups is monocoreflective in Ab. The coreflection r x :RX + X of X is the inclusion homomorphism from the torsion subgroup Tor(X) into X. (6) The full subcategory TF of Ab which consists of all torsion-free abelian groups is epireflective in Ab. The reflection of Xis the quotient homomorphism r x :X + X/Tor(X). (7) The full subcategory Ind of Top which consists of all indiscrete spaces is bireflective in Top. (8) The full subcategory Dis of Top which consists of all discrete spaces is bicoreflective in Top. Let X be a topological space, RX a discrete space with the same underlying set to X and rx : RX + X a continuous map induced by the identity map on the underlying sets. Then rx is the coreflection of X . By Proposition 6.1 1 any coreflective subcategory of Top is bicoreflective. Hence, in general, the coreflection of X is obtained by the modification of topology of x.
We conclude this section by showing the relations between reflective subcategories and colimits. 6.14. Proposition. Suppose that B is a reflective subcategory of a category A with inclusion functor E :B + A and reflector R : A + B, and suppose that D : K + B is a diagram in B over a small category K. Then if there exists a colimit for E 0 D : K + A , then there exists a colimit for D.
Proof. Let ( X , ( a i :D ( i ) + X);&K) be a colimit for Eo D and let r x : X
+ RX the B-reflection of X . Then we can show that ( R X , (rxoai:D ( i ) + R X ) ) is a colimit for D . 0
6.15. Corollary. I f a category A is cocomplete and B is a reflective subcategory of A , then B is cocomplete. 6.16. Proposition. Suppose that B is a reflective subcategory of A with inclusion functor E : B + A and reflector R ; A + B and that D : K + A is a diagram in A over a small category K. Then if ( X , ( a ; : D ( i ) + X)icObK) is a colimit for D, then ( R X , ( R E , :R D ( i ) + RX)icObK) is a c o h i t for R o D : K + B. 6.17. Remark. Suppose that B is a coreflective subcategory of Top with coreflector R :Top + Band that (X,)lclis a set of topological spaces X,. Then by the dual of Proposition 6.16, we have that R(n,,,X,) = nl’,,RX,, where
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ll and I'I' denote the products in Top and B respectively. If B is a reflective subcategory of Top with reflector R : T o p + B, the formula R ( n i , , x ) = II,;,RX, does not hold in general (Glicksberg [1959]).
7. Characterization theorem
In this section we always assume that A is a category and B is a full and A. isomorphism-closed subcategory of A with the inclusion functor E : B 7.1. Proposition. Let D : K + B be a diagram in B over a small category K. Then E 0 D is a diagram in A over K. ( I ) A limit ( X , ( a i :X --* D(i))icObK) for E o D is a limit for D i@X E Ob B. (2) I f B is reflective in A, a limit ( X , ( a i :X + D(i))i,ObK) for D is a limit for E o D. Proof. ( I ) is obvious. (2): Suppose that B is reflective in A and ( Y , (B,: Y --* D(i)),,obK) is a natural source for Eo D. Then there exists a B-morphism (fl,)': RY -+ D ( i ) such that (PI)' 0 r r = P, for each i E O b K , where r r : Y + RY is the B-reflection of Y. We have that ( R Y , ( < f l , ) ' ) > , , ~ b ~ ) is a natural source for D and hence there exists an A-morphism cp: RY + X such that a , cp~ = (PI)' for each i E Ob K. Thus we obtain a connecting morphism cp 0 r r from ( Y, (fl,),sObK) to ( X , ( a , ) , , O b K ) . The uniqueness can also be shown. 0
7.2. Definition. Let K be a small category. B is said to be closed in A under K-limits if, for any diagram D :K + B in B over K, a limit for Eo D is a limit for D. 7.3. Proposition. If B is reflective in A, then B is closed in A under K-limits for any small category K.
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Proof. Let D : K + B be a diagram and ( X , (ai : X D ( i ) ) i s O b Ka )limit for Eo D . We will show that X E Ob B. Let r,: X RX be the B-reflection of X. Then there exists a B-morphism (ai)' : RX -+ D ( i ) such that (ai)' 0 rx = ai for each i E I and (RX, ( ( C Q ) ' ) ~is~a~natural ~ ~ ) source for E o D . Hence there exists a morphism cp: RX + X such that a i o c p = (ai)' for i E I. Thus ai cp o rx = tli for i E I and, by the uniqueness of connecting morphism, q o r x = 1,. By Proposition 6.2(1), r,ocp = l,, and we have that rx is an isomorphism and that X E Ob B. 0 -+
-+
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7.4. Corollary. r f A is a complete category and B is a reflective subcategory of A, then B is complete.
7.5. Definition. Let K be a small category. A diagram D :K A is said to be initially in B if for any K-object i there exist a K-objectj and a K-morphism a : j -+ i such that D ( j ) E Ob B. B is said to be strongly closed in A under K-limits if for any diagram D :K A which is initially in B a limit ( X , (ai)rcObK) for D satisfies that X E O b B. -+
-+
7.6. Example. B is closed in A under equalizers if whenever u, v : Y -+ Z are A-morphisms with Y, Z E Ob B, the equalizer of (u, v) in A belongs to B. B is strongly closed in A under equalizers if whenever u, v : Y Z are A-morphisms with Y E Ob B, the equalizer of (u, v) in A belongs to B. It is noted that the strong closedness under products coincides with the closedness under products. -+
7.7. Proposition. ZfB is epireflective in A , then B is strongly closed in A under K-limits for any small category K.
Proof. Let D : K -+ A be a diagram which is initially in B and ( X , (a,),,ObX) a limit for D. We will show that the B-reflection r x :X -+ R X of X is an isomorphism. Let S = { i E Ob KI D ( i ) E Ob B}. For i E S, there exists a B-morphism (a,)' : RX -+ D ( i ) such that ( a , ) ' ~rx = a,. For i # S , there exist a K-object j E S and a K-morphism a : j -+ i. Define (a,)':RX -+ D ( i ) by (a,)' = D ( a ) o (a,)'. Since rx is an epimorphism, we have that (a,)' does not
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depend on the choice o f j and a, and that ( R X , ((ai)o)icObX) is a natural source for D. Then we can show that rx is an isomorphism in a way similar to the one in the proof of Proposition 7.3. 0
7.8. Definition. B is said to be closed in A under extremal monomorphisms (respectively monomorphisms) whenever i f f : X + Y is an extremal monomorphism (respectively monomorphism) and Y E O b B, then X E Ob B. It is obvious that if B is closed in A under extremal monomorphisms, then B is strongly closed in A under equalizers. We will show that the converse of Proposition 7.7 holds under some conditions on A. This result plays a fundamental role in categorical topology.
7.9. Theorem (Characterization Theorem of Epireflective Subcategories). Suppose that a category A is complete, well-powered and co-well-powered and B is a full and isomorphism-closed subcategory of A. Then the following are equivalent. (0) B is epirepective in A. (1) B is strongly closed in A under K-limits for any small category K. (2) B contains a terminal object of A and is strongly closed in A under multiple pullbacks. (3) B is strongly closed in A under products and pullbacks. (4) B is strongly closed in A under products and inverse images. ( 5 ) B is strongly closed in A under products andjnite intersections. (6) B is strongly closed in A under products and equalizers. (7) B is strongly closed in A under products and intersections. ( 8 ) B is closed in A under products and extremal monomorphisms. Proof. (0)==-(1) is proved in Proposition 7.7. The equivalence of conditions (1) through (7) can be proved by the similar ideas as those of (1) through (7) in Theorem 4.2. Hence we will give the proof of (6)*(1). We need the following lemmas. 7.10. Lemma. Zf B is strongly closed in A under equalizers, then B is closed in A under intersections of regular monomorphisms.
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Proof. Let I be a set and hi:Zi + X an equalizer off;, g i :X + Y, for each i E I. By Lemma 4.5, an intersection ( W , ((qQicl, h)) of (hJielcan be constructed Y, such that p i o f = f;, from an equalizer ( W, h) of morphismsf, g : X + njEl p , g = gi for i E I. Hence, if hi E Mor B for each i E I, then W E O b B. 0
Proof of Theorem 7.9 (continued). The rest of the proof of (6)*(1): Suppose that D : K + A is a diagram which is initially in B. Let S = { i E Ob K 1 D ( i ) E Ob B} and let ( X , ( p , : X + D ( i ) ) i E sbe ) the product in A of a family ( D ( i ) ) i c sBy . the assumption, X E Ob B. Let A be a set of all pairs (a, a’) of K-morphisms a :j + i and a’ :j ’ + i such that b o t h j and j’ belong to S. For each 1 = (a :j + i, a’ :j ’ + i ) E A, let ( Yj,,J , : Yj, -, X) be an equalizer in A of D(a)op, and D(a’)op,,. Then Y, E Ob B. Let (Z, ((&&A, f))be an intersection of (A),€,,.Then we have that Z E Ob B by Lemma 7.10. For i E S, let ai = p i o f : Z + D ( i ) . If i 4 S, there exist a K-objectj E S a n d a K-morphism b : j + i. Let ai = D ( b ) o p , o f : 2 + D ( i ) . Then ai does not depend on the choice o f j and b, but is determined by i. We is a limit for D and that Bis strongly closed under can show that (Z, (ai)iEObK) K-limits.
(1)*(8): Suppose thatf: X + Y is an extremal monomorphism in A and Y E Ob B. Let M be a class of A-monomorphisms h : Z -, Y with Z E Ob B such that there exists an A-morphism g : X + Z satisfyingf = h o g . Then A, f and M satisfy the conditions (1)-(3) of Lemma 5.6. Hence there exists a triple ( W , k : X + W , 1 : W -, Y ) of a B-object W , an A-epimorphism k and 1 E M satisfying the conditions (a)-(c) of Lemma 5.6. Sincefis an extremal monomorphism, k is an isomorphism and hence X E Ob B. (8)*(0): Suppose that X is an A-object and let (f;:X + Y , ) i E lbe a representative set of epimorphisms from X whose codomains belong to B. Let (Y, ( p i : Y + q ) i c lbe ) a product of in A. Then Y belongs to B and there exists a morphismf : X + Y such that p j o f = f; for each i E I. By the
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Factorization Theorem I1 (5.10), there exists a factorization (Z, g : X Z, h : Z + Y) off such that f = h og, g is an epimorphism and h is an extremal monomorphism in A. By condition (8), Z E Ob B. We shall show that the epimorphism g is a B-reflection of X. Suppose that k : X -, W is an A-morphism with W E Ob B and ( V , I: X -P V , m : V + W ) is a factorization of k such that k = m 0 I, I is an A-epimorphism and m is an extremal monomorphism in A. Then V E Ob B and there exist an element i E I and an isomorphism n : r, -+ V such that noA = 1. Thus we have an extension ko = m o n 0pio h of k. The uniqueness of extension follows from the fact that g is an epimorphism. 0 -+
7.11. Corollary. Suppose that A is complete, well-powered and co-wellpowered. Then we have the following. ( 1) If Bj, is an epirejlective subcategory of A for each element I. of a class A, then the intersection B,: is epirejlective in A. ( 2 ) For any subcategory B of A, there exists an epirejlective subcategory B* of A satisfying the following conditions: (a) B* 3 B, (b) ifB' is an epirejlective subcategory of A and B' 3 B, then B' 3 B*. ( 3 ) The class of all epirejlective subcategories of A is a complete lattice.
niEA
7.12. Definition. In Corollary 7.11(2), the category B* will be called an epirejlective hull of B in A. For an A-object X or a class C of A-objects, the epireflective hulls of X or C are also considered. 7.13. Proposition. Suppose that A is complete, well-powered and co-wellpowered and B is a subcategory of A. Then the following conditions,for an A-object X are equivalent. ( I ) X belongs to the epirejlective hull B* of B in A. (2) There exist a set (z.)iE, of B-objects X, and an extremal monomorphism f : X -+ n;,,x,. Proof. By using Lemma 5.8, we can show that the full subcategory of A which consists of all A-objects X satisfying the above condition (2) is closed under products and extremal monomorphisms. Thus, this proposition follows from the Characterization Theorem 7.9. 0
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7.14. Example. (1) Top, is epireflective in Top. For a topological space X , define a relation on X as follows: x y for x, y E X iff any neighborhood of x contains y and any neighborhood of y contains x. Then we have an on X. The quotient map q : X + X / - is the Top,equivalence relation reflection of X. (2) Top, is epireflective in Top for i = 1,2,3. This is shown by the fact that Top, is closed under products and extremal monomorphisms. However, the reflections cannot be obtained in a way similar to the above. We can find an example for Top, in Sharpe, Beattie and Marsden [1966]. (3) Tyc is epireflective in Top by the same reason stated above. As is well known, every completely regular Hausdorff space can be embedded in a product space of bounded closed intervals. Hence we can say that Tyc is the epireflective hull of the closed (or open) unit interval in Top. (4) Since every compact Hausdorff space is homeomorphic to a closed subspace of a product of bounded closed intervals, we can say that CompT, is the epireflective hull of the closed unit interval in Top,. (5) The epireflective hull of the open unit interval in Top, is the category of all realcompact spaces. (6) For a Hausdorff space E, an object of the epireflective hull of E in Top is called an E-regular space and an object of the epireflective hull of E in Top, is called an E-compact space. Many interesting studies on these spaces are given by S. Mrowka and others, see e.g., Engelking and Mrowka [1958] and Mrowka [1968].
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Dual: B is closed in A under K-colimits, D : K + A is Jinally in B, B is strongly closed in A under K-colimits, B is closed in A under extremal epimorphisms, Characterization Theorem of Monocoreflective Subcategories, monocorefective hull. 7.15. Theorem. Suppose that A is a cocomplete, well-powered and co-wellpowered category and B is a full and isomorphism-closed subcategory of A . If A has a separator and B contains the separator in A , then the following are equivalent. (1) B is corefective in A. (2) B is bicorefective in A. (3) B is strongly closed in A under K-colimits for any small category K. (4) B is strongly closed in A under coproducts and coequalizers. ( 5 ) B is closed in A under K-colimits for any small category K. ( 6 ) B is closed in A under coproducts and coequalizers. ( I ) B is closed in A under coproducts and extremal epimorphisms.
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Proof. By Proposition 6.1 I and the dual of Theorem 7.9 it is sufficient to show that (6)*(4). Suppose that f:X + Y is a coequalizer of g, h :Z + X and that X E Ob B. We will show that Y E Ob B. Let S E Ob B be a separator in A. Denote a set of all A-morphisms from S to Z by (k, : S + ZI i E I} and let ( W , (q, :S, -, W ) , € , )be a coproduct of (Si),€,with S, = S for each i E I. Then W E Ob B and there exists a morphism k : W + Z such that ki = k 0 qi for i E I. If morphisms I, m : Z + V satisfy that 10 k = m 0 k and I # m, then there exists an element i E I such that l o ki # m k,. This contradicts the fact that 0
lok, = I o k o q ,
=
mokaq, = mok,,
and hence we have that k is an epimorphism in A. Now suppose that f : X + Y’ satisfies thatfogok = f o h o k . Thenfog =fob and since f:X + Y is a coequalizer of g and h, there exists a unique morphism cp: Y + Y’ such that f’ = c p o f . This implies that f is a coequalizer of 0 B-morphisms g 0 k and h 0 k in A and hence we have that Y E Ob B.
7.16. Example. (1) Comp,,
the category of compactly generated spaces, is bicoreflective in Top. For a topological space X , let RX be a topological space with the same undying set to X and a topology defined as follows: G c I XI is open if and only if G n C is open in C for each compact subspace C of X. Then the identity map between underlying sets induces a continuous map r, : RX + X , which is a Comp,-coreflection of X. Comp,, is a coreflective hull in Top of Comp, the full subcategory of Top consisting of all compact spaces. (2) Seqgea,the category of sequential spaces, is bicoreflective in Top. The Seq,-coreflection of a topological space X can be obtained in a similar way as above. These examples are unified to the theory of A-generated spaces for some subcategories A of Top or Top,. 8. (E, M)-categories
In this section, let E and M be classes of morphisms in a category A which are closed under composition with isomorphisms. We will generalize the notions of (Ex epi, Mono)-factorizable etc., treated in Section 5.
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8.1. Definition. A category A is said to be (E, M)-jiactorizable if for each A-morphism f : X + Y there exists a triple (Z,g, h ) consisting of an object Z and morphisms g : X + Z in E, h : Z + Y in M such thatf = hog. The triple (2,g, h) is called an (E, M)-factorization off. An (E, M)-factorizable category A is said to be uniquely (E, M)-factorizable if for two (E, M)-factorizations (Z, g , h) and (Z’,g‘, h’) of any morphism f :X + Y , there exists an isomorphism cp : 2 + Z’ such that g’ = cp og and h = h‘ocp. A category A is said to have the (E, M)-diagonalizationproperty whenever if morphisms f:W -, X , g : W + Y , h :X + Z , k : Y + Z satisfy h 0f = kog, f E E and k E M , then there exists a morphism d : X + Y such that g = dof and h = k 0 d. The morphism d is called a diagonal of the square (Lg, h, k). A category A is said to be an (E, M)-category if it is (E, M)-factorizable and has the (E, M)-diagonalization property.
8.2. Proposition. If E c Epi A or M c Mono A, then the following are equivalent: (1) A is an (E, M)-category. (2) (a) E and M are closed under the compositions. (b) A is uniquely (E, M)-factorizable. Proof. (1)=.(2)(a): Let f :X + Y and g : Y + Z be morphisms in E and (W, h, k ) be an (E, M)-factorization of g of. Then there exists a diagonal d : Y + Wofthesquare(Jh,g,k)suchthath = d o f a n d g = k o d . F o r the square ( g , d, l,, k ) there exists a diagonal d‘: Z + W such that d = d‘og and 1, = kod‘. Hence, kod’o k = k. On the other hand, d’okoh = d‘ogof = d o f = h. Since k E Mono A or h E Epi A , d’ 0 k = I and hence k is an isomorphism. Thus we have that g of belongs to E.
(1)=.(2)(b): Suppose that ( Z ,g , h) and (Z’, g’, h’) are two (E, M ) factorizations o f f : X + Y. Then there exist morphisms d : Z + Z’ and d’:Z’ + Z such that g’ = dog, h = h’od, g = d’og’ and h’ = hod’.
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We can show that d is an isomorphism by the assumption that E c Epi A or M c Mono A. The proof of ( 2 ) 4 1 ) is easy and so omitted. 0
8.3. Proposition. I f A is an ( E , M)-category with E c Epi A, the following conditions for a morphism k : Y + Z are equivalent. (1) k E M . (2) For any morphisms f : W + X , g : W + Y, h : X + Z such that h f = k g and f E E, there exists a diagonal d : X + Y such that 'g = dof andh = k a d . ( 3 ) I f k = m I with I: Y + W E E andm : W + Z, then 1 is an isomorphism. 0
0
0
8.4. Corollary. I f A is an (E, M)-category with E c Epi A, M satisfies the following. (1) I f ( W, (aI: W + X , a2: W + Y ) )is apullback of ( f :X + Z , g : Y + Z ) and i f g E M , then a1E M . ( 2 ) M is closed under intersections and products.
8.5. Example. (1) By Theorem 5.5, Lemma 5.8 and Theorem 5.10, we have that if a well-powered category A has intersections and finite products, then it is an (Ex epi, Mono)-category and if A has intersections and equalizers, then it is an (Epi, Ex mono)-category, where Ex epi denotes the class Ex epi A of all extremal epimorphisms in A and so on. (2) Let E be a class of all dense maps in Top and M a class of all closed embeddings in Top. Then Top is an (E, M)-category. (3) A continuous map f : X + Y between topological spaces X and Y is said to be an initial map provided that any subset A of X is open iff there exists an open set E of Y such that A = f - ' ( E ) . It is shown that a continuous map f : X + Y is initial iff Cl,(A) = f -'(Cly(f ( A ) ) )for any subset A of X , where CI, denotes the closure operator in X . Denote the class of all initial maps in Top by Initial Top or Initial. Then we have that Top is a (Bi, Initial)-category. Obviously, Epi Top =I Bi Top and Ex mono Top c Initial Top. It is noted that i f f : X + Y is an initial map and X is a To-space, then f is an embedding.
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8.6. Definition. An ( E , M)-category A is said to be E-co-well-powered if for each object X of A the class of all morphisms belonging to E which have a domain X has a representative set.
8.7. Theorem (Characterization Theorem o f E-reflective Subcategories). Suppose that A is an E-co-well-powered ( E , M)-category with E c Epi A and that A has products. Then,for a full and isomorphism-closed subcategory B of A, the following conditions are equivalent: ( I ) B is E-reflective in A. ( 2 )B is closed under products and satisfies that iff: X + Y belongs to M and Y E Ob B, then X E Ob B. Proof. (1)-(2): It is shown in Proposition 7.3 that B is closed under products. Let f : X + Y belong to M and Y E Ob B. For the B-reflection r, : X + R X o f X , there exists an extensionf' : RX -+ Y such thatf = f 0 r,. Then there exists a diagonal d : RX + X of the square (r,, I,, So, f) such that do r, = I , and f O = f d. Since r, E E c Epi A, r, is an isomorphism and hence X E Ob B. The proof of (2)=41) is similar to that of (8)*(0) in Theorem 7.9. 0 0
8.8. Corollary. Zf A is an E-co-well-powered (E, M)-category with E c Epi A which has products, then the following hold. (1) The intersection of any class of E-reflective subcategories of A is E-reflectivr in A. ( 2 ) For any subcategory B of A, there exists an E-reflective subcategory B* of A satisfying the following conditions: (a) B* 3 B. (b) ZfB' is an E-reflective subcategory of A and B' 3 B, then B' 3 B*. of B-objects X, and (3) An A-object X belongs to B* ifthere exist a set a morphism f :X + niElX, belonging to M . The category B* will be called an E-rejective hull of B in A and denoted by A,(B). (The suffix E is omitted if no confusion is expected.) For an A-object X , the E-reflective hull AE(X) o f X in A is also defined. An A-object Y belongs to AE(X) iff there exist a set I and a morphism f : Y + lIrelX, belonging to M with X, = X for each i E I. 8.9. Example. (1) Letf :X + Y be a monomorphism in Top, i.e., an injective continuous map and let Y be a To-space (respectively, TI-space, T,-space). Then X is a To-space (respectively, Tl-space, T,-space). Since Top is
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(Ex epi, Mono)-category, Top,, Top, and Top, are (Ex epi)-reflective subcategories of Top respectively. (2) Letf: X Y be an initial map in Top and Y be a regular (respectively completely regular) space. Then X is regular (respectively completely regular). Hence the categories Reg and Creg are bireflective in Top, where Reg (respectively, Creg) is the full subcategory of Top consisting of all regular (respectively completely regular) spaces. --f
9. Epireflective vs. bireflective in Top
For bireflective subcategories Reg and Creg of Top mentioned in the last section, Reg n Top,, = Top, and Creg n Top, = Tyc are epireflective but not bireflective in Top. The bireflective hulls of Top, and Tyc in Top are Reg and Creg respectively. In this section we shall consider the relationship between epireflective subcategories and bireflective subcategories of Top in general. First, we recall the properties of To-spaces and show that Top, has a special property in Top. Let Do, D, and D, be topological spaces with the same underlying set consisting of two points P, Q and with topologies (8, {P,Q}}, (8, { P } , (P,Q } } and (8,{P},{ Q } , { P , Q } } ,respectively. 9.1. Proposition. For a topological space X , the following are equivalent. (1) X is a To-space. ( 2 ) There exist a set A and a monomorphismf : X nlEh X , with X , = D , for each 1 E A. ( 3 ) Any continuous map f : Do + X is constant. (4) Any initial map with the domain X is an embedding. --f
9.2. Proposition. For an epirejlective subcategory A of Top the following hold. (1) A is birejlective in Top iffit contains Do. ( 2 ) Zf A is not birejlective in Top, then A c Top,,. (3) ZfA is birejlective in Top, then A Q Top, and Top, n A is epireflective but not birejlective in Top.
Proof. (1): It is shown that i f f : X Y is an initial map, there exist a set + Y x llis,Ziwith Zi = Dofor each i E Z. Hence if A is epireflective and contains Do,it is closed under products and initial maps. Hence it is bireflective. Conversely, if A is bireflective, then the A-reflection of Domust be Do. --f
Z and an embedding g : X
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(2): Suppose that there exists a topological space X such that X E Ob A and X # Ob Top,. Then X contains a subspace Doand this contradicts (1). (3) is obvious. 0 9.3. Theorem. Let G be a collection of all bireflective subcategories of Top and H a collection of all subcategories of Top which are epireflective but not bireflective in Top. Then there exists a one-to-one correspondence between G and H.
Proof. Let ts : G -+ H and T : H -+ G be the functions defined by o ( A ) = Top, n A , A E G and T ( B ) = T o b , ( B ) ,B E H. We shall show that they are mutually inverse bijections. First, let X E Ob A for A E G and let q :X + X / be the Top,,-reflection of X (see Example 7.14(1)). Then we have a function 5 : X / -+ X between the sets such that q 0 5 is the identity of X / . We can show that 5 is continuous and is an embedding and hence X / - E Ob(Top, n A). Since q is an initial map, X E Ob(Top,,,(Top, n A)). Hence, A c Top,(Top, n A). The converse is obvious and we have that A = Toh,(Top, n A), i.e., 7 . 0 = 1,. Next, let X E Ob(Top,, n Top,,(B)) for B E H. Then there exists an initial mapf : X Y with Y E Ob B. Since Xis a To-space,f is an embedding and hence X E Ob B. The converse follows from Proposition 9.2 and we have that B = Top,, n Tobi(B), i.e., C O T = 1,.
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0 9.4. Corollary. Suppose that B = Top,, n A (or equivalently,A = Toh,,(B)) for A E G and B E Hand that r,: X + R X , s,: X -+ H a n d t,: X -+ TXare the A-rejection, the Top,-reflection and the B-rejection of an object X E Ob Top respectively. Then (r,, s R x ) is a (Bi, Initial)-factorization oft,.
Now we shall show another property of bireflective subcategories of Top, that is, bireflective subcategories correspond to separation axioms which involve separation of pairs consisting of a point and a closed subset.
I be an operator which associates with a topological space X a function I,: P(X)-+ P(X)between the power set P(X)of X . If I satisfies the following conditions (1)-(4),it is called an upper limit operator and if 1 satisfies the conditions (l)’, (2)-(4), it is called a lower limit operator. (1) CI,(Z) c 1,(Z) for Z E P ( X ) . (1)’ Z c l , ( Z ) c CI,(Z) for Z E P ( X ) . LJ Z2) = l , ( Z , ) u IX(Z2) for z , ,z 2 EP W . (2)
9.5. Definition. Let
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(3) I,(@) = 0. (4) For any morphism f:X + Y in Top and for any Z E P ( X ) ,f(lx(Z)) c Ids( a ) . For an upper limit operator I, a topological space Xis said to be I-separated provided that I , = C1, and for a lower limit operator k, X is said to be k-separatedwhenever if 2 = k,(Z) for Z E P ( X ) , then Z = Cl,(Z). For an upper or a lower limit operator I, the full subcategory of Top consisting of all I-separated spaces will be denoted by S(1). Then we have the following proposition. 9.6. Proposition. Let A be afull and isomorphism-closedsubcategory of Top. Then, (1) A is birejlective in Top iff there exists an upper limit operator I such that A = S(1); (2) A is bicorejlective in Top iff there exists a lower limit operator k such that A = S(k).
Proof. (1): For an upper limit operator I, we can show that S(1) is closed under products and initial maps. Hence, S(1) is bireflective in Top. Conversely, let A be a bireflective subcategory of Top and let X be a topological space with the A-reflection r,: X -P R X . For Z E P ( X ) , let l,(Z) = (rX)-'(CIRX(rX(Z))). Then we have an upper limit operator 1 such that A = S(1). (2): For a lower limit operator k , we can show that S(k) is closed under coproducts and quotient maps. Hence, S(k) is monocoreflective in Top and this means that it is bicoreflective in Top. Conversely, let A be a bicoreflective subcategory of Top and X be a topological space with A-coreflection r,: RX + X . For Z E P ( X ) , let k(Z) = r,(CIRX((r,)-'(Z))). Then we have a lower limit operator k such that A = S ( k ) . 0 9.7. Example. (1) Let X be a topological space and Z E P ( X ) . Define functions & : P ( X ) + P ( X ) for i = 0, 1, 2, 3, as follows. 1%) = { x E ~ l C l , ( { x } ) n Cl,(Z) z 0}. l i ( Z ) = { x E XI there is a pointy E Cl,(Z) such that all open subsets U , V with U 3 x, V 3 y have a nonempty intersection}. l i ( Z ) = { x E XI any open subsets U , V with U 3 x, V 3 Z have a nonempty intersection}. l i ( Z ) = {x E XI there is no continuous map f :X + [0, 11 with f(x) = 0 and f ( Z ) = l } . Then we obtain an upper limit operator I' for each i = 0, 1, 2, 3.
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X is /'-separated iff it is an R,-space, i.e., it satisfies the following axiom: (R,)
If x E CM{ y } ) for x, y E X , y E CM{ x}).
X is /'-separated iff it satisfies the following condition:
(R,) If F is a closed set in X and if x 4 F, y
E F, then there exist open sets U , V such that U 3 x, V 3 y and U n V = 8.
(R,) and (R,) are equivalent to the axioms (S,) and ( S , ) stated in the book of Csaszar [1978]. Obviously, S(Z2) = Reg, S(Z3) = Creg and we have S(1') n Top, = Top,,
S ( / ' ) n Top,
S(12)n Top, = Top,,
S(Z3) n Top, = Tyc.
=
Top,,
Top, and Top, are (Ex epi)-reflective in Top, while Top, and Tyc are not. We shall discuss (Ex epi)-reflective subcategories of Top in the next section. (2) Let X be a topological space and 2 E P ( X ) . Define functions k': P ( X ) + P ( X ) for i = 0-5, as follows.
k;(Z) =
z,
k k ( 2 ) = { x E XI there exists an indiscrete subspace S of X with x E Cl,(Z n S)},
ki(2)
=
{x E XI there exists a finite subspace E of X with x E Cl,(Z n E)},
k i ( 2 ) = { x E XI there exists a sequence ( x , ) in 2 which converges to x}, ki(2)
=
{ x E XI there exists a compact subspace K of X with x E C1,(Z n K ) } ,
ki(2)
=
Cl,(Z).
Then each k' is a lower limit operator and we have that Ob S(k') consists of all spaces satisfying each of the following conditions.
S(k'): discrete space, S(k' ): topological sum of indiscrete space, S(k2): finitely generated space, S(k3):sequential space,
S(k4): compactly generated space, S(ks): topological space.
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Limit operators were studied by Herrlich [1968, 19691 for the first time. Only lower limit operators were treated there and called limit operators. Upper limit operators were discussed in Nakagawa [1976].
10. Separation axioms and connectedness Various kinds of separation axioms for topological spaces are studied by many authors and systematic investigations are also given. There are three basic types of separation axioms depending on whether they involve separation of pairs of points, pairs consisting of a point and a closed subset, or pairs of subsets. Axioms of the second type can be defined as I-separatedness for some upper limit operator I discussed in the last section and Proposition 9.6 is a general result on separation axioms of this type. For a separation axiom of the third type, the structure of the full subcategory of Top consisting of all separated spaces is not so good, e.g., products of normal spaces are not necessarily normal. This yields one of the most important problems in general topology as is treated in the other chapters of this book. However, a similar result to Proposition 9.6 is obtained in the category Sep, which consists of all separation spaces and all continuous maps between separation spaces defined by Wallace [1941] (Nakagawa [1976]). It is noted that sometimes a subcategory of Top has better structures in a supercategory A of Top than in Top. (If B is a subcategory of A, A is called a supercategory of B.) The category Near of nearness spaces introduced by Herrlich [1974b] is a very useful supercategory of Top in this sense. Separation axioms of the first type were characterized in terms of category theory by Wyler [1973]. We shall discuss this in the following. 10.1. Definition. A natural relation e in Top is an operator which associates with a topological space X a relation ex on X satisfying the following naturality condition. ( ( x , y ) E ex c X x X will be denoted by x ex y.) For any continuous mapf: X -, Y and any points x, y E X,x ex y means f ( x ) e f( Y). If ex is reflexive, symmetric of transitive for any X , e is called reflexive, symmetric or transitive, respectively. If ex is an equivalence relation for any X , e is called a natural equivalence relation. In the following, we shall always consider reflexive natural relations and hence call them natural relations in brief.
10.2. Definition. For two natural relations e and T, define e < T if for any topological space X and any points x, y E X , x ex y means x t xy.
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For a family {ei 11 E A} of natural relations, we can define nj.EAe'. and U j . p A @ ' by ( n r e n e i ) x = n j . , A ( e " ) x and ( u j . E A @ " ) X = u/.EA(@")A'* Then the collection of all natural relations in Top is a complete lattice by this order < . The natural relation d and e defined by dx = { ( x , x ) I x ~ X }and ex = X x X
foreachXEObTop
are the minimum and the maximum elements respectively. For a natural relation e, we have a natural relation e' such that { ( x , y)l ( y , x ) E e x } . Denote e n e' by e A and e u e' by e".
(e'Ix =
10.3. Proposition. For a natural relation e in Top, (1) e " and e " are symmetric natural relations; ( 2 ) if@' is a symmetric natural relation with e' < e, then e' is a symmetric natural relation with e < e', then e v < ( 3 ) the following are equivalent: (a) e is symmetric, (b) e" = e, ( 4 ev = e, (d) e" = e".
Proof. Obvious.
< e" and if@' e';
0
10.4. Definition. For a natural relation e in Top, a topological space X is said to be e-separated iff ex = dx. The full subcategory of Top consisting of all e-separated spaces will be denoted by X(e).
If @ < z, C(@) =I X(z). Hence X ( n i . E A @ j , )=I u j . e A Z ( @ j ' ) , while we have that X(U,,A@^) = nj.,,,C(e"). As a special case, X ( e v ) = Z(e) c X(e"). X ( d ) = Top and Z(e) consists of all one-point spaces and the empty space. 10.5. Proposition. Let B be a full and isomorphism-closed subcategory of Top. Then B is (Ex epi)-reflective in Top fz there exists a natural relation e in Top such that B = X(e).
Proof. It is easily verified that X(e) is closed under products and monomorphisms and hence it is (Ex epi)-reflective in Top. For (Ex epi)-reflective subcategory B and X E Ob Top with the B-reflector r x :X RX, let ex = { ( x , y ) I rx(x) = r x ( y ) } .Then we have a natural equivalence relation 0 e in Top such that Z(e) = B.
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10.6. Definition. The natural equivalence relation @ obtained in Proposition 10.5 from B will be denoted by @(B).For any natural relation e we have that e < e(Z(e)). @ is called maximal provided that @ = @(Z(@)). We shall see many examples such that @ # e(Z(e)) and this means that different natural relations may associate with the same (Ex epi)-reflective subcategory of Top.
Now we proceed to consider separation axioms in general categories. First we recall the notion of natural transformation.
10.7. Definition. Let F, G : A + B be functors. A natural transformation q : F + G is an operator which associates with each A-object X a B-morphism q,: F ( X ) + G ( X ) satisfying the following condition: For each A-morphism f : X + Y, G ( f ) o ~ x = r t u o F ( f ) For functors F, G , H : A + B, natural transformations q :F + G , [ : G + Hand X E Ob A , define (, : F ( X ) + H ( X ) by t, = l x o q,. Then we have a natural transformation (, which will be called the composition ofq and and denoted by i q. 0
Suppose that A is a category with products of pairs. For X E Ob A, let S ( X ) = X x X be the product with projections p i , p i and d,: X + S ( X ) be the morphism such that pied, = pied, = 1,. Then we have a functor S : A + A and a natural transformation d : 1, + S . 10.8. Definition. A natural relation in A is a pair (R, e) of a functor R : A + A and a natural transformation @ : R + S satisfying the following two conditions: (1) For any X E Ob A , ex : R X + SX is a monomorphism. (2) There exists a natural transformation i : 1, --* R such that e i = d. Natural equivalence relations and an order < between natural relations are also defined. (l,, d ) is the minimum natural relation in A and ( S , e ) with e, = Is(,) is the maximum one. For a natural relation (R, e) in A , an A-object X is said to be @-separated iff e x :R ( X ) + S ( X ) = d,: X + S ( X ) . 0
The full subcategory of A consisting of all @-separatedobjects will be denoted by Z (e). The dual notions are also defined. In these settings we can prove that the following statement and its dual are valid: Suppose that A is a complete,
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well-powered and co-well-powered category and B is a full and isomorphism-closedsubcategory of A. Then B is (Ex epi)-reflective in A i f there exists a natural relation (R, e) in A such that C(e) = B. 10.9. Example. (1) Let X E Ob Top and x, y E X. Define efY,for i = 0-5 as follows: e! = {<x,y)lx E C M Y > > ; eZ = {(x, Y)I C M x ) n CIX{Y } z 01; e: = {(x, y)l for any open subsets U, V with U 3 x, V 3 y, U n V # S}; e: = {(x, y) I there exist an integer n and points xi E X for 0 < i < n such that x, = x, x, = y, (xi, xi+,)E e: for 0 < i < n - l}; et = {(x. y)l for any open subsets U , V with U 3 x, V 3 y , CI,(U) n CMV) z 0); e: = {(x, y) I x and y belong to same connected component of X}. Then we have that (Q’))” < el, (e’))” < e2 < e’, e’ < e4, e2 < e4, and W e o ) ) ^ )= TOP,; X(eo) = X((eo))”)= C(e’) = Top,; X(e2) = Z(e3) = Top,; I;(e4) = the full subcategory of all Urysohn spaces; X(eS) = the full subcategory of all totally disconnected spaces. (2) In Grp and Ab, any natural relation is shown to be a natural equivalence relation. For X E Ob Ab, let R ( X ) = {(x, y) I there exists an integer n such that n(x - y) = 0} and ex : R ( X ) -+ S ( X ) be the inclusion homomorphism. Then (R, e) is a natural relation in Ab and C(e) is the full subcategory of Ab consisting of all torsion-free groups. Let Sop(X) = X 0 X , direct sum, R ’ ( X ) = {(x, -x)I there exists an integer n such that nx = 0}, and (eop)X:Sop(X)+ R o p ( X ) = P P ( X ) / R ’ ( X be ) the quotient homomorphism. Then (RoP, cop) is a co-(natural relation) in Ab and an abelian group X is eoP-co-separatediff it is a torsion group.
By considering natural relations we can clarify the relationship between the notions of separatedness and connectedness. 10.10. Definition. For a natural relation e in A, an A-object X is said to be e-connected iff
ex: R ( X ) + S ( X ) = ex:S ( X ) + S ( X ) . The full subcategory of A consisting of all e-connected objects will be denoted by Ue).
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If@< T , then I-(@) c T(z). T ( d ) = Z(e) and T(e) = X ( d ) = A . In Top, we have that r(n@') = nr($)), r((J@') 3 Ur(@')and r(@") 3 r(@) =
r(eA1. 10.11. Proposition. For a natural relation @ in Top, the following hold. (1) I f f : X -+ Y is an epimorphism in Top and X is @-connected,then Y is @-connected. ( 2 ) An A-object X is @-separated and @-connected simultaneously if X E T(d). ( 3 ) Zf f :X + Y is a morphism in Top from a @-connectedspace X to a @-separatedspace Y, then f is constant. (4) When @ is maximal, X is @-connectedfi C(e)-reJlection sx :X + Z ( X ) is constant. 10.12. Example. (1) Let ei be the natural relations in Top defined in Example 10.9 for i = 0-5. Then r((e0)>^) = Ind. X E Ob Top is (e')" -connected iff q ( X ) has a total order < such that any open set G of q ( X ) satisfies that if x E G and x < y , then y E G, where q ( X )
is a space obtained by Topo-reflectionq : X + q ( X ) of X. @'-connectednessis called ultraconnectedness and @* -connectednessis called hyperconnectedness by some authors. $-connectedness = connectedness. Thus we have the following implications: ultraconnected (@')"-connected
* hyperconnected
3
*
+
path connected Q connected i
e4-connected 47
(2) Let @ and Qop be the natural relation and the co-(natural relation) in Ab defined in Example 10.9. Then X E Ob Ab is @-connectediff it is a torsion group and X is eoP-co-connectediff it is torsion-free. Thus we have that @-separatedness= QoP -co-connectedness and @-connectedness= QoP -coseparatedness in this case. (3) Let E be a class of topological spaces and Top@) be the (Ex epi)reflective hull of E in Top. Then we have a natural equivalence relation eE = @(Top@))defined in Definition 10.6. By Proposition 10.11, the following conditions for a topological space X are equivalent: (a) Xis @,-connected. (b) The Top(E)-reflection s x : X + C ( X ) is constant. (c) Any morphism f : X -+ Y with Y E E is constant. Thus the notion of @,-connected coincides with that of E-connected introduced by Preuss [1970]. @,-separatedness is also treated in detail by Preuss.
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The natural relation e in Top induces a natural relation eo in pTop, the category of pointed topological spaces. Then r(eo) is an (Ex mono)coreflective subcategory of pTop. This follows from the dual of the statement in Definition 10.8. If a category A has zero object and satisfies some nice conditions and e is a natural relation in A, e-separatedness can be considered as the dual of e-connectedness (Nakagawa [ 19851).
11. Simplicity of epireflective subcategories 11.1. Definition. Let A be a complete, well-powered and co-well-powered category. An epireflective subcategory B of A is said to be simply generated (or, simple) in A if there exists an A-object X such that B is the epireflective hull A ( X ) of X.
11.2. Example. ( I ) Top(Do) = Ind, Top(D,) = Top, and Top(&) are simply generated in Top. It is easily shown that Top@,) consists of all zero-dimensional spaces. If X is a discrete space containing at least two points, then Top(X) = Top(D2).Especially, Top(N) = Top@,), where Nis a topological space consisting of all natural numbers with discrete topology. If X is a To-spacewhich is not a TI-space, X contains D,as a subspace and henceTop(X) = Top(&) = Toh. (2) Let T be a topological space with three points P, Q, R and with a topology (8,{P},{P,Q, R}}.Then Top(T) = Top@, x 0,) = Top, that is, Top is simply generated in Top. (3) Tyc = Top([O, I]) = Top((0, I)) is simply generated in Top, where [0, I] and (0, 1) denote the closed and the open unit intervals respectively. (4) CompT, = Topz([O, 11) and Top,((O, 1)) are simply generated in Top,. An object of Topz((0, 1)) is known as a realcompact space or a Q-space. ( 5 ) Obviously, a subcategory of Top, is a simply generated epireflective subcategory of Top iff it consists of all E-regular spaces for some Hausdorff space E and an epireflective subcategory of Top, is simply generated in Top, iff it consists of all E-compact spaces for some Hausdorff space E (see Example 7.14(6)). (6) Obviously, Top,(D2) c Top,(N) c Top,((O, I)). A topological space X is D2-compact iff it is a zero-dimensional compact Hausdorff space and hence Top,(N) is strictly larger than Top@,). If X is an N-compact space which is not D,-compact, then Top,(X) = Top,(N). Spaces of all rational numbers and that of all irrational numbers with the usual topology satisfy
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this condition. N-compact spaces are studied in detail in Chapter 12 by Eda, Kiyosawa and Ohta. 11.3. Proposition. Suppose that A is a birejlective subcategory of Top and
B = Top, n A. Then B is simply generated in Top i f A is simply generated in Top. Proof. Let A = Top(X) with X E Ob Top and let q : X + X / - be the Topo-reflection of X. Then X / - E Ob B, as is shown in Theorem 9.3. For any Y E Ob B, there exist a set A and an embedding f :Y + llj,,,,Xj, with X , = X for 1 E A. Then we obtain the initial map g = (l-Ij,E,,qj.)o f : Y + l l i E , , Z jwhere , Z , = X / - and qj, = q : X , + 2,for each 1 E A. Since Y E Ob Top,, g is an embedding and this implies that B = Top(X/-). Conversely, let B = Top(X) with X E Ob Top. Since A is bireflective in Top, A contains Doand hence, A
=J
Top({X, Do})= Top (X x Do)I> B.
Since Top(X x Do)contains Do,it is bireflective in Top. By Theorem 9.3, A = Top,,(B). Thus we have that A = Top(X x Do). 0 It is natural to ask whether Top,, Top, and Top, are simply generated in Top or not. The answer is negative and the proof is based on the following lemma due to Herrlich [1965], which is a generalization of the classical results of a problem of Urysohn. 11.4. Lemma. For any Tl-space Y , there exists a regular TI-spaceX such that any continuous map f :X -+ Y is constant.
Proof. We will construct the space X step by step as follows. (1) Suppose that card( Y ) < K,, where card( Y) denote the cardinality of the underlying set of Y . Define a topological space R, with a fixed point r, and card(R,) = Nu+, for each i = 1,2, having the following topology: B c R, is open iff r, $ B or card(& - B) < K,+,.Then we can verify that each R, is a regular TI-spaceand has the followingproperty: If B, is a nbd of r, in R, for eachj E J ( i ) , where J ( i ) is a set with cardinality K,+,-I, then nlEJC,,B, is also a nbd of r,. Letf: R, + Y be a continuous map. Then, for y , = f (r,),
n i f - v- W ) I YE
y - {YJ} and this is shown to be a nbd of r, by using the above fact. In other words, any continuous map from R, to Y is constant on a some nbd of r, for i = 1,2. f-l(y,) =
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( 2 ) Let T = R, x R, - {(rl,r , ) } . Then for any continuous map f : T -+ Y, we can find nbds U, of r, for i = 1, 2 such thatfis constant on UI x u2 - ((rl, r 2 ) ) . (3) Let T, = T for any integer n and R be a topological space obtained from the topological sum of the family (T,),,z by adding two points P , Q with the topology defined as follows: A subset B of R is a nbd of P iff there exists an integer n such that B 3 7‘’ I rn 3 n} u { P } and B is a nbd of Q iff there exists an integer n such that B 3 T,I m < n} u { Q } . Then R is a regular TI-space. Any point of R except P, Q is expressed by (x, y , n) with x E R,, y E R,, n E Z . (4) Let S be a topological space obtained from R by identifying the following points:
u{
( x , r,, 2n)
-
( x , r2, 2n
( r , , y , 2n - 1)
-
u{
+ 1)
(rlry, 2n)
for x
E
R, - { r , } and n E Z,
for y E R, - ( r 2 }and n E Z.
