The Geometry of Character Varieties

Transcription

1 The Geometry of Character Varieties Kate Petersen Florida State December 10, 2011 Kate Petersen ( Florida State) Character Varieties December 10, / 22

2 The character variety, X (M), of a finite volume hyperbolic 3-manifold M acts as a moduli space of hyperbolic structures of M. I will discuss how the geometry of this algebraic set mirrors the topology of M and the algebraic structure of π 1(M). Organization: 1 Definition of X (M) 2 X (S 3 (figure 8)) Example 3 Introduce some basic structural questions 4 Discuss some answers to these questions Parts of this work are joint with Ken Baker, Melissa Macasieb, and Ronald van Luijk. Kate Petersen ( Florida State) Character Varieties December 10, / 22

3 Let Γ be a finitely presented group (with n generators and k relations). The SL 2(C) representation variety of Γ is R(Γ) = {ρ : Γ SL 2(C)}. This is a C algebraic set in n variables with n + 4k equations. Kate Petersen ( Florida State) Character Varieties December 10, / 22

4 Let Γ be a finitely presented group (with n generators and k relations). The SL 2(C) representation variety of Γ is R(Γ) = {ρ : Γ SL 2(C)}. This is a C algebraic set in n variables with n + 4k equations. Mostow-Prasad rigidity: H 3 /Γ 1 is isometric to H 3 /Γ 2 Γ 1 is conjugate to Γ 2. Kate Petersen ( Florida State) Character Varieties December 10, / 22

5 Let Γ be a finitely presented group (with n generators and k relations). The SL 2(C) representation variety of Γ is R(Γ) = {ρ : Γ SL 2(C)}. This is a C algebraic set in n variables with n + 4k equations. Mostow-Prasad rigidity: H 3 /Γ 1 is isometric to H 3 /Γ 2 Γ 1 is conjugate to Γ 2. We define X (Γ), the SL 2(C) character variety of Γ to be {χ ρ : ρ R(Γ)} where the character χ ρ : Γ C is the map defined by χ ρ(γ) = tr(ρ(γ)) for all γ Γ. X (Γ) is also an affine algebraic set, and can be defined by a finite number of characters. Kate Petersen ( Florida State) Character Varieties December 10, / 22

6 A representation ρ(γ) is called reducible if up to conjugation ρ(γ) is upper triangular. The set of reducible representations X red (Γ) is itself an algebraic set. (The upper triangular condition can be expressed algebraically by specifying that the (2, 1) entries are zero.) Kate Petersen ( Florida State) Character Varieties December 10, / 22

7 A representation ρ(γ) is called reducible if up to conjugation ρ(γ) is upper triangular. The set of reducible representations X red (Γ) is itself an algebraic set. (The upper triangular