Then S is a regular TI-space and, for any continuous map f : S -+ Y, f ( P ) =f(Qh ( 5 ) For an arbitrary topological space Z, let S ( Z ) be a topological space with the same underlying set as the product Z x S and with the topology defined as follows: A subset B of S ( Z ) is an open nbd of ( z , P ) iff there exists a nbd U of z in Z such that U x ( P } c B and B is an open nbd of ( z , s) for s # P iff there exists a nbd U of s in S such that { z } x U c B. Then let S ’ ( Z ) be a topological space obtained from S ( Z ) by identifying Z x { Q} as one point. Then if Z is a regular TI-space, S ’ ( Z ) is also a regular TI-space.2 is canonically embedded in S ’ ( Z ) by the map h :Z -+ S ’ ( Z )such that h(z) = ( z , P ) . (6) Let X , be a one-point space and let X,,, = S’(X,) for each natural number n. Then we have a family (A:) such that X, c X,,,. Let X = UX,with the weak topology. Then X is a regular TI-space. If f : X -+ Y is a continuous map, f (X,) = f ( P ) for each n and hence, f is constant. 0 11.5. Theorem. Let A be a full and isomorphism-closed epirejlective subcategory of Top such that Top, 3 A 3 Top,. Then A is not simply generated in Top. Proof. Suppose that A is simply generated, i.e., A = Top(Y) with a TI-space Y. Then there exists a regular T,-space X such that any continuous map f : X -+ Y is constant. Since X E Ob A , there exist a set A and an
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embedding g : X + ITIle,, Y, such that Y, = Y for each 1E A. Then p n0 g : X + Y is constant for each I E A and hence, g is constant. Since X contains at least two points, this is a contradiction. 0 The above result was strengthened by Hajek and Wilson [1973]. There are many results on the simplicity of epireflective subcategories in Top and in various kinds of categories. 12. Topological functors Let A be a set, {X;.I I E A} a family of topological spaces, Y a set and : Y + I X , I be a function between the sets for each I E A. Then we can define the smallest topology on Y which makes everyh. continuous, where A can be taken as a proper class or the empty set. If g , : I X, I + Z is a function between the sets for each I E A, we can also define the largest topology on Z which makes every gj,continuous. These properties play a fundamental role in the category Top and also in some other categories, which have properties similar to Top. In other words, these properties yield many important properties of topological spaces, uniform spaces, nearness spaces and so forth. Hence we proceed to the investigation of general categories with these properties. By the following observation, we can get a result on the relationship between the existence of a smallest topology and that of a largest topology in a general setting. 12.1. Definition. For a category A, a pair ( X , ( J . : X + X;.)j.E,,) of an A-object X and a family of A-morphismsh, :X + X , with an indexing class A is called an A-source. An A-source is a natural source in A for a discrete category A, and a natural source is a source if the naturality condition is forgotten. For a functor F: A + B, a B-source ( Y , (gj.: Y + F(Xj.))j,e,,)with A-objects X , for each 1 E A is called an F-source. An A-source ( X , (h.)j,E,,) is said to be a monosource whenever if a pair of A-morphisms u, v :Z + X satisfiesh, 0 u = 0 v for each I E A, then u = v. An A-morphism can be considered as a source, and a monomorphism is a monosource. If ( X , ( p j . : X+ Xj.)j.e,,)is a product of A-objects (Xj,)j,e,,, then it is a monosource. In general, if ( X , (a,)) is a limit for a diagram D : K + A, then it is a monosource. Let E be a class of A-morphisms and M be a collection of A-sources which are closed under composition with isomorphisms. A category A is said to be (E, M)-factorizuble if for each A-source (X, (A. : X + X i ) i e h )there exists a triple (2,g , ( Z , ( h j . : Z + Xilie,,)) consisting of an object Z, a morphism
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g : X + Z in E and an A-source ( Z , ( h , : Z + X,.)j,EA)in M such that J , = hj, g for each 1E A. Notions of uniquely (E, M)-factorizable, (E, M ) 0
diagonalization property and (E, M)-category are also defined in a way similar to Definition 8.1.
Dual: A-sink ( X , (fn : X, + X),,,,), F-sink ( Y , (g, :F(X,) + Y),€,,),episink, (E, M)-fuctorizuble with a collection E of A-sinks and a class M of A-morphisms, etc. 12.2. Example. Let (X, (&,:A' + Xj,),.,,,) be a Set-source and let (Zj,,g r , h,) be the (Epi, Mono)-factorization o f h , for each 1 E A. Since Set is co-wellpowered, there exists a representative subset {g,. I I E M} of {g,. 11 E A}. Let (Y, (pi.: Y -+ Z,.)j.EM) be the product of ( Z j . J r EkM : X, -+ Y be the morphism such that pj.ok = g , for 1 E M and let (W, I, m) be the (Epi, Mono)factorization of k. Then (W, I, W, (n,: W + is the (Epimorphism, Monosource)-factorization of (X, (J,)),where n, = h,. " p i m for 1 E M and n , = h,, 0 cp., op,, 0 m for 1 E A - M with p E M and the isomorphism c.p,, : Z,, 4 Z , . Thus we have that Set is an (Epimorphism, Monosource)-category. Also Set is an (Episink, Monomorphism)-category. 0
12.3. Definition. A functor F : A -,B is said to be topological if, for any F-source (Y, (gl : Y + F(Xi))l.A), there exists a unique A-source satisfying the following conditions: ( X , (fi: X + (1) F ( X ) = Y and F(fn) = g, for 1 E A (F-lift). and a B-morphism k :F ( Z ) + (2) For an A-source ( Z , (h, :Z + F ( X ) such that F(fl)0 k = F(hi), I E A, there exists a unique A-morphism h : Z + X such that F(h) = k and fn h = hAfor 1E A (F-initiality). The A-source ( X , (J.))is called an F-initial l f l of ( Y , (gj,)). 0
A
F
rB
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Dual: co-topological, F-final lift. The forgetful functor I 1 :Top -+ Set is topological and co-topological. -+ Set is not topological, but can be similarly treated by using the notion of (E, M)-topological functors (Herrlich [ 1974a1).
1 I :Top,
12.4. Proposition. I f a functor F : A -+ B is topological, then it is faithful, i.e., the associated function F : [U, VIA + [F(U), F(V)IB is injective for any U , V E O b A. Proof. Suppose that r, s : U + V are different A-morphisms such that F(r) = F(s). Let A be a proper class, X , = V and
g,:F(U)
-+
F(X,) = F(r):F(U)
-+
F(V)
for each I E A. Then there exists an F-initial lift ( X , (A,: X -, X , ) ) of the F-source (F(U), (g;.)). For a E A, define an A-source ( U , (h, : U -,X,)) by h, = r and hj, = s for A # a. Then g,, 0 = F(h,) for every I E A and, by the F-initiality of ( X , (A.)),there exists an A-morphism h : U X such that F(h) = I F ( u )andJ.0 h = h , . If A # u, h , # h, and hence,J. # f,.Thus we have that (J,)ren is a proper class. For each I E A,J, belongs to [X, V I A , which is a set, and we have a contradiction. 0 -+
12.5. Proposition. If F: A -+ B is a topologicalfunctor and if D :K -+ A is a diagram in A over a small category K,thefollowing conditions on an A-source ( X , (xi : X D(i))ioObK) are equivalent: ( I ) ( X , (a,)) is a limit for D. (2) ( X , (a,)) is F-initial and ( F ( X ) , (F(a,))) is a limit fur F o D. -+
Proof. (1)=42): Let (Z, (hi:Z + D(i))) be the F-initial lift of (F(X), (F(ai))). Then there exists an A-morphism h :X -+ Z such that hio h = ori and F(h) = 1F ( x ) . For any K-morphism a : i --* j , F(D(a)oh,)
=
F(D(a))oF(a,)
=
F(D(a)oa,)
=
F(aj) = F(hj).
Since F is faithful, we have that D(a) 0 hi = h, and that (Z, (hi)) is a natural source for D. Hence there exists an A-morphism k : Z -+ X such that a, k = hi. By the uniqueness of F-initial lifts and limits, we have that h is an isomorphism and that (X, (a,)) is F-initial. In order to show that (F(X), is a (F(a,))) is a limit for F a D, suppose that (Y, (g,: Y -+ F(D(i)))ipObK) natural source for F o D. Then there exists the F-initial lift ( W , W + D(i))) of (Y, (gi)), which is shown to be a natural source for D. Hence there is an 0
(x:
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A-morphism cp : W + X such that a, 0 cp = 1;. Thus we have the connecting morphism F(cp) from ( Y , (g,)) to ( F ( X ) , (F(a,))).The uniqueness follows from the facts that ( X , (a,)) is F-initial and that F-initial lifts and limits are unique . (2)=41): Since F is faithful, ( X , (a,)) is shown to be a natural source. Let (Z, (P,:Z+ D ( i ) ) ) be a natural source for D. Then ( F ( Z ) ,(F(P,))) is a natural source for Fo D and hence there exists a B-morphism cp :F ( Z ) + F ( X ) such that F(a,)cp = F(b,). By F-initiality of ( X , (a,)), we obtain the connecting morphism h : Z + X such that a, h = 8,. The uniqueness is also shown. 0
0
0 12.6. Corollary. Any topological functor preserves limits and monosources.
12.7. Theorem. A functor F : A
+
B is topological iff it is co-topological.
Proof. Suppose that F: A + B is topological and that (Y, (gi : F ( X , )+ Y)j.e,,) is an F-sink. Consider the following property of B-morphism h : Y + F ( Z ) : hOg,:F(X,) + F ( Z ) has an F-lift, i.e., there exists an A-morphism k , : Xi + Z such that F(k,) = h o g , for every 1E A. Then denote the class of all B-morphisms with this property by (h,,: Y -+ F(Z,,)),,,,,,and the F-lift of h,, g , by k,,,: X , + Z,,. Since F is topological, the F-source (Y, ( I I , , ) , , , ~ ) has a unique F-initial lift ( X , (I,,: X + Z,,),,,,,) such that F ( X ) = Y , F(l,,) = h,,, p E M. 0
For each 1,consider a pair of an A-source (A';,,(k,,;,: X , + Z,,),,,,,) and a B-morphism g , : F ( X , ) + Y. Then, by the initiality of ( X , (I,,)), there exists a unique A-morphismh, : X , + Xsuch that F(h.) = g , , l,,.oJ, = k,,;.for p E M. Thus we obtained an F-lift ( X , (h,)) of (Y, (g;,)).In order to show the finality of (X, (h.)), suppose that (W, (m;,: X , + W)) is an A-sink and n : Y + F( W) is a B-morphism such that n o g , = F(mJ for , IE A. Then there exists an element p E A4 such that h, = n, W = Z,, and m, = k,,, and hence 1, satisfies that F(I,,) = n and I,,oJ. = m , for 1E A. The uniqueness is obvious. Therefore we have that F is co-topological. The converse is the dual. 0
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12.8. Corollary. Any topologicalfunctor preserves colimits and episinks. 12.9. Corollary. Suppose that F : A + B is a topologicalfunctor. Then ifB is complete, A is complete and if B is cocomplete, A is cocomplete. Suppose that F : A + B is a topological functor and Y E Ob B. Let (G( Y ) , 0)be the F-initial lift of the F-source (Y, 8) and let ( H ( Y ) , 8) be the F-final lift of the F-sink ( Y , 0).Then we have the right adjoint functor G and the left adjoint functor H of F. If F: Top + Set is the forgetful functor, G( Y ) is the indiscrete space and H(Y ) is the discrete spaces with the underlying set Y.
13. Topological categories 13.1. Definition. Let F : A + B be a functor. A pair ( A , F ) is said to be a topological category if the following conditions hold: ( 1 ) B = Set. (2) F is a topological functor. (3) For any Y EOb B, the class F-'( Y) = { X I SOb A I F(X) = Y } is a set. (4) For a B-object {P}consisting of precisely one point P, F-'({P}) consists of precisely one A-object. A pair ( A , F ) of a category A and a faithful functor F : A + Set is called a concrete category, in general. By Proposition 12.4, topological categories are concrete. However, some authors consider topological categories without condition (1).
13.2. Proposition. If ( A , F ) is a topological category, the following hold: ( 1) A is complete, cocomplete, well-powered and co-well-powered. ( 2 ) An A-morphism f is a monomorphism if F( f) is injective and f is an epimorphism if F( f ) is surjective. ( 3 ) For any A-morphism f the following are equivalent: (a) f is an embedding, i.e., an F-initial monomorphism in A ; (b) f is an extremal monomorphism; (c) f is a regular monomorphism. (4) For any A-morphism f the following are equivalent: (a) f is a quotient map, i.e., an F-final epimorphism in A ; (b) f is an extremal epimorphism; (c) f is a regular epimorphism.
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( 5 ) A is a (Quot, Monosource)-category and an (Episink, Emb)-category, where Quot and Emb are the classes of all quotient maps and all embeddings respectively. (6) Let B be a full and isomorphism-closed subcategory of A and F :B + Set a functor obtained from F by restricting the domain to B. I f B is bicorejlective or birejlective in A , then (B, F‘) is a topological category.
These properties are easily shown. Concerning the last result (6), we have the fact that the following are equivalent (Miiller [ 19741, Herrlich [1976]): (i) (B, F‘)is topological. (ii) Bis a bicoreflective subcategory of some bireflective subcategory of A . (iii) B is a bireflective subcategory of some bicoreflective subcategory of A. Many important properties of Top hold in topological categories. For example, the relationship between bireflective subcategories and epireflective subcategories, discussed in Section 9, hold for “universal” topological categories (Marny [ 19791). Roughly speaking, properties of topological spaces which are interesting for categorical topology are those of topological categories. Nowadays, the main object of categorical topology seems to be the investigation of topological categories. Now let ( A , F ) be a topological category and X be an A-object. For any A-object Y , let X x ( Y ) = X x Y and, for any A-morphism f : Y + Z , let X x ( f ) = 1, x f : X x Y -+ X x Z. Then weobtain afunctorX x : A -+ A. 13.3. Proposition. For a topological category ( A , F ) , the following are equivalent . (1) For any A-object X , the functor X x preserves colimits. ( 2 ) For any A-object X , the functor X x preserves coproducts and quotient maps. ( 3 ) A satisfies the following conditions (a) and (b): (a) For any A-object X a n d a family of A-objects ( Yj,Jle,,with an indexing set A, X x (HIE,,Y i ) is isomorphic to LI;.€,,(X x Y;,),where H denotes the coproduct in A . ( b ) Z f f : X + Y i s a q u o t i e n t m a p , t h e n s o i s 1 , x f : Z x X + Z x Y. (4) A satisfies condition (a) above and the following condition (b‘). (b‘) Zf f : X -+ Y and g : Z + W are quotient maps, then so is f x g : X x Z + Y x w. ( 5 ) For any A-object X , the functor X x preserves F-final episinks. (6) For any A-objects X , Y, there exists an A-object Y x satisfying the following conditions:
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(i) F ( Y x ) = [ X , Y ] . (ii) For the Set-morphism ex.,: F(X) x [ X , Y ] + F( Y ) defined by e,,(x, f ) = F( f )(x) for x E F ( X ) ,f E [A', Y ] ,there exists an A-morphism d,.,: X x Y x + Y such that F(d,,,) = ex.,. (iii) For any A-objecf X , Y , Z, the Set-morphism c : [Z, Y"] + [X x Z, Y ] defined by c(f ) = d,. (1, x f ) for f E [Z, Y x ]is an epimorphism. (7) For any A-object X , the functor H = X x has a right adjoint, i.e., for any A-object Y there exist an A-object G ( Y ) and an A-morphism q , : H(G( Y ) ) + Y satisfying the following condition: For each A-object Z and each A-morphism f : H ( Z ) + Y , there exists a unique A-morphism f : Z + G( Y) such that q , 0 (H(f O)) = f.
, 0
Proof. (1)*(2)*(3) are obvious. (3)*(4): For f : X -, Y and g : Z + W, f x g = (1, x g ) o ( f x IT). Hence, (b) implies (b'). (4)*(5): Let ( Y , ( J . :Y, + Y);,€,,)be an F-final episink and let (Z;,, g , , h , ) be the (Ex epi, Mono)-factorization off;, in A for each 1.Then there exists a representative subset {hj.lA E M } of {h,11 E A). Let (UieMZj.,(q;,);.€,,,) be the coproduct and let k:LIiEMZj,+ Y be an A-morphism such that k q;, = h , for A E A. Then we have that 0
I
=
ko(
g;,): ;.EM
Yj, + Y /.EM
is an F-final epimorphism, i.e., a quotient map. Hence I, x I: X x (Uj.EM Y;.)+ X x Y is a quotient map and this implies that the sink (X x ( Y ) , (X x ( f ; ) : X x Y, + X x Y);.€,,)is an F-final episink. (5)*(6): Let X , Y, Z be A-objects and let f : F(Z) + [ X , Y ] be a Setmorphism. Then c'( f ) = ex., 0 (( I , , , ) x f ) is a Set-morphism from F(X x Z ) to F( Y ) . Let A be the indexing class of the class { J ;: F(Z,) -, [ X , Y ] I there exists an A-morphism g,: X x Z, + Y such that c ' ( f ; ) = F(g,)}. For any h E [ X , Y ] ,we can findJ. such that h belongs to the image off; by taking Z, with F(Z,) = {P}and g , = h opx, where {P}is a one-point set and p, is the projection. Thus we have a Set-episink ([X, Y ] , (J,:F(ZJ + [ X , Y]);,,,,). Define YXsuchthat ( Y x , (h;,: Z , -, Y'),,,,) is an F-final lift of ([X, Y ] , (J.)). Then F( Y x ) = [ X , Y ] and ( Y x , (h,)) is an F-final episink. By the assumption, (X x Y x , (1, x h , : X x Z;. + X x Y")) is also an F-final episink. For the A-sink ( Y , (g;.: X x Z, + Y ) ) , Qi) = ~ X . Y O ( ( ~ F [ X )xh.1 ) = ex.yoF(1x x hi). By the finality of (X x Y x , (1, x hi,)), we have an A-morphism d,,, such that F(d,,,) = ex,,. In order to show that c is an epimorphism, suppose that
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k : X x Z + Y is an A-morphism. For any z E F ( Z ) , there exists an A-morphism z o :F - ’ ( P ) -, Z such that F ( z o ) ( P )= z. Let k, = k (1, x z o ) o i : X + Y , where i : X + X x F - ’ ( P ) is an isomorphism p i ’ , and define l : F ( Z )-, [ X , Y ] by l(z) = k;. Then c’(1) = F(k). By the definition of Y x , there exists an A-morphism m : Z + Y x such that F(m) = 1 and c(m) = k . (6)*(7): For any A-object Y, let G ( Y ) = Y x and q y = d,.y. Then the condition is satisfied. (7)*(1): Let D : K + A be a diagram in A over a small category K and ( Y , (ai :D ( i ) + Y ) ) be a colimit for D. Then (H( Y), ( H ( a i ) )is a colimit for H O D .This can be shown in a similar way as in the proof of Proposition 7.1(2). (In fact, this is one of the properties of adjoint functors.) 0 0
13.4. Definition. A category with products of pairs is said to be cartesianclosed if it satisfies condition (7) in Proposition 13.3. 13.5. Proposition. IfA is a Cartesian-closedtopological category, the following hold: (1) X Y X Zx (XY)”; ( 2 ) (nxj.)Y = n(X;.)‘; (3) XUY’x n(x)‘;.; (4) X x (LIY,) x LI(X x Y,). 13.6. Remark. Top is not Cartesian-closed. The full subcategories of Top consisting of all spaces satisfying each condition below are Cartesian-closed topological categories: (1) finitely generated space, (2) sequential space, (3) (compact Hausdorff)-generated space. The following are also Cartesian-closed topological categories: (4) The category Simp consisting of all simplicia1complexes and simplicia1 maps. (5) The category Born consisting of all bornological spaces and bounded maps. The investigations of Cartesian-closed categories were started in order to obtain “convenient categories” for algebraic topology, theory of topological algebra, etc. and were continued by many authors (see Nel [1976]). The category of all (compact Hausdorff)-generated spaces is a Cartesian-closed topological category but it is not closed under finite products in Top. Hence, we cannot call this category convenient. Herrlich [ I983b] showed that there
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is no “sufficiently convenient” subcategory of Top. However, there are several convenient categories containing Top. In this direction we have many nice results (see, e.g., Herrlich and Stretcker [1986]).
References Baron, S. [I9681 Note on epi in To, Canad. Math. Bull. 11, 503-504. Caszir, A [1978] General Topology (Adam Hilger, Bristol). Engelking, R. and S. Mr6wka [I9581 On E-compact spaces, Bull. Acad. Polon. Sci. 6, 429-435. Freyd, P. [I9641 Abelian Categories (Harper 8t Row, New York). Glicksberg, 1. [ 19591 Stone-Cech compactifications of products, Trans. AMS 90, 369-382. Hajek, D. W. and R. G. Wilson [ 19731 The non-simplicity of certain categories of topological spaces, Math. Zeitschr. 131, 357-359. Herrlich, H. (19651 Wann sind alle stetige Abbildungen in Y konstant? Math. Zeitschr. 90, 152-154. [I9681 Topologische Reflexionen und Corejlexionen, Lecture Notes in Mathematics 78 (Springer, Berlin). [I9691 Limit-operators and topological coreflections, Trans. AMS 146, 203-210. [I9711 Categorical topology, General Topology Appl. I , 1-15. [1974a] Topological functors, General Topology Appl. 4, 125-142. [1974b] A concept of nearness, General Topology Appl. 4, 191-212. [I9761 Initial completions, Math. Zeitschr. 150, 101-1 10. [1983a] Categorical Topology 1971-1981, General Topology and its Relations to Modern Analysis and Algebra V (Heldermann Verlag, Berlin) 279-386. [1983b] Are there convenient subcategories of Top? Topology Appl. 15, 263-271. Herrlich, H. and G. E. Strecker [I9791 Category Theory (Heldermann Verlag, Berlin, 2nd ed.). [I9861 Cartesian closed topological hulls as injective hulls, Quest. Math. 9, 263-280. Marny, T. [ 19791 On epireflective subcategories of topological categories, General Topology Appl. 10,
175-181. Mitchell, B. [ 19651 Theory qf Categories (Academic Press, New York). Mrowka, S. [I9681 Further results on E-compact spaces I, Acta Math. 120, 161-185 Nakagawa, R. [I9761 Separation axioms and subcategories of Top, J. Austral. Math. Soc. 22, 476-490.
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[ 19851 Natural relations, separations and connections, Questions Answers General Topology 3, 28-46.
Nel, L. D. [ 19761 Cartesian closed topological categories, in: Lecture Notes in Mathematics 540 (Springer, Berlin) 439451. Nel, L. D. and R.G.Wilson [1972] Epireflections in the category of T,-spaces, Fund. Math. 75, 69-74. Preuss, G. [ 19701 Trennung und Zussammenhang, Monatsch. Math. 74, 70-87. Sharp, R., M. Beattie and J. Marsden [I9661 A universal factorization theorem in topology, Canad. Math. Bull. 9, 201-207. Wallace, A. D. (19411 Separation spaces, Ann. Math. 42, 687-697. Wyler, 0. [1971] Top categories and categorical topology, General Topology Appl. 1, 17-28. [I9731 Quotient maps, General Topology Appl. 3, 149-160.
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K. Morita, J. Nagata, Eds., Topics in General Topology 0Elsevier Science Publishers B.V.(1989)
CHAPTER 15
TOPOLOGICAL DYNAMICS
Nobuo AOKI Department of Mathematics, Tokyo Metropolitan University, Tokyo, Japan
Contents Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Orbit structures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Expansive behaviours . . . . . . . . . . . . . . . . . . . . . . . . . . . Expansivity and dimension. . . . . . . . . . . . . . . . . . . . . . . . . Pseudo-orbit-tracing property. . . . . . . . . . . . . . . . . . . . . . . . Coordinate systems and topological stability . . . . . . . . . . . . . . . . . Representations of maps with hyperbolic coordinates . . . . . . . . . . . . . Chain components and decompositions . . . . . . . . . . . . . . . . . . . Markov partitions and subshifts . . . . . . . . . . . . . . . . . . . . . . 9. Topological entropy. . . . . . . . . . . . . . . . . . . . . . . . . . . . References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I. 2. 3. 4. 5. 6. 7. 8.
625 627 635 658 667 680 687 695 707 727 736
Introduction
The theory of dynamics begins with Newton who formulated the law of motion and who stated the universal law of gravitation. In Newton’s theory the motion of a dynamical system is governed by a system of differential equations. The problem of applying the theory to planetary motion was challenging, and people might even succeed in explicitly integrating the differential equations, as Newton did in the case of the two-body problem. However, their hope did not materialize. In the late nineteenth century, Poincari created a new branch of mathematics by publishing his famous memoir (“Methodes nouvelles de la mkcanique celeste”) on the qualitative theory of differential equations. The major ingredient of the change was to relate the geometry of the phase space with
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the analysis. As a result of PoincarC's qualitative approach, the focal point in the dynamical theory shifted away from the differential equations. In Birkhoff's treatise on dynamical systems, he discussed many dynamical phenomena in the context of transformation groups acting on general metric spaces. Since then, many mathematicians have considered this theory in view of the geometrical theory. The survey presented in this chapter is written in view of the topological theory of dynamical systems, and is meant to be introductory and, therefore, to give the reader an understanding of some of the basic ideas involved in geometrical (differential) dynamics studied by Smale, Bowen and many other mathematicians. The only requisite for reading this chapter is a basic course on General Topology, but the relevant results on differential manifolds are mentioned briefly. The central theme of the chapter is the theory of dynamics in General Topology. Section 1 explains dynamical phenomena known as minimality, topological transitivity and distal property of homeomorphisms of compact metric spaces. In Section 2, we state the existence of spaces admitting expansive homeomorphisms and of metrics taking hold of expansive behaviours, the so-called hyperbolic metrics. In Section 3, we discuss that every compact metric space admitting expansive homeomorphisms is finite(-topological)-dimensional and every minimal subset of the space is zero-dimensional. Section 4 contains fundamental properties of the pseudo-orbit-tracing property. Here we follow the rule that the distal property rejects the pseudoorbit-tracing property whenever the space is connected, but such a phenomenon can not happen for totally disconnected spaces. By making use of local (unstable) stable sets and (unstable) stable sets, we introduce in Section 5 the notions of canonical coordinate systems, hyperbolic coordinate systems and local product structures which play an important role in the discussion of dynamical phenomena of continuous maps. We follow here the relation between hyperbolic coordinate systems and topological stability. Section 6 deals with the fact that every continuous map with hyperbolic coordinate systems of tori is topologically conjugate to a toral endomorphism. This topic has recently been proved for homeomorphisms, but we do not touch upon this theme here. In Section 7, we investigate the relation between recurrent sets, chainrecurrent sets and nonwandering sets, and state that the Smale decomposition
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theorem (spectral decomposition theorem) and the Bowen decomposition theorem are established for the case when a hyperbolic coordinate system holds on the chain-recurrent set. In Section 8 we discuss Markov partitions, which play an important role in the study of the theory of dynamical systems. A necessary and sufficient condition for expansive homeomorphisms to have Markov partitions and the fact that there are no new expansive homeomorphisms except pseudo-Anosov homeomorphisms of compact surfaces are briefly mentioned. Section 9 introduces topological entropy and briefly states some related topics. The author is most grateful to Professor K. Shiraiwa who encouraged him to present these introductory ideas on topological dynamics.
1. Orbit structures Let X be a compact metric space and f:X morphism.
-+
X be a (surjective) homeo-
1.1. Definition. A homeomorphism f is minimal if for every x E X , Of(x) = {f”(x):n E Z} is dense in X. Of(x) is called theforbit of x. 1.2. Remark. f i s minimal if and only iff(E) = E and E is closed, then E = 8 or X . Proof. Suppose f is minimal and suppose E is closed and f(E) = E # 8. Choose x E E. Then Of(x) c E since f ( E ) = E, and X = O,(x), hence I!? = X , i.e., E = X. Conversely, for every x E X , o/ois a closedfinvariant nonempty set and hence O,(x) = X. 1.3. Definition. A closed subset E of X which is $invariant is called a minimal set with respect to f : X -+ X iff;, is minimal. 1.4. Remark, Every homeomorphismf: X
-+
X has a minimal set.
Proof. Let 0 denote the collection of all closed nonemptyfinvariant subsets of X. Clearly 0 # 8 since X E 0. 0 is a partially ordered set under inclusion. Every linearly ordered subset of 0 has a least element. By Zorn’s
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lemma 0 has a minimum element. This element is a minimal set with respect to f.
1.5. Remark. Let f : X + X be a minimal homeomorphism. Then (1) f has no nonconstant invariant continuous functions; (2) if X is not finite thenfhas no periodic points. 1.6. Definition. A homeomorphism f : X + X is topologically transitive if there is xoE X such that O,(x,) is dense in X. It is clear that iff is minimal then f is topologically transitive.
1.7. Theorem. The following assertions are equivalent: (1) f is topologically transitive. ( 2 ) If U, V are nonempty open sets then there is an n E h such that f " ( U ) n V z 8. Proof. (1)*(2): Suppose O,(xo) = X and U, V are non-empty open sets. Then there are n, m E E such that f " ( x o )E U and f " ( x o ) E V , and so f " - " ( u ) n V # 8. (2)*(1): Let { V,: j 2 I } be a countable base for X. For x E X , the following areequivalent: (a) O,b) z X , (b) O,(x) n U, = 8 for some n, (c) f "(x) E X\ U, for every m E Z, (d) x E f"(X\U,) for some n, (e) x E un"=,nnmm=-mfv\u,). Since -,f"(U,)is dense by (2), (7,"- -,f"(X\U,,)is nowhere dense for every n I . Hence { x E X : O,(x) # X} is a set of first category since so is a compact metric space. 0
nz=-,
u,"=
1.8. Definition. Let f : X --* X , g : Y + Y be homeomorphisms of compact metric spaces. Thenfis said to be topologically conjugate to g if there exists a (surjective) homeomorphism cp : X + Y such that cp 0f = go cp. If, in particular, cp is not 1-1, then f is said to be topologically semi-conjugate to g ; in other words, g is called afactor off. 1.9. Remark. ( I ) Topological conjugacy is an equivalence relation. (2) Iff and g are topologically conjugate then f is minimal if and only if g is minimal, and f is topologically transitive if and only if g is so.
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1.10. Theorem (Halmos and von Newman [1942]). Let f : X --* X be a homeomorphism of a compact metric space. I f f is topologically transitive and an isometry under some metric for X , then f is topologically conjugate to a minimal rotation on a compact abelian metric group.
Proof. Let d be an isometry metric for X. Suppose O f ( x o )= X for some xo E X . Define a multiplication * in O f ( x o )byf"(xo) * f " ( x o ) = f"+"(xo). Then d(f"(x0) *f"(xo),f'(xo) * f 9 ( x o ) ) = d ( f " + " ( x 0 ) , f p + 9 ( ~ o ) )
< d(f"+"(xo),f '+"(xo))+ d(f'+"(xo),f p + 9 ( ~ 0 ) ) = d ( f " ( x ~ ~) ,' ( X O ) + ) d ( f ' " ( ~ f0 ' )( ~~ 0 ) ) ~ from which the map * : O f ( x o )x Of(xo)+ Of(xo)is uniformly continuous and can therefore be extended uniquely to a continuous map * : X x X + X . Since d ( f -"(xd,f-"(x0)) = d ( f " ( x o ) , f " ( x o ) )the , map: Of(xo)-, Of(xo) (inverse) is uniformly continuous and can be uniquely extended to a continuous map of X . Thus Xis a topological group and is abelian since { f " ( x o:)n E Z} is a dense abelian group of X . Since f ( f " x o )= f " + ' ( x 0 = ) f ( x o )* f " ( x o ) , we have f ( x ) = f ( x o )* x and so f is the rotation by f (xo). 0 The book of Furstenberg [ 198I] systematically investigates the combinatorial number theory on a situation of dynamical systems. As an application of minimality, we have the following theorem. 1.11. Theorem (Shur and Brauer). Let N be the set of natural numbers. For any finite partition N = So v S, v * . * v Sk-,and n >, 1 there exist Si, a 2 0 and b > 0 such that {a, a b, . . . , a nb} c Si.
+
+
We give a proof due to Furstenberg and Weiss [1978]. The theorem follows from the following proposition. 1.12. Proposition. Let X be a compact metric space and let n 2 1. Suppose + X (1 < i < n) are homeomorphisms with J Q ~ =;4.f; for I < i, j < n. Then there are for every E > 0, x E X and b 2 1 such that d ( J b ( x ) x, ) < E for 1 < i < n.
I;: X
For the moment, we will assume this proposition to be true and give the proof later. Once Proposition I . 12 is established, Theorem 1.1 1 can be obtained after the following preparation.
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1.13. Definition. Let k be a fixed natural number and let Y, = (0, 1, . . . , - l}. Put the discrete topology on Y, and construct the product space Y," = X Tm Y, equipped with the product topology, and the shift (homeomorphism) a: Y t -+ Y t is defined by (a(x)), = xi+, where x = (xi)"".
k
Let k be the number of elements of the partition {Si} into N and let Y, = (0, I , . . . , k - l}.Givenm > 1 weputx,,, = j i f m ~qandx,,, = 0 if m < 0. Then xo = (. . . , x - ~ x, o , x I , . . .) E .Y: Since Y," is compact, X = n ~ = l { a ' ( x o ) :2 j m} is nonempty and a-invariant. Write ai= ai for 1 < i < n and use Proposition 1.12 for ai (1 < i < n). Then for E > 0 there are y E X and b 2 1 with d(a:(y), y ) -= E (1 < i < n), and hence Yib = aib(y)o = yo for 1 < i < n. Since y E X,we can choose a 2 0 such that the distance d(a"(xo), y) is small enough, from which
X:+nb = (a"Xo)nb = ynb,
Since yo = yb = * = ynb, we have {a, a + 6, . . . , a + nb} t Syo. For the proof of Proposition 1.12 we need the notion of minimality for a group of homeomorphisms. 1
1.14. Definition. Let G be a group consisting of homeomorphisms of a compact metric space X.The group G is said to be minimal if no proper closed subset Y c X is left invariant by all the homeomorphisms of G (i.e., if g(Y) c Y for all g E G then Y = X or Y = 8). 1.15. Remark. If G is minimal then each G-orbit {g(x) :g E G } is dense in
X,and conversely, this condition implies minimality for G. 1.16. Definition. Letf: X + X be a homeomorphism of a compact metric space and G as in Definition 1.14. A closed subset Y is said to be homogeneous withrespecttofifg(Y) = Y f o r a l l g ~ G ( G Y= Y)andgof = fogforall g E G and Y is minimal for G. 1.17. Lemma. Let Y be a closed subset of X and let GY = Y. If Y is minimal for G, there exists for every E > 0 a Jinite set of homeomorphisms g,, . . . , g, E G such that for x , y E Y, min{d(gi(x), y): 1 < i < N } < E.
Proof. If Vis any nonempty open subset of Y, then U{g-'( V ):gE G } is an open G-invariant subset of Y, which by minimality is all of Y. Since Y is
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compact, there are g , , . . . ,g , E G such that U L l g ; ' ( V ) = Y. Now let { & } be a finite open cover of Y with diameter < E . We see that UiN_'lg;l(K)= Y for some N' 2 1. Therefore, for x , y E Y we can find k, such that y E V, ,and 1 < i < N' such that x E g ; l ( K ) , and hence y, g i ( x ) E K. 0 1.18. Lemma. Let Y be a homogeneous closed subset of X.Suppose that for every E > 0 there is an n 3 1 with d ( f " ( Y ) , Y ) < E. Then for every E > 0 there exist n 2 1 and x E Y such that d ( f " ( x ) , x ) < E.
Proof. We first prove that for each E > 0 and y E Y there are n 2 1 and x E Y with d ( f " ( x ) ,y ) < E . Since Y is minimal for G, by Lemma 1.17 there are g , , . . . , g , E G such that min{d(g,(x), y ) : 1 < i < N} < + E for x, y E Y . Now choose x,, yo and no such that d(f"O(x0),yo) < 6 where 6 is so small that d(x, x') c 6 implies d(gi(x),g,(x')) < $ E for 1 < i < N. Then for any y E Y we can find 1 < i < N such that d(f"Oogi(x0),y ) < 0 d(f"oog;(xo), g;(yo)) + d(g;(yo),Y ) < t E + $ 8 = E. To obtain the conclusion of Lemma 1.18, let E > 0. From the above it , < E. follows that for zo E Y there are z , E Y and n, 3 1 with d ( f " ' ( z , )zo) Put rll = E - d ( f " ' ( z , ) 20) , and take E~ > 0 with
E~
+ qI <
4x9 Y ) <
E2
(x, y
E
E
such that
Y ) =-d ( f " ' ( x ) , f " ' ( y ) < ) 'I,.
Then for zI E Y we can find z2 E Y and n2 2 1 with d ( f n 2 ( z 2z) ,I ) < .z2 (use the above fact), and then d( f "I +"2 @ 2 ) , 20) < d(fn'+nz(Z2),f"'(ZI)) + d(f"'(z,),20) < E . Next we put ?2
+
- [ d ( f " ' + " Z ( z 2 ) , f " ' ( z , )d(f"'(z,), ) Zo)l,
= E2
and take
E~
> 0 with
E~
-
z,)} such that
d(fn2(Z2)9
+ q2 < E
N.Aoki
632
and d(fn2+"'(Z3),ZI)
< d(f"2+n3(Z3),f"2(Z*))+ d(f"*(Z,), ZI) < E .
Continue inductively in this fashion, then infinite sequence {zo,zI, . . .} of points of Y and { n l ,n,, . . .} of positive integers are chosen such that d(f"(zj), zi) < E where n = ni+l + . * + nj for 0 < i < j . On the other hand, since Y is compact, we have d(z,, z j ) < E for some i, j. Therefore, 4%Zj) < 28. d(f"(Zj), Zj) < d(f"(Zj), Zi)
+
Proof of Proposition 1.12. Let G be a group generated by a finite set of homeomorphismsf,, . . . ,f, of X.Since Xis compact, we can find, by using Zorn's Lemma, a minimal subset X' for G. Hereafter we may suppose that Xis minimal for G. If m = 1 then G = (fi":n E Z} and Xis minimal for G. For this case we have X = {f;(x): n E Z} for x E X, and hence d(f,*(x), x) < E for some b 2 1. Let A be the diagonal set of X" and define (1 < j < m) by 3 = f, x x fm and homeomorphisms 3 and = f ; x . x f ; . Obviously3(A) = A andx(A) = A for 1 < j < m. Let c" be a group generated by the set {J,. . . ,Tm}.It is easily checked then that (A, G") is homeomorphic to (X,G). Thus A is minimal for .?t Since f ; o f = y0f;for 1 < i < m, A is homogeneous with respect toJ Let hi = f;' for 1 < i < m - 1. By our inductive hypothesis we have that there are x E X and b 2 1 such that
x
x
-
-
d(hP(x), x) = d(Xbofib(x),x) < For X
=
(xl, . . . , x,,,), J = ( y I , . . . , y , )
d ( ~J ,)
=
max{d(x,, y i ) :1
E
E,
1
- 1.
X" put
< i < m}.
Then d is a metric for X" and d(Tb(2), 5 ) < E for 5 = (x, . . . , x), P = (f;*(x), . . . ,fl*(x)) E A. Henced(p(A), A) < E. Using Lemma 1.18 we see that there are n 2 1 and X E A with d(p(X), 3 ) < E, and therefore d(f;"(x), x) < E for 1 < i < m. 0 1.19. Definition. Let f :X -, X be a homeomorphism of a compact metric space. We say that f is distal if inf{d(f"(x),f"( y ) ) :n E Z} = 0 then x = y . Let A be a subset of the integer group Z. Then A is syndetic if there is a finite set K of Z with Z = K A. Let x E X.Then x is an almost periodic point if {n E Z :f"(x) E U } is a syndetic set for all neighborhood U of x. We say that f is uniformly almost periodic if for every E 0 there is a syndetic set A such thatf"(x) E U,(x) for all x E Xand n E A . Here U,(x) denotes an open neighborhood with radius E of x.
+
=-
633
Topological Dynamics
1.20. Remark. Products and factors of distal homeomorphisms are distal. Every equi-continuous homeomorphism is distal (see the proof of Theorem 1.21 below). But the converse does not hold. For example, let T2 be the 2-torus and define a homeomorphism f:T2+ T2 by f(x,, x2) = (a x,, nxl x2) ((xl, x2) E T2)where ct E TI and 0 # n E Z. It is easily checked that f is distal, but {f":n E Z} is not equi-continuous.
+
+
1.21. Theorem.
Zf f:X
.+
X is uniformly almost periodic, then f is distal.
Proof. We first prove that iffis uniformly almost periodic, then { f" : n E Z} is equi-continuous. By the assumption, for every E > 0 there is a syndetic set A c Z such thatf"(x) E U,,,(x) for all x E X and n E A. Since A is syndetic, we can find a finite set K = {nl, . . . , n I } with Z = A + K. Take 0 < 6 < $ E such that d(x, y) < 6
* max{d(f"'(x),f"'(y)):
1
< i < I}
<
$E.
If d(x, y) < 6, for each n E A and n, E K we have y ) ) < d(f" of"'(x), f"'(x)) d(f"+"'(x), f"+"'(
+ d ( f " ' ( f" A
9
<$&+$&+$&
of"'(
=
+ d(f"'(x), f"'(y ) ) Y)) &
and so {f" :n E Z} is equicontinuous. Suppose inf{d(f"(x),f"( y)) :n E Z} = 0. For j > 0 there is n, E Z with d(f"J(x),f"'( y)) < l/j. Thus to each v > 0 there are p > 0 and J > 0 such thatj 2 Jimplies d(f"(x), fnJ(y)) < p and d(x, y) < p implies sup{d(f"(x),f"(y)):n E Z} < v, and hence d(f"'of''(x), f - " ' o f " ' ( y ) ) = d(x, y) < v. Since v is arbitrary, we have d(x, y) = 0 and then x = y. 0
1.22. Definition. Let g : X + X be a continuous map of a compact metric space. Then (g(x):x E X) will be considered to be a point of the compact Hausdorff space X x . An Ellis semigroup E ( X ) of a homeomorphism f:X + X is the closure of { f" :n E Z} in X x . A nonempty subset I of E ( X ) is called a right ideal if g 0 h E I for every g E E ( X ) and h E I. 1.23. Theorem. point.
Zff:
X
.+
X is distal, then each x
E
X is an almost periodic
Proof. We prove the following three claims to obtain the conclusion. Claim 1. Let I c E ( X ) and I # 8.If Z is a right ideal of E ( X ) , then there is u E I such that u2 = u.
634
N. Aoki
Proof. Define a map R, : E ( X ) -+ E ( X ) by R,(h) = h 0 g for g, h E E ( X ) . Then R, is continuous. For, if a directed sequence {h,} of E ( X ) converges to h E E ( X ) , then h,(gx) -+ h(gx) for every x E X . Hence &(ha) -+ RJh). Let A denote the family of closed non-empty subsets S c Z with So S c S. Then A is the partially ordered set under the inclusion and is inductive. Zorn's lemma guarantees the existence of a minimal element S of A. If g is in S, then Sog = R,(S) # 0 and (Sog)o(Sog) c S o S o S o g c Sog. Since S is minimal, we have Sog = S and then there is an h E S with h o g = g. Obviously R ; ' ( S ) n S # 0. Since J o g = h o g = g for J , fi E R;'(g) n S, we have (fi o h ) 0 g = fi o g = g and soh oh E R; '(g) n S. Therefore (R;'(g) n S)o(R;'(g) n S ) c R;'(g) n S, and by minimality R;'(g) n S = S. This implies g2 = g. Claim 2. Let M be a closed subset of E ( X ) . Iff" 0 g E M for g E M and n E Z, then M = E ( X ) . Proof. Since E ( X ) 0 M c M, by Claim 1 there is a g E M with g2 = g. Put y = g ( x ) . Then g(x) = g(y). Since g E E ( X ) , we have f"'-+ g for some { f"}and
Since g(x) = g(y), obviously d ( f " ' ( x ) , f " ' ( y ) ) 0 as i 00, and hence inf{d(f"(x),f"(y)):m E Z} = 0. Sincef:X + X i s distal, we have x = y and then g is the identity since x is arbitrary: i.e., f" 0 id = f" E M for all n E Z. Therefore M = E ( X ) . Claim 3. From now on the theorem is proved. Note that the identity id is contained in E ( X ) . Let U be an open neighborhood of id in E ( X ) . We first show that there is a syndetic set A c Z such thatf" E U for all n E A. Fix h E E(X) and define a map Lh :E ( X ) -+ E ( X ) by Lh(g)= h o g (g E E(X)). It is easily checked that if h is continuous then so is Lh. Hence L,.. is continuous since so is f" for n E Z, and L, 0 L, = Lr- Lr = id. Hence L,.is injective. Since Lr is continuous, Lr ( U ) = f" 0 U is open in E ( X ) and so W = E(X)\(U?mf"o U ) is closed in E ( X ) . Suppose W # 0. Then we have f"0g E W for g E W and n E Z. Hence W = E ( X ) by Claim 2, thus contradicting W # E ( X ) . Therefore W = 0, from which E ( X ) c UTm,f"o U.Since E ( X ) is compact, we have E ( X ) c U ~ J " o U for some finite set K = {nl, . . . , n,}. Let A = {n E Z : f " E U}. Then it follows that there is n, E K withf" E f " i o U for all n E Z. Hencef"-"' E U : i.e., n - niE A and hence n E A -I- K. Since n is arbitrary, we have Z = K A and then A is the syndetic set. We next prove that each x E X is an almost periodic point. To do this, -+
-+
0
+
Topological Dynamics
635
define a continuous map Ox:E ( X ) + X by OJg) = g(x) (g E E ( X ) ) . Let V be a neighborhood of x in X. Then there is a neighborhood U of id in E ( X ) such that O x ( U ) c V. Replacing this U by the above U , for n E A f"(x)
= f"oU,(id)
= U,(f"oid)
= U,(f")
E
U,(U) c V
and so x is the almost periodic point off.
1.24. Theorem. Iff: X set for f.
0 -
+
X i s distal, then for each x E X , Of(x) is a minimal
Proof. By Theorem 1.23 each x E Xis an almost periodic point for$ Hence, for U an open neighborhood of x , letting A = {n E Z : f " ( x ) E U}, Z is expressed as Z = A + K for some finite set K = { n , , . . . , n k } . Hence
u {f " + " ' ( x ) : n k
O,<X) =
E
A } u { f " ( x ) : nE A }
i= I
-
from which we have 0,( y) n 0 # 0 for every y E O,(x). This follows from the fact that f y) E { f " ( x ) :n E A } c 0 since y E { f "+"'(x):nE A } for n,. Since U is arbitrary, we have x E Of(y) and so O f ( ~= ) Of( y), i.e., some 0, ( x ) is a minimal set for f. 0 -"I(
1.25. Definition. Letf: X + X be a homeomorphism of a compact metric space. We say that f is semisimple if there exists a sequence {E,) of closed subsets such that f(E,)= E,, X = uBEaand each E, is a minimal set forf. Since each E, is minimal, it is clear that E, n E, = 8 if ct # B. 1.26. Theorem. I f f : X Proof.
--*
X
is distal, then f is semisimple.
-
{o/o: x E X } is a cover of X and each O,(x) is minimal by Theorem 0
1.24.
2. Expansive behaviours Let X be a metric space with metric d and f :X homeomorphism.
+
X be a (surjective)
2.1. Definition. A homeomorphism f is said to be expansive if there exist a metric d for X (d means compatible with the topology of X ) and a number
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636
c > 0 such that x # y implies the existence of an integer n such that d ( f " ( x ) ,f"(y ) ) > c. The number c is called an expansive constant for$ This property (although not c ) is independent of the choice of metrics for X when X is compact, but not so for noncompact spaces.
2.2. Definition. Let X be a compact metric space. A finite open cover a of X is a generator (weak generator) for f if for every bisequence {A,} of f -"(A,) is at most one point (0;- -f, -"(A,) is at most members of a, one point). These concepts are due to Keynes and Robertson [1969].
n;=-,
2.3. Definition. If a, /?are open covers of X , then their join a v /3 is given by a v B = { A n B : A E a, B E S}. An open cover fi is a refinement of an open cover a (written a < B ) if every member of B is a subset of a member ofa.Itisclearthata < a v BandB < a v /?.Iff:X+Xisacontinuous map then f - ' ( a ) = { f - ' ( A ) : A E a } is an open cover of X . It is easily checked that f - ' ( a v /?) = f -'(a) v f -'(fl)and f - ' ( a ) < f - ' ( p ) ifa < /?. 2.4. Theorem. Let f :X + X be a homeomorphism of a compact metric space. Then the following are equivalent: (1) f is expansive, (2) f has a generator, (3) f has a weak generator. Proof. (2)=(3) is clear. (3)*(2): Let /? = {Bl, . . . , B,} be a weak generator for f and let 6 > 0 be a Lebesgue number for b. Let a be a finite open cover by sets A, with diam(A,) < 6. If A,"is a bisequence in a, then for every n there isj, such that A, c Bjn,and so 0: f -"(A,,) c f -"(Bjn).Therefore a is a generator. (1)*(2): Let 6 > 0 be an expansive constant for f and a be a finite cover by open balls of radius $ 6 . Suppose x, y E n'?,,f-"(A,) where A, E a. Then d ( f " ( x ) , f " ( y ) )< 6 for every n , and by assumption x = y. (3)=4 1): Suppose a is a weak generator. Let 6 > 0 be a Lebesgue number for a. If d(f"(x),f"( y)) c 6 for all n, then for every n there is A , E a such thatf"(x),f"( y) E A, and so x, y E f -"(A,) which is at most one point. Therefore x = y. 0
n?m
n?,
2.5. Remark. Let f : X + X be a homeomorphism of a compact metric space. f is expansive if and only if f k (k # 0) is expansive.
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Topological Dynamics
Proof. If a is a generator for f then a v f -'(a) v . . . v f -(,,-')(a) is a generator for f".If a is a generator for f " then u is also a generator forf.
0 2.6. Remark. (1) Iff : X + Xis expansive and Y is a closed subset of X with f (Y) = Y , then is expansive. (2) If fi:: X, + X, (i = 1, 2) are expansive then so is fi x fi :XI x X , + XI x X,. Every finite directed product of expansive homeomorphisms is expansive, but an infinite product is not.
2.7. Remark. Let k 2 2. Then the shift a : Y,"
+
Y," is expansive.
Proof. Let Ai = {(x,,)'?, :xo = i } for 0 < i < k - 1. Then A, u . . . u A".-' = Y," and each A i is open. a = { A o , . . . , A " - ' } is a generator for IT . . since if x E n'?,,o-"(Ain) where A, E a then x = (. . . , iL2, i - , , l o , i I r . . .).
0 2.8. Theorem. Let f : X + X be an expansive homeomorphism of a compact metric space. Then there exists an integer k > 0 and a closed subset R of Y f such that a(R) = R (a is the shijt of Y,")anda continuous surjection K :R + X such that n o 6 = f o x .
Proof. Let 26 > 0 be an expansive constant forf. Choose a cover c1 = { A o , . . . , A " - , } by closed sets such that diam(Ai) c 6 for 0 < i < k - 1, and such that Ai intersect only in their boundaries. Let 8 denote the union of the boundaries of A i . Then 8, = U'?J'(8) is a set of first category and so X\8, is denselin X. For every x E X\8,, we can assign uniquely a member of Y f by x (a,)'?wwheneverf.(x) E Aan.Let A denote the collection of all sequences arising in this way. Then cp 0 a( y ) = f 0 cp( y) for y E A. If we hold that cp is uniformly continuous, then cp can be uniquely extended to a continuous map n : A + X such that n 0 IT(y ) = f n( y) for y E A. Let E > 0 be given. By the following lemma we can choose N > 0 such that each member of V -NNf"(a)has diameter less than E since we can enlarge each Ai to an open set to obtain a generator (remembering diam(Ai) < 6). If (a,,),(b,) E A and a,, = b, for I n I < N then cp(a,), cp(b,,) are in the same member of V NNf"(a)and so d(cp(a,), cp(b,)) < E . Therefore cp is uniformly continuous. 0 0
2.9. Lemma.
Let a be a generator for$ Then the following hold.
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638
( I ) For every E > 0 there is N > 0 such that each set in V !N f -"(a) has diameter < E . ( 2 ) For every N > 0 there is E > 0 such that d ( x , y ) < E implies x , y E n f N f-"(A,) for some A-N, . . . , AN E a. Proof. Suppose (1) does not hold, i.e., there is E > 0 such that for every
j > 0 there are xi, yj E X with d(xj, yi) > E and Aj,i E a ( - j < i < j ) with xi, y j E - j f -i(Aj,i). Since X is compact, we can suppose that xi + x , yj --* y, and hence x # y . Consider the sets Then infinitely many of them coincide since a is finite. Thus xi, y j E A , for infinitely manyj and hence x , y E Ao. Similarly, for each n, infinitely many Aj,, coincide and we obtain
n/=
n?,
A, E a withx,y E f -"(A,).Thereforex,y E f -"(A,), thuscontradicting the fact that a is a generator. (2): Let N > 0 be given. Let 6 > 0 be a Lebesgue number for a. Choose E > 0 such that d ( x , y ) < E implies d ( f ' ( x ) , f ' ( y ) ) < 6 for - N < i < N . If d ( x , y ) < E and I i 1 < N then f '(x)$( y ) E A i for some Ai E a. Therefore O x, y E n ! N f -yAi).
2.10. Definition. I f f : X + X is a homeomorphism of a compact metric space and x is a point of X , the a-limit set of x denoted by a ( x ) consists of those points y of X such that y = limj+, f "'(x) for some strictly decreasing sequence of integers nj. The w-limit set of x denoted by w ( x ) is similarly defined for strictly increasing sequence. If, for some point x , a ( x ) and w ( x ) each consists of a single point, we say that x has converging semiorbits under f. 2.11. Theorem (Reddy [1965]). Iff is an expansive homeomorphism, the set of points having converging semiorbits under f is a countable set. Proof. Let c > 0 be an expansive constant forf and let d ( x , y ) < +c. Since f is expansive,fhas at most finitely many fixed points, say q , , . . . , qk. Let A denote the set of points having converging semiorbits under$ Suppose A is uncountable. If x E A, both a ( x ) and w(x) are fixed points. Let A(i,j ) be the set of points such that a ( x ) = qi and w ( x ) = qj. Then A is the union of the finitely many sets A(i,j ) , so that one of these, say B, is uncountable. For each positive integer N , let B ( N ) be the collection of points x such that, for n 2 N , f " ( x ) is close to o(x) and f -"(x) is close to a ( x ) . Since B is the union of the sets B ( N ) , one of them (say B ( M ) )must be infinite. Since Xis compact, there exist distinct points y and z of B ( M ) with d( y , z) < ) c so small that f " ( z ) is close to f"( y ) if In 1 2 M . Thus, from the definition of B ( M ) , we
639
Topological Dynamics
conclude that d ( f ” (y), f ” ( z ) ) < c for all integers n, thus contradicting the choice of c. Therefore A is countable. 0
2.12. Theorem (Jacobsen and Utz [ 19601). There exists no expansive homeomorphism of a closed arc.
Proof. I f f is a homeomorphism of [0, I] onto [0, I], then f has either f(0) = 0 and f(1) = 1, or f(0) = 1 and f(1) = 0. In both cases f 2 induces a homeomorphism of [0, I]. Put Fix( f 2, = { x E [0, 13 : f 2 ( x )= x}. Then Fix( f ’) is closed. If Fix( f 2 , = [0, I] then all points in [0, I] have converging semiorbits under f2,and so f 2 is not expansive. If Fix(f2) # [0, I], then U = [0, ]]\Fix( f ’) is a nonempty open set. Thus U is the union of the countable intervals 4 where 4’s are mutually disjoint. For x E U , there is an 4 such that x E 4. Then the extremal points of 1;. are fixed points off Thus we have that for x E 4, x > f 2 ( x ) > f 4 ( x ) > * . , or x < f 2 ( x ) < f4(x) < * * . In any case { f ”(x) :j 2 0} converges to a fixed point off *.Since 4 is uncountable, f is not expansive. 0
’.
3
2.13. Theorem. There exist no expansive homeomorphism of the unit circle S‘ . Proof. Supposef : S’ + S’is expansive. By Theorem 2.12,f has no periodic points in S ’ . Let M be a minimal set off in S ’ . Sincef : M + M is expansive and minimal, we see that M is totally disconnected (see Theorem 3.8 for the proof). Note that M is an infinite set. We claim that isolated points are not = { x } for some in M. Indeed, if x E M is an isolated point, then U,(x) n M 6 > 0 and so { x } is open in M. Since M is minimal, we have O f ( x ) = M and hencef”(x) E U,(x) n M = { x } for some n E Z,a contradiction. Since S’\M is open, S’\M is expressed as a countable disjoint union S’\ M = Uj4 of open arcs in S ’ . Thus diam(4) + 0 a s j + co and for fixed j,f”(4) # 4 for all n # 0. Thus we have diam(f”(4)) + 0 as In I + 00. For a, b E 4, let f”’(z) be the arc with the longest length in :n E Z}. Choose E > 0 and take a, b E 4 such that the length between f “‘(a)and f “‘(b) is less than E . Then diam(f”(z)) < E for all n E Z and hence f :S ’ -,S’ is not expansive. This is inconsistent with assumption. 0
{f”(z)
Recently the following has been proved by Hiraide [1988].
2.14. Theorem. There exists no expansive homeomorphism of the 2-sphere S2.
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640
By Theorem 2.13 the 1-torus does not admit expansive homeomorphisms, but any torus of dimension greater than one admits such homeomorphisms (see Theorem 2.18 below). 2.15. Proposition. Let f be a linear map of the euclidean space R" (n > 1) and d be the usual metric for R". Then f is expansive under d if and only iff has no eigenvalues of modulus 1.
Proof. Suppose all the eigenvalues off are off the unit circle. Then (w" splits into the direct sum R" = Es @ E" of subspaces E" and E" such that f(Es) = E" and f(E") = E", and such that there are c > 1 , 0 < 1 < 1 so that
IIf
-"(v) II
< c1" II v 11,
v E E",
n 2 0.
Thus f is expansive under d. Conversely, iff has an eigenvalue of modulus 1, then R" splits into the direct sum of subspaces as follows: (i) R" = E' @ E" 0 E", (ii) f(E") = E" (a = c, s, u), (iii) there are c > 0 and 0 < 1 < 1 such that (*) holds, and (iv) J E c is topologically conjugate to a linear map corresponding to Jordan form J (in real field)
where either f l
1
0
J. =
or 0
for 1
0
4
=
1
Z
fl
R(ej)
< j < k. Here I is a 2 x 2 identity matrix and R(ej)
cos 0,
-sin 0,
sin 0,
cos 0,
=
(0 <
e,
<
-.I.
Topological Dynamics
641
By (iv) we can find a subspace F of E' such that g l , is an isometry under d. Thus g is not expansive.
a
2.16. Definition. Let 8 and X' be metric spaces with metrics and d respectively, and A :8 + X be a continuous surjection. Then A is called a locally isometric covering map if for each x E X there exists a neighborhood U ( x )of x such that z - ' ( V ( x ) )= U, U, (a # a' * U, n U,. = 0)where U, is open and TI,, : U, + V ( x )is an isometry. 2.17. Proposition. With the notations of Definition 2.16, let f : 8 + 8 and g : X + X be homeomorphisms. If A 0f = g 0 A and X is compact, and i f there exists 6, > 0 such that to each x and 0 < 6 < 6, there is a connected open neighborhood U,(x) of x with radius 6 such that A : U,(x) + U,(AX)is an isometry, then g : X + X is expansive if and only i f f :8 + 8 is expansive under a.
Proof. From the conditions given for X and A, it follows that for eachp E 8 and 0 < 6 < 6, there is a connected open neighborhood U,(p) with radius 6 such that A ~ ~ , (U,(p) ~ , : + U,(np) is an isometry. We first show that f is uniformly continuous. It is enough to see that for E with 0 < E < 6, there is 6 > 0 such that
4 P , 4) < 6
(PI
4 E 2)* J ( f ( P ) , f ( d ) <
E.
Take 6, > 0 such that d ( x , y ) < 6 , ( x , y E X ) implies d(g(x), g ( y ) ) < E and let 6 = min{b,, S,}. Now if d ( p , q) < 6 ( p , q E 8), then d ( x ( p ) , = &P, 4 ) < 6, and s o d ( a o f ( p ) , n o f ( q ) ) = d ( g 0 x ( p ) ,g o m ) < E . Since E < do, we have n o f ( q ) E UJ0(goa ( p ) ) and hence f ( U , , ( p ) ) c n--'U,,(gon(p)). Since f ( U , , ( p ) ) is connected, we let 0 be the connected component of f ( p ) in n-'U,,(gon(p)). Then 0 3 f ( U , , ( p ) ) and A : 0 + U,&g 0 ~ ( p )is)an isometry. Sincef (q) E 0,it follows that f (p),f ( q ) ) = d(a 0f ( p ) , A 0f (4)) < E , which implies that f is uniformly continuous. Next we show that there is > 0 such that for p , q E 8 ( p # q )
m)
a(
4 P ) = n(q) * a ( P I 4 ) 2
El.
Let 6, > 0 be as above. If the statement does not hold, then for n there are pn, q. E 8 such that Pn
+ qn,
~ ( p n )= n(qn) and
J(Pn,
qn) < ~ / n .
For no > 0 with l/n, < do, it follows that a(pno,qno) < 6,. Let x = ~ ( p , , , ) , then A : Ubo(pn0) + Uao(x)is an isometry. Since qnoE U,,,(p,,J and n(qno)= ~ ( p , , , ,= ) x, we have qn0 = p,, thus contradicting.
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642
We prove that f : 8 + 8 i s expansive whenever g :X + Xis so. Let E,, > 0 be an expansive constant for g and So, E , be as above. Put ~2 = min(S,, E , , ~ g } . Then c2 is an expansive constant for $ For, let p , q E 8 ( p # q) and put n ( p ) = x , n(q) = y . I f x = y then J ( p , q) 2 el 2 c2 as we saw above. When x # y , by expansivity of g there is k e Z such that d(gk(x),d ( Y N 2 t o . I f 4 f k ( P ) , f k ( q N < 60 then
aifk(P),fk(d)
= d ( z o f k ( p ) ,n o f k ( q ) ) = d(gk(x),g k ( y ) )2 Eo
2 E2 and thereforef is expansive. Conversely, let c3 > 0 be an expansive constant for$ Then we prove that E~ = min{s,, E ~ So} , is an expansive constant for g. Let d(gk(x),gk( y ) ) < E~ for all k E Z. Fix p E 8 with x = ~ ( p and ) choose q E U,,(p) with y = n(q). Then it can be easily proved that f k ( q )E Ubo(f k p ) for all k E Z. Since R is a local isometry, a i f k ( P ) , f k ( q ) ) = d(gk(x),sk(Y))<
64,
k E Z.
Since f is expansive, we have p = q and so x = x ( p ) = x(q) implies that g is expansive.
=
y , which
0
Combining Propositions 2.15 and 2.17, we have the following theorem.
2.18. Theorem. Let f be a toral automorphism of the n-torus. Then f is expansive if and only i f f has no eigenvalues of modulus 1. 2.19. Definition. Let X and Y be topological spaces. A map cp :X + Y is open if cp(U) is open in Y whenever U is open in X . The branch set B, of cp is the set of points at which cp is not a local homeomorphism. Obviously B, is closed in X and the compactness of Ximplies the compactness of B,, cp(B,) and cp-'(cpB,). 2.20. Definition. A map cp :X + Y is called a pseudo-covering map if cp is an open map which is a k-to-1 continuous surjection on the set X\rp-'(cpB,) for k > 0. In particular when B, is empty, cp is called a covering map. Let A be a subset. Then we designate the &-neighborhoodof A by N ( A , E ) .
2.21. Theorem (Hemmingsen and Reddy [1968]). Let X and Y be compact metric spaces andf :X -+ X be a homeomorphism. I f g : Y + Y is an expansive homeomorphism and rp is an open continuous map of X onto Y with cp f = g rp, and i f f is expansive on cp-'(cpB,) and there is q > 0 such that O,(y ) N(cp(B,), q) for all y E Y\rp(B,), then f is expansive. 0
+
0
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643
Proof. Let dand e be the metrics for X and Y respectively. Supposefis not expansive. Then for every E > 0 there corresponds a pair of points {a, b} with 0 < d(f"(a),f"(b)) < E for all integers n. Two cases will be considered: (a) For all sufficiently small E and all corresponding pairs {a, b},
cp(4 z
cpm.
(b) No matter how small E is, there is a corresponding pair {a, b} with cp(4 = db). Case (a): Let c > 0 be an expansive constant for g. Choose a finite open cover { Q } of Xsuch that diam(cpU,) < t c for all i. Let E~ > 0 be a Lebesgue number of the cover {U,}. Then for each n there is i such that {f"(a),f"(b)} c U, where {a, b} is the pair corresponding to E ~ Hence . for all n, e(cp o f " ( a ) , cp of"@)) < $c. Since cp of" = g" 0 cp, it follows that for all n, e(g"cp(a),g"cp(b)) < t c , which contradicts the fact that c is an expansive constant for g. Therefore, go is an expansive constant for pairs of points with distinct cp images. Case (b): Since cp(a) = cp(b),a and b E cp-'(cpE,,,)or a, b E X\cp-'(cpEq). If a, b E cp-'(cpE,,,) thenf is expansive by hypothesis. If a, b E X\cp-'(cpE,,,), then attention will be given to pairs of points lying outside a certain neighborhood of E,,,. Let V, be a neighborhood of the branch point p so small that diam(cp(5))< q. Denote by V the union of all the sets V, for p E E,. If e( y, cp(E,)) > q, then y 4: cp(V). Now we prove that if x and x' are distinct points of the compact set X\cp-'(rpV) such that cp(x) = cp(x'), then there is /3 > 0 with d(x, x ' ) > /3. For otherwise, there is a sequence of pairs {xnrx ; } c X\cp-'(cpV) for which 0 < d(x,, xi) < l/nandcp(x,) = cp(x;)forn 2 1. Withoutlossofgenerality it may be assumed that the sequences { x , } and { x : } converge to the common limit point 2. Then f E X\cp-'(cpV) for which there is no neighborhood on which cp is injective, i.e., 2 E E,,, ,thus contradicting the choice of V . Choose c2 with 0 < E~ < /3. If d(x, x ' ) < t 2 and cp(x) = cp(x'). then { x , x ' } c cp-'(cpV). Next consider the pair {a, b} for which cp(a) = cp(b), i.e., a, b 4 cp-'(cpV) and d(f"(a),f"(b))c c2 for all m. By hypothesis there is n with e(g"0 cp(a), cp(E,)) > q, and so g" 0 cp(a) 4: cp(V). Since ~ ( a =) cp(b), it is clear that g" 0 cp(a) = g" 0 cp(b) and then g" cp(a) = cp o f " ( a ) = cp of"(b) since g o cp = cp of. This implies thatf"(a),f"(b) 4 cp-'(cpV) for this particular n. Therefore d(f"(a),f"(b))> /3 > c2, which contradicts the choice of a and b. Therefore e2 is an expansive constant for pairs of points in X\cp-'(cpE,) that have the same cp image. It follows that E = min{Eo, E ' , E ~ } is an expansive constant for f. 0 0
The following is a corollary of Theorem 2.21.
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N . Aoki
2.22. Corollary. Let X and Y be compact metric spaces and cp : X + Y be a covering map. I f g : Y + Y is an expansive homeomorphism andf :X + X is a homeomorphism that covers g (i.e., cp 0f = g 0 cp), then f is expansive. As a result related to Corollary 2.22, we have the following theorem.
2.23. Theorem. Let f : X + X be an expansive homeomorphism and cp : X + Y be a covering map for which there is a homeomorphism g : Y Y with g 0 cp = cp of. Then g is expansive.
Proof. Let c > 0 be an expansive constant for$ From the compactness and the fact that B, = 0,it follows that there is q > 0 such that d(x,, x2) > q whenever rp(xl) = cp(x2)and xI # x2.Since Xis compact and cp is a covering map, there is a k > 0 such that cp is k-to-1 at all points of X. To each sufficiently small open neighborhood V, of y E Y there is a collection of open sets { Uy,i: 1 < i < k} such that cp-'( V,) = Uf=,Uy,iand cp, uv, is a homeomorphism of Uy,ionto V,,. The set V, can be chosen so that the diameter of the sets Uy,iare less than some preassigned number by picking sufficiently small open sets U,', . . . , UL, one around each of the points of q - ' ( y ) , and by taking
instead of with Uy,iand V,. Let the diameter of Uy,ibe so small that IY~,~ and f(Uy,i)andf -'(Uy,i)have diameter less thanmin{c, t q } for ally and i. Choose a finite cover { y : 1 < j < r} of Y from { V,, :y E Y}, and let the corresponding U's be called {q,i: 1 < j < r, 1 < i < k}. Let jl > 0 be a Lebesgue number for each of the covers {Y}, {g(c)} and {g-'(V;)}. Note that ~of(U,,= ~ )g(y)andcpof-'(V,,,) = g-'(y),andthat U,,iand ycouldhave been chosen so small that cp is a homeomorphism of f(U,,i) and f -'(V,,i). If g is not expansive, for every E > 0 there corresponds a pair of distinct points {a, b} c Y with .p(g"(a), g"(b)) < E for all n. Let E c jl. Then for each n, there i s j = j(n) such that {g"(a), g"(b)} c y(,,).Hence for a given n, such that images there is to each i (1 < i < k) a unique pair of points in q(n),i of cp are g"(a) and g"(b). Choose i and denote by p and q the points of q(o),i that map onto a and b respectively: i.e. {p, q } c q(o),i and cp(p) = a, q(q) = b. Since f has the expansive constant c, there is m # 0, least in absolute value, such that f " ( p ) and f "(4) fail to belong to the same element of { U,,i}.The remainder of the proof is carried out under the assumption that rn is positive. Since there is a pair of integers {s, t} such that {f"-'(p), f"-'(q)} c Us,,,
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it follows that { f " ( p ) , f " ( q ) } is inf(U,,,) and d ( f " ( p ) , f " ( q ) ) < ) q . Since e(g"(a), g"(b)) < fl, it follows that there is an index u such that {g"(a), g"(b)} c V, (1 < u < r). Then we choose U,,wE {Uu,i:1 < i < k } such that f"(p) E Uu,wand denote the unique representative of c p - l o cp o f m ( q ) = cp--'og"o(b)in Uu,wby 4. Then d ( f " ( p ) , 4) < t q . From the choice of m it follows that 4 # f"(q). Hence d(cl,f"(q)) < d ( f " ( p ) , f " ( d )
+ d(f"(p), 1) < ?.
But cp o f " ( q ) = g" 0 q ( q ) = g"(b) and this implies that two distinct points of cp-'(g"(b))are closer than q . This contradicts the choice of q and proves that g is expansive. 0 2.24. Remark. Let p : E + B be a continuous map. A vector bundle chart on ( p , E, B ) with domain U and dimension n is a homeomorphism cp:p-I(U) + U x R" where U c B is open, such that the diagram
commutes: here n I ( x ,y ) = x. For each x E U we define the homeomorphism cpx to be the composition cpx : p - ' ( x ) 5 x x R" + R". Thus ify E p - ' ( x ) we have the formula cp( y ) = (x, cp,( y)). A vector bundle atlas @ on ( p , E, B ) is a family of vector bundle charts on ( p , E, B ) with values in the same R", whose domain cover B, and such that whenever (cp, 17) and (9,V ) are in @ and x E U n V , the homeomorphism 9, cp'; : R" + R" is linear. The map U n V + GL(n), x H 9, 0 cp'; is required to be continuous: it is called the transition function of the pair of charts (cp, U ) , (9,V ) . If @ = {(cp,, U , ) : i E A} we obtain a family {g,,} of traaition functions g , : U, n V, + GL(n). These maps satisfy the identities 0
gt,(x)og,k(X) = gik(X),
X E
uk,
g,,(x) = 1 E GL(n).
The family {g,,} is also called the cocycle of the vector bundle atlas @. A maximal vector bundle atlas @ is a vector bundle structure on ( p , E, B ) . We call 5 = ( p , E, B, @) a vector bundle having dimension n, projection p , total space E and base space B. Let V be a real finite-dimensional vector space of dimension n > 0. Two bases (el, . . . , en), (kl, . . . , k,,) of V are equivalent if the automorphism A : V + V such that Ae, = k,has positive determinant. An orientation of V
N. Aoki
646
is an equivalence class [ e , , . . . , en]of bases. If dim( V ) > 0 then there are just two orientations. If one of them is denoted by w , then - w denotes the other one. An oriented vector space is a pair (V, w ) where w is an orientation of V.' Given (V, w ) and (V', w ' ) an isomorphism L: V + V' is called orientation preserving if L(w) = w', otherwise L is orientation reversing. Now let = ( p , E, E ) be a vector bundle. An orientation for is a family w = { w x :x E E } where w, is an orientation of the fiber Ex such that 5 has an atlas @ with the following property: if cp:<,. + R" is in @ then rp, : ( E x ,w,) + (R", 0,) is orientation preserving. We call w a coherent family of orientation of the fibers. The atlas @ is an orientated atlas belonging to <. If has an orientation w, then is called orientable and the pair (<, w ) is an oriented vector bundle. Let M be a manifold. M is called orientable if TM is an orientable vector bundle. An orientation of M means an orientation of TM, an oriented manifold is a pair (M, w ) where w is an orientation of M . We define - w to be the orientation of M such that ( - w ) ~= -0, for all x E M. If M is connected and orientable then it has exactly two orientations w and -a. Every simply connected manifold is orientable. An alternative definition of orientable manifold is that M is orientable if it has an atlas whose coordinate changes have positive Jacobian determinants at all points. Let (M, w ) and (N, a) be oriented manifolds. A diffeomorphismf : M + N is called orientation preserving if Tf :(TM, w ) + (TN, a) preserves Orientation. Every connected 2-manifold without boundary is called a surface.
<
<
<
By lifting the expansive homeomorphism of the 2-torus given by
through the psuedo covering map, the following is proved. 2.25. Theorem. The compact orientable surface of genus 2 admits an expansive homeomorphism. See O'Brien [ 19701 for the proof (such a homeomorphism is called pseudoAnosov maps (see Definition 8.51)).
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Topological Dynamics
2.26. Definition. Letf : X + X be a continuous surjection of a metric space. The map f is called a positively expansive map if there exist a metric d (compatible with the topology of X) and c > 0 (called an expansive constant) such that x # y implies d ( f " ( x ) ,f"( y ) ) > c for some n > 0 (compare with Definition 2.1). For compact spaces this concept is independent of the compatible metric used. 2.27. Remark. Let f be a toral endomorphism of the n-torus. Then f is positively expansive if and only iffhas only the eigenvalues of modulus > 1 (compare with Theorem 2.18). 2.28. Remark. We can construct an example of positively expansive map which is not open. The following is due to Rosenholtz [1976]. Consider the subset X in the plane defined by
Given X the arclength metric. A map is defined as follows: stretch each of the small circles onto the big circle, stretch each of the upper and lower semicircles of the big circle first around a smaller circle, and then across the other semicircle and finally around the other smaller circle. More precisely we describe the map f by
2(2
z3
+ +)
if Re(z)
if
<
- 1,
-3 < Re(z) < 4,
2.29. Definition. Let X be a compact metric space. Forf :X ous surjection, we let
x,
= {( x , , K : x , E X , f ( X n + I )= x,, n
3((xfl)0") = (f(xn))om,
X((Xfl)gm)
+
X a continu-
2 01,
= xo-
03
T h e n j : X, +&is called the shift map determined byfand a = f a holds. The mapyis the homeomorphism and3-l((xn)F) = ( x , , + ~ )for ; (x,,); E 4. We say that (x/,3)is the inverse limit of ( X , f ) . 0
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648
2.30. Remark. Let f :X + X be a continuous surjection of a compact metric space and let ( X , , f ) be the inverse limit of ( X , f ) . Define a metric a for X, by a(2, J ) = C;d(x,, yi)/2’for 2 = (xi):, J = (y,): E X,. I f f : X + X is positively expansive, thenf: X, + X, is expansive. Proof. Let 6 > 0 be an expansive constant f o r 5 Then there is n 2 0 such that x # y implies d(f”(x),f”(y)) > 6. Suppose 2 # 9, then x,,, # ym for some m 2 0 and by positive expansivity d(f”(x,,,),f”(y,,,)) > 6 for some n2O.Ifk=n-m>Othen
J < f k < 2 > , r k ( J= ) ) J((fk(X0),fk(XI), . . .), ( f k C Y o ) , f k ( Y , ) ,* .))
> d ( f k ( x 0 ) , f k ( ~ o )= ) d(fkf”(xm),fkfm(ym)) = d(f”(xrn),f”(ym)) >
6,
and if k < 0 then
a(fk(2),rk(J))
= d((x-k,
>
x-k+l,.
.
(Y-kr
y-k+l,.
*
.))
4 x 4 , y-k)
= d(fm+k(xm), frn+&(
Ym))
= d(f”(xrn),f”(ym))
> 6.
2.31. Remark. (a) The closed interval I = [0, 11 does not admit positively expansive maps. Proof. Suppose g :I + I is a positively expansive map. Let I , ( & ) denote the closed subinterval [ x , x E ] for x E [0, 1 - E ] . Then there is E > 0 such that is injective. The point a E lo(+)which gives the for each x E [0, 1 - E ] , g,,x(E) greatest value of g,,0(J2)is one of the end points of Z o ( + ~ ) : i.e., a = 0 or a = + ~ / 2 . For, if a is an interior point of I&&), then we have g(0) < g(a) - v < g(a) and g(+E) < g(a) - v < g(a) for some v > 0, so that there are x I , x2 E I&) with x I # x2 such that g ( x , ) = g ( x 2 )(by the mean value theorem). This cannot happen since g is a local homeomorphism. If a = + E gives the greatest value of g on I,(+&),then it is easily checked that the point E in I must be a point of the greatest value of g on ZE/2($9. Continuing this argument, it is obtained that g : I + I is a homeomorphism, contradicting Theorem 2.38 below. 0
+
2.31. Remark. (b) The inverse limit of every continuous surjection of a closed interval is not expansive (this was asserted in Jacobsen and Utz [1960]). Proof. We give here a simple proof due to Dateyama. Let f :I + I be a continuous surjection of a closed interval I = [0, 11 and ( I , , f ) denote the
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649
inverse limit of ( I , f ) . If in particular f is a homeomorphism then f is topologically conjugate tof It is clear that (+, f') is topologically conjugate to (I,,?). Sincefis surjective, there are a, b E I with 0 < a < b < 1 such that either (l)f(a) = 0 andf(b) = 1, or ( 2 ) f ( a ) = 1 andf(b) = 0. For the case (2) we see thatf2(a') = 0 andf2(b') = 1 for some a', b' E I with 0 < a' < 6' < 1. Therefore it is enough to give a proof for the case ( I ) . Sincef: I + I satisfies (l), there are two points u, v E I (u < v ) such that f ( u ) = u , f ( o ) = v andf(x) # x for u < x < v. For, it is clear thatfhas at least two fixed points in I. Sincefis continuous, the set of fixed points is not dense in I. Thus f has the following cases: (3)f(x) > x (u < x < v ) and (4)f(x) < x (u < x < v ) . We first give a proof for case (3). Note thatf;,,,, cannot be bijective. Then we can find two points X I and x2 such that u < X I < x' < ZI and f(x') = f(x2). By using the point x2, we define yof(xo) = max{f(x): u < x < x'}. Then XI < xo < x2 < yo. Since the graph offon [u, v ] is over the diagonal set of I x I, there is a sequence x: > xy > * * * in [u, v ] with x: = xo andf(xp) = for i 2 1. For every 0 < E < x2 - xo, we have + E for some N > 0. Take 6 > 0 so small that Ix - y l < 26 xi < u (x, y E I) implies If"(x) - f"(y)I < +e for 0 < n < N. Write c' = x i - 6 and c2 = xt 6. Then f o r j = 1, 2
+
+
If"(C')
- f"(Xt>l
=
If"@')
- X0I
< +E,
and hencef"(c') < xo + E < x' since x' - xo > E . By the definition of yo we havef'"+I(d) < yo f o r j = 1,2. IffN+'(c') = yo for somej, then we can find a sequence {c:: 0 < i} c [u, v ] such that c; = cJ andf(cj) = for i 2 1. Note that {c:: 0 < i } is strictly decreasing. Define a sequence {b,} in [u, v ] by b, = f"-'(c') (0 < i < N ) and bN+,= c: (i 2 0). Since Id - xi1 < 26 f o r j = 1, 2, we have)'-@"fI -f"(xi)I = 1bN-"<E > . * * > u. for 0 < n < N. As we saw above, we obtain u + +E > x i > Since x i E [u, v ] , u E > cJ = c; > c: > * . > u and hence I b, - xp I < E for i 2 N. Therefore I b, - XPI < E for all i 2 0. Sincef"+I(d) = f(xo) = yo, we have f ' ( b o ) = fl(x,") for i > 0. Thus for i > 0, ith components of f " ( b o , b,, . . .) andf"(x,O, xy, . . .) are closer than E for all n E Z. Let x3 = max{f"+I(c'):j = I , 2). If x3 < yo, then there are c3, c4 with c' < c3 < xN < c4 < c2such thatfN+'(c3)= fN+l(c4) = c4. By (3) wecan find sequence {c::O < i} ( j = 3, 4) in [u, v ] such that cd = c' andf(cj) = c:- for i 2 1. They are strictly decreasing sequences. By a similar argument
+
,
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650
mentioned above we have that for i 2 0, ith components of p(f "(c;), f " - ' ( c i ) , . . . , c,,3 c:, . . .) and J"( f "(c,'),f "-'(c,"),. . . , c,', c f , . . .) are closer than E for all n E E . Thereforefis not expansive. The case (4) can be proved as above. 0
2.32. Theorem (Reddy [1982]). I f f : X + X i s apositively expansive map of a compact metric space, then there exist a compatible metric D , E > 0 and I > 1 such that
w,y ) G
(x, y
E
X)
* D ( f ( x ) , f ( y ) )2
m x , y).
For the proof we need the following proposition.
2.33. Proposition (Frink [1937]). Let V , be a decreasing sequence of open symmetric neighborhoods of the diagonal set A of X x X such that = XxX,npV, = AandV,+,~V,+,~ c ~V,foraNn +, 2 0.Thenthere is a metric D compatible with the topology of X such that for n 2 I , K = { ( x , y ) : D ( x , y )< 1/2"} = K-I.
Proof. Define a function ( : X x X -, R by
and for ( x , y ) E X x X we denote by c(x, y) a finite sequence x = x,, x I , . . . , x,, xn+' = y . We write U ( x , y ) a collection of all such sequences c(x, y). Let us put D ( x , y ) = inf{Ci<(xi, xi+1 )
C(X,
V ) E %(x, Y>}*
It is easily checked that (i) H X , y ) 2 D(X9 y>, ( x , y ) E X x X , (ii) D ( x , y ) < D ( x , z ) D(z, x ) , x , y, z E X , (iii) D ( x , y ) = D( y, x ) . Since D ( x , y ) < ((x, y ) < 1/2" for ( x , y ) E V., we have V. c { ( x , y ) : D ( x , y ) < 1/2"}. If we hold that for n 2 1 (iv) { ( x , y ) : D ( x ,y ) < 1/2"} c K-1, then x = y whenever D ( x , y ) = 0 since ( x , y ) E nV, = A. From (ii) and (iii) together with this fact, it follows that D is a metric compatible with the topology of X. If we have the following: (v) for each finite sequence x = xo,x , , . . . , x,,+~= y
+
n
((x,Y)
< 2 1 ( ( x i , xi+\), i=O
Topological Dynamics
65 1
then (iv) is obtained. For, if D ( x , y) < 1/2", by (v) we have
< 2 . 112" = 1/2n-1 and so (x, y ) E V,- I . The remainder of the proof is only to prove that (v) is true. If n = 0 then t(xo,xI) < 2t(x0, xI). Suppose (v) holds for 0 < k < n - 1, i.e., t(xo, xk) < 2Zf&'t(xi, x i + l ) . Letting a = ZI:i((x,, xi+l), we have that either ( 4 a x 0 3 XI) d la, or (vii) t(xo, xI) > +a. Case (vi): Let k 2 1 be the greatest integer among {k'} such that XfLilt(xi, xi+,) < ;a. Then we have Zi!it(xi, xi+l) d $a and by hypothesis it- I
5(Xk+l,
x,) Q a,
t(&,& + I )
< a. 1/2" < a
For this a there is m > 0 such that < 1/2"-' and (xo, xk), (xk, (xk+l, x,) E Vm-l, from which (xo, x n ) E Vm-2 (we consider Vm-2= K, if m - 2 < 0) and hence n- I
Case (vii): Since t(xo, xI) > +a, we have XYi;t(xi, x i + l ) < $a and by hypothesis of induction n- I
< 2 1 < ( x i , xi+l) < a, E Vm-2.Therefore t(xo, x,) < 1/2"-' xn)
i=O
and so (xo,x,) In any case (v) holds.
< 2a = 2ZYzit(xi, xi+l).
Proof of Theorem 2.32. Let c > 0 be an expansive constant for J Let Wo = X x X and for n 2 1 let
w,
= {(x,
y):d(f'(x),f'(y))
< c, 0 < j
I}.
Then it is easily checked that { W,} is a decreasing sequence of open symmetric neighborhoods of the diagonal set A such that 0 : W, = A and letting g =fxf:XxX+XxX,g(W,) = W,-l n g ( W , ) f o r n 2 I.SinceW,is open, there is 6 > 0 such that Nd(A,d) = {(x, y ) :d(x, y ) < S} c W,.
N.Aoki
652
Since X is compact and 0;Wn = A, there is N 2 1 such that W 1 + ,c N 6 / 3 ( 4 d ) . Hence W + N O K+NoW , + N c W,. Now define a new sequence { V , } as = W, and V , = for n 2 1 . By Proposition 2.33 there is a metric D for X such that V , c {(x, y):D(x, y) < 1/2”} c K-, (n 2 1). Indeed, the sequence { V , } of neighborhoods of A satisfies all the assumptions of Proposition 2.33 except the relation V,+, V,+,0 V,+, c V , for n 2 0. The relation holds for n = 0, 1 . To prove that the relation is true for all n 2 2, let (x, y) E V,+,o V,+,o V,+I for n 2 2. Then there are a, b E Xsuch that (x, a), (a, b), (b, y ) E V,+,and s o f o r 0 < j < (n - l ) N
w+(n-l)N
0
gJ(x9 Y ) = ( f W
c g’(
f’W) (f’(4,f’(b)) O
O
(f’(b), fJ<
V,+I ) “I?’(V,+I ) og’(K+ I )
w+nN-jo w+nN-jo w + n N - j
c
& o b o &
c
&.
Therefore d(f’(x), f J ( y ) ) < c for 0 w+(n-I)N
=
K.
< j < (n -
1) N and hence (x, y) E
A.
Suppose 0 < D(x, y) < Then there is n 2 - 1 such that (x, y) E V,+l\K+2and so I / P 3 < D(x, y) < min{&, 1/2“+’}.Hence n 2 3. Since (x, y ) -5 K+i\K+2 = w + n N \ w + ( n + l ) N , there i s j such that
nN < j
< (n +
I ) N and d(f’(x),f’(y))
> c.
Let (2, w ) = ( f ” ( ~ ) , f ~ ~ ( y )Then ) . 0 < (n - 3 ) N < J - 3 N < (n - 2 ) N and d(f’-3N(z),f’-3N(~)) = d(f’(x),f’(y)) > c. Hence (z, w ) # W , + ( n - Z ) N and D(f3N(~),f3N(y)) 2 1/2“ > 2 D ( x , y). Put y = 2-1/3N, L = y and define a metric D‘ by
c YiD(Y(4,fi(Y)).
3N- I
D’(X9
Y) =
i=O
Then D‘ has the desired property.
2.34. Remark. Letf: X + X be a positively expansive map of a compact connected metric space. Iff is an open map, then f has fixed points in X. Proof. Sincefis positively expansive and open,fis a local homeomorphism. This follows from the fact that there are no pairs (x, y) of distinct points of X arbitrarily closed to x withf(x) = f(y) by positive expansivity. Since X is compact and connected, it is checked thatf: X + Xis a k-to-1 map with k > 1 (such a map is called a covering map). In fact,f : X + X is not bijective by Theorem 2.35. Hence there is q > 0 such that for x, y E X
Topological Dynamics
653
with x # y,f(x) = f(y ) implies d(x, y ) > 4q.If this is false then for every n > 0 there are x,, y, E X (x, # y,) such that f(x,) = f ( y , ) and d(x,, y,) < l/n. Since d(x,, y,) + 0 as n + co, we have that x, + x and y , + x as n + co. Sincefis a local homeomorphism,f: U(x) + f ( U ( x ) )is bijective for some neighborhood U(x) of x. This cannot happen. Let Y, = ( y E X:card(f-'x) = k} fork 2 1. Then each Y, is open and closed, and X = Y, u * * u Y, for some 1 2 1. To see this, for each x E X let U(x) be an open neighborhood of x with diam(U(x)) < 4q where q is as above. Since X is compact, there is no > 0 with u:Il U(xi) = X. Assuming I = 00, we can find Y, # 0 such that for y E Y,, there is 1 < i < no so that A = f-'(y) n U(xi) contains at most two points. Let x, x' E A with x # x'. Then 0 < d(x, x') < 4q and f(x) = f ( x ' ) , thus contradicting a local homeomorphism. Therefore Xis covered by the union of finite sets Y,, . . . , Y,. To show openness of Y,, let y E Y,. Then d(xi, xi) > 4q for x i , xj ~ f - l y() (i # j ) . Sincefis a local homeomorphism, there are open neighborhoods U(xi) of xi such that U(xi) n U(xj) = 0 and diam(U(xi)) < 4q for 1 < i < k. Note that nf=,f(U(xi)) is an open neighborhood o f y . To obtain the conclusion, it is enough to see that n;=,f(U(x,)) c Y,. Since ( ) f = z l f ( U ( x ic) ) Y, u Y,,, u * . . u Y,, we prove that n f = , f ( U ( x i )n ) (Y,, u . . . u Y,) = 0.If this is false, then there is for each 1 < i < k, an open neighborhood U,(x,) c V ( x i ) with small diameter A such that u . u Y,) # 0, from which we take a point nf=,f(Ui<xi>> n y,. Then there is XI") E U,(xi) with f(x,'L')= y,. If x,'L) xi as % 0, then lim,y, = lim,f(x,!')) = y. But y, E Y,,, u * * u Y, and s o f - ' ( y l ) \ uf=,UA(xi)# 0. Hence we can find x,' 4 u~=,U,(xi)with f(x;) = y,. If xi -+ x' as % + 0, then x' # U i ( x i ) and f(x') = y. This contradicts f - ' ( y ) c Uf=,U,(x,). Since each Y, is open and closed and X is connected, X is k-to-1. we have X = Y, for some 1 < k 6 I, i.e., f :X By Theorem 2.32, there are a compatible metric d, 6 > 0 and A > 1 such that d(x, y ) < 6 implies d(f(x),f( y)) 2 M(x, y). Since f :X -, X is a covering map, if V is an open set of diameter less than 6 and if q E f - I ( V) then there is a unique open set containing q of diameter less than (I/%) 6 which maps homeomorphically onto V . This condition enables us to lift chains of small open sets. Let f V,: 1 < i < n} be a fixed open cover of X so that the diameter of each is less than 6. Let xo E X withf(x,) # xo.Since X is connected, there is a chain of open sets chosen from among { V,} fromf(xo) to xo. Lift this chain to a chain of open sets from xo to x, such thatf(x,) = x,. Further, lift this chain to a chain of open sets from x , to x2 such thatf(x,) = x,, and continue this inductively. Since the original chain had length at most n6, the length of 1
,
u;=l
N.Aoki
654
the first lifted chain is at most ( l / I ) n 6 and in general the length of the kth lifted chain is at most (l/A)kn6. If j < k then d(xj, x k ) < {(l/I)j+’+ . . * ( 1 / I ) k } n 6 c (l/A)j(nd/(A- 1)). Thus {xi} is a Cauchy sequence, which therefore converges to y E X . Since f ( x i ) = xi-‘, we have f ( y ) = f(limjxj) = limjf(xj) = limjxj-, = y. 0
+
2.35. Theorem. I f f : X + X is a positively expansive homeomorphism of a compact metric space, then X is ajinite set. Proof. Sincefis positively expansive, by Theorem 2.32 there exist a compatible metric D, 6 > 0 and 0 < I < 1 such that D(x, y) < 6 ( x , y E X ) implies D(f-’(x),f-’( y)) < I D ( x , y). Let 0 < E < 6. Then we can find 6’ > 0 such that for all i 2 0 D(x, y ) < 6’ ( x , y
E
X ) => D(f-i(x),f-i(Y)) <
8,
from which the set @- = { f - i :i >, 0 } is equi-continuous. Write @+ = { f i :i > 0 } and put 0 = @- u @+. By a metric e for @ defined by
e ( f ,g )
= m a x W f ( x ) , g ( 4 ): x E
x>,
is totally bounded, i.e., for B > 0 there is in with U i = I U , ( f - i n )3 @-. Defining a map G : 0- + @+ by G(f-’)= f i for i 2 0, we claim that G is an isometry. Therefore @+ = G ( W ) c U k = l G ( U , ( f - i n ) c ) U,k_,U.(f”)and so @+ is totally bounded. Since Xis compact, 0’ is uniformly equicontinuous. Let c > 0 be an expansive constant forf. By equicontinuity there is v > 0 such that D(x, y ) < v implies D(f’(x),f’(y)) < c for all i 2 0. But x = y by positive expansivity, which implies that each x is an isolated point. Therefore Xis finite. 0 2.36. Definition. Letf: X + X be a homeomorphism of a compact metric space. Let x E X and E > 0. We define the local stable and local unstable set of x by K ( x , d ) = { y E X : d ( f ” ( x ) , f ” ( y ) )< E for n > O } , e ( x ,d )
=
{y
E
X : d ( f - ” ( x ) , f - “ ( y ) )<
E
for n 2 O}.
2.37. Proposition. f is expansive with expansive constant c ifand only if there is c > 0 such that for all r > 0 there exists N > 0 such that for all x E X and all n 2 N
Topological Dynamics
655
Proof. If this is false then we can find sequences x,, yn E X , m, > 0 such that y , E v ( x , , , d), lim m, = + 00 and d ( f m " ( x , ) , f m " ( y ,> ) ) r. Since Y , E ~(x,,d),wehaved(f"of""(x,),f"~f""(y,)) < cforall -m, < n.If f m n ( x n+ ) x and f " " ( y , ) + y as n + co, then d ( f " ( x ) , f " ( y ) )< c for all n E H. Furthermore, d(x, y) = lim d(f""(x,),f " " ( y , ) ) 2 r, thus contradicting expansivity. Conversely if d ( f " ( x ) , f " ( y ) )< c for all n E Z, for any r > 0 we have y E w(x)by the first relation of (*) and hence y = x. 2.38. Definition. For x
E
X the stable and unstable sets are defined by
W s( x,d ) = { y E X : lirn d ( f " ( x ) , f " ( y ) )= 0}, n-m
W u ( x ,d ) = { y
E
X :n-m lim d( f
- " ( x ) , f -"( y ) ) = 01.
2.39. Proposition. Let E > 0 be the number less than expansive constant for f . I f f is an expansive homeomorphism, then
wyx, d )
=
u u f"
f -"WE"(fnx, d ) ,
n2O
W U ( xd, ) =
w,u(f-"x, d ) .
n bO
, then , there is n 2 0 with f " ( y ) E Proof. If y E Una,f - n V ( f d")~ v ( f " x , d). By Proposition 2.37, for r > 0 there is N 2 0 such that for all m 2 N f " + " ( y )E f " K ( f " x , d ) c
W(f"+,x, d ) ,
and so d(f " + " ( y ) f"+"(x)) , < r (m 2 N ) , and therefore y E W s ( x ,d). Conversely, if z E W s ( x ,d ) and E > 0 then we can find N 2 0 such that d ( f " ( x ) , f " ( y ) )< E for n 2 N. Hence d(f'of"(x), f'of"(y)) < E for all j 2 0 i.e., f " ( z ) E K(f Nx,d ) and so zEf-"K(f"x,d) c
u
f-"K(f"x,d).
0
n,O
2.40. Theorem (Reddy [1983]). Let f :X + X be a homeomorphism of a compact metric space. I f f is expansive, then there exist a compatible metric D , y > 0, 0 > 1 c 1 and a 2 1 such that y
E
y < x ,D )
=>
D ( f " ( x ) , f " ( y ) )< a l " D ( x ,Y ) ,
y
E
y ( x ,D)
3
D ( f - " ( x ) , f - n ( y )< ) apD(x, Y )
for all n 2 0.
N . Aoki
656
2.41. Definition. The metrics D stated in Theorems 2.32 and 2.40 are called hyperbolic metrics forf, and the numbers I are called a skewness off. Proof of Theorem 2.40. As before let W, = X x X and for n 2 1
w,
= {(x, y):d(fJ(x),f’(y)) < c,
l j l < n}
where c is an expansive constant forf. Then { W,} is a decreasing sequence W,, if (x, y) 4 A, of open symmetric neighborhoods of A. Since A c Un2, then there is n 2 0 with (x, y) 4 W,. This implies W, = A. Hence there are E > 0 and N 2 1 with P t ( + N c NE,3(A,d ) c NE(A,d ) c W,. We now define a new sequence of open symmetric neighborhoods of A as V, = W, and V , = P t ( + ( n - I ) N (n 2 1). Obviously 0; V , = A. To use Proposition 2.33, we prove that V,,, V,+, V,,, c V , (n 2 0), which is one of the conditions of Proposition 2.33. Obviously V, V, V, c V, and by the choice of E and N, V , o V , o c V,. The proof is done by induction on n. Suppose (x, y) E V,+, V,,, 0 V,+, for k > 1. Then there are z , w E X with (x, w), ( w , z), ( 2 , y) EG+,. If (p, q) is any of these three pairs then d ( f J ( p ) , f ’ ( q ) )< c for l j l < 1 kN. If Iil < 1 + (k - l ) N and Ikl < 1 + Nthen Ii + kl < 1 + k N a n d s o
n,
0
0
0
0
0
+
4fkOf’(P),
fkof’(q))
=
d ( f k ” ( p ) , f k + ’ ( q )< ) c.
Therefore ( f ’ ( p ) ,f i ( q ) )E V, and hence ( f i ( x ) , f i ( y ) )V~, o V , o V , c V,
Iil < 1
+ ( k - 1)N,
from which d ( f ‘ ( x ) , f i ( y ) ) < c for l i l < 1 + (k - 1)N. Therefore V,andso v k + l o v k + l o v k + l c V,. By Proposition 2.33 there is a metric D such that V, c {(x, y ) :D ( x , y) < 1/2“} c V,-, for all n 2 1. Let A c X x X and denote by x A the subset {y~X:(x,y)~A}ofX.Thenwehavefo2 rn1
(X,Y)E
f(Wc(X,
4 n xw,)
=
W f x , 4 n f ( x ) K+l,
f-’(w(x, d ) n x W , ) = T ( f - ’ x , d ) n f - ’ ( x ) W,,,. Indeed, the first equality is computed as f(Wc(X, 4 n xw,)
=
f{ y : d ( f ’ ( x ) , f ‘ ( y ) )<
= {z:d(fkf(x),fk(z)) =
<
Wc(fx3 4 n f ( x )% + I .
c, i c,
2 -n}
k 2 -(n
+ l)}
Topological Dynamics
657
Let N be as above. By induction we have for all n 2 1 fN(K(X,
4
nXK)
=
w,s(f"x,
fpN(K"(x, d ) nX K ) = ~ " ( f
4 n f N W K+l, - ~ dx ), n f - " ( x ) K+,.
From now on we show that D is a hyperbolic metric for$ Since there is > 0 such that D ( x , y) < q implies d ( x , y) < c, we have W,"(x, D ) c W , ( x , d ) for x E X. Put v = min{r], i} and lety E F ( x , D).We first prove that D ( f ' " ( ~ ) , f ' ~ ( y ) )< +D(x, A. D),we have in+*< D ( x , y ) < and so Since (x, y) 4 V,+, 3 N1,2n+2(A, n 2 1. Since y E W , ( x , d ) n x V , , we have r]
a
f3"(
.Y)E
W.'(f3"x3
4
nf3'"(x)
K+3
c f 3 " ( x ) N1p+3(A3D ) ,
i.e., ~ ( f ' " ( x ) , f ~ ~ (
< (1/2>kD(X,Y).
We choose 0 < A < 1 with A - L
=
2 and show that if y E v ( x , D ) then
D ( f " ( x ) , f r n ( y ) ) G 8A"D(x, y ) , m 2 0.
+
Put m = kL j for k 2 0 and 0 V,\ V,+I for some n 2 1, we have
<j
< L. Since ( f " ( x ) , f k L ( y ) ) E
f k " ( y ) E W , ( f k ' x , d ) n f k L ( x )W + ( n - I ) N ,
and therefore
f from which (
ukL
(x) Since and hence
1
Since m =
1
1 .
- _ .
.
- .
By replacing f by f-',we can establish the required condition for y E wv"(x, D ) . 0
658
N.Aoki
3. Expansivity and dimension In this section we shall try to characterize topologically compact metric spaces which admit expansive homeomorphisms. 3.1. Definition. Let X be a compact metric space. The dimension of the space Xis said to be less than n if for all r > 0 there exists a cover a of X by 1 open sets with diameter c r such that each point belongs to at most n sets of a. (If the topological dimension is of interest, the reader should see Hurwicz and Wallman [1948]). It is known that Xis 0-dimensional if and only if it is totally disconnected, i.e. if the connected component of each point is a single point.
+
3.2. Theorem (Maiii [ 19791). I f f : X + X is an expansive homeomorphism of a compact metric space, then the dimension of X is finite.
Hereafter let c > 0 be an expansive constant for f and fix 0 c
E
< +c.
3.3. Lemma. There is a 6 > 0 such that if d(x, y ) < 6 ( x , y E X ) and E < sup{d(f J ( x ) f, ' ( y ) ) : O < j < n} < 2.3 for some n 2 0, then d ( f " ( x ) , f " ( Y ) ) 2 6.
Proof. If this is false, then there are sequences x,,, y,, E X , m,, > I, > 0 such that d(xn, yn) + 0, d(Smn(Xn),fmn(yn)) 0, W " ( X n ) , f C ( Y n ) ) 3 E and sup{d(f"(x,,),f"(y,,)):O < m < m,,} < 2.5. Since X i s compact, we suppose that f " ( x , ) + x and f ' " ( y , ) + y as n + 00. Then d(x, y) 2 E and d ( f " ( x ) f, " ( y)) < 2.5 for all n E Z. 0 +
3.4. Lemma. For all @ > 0 there exists N = N ( q ) > 0 such that E < sup{d(f"(x),f"(y)):InJ < N} whenever d(x, y ) 2 q . Proof. If this is false, then there exist sequences x,, y , E X with d(x,, y,) 2 e such that sup{d(f J ( x , ) ,f'( y,)): l j I < n } < E . If x, + x and y,, + y as n + 00, then d(x, y ) 2 q and d ( f " ( x ) ,f"( y)) < E for all n E Z.
0 Proof of Theorem 3.2. Let 6 be as in Lemma 3.3 and choose a cover { V ,: 1 < i < I } of X by open sets with diameter < 6. To obtain the conclusion of the theorem, we show that dim(X) < 1' - 1.
659
Topological Dynamics
For each n 2 0, choose 6, > 0 such that d(x, y)
f'( y)) c E for all ( j I < n. We write
-
qj =
< 6,
implies d(f'(x),
(*I
f " ( Q ) nf-"(U,)
Define x y for x, y E vi:,if there exists a sequence x = x,, x I , . . . ,xp = y such that d(x,, x,+,) c 6, for all 0 < r < p - 1 and x, E Qyj for all 0 < r < p. Denote by U$ (1 < k < k ( i , j , n)) the d,-components of qj, i.e., the equivalence classes of y j under the relation x y. it is easily checked that each Q:jk is open and they cover X. We claim that
-
(**I
lim (sup diam(U,4k)) = 0. k.i.j
Indeed, if this is false then we could find e > 0 and a large number n, say n > 2 N ( e ) , N ( e ) given in Lemma 3.4, such that in some Y';."there are x, y with d(x, y) > e. Let x = x,, x l r. . . ,xp = y be a sequence in such that d(x,, x,+,) < 6, for all 0 < r < p - 1. Let us put
vj
< n}.
s, = sup{d(f"(x,),f"(x,)):Iml
Then sp >
by Lemma 3.4. From the choice of 6,, it follows that sI < E and for 1 < r c p. Choose r such that s,. < E if r' < r and s, > E . Then s, < 28 and therefore d(f-"(x,),f-"(x,)) < 6 sincef-"(x,), f-"(x,) E Q..Sincef"(x,),f"(x,) E U,, we haved(f"(x,),f"(x,)) < 6, and so - s,l
E
<E
s,
=
sup{d(f"(x,),f"(x,)):Iml
< n} < 2.5.
Letting xi = f-"(xo) and x; = f-"(x,), we have sup(d(f"(x~),f"(x~)):O< m
< 2n} < 2.5.
Since d(x& xi) c 6, by Lemma 3.3 we have d(f2"(x& f2"(x;)) = d(f"(x,), f"(x,)) > 6, thus contradicting d(f"(x,), f"(x,)) < 6. Thus (**) was proved. It only remains to be shown that for each n, every point of X belongs to at most 1' sets of the cover {Uilt;.k: 1 < i , j < I, 1 < k < k ( i , j ) } . Suppose
n {Q;?:I
s
m
< s} z 8.
n.k,
If (im,j,,,)= (i*, j f i ) , then we have Qh,jm = Q:: since they are both 6,-components of U,"', and have nonempty intersection. This implies that to different values of m correspond different values of the couple (im,j m ) . Therefore, s < 1'. 0 3.5. Remark. (a) Letf: X -+ X be a positively expansive map of a compact connected metric space. Iffis an open map, then the dimension of X is finite.
660
N. Aoki
Proof. We consider the inverse limit (X,,3 ) of (X, f ). Sincef is k-to-1, there is a neighborhood base for %each of whose members is the directed product of a basic neighborhood in X with the Cantor set. Sincef : X + Xis positively expansive,f: X, + X, is expansive by Remark 2.31. By Theorem 3.2, X,is finite-dimensional, and hence the dimension of X is finite by the above fact. 0
3.5. Remark. (b) Iff :X + Xis a positively expansive map (need not open) of a compact metric space (need not connected), then Xis finite-dimensional. This is easily checked by taking v,:i = V, nf ( q ) instead of (*) in the proof of Theorem 3.2. 3.6. Theorem (MaiiC [1979]). Iff: X -, X is an expansive homeomorphism of a compact metric space, then every minimal set for f is zero-dimensional. For the proof we need the deep structure theorems due to MaiiC for expansive homeomorphisms. Before starting with the proof, we shall give the same for positively expansive maps to clarify the structure of the behaviour of expansivity. 3.7. Theorem. Ifa continuous surjectionf : X expansive, then X is zero-dimensional.
+
X is minimal andpositively
3.8. Lemma. Let X be a compact connected metric space and A be a proper closed subset of X . If x E A and C is the connected component of x in A , then C n a A # 8 where a A denotes the boundary of A . Proof. Let G$ be the collection of all open and closed subsets under the relative topology of A such that C c K c A . Since X is compact we have C = n { K : K E W } . Suppose C n a A = 8. Then U { X \ K : K E G $ } =) a A . Since d A is compact and X\ K is open and closed, a A is covered by the finite union of X\ Ki. But n i K i = K is open and closed, K E G$ and K n a A = 8. Since K is open in A , there is an open subset U of X such that U n A = K . Since A = a A u int(A), we have K = U n A = U n ( a A u int(A)) = U n int(A), i.e., K is open in X . Since K is closed in X , we have X = K (i.e., a A = 8) and therefore A = X , a contradiction. 0 Let y > 0. For x E X let X,(x) be the connected component of x in B,(x) where B,(x) = { y E X : d ( x ,y ) < y } , and put aBy(x) = { y E X : d ( x ,y ) = y } .
Topological Dynamics
66 1
Proof of Theorem 3.7. Sincefis positively expansive, by Theorem 2.32 there exists a compatible metric d, to > 0 and M 2 1 such that d(x, y) < E, (x, y E X ) implies d(f"'(x),f "( y)) 2 3d(x, y). Sincef: X -,Xis minimal, we have X = o/o = u & ' O f M ( f k ~for ) x E X . Write Ek = n,"=,f'"Of,(fkx) for 0 G k 4 M - 1. Since f M O f M ( f k x )c Of,(fkx), f M ( E k )= Ek is nonempty and ur=i'Ek= X . It is easily checked that each Ek is a minimal set forf"'. Henceforth, we replace Ek by X and f"' by f and give the proof of the theorem. Suppose dim(X) > 0. By Lemma 3.8 there are x, E X and t j > 0 such that & , ( x o )n aB,,(xo)# 0. If 0 < 6 < t j it follows that Xa(x,) n aB,(x,) # 0. Let S = min{+c, +q,}where c is an expansive constant for fi and fix O < E < S . The proof is done by running on the three claims. Claim I. Let x E X and A be the connected component of x in B,(x). If A n B,(x) # 0 for some 0 < 6 < E , then there exist a, /IE ~ ( A and ) compact connected sets A,, A, such that (a) a E Am = Ba(a), B E Ap = &(B), (b) A, n aB,(a) f 0,A, n a&(b) # 0, (c) inf{d(z, w):z E &(a), w E B,(b)} > 6. Proof. Take y E A n aB,(x), then
Thus there are a, b E f ( A ) with inf{d(z, w):z
E
Ba(a),w
E
B,(b)} > 6 ,
and so &(a), B&?) satisfy (c). Let A,, Ap be the connected components of a, B inf(A) n B 6 ( a ) , f ( A )n B,(/3) respectively. Sincef (A) is connected and a 4 Ba(fi)and f l $ &(a), it follows that A, n dB,(a) # 0 and Ap n all&?) # 0, and so Am,Ap satisfy (b). Obviously a and fl satisfy (a). Claim 2. There exist compact connected sets A,,, x,, E A,,, an open set U and t j > 0 such that for 0 < 6 < t j and all n (a)' A, n a&&,,) # 0, (b)'f(An) 3 An+l, (c)' U n A, = 0. Proof: As we saw above, we have Ea(xo)n aB,(x,) # 0.Write A,, = Ca(xo). Since diam(A,) < 26 and diam(f(l2,)) 2 36, we can find a nonempty open set U such that diam(U) < +6 and U n A,, = 0.Suppose that we constructed
N.Aoki
662
Ak and xk E Ak (0 < k < n - 1) satisfying (a)', (b)' and (c)'. By (a)' and Claim 1 there are c1, B E f (A,-l) and compact connected set Au c f(A,,-l) n &(a) and A, c f(A,,-l) n B,(B) which satisfy (a), (b) and (c) of Claim 1. Since d(Aa,A,) > 6, we have U n A, = 8 if U n Au # 8. Thus, letting A, = A, and x,, = B, (a)', (b)' and (c)' would be satisfied. Claim 3. Now we are ready to derive a contradiction. By Claim 2 there is a collection of compact connected sets Afl(n 2 0) such that n:=of-"(A,) # 8 and U n f -"(A,)) = 0.Ifp E n;f-"(A,,) then we havef"(p) 4 Ufor all n 2 0. This cannot happen sincefis minimal.
(or=,
We shall prepare some propositions to be used in proving Theorem 3.7. 3.9. Proposition. Iffor some x E X and m 2 O , f m W ( x ,d ) n W ( x ,d ) # then X contains a periodic point.
8,
Proof. Take y E W s ( x ,d ) nf"W s ( x ,d ) and put z = f - " ( y ) . Then f"(z) E W s ( x ,d ) = Ws(z, d ) . Therefore lim,,+,d(f"f"(z),f"(z)) = 0. If f m n ( z )-P w as n + co then d(w, f " ( w ) ) = lim d(f"f""(z), fmn(z)) = lim,d(fmnfm(z),fmn(z))= 0. 0
Define Xi(x) and X:(x) as the connected components of x in y ( x , d ) n Bs(x)and w ( x , d ) n B,(x) respectively. Let c > 0 be an expansive constant forf. Henceforth, fix 0 < E < ic. 3.10. Proposition. Ifdim(X) > 0, then there exist 0 < r < E such that for 3 < 6 < r there is a E X such that Xi(a) n aB,(a) # 8 or X:(a) n aB,(a) # 8. Proof. Let Xr(x)be the connected component ofx in B,(x).Since dim(X) > 0, we can find x E X and r > 0 such that X,(x) n ~ B , ( X#) 8 (by Lemma 3.8), and so &(x) n aB,(x) # 8 for 0 < 6 < r. Suppose there is 0 < 6 < r such that C,U(y)n aB,(y) = 8 for all y . We now prove that there exists a E X such that Xi(a) n dB,(a) # 8. To find a E X we construct a collection of compact connected sets A, (n 2 0) and a sequence of points x, E A, such that for some sequence of mn > 0 the following conditions hold: (i) f - " " ( X n ) = xn+1, (ii) f-mn(An)3 A n + I , (iii) A,, n aB,(x,) # 8, (iv) f'(A,) c B,(fjx,) (0 < j < m , - l ) .
If we established the above conditions, then there is a subsequence { x , , }
Topological Dynamics
of {x,} such that xni -, a as i
+
663
co. Fix { x n i }and define
It is clear that a E A and A is compact. We show that A is connected. Indeed, suppose A is not connected. Then there are nonempty closed sets Fi ,Fz such that Fl n F2 = 8 and A = Fi v F,. If a E F,, then for b E F, we can find b,,., E A,,,, such that b,,,, + b ( j + 00). Since {x,,,} is a subsequence of {x,,}, we have xn,,, + a ( j -, 00). Since Fl n F2 = 0, there is a neighborhood U(FJ of F, such that U(F,) n U(F,) = 8. But each A,,., is connected and we can find { yn,,,} such that Y n , , , 4 u ( F i ) n u(F2) and ~ n , , ,E An,,,. If ~ n , , , Y ( j + 00) then y E A, but y 4 Fi u Fz. This is a contradiction. By (iv) we have +
0 <j
< m,,-l =>f’(A,) 0 < j < mn *f’(An+I)
c B,(fx,), c B&(f’xn+i)*
Since x, = f ’ ” ” ( ~ , +by~ (i), ) by (iv) we have (v) f J ( A n ) c B & ( f m n + ’ X n + i ) , 0 < j < m,-i, i) and by (ii), A, 3 Jm”(An+1). Hence by (v>,fm.+’(~,+I ) c f’W c &(f””+’Xn+ (0 < j < m f l - l ) Hence . we have (vi) f’(An+l) c B&(fJxn+i), mn < j < “ I n - 1 + mn, andinductivelyforn Z l , f J ( A n )c B,(f’xn), 0 < j < mo ml .* * m f l P If i . n + 00 thenfJ(A) c B , ( f a ) , 0 < j < co,and hence A c y ( u , d ) . Since x,,., + a ( j + a),there is y , , E A,,., n aB,(x,,,,) such that 6 = lim,,,d(yn ,.,, xn,,,) = d ( y , a), i.e. A n all,@) # 0 and by Lemma 3.8, c;(a)n # 0. The remainder of the proof is only to construct the sequence { A n } of compact connected subsets satisfying (i), (ii), (iii) and (iv). Let A, = C6(x). Then l\o n aB,(x) # 8.Note that Cg( y) n aB,( y ) = 0 for y E A’. Suppose are constructed. Then $ W(X,-,,d ) . For, if An-l c &, A1, . . . , V(X,-~, d) then 2 : ( ~ , , -13~An-l ) since C,”(x,_,) is the connected component n W ~ ( X ,d). - ~Hence , of x,-~ in B,(X,-~)
+
C:(X,-~) n aB,(xn-,) = AnP1n a B , ( x , - , ) #
thus contradicting. Hence An-i\ W ” ( x , - , ,d) # point y. Then for some m > 0 we have sup{d(f-“(z),
fPm(xn-l
0, from
+
8, which choose a
1) :z E An-I} Z d ( f - ” ( ~ )f,- “ ( x n - i >
(vii) sup{d(f-’(~),f-~(x,-~)):z E A,-,, 0
<j
E,
< m}
+
< E.
))
664
N. Aoki
Put m,- I = m and x, = f - " " - ' ( ~ , - ~and ) , let A,, be the connected component ). (ii) holds and by A, n dE,(x,) # 8, of x , in E,(x,) n f - m n - ' ( A n - l Then (iii) holds. From (vii) we obtain (iv). 0 3.11. Proposition. For 0 < 6 c E there exists N > 0 such that for all x E X andy E W , ( x , d ) with d( y , x ) = 6 there is 0 < n < N such that d ( f - " (y ) , f - " ( x ) ) > E. Proof. If this is false, then there exist sequences x, E X, y , E W s ( x ,, d ) such that d(x,, y , ) = 6 and d ( f - j ( x , ) , f - J (y,)) < E for all 0 < j < n. If x, + x and y , + y , n + co,it is easy to check that x # y and d ( f " ( x ) , f " ( y ) )< E for all n E Z. 0
=-
3.12. Proposition. There exists 6, 0 such that v ( x , d ) n & ( x ) = W i ( x , d ) n B,(x) for all x E X and 0 < 6 < 6,. Proof. If the proposition is false then there exist sequences x,, yn E X such that d( x,, y,) + 0, and y, E W;3E(xn,d ) . Hence for some m, > 0 we have d(fn,(xn),fm,(yn)) > E and m, + co.We also have d(f"f""(x,),f"P(y,)) < 2.5 for all -m, < n since y, E W;e(x,, d ) . Iff""(x,) + x andf""(y,) + y (as n + co), we conclude that d(x, y) 2 E and d ( f " ( x ) , f " ( y ) ) < 2.5 for all m E Z,thus contradicting the expansivity off. 0
3.13. Proposition. Let E = inf{d(x, y ) : d ( f - ' ( x ) , f - ' ( y ) )> E } and 6, > 0 be as in Proposition 3.12. For all 0 c 6 c min{6,, +E}, there are N = N(6) > 0 such that i f x E X and A c W:(x, d ) is a compact connected set containing x and A n E,(x) # 8, then there exist 0 c m c N , a, B E f -"(A) and compact connected sets A#, A fl such that (a) a E A,, fl E Afl,a E W,S,(B,4, (b) Amn a W 4 # 8, Afl n a&,(B) f 8, (c) inf{d(z, w):z E &(a), w E E,(B)} > 6 , ( 4 Am = w E s ( 4 d ) n B&), A, c K(B,d ) n &(B). Proof. Let N = N(6) > 0 be as in Proposition 3.11. Since A n aE,(x) # 8 and x E A c r ( x , d ) , for y E W:(x, d ) with d(x, y ) = 6 we can find 0 < m < N - 1 such that (e) sup{d(f-"+''(z),f-'"+l)(x)) :z E A} 2 d(f-("+l'(y ) , f - ( " + ' ) ( x ) )> E , (f) sup(d(f-j(z), f - j ( x ) ) :z E A, 0 < j < m} < E . By (f) and the fact that A c W:(x, d ) , (g)f-"(A) = WE((f-"(x),d ) and clearly f - " ( x ) E ~ - " ( A ) .Hence we have
Topological Dynamics
665
(h)f-"(x) E W , ( w , d), w E ~ - " ( A ) . For, by (f) and the fact that f"(w) E A,
< E,
d(f-'f"(w),f-'(x))
s j < m.
0
Letting i = - j + m, (i) d(f'(w),f'f-"(x)) < E , 0 < i < m. Sincefm(w) E A c W,(x, d), for all k 2 0 we have d(f"f"(w),fk(x)) < E . Letting i = k + m, for all i 2 m (j) d(f'(w),fff-"(x)) < E and hencef-"(x) E W , ( w , d) (by (i) and (j)). From (g) and (h) it follows that for all w ~ f - " ( l \ ) (k)f-"(N c W2sE(w, d ) . By (e), d ( f - ' ~ f - " ( z ) , f - 'of-"(x)) > E for some z E A, and so d ( f - " ( z ) , f-"(x)) 2 8. Since z, x E A, we have diam(f-") 2 8. Since 36 < 8, we can find a, /3 e f - " ( A ) such that d(a, /3) > 36. Obviously a # &(/I) and /3 $ &(a). Hence (c) holds. Let Aa, Ab be the connected component of a and /3 in f - " ( h )n &(a), f-"(A) n &(/I) respectively. Then (b) holds by Lemma 3.8. From (g) it follows that (a) holds. Since A, c f-"(A) and A, c f-"(A), we have A. c Wi(a,d) and Ab c W2E(/3,d) by (k), and hence Aa c Bjr
Ve(a, d ) n Ba(a),
A, c Wi(P,d ) n Ba(B)*
Proposition 3.12, (d) holds.
0
Proof of Theorem 3.2. It is enough to verify that iff: X + Xis minimal and expansive then dim(X) = 0. Let r > 0 be as in Proposition 3.10, N = N(6) be as in Proposition 3.1 I and 6, > 0 be as in Proposition 3.12. Let 8 > 0 be as in Proposition 3.13. For 0 < 6 < min{b,, $S, r} we define rl
=
inf{d(f'(x),f'(y)): y 0
E
W&(x,d ) , d(x, y ) 2 6,
< i, j < N ( 6 ) ) .
If rl = 0 then it is checked that X is finite. Indeed, for all n 2 0 there exist x,, y, E X and 0 < i n , j , < N ( 6 ) such that y,
E
W,",(xn,4,
d(f'"(x,),
fJ7y,))
We can suppose that x, n 2 0. Hence y
E WAX,
+
4,
d(x,, y n ) 2 --*
x, y ,
0, n +y
+
as n
6 9
a. + 00
4x9 Y ) 2 6 ,
and thatj, f'(4 =
= j, in = i
f'(v)
for all
N.Aoki
666
and so i # j. Suppose i - j > 0, then we have f J - j ( x ) = y E W&(x,d ) c W s ( x ,d) and furthermore f j - i W s ( x ,d) n W s ( x ,d) # 8 since f J P i ( x )E fj-j W s ( x ,d). By Proposition 3.9, X contains a periodic point x, and hence O,(x,) = X (sincef : X + X is minimal). It remains to check the case rl > 0. We shall derive a contradiction by showing the existence of an open set U and a point p such thatf"(p) $ U for all n 2 0. We first construct a family of compact connected sets A, (n 2 0), a sequence of points x, E A, and an open set U c X such that (a) An n aEa(xn) # 8, (b) An c wEs(xn, d ) , ( C ) ~ - ~ " ( A3, ) A,,+, for some 0 < m, < N(6), (d)fJ(An) n U = 8 for all 0 < j < m,. Since 6 < r, there is a E X with Z;(a) n aEa((a)# 8 by Proposition 3.10. Now put X,
= a,
A0
= Z;(X~,),
and we show the existence of U # 8 with diam(U) < t r , such that U n A, # 8. Suppose U n A,, # 8 for all open sets U . Then A, is dense in Xand so A,, = X (since A, is closed). Since diam(A,,) < 26 andfis expansive, X consists of one point set, thus contradicting dim(X) > 0. If m, = 0 then (a), (b) and (d) hold for Ao. From now on we construct A, satisfying (c). Since fb n aE,(xo) # 8 and A, c W,(x,, d), by using Proposition 3.13, there exists 0 < m, c N(6), a, fl ES-""(A,) and compact connected subsets Aa, A, such that (a), (b), (c) and (d) of Proposition 3.13 hold. We can prove that (el U n {Ujmlof'(Aa)} # 8 * U n {UJ20f'(AS)} = 8. Indeed, if y E U n {uYL,f'(A,)} then y e f J ( A 8 ) for some 0 < j < m,. Hence there is z E A, such that fJ(z) = y. By hypothesis of (e), for x E U nT.(Aa)there is w E A, such that f'(w) = x . Since x , y E U , (f) d(T(w),f'(z)) = 4 x 9 Y ) < t r , , and since w E A, and z E A,
d(w,z) > 6 (by (c) and (d)). E K(a,d) and z E w,S(fl, d), and by (a), a E W i ( f l ,d). Hence W&(z, d). But d(f'(w),f'(z)) = d(x, y) 2 rl by the definition, thus
By (d), w
w
E
contradicting (f). Let A, be the connected component of B inf-"(A,) n Ea(B).For the case when (c) holds, we put x , = fl and A, = A,. Then the following is obtained: (a)' A, W ( X 1 ) # 8 (by (b)' A, c K(xI,d ) (by (d) in Proposition 3.13),
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667
(c)' c f-"'(Ao), ( 4 ' {U,20f'(Al)} n U = 0 (by (el). Replace A,, by A1 and repeat the above argument, then there exist a compact connected subset A2 and m, > 0 such that A2 c f-"'(A,), and (a)', (b)', (c)' and (d)' hold. Construct inductively such compact connected subsets {A,,}. Then we have
I\,
f"I(A,)
2fml+m2(1\2)
...
f"'l+'''+"n
(A,,)
3
* *
.
Since X is compact, we have r)n,Ifm'+'"+mn(A,,) # 8, from which take a point p. Thenf-"l(p) E A,. Sincef-"'+'(p) 4 U (0 < j < m l ) by (d)', we havef-'(p) 4 Ufor 0 < i < m , . By (d)'and the fact thatf-'"'+"2'(p) E A2, we have f -(ml+m2)+i(p) 4 U for 0 < j < m, and so f -i(p) 4 U for 0 < i < m , + m,. Consequently, we obtainf-"(p) 4 U for all n 0. 0
4. Pseudo-orbit-tracing property 4.1. Definition. Letf: X + X be a (surjective) homeomorphism of a metric space and d be a compatible metric for X. A sequence of points { x i:i E (a, b)} (- 00 < a < b < co) is called a 6-pseudo-orbit for f if d ( f ( x i ) ,x i + l ) < 6 for i E (a,b - I). A sequence { x i } is called to be c-traced by x E X if d ( f i ( x ) ,x i ) < E holds for i E (a, b). A homeomorphism is said to have the pseudo-orbit-tracingproperty if, for every E > 0 there is 6 > 0 such that each 6-pseudo-orbit for f i s &-tracedby some point of X. We abbreviate pseudoorbit-tracing property to POTP. Note that the notion of POTP is defined for continuous maps. 4.2. Remark.
Let d' be a metric for X that is uniformly equivalent to the metric d. Iff : X + X has the POTP under d, then f has the same property under d'. For some time the fundamental properties of the POTP will be investigated.
4.3. Theorem. Iff: X for k > 0.
+
X has POTP under some metric d, then so does f k
Proof. For every E > 0 choose 6 > 0 such that each 8-pseudo-orbit { x i } is &-tracedby some point of X. We prove that each b-pseudo-orbit { yi} forfk is &-tracedby a point. For 0 < j < k and n E Z put xnk+' = f'( yn). Then {xi}is a b-pseudoorbit forfand hence { x i } is c-traced by y E X, i.e., d ( f i (y), x i ) < E for all i E Z. In particular, for i = kn we have d ( ( f k ) " ( y )y,) , = d ( P k (y), xnk) < E (n E Z) and so y is a tracing point of { y i } for f k . 0
668
N.Aoki
4.4. Lemma. I f f :X + X is uniformly continuous under d and N is a natural number, thenfor every E > 0 there is 6 > 0 such that each &finite pseudo-orbit {x,:O < i < N } satisfies d ( f ’ ( x o ) ,x i ) < E for 0 < i < N. Proof. Suppose the lemma holds for N - 1. Sincef is uniformly continuous, for every E > 0 there is 0 < el < E such that d ( x , y) < E , implies d( f ( x ) , f ( y ) ) < ) E (x, y E X). By the assumption there is 0 < 6, < E such that each 6,-pseudo-orbit { x i :0 < i < N - l } is &,-tracedby xo E X . We show that each $d,-pseudo-orbit { x i :0 < i < N } for f is &-tracedby xo E X. Since the +a,-pseudo-orbit { x i :0 < i < N - l} is a 6,-pseudo-orbit, the pseudo-orbit is &,-tracedby the point x,. Hence d( f i(xo),x i ) c E , < E , 0 < i < N - 1 (especially d( f N-’(xo),x N - , ) < E , ) , and so d( f 0f N-I(xo), f(XN-I)) < + E . Since {x,:O < i < N } is a )6,-pseudo-orbit, we have d( f(XN-I)r X N ) < i d l < $ 8 and therefore d( f N ( x O x) ,N ) < E. 0
4.5. Theorem. Let f : X 4 X be a uniformly continuous homeomorphism of a metric space with metric d. I f f k has POTP under d for k > 0, then so doesf.
Proof. (1) Let E > 0. Then there is an E > E , > 0 such that (i) each c,-pseudo-orbit {xi:O < i < k} satisfies d(f’(xo),x i ) < + E for 0 < i < k (by Lemma 4.4), and (ii) d(x, y) < el implies m a x { d ( f ’ ( x ) , f ’ ( y ) ) : O < i < k } < +&. (2) Let E , be as above. Then there is a 6, > 0 such that each 6,-pseudoorbit for f is &,-tracedby some point. (3) Let E , and 6, be as above. Then there is a 6 > 0 such that each 6-finite pseudo-orbit { z i : 0 < i < k } is 6,-traced by z, E X (by Lemma 4.4). With these properties we prove that each 6-pseudo-orbit { y i :i E Z } for f is &-traced by some point. Write xi = yki for i E Z and fix i E Z . Since { y k i + j0: < j < k) is a 6-finite pseudo-orbit for f , by (3) we have d ( f J (yki), yki+,) < 6 , (0 < j < k) and especially if j = k then d( f k ( yki), yki+j) = d( f k ( x i ) ,xi+,) < 6 , , i.e., { x i }is a 6,-pseudo-orbit for f Hence by (2) there is y E X with d( f ” ( y ) , xi) < E , ( i E Z ) , i.e., d( f k i ( y ) ,y k i ) < E , (i E Z). On the other hand, since { yki+j:0 < j < k} is a 6,-pseudo-orbit forf, from (l)(i) it follows that d(f J (yki),yki+j)< ) E (0 < j < k), and from (l)(ii), d(fki+’( y), f’(yki)) < +& (0 < j < k). Therefore, d( fki+’(y), yki+,) < E (0 < j < k). Since i is arbitrary, we have d(f”( y), y,) < E (n E Z ) and hence the point y &-tracesthe 6-pseudo-orbit { y,}. 0
’.
4.6. Theorem. With the notations and the assumptions of Theorem 4.5, i f f has the POTP then so does f - ’ .
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TopologicalDynamics
Proof. For every E > 0 there is 6 > 0 such that each 6-pseudo-orbit { x i } is &-tracedby a point y E X. Choose 6' > 0 such that d ( x , y) < 6' implies d ( f ( x ) ,f ( y ) ) < 6 , and put g = f - ' . It is enough to verify that each 6'-pseudo-orbit { y i } for g is &-tracedby some point. Since d(g( y i ) , y i + ' ) < 6' for all i E Z,we have d( yi, f ( yi+')) < 6 ( i E Z). Letting xi = y-i for i E Z,{ x i }is a 6-pseudo-orbit for f and hence there is y E Xwith d( f i ( y), xi) < E for all i E Z. This implies d( f - j ( y ) , x - ~ )< E for i E Z and therefore d ( g ' ( y ) , y i ) < E for all i E Z. 0 4.7. Theorem. Let X and X' be metric spaces and X x X' be the product space with metric d"((x, x'), ( y , y ' ) ) = max{d(x, y ) , d'(x', y ' ) } where dand d' are, respectively, metrics for X and X'. Lei f ; X -+ X and g : X' + X' be homeomorphisms and f x g be the homeomorphism defined by f x g ( x , x') = ( f (x),g ( x ' ) ) ( x E X , x' E X ' ) . Thenf x g has POTP ifand only ifboth f and g have the POTP. Proof. Supposef x g has the POTP. For every E > 0 let { x i }and { X I } be 6-pseudo-orbits for f and g, respectively. Obviously, { ( x i ,x,)} is a b-pseudoorbit for f x g, and hence there is ( y , y') in X x X' with d"((f x g)'( y , y'), ( x i , xlr)) < E for all i E Z. Then d ( f ' ( y), xi) < E and d'(gi( y'), X I ) < E for i E Z. The converse is proved by the same technique. 0 4.8. Theorem. Lei f and h be (surjective) homeomorphisms of a compact metric space X . Suppose h and h-' be continuous andput g = h f h-'. Then f has the POTP if and only if so does g. 0
0
Proof. For every E > 0 there is E' > 0 such that d ( x , y) < E' ( x , y E X ) implies d(h(x), h ( y ) ) < E . I f f has the POTP, then there is 6' 0 such that each d'-pseudo-orbit { x i }forf is &'-tracedby some point. Choose 6 > 0 such that d ( x , y) < 6 ( x , y E X ) implies d(h-'(x), h - ' ( y ) ) < 6'. We prove that each 6-pseudo-orbit { y i } for g is &-tracedby some point. To do this, put xi = h - ' ( y i ) for i E Z. Since d ( g ( y i ) ,y i + ' ) < 6 for i E Z, we have d(h-'g( yi), h-'( yi+')) c a', i.e., d( f (xi),xi+')< 6' for i E Z. Thus { x i }is a 6'-pseudo-orbit for f and so d( f i ( y ) , xi) < E' (i E Z) for some y E X. Thus d ( h o f ' ( y ) ,h ( x i ) ) < E and d(g'oh(y), y i ) < E ( i E Z). Therefore h( y) is an &-tracingpoint of { y i } for y. The converse is clear.
=-
0 4.9. Definition. Let A be a bounded subset of a metric space. Then A is said to be relatively compact if the closure of A is compact. Every bounded subset of the euclidean space is relatively compact.
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610
4.10. Proposition. Let X be a metric space such that each bounded subset is relatively compact. If to every E > 0 there is 6 = 6 ( ~ >) 0 such that f o r each k > 0, each 6-pseudo-orbit { x i :0 < i < k } for f is c-traced by some point,
then f has the POTP.
Proof. Let { x i: i E Z} be a 6-pseudo-orbit for$ Then it is enough to see that { x i } is &-traced by some point of X. Fix k > 0 and put zi = x i - k for 0 < i < 2k. Obviously {zi:O < i < 2 k } is a 6-pseudo-orbit for $ Thus there is z = z ( k ) E X with d( f ’(z),z i ) c E for 0 < i < 2k. If y ( k ) = f k ( z ) , then d ( f ’ ( y ( k ) ) ,x i ) < E for I il < k . Since { y ( k ) } is bounded, there is a subsequence { y(k,)} such that y(k,,) + x as n + a.For every i E Z we have k , > I i I ( n 2 no) for some no, and so d(f’(y(k,)), x i ) < E. Therefore, d(f’(x),x i )
< E for all i.
0
4.11. Theorem. Under the notations and the assumptions of Proposition 2.17,
g :X
+
X has the POTP ifand only i f f : 8+ 8 has the POTP.
Proof. It follows from the proof of Proposition 2.17 that f : 8 + 8 is uniformly continuous. We first show that iff : 8 + 8 has the POTP then so does g : X + X . Let do > 0 be as in Proposition 2.17. For every E > 0 there is do > 6 > 0 such that each 6-pseudo-orbit { p i } for f is c-traced by some point of 8.From now on we prove that each 6-pseudo-orbit { y i ) for g is &-tracedby some point of X. To do this, choose po E 8 with z ( p o ) = yo and fix po, and choose inductively pi E 8 where .(pi) = yi (i 2 1). Since f ( p , ) E 8, we have IL 0f ( p i ) = g 0 n ( p , ) = g( y i ) . On the other hand, since ~ ; +E i uh(g(yi)), there is auniquepi+i E Ua(f(Pi))s ~ ~ h t h a t n ( p i += i )Y i + i By the choice of { p i: i 3 0 } , { p i } is a 6-pseudo-orbit for f and hence there is an &-tracingpointy of { p,}, i.e., & f ’ ( y > , p i ) < E for i 2 0. Let ~ ( y =) z. Then for i 2 0
d(g‘(Z),yi) = d(g’on(y), y i ) =
WC Y),
=
d ( n o f ’ ( y ) , n(pi))
Pi)*
By Proposition 4.10, g has the POTP. To prove the converse, let do > 0 be as above. For every E > 0 we can find 0 c 6 c +do such that each 6-pseudo-orbit { y i } for g is &-tracedby some point of X. We may suppose that &p, q) < E ( p , q E 8 )implies f ( p ) , f (4)) c $6,. Let { p i :i 2 0 } be a 6-pseudo-orbit forfand let yi = n ( p i )for i >, 0. Obviously { y i } is a 6-pseudo-orbit for g. For, since f ( p i ) , p i + l )< 6 c 6, for all i 2 0,
a(
a(
d(g(yi)yi+l) = d ( a o f ( p i ) , n(Pi+l)) = J ( f ( P i ) , Pi+l) < 6 .
67 1
Topological Dynamics
Hence there is z E X with d(g'(z), y i ) < E for all i 2 0. In particular, since d(z, y o ) < E , there is q E U,(po)with n(q) = z. We show that c?(f'(q),p i ) < E for all i 2 0. Note that d(xofi(qI9 x ( p i ) )
=
d(giox(q), yi) = d(gi(z),yi) <
6.
It is clear that c?(q,p o ) < E when i = 0. If c?(f'-'(q),p i - l ) < E for i 2 1, then c?v'( pq i)) <, E. For, since c?Cr.fl-l(q),f(pi-I)) < 46, and c?(.f(pi-l),pi) < 6 < +So, we have c?(fi(q),p i ) < do. Since x : U,,(p) --+ U,,(n(p)) is an isometry, = d(gi(z), yi) <
aifi(q),pi) = d(noY(q), .(pi))
E,
and hence q is an &-tracingpoint of the 6-pseudo-orbit { p i } .Using Proposition 4.10, the conclusion is obtained. 0 4.12. Remark. Let X be a compact metric space and denote the product space by 2 = X where each X, is a copy of X . A metric c? for 8 is defined by J ( x , y ) = max{d(xi,yi)/2li1:i
E
Z}
( x = (xi), y = ( y , ) E 8 ) .
Obviously 8 is a compact metric space. The shift map a : 8 --+ 8, defined usually by a ( x i ) = ( y i ) , y i = x i + l , i E Z,is a homeomorphism. Then a : 8 --+ 8has the POTP.
Proof. For every E > 0, choose 6 with 0 < 26 < b-pseudo-orbit for a. Then for i E Z J(o(x'), x i + I ) 2 d(a(x'),, x/y)/21kl
for all k
E
x i ' , xi, xi,
E.
Let { x i :i E Z} be a
= d(x;+l, xp)/2lkl
Z, and hence d ( ~ : + x~?," ) < 2Ik16(i, k E Z). Write x = (. . . , . . .). Then x E 8 and (dx)k = x F k (i, k E Z). If k 2 0 then k- I
d(XL, XA+k)
< 1 d(XLt5, X L t T ; )
< 2k+16
j=O
and if k < 0 then d(xL, x:') for i E Z.
< 2Ik1+'6.Therefore &xi,
ai(x))
< 26
<
E
0
4.13. Remark. The shift a : Y f + Yf has POTP (by Remark 4.12) and is expansive (by Remark 2.7). 4.14. Definition. A new metric d for Y : is defined by d(x, y) = 2-" if m is the largest natural number with x, = y . for all I n I < m,and d(x, y) = 1 if
612
N.Aoki
xo # y o . Such a metric is uniformly equivalent to the metric defined in
Remark 4.12. If S is a closed subset of Yf with o ( S ) = S then cIs:S -, S is called a subshift. We sometimes write oISas B : S + S. A subshift B : S -, S is said to be of finite type if there exists some natural number N and a subset C c X :Yk with the property that x = ( x i ) E S if and only if each block ( x i , . . . , x i + N )in x of length N 1 is one of the prescribed blocks. The smallest such natural number N is called the order of the subshift of finite type.
+
4.15. Theorem. Every subshift offinite type is topologically conjugate to one of order 1.
Proof. We just take a new symbolic space Y consisting of the allowable blocks of length N, and then the conjugacy is given by
Obviously the shift 6 : Y E -, Yz is of order 1 and cp
0
B
= 6 0 cp holds.
0
4.16. Definition. Let A be a k x k matrix of 0’s and l’s, called a transition matrix. Associated to A is the directed graph G ( A ) with vertices { 1, . . . , k } and an edge j -+ i if and only if A , = 1. For example,
G(A) =
c@-@ t-2 0
A is called irreducible if to every pair of vertices i, j there is a path in G ( A ) beginning at j and ending at i. We define the compact set X A = { ( x i ) : A , + , ,= 1, i E Z} c Yf for k 2 1. The point ( x i )E Z A called a k-symbol sequence. These concerned to two sided infinite paths in G ( A ) with both points of Y,. The shift B : X A -, X A is given as usual. Such a shift is called the Markov subshift. Every subshift of finite type with order 1 is a Markov subshift (see Definition 4.14).
4.17. Theorem (Walters [1979]). Let B : S -, S be a subshift. Then B :S has the POTP if and only if. is a Markov subshift.
-+
S
613
Topological Dynamics
Proof. (e): Note that a is of order 1. Let E > 0 and take m > 0 such that 2--"' < E . Then xi = yi for I i I < m when d(x, y ) < 2-('"+'). Let { x i :i E Z} be a 2-("+')-pseudo-orbit for qS,i.e., { x i } c S a n d d(o(x'), x i + ' ) < 2-(m+') for all i E Z. Then X I = xF' for all i E Z. Now put x,, = x; for n E Z and x = (x,,). Then (x,,, % + I ) = (x;,
Xgn+l)
= (x;, x39
n
E
Z,
and hence x E S. Since ( 0 ' ~=) ~xi+j = xi for l j I < m and i, we have d ( a i ( x ) ,x i ) < 2-" < E for i E Z, and therefore x is the &-tracingpoint of {Xi}.
(a): Let E > 0 be an expansive constant for alsand let 0 < 6 < there is N > 0 such that
=. d ( x , y ) < 6. Denote by B the set of all blocks ( x i - N , . . . , x i , . . . , x i = yi (I il
2N
+E.
Then
- 1)
+ 1 for all x E S and write
in x with length
S ( B ) = { x E Y;:(xi-,,,, . . . , x i , . . . , xi+,,,)E B, i E Z}. Then S ( B ) 3 Sand a(S(B)) = S ( B ) . It is easily checked that S ( B ) is closed and ols(B)is of finite type. Since ( yi-,,,, . . . , yi+,,,) E B for each y E S ( B ) and i E Z, there is x i E S with yi+j = xi for 1 j I < N , and hence d(oi(y), x i ) < 6 (i E Z). Hence { x i } is a b-pseudo-orbit for oIS.Since a : S -, S has the POTP by assumption, there is z E S with d(a'(z), x i ) < + E for all i E Z, and so d(oi(z), a i ( y ) ) < d(oi(z), x i ) d(x', a'( y ) ) < E (i E Z). Since z, y E Sand a : S + S is expansive, we have z = y and so y E S: i.e., S ( B ) = S. 0
+
4.18. Remark. Let X be a compact totally disconnected metric space. If
f :X + X is an expansive homeomorphism with the POTP, thenf is topologically conjugate to a subshift of finite type (use Theorems 2.8 and 4.17 for the proof). 4.19. Definition. Letf: X -, X be a (surjective) homeomorphism of a compact metric space. A point p E Xis nonwundering forfif, for any neighborhood U of p and any integer no > 0, there exists n > 0 such that In I > no and f " ( U ) n U # 8. 4.20. Remark. The set n(f)of nonwandering points is closed andfinvariant (f(Q(f))= Q ( f ) ) .The limit sets w(q) and a(q), for q E X , are contained in Q(f).In particular, every fixed or periodic point off belongs to n(f).Such a set Q(f)is called the nonwundering set.
N. Aoki
614
A point x E Xis said to be recurrent if, for any neighborhood U of x, there exist infinitely many n with f " ( x ) E U (in other words, x E a(x) u w ( x ) ) . Every recurrent point belongs to f2(f ). Let c( f ) denote the set of all recurrent points off. The closure of c( f ) is called the set of central motion (Birkhoff [1972]). We can check that if c( f ) is dense in Q( f ) then c( f ) is a Baire set in f2( f ). In fact, let F(x) = inf{d(f"(x), x ) : n > O}. Then ccf) c {x E nCf):F(x) = O}. Since F(x) is upper semi-continuous, { x E f2( f ) : F ( x ) < l/k} (k 3 1) is open dense in f2( f ), and consequently c( f ) is a Barie set in f2( f ). 4.21. Lemma.
Let f : X + X be a (surjective)homeomorphism of a compact metric space. I f f has the POTP, for every E > 0 and x E Q( f ) there exist y E X and k = k ( x , E ) > 0 with O,k(y) c U,(x).
Proof. Let +E > 0 and 0 < 6 < E be the number with the property of the POTP. Since x E f2( f ) , there are z E X and k > 0 such that z, f k ( z )E VaiZ(x). Write znk+i= f ( z ) for n E E and 0 < i < k. Then { z i :i E E } = {. . . , z, f (z), . . . ,f'-'(z), z , . . .} is a periodic b-pseudo-orbit, and hence there is y E X with d ( f ' ( y), z ) < $ E for i E Z. Since d ( y k (y), z ) < $6, we have for n E Z and so Of,(y ) c U,(x). 0 d ( f " ' ( y ) , x) < 4.22. Theorem. Let f :X + X be a (surjective)homeomorphism of a compact metric space. Suppose X is connected and not one point. I f f : X + X is minimal, then f does not satisfy the POTP.
Proof. Let 1 > 0 be the diameter of X and put E = $l. Supposef has POTP. is y E X and k > 0 such that Let x E f2( f ) . By Lemma 4.21 there O,,( y ) c U,(x), and obviously X = O,,( y ) u O,,( f y ) u * u O,,(f-'y). By connectednessand minimality we have O,,( y ) = Xand therefore 1 < 2 ~ . This is a contradiction.
-
4.23. Convention. Let
<
a
X be a compact metric space and for n > 0 let
l}beafinitesubsetsuchthatpi#pj(i#j). Choose E with 0 < 2.5 < min{d(p,, pi) : i # j } . Supposef : X + Xis a continuous surjection with the POTP. By definition there is a > 0 such that each a-pseudo-orbit is &-tracedby some point. Let m > 0 and define an n x n matrix A(m) by 1 if there is an a-pseudo-orbit from pi to pj of length A 0, . = = { p , ~ X : 0 i < n -
0 otherwise.
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Topological Dynamics
Then the two sided Markov subshift c : XA(,,,) + XA(,,,) with transition matrix A(m) is defined. 4.24. Theorem. Let f : X + X be a homeomorphism of a compact metric space. I f f has the POTP, for m > 0 there exist a closed subset Y and a continuous surjection 7~ : Y + XA(,,,) such that f "( Y ) = Y and the diagram
n
i/"f X:A(m)
commutes.
7X A ( m )
Proof. The proof is due to (Shimomura [1988]). For n > 0 let Y, and A(m) be as in Convention 4.23. We define
Xi(,,,)= { ( x - , , . . . , x,)
E
Y?+' :Akl = 1 if xi = pk and xi+, = p, for - a f i < a }
for a > 0, and B,(x) = { y E X : d ( x , y) f E } where E is as in Convention 4.23. It follows then that for x = ( x - , , . . . , x,) E Zf;,), a
P,(x) =
i=
-*
f-'"(Be(xi))
is nonempty. Indeed, put yj = x - . + ~for 0 < j f 2a. Then for 0 < j < 2a there is an a-pseudo-orbit Oj from y j to yj+I with length m + 1. By combining {Oj:O f j < 2a} we can construct an a-pseudo-orbit {z,,, . . . , z2-} with zjm = y j for 0 f j f 2a. Since f has the POTP, there is y E X with d(f k ( y), z k ) < E for 0 f k f 2am. This implies that d( fj"( y), y j ) f E for 0 f j < 2 4 and hencef"(y) E P,(x) # 0 as desired. Since d ( p , , p,) > 2.5 for k # I, it follows that P,(x) n P,(x') = 0 for x , x' E X",,, with x # x'. Write K, = U { P , ( x ) : x E X'&")} and K = ll,"lK,. Sincef " ( P a + l ( x ) )c P,(x) for a > 0 and x E Xcf;?;), we have f " ( K , + l ) c K, for a > 0 and so f"(K) c K . For the case when the set XA(,,,) = { ( x i ) E Y,' :Akl = 1 xi = pk and xi+l = p , for i
E
Z}.
is not empty, it is enough to verify the theorem. Note that K 3 U { P ( x ) : x E XA(,,,)} where P ( x ) = f -'"(BE(xi)).It is easily checked then that P ( x ) n P ( x ' ) = 0 for x , x' E XA(") with x # x'. On the other hand, since P,(x) n P,(x') = 0 for a > 0, we see that K c U { P ( x ): x E XA(,,,)}.Therefore K = U { P ( x ) : xE XA(,,,)}.
n,ym
N.Aoki
616
Define a surjection n : K + ZA(")by n ( P ( x ) ) = x for x E CA(").Then it is checked that n is continuous. Indeed, fix a > 0 and put /3 = min{d(p,,p,):O
< k, I < n
- 1, k # l } - 2.5 > 0.
By continuity we can find 6 > 0 such that d ( y , y') < 6 implies d ( f ' " ( y ) , f " ( y ' ) ) < /3 for l i l < a. If xi # x,! for some I i l < a, then 2.5 p < d(x,!, x i ) and so d ( x i ,xl) < d ( x i , f ' " ( y ) ) d ( f i " ( y ) , f ' " ( y ' ) ) d ( f ' " ( y ' ) , x,:) < 2.5 + @. This is a contradiction which shows that n is continuous. Since n - ' ( x ) 3 f ' ( n - ' u - ' ( x ) ) for x E ZA(") and i 2 0, we have n - l ( x ) 3 n E o f i m ( n - ' u - ' ( x ) )# 8 and so n-'(x) n Y # 8 where Y = n E o f " ' ( K ) . Therefore K ( Y ) = ZA("). It is easily checked that a n = n of" where a is the shift of CA("). 0
+
+ +
0
4.25. Remark. Let (X,,?) denote the inverse limit of a continuous surjection f of a compact metric space X and be a metric for X, defined as in Remark 2.30. 1ff:X + X has the POTP then so doesf: X, + X,.
a
Proof. Let a = diam(X) and choose N > 0 with ~ r / 2 ~ < - ' E for E > 0. Then there is E , > 0 such that d(x, y ) < E , implies max{d(f'(x),fJ(y)): 0 < j < N} < Let 6, > 0 be a number such that each d,-pseudo-orbit in X is &,-traced.Choose and fix 6 with 0 < 2"'6 < 6,. Let k > 0 and {?: 0 < i < k ) be a b-finite pseudo-orbit in X,, i.e.,
a&.
c d ( f ( x j ) ,xj+I)/2j 2 d ( f ( x k ) ,x?')/2N rn
6 > 2(3(xi), x i + , ) =
j=O
for 0 < i < k - 1. Then d ( f ( x h ) ,x c ' ) < 2N6 < 6, for 0 < i < k - 1. Sincef: X 4 X has the POTP, there is yN E X with d ( f ' ( yN), xk) < E , for 0 < i < k. Let xi = f N - ' ( y N ) for 0 < j < Nand xi+, = f ( x j ) f o r j 2 N, and put 2 = (xo,x,, . . . , x N , x N + , , . . .). Then 2 E X, and m
for 0
N
< i < k. This implies that 3:X, + X, has POTP.
0
4.26. Remark. Let X be a compact metric space and 93 be the family of Borel sets of X, i.e., the smallest a-algebra containing all open subsets of X. By a Borel probability measure p on X we shall understand a countably additive nonnegative set function p on 93 with the property that p ( X ) = 1.
Topological Dynamics
611
Let C ( X ) be the Banach space of continuous real valued functions on X with the sup-norm. Every measure on X induces a nonnegative linear functional on C ( X )by the map 5 H 5 dp. Conversely, by the Riesz representation theorem, to any nonnegative linear functional M on C ( X ) with M ( 1) = 1, there corresponds a unique measure p on X such that M ( 5 ) = J 5 dp. Let f:X + X be a homeomorphism. A measure p on X is said to be finvariant if p ( f - I B ) = p ( B ) = p(fB)for all B E 98 or, which is the same, if 5 ofdp = J 5 d p for all 5 E C ( X ) .Since Xis compact, there exists always finvariant measures on X (Krylov and Bogolioubov's theorem). Let Af (X) denote the space of allf-invariant measures on X. J f l ( X ) is obviously a convex set. With the weak topology for . I t / ( X ) : a topology given by taking as a base of open neighborhoods for p E A f ( X ) the set
G(r1,
* *
. r k : & l ,. . 3
*
9
Ek)
= ( v E A f ( X ) : l f c j d p - ftjdv1
<
cj,
1< j
< k}
with ej > 0 and 4; E C ( X ) , A,(X) becomes a compact metric space. 4.27. Remark. Let c ( f ) be the set of all recurrent points offand A,(X) be as in Remark 4.26. Then c ( f ) is a Borel set and p ( c ( f ) ) = 1 for all c1 E -,e,(X).
Proof. Let A be a Borel set of X. We write m
An = f " ( A ) ~ Ak.n
=
An,
Ak,m
= Ak\
u
Ak,n
n=k+l
for n, k 2 0. It is checked then that P ( A , , ~ = ) 0 for all p E A,(X).For, sincef(A,,,) = f ( A , n A , ) = A , n A n + Ifor n > I , it follows that
and by induction f ( A k , m )= A k + l , mfor k 2 1. Since Ak,, n A k + l , m= 0 for all k 2 0, p(UkAk,m) = p ( U k f k ( A , , ) ) = &p(AO,m). Therefore P(AO,,) = 0. Let { U @ ) }be a countable base of the topology of X , and define U$'L as above for U'"). Obviously for all p E A,(X), p ( H - ) = 0 where H - = UnUtL. To see x E a(x) when x E X\H-. Let x E X\ H-. Fix U$) with x E Ur'. If x 4 U:) for all m 2 1, x E UP)\ U:=lU:) = U$'L c H-,thus contradicting x E X \ H - . Hence x E @') = f ' " ( U 2 ) ) for some m 2 1, and so f - " ( x ) E U$", i.e., x E a(x). In the similar argument, letting
N.Aoki
678
H + = U;==,U&,, we have p(H+)= 0 for all p E Af(X)and x E o(x) whenever x E X \ H + . Therefore X\(H- u H+)c c( f ). If we established that X\(H- u H + )= c( f ) , it is concluded then that c( f ) is a Bore1 set and p(c(f )) = 1 for all p E &,(X). Let x E c ( f ) , then there is U(') with x E W ) .Since f " ' ( x ) E U(J)for an increasing sequence ni, x E f -"'(U(')) for all i 2 0 and so x E U, f -"(U(')). Hence x $ U(')\U, f -'(U(')) = Ui;:. This is true for all j with x E U"). Therefore x $ U7Ut: = H - , and in the similar way, x $ H+. We have x E X\(H- u H'). 4.28. Theorem (Aoki [ 19821). Let f :X + X be a homeomorphism of a compact metric space. If X is connected and not one point, and i f f is distal, then f does not satisfy the POTP.
Proof. Supposef has POTP and let diam(X) = 1. Let E = $1. By Lemma 4.21, for yo E Q ( f ) there are y E X and k > 0 with Ofk(y) c U,( yo). We write g = f for simplicity. Note that g :X + X has the POTP and is distal. Let 0 < 6 < E be a number with the property of the POTP for g. Since Xis compact and connected, we can find a finite sequence p I = y , p 2 , . . . ,p N such that d(pi, p i + l ) < +S (1 < i < N - 1) and X = UEl U,(pi). Since each x E X is almost periodic (by Theorem 1.21), there are c ( i ) > 0 with d(pi, gC(")(pi)) < +S, and so we define a sequence { x i :i E Z} by putting xi = g i ( y ) ,
xi
< 0, 0 < i < c(1) - 1, 0 < i < 4 2 ) - 1, i
= gi(pl),
xc(l)+i= g i ( p 2 ) ,
= g'(Y), i
2 0. Obviously {xi}is a b-pseudo-orbit and is 6-dense in X . Since g has the POTP, there is z E X with d(g'(z), x i ) < E for all i E Z, and so for w E X there is w' E O,(z) with d(w, w') < 2.5. Write Xc(l)+2(c(2)+~~~+c(N-l)}+c(N)+i
N- I
c = c(1)
+ 2 1 c(i) + c(N). i=2
Topological Dynamics
679
Then we have d(gi(z), gi(pl)) = d(g'(z), g'(y))
E,
d(g'+'(z), g'(pl)) = d(g'+'(z), gi(y)) c
i E,
< ~ ( 1 )- 1, i 2 0.
and hence gi(z) E U,(giy)
=
gi+'(z) E U,(g'y)
U{U,(h):h E O,) = U,(O,(Y)),
=
i
< 0,
U,(O,(y)), i 2 0.
Letting O,-(z) = {gi(z):i < 0} and O,'(z) = {gi(z):i2 0}, we have do,- (4) = U,(Og(YN and g'(O,+ (z)) = U,(O,( Y)). Since O,(z) = 0,(4 0;(z), byBaire theorem one of O,-(z) and 0 ; (z) has an interior point in O,(z). Sinceg : OJz) + O,(z) is a homeomorphism, there -is a g-invariant (probability) measure p on O,(z) (Remark 4.26). Since O,(z) is a minimal set for g by Theorem 1.24, it follows that p( U ) # 0 for each non-empty open set U. This follows from the facts that UTagi(U) = o,(z)and p ( m ) < XTap(U). If O,-(z) contains interior points in O,(z), then O,-(z) = g(0,-(z)). Suppose O;(z). If V = nkrIg-k(O,-(z)) contains interiorpoints in g-'(O;(z)) Og(z),then there i s j 2 0 with g-J(z) E V, and since g(V) c V, O,(z)c V. Henceg-'(O,(z)) = 0; (z), a contradiction. If Vcontains no interior points in OJz), then ~(0,(z)\ V ) > 0 since 0,-(z)\ V contains their points in O,(z). Since O,-(z) = Ukzog-k(W)u V, we have Put W = O;(z)\g-'(O;(z)). p( W) > 0, thus contradicting p(OE-(z)) <1. If O2fz) contains interior Doints inOAz). then can Drove that 6 -we g(O: (z)) = 0 : (z). In any case we have O,(z) = 0,(z) or O,(z) = 0 : (z). Hence O,(z) = U,(O,(y)) and since O,(y) = V,(yo), & \
"
O,(z)
=
U,(O,(YN
=
U2,(Yo).
Since {xi} is b-dense in X and d(g'(z), xi) c
-
max{d(O,(z), x ) : x E X }
-
,I
E
(i E Z), we have
< 26
and hence X = U2,(0,(z)) = U,( yo), i.e., diam(X) = 1 < 8.2, thus contradicting that E = 61. 0 4.29. Remark. Let X be a compact totally disconnected metric group and f :X + X be a group automorphism. Supposefhas zero topological entropy
(see Section 9 for the definition). It is known (cf. see Aoki [1984]) then that Xcontains a sequence X = Xo 3 XI 3 * . of normal subgroups such that f ( X , ) = X, (n 2 0), nnXnis trivial and for n 2 0, the factor group X,/X,+, is finite. Then f : X + X is distal. For, to x , y E X (x # y ) there is n > 0
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such that xy-’ 4 X , . Since f J ( X , ) = X, for all j E Z, we have fJ(xy-’) # X, ( j E Z), which implies that d(f’(x), f’(y ) ) 2 d ( f ’ ( x )X , , f’(y ) X , ) > 0 (the metric d is translation invariant). Since X / X , is finite, we have inf{d(fJ(x),f’(y)) : j E Z} > 0. This implies thatfis distal. It is checked in (Aoki [1984]), however, that every group automorphism of compact totally disconnected metric groups has the POTP. Therefore distal homeomorphisms with the POTP exist in general on totally disconnected spaces. 4.30. Remark. Let X be a compact metric space and denote by id the identity map of X , Then id :X -+ X has the POTP if and only if X is totally disconnected (this was pointed out by Fuji). Proof. If Xis totally disconnected, then to every E > 0 there is a finite open cover% = {U,, . . . , U n } o f X s u c h t h a t U i n U, = 0 f o r i Z j . C h o o s e 6 with 0 < 6 < min{d(U,, q):i # j } and fix a 6-orbit {xk:k E Z} for the identity map. Then there is V, such that { x k } c U,.and so we can find in U, a &-tracingpoint for { xk},i.e., id : X + X has the POTP. Conversely, suppose dim(X) # 0. Then there is a closed connected subset F such that diam(F) > 0. Since F is compact, diam(F) = d(x,, y o ) = c0 for some x,, yo E F. Let E , = 3cO. Since F is connected, for any 6 > 0 we can construct a &orbit from xoto y o in F which is not &,-tracedin X . This is a contradiction.
0 4.31. Remark. (1) The set 9 of all homeomorphisms with the POTP is dense in the space of all the homeomorphisms S of the Cantor set (Dateyama [19831). (2) 9 is a Baire set in S of the circle (Yano [1987]).
5. Coordinate systems and topological stability Expansivity and the POTP are used to give some coordinate systems in a compact metric space. 5.1. Definition. Let f:X -+ X be a homeomorphism of a compact metric space. Thenfis said to have a canonical coordinate if for each 6 > 0 there is = ~ ( 8 )> 0 such that d(x, y ) < E implies W;(x, d ) n W;(y, d ) # 8. 5.2. Remark. Iff: X
+
X has the POTP, thenfhas canonical coordinates.
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Proof. For E > 0 let 6 > 0 be a number with the property of the POTP. For x, y E X we suppose d ( x , y) < 6 and define a sequence { x i }of X by xi = f ' ( x )for i 2 0 and xi = f '( y ) for i < 0. Then { x i }is a b-pseudo-orbit for$ Hence there is z E Xwith d ( f ' ( z ) , x i ) < E for i E Z. Then z E v ( x , d ) and z E w,"(y, d ) . 0 5.3. Definition. A surjective homeomorphism f : X + X is said to have a hyperbolic coordinate iff has a canonical coordinate and there are a compatible metric d, y > 0, 0 < 1 < 1 and a a 1 such that for each x E X
y E q < x ,d )
-
d ( f " ( x ) , f " ( y ) ) < a W x , y).
y E wy"(x,d ) * d( f -"(x),f - " ( y ) ) < al"d(x, y), n 2 0.
5.4. Theorem. A homeomorphism f : X + X i s expansive and has the POTP i f and only i f f has hyperbolic coordinates.
Proof. The implication (=+)follows from Remark 5.2 and Theorem 2.40. To obtain the converse we first show that f : X + X is expansive. Let d, a > 0, y > 0 and 0 < 1 < 1 be as in Definition 5.3. If y E wyS(x,d ) n v ( x , d ) then we have d ( x , y) < (aX')2d(x,y ) since d ( f " ( x ) , f " ( y ) ) < y for all n E Z. This implies x = y and hence W;(x, d ) n W y ( x , d ) consists of one point, i.e., f : X + X is expansive. Let E > 0 be a number to be determined later and 6 > 0 such that V ( X ,
d)n
V ( Y 9
d)
z0
if d ( x , y ) < 6. Choose N so large that aLNE < $5 and then a > 0 such that if { yi: 0 < i G N } isana-pseudo-orbit, then d( f '( y,,),y,) < + b (0 6 i < N ) by Lemma 4.4. Let r > 0 and consider an a-pseudo-orbit {xi:0 < i < r N } . Put xh = x, and x;i+l)N E
for 0
W(fNXh, d ) n K(x(i+l)N, d)
< i < N. Then we have d(f"(xb),f N ( x i N < ) ) adN&< 46, d(fN(XiN),~ ( i + l ) N ) < 46
(by the choice of a). Thus d( f N(x,!N), x('+,)< ~ )6 and so {x,;: 0 < i G N} is a 6-pseudo-orbit. Now put x = f +'"x:N) and for 0 < i < rN choose s such
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that sN f i
< (s +
1)N. Then we have r
d(f'(x),f'-N(x:,))
< 1
d(fi-lN(X;N),fi-rN+N(X;l-I)N))
I=J+l
r
< 1
< asA/(l
- A)
r=s+1
since x;,,,E w,"(f'"~~,-~),,,, d ) . On the other hand, since xi,,,E e ( x , , , d ) , we have d ( f i - " ( ~ ~ N ) , f i - " N ( < ~ sE, ,and , ) ) by the choice of a, d(f-"(x,,,,), x i ) i +6. Thus
d ( f ' ( x ) ,X i )
< UEA/(l
-
A)
+ + $5. E
This is less than /3 if E is small. 5.5. Definition. Letf :X + X be a (surjective) homeomorphism of a compact metric space. Let A(&) = { ( x , y ) : d(x, y ) < E } for E > 0. Thenfis said to have local product structure if: (A) there are 6, > 0 and a continuous function [ , ] :A(6,) --* X such that for x , y , z E X
1x9
XI
=
"x, yl, ZI = [ x , 4,
x,
[ x , [ Y , zll = [ x , 21,
f [ x , YI = [ f ( x ) , f ( y ) l
when the two sides of these relations are defined; (B) there exist 0 < dl < $6, and 0 < e < 6, such that for each x letting %(XI = { y E WO(X, d ) : d ( x ,y ) < dl},
vb,(x) = { y
E
E
X
w g x , d ) : d ( x , y ) < SI>,
N, = [%<x>, v,s,(x)l, the following conditions hold: (a) N, is an open set of X and diam(N,) < do, (b) [ , ] : q ( x ) x G, ( x ) + N, is a homeomorphism, (c) N, 3 B,(x) where B,(x) = { y E X : d ( x , y ) f e}. If f : X + X has the POTP, for sufficiently small 6 > 0 we have W;(x, d) n W;(y, d) # 8 i f x is neary (by Remark 5.2) and it is one point set iffis expansive. In the case write [ x , y ] = Wi ( x , d ) n W;( y, d). Then we check in the following theorem that [ , ] satisfies all conditions of Definition 5.5.
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5.6. Theorem. Let f : X -, X be a (surjective) homeomorphism of a compact metric space. I f f is expansive and has the POTP, then f has a local product structure. Proof. Let c > 0 be an expansive constant forf and fix Q, = ac. Then there is 0 < 6, < E , such that W;(x, d ) n W,"(y,d ) = {one point} for x, y E X with d(x, y) < 6, (by Remark 5.2 and expansivity). We define a map [ , ] :A@,) + X by assigning [x, y ] = q ( x , d ) n %(y , d ) to (x, y ) E A(6,). The map [ , ] is continuous. For, suppose a sequence {(x,, y,)} of A(6,) converges to (x, y) E A(6,). Put z , = [x,, y , ] . Since Xis compact, there is a subsequence {zn,}of { z , } that converges to z E X. Since z,, E W;(x,,, d ) , we have d(f'(x,,),f ' ( z , ) ) < E, (i 2 0, nj) and so d ( f ' ( x ) ,f i ( z ) ) < Q,, and z E W;(x, d). Similarly, z E W,"(y,d ) and z = [x, y ] . This shows that { z , } converges to [x, y ] . It is clear that [x, x ] = x for all x E X. Since [x, y ] E y o ( x , d ) we have [[x, y ] , z] E W&(x, d ) n W;(z, d ) and by expansivity then [[x, y ] , z] = [x, 21. Similarly, [x, [ y, z ] ] = [x, z ] . It is easily checked that f [ x , y ] = [f (x), f(y ) ] by uniform continuity. To obtain the conclusion of the theorem, we must prove (a), (b) and (c) of Definition 5.5. Define a map g, :X x A(6,) -, R by g,(x, ( y , z)) = d(x, [ y , z ] ) for x E Xand ( y , z ) E A(6,). Then g, is continuous and g,(x, (x, x)) = 0. By uniform continuity of g, we can find 0 < 6, < $5, such that diam{x, y , z} < 26,impliesd(x, [y, z ] ) < fd,.If(y, z ) E G ( x ) x GI(x)thend(x,[y, z ] ) < 46, and hence diam(N,) < 6,. To show openness of N,, let w E N,. Then there are y E G(x) and z E G,(x) with w = [y, z ] . Since d ( x , w ) < $ao, we can define maps P,,: Bs,,(w) -, W,U(x,d ) and P,:Bb013(w)-, W;(x, d ) by P,(4 = [v, XI and PS(V) = [x, 4, .u E 4 0 / 3 ( w ) . They are clearly continuous. Since w = [ y, 21, we have P,,(w) = [ y , x] = y and Ps(w)= z . Hence there is a neighborhood U c B,,,(w) of w in X such that P , ( U ) c q ( x ) and P , ( U ) c GI(x). If w E U then w E N, since w = [[w, x], [x, v ] ]by expansivity. This implies that N, is open in X . Hence (a) was proved. (b) is easily checked as follows: Define a map h :N, -+ (x) x G, (x) by h(w) = ([w,x], [x, w ] )for w E N,. Obviously, h is continuous and h itself is the inverse map of [ , 1. Put g,(x, y) = diam{x, [y, X I , [x, y ] } for (x, y ) E A(6,). Then g, :A(6,) + R is a continuous map, and hence there is 0 < e < 6, such that d(x, y) < e implies g,(x, y ) < 6,. This shows that [y, x] E G(x) and [x, y ] E GI(x) and therefore y = [[ y , x ] , [x, y ] ] E N,. (c) was proved.
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5.7. Definition. Let f : X + X be a (surjective) homeomorphism of a metric space. Then f is said to be topologically stable if, for every E > 0, there is a 6 > 0 such that ifg :X -+ Xis any homeomorphism with d( f (x),g ( x ) ) < 6 for all x E X , then there is a continuous map (need not onto) h : X + X with hog = f'o h and d(h(x), x ) < E for all x E X . 5.8. Theorem. Let f : X + X be a homeomorphism of a compact metric space. I f f has a hyperbolic coordinate, then f is topologically stable. Proof. By Theorem 5.4, f : X + X is expansive and has the POTP. Let c > 0 be an expansive constant for f and 0 < E < tic be a number with the property of the POTP for$ By expansivity it is checked that there is a unique x E X which &-tracesa given 6-pseudo-orbit. Indeed, let { x i }be a &pseudoorbit. Suppose d( f i ( y ) , x i ) < E (i E Z) for some y E X. Then we have d(f i ( y ) , f ' ( x ) ) < d ( f ' ( y ) , x i ) d ( x i ,f i ( x ) ) < 28 < c for all i E Z,and hence x = y . Let g : X + X be a (surjective) homeomorphism with d(g(x), f ( x ) ) < S for all x E X . Let x E X. Since d ( f o g " ( x ) , g"+'(x)) < 6 for n, { g n ( x ) }is a 6-pseudo-orbit for$ Hence there is a unique point h ( x ) E X whosef-orbit &-traces{g"(x)}.This defines a map h : X + X with d ( f " h ( x ) , g"(x)) < E for all n E Z and x E X. We have d(h(x), x ) < E ( x E X ) by putting n = 0. S i n c e d ( f " o h o g ( x ) , g " + l ( x ) )< ~ f o r Zna n~d d ( f " o f o h ( x ) , g " + ' ( x ) )= , d ( f " + l o h ( x ) ,g"+l(x)) < E (n E Z), we have h o g ( x ) = f o h ( x ) for x E X. Finally, we show that h is continuous. Let 1 > 0. Using Lemma 2.9, we can choose N > 0 such that d ( f " ( x ) , f " ( y ) ) < c for In1 < N implies d(x, y ) < 1.Choose q > 0 such that d(x, y ) < q implies d(g"(x),g"( y ) ) < tic for In 1 < N. If d ( x , y ) < q then
+
d ( f " o h ( x ) , f " o h ( y ) )= d ( h o g " ( x ) ,h 0 g " ( y ) )
< d(hog"(x),g"(x)) + d(g"(x),g " ( y ) ) + d(g"(y), h o g " ( y ) )
< E + c/3 + E
<
c,
In1
< N.
Therefore d ( x , y ) < q implies d(h(x), h( y ) ) < 1and the continuity of h is proved. 0 5.9. Remark. If X is a compact topological manifold and E > 0 is sufficiently small, then d(h(x), x ) < E for all x E X implies that h : X + X is surjective if h is continuous (Munkress [ 19631). However, this needs not be as in general spaces. We give an example due to Walters.
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Consider the shift a : Yf -+ Yf where Y, = (0, l}. Then a is expansive (by Remark 2.7) and has the POTP (by Remark 4.12). Let m > 0 and define g : GZ + YT by (g(x),) = xi,
i < -m,
(g(x)), =
-m
i > m,
< m,
(g(x))m = x-m*
Then d(g(x), a ( x ) ) < 1/2" where d is the metric for Y," given in Definition 4.14. If rn is sufficiently large then we have h o a = g o h for a continuous map h with d(h(x),x) < 1/2" ( x E Y f ) . Since g2"+'(x)= x for all x E Yf,we have h ( x ) = hog2"+I(x)= a2"+'oh(x) for x E Y,". Therefore h is not surjective. 5.10. Remark. Let f : X + X be an expansive homeomorphism with the POTP. Thenf is topologically stable by Theorem 5.8, i.e., to a homeomorphism g with d(g(x),f ( x ) ) < 6 for all x there is a continuous map h with hog = f o h and d(h(x),x ) < E for x E X (note that 0 < E < 3 c where c is an expansive constant for f ) . Suppose g is expansive with an expansive constant c' 2 c. Then h is injective.
5.11. Remark (Yano [1980a]). There exists a homeomorphism of the circle which has the POTP but not topologically stable. 5.12. Theorem (Morimoto [1979]). Let f : X -+ X be a homeomorphism of a compact topological manifold. I f f is topologically stable, then the set of all periodic points o f f , per( f ), is dense in Q(f ).
Proof. Let E > 0 and 0 .c 6 < E be a number with the property of topological stability. Since Xis compact, a(f ) is compact. Take and fix x E Q( f ). Let U be a coordinate neighborhood of x with U c I!I~,~(X). Since x E Q( f ), there is k > 0 with f k ( U )n U # 8. We may suppose that f i ( U ) n U = 8 for 0 < i < k. Choose x' E U with f k ( x ' )E U . Since U is connected, we can
686
N.Aoki
.construct a homeomorphism q : X + X such that q 0f k(x’) = x‘, q ( U ) = U and q( y ) = y ( y 4 V ) . Obviously, d(q(x),x ) < 6 for all x E X . Letting l = q of, d ( l ( x ) ,f ( x ) ) < 6 for x E X . Hence we have h 0 = f 0 h for a continuous map h with d(h(x),x ) < E for x E X. I t is easily checked that tk(x’) = x’. Since h 0 tk = f k 0 h, we have h(x’) = f k 0 h(x’) and so h(x’) E per(f ) . On the other hand, since d(x, h(x’)) < d(x, x ’ ) + d(x’, h(x’)) < 2c, we have h(x’) E V,(x). Since E is arbitrary, per(f ) is dense in a(f). 0
<
5.13. Theorem (Walters [1978]). Let f : X + X be a topologically stable homeomorphism of a compact manifold. If dim(X) > 2, then f : X --+ X has the POTP. For the proof we need the following two lemmas. 5.14. Lemma. Let f : X + X be a (surjective)homeomorphism of a compact metric space. Let k > 0 be an integer and T > 0, q > 0 be given. Then for any sequence {xo, . . . , x k }with d ( f ( x i ) ,x i + l )< T (0 < i < k - l), there exists a sequence { x i , . . . , x i } such that (a) d(xi, x,:) < q, 0 < i < k, < 22, 0 < i < k - 1, (b) d(f ( x ! ) , (c) x,! # xi, i # j , 0 < i , j < k. Roof. The statement is true for k = 0. Suppose the lemma is true for k - 1. Let T > 0 and q > 0 be given. We can suppose q < 2. Choose 1 > 0 such that d(x, y ) < l implies d ( f ( x ) , f ( y ) )< T and 1 < q. Let { x o ,. . . ,x k } be given such that d( f ( x , ) ,x , + ~<) T (0 < i < k - 1). By hypothesis there is { x i , . . . , x i - I } such that d(x,, x,’) < 1 (0 < i < k - l), d(f(x,’),x,’+~) < 22 (0 < i < k - 2) and x,‘ # XI if i # j (i < k - 1 , j < k - 1). Since d ( f ( x ; - I ) ,X k ) < d ( f ( X i - I ) , f ( X k - , ) ) d(f(Xk-,), X k ) < 22, wechoosex; such that x; # XJ’ i f j < k - 1, d(x;, x k ) < q and d(f(xL-,), x;) < 22.
+
0 5.15. Lemma (Nitecki and Shub [1976]). Let X be a compact manifold of dimension 2 2. Then there is 1 > 0 such that fi { ( p i ,qi) E X x X: 1 d i < k} is a finite set satisfying (a) for each 1 < i < k, d(pi, qi) < 1, (b) i f i # j then pi # pj and qi # qj, then there is a homeomorphism cp : X --+ X such that cp(pi) = qi for 1 < i < k, and d(cp(x), x ) < 2nl for x E X .
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Proof of Theorem 5.13. For E > 0 let 6 > 0 be as in the definition of topological stability. Suppose { x o , . . . , x k } be chosen such that d ( f ( x , ) , x i + l ) < t6/11for 0 < i < k - 1. By Lemma 5.14 there is { x i , . . . , x ; } such that d ( x i , xl) < E (0 < i < k ) , d ( f ( x ; ) , x ; + , ) < ad/. (0 < i < k - l), xl! # xi if i # j (i < k , j < k), andf(x() # f ( x J if i # j (i < k, j < k). By Lemma 5.15 there is a homeomorphism cp: X + X with d(cp(x), x ) .c 6 ( x E X ) and cp of(x,!) = (0 < i < k - 1). Put g = cp 0s. Then d ( g ( x ) , f ( x ) ) < 6 ( x E X ) and g ( x l f )= xi;, (0 < i < k - I). By topological stability there is a continuous map h : X + X such that d(h(x), x ) < E ( x E X ) and hog = f o h . Then d(f'oh(&), x i ) = d(hog'(xA), x i ) = d(h(x,!),x i )
<
E + E
=
< d(h(xl), x l f )+ d ( x l , x i )
2.5, O < i < k .
Hence for each { x o , . . . , x k } with d ( f ( x i ) ,x i + , ) < :6/n (0 < i < k - 1) there is y E Xsuch that d(f'( y), x i ) < 2~ (0 < i < k - 1). Thereforefhas the POTP. 17
6. Representations of maps with hyperbolic coordinates
We had seen in Sections 2 and 3 the properties of expansive homeomorphisms and positively expansive maps of compact metric spaces. In this section we shall characterize homeomorphisms with hyperbolic coordinates and in particular continuous surjections that are called expanding maps. 6.1. Definition. A C'-mapf : X + Xof a compact manifold without boundary is called an expanding diyerentiable map if there is a compatible Rieman-
nian structure, with induced norm 11 (1, and a constant 1 > 1 such that )I Df"(w)I( > I" 11 w 11 for n > 1 and all tangent vectors w . 6.2. Remark. Every positively expansive toral endomorphism of the n-torus is an expanding differentiable map (see Remark 2.27). 6.3. Remark. The existence of a positively expansive map of the circle which is not an expanding differentiable map is described in Coven and Reddy [1980] as follows: Let g : R + R be a C1-mapwith the following properties: (1) g(0) = 0, g(1) = 2,
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(2) g'(0) = g'(1) = 1 and g'(x) > 1 whenever 0 < x < 1, ( 3 ) g ( x ) = 2n g ( x - n) whenever n < x < n 1 (n E Z). In fact, the map g ( x ) = x x2(x - 2)' of [0, 11 satisfies (1) and (2), and is extended g to all of R by (3). We denote byf: S' + S' the C'-map induced by g. Since Dfn(v) = o for all n 2 1 and all tangent vectors o at z = 1,fis not expanding. Since the projection P : R + S' is uniformly continuous, we first show that g : R -+ R is positively expansive, and then f : S' --* S' is positively expansive by an argument similar to that in Proposition 2.17. Choose 0 < 6 < 3 such that I x - yl c 26 implies g'(x) - g ( y ) l < 5 and 1 > 1 such that I x - n I 2 6 (n E Z) implies g ' ( x ) 2 1.Then we obtain the following: If g'(x) rj Z for allj 2 0 then there exist infinitely many i 2 0 such that I g ' ( x ) - n I 2 26 for all n E Z. Indeed, if this is false and k is the largest integer with I g k ( x ) - nl 2 26 for all n E Z,then there exists n E Z such that either n < g k + ' ( x ) < n + 26 or n - 26 < gk+'(x) < n. We suppose the former without loss of generality. Let y = g k + ' ( x ) - n. By induction it is easily checked that 0 < g ' ( y ) < 26 for all i 2 0. By the mean value theorem, g ' + ' ( y ) = g ' ( t l ) g ' ( y ) where 0 < t, < g ' ( y ) . Since g ' ( y ) < 1, we have g'(t,) > 1 . Therefore { g ' ( y)} is increasing. Since it is bounded, g ' ( y ) + z < 1 and then g(z) > z. But g(z) = g'(t)z where 0 < t < 1 , and so g(z) # z. This is a contradiction. We now prove that 6 is an expansive constant for g. Let x > y. If g ' ( x ) , g ' ( y ) E Z for some i, j 2 0, then g'+'(x), g'+'(y) E Z and so Jg'+'(x) - g'+'(y)l 2 6. Suppose g'(x) rj Z for all j 2 0. The sequence {Ig'(x) - g ' ( y ) l } is nondecreasing. This follows from the fact that l g ' + ' ( x ) - g ' + ' ( Y ) l = I g ' W - g'(y)llg'(t,)lforsomeg'(y) < t, < &). Since g ' ( x ) .$ Z for all j 2 0, there are infinitely many i > 0 such that I g ' ( x ) - n 1 2 26 for all n E Z.For any such i and any n E Z we have that
+
lg'(x)
+
+
- g'(y)l < 6
* It, - n l 2
Ig'W -
nl -
I g ' W - g ' ( y ) l > 6,
and hence g'(t,) 2 1.If I g ' ( x ) - g'( y ) I < 6 for all i 2 0, then I g ' + ' ( x ) g"'(y) I 2 1 lg'(x) - g'( y ) 1 for infinitely many i 2 0. Thus ( g ' ( x ) - g'( y)} is unbounded, a contradiction. Therefore g and hencef is positively expansive.
0 6.4. Definition. A continuous surjection of a compact metric space is called an expanding map if it is positively expansive and open. 6.5. Remark. Let f :X + X be a positively expansive map of a compact
metric space. For an open set U with small diameter,f:U + f(U ) is homeomorphic. Thus if in particular X is a compact topological manifold without
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boundary thenfis a local homemorphism by the Brouwer Theorem (Spanier [1966, p. 1991). 6.6. Remark. If X is a compact manifold with metric d, its universal covering space is denoted by 8 with covering map P : 8 + X . Then there exist a metric 2 for 2 and q > 0 such that 0) if x , y E 2,&x, Y ) < q then d ( P ( x ) , P( y ) ) = z ( x , y ) , (ii) the covering transformations are isometries, (iii) d is complete, (iv) if A c 8 and the diameter of A is less than q, then the diameter of P ( A ) is less than q. We give a proof due to Duvall and Husch [1972]. Let 42 = { U,}be a finite open cover of X such that each U, is evenly covered by P . Let a be the Lebesgue number of 42. If A c X with diam(A) < a, then there exists a continuous map cp : A + 2 such that Po cp(x) = x for each x E A . Note that if A is connected and if cpI and cp2 are two liftings of A such that cp,(x) = cp2(x)for some x then cp, = cp2. Let V = { K} be a finite open cover of X by connected sets such that the diameter of each K is less than $a. Let /? be the Lebesgue number of V .For x , y E 8, define
Jcx, y ) =
i
min{+/?,d(P(x), P ( y ) ) } , if x , y lie in the same component of P - ' ( K ) for some i, )/3,
otherwise.
a
The difficulty in showing that is a metric is the triangle inequality. To see this, let x , y , z E 8. If either J ( x , y ) or J ( y , z ) is +/? then obviously Jky ) J ( Y , z ) 3 six, 4. y ) and y , z ) are both less than f/?.Then x , y E and y, Suppose z E y for some components and of P-'(K) and P - ' ( y ) respectively. Note that the diameter of { P ( x ) , P( y), P(z)}is less than 8. Then P ( x ) , P( y ) , P ( z ) E V, for some k . Let be the component of P-'(V,) which contains x . Then &' n # 0 and therefore V, u K has diameter less than a. Hence there is a unique lift cp: V, u V, + 8 such that K' u = cp(& u K). Since x , y , z lie in the same component of P - ' ( &) and d'(a, b) = min{+/?, d(a, b)} is a metric, we have J(x, y ) J ( y , z ) 3 J(x, z). Let q = +/?, then (iv) is obtained. The remainder is easily checked. 0
+
a(,,
a(
r
r
c
r
+
6.7. Remark. Let 2 be the universal covering space of a compact connected topological manifold X andf : X + X be a continuous surjection. A lifting
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690
3 o f f is a continuous surjection f : 8 -+ 8 such that
p
i
'
'
f '
1.
commutes.
X
Since 8 is simply connected,ris a homeomorphism ifJis a local homeomorphism. Let r be the group of covering transformations of (8,P). For y E r, letf*(y) = 30y of-'. Then3* :r -+ r is an injective group homomorphism. 6.8. Proposition. Let f :X + X be a positively expansive map of a compact topological manifold without boundary. Then its lijiingr: 8 + 8 is positively expansive.
This follows from the proof of Proposition 2.17.
6.9. Proposition. Under the notations and assumptions of Proposition 6.8, its lifting7 :8 -+ 8 is a homeomorphism and bothf a n d y - ' are uniformly continuOMS under
a.
The proof is obvious. 6.10. Proposition. Let (8,P ) be the universal covering space of a compact connected topological manifold X and f:8 -+ 8 be a lifting of a continuous surjectionf : X + X . SupposeTis a positively expansive map. Then there exist a compatible metric 6, > 0 and 1, > 1 such that
a,,
ab(K 9 ) < 6, (2,9 E 8 )* 12,Jo<% 9 ) < 4(3(2>, f(9)). In particular, 2, is uniformly equivalent to 2. The proof is similar to that of Theorem 2.32, in which compactness is used only to obtain the following through Proposition 6.8: for S > 0 there is no > 0 such that max{d(p(Z),p(J)):O < j < no} < c implies d ( 2 , J )< 6 . Here c is an expansive constant forJ 6.11. Proposition. Under the notations and the assumptions of Proposition 6.10, i f in addition X is connected, then there is a compatible metric for 8 such that for all 2,9 E 2,
a,
Ji,J-'(.?>> < (l/no)Ji<% 9).
69 1
Topological Dynamics
Proof. Let 6, be as in Proposition 6.10. Sincey-' is uniformly continuous under &, there is 0 < 6, < 6, such that ao(y(2),y(jj)) c 6, implies a,(% j j ) < 6,. Then ao(2,j j ) < 6,/A0 by Proposition 6.10. Let 2, j j E 2 and { Z i : 1 < i < 1 + l} be a finite sequence such that 2 , = 2, j j = RI+, and a,(:,, Zi+,)c 6, for 1 < i 6 1. Define a metric a, for .f by
where the infimum is taken over all finite sequences from 2 to J . Then a,) < (1/$)2,(2, 5). For, let {2,, . . . , 2,,,} be a finite sequence from 3(2)to 3(jj)with ao(Zi, Zi+,)c 6, for 0 < i < m. Then { 7 - ' ( 2 , ) ,. . . ,7-'(2,,,)}is a finite sequence from 2 to j j such that a0(3-1(2i),3-1(2i+l)) < 6, (0 < i < m - 1). Hence by Proposition 6.10 &(2i, 2i+l) =
a~<~-',3-'(~i+
and therefore X&(Zi, Z i + , ) 2 $al(2, j j ) , from which
t?,(f(.f),f(J))
2
noad:, 7).
Since the set of (2, j j ) for which there is a finite sequence {gi:1 < i < I + l} zi+,) c 6, (1 < i < I ) is open and closed, all pairs from Z to J with (2, j j ) of 2 have such finite sequence since X is connected. If ao(2,7) c 6, then a,(2, j j ) = 4(2,j j ) and so & is uniformly equivalent to El
a,.
6.12. Theorem. Every positively expansive map of the n-torus is topologically conjugate to an expanding toral endomorphism. 6.13. Remark. Theorem 6.12 was proved in Shub [1969] for expanding differentiable maps of tori. After that, it was shown in Manning [1974] that every Anosov diffeomorphism of tori is topologically conjugate to a hyperbolic toral automorphism. Recently, Manning's result has been extended in Hiraide [1988] to homeomorphisms with hyperbolic coordinates of tori. It seems likely that every Anosov differentiable map (not 1-1) of tori could not be topologically conjugate to a hyperbolic toral endomorphism, but its inverse limit is topologically conjugate to a hyperbolic group automorphism of a solenoidal group (for the definition of solenoidal groups, see Aoki, Dateyama and Komuro [1982]. Theorem 6.12 has been recently extended to positively expansive maps of solenoidal groups (Aoki [1988]). However it is yet unknown whether the same result is true for homeomorphisms with hyperbolic coordinates of solenoidal groups.
Proof of Theorem 6.12. We denote by 8" = R"/E" the n-torus and by P :R" + T" the natural projection. Let r be the group of covering
692
N. Aoki
transformations for P.Then r may be considered as the subgroup Z"of R". Letf: 8"+ T" be a continuous surjection and?: R" + R" be a lifting off. Then there is an injective group homomorphism 3 * : Z" + Z" such that 3(z + v) = 3*(z) + 3(v) for all z E H" and v E W. Since 3 * induces the linear map y : R" + R" such that ylZn = J(*, y projects to a toral endomorphism yo : T" + T". Then y is a lifting of yo. Hereafter let f:T" + T" be a positively expansive map. By Proposition 6.8,3: R" + R" is a positively expansive homeomorphism. We first prove that there is a continuous surjection F: R" + R" such that 3 0 h" = L o y and ii: Z" + Z"is the identity map. If this has been established, we have f o h = hoy, on T". To get the conclusion, we must prove that h is bijective. To establish the former, let V be the set of continuous maps B: R" + R" which are liftings of continuous maps from T" onto itself such that BIZ.= id. If A, B E V then D ( A , B ) = sup{d(A(v), B(v)):v E W"},where d denotes the euclidean metric, is a complete metric for V. We can check this as follows: (a) D ( A , B) < CO: let C be a compact subset such that Z" C = R" (C is called a covering domain). Then for any x E R" there is m E Z"with m + x E C . Since A* = B* = id,
+
d(A(x),B(x)) = d(A(x = d(A(x
+ m) - n, B ( x + m) - m)
+ m),B ( x + m)).
Hence sup{d(A(v), B(v)):vE R"} = sup{d(A(x), B ( x ) ) : xE C } . Since Cis compact, we have D ( A , B) < co. (b) D is complete: if Ai is a Cauchy sequence in V then Ai converges to a continuous map A : 88" + R" and A i ( v m) + A ( v + m) under D for any m E Z". But A i ( v + m) = m + A i ( v )and soA(v m) = m + A ( v ) . Then A E V. For A E V define T ( A ) = 3-Io A o y . Then we have T ( V ) c V. For, let A E V and m E Z". Then ?-IoAoy(v + m) =3-'oAoy(v) + m and so T ( A ) E V. Sinceyis positively expansive, by Proposition 6.1 1 there exist a compatible , for all x , metric dl and 1 > 1 such that d1(3-i(x),3-i(y)) < ( l / l ) i d l ( xy) y E R" and i > 0. Since d, is uniformly equivalent to d, for every E > 0 there is 6 > 0 such that d(v, u) < 6 (v, u E R") implies d,(w,u ) < E . Let a = { U, : I < i < k} be a finite open cover of a covering domain C such that the diameter of Ui E c( is less than 6. Then for a, b E C there is a finite sequence { X I , . . . , xk} Of c such that a = X I , b = xk and d(Xi, X i + l ) < 6 ( 1 < i < k - 1 ) . Since C is compact, length k of such sequences is independent
+
+
TopologicalDynamics
693
of the choice of points a, b of C. For A, B E V, we have R" = A ( C ) + Z" = B ( C ) H" and so choose C, such that C, =) A ( C ) u B ( C ) as a covering domain. Then for v E R", A(w) and B ( v ) are represented as A ( v ) = a + 1 and B(w) = b 1 for some a, b E C, and some 1 E E". Since d is translate invariant, we have
+
+
+ I, b + I ) < 1 dl(xi + 1, xi+l + I)
dl(A(TJ),B(v)) = d,(a k
c ke
i= I
where { x i :1 < i < k} is a finite sequence as above. Therefore D'(A, B) = sup{d,(A(v), B(w)):v E W} < 00, i.e., D' is a metric for I/. It is easily checked that V is complete under D'. Since y : R" -+ R" is surjective, we have D'(A 0 y, B o y ) = D'(A, B) and hence
D'(T(A), T(B)) = sup d l ( J - l o ~ O y ( v ) , r - ' O ~ O y ( ~ ) ) vsuan
<
(l/A)D'(A, B ) .
Therefore T: V -+ V is a contraction under D'. Using the metric D', T has the unique fixed point Kin V. Thus 60y = 70fi on R" and so h o y , = f o h on 8". The remainder of the proof is to show that h is bijective. If we established that all the eigenvalues of y : R" -+ R" had modulus greater than one, then there is A' =- 1 such that A'd(v, u) 2 d(y(o), y(u)) for all TJ,u E R". Put T'(A) = y-' A orfor A E V. It follows then that T'( V) c Vand under the metric D constructed above, T'is a contraction. Thus there is a unique 6' E V with T'(6') = 6'. Since f i o y = 30k and / ? o r = y o R , we have L o y o / ? = 606'03and 6 ' o J b h " = 6 ' o L . y and hence~o(fio6')= ( f i 0 6 ' ) o r and y 0 (6'o i;> = (R o i;> o y. Since f i o R and 6' fi are in V, by the uniqueness of the existence we have f i o /? = 6' fi = id and consequently h : T" --* T"is bijective. It only remains to show that y is expanding. As usual, R" splits into the directed sum R" = E" 0 Es 0 ECwhere E", E s and E" are subspaces corresponding to the eigenvalues of y with modulus greater than one, less than one and equal to one. Now ylEUis essentially an expansion. Thus there is a norm on E" relative to which y,€$ is actually a contraction. With these norms, there is 0 c A' < 1 such that 0
0
0
II Y(v)IIu 2 A'-' II TJ IIuy
v E E",
II Y(TJ)IIs < A' II v [Is,
v
E
Es.
By using Jordan's normal form in the real field for y I E E ,E" splits into a finite directed sum E' = E'' 8 . . * 0 ECkof subspaces satisfying (iv) in the proof of Proposition 2.15, i.e.,
N. Aoki
694
(c) for 0
< i < k the dimension of E" is 1 or 2,
Here each p, : El' + E" is an isometry under some norm 11 I1 of E" and each 4 : El' + EL$-'is either a zero map or a map corresponding to the identity I
matrix. Let v, w
E
R" and split v, w into the sum
+ v s + v o + + vk, w" + w s + w o + . . . + wk,
v = v' w =
* * .
where v", w" E E", vs,w sE E s and v', w' E E" (0 a metric $ for R" by d(v, w)
=
II us - w sIIs,
max{II 0" - wuIIu, llv' - w' 11, (0
Then
induces a compatible metric
< i < k). Now we define
< i < k)}.
e for T"by
e(P(v),P(w)) = inf{G(v
+ z, w + z ' ) : z , z'
E
Z"}
such that e(P(v),P(w)) = G(v, w)whenever the distance from v to w is small enough. Let 6, > 0 be an expansive constant for f under e. Since h :T" + T" is continuous, we can choose E , > 0 such that e ( x , y ) < E , implies e(h(x), h ( y ) ) < 6 , . Put U(v, ) E , ) = (w E E'O:B(v, w) < +el} for v E E'O. Then there is a countable sequence {v, : J > 0 } such that UJU(v,, + E , ) = E'O. Since y(E'O) = Elo and Po = ylEcois a &isometry, for v, w E U(v,, + E , ) e(P(v), P ( W = 6(v, w) =
G(Y'(~)~ ~ ' ( 4 )
e(rP(v), Y;fYw)),
i 2 0, and hence e ( f ' 0h P(v),f'o h P(w)) < 6, for i > 0. By positive expansivity we have h P(v) = h P ( w ) for o, w E U(vJ,+ e l ) , and hence h-'(h P (v )) 3 P(E'O). Denote by M the closure of P(Eco).Then M is a torus subgroup of T". Let A be the subspace of R" corresponding to M . Then Z" n I@ # (0)because if not P , M : A + M is injective. Since h P(O) = h P(A)= P O &A),we =
0
0
0
0
0
0
0
Topological Dynamics
695
+
have L ( k ) c l ( 0 ) Z" and hence &A?) is a set consisting of one point. Since L(z + v) = L*(z) + &v), we have L*(z) = 0 for all z E Z" n k. However this cannot happen since h" is the identity map. Thus E'O = {0}and by induction E' = (0). By running on the above argument we have E s = (0). Therefore R" = E" from which y : R" + R" is expanding. 0
7. Chain components and decompositions Letf: X + X be a (surjective) homeomorphism of a compact metric space. The following concept was introduced by Conely [1976] in his study of flows on manifolds. 7.1. Definition. Let d be a compatible metric for X. A sequence of points { x i :a < i < b} ( - 00 < a < b < 0 0 ) is called a 6-pseudo-orbit of f if d(f(xi), x i f l ) < 6 for a < i < b - 1. Let x , y E Xand let a > 0, then x is a-related by y (written x 5 y) if there are a-pseudo-orbits off such that x,, = x, xI, . . . , xk = y and yo = y , y , , . . . , y, = x. If x k y for every a > 0, then x is related to y (written x y). We say x is chain-recurrent if x x. The set of all chain-recurrent points is called the chain-recurrent set and denoted by R(f).
-
-
7.2. Remark. (a) R(f) = R(fk)for every integer k # 0. (b) If x E R(f)thenfk(x) E R(f)for every k # 0.
Proof. This is immediate when x is a periodic point off. Suppose x is not a periodic point. Let k > 0 and 6, be the distance from x to the set {f(x),f'(x), . . . ,fk+"(x)}.Since f i is uniformly continuous, for E > o there is 6 > 0 such that d ( y , z ) < 6 ( y , z E X) implies d(fi(y),f"(z)) < min{s/(k l), 6 , / ( k 1)) for 0 < i < k 1. Let {xo,x I , . . . , x,} be a 6-pseudo-orbit from x to x. Then for 1 < i < min{k + 1, n }
+
+
d(fi(x), Xi)
+
< d(f'(xo),f'-'(x,N + . . . + d(f(x,-,),
+ . . . + d(f(Xi< 6 , / ( k + 1) + - + 6 , / ( k + 1) < 6 , .
=
d ( f ' - If(XO),f'-'(x1 )) *
Xi) I),
Xi)
'
Since d(f'(x), x) 2 6,, we see that xi # x for 1 < i < min{k + I , n } . Hence every 6-pseudo-orbit from x to x have more than k + 2 elements. A similar argument shows that d(fk'I(x), x ~ + <~ E) and so {f"(x), Xk+l, . . . , x,} is an E-pseudo-orbit from f k ( x ) to x. 0
N.Aoki
696
7.2. Remark. (c) R(f ) is closed.
Proof. Let a > 0. Since X is compact, f : X -, Xis uniformly continuous. Thus there is 0 c 6 < f a such that d(x, y) c 6 implies d( f ( x ) ,f ( y ) ) c fa. } a sequence in R(f ) such that x(’) --+ x as k -, m. Then Let { x ( ~ )be d(x(k),x ) c 6 for some k > 0. Thus there are $a-pseudo-orbit { x i } and n > 0 such that x, = x , = x(’). Put y i = xi ( i # 0 mod n) and yo = x (i = 0). Then { yi} is an a-pseudo-orbit through the point x , and therefore x E R ( f ). 0
n;==,{uk,,
7.3. Definition. For Y a subset let o ( Y ) = f k ( Y ) } .If y E Y then o({y}) is the w-limit set of y. A subset K of X is called an attractor if there is an open set U containing K with K = w ( U ) . 7.4. Theorem (Block and Franke [1983]). Let x E X . Then the following are equivalent: (1) x
B Wf).
(2) There is an open set U such that x 4 0,f ( x ) E U and f ( 0 )c U . ( 3 ) There is an open set U such that x 4 U , f ( x ) E U and f ( 0 ) c U . (4) There is an open set U such that x 4 U, f ( 0 ) c U and f ‘ ( x ) E U for some k > 0. (5) There is an attractor K such that x 4 K and ~ ( { x } )c K. The implications (2)*(3), (3)*(4) and (4)=45) are immediate. To show (1)=-(2) and (5)*(1), we need some lemmas.
7.5. Definition. We say that a subset Y of X is positively chain-invariant if for every y E Y and x E X\ Y , y is not related to x . 7.6. Lemma. Let x E X and E > 0. Let R,(x) denote the set of y E X such that there is an E-pseudo-orbit from x to y. Then R,(x) is an open positively chain-recurrent set such that f ( R , ( x ) ) c R,(x).
Proof. It follows easily from the definition that R,(x) is open and positively chain-invariant. To showf(R,(x)) t R,(x), let y E R,(x).There is 0 < 6 c E such that d( y , z) c 6 implies d( f ( y), f (z)) c E . Since y E R,(x), there is z E R,(x) with d( y , z) c 6. Let ( x , , . , . , x , } be an E-pseudo-orbitfrom x to z . Then { x , , . . . , x -’ f ( y ) } is an E-pseudo-orbit from x to f ( y ) and so f ( Y ) E R&(Y)* Thusf(R,(xN = R,(x).
691
Topological Dynamics
7.7. Lemma. Let Y be a positively chain-invariant subset of X . I f x fk(x) E Yfor k > 0 , then x # ~ ( f ) .
E
Y and
Proof. The proof follows directly from Remark 7.2(b) and the definition of positively chain-invariant subset. 0 7.8. Lemma. Let K c X. K is an attractor ifand only i f there is an open set U =) K such that f( 8 )c U and K = n,"3J"(8). Proof. Suppose K is an attractor. Then there is an open set Y 3 Ksuch that K = o(Y). If for each i > O , f i ( P) contains points outside of Y, there is a point of o(Y) outside of Y , thus contradicting w(Y) c Y. Thusfk(E) c Y for some k > 0. Let Yk-l be an open set such that Yk-1 3 f k - ' ( 8 ) , and let Y k - 2 , .. . , & and Yl be open sets such that 3 f ( Y ) andf( FJ c &+, for 1 < i < k - 2. Put u = Y, u & u * u Yk-1 u Y. Then f ( 8 ) c u and K = w(Y) = w ( U ) = The converse is obtained by taking Y = u. 0
n:=o,f.(o).
Proof of Theorem 7.4. It remains only to prove implications (1)-(2) and (5)=4). (1)*(2): Let x # R,(x) for some E > 0, and put W = R,(x). By Lemma 7.6, Wis open and c W. Suppose x E Sincef(w) c U c c W for some open set U, we have x 4 8,f ( x ) E U and f ( 8 ) c U . (5)*(1): By Lemma 7.8 there is an open set U such t h a t f ( 8 ) c U and K = n;=os"(u). Since x # K , there is m > 0 with x # f " ( 8 Let ) . W be an Sincef"(w) c W , open subset of X such thatf"(0) c W c U and x 4 it follows that W is positively chain-invariant underf". On the other hand, as ~ ( { x } )c K we have f ' ( x ) E U for some j > 0. Thusf(x) E for all i 2 j + m andfmk(x)E Wfor some k > 0. By Lemma 7.7, x # R(f") and 0 since R(f) = R(f'"), x # R(f).
f(w)
u
w.
w.
In order to see the interesting property of the chain-recurrent set, we prepare the following.
7.9. Definition. Let X be a topological space and 2' be the family of all nonempty closed subsets of X . The exponential topology of 2' is defined by assuming that the family of all sets B ( G ) = { F E 2': F c G } and C ( H ) = { F E 2': F n H # S} is an open subbase of 2' provided G and H are open subsets of X. It is easily checked that the family of all sets &Go, GI, . . . , Gn) = { F E 2': F c Go, F n Gi# 8, l < i < n } is a base of 2'.
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698
7.10. Proposition. I f X is compact, so is 2'. Proof. It is enough to prove that every cover of 2'whose sets belong to an open subbase of 2' contains a finite subcover. Suppose 2' = U,B(G,) u U,C(H,) where G, and H, are open in X . Put F, = X\U,H,. Then for each s we have F, n H, = 8, i.e., Fo 4 C ( H , ) and hence F, E B(G,) for some to, i.e., F, c G,, and hence X\G,, c X\F, = USA!,.Since X\C, is compact, there are si (1 < i < n) such that X\G, c H,, u . . . u Hsn. Let F E 2'. Then there are the following two cases: (i) F c GI,. Then F E B(G,,). (ii) F Q G,o,i.e., F n (X\G,,) # 8. Then there i s j such that F n Hs, # 8, i.e., F E C(HJ. Thus in both cases F E B(G,) u C(H,,) u . . . u C(H,"). 0 7.11. Proposition. Suppose X is Hausdor- If2' is compact, so is X . Proof. Let X = U,G,where each G, is open. It follows that 2' = U,C(G,). Since 2' is compact, we have 2' = C(G,,) u * . u C(G,,) for some n > 0. Let x, E X . Then { x , } E C(G,,) for somej < n. This implies that xo E G,, and therefore X = G,, u . . . u G,n.
n
7.12. Definition. Let X be a bounded metric space. A metric @ ( A ,B)
where d ( A , b)
=
= SUP
LB SUP
d ( A , b),
SUP
e defined by
I
d ( ~B) , , A , B E 2',
OEA
inf(d(a, b ) : a E A}, is called the Hausdorflmetric for 2'.
7.13. Proposition. I f a metric space X is compact, so is 2'. Proof. We denote by CO(2') and 0(2'), the exponential topology of 2' and the topology induced by e respectively. We first show that 0(2'), c 0(2'), i.e., each open ball with center A, R = ( F E 2' : @ ( A F , ) < E } , is open in 2'. Since A is compact in X , there is for each k 2 1, a:, . . . , a:k E A such that for each x E A and k we have d(a,k, x ) < l/k for some i. Let us put (I) (2)
G: G
= =
{ x E x : d ( x , a;) < ( x E X : d ( x ,A ) <
E
- l/k},
E}.
To obtain the conclusion, it is enough to prove that m
(3)
R
=
U k=
I
B(G, G:, . . . , G:k)
m
I
= U { F E ~ ' : F C G , F ~ G / <# i~< ,n ~k } . k=l
Topological Dynamics
If F E R, then p ( A , F ) < (4)
x
E
A
(5)
y
E
F
E
* d(x, F )
699
- l/k for some k. It follows that <
E
- l/k,
d(y,A) <
E
-
l/k.
(2) and ( 5 ) imply that F c G. On the other hand, letting x = a:, by (4) there is y E F such that d ( y , a!) < E - l/k. Thus F n Gf # 0 for 1 < i < nk (compare with (l)), and so F belongs to the right member of (3)). Suppose conversely that F c G and F n Gf # 0 for some k and all i with 1 < i < nk. Then we have by (2) (6)
y E F
=- d( y, A )
<
E.
On the other hand, let x E A and let i be such that d(x, a:) < I / k . Since F n Gf # 0, there is y E F such that d ( y , a:) < E - I/k (compare with (1)). It follows that d( y, x ) < E and hence d(x, F ) < E. Thus if x E A then d(x, F) < E . This fact and (6) yield F E R . Next we show that O(2') c 0(2'),. We can of course, restrict ourselves to the case when a subbase of 2' is contained in 0(2'),. Let A = {FE 2' : F c G } where G is open in X and G # X. Then A is a member of the subbase of 2'. If A is a compact proper subset of G then d ( A , X\G) = E > 0. Thus we have that F c G when F E A. For, suppose p E F\G. Then d ( p , A) 2 E and hence e(F, A ) 2 E , so F # R . Therefore R c A. LetA= U{F~2~:FnG#0}andAbecompactandAnG #@.For a E A n G put d(a, X \ G ) = E . Then we have F n G # @ for F E R, i.e., R c A. This completes the proof of the proposition. 0 7.14. Theorem (Robinson [1977]). r f f : X compact metric space, then R(f;R) = R( f ).
+
X is a homeomorphism of a
Proof. Let x E R ( f ) and C, = {xy)} be a periodic l/n-pseudo-orbit through x. Then C, is a finite set. In the Hausdorff metric, there is a subsequence Cnkthat converges to some compact set C c X. If we established that for every y E C and E > 0 there are a periodic c-pseudo-orbit {zi}through y with ziE C, then it follows that y E R ( f ; , ) c R(f).Since y E C,we have C c R ( f ) and x E C c R(f;,) c R(f;R).This is true for all x E R ( f ) and thus R ( f ) R ( f ; R ) . It only remains to show that there is a periodic c-pseudo-orbit through y with ziE C. Sincef: X + Xis uniformly continuous, there is 6 = 6 ( f e ) > 0 such that d(a, b) < 6 implies d ( f ( a ) ,f ( b ) ) < E . Since C,, converges to C , we
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700
can find n = nk such that ljn < $ 8 and the distance from C, to C in the Hausdorff metric is less than 6. Suppose {xi'.)}has a periodj and x z j = xi'.' for all i . For each x(")take zi E C with d(xj?),z i ) < 6, zi+j = zi for all i, and zi = y for some i. Then d(f(zi),zi+,) < d(f (zi), f ( x y ' ) ) d(f(xy'), x@,) d ( x c l ,z , + ~ )< E . Therefore { z i } is a periodic E-pseudo-orbit in C through y .
+
+
0 7.15. Definition. A subset Y of R ( f )is called chain-transitive if to any pair of points p , q E Y and any a > 0 there is a periodic a-pseudo-orbit { x i } through p and q. Y is a chain component off if Y is chain-transitive and each set that contains Y as a proper subset is not chain-transitive. Equivalently, a q. chain component is an equivalence class in R(f)under the relation p
-
7.16. Remark. (1) Every chain component off is closed and finvariant. (2) A chain component is a maximal chain-transitive set. 7.17. Theorem. Let A be a chain component of$ Zfg ;X + X i s a homeomarphism and h : X + X is a continuous surjection with h 0 g = f 0 h, then the following holds: (a) h(R(g)) = W f ) . (b) h k l ( A )contains every chain component of g that it meets. Proof. Since h is uniformly continuous, for each a > 0 there is fl > 0 such that if { x i } is a fl-pseudo-orbit for g then { h ( x i ) }is an a-pseudo-orbit for$ If C is a chain-transitive set for g , then h ( C ) is chain-transitive for S. Therefore (a) and (b) hold. 0 7.18. Theorem. I f f : X
+
X has the POTP, then R ( f ) = Q ( f ) .
Proof. It is enough to verify that R ( f ) c Q ( f ) . If x E R(f),then for every a > 0 there is a pseudo-orbit (xi}such that xo = x , x I ,. . . ,xk = x, and d ( f i ( y ) ,x i ) < a (0 < i < k ) for some y E X . Therefore, U,(x) n f-'(Ua(x)) f 8 where V a ( x )= { y E X : d ( x , y ) < a}, and hence x E Q ( f ) .
0 Take and fix E > 0. Let 6 = 6 ( ~ )> 0 be the number with the property of POTP and split Q ( f ) into a union Q( f) = U A , of equivalence classes Ai under the &relation ( x A y). Each Ai is clearly closed andfinvariant. From the following proposition we see that { A , } is finite, i.e., Q ( f ) = U f A , .
Topological Dynamics
7.19. Proposition.
Iff: X
-+
70 I
X has the POTP, then each A , is open in Q( f).
Proof. Let x E A i . For every y E Al there is in Q(f)a b-pseudo-orbit . . , x p = y.Choose0 c y c ibsuchthatf(U,(x,)) c V , ( x , ) . Then for every xi E U y ( x o )n Q(f),{xi, x,, . . . , x,} is a b-pseudo-orbit in Q ( f ) .On the other hand, let { yo = y , y , , . . . ,y , = x} = 0 be a b-pseudoorbit in Wf). Iff(Y,-l) E V,(xo) n Q(f)then @ \ { Y / } ) u {xi} = { y o , y , , . . . , y'-,, xi} is a b-pseudo-orbit since d ( f ( y,- ,), xi) < 2y c 6 , and hence y d xi. Supposef( y,- ,) # U,(xo) n Q ( f ) .Then there is z E V y ( x o n ) Q(f) with d ( f ( A- I ), U y ( x o )n Q(fN = d ( f ( y,- I 1, 4 c 6 and so d(x& z) < 27. Since z E Q(f)= R(f),we have z z, i.e., there is a periodic y-pseudoorbit {zo = z, z,, . . . , zb, z } in Q ( f ) . Since d(f(Zb), xi) < d(f(Zb), z) + d(z, xi) < 3y c 6 , the sequence (0\{ y , } ) u {zo, . . . , zb, xi} = { y o ,. . . , y , - , , z,, . . . , xi} is a b-pseudo-orbit from yo to xi. Therefore xi E A, and so 0 U,(xo) (7 Q(f)= A i . xo = x,xI,.
-
-
7.20. Theorem (Aoki [1983]). Let f:X + X be a homeomorphism of a compact metric space. I f f has the POTP, then so does .
Proof. Let E and 6 be as above. Since each Ai is open and closed, we have d(Ai, Aj) = inf{d(a, b ) : aE Ai, b E A j } > 0 if i # j . Put 6 , = min{d(Ai, A j ) : i # j } . Let 0 c a c min{b, S,} and { x i } be an a-pseudo-orbit in Q ( f ) . It is only to show that an &-tracingpoint of { x i } is chosen in Q ( f ) . It is easily checked that { x i } is contained in some A j . Choose x,, xb E { x i } and let a > b. Then we have x, A x b , so that there are k , , k, > 0 and a (k, + k,)-periodic b-pseudo-orbit { z i } such that x, = z(k,+k2)iand xb = z ~ , + ( ~ , +for ~ , )all ~ i. Put k = k, + k2. Sincef:X -+ X has the POTP, there is yo,$E X such that d(f'( y,,b), zi) c E for all i, and so d(fki+j(y,,b), zj) c E (i E Z, 0 < j < k). If D = { f k i ( y c r , b ) :Ei Z} is discrete, then there is 1 > 0 such that f'(y,,b) = y,b. Hence Y,,b E Q ( f ) . If D is not discrete, then we can find a subsequence {fk"(y,,b)} with f k i ' (ya,b) + y:,b E X as i' -+ co. Obviously, d( yi.6, x,) < E and d ( f J (y,,b), zj) < E for allj. To see yA.6 E Q ( f ) ,for B > 0 take J > 0 such that d(fki'( Ya,b), yi.6) c B and d(fki'+'(Ya,b),f( yi.6)) c B for i' > J. Then we have yi,6 i!,y& for /? > 0, and hence Y i + bE R(f) = Q ( f ) . If a subsequence of { & } converges to y as a -P - 00 and b -P 00, then y E Q(f)and d ( f ' ( y ) ,x i ) < E for all i, i.e.,An(f) has the POTP. 0 Let X be a compact metric space and f :X -+ X be a (surjective) homeomorphism. Consider the chain-recurrent set R(f) which is closed and
N. Aoki
702
-
finvariant. Then R ( f ) splits into a union R ( f ) = U R , of the equivalence classes R, under the relation x y. Each R, is closed andfinvariant. 7.21. Theorem (Smale [1967]). Iff: R ( f ) --* R ( f ) is expansive and has the POTP, then R( f)is represented as a j n i t e union R(f) = R, off-invariant closed subsets Ri such that J R , is topologically transitive.
uf=,
Proof. Note that the set per(f) of all periodic points is dense in Q(f).Let 6 > 0 be the number with the property of the POTP and let U,(R,) = { y E R ( f ) : d (y , R , ) < 6 ) . For p E U,(R,) n per(f) there is y E Ri with d( y , p ) < 6. Since A,(,) has the POTP, it follows that W " ( p , d ) n Ws ( ( y,d ) # 8 and W ' ( p , d ) n W " ( y ,d ) # 8. Thus there is yo E R1 with yo y , i.e., p E R,, and so R , 3 U,(R,) n per(f) 3 U,(R,) n per(f) = U,(R,). Therefore, each R, is open and closed. By compactness R ( f ) is expressed as a union of a finite set of {R,}, i.e., R ( f ) = UfR,. We next show thatf;,, is topologically transitive. Since each Ri is open and closed,f;,, has the POTP. Let U and V be nonempty open sets in R,. Since x y for x E U and y E V , we can always find in Ri a tracing point for a pseudo-orbit from x to y. Thus U nf'(V) # 0 for some I > 0. 0
-
-
7.22. Definition. The sets Ri are called basic sets forf. 7.23. Definition. A homeomorphism f :X + Xis topologically mixing if for nonempty open sets U and V , there is no > 0 such that U n f " ( V ) # 0 for all n > no. It follows from these definitions that topological mixing implies topological transitivity. 7.24. Theorem (Bowen [1975]). Under the assumptions of Theorem 7.21, there exists a subset E of a basic set R and a > 0 such that f " ( E ) = E, E n f ' ( E ) = 8 (0 < j < a),f;., is topologically mixing and R = U:-lfi(E). Proof. Define E = W " ( p , d ) n R for p E R n per(f), then it is checked that E is open in R. Indeed, let m be a period of p ( f " ( p ) = p ) and 6 > 0 be the number with the property of the POTP for J R . For q E U,(E) n per(f) ( f " ( q ) = q for some n > 0), there is x E W u ( p ,d ) n R with d(q, x ) < 6. Thus there is y E Ws(q,d ) n W u ( x ,d ) n R by the POTP for AR.Since W ( x ,d ) = W ( p ,d ) , we havefkm(y ) ~ f ~ u / u (d p) =, W ( p ,d ) for every k > 0, and so d ( f k m (y ) , f k m ( q ) ) = d(fkm"(y ) , q) + 0 as k + 00. Therefore q E W " ( p , d ) n R = E, i.e., U,(E) = E.
Topological Dynamics
703
Since f ( E ) = W " ( f p ,d) n R, obviously f'"(E) = E. We can find 0 < a < m such thatf"(E) = E. Since R is a chain component set, we have R = E uf(E) u . . . uP-'(E). We next prove that if F = W"(q,d ) n R for q E E n per(f) then F = E. Since U,(E) = E, we have W t ( q , d) c E. Let n > 0 be the period of q. Then W"(q,d ) = U,,Ofnm'W t ( q , d) (see Proposition 2.39) and so F c E. To obtain the conclusion, suppose p $ F. Then 0 < d(F, K )where K = E\ F. Since q E E = W " ( p ,d) n R, there is z E W " ( p ,d) n R with d(z, p ) < d(K, F ) . Thus z E F. On the other hand, d(f-"'"'(z), p ) = d(f-""'(z), f-"'"'(p))-+ 0 as j -+ 00. Thus f-""'(z) # F for sufficiently large j , and so z $f"'"'(F) = F, which is a contradiction. Finally, we prove that f Eis topologically mixing. Let U , V be nonempty open sets of E. Since E = W"(q,d) n R for q E V n per(f), we have U n W " ( f " q ,d) # 0 for j~ Z. Let n > 0 be the period of q, for 0 < j < n - 1 there isz, E U n W " ( f " q .d)such thatf-""'(z,) -f"(q)as t -+ co.Obviouslyf"'(q) ~f"(V). Fix 0 < j < n - 1. Then there is N, > 0 such that for every t > N,,f-@"'(z,) EP"'(V). Put N = max{N,:O < j < n - I } . For every t 2 N we have t = sn + j for some s > 0 and 0 < j < n - 1. If s 2 N then f - " ' ( z j ) = f-""""'(z,) E V . Since zj E U , f " ' ( V ) n U # 0 for t 2 nN. 0 7.25. Remark. Supposef: R(f) -+ R(f)is expansive and has the POTP. If, in additioqf: R(f) + R(f)is topologically transitive and R(f)contains a fixed point ofS, thenf: R(f)-, R(f)is topologically mixing. 7.26. Theorem. Suppose f:X -+ X is expansive and has the POTP. Iff;Rcr, is topologically transitive, then X = R(f).
Proof. Suppose X # R(f)and then we derive a contradiction by showing ( X \ R ( f ) ) n per(f) # 8.Since o ( x o )and a ( x o )are contained in R(f)for xo E X \ R ( f ) , we have 0; (x,,) n R(f) # 0 and 0; (xo) n R(f) # 0. Let 0 < E < d(xo, R(f))and 6 > 0 be the number with the property of the POTP f o r 5 Then d ( R ( f ) , f " ( x , ) )< 6 and d ( R ( f ) , f - " ( x , ) )< 6 for large n, and hence d ( x , + , , f " ( x o ) < ) 6 and d ( f ( x - , - , ) , f - " ( x o ) < ) 6 for some &+I, x-,-I E W). Now construct a 6-pseudo-orbit { x - , - ,,f - " ( x o ) f, - " + ' ( x 0 ) ., . . , f " - ' ( x o ) ,x,,+'} from x - , - ' to x n + , .Since J R ( / ) is topologically transitive, we can find in R(f) a 6-pseudo-orbit {x,,+',2,,+2r. . . , K,,,x - , - I > from xn+, to x - , - , . By combining the above two 6-pseudo-orbits, we construct a periodic 6-pseudo-orbit { x - , - ,,f - " ( x 0 ) ,. . . , xo, f ( x o ) ,. . . ,
N. Aoki
704
f"-'(x,,), x,,+~, 5,,+*, . . . ,Z-,,, x - , - ~ } .Sincef has the POTP, there is y E X &-tracingthe periodic 6-pseudo-orbit.Sincef is expansive,the pointy is periodic and since d(x,, Rcf)) > E , we have y $ R ( f ) , thus contradicting. 0
7.27. Remark. There exists an example of an expansive homeomorphism having the POTP of a compact metric space such that X # R( f ) . For example, let Y: = X i c z Y2and a : Y: -+ Y: be as before. Let S = { ( x i )E &':(xi, x i + l E) C, i E E } where C = ((0, 0), (0, l), (1, I)}. Then a : S + S is a Markov subshift. Since ols is expansive and has the POTP, per(al,) is dense in R(a,,). But S contains only two periodic points x = (. . . ,0, 0, . . .) a n d y = ( . . . , 1,1, . . .).Ontheotherhand,thepointz=( . . . , 0,0,1,1, ...) is in S and not periodic. Therefore z 4 per(a,,) = R(al,). 7.28. Theorem. I f f : X + X is expansive and f : R c f ) + R( f ) has the POTP, then there exists an open set U 3 R( f ) such that n'?,f"(U) = R( f ).
Proof. Let&> ObeanexpansiveconstantforJForO < B < $eleta > 0 be the number with the property of the POTP. By uniform continuity off there is 0 < y < min{ta, + E } such that d(x, y ) < y ( x , y E X ) implies 4 f ( x ) , f ( y ) ) < .4. Now let U = { y E X : d ( y , R ( f ) ) < y } and take y E n Y m f " ( U ) . Since fi( y ) E U for all i, there is xi E R(f ) with d ( f ' ( y), x i ) < y for all i, and hence d ( f ( x i ) ,xi+l)
d ( f ( x i ) , f ' + ' ( y ) )+ d ( f ' + ' ( ~xi+l) ), < +a + y < a
for i E Z. Since { x i }is an a-pseudo-orbit in R( f ), there is a B-tracing point x E R( f ) and for all i d ( f ' ( y ) , f ' ( x ) )G d ( f ' ( y ) ,xi) Thus x = y and y E R( f ) .
+ d(xi,f'(x))< Y + P
<
E.
0
7.29. Convention. Let f :X X be a homeomorphism of a compact metric space and A be a subset of X. Then we write Ws((A) = W"(A) =
U{W S ( x d, ) : x E A } , U{W " ( X ,d ) : x E A }
and for E > 0 v(A) = W,"(A) =
U{W ( Xd, ) : x E A } , U{W ( X , d ) : x E A } .
7.30. Theorem. I f f : X -+ X is expansive and has the POTP, and if R( f ) splits into the finite union R( f ) = RI v v R, of basic sets Ri,
Topological Dynamics
705
then Ws(Rj) = Wu(Rj) =
{ {
xE
X :lim d ( f " ( x ) ,Rj)
xE
X :lim d ( f - " ( x ) ,Rj) n-m
and for each E > 0 there exists an open set V, k>O
1
=0
n-m
3
= 0
Rj such thaf
0f'(V,) c
f - ' ( ~ , )c W,(Rj),
,
k>O
W,"(Rj).
Proof. Since each Rj is open and closed in R(f),JR, has the POTP. Thus to every E > 0 there is a > 0 such that every a-pseudo-orbit of Rj is ~/Ztraced by some point in Ri. Since f:X -P X is uniformly continuous, there is 0 c y c min{+a, + E } such that d ( x , y) < y implies d ( f ( x ) , f ( y ) )c +a. Suppose lim,+,d(f"(y), Rj) = 0 for y E X. Then we can find N > 0 with d ( f " ( y ) , Rj) c y for n 2 N,and so there is x,, E Rj such that d(x,, f"( y)) c y for all n 2 N. Letting x,, = y v N ( x N )for n < N , { x , , : nE E } is an a-pseudo-orbit in Rj. For, if n 2 N then d(f(xn), xn+l) G d(f(xn),f"+'(y)) + d(f"+'(yL x,,+,) G +a + y c a. When n c N we have d ( f ( x , ) , x,,+') = d(f(xn),f(xn)) = 0 a. Let x E Rj be a +tracing point of {x,,}. Then
d(f'of"(~),fi~f~(~))
G
xi+N)
d ( f i + N ( ~ ) q
< ~ + ) E < E ,
+ d(xi+N,f'+N(x))
i20.
HencefN(y) E w ( f " ' x ,d) c W s ( f " x ,d), and so y ~ f - ~ W ( f "dx) ,= W s ( x ,d). Therefore, y
E
W S ( x d, ) c
u{W ' ( X ,d): x
E
Rj} = Ws(Rj),
which implies
{
y
E
X :lim d(f"(y), Rj) n-m
1
= 0
c Ws(Rj).
nk,of-k(V,).
Next let V, = { y E X : d ( y , Rj) c y } and take z E Since d(f'(z), Rj) c y fork 2 0, thereisy, E Rjwithd(f'(z), yk) c yfor k 2 0. By putting y - i = f - i ( y o ) for i > 0 we obtain an a-pseudo-orbit { yk : k E E} of Rj. If x E Rj is an +&-tracingpoint of { y k } , then we have for k 2 0 4fk(X),fk(ZN
and hence z
E
G d ( f k ( X ) ,Y k )
+ d(Y,,f'(Z)) G
)E
w(x,d ) c V(Rj), i.e. nk20f-k(L$) c W,(Rj).
+Y
E,
0
N.Aoki
706
7.31. Theorem. Under the assumptions of Theorem 7.30, for y exists a unique Ri ( R j )such that
E
X there
lim d ( f - " ( y ) ,R j ) = 0
lim d ( f " ( y ) , R i ) = 0
(n-m
n-m
and furthermore,
X =
I
I
i= I
j=l
U W s ( R j ) = IJ
W"(Rj).
Ifi # jthen w s ( R i )n W s ( R j ) =
0,
W u ( R l )n W"(R,) =
0.
Proof. Letx E X. SinceXiscompact, we havew(x) c R U ) = R, u . . . u R,. We show the existence of Rj with o ( x ) c R j . To do this, it is enough to see that there is a unique Ri with Ri n w ( x ) # 0. Suppose that
0,w ( x ) n Rj, # 8 ( j # j ' ) , w(x) n Ri = 8 (i # j , i # j ' ) . Since R, n Rb = 0 for a # b, we can find open neighborhoods U, (1 < a < I ) with U, n ub = 0 (a # b). Sincef(R,) = R, for all a, we can (1)
w ( x ) n Ri #
take an open neighborhood V , such that (2)
f ( K ) c U , , f - ' ( K ) c U, (0
< a < I).
By assumption choose subsequences {f"'(x):i 2 l } and {f"'(x):i 3 1) such that
(3)
limf"'(x)
E
Rj, limfmg(x)E Rj.
1-00
1-w
We may assume that the subsequences { xn,}and { m , } are chosen such that (4)
n, < m , < n2 < m2 <
*
- . *
From (3) it follows that for a large Z (5)
i 2
=> fn8(x)E
y,
f""(x)
E
v,.
From (2), (4) and (5) together with the fact that U, n U, = follows that there is such that i 2
z => n, < 1, < m,,
f"(x)
4 y u y,.
0 (a #
b), it
707
Topological Dynamics
Since X \ ( y u I$)is closed and { f " ( x ) : i 2 I } c X\( t: u I$),there is a subsequence of { f ' ( x ) } for which the limit point z is contained in X\( u I$). Thus z 4 R, u R,,. On the other hand, since z E w ( x ) , there is Rksuch that z E Rk for k # j , j ' . This contradicts (1). Finally we prove that lim,,,d(f"(x), R,)= 0 whenever w ( x ) c R,.If this is false then there are E,, > 0 and an infinite sequence {n,} such that d(f"l(x),R , ) 2 e0 for a l l j 2 0. Iff"'(x) + z ( j + 0 0 ) then d(z, R , ) b eO. But, since z E w ( x ) , we have z E R, which contradicts. Therefore lim,,,d(f"(x), R,)= 0. The proof of the rest of the statement is easy and therefore omitted. 0
8. Markov partitions and subshifts Markov partitions for Anosov diffeomorphisms were first constructed by (Sinai [1968]). After that, the same partitions for basic sets of Axiom A diffeomorphisms were founded by Bowen [ 197Obl. Ruelle [ 19781constructed Markov partitions for homeomorphisms satisfying some conditions that imply hyperbolic coordinates. Let f : X + X be a homeomorphism of a compact metric space. Suppose f has a hyperbolic coordinate. Then f has a local product structure by Theorem 5.6. Thus I$(x), v,S(x) and N, are defined as in Definition 5.5. 8.1. Remark. Let x E X. Then [ y, z] E N, for y, z
E
N,.
v(x)and wl,w 2
Proof. By the definition of N, there are u , , u2 E such that y = [uI,w , ]and z = [u,, w,]. Thus [y, z] [u,
9
2121 E
Nx.
E
vS;(x)
= [ [ u , , q ] , [uz, vJ] =
[7
8.2. Convention. We write D:,, = I$(x) n N, and D:,, = v,S,(x) n N, for x , y E X. 8.3. Lemma. Let Q be as in Dejinition 5.5 and let x, y E X with d(x, y ) < e. Then 0x4, is an open neighborhood of x in G(x) ( 0 = u, s), and the maps D;*, are homeomorphisms. [ , y] : D;, + DYU,, and [ y, ] : D:,, Proof. By definition N, is open in X. Thus 0x4, is open in V,q(x). Since E B , ( y ) c N,, we have x E 0x4, and hence 0x4, is an open neighborhood
x
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708
of x in G(x). Let z E OX",,.Since z E N,, we have [z, y] E v ( y ) and since z E y ( x ) c N, and y E B,(x) c N,, [z, y] E N'. Thus [z, y] E Dlx. Similarly we see that if z E D,!" then [z, x] E D:,. By using the properties of [ , ] it follows that [DXU,,,y] = Dix.By Definition 5.5(B)(b) the map [ ,y] :DX",,+ 0 ; ' is a homeomorphism and [ , x] :0;' + DXU,, is its inverse map. It is easily checked that the same is true for r~ = s.
Proof. Let w E ~ ( N ,n ) V,,(fx). Thenf-'(w) E N, and sof-'(w) = [y, z] for some y E q (x) and z E GI(x). Since % (2) c Wi(z, d) by definition, we have f - ' ( w ) E W i ( z , d). On the other hand, since w E V,:(fx), we have w E v,S,(fx) c W&(fz, d). By expansivity we have f-'(w) = z and so w = f(z) EYE,(x). Therefore,f(N,) n V,q(fx) = fv,S,(x) n v,S,(fx). Since N, is open in X , we have (a) and similarly (b). 8.5. Definition. A subset R of X is called a rectangle if diam(R) [x, y ] E R for x, y E R.
< e and
Hereafter, let R be a rectangle of X. 8.6. Remark. Since e is chosen such that e < d,, we have [x, y] = V,(x) n q ( y ) for x , y E R. It is clear that the closure of R, Cl(R), is a rectangle.
8.7. Convention. Let x E R. We write V(x, R) = q ( x ) n R, and
GI( x ) n R and V(x, R)
=
aVs(x, R) = V s ( x ,R)\Int Vs(x, R), aV"(x, R)
=
V"(x, R)\Int V"(x, R),
where Int V'(x, R) denotes the interior of V'(x, R) in Y ( x )
(0
= s, u).
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Topological Dynamics
Proof. Since R is a rectangle. Obviously [V"(x,R ) , V s ( x ,R)] c R . Let E R, then [z, x] E R n v ( x ) = V " ( x ,R ) and [ x , z] E V s ( x ,R). Hence z = [[z,XI, [ x , z ] ]E [V"(x,R ) , V s ( x ,R)].(a) was proved. Since diam(R) < e and y E R, we have R c B , ( y ) c Ny and so V"(x,R ) c D&. Similarly V"(y,R ) c DY,. Since [V"(y,R), y] = V"(y, R), by Lemma 8.3 we have [aV"(y,R ) , x ] = aV"(x, R ) and hence
z
[ a v " ( x ,R ) , v s ( x ,R)1 = [[aV"(y,R), X I , [x, V'((Y,WII = [aV"(y,R ) , V S ( y R)1 ,
(b) was proved. (c) is shown in the same way.
0
8.9. Convention. We write a'R = [aV"(x,R), V ( x ,R)]and a"R = [V"(x,R), aVs(x,R)].Note that these sets do not depend on x E R (by Lemma 8.8). Since R is a rectangle, obviously PR, a"R c R. The interior of R in X is denoted by Int R, and write aR = R\Int R.
8.10. Lemma. (a) Int R = [Int V u ( x ,R ) , Int V'(x, R)]forx E R, (b) aR = asR v a"R.
Proof. Since R c N, and N, is open in X , the interior of R in N, coincides with Int R. By Lemma 8.8(a), (a) follows from Definition 5.5(B)(b), and hence aR = R\Int R = [V"(x,R), V s ( x ,R)]\[Int V u ( x ,R ) , Int V s ( x ,R)]
0
= asR v PR.
8.11. Remark. Int R is also a rectangle by Lemma 8.10(a).
8.12. Lemma. Let x E Int R. Then Int V"(x,R ) = V"(x,Int R)for (7 = u, s. Proof. Since Int R is open in X , V s ( x ,Int R ) is open in c , ( x ) . Hence x E Int V s ( x ,R ) since x E Int R. Let z E Int V ( x , R), then z = [x, z] and by Lemma 8.10(a), z E Int R. Therefore z E Y s ( x ,Int R). It is easily checked that the same result is true for o = u. 8.13. Lemma. Let x E R. C1 V " ( x ,R ) = V ( x , Cl(R))for(7
=
u, s.
Proof. Since Cl(R)is a rectangle, we have [x, Cl(R)] c Cl(R) n GI( x ) = V ( x ,Cl(R)).Let z E V s ( x ,Cl(R)),then z E v l ( x )and z = [x,z] E [x, Cl(R)].
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Hence Vs(x, CI(R)) = [x, CI(R)].Since [x, CI(R)] is closed in X,we have CI Vs(x, R ) c Vs(x, CI(R)). Similarly C1 V u ( x ,R ) c Vu(x, CI(R)). By Lemma 8.8(a), R = [ V " ( x ,R ) , V'(x, R)] and hence R c [CI V"(x, R ) , C1 V ( x , R)] which is closed in X.Hence CI(R) c [Cl V(x, R), CI V ( x , R)] c [v"(x, CI(R)),V(x, Cl(R))] = Cl(R), i.e., Cl(R) = [Cl V"(x, R), C1 V(x, R)]. Therefore, V'(X, CI(R)) = [x, CI(R)] = [x, [CI V"(X, R ) , CI V ' ( X , R ) ] ] = [x, C1 V'(x, R)] = CI V ' ( x , R ) .
0
8.14. Definition. A rectangle R is said to be proper if R = CI Int R.
8.15. Definition. A Markov partition forfis a finite cover { R,,. . . , R,} of X such that (a) each Ri is a proper rectangle, (b) Int Ri n Int Rj = 8 for i # j , (c) let x E Int Ri n f - ' I n t Rj, then fV'(x, R i ) c V'(f(x), R,) and fV"(x, Ri) 3 V"(f(x),Rj). Construction of Markov partitions. From now on we shall construct a Markov partition for f by the method in Bowen [ 19751. Let c be an expansive constant for f and 6,, e be as in Definition 5.5. Choose 0 < b < min{)e, c } such that d(x, y ) < b implies max{d(f(x), f( y)), d(f-'(x),f-'(y))} < 6,. Sincefhas the POTP, let 0 < a < tfl be a number such that any a-pseudo-orbit is tp-traced by some point of X. We choose 0 < y < :a such that d(x, y ) < y implies d ( f ( x ) , f ( y ) )< $a. Let P = { p , , . . . ,p,} be a y-dense finite subset of X and define
Z(P)
= {(q,) E
P z : d(f(qj),q j + l )
a, i E
z>*
Then to each q E X ( P ) there is a unique Q(q) E X which +b-traces q. This implies that for any x E X there exists q E Z ( P ) with x = O(q). Thus 0 : Z ( P ) + X is surjective and the diagram
X(P) ( I X(P)
x
f
I
o
commutes.
+x
Here CJ denotes the shift defined as usual. We now define
T,
= (0(q):q E
UP),qo = p,}, 1 ,< s
< r.
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Then diam(Ts) 6 fl and T = {TI,. . . , T } is a cover of X . Fix s with 1 6 s 6 r . If x , y E T, then there exist q, q' E C ( P ) with x = O(q) and y = O(q') and qo = qi = p s . Put q: = q, f o r j 2 0, q: = q,' f o r j 6 0 and write q* = qq' E C ( P ) . By the definition of 0 we have
D d(fJ(B(q*)),fJ(O(q'))) < B d ( f J ( w l * ) )f'(O(q))) , <
f o r j 2 0, f o r j 6 0.
Since [ x , yl = [O(q), O(q')l E w,S(O(q), d ) n w;(O(q'), d ) and D < c, we have [ x , y ] = O(q*) which contains in T,. Therefore T, is a rectangle. We next prove that 0 : X ( P ) + X is continuous. If this is false then there is 1 > 0 so that for every N we can find qN, 4" E X(P)with 4;" = 4;" for l j l 6 N such that d(O(qN),O(q"')) > A. Let x , = O(qN) and y , = O(q"), then d ( f J ( x N ) , f y,)) J ( < 28 for I j 1 6 N . By taking a subsequence we have x , --* x and y , + y as N co. Then d ( f J ( x ) , f J ( y )6) 28 for all j and d(x, y ) 2 1, thus contradicting expansivity. By continuity of O it follows that T, is closed in X . Let x E X and define T ( x ) = {T, E T : x E T,}, T*(x) = {T, E T : T, n T, #
z
=
\
0 for some
E
T(x)},
x naq. ,:I
Obviously, Z is open dense in X . Furthermore, define
z*
= {X
E
x:G,(X)n asTk = 0, q ( x ) n auTk =
0 for all
TkE T * ( x ) } .
8.16. Lemma. Z * is dense in X .
Proof. For x E X put a; = U{PT, : T, E T * ( x ) } and a: = U{auTk:Tk E T * ( x ) } . Since diam(T,) 6 p, we have u{Tk:Tk E T * ( x ) } c B,(x) c N, and hence
where yk E Tk. Since V u ( y , , T,) c D,",,,, by Lemma 8.3 we have [aV'( y,, T,), x] c DXU,yk.But [a?'"( y,, Tk), x] is nowhere dense in D;yk and so is in q ( x ) . Thus [a;, x ] is nowhere dense in q ( x ) . Let x E Z , then there exists an open neighborhood U, c iV, of x in X such that for any y E U,, T ( x ) = T( y ) , from which 8; = 8; for 0 = u, s. Let us Put U,' = u, n [Vg:(X>\[as,,X I , vQ,(x)\[x, a:]].
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By Definition 5.5(B)(b) it follows that U,' is dense in U,. For y E U,', y = [ y , , y,] for somey, E q(x)\[a:, x] and somey, E vI(x)\[x, $3. Thus vi(y) n 8 : = 8. For, if z E vB,(y) n 8; then y , = [ y , XI= [ [ y ,z], XI= [z, x] E [a;, x], a contradiction. Similarly q ( y ) n 8; = 8. Therefore y E Z* and so CJ; c Z* # 8 for x E Z. Since U, is an open neighborhood of x, it follows that Z * is dense in 2. Since 2 is dense in X , Z * is dense in X. 0
8.18. Remark. It is clear that
T,!k
=
T, n Tkand T, = u{Tk:1 < n G 4).
8.19. Remark. Each y k is a rectangle. It is clear that q ! k is a rectangle. To see that q ? k is a rectangle, let x , y E ??k. Then z E & ( y ) n Tk z 8 and e i ( x ) n Tk = 8. Since z = [z, y ] = [z, [x, y ] ] and d(z, [x, y ] ) < 28 < 6 , , we have z E q ( [ x , y ] ) n Tk # 0. If z' E Gl([x, y ] ) n Tk # 8 then z' = [ [ x , y], 2'1 = [x, 2'3. Since d(z', x) < 28 < a,, we have z' E vi(x) n Tk # 8, a contradiction. Hence GI([x, y ] ) n Tk = 8 and [x, y ] E q?k. This implies that q:k is a rectangle. It is shown by the similar way that l$ and c k are rectangles.
Proof. Let x E Int yk and z E V,l(x)n asT, # 8. By the definition of ZT,, z = [z,, z,] for some z, E aV"(x, q) and some z, E V s ( x ,T,). Since x = [z,, z,] E Vs(x, TJ n dV'(x, T,), we have x = [[z,,z,], [z,, z l ] ] = z, E asT,. This contradicts x E Int T, by Lemma 8.10(b). If z E v,S,(x) n PTk then z = [z,, z z ] for some zI E dV"(z, Tk)and some E vs(Z,Tk).Thus Z = "21, Z,], [Z,, z l ] ] = ZI and SO Z E av"(Z, Tk).Since d(x, z) < e, by Lemma 8.3 there is a homeomorphism [ , z] : D& + D& and
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Topological Dynamics
then [x, z] = z since z E GI(x).Note that OX",;n y k is a neighborhood of x in Dt:,and that Vu(z, T,) has no interior points in T,. Then we can find v E 0;: n y k with [v, z] 4 V"(z, T,). For this v , V,l(v) n T, = 8 holds. n T, # 0 then [v, z] = This follows from the fact that if w E G,(v) [[w, v ] ,z] E V"(z, T,). But [v, 23 4: V"(z, T,). This cannot happen. Therefore v,S,(x) n ( 8 T , u dsT,) = 8 when x E Int y,. By the similar way we can prove that x E Int y k implies V{(x) n ( d " ~ ,u duTk)= 0. Suppose that X E a " q k and Gl(X) n (a"T, U dsTk)= 0.Then x E dv"(x, q,). If x E aV"(x, T,) then x E [dV"(x, q), Vs(x, T,)] = d 5 q and so v,Sl(x) n a"T, # 8, thus contradicting. Therefore x E Int V"(x, T,). Since d ( x , y,) < e for yk E Tk,by Lemma 8.3 there is a homeomorphism [ , y , ] : D t , , 4 D ~ k , , . S i n C e y , " , ( X ) n a s=@anddV"(y,,Tk) T~ C dsTk,We have ~ l ( xn) aV"(y,, Tk) = 8 and hence [x, y,] 4 dV"(yk, T k ) . Since Tkis closed, V (yk, T,) is closed in X by Lemma 8.13. Since V "( y , , T,) c D,",,,, it follows that d V u (yk, T,) is the boundary of V"(yk, T,) in DL,r.Thus there is a neighborhood U t c Vu(x, T,) of x in D;,,such that
[ u , ?yk1
V " ( y k , Tk)
[u:,ykl
Or
DL.r\VU(Yk,
Tk),
namely GI(v) n Tk # 0 for all v E U t or GI( v ) n Tk = 0 for all v E U,U.On the other hand, since U,!' c V"(x, T,), we have that q ( v ) n T, # 8 for all v E u,"or q ( v ) n Tk = 0 for all v E U,!'.Therefore u,!'c q k which contradicts x E dV"(x, T,lfc). It was proved that for x E q k G,(x) f?(a"qu dsTk) =
8*x 4 a"qk.
Similarly we can prove that Q(x) n (d"T, u PT,) = 8 implies x 4 8"yk. Therefore the conclusion is obtained by Lemma 8.10(b). 0
x
Let x E Z * . If T, n T, # 0 for T, E T(x) and T, Int y k by Lemma 8.20.
E
T, then there is n with
E
8.21. Convention. Let x
E
R(x) = n{Int
Z y and write q k :
q n T, and
8.22. Remark. T(x) = T(Y).
0 for r j E T(x) Tk E T and x E Int Tk}. #
R(x) is an open rectangle. For y
E
R(x), R ( x ) = R( y ) and
Proof. The former is clear. If T, E T( y ) and T, E T(x), then y E T, n T, # 0 and hence y E R ( x ) c T,!, and Tk E T(x). Therefore T( y ) c T(x).Obviously
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714
T ( x ) c T( y) and so T(x) = T( y). By Lemma 8.21 we have R(x) = R( y) for y E R(x). 0 Since T is finite, so is {R(x):x E Z * } . Thus there exist x I , . . . , x,,, E Z * such that Z* = R(x,) u . . * u R(x,,,)is a disjoint union.
8. Then
8.23. Lemma. Let x E R(x,) n f-'R(x,) # ( a > f J " ( ~R(xi)) , c Vs(f(x), R(xj)), (b)fV"(x, R(xi)) 3 v"(f(x), R(xj))*
Proof. Fix x E R(xi) n f - I R ( x j ) and let v E X. Then there is q E Z(P)with v = O(q). Suppose qo = p , and q1 = p , for p , , p , E P = { p l , . . . ,p l } . If w E Vs(v,T,) then there is q' E Z ( P ) such that w = O(q') and qk = p , . Hence w = [v,w] = [O(q), O(q')] = O(qq') so that f ( w ) = f o O ( q q ' ) = 8 0 o(qq') E T, (qq' = (. . . , q t 2 ,qLl, qo, q l , q2, . . .) as defined above). Since w = [v, w ] E v,S,(
f W , T,) =
V"(s(v), Tt),
and in a similar way, (2)
fV"(V9
T,)
= V"(f(v),T,).
Let y E V ( x ,R(xi)). Then y E V;,(x) and R ( x ) = R( y) = R(xi).We first prove that T(fx)= T ( f y ) . Iff(x) E Ti andf(x) = O o a ( q ) where q, = pi and qo = p , , then x = O(q) E T,. By (1) we have f ( y ) efVS(x, T,) c Vs(f(x), q ) and hencef(y) E q. Similarlyf(x) E T, wheneverf( y ) E T,. Next we show thatf(x),f(y) E yk if T, E T ( f x ) = T(fy) and T, n Tk # 8 for Tk E T. Sincef( y ) E V(f(x), T,),f(x) andf( y) belong to q ! k u q:k or q:ku Suppose q ( f y ) n Tk = 8 and V ( f x ) n Tk # 8.This assumption is equivalent to
ck.
(3)
V " ( f ( y ) , q ) n Tk
=
8,
V"(f(x),
Tk #
8.
Takef(z) E V"(f(x), T,)n Tk.Letf(x) = O a(q) for q E C ( P )with q, = pj and qo = p , . By using (2) we have 0
f(z> E V"(f(4, T,) c f V " ( X 9 Ts). Let f(z) = 0 a(@) for q' E C ( P ) with q; = pk and qi = p t . Then z E T, and z E T, n T, # 8. Since x E T,, we have T, E T(x) = T( y). Since z E V " ( x , T,) n Tt and x, y belong to the same set T,lt, it follows that V"(y , T , ) n Tt # 8. Hence there is z' E V"(y , T,) n T, and then 0
' 2
=
[z, ~1
=
[z, z'l
E
Vs(z, Td
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Topological Dynamics
and by (l),f(z")
E
V s ( f ( z ) ,Tk).Sincef(z), f(y ) E T,, we have
f ( z " ) = [f(zh f(Y)l E V " ( f (Y ) , T,), which contradicts (3). Now define R(fx)'
=
n{Tk: T, n Tk # 0 for T, E T(fx) and Tk E T and f(x) E
yk}.
Then we have Int R(fx)' = R(fx) = R(x,) since f(x) E R(x,). Since diam(R(x,)) < fi, we havejV(x, R(x,)) t l $ ~ x )and hencefV"(x, &xi)) c Vs(f(x), R(fx)'). By Lemma 8.4(a),fc, (x) n GI(fx) is open in GI(fx) and R(xi) is also open in X . ThusfVs(x, R(xi)) is open in Cl(fx). Therefore by Lemma 8.12
With the above preparations we have the following theorem. 8.24. Theorem. Iff: X + X i s a (surjective)homeomorphism with hyperbolic coordinate, then there exist in X Markov partitions with arbitrary small diameter.
Proof. Let R, = CI R(x,) for 1 < j < m. Then W = { R l , . . . , R,} is a Markov partition of X. W is a cover of X , each R, is a proper rectangle with diam(R,) < fi and Int R, n Int R, = 0 for i # j . The remainder of the proof is to check Definition 8.15(c). If Int R, nf-'(Int R,) # 0, then there is x E R(x,) n f-'(R(x,)), and thenfVs(x, R(x,)) c V'(f(x), R(x,)) by Lemma 8.23. By Lemma 8.13 we havefVs(x, R,) c VS((f(x), R,) and then for y E R, n f - ' ( R , ) , fV"Y,
Rl)
= f [ y , VS(X,R,)1 = [f(Y)?fV"X, RJ1
= [f(Y)l
V"f(x),
411
= V " ( f ( Y ) , R,).
The proof of one half of Definition 8.15(c) has been given. The proof of the other half is similar and is therefore omitted. 0 8.25. Remark. Letf: X + X be a (surjective) homeomorphism of a compact
metric space and Q ( f ) be the nonwandering set o f f in X. Suppose f is
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716
expansive and has the POTP. ThenJ;,,,, has the POTP by Theorem 7.20 and it is expansive. Thus R( f ) has Markov partitions. Furthermore, R( f ) is expressed as the finite union R( f ) = U= ! ,R, of basic sets R, which are open and closed in R( f ) . Thus the restriction o f f on R, has the POTP and is expansive, and so R, has Markov partitions. Symbolic dynamics. Let R = (&, . . . , Rm-,} be a Markov partition of a basic set R, and define the transition matrix A = A ( W ) by 1
if Int Ri n f -'(Int R,) #
8,
0 otherwise. 8.26. Lemma. Suppose x E Ri n f -'(R,) and A , = 1. Then f V s ( x , R i ) c V s ( f(x), Rj) andf Vu(x, Ri) 3 V " ( f ( x ) ,Rj). Proof. This is exactly the same as the last part of the proof of Theorem 8.24.
0 8.27. Lemma. Let D c V,:(x) n R, and C c q ( x ) n 0,. Then the rectangle [C,D] is proper if and only if D = CI Int D and C = CI Int C as subsets of v,S,(x)n R, and q ( x ) n R,, respectively. Proof. This follows from Definition 5.5(b).
0
8.28. Definition. Let R, S be two rectangles in 0,. Then S is called a
u-subrectangle o f R if (a) S # 8, S c R and S is proper, (b) Vu( y, S) = V"(y , R ) for y E S. 8.29. Lemma. Suppose S is a u-subrectangle of Ri and A , = 1. Then f ( S ) n R, is a u-subrectangle of R,.
Proof. Choose x E R, nf -'(R,) and put D = V s ( x ,R , ) n S. Since S is a u-subrectangle, we have S = U{ Vu(y , R , ) :y E D } = [ V " ( x ,R,), D ] . Since S is proper and nonempty, by Lemma 8.27 we have 8 # D = CI Int D and f ( S ) n R, = U{f V " ( y , R , ) n R , : y E D } . It follows that f ( y ) E R, for y E D and y E R, nf - ' ( R , ) . Hence f V " ( y , R , ) n Rj = V " ( f ( y ) ,R,) by using lemma 8.26 and so
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717
Since Rj = [V"(f(x), Rj), Vs(f(x), Rj)]by Lemma 8.8 and Rj is proper, so is V"(f(x), Rj). Sincefmaps V(x, R i ) homeomorphically onto a neighborhood of V(f(x), R,), we have f ( D ) = CI Intf(D) and so f(S)n Rj is proper by Lemma 8.27. Since f ( D ) # 8, obviously f(S)n R, # 0. If y" E ~ ( Sn ) Rj then y" E vll( y', Rj) for some y' E ~ ( Dand ) hence V"(y", Rj) = V"(y', R,) c f ( S ) n Rj. Therefore V"(y", Rj) = V"(y " , f ( S ) n R,) for y" E ~ ( Sn)Rj. This implies thatf(S) n Rj is a u-subrectangle of R,. 0
8.30. Theorem. Let C, be the compact subset of Y', defined by C A = {x = (xi): A , , + , = 1 for i E h } and c : C A+ C A be the shift defined by a(xi) = (xifl) as usual. For each u E C,, the set n { f - ' ( R , , ) : j E Z}consists of a single point which is denoted by n(u). The map n : CA + R, is a continuous surjection with n o a = f o n , and n is injective on the Baire set Y = Q \ U { f ' ( W : i E hl. Proof. If A , , , + , = 1 for 1 we see that
- 1, by using inductively Lemma 8.29
is a u-subrectangle of Ran. Hence we obtain that &(a) = n { f - , ( R a J ) : - n < j < n } is nonempty. Since K J a ) 2 K,+,(a)2 . . , we have
n s-J(R,)
,= - m
n K , ( ~ )z 0. m
iD
K ( ~ )=
=
n= I
If X, y E K(a) thenfJ(x),fJ( y ) E R, are close for all j E Z and so x = y by expansivity. Since K(aa) = n , f - ' ( R , + , ) = f ( ) J f - J ( R , ) = f K ( a ) , we have n a = fo n. Continuity of n is easily checked. Since dB is nowhere dense, Y is a Baire set. For x E Y take a, withfJ(x) E R,. Since x E Y,fJ(x) E Int R, and SO Aa,4+, = I. Thus a = (a,) E C, and x = n(a). If x = n(b) then fJ(x) E Rb, and b, = u, sincefJ(x) 4 89. Hence n is injective on Y. Since n(C,) is a compact subset of Rscontaining Y, we have n ( C A ) = R,. 0 0
8.31. Proposition. The shift CT : C, + C, is topologically transitive. topologically mixing, SO is 0 : CA + C, .
vAnsis
Proof. Let U and V be nonempty open subsets of X A . Then there are a, b E C, and N > 0 such that
U
2
U, =
V
3
V, = { X ECA:xi = bi, I i l
{XE
CA:xi= ai, Iil
< N},
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718
and N
8#
Int K N ( a ) =
8#
Int &(b)
n f-J(Int Raj) =
U2,
j= -N
N
f-'(Int Rbj) = b.
= j= -N
If a(x) E U2 then f ' o a(x) E R , and f J o a ( x ) E Int(R,,) implies xi = aj for ljl < N, and hence a - ' ( U 2 )c U I . Similarly n-'(V,) c 5 . Since is topologically transitive, we havef"(U2) n V, # 8 for some n. Then
An,
8 # a-'(fn(U2)n b)
= a - l ( f n ~n ~ a-'(&) ) c f " ( ~ )n V .
By the same argument we can prove that a,2,is topologically mixing iff;% is.
8.32. Theorem (Bowen [197Oc]). There is an integer d such that card(n-'(x)) < d for all x E R,, i.e., K : CA + Q is a bounded-to-one map. 8.33. Remark. X A 3 x is a periodic point of a if and only if a ( x ) is. Proof. Since f o a = R O O , we see easily that a(x) is periodic if x is. If f " ( y ) = y where y = a(a), then n - ' ( y ) 3 {a, a"(a), a2"(a),. . .}. Since a-'(y) is finite, a is a periodic point of a. 0 Before starting with the proof of Theorem 8.32, we shall prepare some notations and some lemmas. As before let W be a Markov partition for f : R, + R, where Q is a basic set for a homeomorphism f with a hyperbolic coordinate. For R i , Rj E W we define 1 if f(1nt Ri) n Int Rj # 8, t(Ri, Rj) = 0 otherwise, and let C = {(Rn,)Ym: R ,E
W and t(R,,, R,,+ I ) = 1, i E H}.
Then Z is a compact metric space and the shift a : C + C defined by a ( R , ) , = R , + ,is a homeomorphism. Hereafter we write x = (xi) an element of X. Let (Z,,, a) be defined by W as in Theorem 8.30. Obviously ( Z A ,a) is isomorphic to (C, a).
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Topological Dynamics
8.34. Convention. For x E 0, let Set(x) = { R E W : x E R } .
8.35. Lemma. (a) Set(x) = { R E 9: R = xofor some ( x i ) E ~ ‘ ( x ) } , (b) Set([x, y ] ) 3 Set(x) n Set(y). Proof. (a): If x = n((x,)) then clearly x,, = R E Set(x). That there is such an ( x i ) for any member of Set(x) was proved in Theorem 8.30. (b): [ x , y ] is defined only for x and y near each other. If x, y E R, then [ x , y ] E R because R is a rectangle. 0 8.36. Lemma. Let z be near enough x so that [x, z] is deJned. Zfz 4 PW,then to every 6 > 0 there is z’ E c(z)\U{f”(d’W):n E Z} with Set(z’) = Set(z) and [x, z’] 4 8.9. Zf z 4 39, then for every 6 > 0 there is z‘ E l$”(z)\ U { f ” ( a s W ) n: E Z} with Set(z’) = Set(z) and [z’, x ] 4 8%. Proof. Remember that a‘B = U{a”R: R E W} where d”R = [ V ” ( x ,R), a V s ( x ,R)] and a V s ( x , R ) = V s ( x ,R)\Int V s ( x ,R ) . Since a V s ( x , R ) is a closed nowhere dense subset of e ( x ) , we see that whenever z 4 a”&?,
v
=
Int R~Set(z)
vS(z,R )
\
R#!d(z)
is an open neighborhood of z in c(z). Obviously Set(z’) = Set(z) for all z’ E V and V n 8 ’ 9 = 8. Since PW n G(x) is contained in a finite union of nowhere dense sets of the form 8V(y , R ) , d”W n G(x) is nowhere dense in v(x). Since eachf-“(V,”(z)) can be covered by finitely many G(x), we have that
f”(d”W) n G(z) c f ” ( U x G ( x )n 8%’) is nowhere dense in G(z). Hence by Baire’s theorem U{f”(i?”&?) :n E Z} n V(z) is nowhere dense in G(z).By Lemma 8.3, [x, 1: G(z) n N, + v(z) n N, is a homeomorphism. It follows that [x, z’] 8 9 for some z’ E ~(z)\U{f”(PW): n E Z}.
+
8.37. Lemma. Let R,, R 2 , R3 E W.Suppose that R , # R 2 , x f - ’ ( R , ) and A13 = 1, A23 = 1. Then x E a”&?.
E
R , n R2 n
Proof. Lemma 8.26 gives V = V’(x, R , ) n V’(x, R,)
3
f-’(V”(f(x),R 3 ) ) .
Since V ” ( f ( x ) ,R , ) contains an open subset of every neighborhood off(x) in q (fx), V contains an open subset of every neighborhood of x in q (x).
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720
As we saw in the proof of Lemma 8.36, we can find x' E V with x' 4 as%?. Since R, # R,, we have V c R, n R, c aR,. SinceaR, = aURlv aSR,,we havex' E P R , and then Vu(x', R,) c P R , c 8.9. Thereforex E 8.9. 0 8.38. Lemma. (a) Suppose z 4 8.9. Then to every Ri E Set(fz) there is a unique Rj = T,(R,) E Set(z) such that A, = 1. The map T,: Set(fz) + Set(z) is surjective. r f y E I$(z)\au9 and Set( y) = Set(z), then Set(fy) = Set(fz) and T, = T,. (b) Suppose z 4 8'9. Then to each Ri E Set(f-'z) there is a unique Rj = Tz'(Ri) E Set(z) such that A, = 1. The map T:: Set(f-'z) + Set(z) is surjective. r f y E q(z)\asW and Set(y) = Set(z), then Set(f-'y) = Set(f-lz) and T"' = Tz'.
Proof. By Lemma 8.35, for Ri E Set(fz) there is (wi) E R - ' ( ~ zwith ) wo E Ri and so r.-'(wi) = n-'(z). Hence z E R,,,-,. Since (wi) E C,, Aw-,w, = Aw,-,i= 1. By Lemma 8.37, w-, is a unique since z 4 8.9. Hence T, is well defined. If Ri E Set(z), then there is (zi) E n-'(z) with zo E R;. Then R,, E Set(fz) and A,,,, = 1. Hence T,(R,,) = R,, and T, is surjective. Consider y E va",(z)\auWwith Set(y) = Set(z). Then y E Vs(z, Ri) for every Ri E Set(z). If Ri E Set(fz) and Ri = Tz(Rj) then Lemma 8.26 shows f ( y ) ~ f V ~ ( Ri) z , c Vs(f(z),Rj) c Rj.
Thus Set(fz) c Set(fy). Symmetrically Set(fy) c Set(fz). Thus Set(fy) = Set(fz). Since the definition of T, depends only on the sets Set(z) and Set(fz) (not z itself), we see that T, = T,. (b) is shown in a similar way. 0 8.39. Convention. Let 6, > 0 be as in Definition 5.5(B). For x E R, define Js(x) = {9 c 9 : 6 1 > V6 2 0, 32 E v ( x ) \ a ' 9 with Set(z) = 9 } , J"(X)
= {9 c
9 : d 1 > V6 2 0,
32 E e ( x ) \ a s W with Set(z) = 9 } . Remark that we can choose 6 = 6(x) so small that Set(z) E J,(x) whenever z E G ( x ) \ a U 9and Set(z) E J,(x) whenever z E ~ ( x ) \ 8 " W . 8.40. Definition. Let N > 0 and KN be the set of all n-tuples (a,, . . . , a,) of integers with 1 < n < N , 1 < ai < N a n d a, 2 a, 2 3 a,. Define a partial ordering G on KN by (a,, . . . , an) > (b,, . . . , b,) if either n > m or n = m and bi 2 ai for all 1 < i < m (note that this ordering is not the natural condition ai 2 bi). We write (al, . . . , an) > (bl, . . . , b,) if (a19 . . . an) 2 (bl, . * * b m ) but ( a , , . . . a n ) # (bl, * * . b m ) . 9
9
9
9
72 I
Topological Dynamics
8.41. Definition. Let E denote the cardinality of E and B ( B ) denote the set of subsets of B. Fix N 2 2". For L E B ( B ( W ) ) we define L* E KN to be (al, . . . , a,,) where n = and a,, . . . , a, denote the cardinalities of the n sets in L . 8.42. Lemma. Js(fx)*
< Js(x)* and J,,(f-'x)* < Ju(x)*
Proof. Define the map Ri : Js(x) + J,(fx) by Ri(9) = Set(fz) for 9 E J,(x). Lemma 8.38(a) ensures that Ri is well defined. We can check that R: is surjective. For, if d E Js(fx), then by Lemma 8.36, for arbitrarily small 6 > 0 we can find w E v,"(fx)\d"W with Set(w) = 8'and w # f ( d " B ) . Then d = Ri(Set(f-'w)). Let Js(x)* = ( a i , . . . , a,,) where ai = gi and J s ( x ) = {g1, . . . , 9,}, and let J,(fx)* = ( b l , . . . , b,) where bi = 8iand Js(fx) = {g1,. . . , &}. Then Ri induces a surjection g : [ l , n] + [l, m] by RT;(Qi) = dg)B(i). We can consider the cases: either n > m and (al, . . . , a,) > ( b l ,. . . , b,) or n = m and g is bijective. Considering the second case. For certain z we have the surjection T,: dgg(i) -, Qjand thus bg(i)2 ai. For any i there i s j E [l, i ] with g ( j ) 2 i. Otherwise g([l, i ] ) c [ l , i - 11 which contradicts g one-to-one. Then bi 2 bg(,)2 a, 2 ai. Here we use the fact that all ai and b, are arranged in 0 descending order. The second statement is proved in the same way. 8.43. Definition. We say x E R, is an s-branch (u-branch) point if there are (xi), ( y i )E c l ( x ) with xo = yo but x I # yI (but x - ~# Y - ~ ) . 8.44. Lemma. If x is an s-branch point, then Js(x)* > Js(fx)*. u-branch point, then J,,(x)* > J,(f-'x)*.
If x
is a
Proof. Let x be an s-branch point. It is enough to show that one of T, with z E V&)(x)\C?"' is not bijective. Indeed, if (al, . . . , a,) = (bl, . . . , b,) then g is a bijection and so
2 bi
i= I
n
=
C ai 6
,=I
i= I
bg)B(i) =
CI bi.
i=
Here we use ai < bg(i). To have the above equality we need a, = bg,i,for all . . I , i.e., T, is always a bijection. Since x is an s-branch point, we can find Ri E Set(x) and R,, Rk E Set(fx) with R, # Rk and A , = Alk = 1. Using Lemma 8.36, we can choose
z
E
{ V(x, Ri) n v,"(,,(x)}\duW.
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122
By Lemma 8.26 f V s ( X , Ri)
Vs(f(x),Rj) n V'(f(x), Rk)*
C
Thus Rj, Rk E Set(fz) and T,(R,) = T Z ( R k= ) R, and so T, is not bijective.
0 Proof of Theorem 8.32. Let c = & and e be the length of the longest chain in the partially ordered set (K,,,, <). Let 0 < n, < n2 < * . < nk be all the nonnegative integers such that f"'(x) is an s-branch point. By Lemmas 8.42 and 8.44 J s ( f " ' x ) *>
JS(f"2X)*
> ... >
JS(f"kX)*,
which shows k < e. Let A, be the set of all sequences (Rko,. . . , Rk,)of elements of W such that there is ( x i ) E n-'(x) with xi E Rk, for all 0 < i < n. By the definition of s-branch points fi,,,, = A,, unless f"(x) is an s-branch point. Hence Art+,< cA,, for every n. Since Jo < c, we have that A, < ck+l < ce+' for all n 2 0. From this it follows that there are at most c'+' possibilities for (xi): with ( x i ) E n - ' ( x ) . Similarly there are at most c'+' possibilities for (xi)O, with ( x i ) E n - ' ( x ) .
-<
Therefore n - l ( x )
0
c*('+').
8.45. Definition. Letf : X -,X be a homeomorphism of a compact metric space. Let 9 be a partition of X , i.e., for A, B E 9 , A n B = 8 and u { D : D E 9 } = X. A sequence { x i }of points of X is said to be an a-pseudoorbit with respect to 9 if d ( f ( x i ) ,x i + ' ) < a andf(xi) x i + , for all i where x y implies that x and y are in the same element of 9. The following concept was introduced by Y. Takahashi. A (surjective) homeomorphism f is said to have the special POTP if there exists a finite partition 9 such that to every p > 0 there is a > 0 such that each a-pseudo-orbit with respect to 9 is P-traced. If in particular 9 = {X}, the special POTP implies the POTP. 8.46. Convention. Let
E
> 0 and write
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Topological Dynamics
Obviously, y E Z,(x) if and only if x Z & ( X ) c Y&(X>.
E
Z,( y ) , and r ( x , d ) u w,"(x, d ) c
8.47. Theorem (Dateyama [ 19881). Let f : X + X be an expansive homeomorphism of a compact metric space and c > 0 be an expansive constant for f. Then the following are equivalent: (a) f : X + X has a Markov partition, (b) f has the special POTP, (c) for each x E X there exists 6 = 6 ( x ) > 0 such that {ZC,,(y ) n B s ( x ) : y E B,(x)} isfnite, (d) for each x E X there exists q = q(x) > 0 such that { Y,,,( y ) n B,,(x) : y E B,,(x)} isfinite. 8.48. Definition. Let k 2 2 and a: Y t + YE be the shift. A subshift a : S + S is said to be sofc if there exists a subshift a : S' 4 S' of finite type such that there is a continuous surjection cp : S' + S with a l s o cp = cp o aIs,. 8.49. Remark. A sofic subshift does not have the POTP unless it is of finite type (see Theorems 4.15 and 4.17).
8.50. Remark. A subshift a : C + C has the special POTP if and only if it is sofic (compare with Theorem 4.17).
Proof. If the subshift alxhas the special POTP, then it has Markov partitions by Theorem 8.47. Thus aIxis a factor of a subshift of finite type and therefore alzis sofic. Conversely, suppose a : C + C be sofic. Let W be the set of blocks which occur in C and let w E W. Put F(w) = {w' E W :ww' E W } .Since alr is sofic, we claim that {F(w): w E W }is finite. Indeed, since a : C + C is sofic, is a factor of some subshift a : S + S of finite type of order L, i.e., there is a continuous surjection h : S + X such that hoa = aoh. Note that S c YE for some k > 0. Let w = ( w l , . . . , w L )be a block which occur in 72 and for n E Z define Cyl,[w] = { x E C : x , =
WI,
x,,, =
w2,.
. . , X,+L-l
= WL}.
For s E Yk,Cyb[s] is open and closed and so is h-'(Cyb[s]). Let W, be the set of all blocks with length p which occur in S. Since Y, is finite, there is N > L such that for s E Y, there is C, c W,,+, so that h-I(Cyl,[s]) = U{CylL.[b] : b E C,}. For w = ( w l , . . . , w L ) E W , write C, = {b E C,,: h-I(CyILL+I[~]) n CylL,[b] #
s}.
N. Aoki
724
Since c : S + S is of finite type and L < 2N + I , we have that u E F(w) if and only if Cyl_,[b] n h-'(cyl,[u]) # 8 for some b E C,. If C,, = C,, for w', w2 E W , then we have F ( d ) = F(wz). Since W,,,, is finite, so is {CH': w E W} and therefore { F ( w ) :w E W } is finite. For x = (x,) E Z, write Fn = F ( x - , , . . . , xo). Then { F , : n 2 0} is a decreasing sequence of W. Since {F(w): w E W } is finite, there is N > 0 such that FN = F, for all n 2 N. For simplicity we write &x) = FN. Then { $ ( x ) : x ~ Z }c { F ( w ) : w ~ W } . L e t G ( x )= ( y ~ C : ( y , , . . . , y , ) ~ ~ ( x ) for all n 2 I } for x E C.For x, y E C we define a point z = (z,) by z, = x, (i < 0) and z, = y , (i 2 1). Then it follows that z E C if and only if y E G(x). It is clear that {G(x) : x E Z} is finite. Let a metric d for C be defined by d(x, y) = max{6,,,,/21'1:i E Z} (x = (x,), y = ( y,) E C) where ~5,,~, denotes the Kronecker delta. If c = $ then 2c is an expansive constant for oIzunder d. Let x ( x ) be as in Convention 8.46. Then we have Y,(x) = { y E C : y E G(x), yo = xo and y - , = x-, } for x E C.Since (G(x) : x E C} is finite, so is { (x) : x E C}.Thus the condition (d) of Theorem 8.47 holds and therefore qZ has the special POTP. 0
x
8.51. Definition. The natural numbers, the real numbers and the complex numbers will be denoted by N,R and C respectively. For p E N, let np:C -, C be the map which sends z to zp. We define the domains gP(1 < p < a)of C by
g2 = { z E C : I R e z l < 1 , I I m z l < l}, 9, = n2(gZ)and = nil@,). It is easily checked that n,:Qp -, 9, is a p-fold branched cover for every p E N.Denote by X ; and V2the horizontal and vertical foliations on QZ respectively. We write XI(resp. V , )the decomposition of 9, as the projection of X2(resp. V 2 by ) n 2 : g 2-, 9,, and write Xp(resp. Vp)the decomposition of gPas the lifting of S,(resp. <) by np:Qp+ 9,. A decomposition 9of a compact surface M without boundary is called a Co-singular-$oliation if every L E 9 is arcwised connected and if to every x E M there are p ( x ) E N and a Cochart cp,: U, + C around x such that (1) cpx(x) = 0, (2) rP,(C) = qlp(.,, (3) cp, sends each connected component of U, n L onto some element of SP(,, unless Uyn L = 8 for L E 9. Let 9be a Co-singular-foliation on M. Each element of 9is called a leaf and equipped with the leaf topology. The number p(x) is called the number of separatrices at x. We say that x is a regular point if p(x) = 2, and that
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x is a singular point with p(x)-separatrices if p ( x ) # 2. Since M is compact, 3 9 the obviously the set S of all singular points is finite. We denote by 9 Co-foliation on M\ S obtained by taking singular points away from each leaf of 9. For materials of Co-foliations on surfaces, the reader may refer to 3 9is dense in M , then 9is called Hector and Hirsch [1981]. If every leaf of 9 minimal. We say that 9 is orientable (resp. transversally orientable). A subset A of M is an arc (resp. open arc) if there is a Co-embedding h from a compact (resp. open) interval I of R to M such that h ( I ) = A . Let 9 and S be as above. An arc A is called a transversal of 9 if the interior of A is contained in M\ S and if to every x E A \S there is a Co-chart cpx : U, 4 C around x satisfying (I), ( 2 ) and (3) such that P,0 cp., is injective on U, n A where P, denotes the projection from C onto the imaginary axis. Let A, and A be transversals of 9. We say A, 2: A if there is a continuous x~,l m a p H : [0, I] x [0, 11 + Msuch that H , = H l ~ o , I laxn~doHl , = H l ~ o , , lare homeomorphisms from [0, 11 x {0} onto A, and from [0, 11 x { I } onto A , respectively, and such that if L E 9 then H - ' ( L ) = B x [0, 11 for some B c [0, I]. Let h:[O, 11 x { 0 } + [0, 11 x (1) be the homeomorphism which sends (t, 0) to (t, 1). If A, N A , , the homeomorphism H, 0 h 0 H;' : A, + A , is called a projection along the leaves. A transverse invariant measure p for 9is a collection { pA:A is a transversal} of finite Bore1 measures on all transversals of 9 such that p A I A .= pA, if A' c A and such that p A , h = pAOif h : A, -+ A , is a projection along the leaves; p ( A ) # 0 for some transversal A. A measured Co-foliation(9, p ) is a Co-singular-foliation 9 equipped with a transverse invariant measure p. We denote by A(9)the set of all transverse invariant measures for 9. For { P . ~ } {, v A }E A(9)and a > 0, we write { p A } { v A } = { p A v A } and a { p A }= { a p A } .Obviously { p A } { v A } ,a { p A }E A(9).Let f:M -, M be a homeomorphism. Then f sends 9 to a Co-singular-foliation 9'. If A is a transversal of 9'then f - ' ( A ) is a transversal of 9. Hence we can define the map f*:A ( 9 )+ A(9')by f*({pA}) = { p Aof-' }. Obviously f*(ap bv) = af,(p) bf*(v) for p, v E A(9) and a, b 2 0 with a+b>O. I f f ( 9 ) = 9' andf,(p) = p', we writef(9, p ) = (9', p'). Let 9and 9' be Co-singular-foliations on M. We say that 9' is transverse to 9 if 9 and 9' have the same number p ( x ) of separatrices at all x E M and if every x E M has a Co-chart cpx: U, + C such that (4) % ( X ) = 0, ( 5 ) cpAU,) = gP)p(,)r (6) cpx sends each connected component of U, n L onto some element of Xp(.,unless U, n L = 0 for L E 9,
,
,
0
+
+
+
+
+
126
N. Aoki
(7) cpx sends each connected component of U, n L' onto some element of Vpcx, unless U, n L' = 8 for L' E 9'. be transverse C'-singular-foliations on M and S be the set Let 9 and 9' and the interior of all singular points. If A is an arc in a leaf of 9(resp. 9') of A is contained in M\ S,then it is easily checked that A is a transversal of 9' (resp. 9). A homeomorphism f of M is called pseudo-Anosov if there are a constant 1 > 1 and a pair (SS, p') and (F", p") of transverse measured CO-foliations with the number of separatrices at each singular point greater than 2 and with every finite Bore1 measure of p' and of p" nonatomic and positive on all nonempty open sets such that
f ( F ' ,$1
=
f P "p") ,
( 9 ' 9
= (9", Ap")
(this means that f preserves the transverse Co-singular-foliations 9' and 9", i.e., it contracts all arcs in the leaves of 9' by 1-'and it expands all arcs in the leaves of 9" by A). Let f be a homeomorphism of a compact metric space ( X , d ) . For x E X we define the stable set W'(x) and the unstable set W u ( x )as before, and put
9 ; = { W " ( x ) : xE X } ,
0
= s, u.
Then 9 ;is a decomposition of X and f (9;= )9;. If Xis a compact surface and f is pseudo-Anosov, then it is easily checked that every leaf L of the coincides with W " ( x )for all x E L, that associated Co-singular-foliation 9" is 9"= 9;.
8.52. Remark. By Theorem 8.47, every pseudo-Anosov map has Markov partitions. Such maps have the special POTP, but not the POTP because they have singular points. 8.53. Theorem (Hiraide [1988]). Let f : M compact surface without boundary. I f f : M pseudo-Anosov map.
+ +
M be a homeomorphism of a M is expansive, then it is a
For the proof we need the following proposition.
8.54. Proposition. Let f : M + M be an expansive homeomorphism. Then 9;(a = s, u) have the following properties: (i) 9 ;is a CO-singular-foliation, (ii) every leaf W"(x)E 9 ;is homeomorphic to Lp = { z E C : Im(zJ"*)= 0} for some p 2 2,
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121
(iii) 9 :is transverse to 9,, (iv) 9 ;is minimal. If Proposition 8.54 has been established, then the transverse invariant ;(a = s, u) and the stretching factor 1 > 1 o f f are measures pa for 9 obtained from the following proposition.
8.55. Proposition. Let f : M --t M be a homeomorphism and Ss and 9" be transverse C'-singuIar-foliations on M . If 9" is minimal and f(9'= )sa for a = s, u, then there are constants I > 0 and transverse invariant measures pa for 9 ;(a = s, u) such that (i) pa is nonatomic and positive on all nonempty open sets (ii) f*(ps) = l - ' p sandf,(p") = 1p". Propositions 8.54 and 8.55 are obtained by investigating deeply the orbit structures of homeomorphisms of compact surfaces. If the proof is of interest to the reader, he should see the preprint by Hiraide [1988].
9. Topological entropy In Adler, Konheim and McAndrew [ 19651 they introduced topological entropy as an invariant of topological conjugacy for compact spaces. The definition of their entropy is given by open covers. We first give a definition of topological entropy by open covers. All logarithms have base e. Let X be a compact topological space. Open covers of X are denoted by a, /?,. . . . 9.1. Definition. Thejointa v Bisgivenbya v B = { A n B : A E a , B E B } . /? is a refinement of a (written a < j)if every member of /? is a subset of a member of a. Thus a < a v p and j < a v j.Iff: X + Xis continuous, then f - ' ( a ) = { f - ' ( A ) :A E a } is an open cover of X. It is clear that
f -'(a v
8)
= f -'(a) v
f -'(/I)andf-'(a) < f-'(/I) if a < B.
9.2. Definition. Let N(a) be the number of sets in a finite subcover of a with smallest cardinality. We define the entropy of a by H(a) = log N(a). 9.3. Remark. (a) H(a) 2 0. (b) H(a) = 0 o N(a) = 1 o ct = {X}. (c) a < B H(a) < H(Bh
728
N. Aoki
( 4 H(a v P ) < H ( 4 + W P ) . (e) Iff: X + Xis a continuous map then H ( f - ' a ) < H(a). Iff is bijective then H( f - ' a ) = H(a).
9.4. Lemma. If{a,,},,21 satisfies a,, 2 0, a,,+,,,< a,, lim a,,/n exists and equals Inf a,,/n.
+ a,,,for n, m
2 1, then
Proof. Fixm > O . F o r j > O w e w r i t e j = k m + n w h e r e O < n < m . T h e n ajlj = a,,+k,,,/(n km) < a,,/km ak,,,/km < a,/km a,,,/m, and then lim aj/j < a,,,/m. Therefore lim ajlj < Inf a,,,lm. But Inf a,/m < !ig aj/j. Hence lim ajlj exists and equals Inf uj/j. 0
+
+
+
9.5. Theorem. I f f : X
-, X i s
continuous, then lim( l / n )H( V : - ' f -ia) exists.
Proof. We set a,, = H ( V ; - ' f - i a ) . Then by Lemma 9.4 it is enough to show that a,, 2 0 and a,,+,,,< a,, + a,,,. It is clear that a,, 2 0, and a,,,,,, = H( V$+m-lf-ia)= H( V:-lf-ia v f - n V,!,'-Ypia) < H ( V:-lf-ia) + H ( V 7 - l f - i a ) = a,, a,,,. 0
+
9.6. Definition. I f f : X -, X is a continuous map, then the entropy o f f relative to a is given by h ( f , a) = lim( l / n )H ( V [ - ' f p i a ) .
9.8. Definition. I f f : X + X is continuous, then the topological entropy of f is given by h( f ) = sup,h(f, a ) where a ranges over all open covers of X. 9.9. Remark. (a) h(f) 2 0. (b) h(id) = 0 where id denotes the identity map of X.
9.10. Theorem. Let XI and X2 be compact spaces. I f J :X, -, X, are continuous ( i = 1, 2), and are topologically conjugate, then h ( f , ) = h(f2).
Proof. Let cp be a homeomorphism such that cp of, = f2 cp. Then hV2,a) = lim(l/n)H(V $ - ' j - ' a ) = lim(l/n)H(cp-l(V$-lf,-ia)) = lim(l/n) H( V0n-l f,-'cp-'(a))= h ( f , , cp-'(a)). By taking suprema the result follows. 0 0
9.11. Theorem. I f f : X
+
X is a homeomorphism, then h( f ) = h( f
-I).
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129
Proof. h(f, a) = lim(l/n)H(V,"-'j-'a) = lim(l/n)HCf-~+'(V,"-lf'a)) = lim( I In) H ( V,"- " a ) . 0 We give the new definition of topological entropy by Bowen [1970d]. Let (X, d) be a metric space and let x E X. B , ( x ) denotes the open ball centered at x and of radius E . Letf: X + X be a uniformly continuous map, and let n E Z (n > 0) and E > 0. If K c X, then a subset F of X is said to (n,&)-span K with respect t o f i f for x E K there is y E F such that max{d(f'x,f'y): O < i < n - I } < c . 9.12. Remark. For K compact, let r,,(&,K) be the smallest cardinality of any (n,&)-spanningset for K with respect tof. Then r,,(&,K ) < 00.
Proof. Since f is uniformly continuous, there is a 6 > 0 such that d(x, y ) < 6 implies max{d(f'(x),f'(y)):O < i < n - l} < E. Then rn(&,K) is less than the number of b-balls needed to cover K and hence is finite. 0 9.13. Definition. We write
?/(E,
K)
=
G ( l / n ) log r,,(&,K).
9.14. Definition. A set E c Xis (n,&)-separatedwith respect to f if x , y E E and x # y then max{d(f'(x),f'(y)):O < i < n - I } > E . 9.15. Remark. For Kcompact, let s,,(E, K) denote the largest cardinality of any (n, &)-separatedsubset of K with respect tof. By the following theorem, s,,(E, K) is finite. 9.16. Definition. We set Sf(&, K ) = G ( l / n ) log s,,(E, K). If h(f, K ) = lim,:+,Tf(&, K) = lim,&(&, K) then we define hd(f) = sup{h(f, K): K compact}.
Proof. (i): That K) < 00 holds is proved in Remark 9.12. We prove K) < r , , ( + ~K). , Suppose E c K is an (n,&)-separatedset and that F (n,+&)-spansK. Define cp: E -+ F by choosing for each x E E some point q ( x ) E Fwith max{d(f'ocp(x),f'(x)): 0 < i < n - I } < + E . If cp(x) = cp(y) then max{d(f'(x),f'(y)):O < i < n - l} < + E + + E = E and so x = y. I+,,(+&,
s,,(E,
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N.Aoki
Hence cp is one-to-one and the cardinality of E is less than or equal to the cardinality of F. Therefore s,,(E, K) < r,,(+&,K). We next prove r,,(&,K) < s,(E, K). Let E be an (n, &)-separatedsubset of K maximum cardinality. Then E (n, &)-spansK. For, if not, there is x E K such that max{d(fj(x), f’(y ) ) : 0 < j < n - 1) > E for y E E. Then E u { x j is an (n, &)-separatedsubset of K, contradicting the choice of E. (ii) is clear from the definition of ?(,&, K ) and S,(E, K). 0 9.18. Remark. (a) h d ( f ) depends on d. (b) If K c K, u . * . u K,,, are all compact then h ( f , K ) 1 < i G m}.
< max{h(f, K i ) :
Proof. It is checked that s,,(&, K) < s,(E, K l ) + . . . + s,@, K,,,). Fix > 0. For n > 0 choose Kjn(&)such that s,(E, Kin(&))= max{s,(e, 4 ) : j } . Then s,,(E, K ) < ms,,(&,Ki,(&))and so log s,,(E, K) < log m + log s,,(E, Kin(&)). Choose nj + co such that ( l / n j ) log s,,(E, K ) + G ( l / n ) log s,,(E, K) and so E
Kjnj(&) does not depend onj. Hence 3,(q K) < S(&,, K(E)). Choose 8. -, 0 such that K(cJ is constant (say, K(E,) = Kh). Hence h ( f , K ) < h ( f , Ki,) < max{h(f, 4 ) : j } . 0 9.18. Remark. (c) For any 6 > 0, h d ( f ) = sup{h(f, K): diam(K) compact}.
< 6, K
Proof. Let a be an open cover of Ksuch that diam(U) c 6 for U E a. Then K = U.0 and by (2), h ( f , K) < max{h(f, 0 ) :U E E}. I7 9.18. Remark. (d) If X is compact then h d ( f ) = h ( f , X ) . 9.19. Theorem. Let d and d’ be uniformly equivalent and f is uniformly continuous. Then h d ( f ) = h d ‘ ( f ) .
Proof. Let > 0. Choose Q > 0 such that d’(x,y ) < c2 implies d(x, y ) c and choose c3 > 0 such that d ( x , y ) < c3 implies d’(x, y ) c c2. Let K be compact. Then rn(El, K, d) < r , , ( ~K, ~ ,d’) and r,,(c2, K, d’) < r,,(E3, K, d ) . Hence ?,(el, K , d) < ?,(e2, K , d’) < ? / ( E ~ , K , d). If cl + 0, then e2 + 0 and c3 -+ 0. Therefore h d ( f ,K ) = h d , ( f ,K ) . 0 9.20. Theorem. Let X be compact and h * ( f ) denote the entropy akjined by open covers. Then h ( f ) = h * ( f ) .
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= { A l , . . . , A,,} be an open cover of X. We first show h ( f , a) < h ( f ) . Let 6 be a Lebesgue number for a and F be an (n, ;@-spanning set for X of minimum cardinality. For z E F choose Aio(z), . . . , Ai,,-l(z)E a such that Bai2cfk(z)) c Aik(z).Write C(z) = Ah@)nf-I(Ail(z)) n . . . nf -(n-I) (Aia-l(z)),which is a member of V:-lf-i(a). If x E Xthen there is z E F such that max{d(f'(x),f'(z)):O < i < n - l } < i d . Hence X = UZcFC(z) and x ~ f - ~ ( B ~ , ~ ( f 'c( zf k) ()A) i k ( z ) ) for 0 < k < n - 1. So we have x E C(z). Hence N(V:-'f-'(a)) < IF1 = r"(t.8, X) and h*(f, a) < X ) < h ( f ,X ) = N f ) . To prove the converse let S > 0. Choose a finite open cover a of X such that diam(A) < 6 for A E a. Let E be an (n, &separated subset of X with maximum cardinality. If x , y E n ; - ' f - j ( A , . )and x , y E E, then max{d(f'(x), f'(y)):O < j < n - 1) < 6 and so x = y . So N(V:-'f-'(a)) 2 [ E l = s,(S, X). Therefore h * ( f ) 2 h*(f, a) 2 $(a, X ) .
Proof. Let a
9.21. Theorem. ( 1 ) mh(f )*
Iff
is uniformly continuous and m > 0, then h(f "') =
(2) LetA be uniformly continuous (i = 1, 2) and dejine a metricfor XI x X, by d((xl, x2)t (yl, y2)) = max{dl(x,, yl), d2(x2, yZ>}* Then h d ( f i x f z ) < h d l ( f i ) + hd2(.h)* (3) I f XI and X , are compact, then hd(fi x f 2 ) = h d l ( f i ) hdz(f2).
+
Proof. (1): For K compact and E > 0 it is checked that rn(&,K , f " ) < r,,,,,(E, K , f ) . Hence ( l / n )log r,,(&,K , f " ' ) < (m/mn)log r,,,,,(E, K , f ) and therefore h ( f " ) < mh(f ). Since f is uniformly continuous, there is 6 > 0 such that d(x, y) < 6 implies max{d(f'(x),f'(y)): 0 < j < n - l } < E. Every (n, &spanning set for Kwith respect tof" is also an (nm, &)-spanningset for K with respect to$ Hence rn(6,K , f " ' ) 2 rnm(&,K , f ) and so m?/(&,K) < i$6, K). Therefore mhdu,K) < hd(fm,K ) . (2): Let Ki c X, be compact (i = 1, 2). If 6. is an (n, &)-spanningset for Ki with respect tax, then Fl x F, is an (n, &)-spanningset for Kl x K2 with x h ) < r,(&, Kl,fi)r,(&,K 2 , h ) respect to fi x f 2 . Hence r,,(&,KI x and thereforehd(fi x f z , Kl x K 2 ) < h d l ( f i K , l ) hd2(f2,K2).Let n i : X l x X2 -,X, (i = 1, 2) be the projection map. If K c XI x X, is compact, Kl = n , ( K ) and K2 = n 2 ( K ) are compact and K c KI x K,. Hence hd(fi f i g K ) < h d ( f i f2, Kl K 2 ) and so
+
hd(fi X f z ) = sup{hd(fi X f 2 , K ) : K c KI X K2 compact}
< sup{hd(fi x f 2 , Kl x K 2 ) :K , , K2 compact} < h d l ( f i ) + hd2(fz)*
N. Aoki
732
(3): Suppose XI and X , are compact. Let ai be an open cover of X, and have Lebesgue numbers di ( i = 1, 2). If Siis a maximal (r, +di)-separated set for X, with respect toJ;, then S, x S, is an (n, 6)-separated set for XI x X , with respect tofi x f i where 6 = min{+6,, $5,). Therefore sn(6, XI x
Xz) 2
sn(+sl,
X l ) s n ( ! i S ~ ,X,)
N( V :plfi--i(al))N( v :-1fi-i(a2))
and so
+ lim -n1 log N( v :-'f2-j(a2)) = h(A, El)
+ N f i , a,).
Since a1 and a, are arbitrary, we have h(fi x f i ) 2 h ( f , ) + h ( f i ) .
0
9.22. Theorem. Let f : X + X be an expansive homeomorphism with expansive constant c. Then for any 0 < 6 < +c, 1 h ( f ) = lim - log rn(6, X), n-a, n
h ( f ) = lim n-co
1
-n log sn(6, X).
Proof. Since X is compact, there are x I , . . . , xk E X such that X = UfZlUc,z-6(xi).Hence a = { UC,,(xi): 1 < i < k} is an open cover of X and 26 is a Lebesgue number of a. From the first part of the proof of Theorem 9.19 we have that for n > 0, N ( V : - l f - i ( a ) ) < rn(6,X). By expansivity h( f) < lim(l/n) log rn(6, X) and from the second part of the proof of Theorem9.19, &(l/n) log rn(S/2,X ) < h ( f ) . By Theorem 9.17 we have 1
lim - log rn(6,X) n
I < !& -n1 log sn(6, X) < -lim - log s,,(6, X) n 1 < -lim - log rn(6/2,X) n
and so h( f) = lim(l/n) log ~ ~ (X). 6 ,
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Topological Dynamics
From now one we consider some connections between the entropy and periodic points. We first prove some results about periodic points for homeomorphisms. + X be a homeomorphism of a compact metric space. We say that f satisfies specijication if for E > 0 there is M ( E )= M > 0 such that for any finite sequence x I , x2, . . . , xk E X , any integers a, < 6 , < a2 < 6, < . . . < uk d b,witha, - b,-I 2- M ( 2 < j < k)and any p > M (bk - a,), there is x E X such that fp(x) = x and d(f’(x),f’(x,)) < E (a, f i d b,, 1 d j f k ) .
9.23. Definition. Let f : X
+
9.24. Remark. If f : X mixing.
.+
X has specification, then it is topologically
Proof. Let U , V be nonempty open subsets of X . For any x E U and y E V choose E > 0 such that U&(x)c U and V,(y) c V. J2et M ( E )= M > 0 be a number with property in the definition of specification. For n 2- M there is z E X such that d(z, x) < E and d ( f ” ( z ) , y) < E . Hence z ~ f - “ ( U , ( y ) ) andf-“(U,(y)) n UAx) # 0. 0 9.25. Theorem. Let f : X + X be a homeomorphism of a compact metric space. rff is topologically mixing, expansive and has the POTP, then f satisfies specification.
Proof. Let c be an expansive constant for$ For 0 < E < +c let 6 be a number with property in the definition of the POTP. Choose a finite open cover a of 6-open balls. Sincef is topologically mixing, for U , , V, E a there is MI, > 0 such thatf”(U,) n V, # 8 for n 2 MI,.Write M = max{M,,}. To get the conclusion, take any finite sequence x l r. . . , xk E X , and choose an integer sequence a, < 6 , < * . . < ak d bk with a, - 6,- 2 M (2 f j d k) andp > M (bk - a,)SuCh thata,,, = bk+l = p -I- a,,xk+, =f4’-akt’(X~). We write U(z) if z E U E a for z E A’. Then for 1 ,< j f k there is E U(f””’(x,,,)). From this it follows that y, E U(f4(x,)) such thatful+’-bl(yJ) for 1 < J d k , U(faJ+‘(x,+,))nfa”’-bU(fbl(x,)) # 8 since a,,, - b, 2 M. Let {z,} be a sequence such that z, = f’(x,) (a, f i < b,), z, = f’-’/(y,) (b, d i d a,,,) and z , + ~= z, (i E Z).Then {z,} is a 6-pseudo-orbit for f. Since f has the POTP, there is x E X such that d(f ‘(x), z,) < E for i E Z. Since z,+,, = z, ( i E Z), we have d ( f ’ + P ( ~z,) ) , < E (iE Z) and so d(flfp(x),f’(x)) < 2.5 -= c (i E Z). By expansiveness, f p ( ( x ) = x and therefore f satisfies the specification. 0
+
,
N. Aoki
734
9.26. Remark. I f f : X
+
X has specification, then h(f) > 0.
Proof. For x , y E X ( x # y ) choose E > 0 such that d(x, y) > 3.5. Let M be a number with property in the definition of specification. Take and fix n > 0. Then for ( z , , . . . ,z,,) with zi E { x , y } (1 Q i Q n) we have d ( Y M ( z )zi) , Q E (1 Q i Q n) for some z E X by specification. It is easily checked that for distinct n-tuples there correspond different z. Hence there are at least 2" points which are (nM, &)-separated.This implies h(f) 2 lim(l/nM) log 2" = 1/M > 0. 0 9.27. Theorem (Bowen [1974]). Iff: X + X is expansive and satisfies specification, then h ( f ) = lim(l/n) log # p , ( f ) wherep,( f)denotes the set of all n-periodic points and # E denotes the cardinality of E. This is obtained from the following five lemmas.
0
9.28. Lemma. Zfe > 0 and 6 > 0 are small enough, then there is C,,E> 0 such that ~ " ( 6X, ) < C6,e~,,(~, X ) f o r n 2 0. Proof. Let E > t 6 . By expansiveness there is N = N(6) such that d ( f ' ( x ) , f ' ( y ) )Q 2.5 for l i l Q N implies d(x, y) < 6. Choose fl > 0 so small that d(x, y) Q fl implies d ( f ' ( x ) ,f'( y)) Q 6 for I i I < N. Let K be the maximal number of (1, @separated points in X x X (with the maximal metric). Let F c X be maximal (n, &)-separated and E c X maximal (n, 6)separated. For x E E there is z ( x ) E F such that d ( f ( x ) , f ' ( z ( x ) ) )< E for 0 < i < n. If not F u { x }is (n, &)-separated,a contradiction to the maximality of F. For z E F write E, = { x E E : z ( x ) = z } . Then we have # E, Q K. For, if x , y E E, then d ( f ' ( x ) ,f ' ( y ) ) < 2~ for 0 d j < n and hence d(f'(x), f ' ( y ) ) < 6 for N Q j < n - N. But { x , y} is (n, &separated. Hence we or d ( f " ( x ) , f " ( y ) ) > fl. Thus { ( x , f " ( x ) ) : xE E,} c have d(x, y) > X x Xis (1, fl)-separated and so s,,(6, X) = # E Q K # F = Kin(&,X ) . 0 9.29. Lemma. If E > 0 is small enough, then there is D, > 0 such that s,, + ... + n k ( ~ , X ) Q llf-, D&s,,(E,X ) whenever n, , . . . , nk 2 1. Proof. Let E c X be (n, + - . . + nk, &)-separatedand 1;1. c X be maximal (ni, ~/2)-separatedfor 1 < i < k. For x E E choose z ( x ) = (z,(x),. . . , zk(x)) E Fl X * . . X Fk such that d ( f " ' f " ' + " i - i +(x),f'(zi(x)) J < $ E for 0 Q j < n (zi(x)exists by the maximality of 6). The map z( ) : E + F, x
135
Topological Dynamics
+
+
* x F, is injective since E is (n, * * n,, &)-separated.Hence # E < llf=, #t;l = llf=,sn,(+e, X). By Lemma 9.27 we haves,,(& X ) < C , ~ 2 , , ~X, ,)( ~ , and hence the lemma follows from D, = C,/2,E. 0 1
9.30. Lemma. If E > 0 is small enough, then there is E, such that S n , + . . . + n , ( G X ) 2 nf=lE,sni(&,X ) .
Proof. Choose a maximal (n,, 3&)-separatedset El c X for 1 M be as in the definition of specification and write
< i < k. Let
a,, = 0,
+ . . . + n,-, + ( i - 1)M, n, + + nk + ( k - 1)M.
a, = n, m =
2
< i < k,
*
By specification property, for each z = ( z , , . . . , z,) E El x * x Ek there is x = x(z) with d(f”’+’(x), f’(z,)) < E for 0 < j < n,, 1 < i < k. Obviously E = { x ( z ) :z E El x * x E,} is (m, +separated. Hence ll~=,s,,(3~, X) < s,,,(E, X). On the other hand, Lemma 9.29 implies that 1
~ ( 6 X,
)
< D,ksn,+
+nk(&,
x ) ( ~ w ( & X)Y-’ ,
and Lemma 9.28 ensures that CETJ:Sn,(&,
X)
< ~n,(3&9 X).
Letting E, = {C,,3rDc~Y(~, X ) } - ’ , we have the result.
9.31. Lemma. If& > 0 is small, then D;leh n 2 1 . Here h = h ( f ) .
< s,,(E, X) < E;lehn
0 for all
Proof. Suppose s,(E, X ) < D;’e” for some n. By Lemma 9.29 we have X ) < {D,s,,(E, X)},and henceskn(&, X) < em.Thereforeh = lim(l/kn) log s,,,(E, X) and h < ( l / n ) log ehn= h, a contradiction. The proof goes similarly for the other inequality. 0
s&,
9.32. Lemma. There are 0 < D < E such that f o r a large enough, De”” < #p,(f) < Eeh”. Proof. If #pn(f)
E
> 0 is small enough, then p,( f) is (n, &)-separated. Hence therefore #p,( f) < Eeh” where E = EL1 by
< s,,(E, X) and
Lemma 9.3 1 . Let M be as in the definition of specification property and E c X be (n - M y3~)-separatedset (n > M ) . Then for each z E E there is x(z) E p,( f) such that d( f’(z), f’(x(z)) < E for 0 < j < n - M . Clearly z # z’
736
implies x ( z ) # x(z'). Hence where D = {D,,ehM}-'.
N. Aoki
##p,(f)
2
s,_,,,(~E, X ) 2
DjE'eh(n-M)= Deh"
0
Theorem 9.27 follows immediately from Lemma 9.32.
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W. The existence of expansive homeomorphisms of manifolds, Duke Marh. J. 32, 627-632. Expanding maps on compact metric spaces, Topology Appl. 13 327-334. Expansive canonical coordinates are hyperbolic, Topofogy Appl. 15, 205-2 10.
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Rosenholtz, J. [I9761 Local expansions, derivatives and fixed points, Fund. Math. 91, 1-4. Ruelle, D. [I9781 Thermodynamic Formalism, Encycl. Math. Appl. 5 (Addison-Wesley, Reading, MA). Sakai, K. [ 19881 Quasi-Anosov diffeomorphisms and pseudo-orbit tracing property, Nagoya Math. J . 111, 111-114. Sears, M. [I9721 Expansive self-homeomorphisms of the Cantor set, Math. Syst. Theory 6, 129-132. [I9751 On ergodic homeomorphisms, Math. Syst. Theory 9, 109-1 16. Shub, M. [I9691 Endomorphisms of compact differentiable manifolds, Amer. J. Math. 91, 175-199. Sigmund, K . [I9741 Invariant measures for continuous transformations, Global Anal. Appl. IAEA, 137-161. Shimomura, T. [I9881 A subshift of finite type and an endomorphism with pseudo orbit tracing property, preprint. Sinai, Ja. G. [I9681 Markov partitions and C-diffeomorphisms, Fund. Anal. Appl. 2, 61-82 Spanier, E. [ 19661 Algebraic Topology (McGraw-Hill, New York). Smale, S. [ 19671 Differentiable dynamical systems, Bull. Amer. Math. SOC.73, 747-817. [I9801 The mechanics of time, Essays on Dynamicol Systems, Economic Processes and Related Topics (Springer, Berlin). Simons, G. [I9631 Topology and Modern Analysis (McGraw-Hill, New York). utz, w . [I9501 Unstable homeomorphisms, Proc. Amer. Math. SOC.1, 769-774. Walters, P. [I9751 Ergodic Theory-Introductory Lectures, Lecture Notes Math. 458 (Springer, Berlin). [I9781 On the pseudo orbit tracing property and its relationship to stability, Lecture Notes Math. 668 (Springer, Berlin) 231-244. Weiss, B. [I9731 Subshifts of finite type and sofic systems, Monatsh. Math. 77, 462-474. Williams, R. [I9551 A note on unstable homeomorphisms. Proc. Amer. Math. SOC.6, 308-309. Yano, K. [1980a] Topologically stable homeomorphisms of the circle, Nagoya Math. J. 79, 145-149. [1980b] A remark on the topological entropy of homeomorphisms, Invent. Math. 59, 215-220. [I9871 Generic homeomorphisms of S' have the pseudo orbit tracing property, J . Fac. Sci. Univ. Tokyo. See JA.
K. Morita, J. Nagata, Eds., Topics in General Topology
0Elsevier Science Publishers B.V. (1989)
SUBJECT INDEX &-filter 465 d-ultrafilter 465 AE (absolute extensor) 50 ANE (absolute neighborhood extensor)
branch 721 branch set 642
50
ANR (absolute neighborhood retract) AR (absolute retract) 50 absorbent 438 accumulation degree 95 additive annihilator 248 K-space 316 KO-barrelled 439 KO-bounded 446 KO-space 316,425 almost disjoint 358 almost locally finite 377 almost periodic 632 almost a-compact 419 a-i.p. 471 a-limit set 638 a-related 695 a,X 462 annihilator 248, 305 Arzela-Ascoli's Theorem 42 I Ascoli Theorem 35 attractor 696 Bake space 427 balanced category 570 barrel 438 barrelled 439 basic cover 122 basic semi-cover 143 basic set 702 BCO 327 p-space 306 pL.X 462 bimorphism 570 Bing's example G 191 Bing-type example 112 bireflective subcategory 589 Bore1 probability measure 676 bounded 439 boundedly point-finite 88
50
c.u.b. set 476 C-embedded 51, 237 C-scattered space 530 c-space 278 c, 501 cO(A)
501
canonical coordinate 680 canonical homomorphism 489 canonical operator SO8 Cartesian closed category 621 category 205, 565 Cauchy filter I I Cauchy stack 14 CCR-operator 265 CCR-space 265 cellularity 428 central motion 674 chain 252, 327 chain component 700 chain recurrent 695 chain recurrent set 695 chain transitive 700 character 86 X(P. X ) 86 circled 438 clopen ultrafilter 465 closed under extremal epimorphism 597 closed under extremal monomorphism 594 closed under K-colimit 597 closed under K-limit 592 closure preserving 163, 368 co-(inverse image) 578 co-topological functor 616 co-well-powered category 575 cocomplete category 579 coequalizer 578 coextension (morphism) 590 cointersection 578 collectionwise 6-normal 196 compact-open topology 412 complete 15
742
Subject Index
complete category 579 completely separated 5 I complete topological linear space 437 complete valued field 498 completion 18, 20 concrete category 618 condence 419 connecting morphism 576 continuous annihilator 248 continuously completely regular space 265 continuously perfectly normal space 265 continuous pseudo-metric 57 contravariant functor 568 convergence semi-orbit 638 convex 438 coproduct 578 coreflection 590 coreflective subcategory 590 coreflector 590 coretraction 572 coseparator 590 cosmic space 425 countable intersection property (= c.i.p.) 465
countable order 327 countably complete 465 countably paracompact 82 covariant functor 205 cover for compact subsets 422 covering dimension 234, 553 covering map 642 cozero-set rectangle 208 cozero set 84 CP-expandable 382 CPN-operator 265 CPN-space 265 cs-network 316 cs*-network 323 C*-embedded 51, 206 cushioned refinement 167 D-product 550 decreasing 94 6-metrizable space 305 &normal 145 density 432 developable space 300 diagonal map 461 diagonal morphism 583, 599 diagram 575 dim 399 dimension 658
directed collection 163 direct limit of Banach spaces 502 direct limit of groups 484 direct product of Banach spaces 501 direct product of groups 483 direct sum of Banach spaces 501 direct sum of groups 483 direct system of Banach spaces 501 direct system of groups 484 discrete category 566 discrete collection 163 dissectable 331 dissection 331 dominate 377 Dowker space 188 dual category 567 duality principle for categories 573 dual of a group 485 dual of a homomorphism 485 dual of a linear operator 503 dual of a normed space 500 (E, M)-category 599 (E, M)-diagonalization property 599 (E, M)-factorizable 599 (E, M)-factorization 599 E-co-well-powered category 601 E-compactification 463 E-compact space 461, 597 E-reflective hull 601 E-reflective subcategory 589 E-regular space 461, 597 Eberlein compact 434 ECP 386 Ellis semi group 633 EM, 380 embedding (morphism) 618 empty category 566 encircling net 380 (Epi, Ex mono)-diagonarization property 584 (Epi, Ex mono)-factorizable 584 (Epi, Ex mono)-factorization 584 epi-sink 615 epimorphism 569 epireflective hull 596 epireflective subcategory 589 &-support 505 equalizer 573 equicontinuous 35, 414 equivalence natural relation 606 evenly continuous 35
Subject Index
(Ex epi, Mono)-diagonarization property 583
(Exepi, Mono)-factorizable 583 (Ex epi, Mono)-factorization 583 (Ex epi)-co-well-powered category 575 (Ex epi)-reflective category 589 (Ex mono)-well-powered category 574 expanding differentiable map 687 expanding map 688 expansive 635 expansive constant 636 exponential topology 697 extension (morphism) 588 extremal epimorphism 571 extremal monomorphism 571 8-compact space 108 F-final lift 616 F-initial lift 615 F-limit point 108, 108 F-sink 615 F-source 614 faithful functor 616 finally in B 597 finitely closure preserving (FCP) 99, 173, 377
finitely cocomplete category 579 finitely complete category 579 finite partition 722 finite topology 265 finite type 672 fit 94 fit family 94 fit part 94 fixed I-filter 465 foliation 725 forgetful functor 568 Fpp-space 259 free I-filter 465 free base 490 free group 490 free L-space 400 free sequence 91 front closed embedding 572 Frichet mace 276 F,-metrizable 155, 380 F,-screenable 184 full subcategory 205, 566 fully normal 171 functionally complete 434 functor 567
743
g-function 245 g-function (n.n.0.) 245 y-space 306 Ga-closed 464 G,-closure 464 G,-diagonal 294 G,+-diagonal 334 generalized ultraproduct 479 generalized uniform space 4 generalized uniformity (-base) 3, 4 generator 636
A@ (the class)
380
H-closed 209 Hausdorff metric 698 hemi-compact 417 HEP (homotopy extension property) hereditarily closure-preserving 250 hereditarily closure-preserving family hereditarily M , 380 hereditarily metacornpact 530 homogeneous 630 hyperbolic coordinate 68 I hyperbolic metric 656 hyperconnected space 610 i-weight 433 idempotent 491 identity (morphism) 565 identity functor 568 inclusion functor 568 increasing 94 Ind 399 independent 252 initially in B 593 initial map (in Top) 600 initial object 578 interior-preserving 163 intersection 577 invariant 677 inverse image 578 inverse limit 647 inverse limit of Banach spaces 501 inverse limit of groups 484 inverse system of Banach spaces 501 inverse system of groups 484 irreducible 400, 672 isomorphic 500 isomorphism 500, 569 isomorphism-closed subcategory 589 k-continuous 438, 474 k-network 287, 316,425
75 285
744 X-network 346 K-scattered space 529 k-space 36,216, 277,475 K-collectionwise normal 88 K-Dowker space 98, 188, 194 ~-metrizablespace 305 K-paracompact 82 k,-leader 474 k,-space 474 k,X 474 k,-space 438 /-equivalent 447 /-separated space 604 A (the space A) 68 I-shrinking 97 I-ultraparacompact 104 large inductive dimension 555 Lahev space 140, 281 length 450 limit 576 Lindelof number 428 linear functional 500 linear isometry 500 linear topological space 47 I" 501 P ( A ) 501 local W-refinement 17I local W-refining sequence 175 local isometric covering map 641 locally convex 47, 439 locally countable 163 locally small category 574 locally starring 172 local product structure 682 local stable set 654 local star-refinement 3, 17I local unstable set 654 lower limit operator 603 m-collectionwise normal 59 M-embedded 62 m-map 341 m-separable pseudo-metric 57 M-space 75, 130, 298 M,-space 399 M ,-space 172, 369 M,-space 369 M,-space 75, 369 M-structure 380 Markov partition 710
Subject Index
Markov subshift 672 maximal E-compactification 463 maximal natural relation 608 measurable cardinal 467 metacompact 179 Michael line 74, 121, 130 minimal 627, 630, 725 minimal set 627 M" -embedded 62 (mod /+network 346 mono-coreflective hull 597 mono-coreflective subcategory 590 mono-source 614 monolithic 434 monomorphism 569 monoreflective subcategory 589 monotone annihilator 248 monotone decreasing 94 monotone increasing 94. 163 monotone normality operator 369 monotonically normal space 307, 369 Morita-Rudin-Starbird Theorem 125 morphism 565 mosaic 373 mosaical 373 mosaic space 373 M*-space 341 p-space 380 multiple coequalizer 578 multiple equalizer 578 multiple pullback 578 multiple pushout 578 .N (class N ) M ( X ) 102
136, 155
N-compact space 459 natural relation in A 608 natural relation in Top 606 natural sink 576 natural source 575 natural transformation 608 neighborhood retract 50 net-weight 433 network 369, 425 Niemytzki space 67 non-Archimedean Banach space 499 non-Archimedean norm 499 non-Archimedean normed space 499 non-Archimedean valuation 497 non-Archimedean valued field 497 nonwandering 673
Subject Index
nonwandering set 673 normal cover 43 normal sequence of open covers norm topology 412
43
object 565 o-limit set 638 open map 642 operation norm 499 opposite category 567 orbit 627 order 531, 672 orientable 646, 725 orientation 645, 646 orthogonal 491 orthonormal 509 orthonormal base 509 outer base 369 outer quasi-base 368
9 (class 9) 136, 155, 380 P(m)-space 128 p-adic valuation 497 P-embedded 55 P-space 92, 11 I , 128, 437, 517, 537 p-space 130 9-space associated to E 441 para-Lindelof 190 paracompact 82 partial refinement 162 partition 373 perfect 371 perfect m-map 341 play 524 Pm-embedded 55 point-countable type 41I point-finite rank 252 point-finite 163, 375 pointwise-countable type 304 pointwise W-refinement 171 pointwise W-refining sequence I75 pointwise star-refinement 171 pointwise starring 185 positively chain invariant 696 positively expansive 647 primarily fit 95 product 577 product of categories 566 proper 710 proper basic cover 124 proper basic semi-cover 146
745
property (6) 145 property (*) 145 property (**) 145 property D 97, 187 property 9 ? ( ~ ) 97 property D 97, 187 property 9 ( ~ )97 property g ( Z ) 96 property g ( Z , 2) 96 pseudo-character 432 pseudo-m-compact 469 pseudo-Anosov map 726 pseudo-covering map 642 pseudometric associated with a cover 82 pseudo-orbit 667, 695, 722 pseudo-orbit-tracing property 667 pullback 577 pushout 578 q-space 417 quasi-perfect rn-map 34 I quasi base 368 quasi-k-space 310 quotient category 567 quotient map (morphism) 618 rank 252 realcomponent space 459 rectangle 543, 708 rectangular product 234, 558 recurrence 674 refinement 162, 636 reflection 588 reflective subcategory 588 reflector 205, 588 reflexive group 489 reflexive normed space 508 regular G,-set 145 regular cardinal 238 regular epimorphim 573 regularly stratifiable 380 regular monomorphism 573 regular ordinal 238 relatively compact 669 representative set of epimorphisms from X 575 representative set of monomorphisms into X 574 retract 50 retraction 569 e-connected object 609
746
Subject Index
p-separated object 608 p-separated space 607 right ideal 633 rimcompact 271 ring homomorphism 479 S, (Arens’ space) 276 scattered set 534 section 569 semi-open cover 180 semi-stratifiable 369 semi-stratification 369 semi-uniformity (-base) 3, 4 semi-uniform space 3 semi-simple 635 separate 251, 415 separated 369 separate points 88 separating cover 294 separator 590 sequentially complete topological linear space 437 sequential space 277 shift 630 shift map 647 shrinkable 186 shrinking 97, 186 shrunk 97 a-locally compact 130 a-locally finite 163 I55 a-metric Z-network 345 a-paracompact 184 Z-product 187 Z-space 153, 345 a-space 151, 184, 369 simple accumulation point 86 simply generated (simple) epireflective 61 1 singular foliation 724 sink 615 skewness 656 slender group 489 slice 82 small category 566 sofic 723 S, (sequential fan) 276 source 614 Souslin number 428 space determined by (B 284 space dominated by (B 285 special outer functional 445 special refinement 122
special refinement relative to 144 specification 733 spherically complete metric space 498 spherically complete valued field 498 stable 655 stable set 655 star-filter 13 star-finite 375 stationary set 476 stationary winning strategy 525 Stone-Weierstrass Theorem 41 7 stratifiable 369 stratification 369 strict extension of a space 20 strictly Cauchy filter 11 strong C-space 187 strongly Frkhet space 276 strongly closed under Kcolimit 597 strongly closed under K-limit 593 strongly point finite 375 strongly 0-dimensional 470 strong Z-network 345 strong C-space 345 subcategory 566 submetacompact 175 submetrizable 262, 419, 469 subparacompact space 184, 294 subshift 672 summand 490 support for a homomorphism 487 support for a linear operator 513 surface 646 symbolic sequence 672 syndetic 632 r-closed 205 r-closure 209 r - l ~ ~ lfinite ly 206 r-open 205 r-paracompact I63 terminal object 577 test space 103 0-base 330 O-refinable space 175, 299 0-refinement 175, 329 0-sequence 175 tightness 88, 422 top 105 topological category 618 topological entropy 728 topological functor 615 topological game 524
T
topologically conjugate 628 topologically mixing 702 topologically stable 684 topologically transitive 628 topology of I convergence 412 topology of pointwise convergence torsion free 491 totally normal space 555 trace 667 transition matrix 672 trivial valuation 497 Tychonoff functor 205 Tychonoff space 204
v ( Y ) 88 valuation 497 valued field 497 Vietori’s topology 412
88 Ulam measure 467 ultraconnected space 610 ultraproduct of Banach spaces 507 ultraproduct of groups 488 uniform Eberlein compact space 88 uniformity of a topological linear space 436 uniformly almost periodic 632 uniformly locally finite 68 uniquely (E, M)-factorizable 599 uniquely (Epi, Ex mono)-factorizable u(C)
747
265
w-compact 209 w-normal 230 w-paracompact 224 WCP-expandable 382 wcs-network 316 wA-condition 259 wA-space 300 weak 93-property 187 weak base 294 weak generator 636 weakly Cauchy 224 weakly Lindelof space 267 weakly [-equivalent 452 weakly paracompact 179 weakly regular 8 weakly O-refinable 178 weak star-filter 13 weak topological basis 452 well-powered category 574 winning strategy 525 9-product 382 Y-countably compact
341
584
uniquely (Ex epi. Mono)-factorizable 583 universal space 351 unstable set 655 upper intersection 93 upper limit operator 603
z-embedded 65, 206 Z-map 213 0-dimensional 390, 463 0-dimensionally a-compact zero-filter 467 zero object 579
471
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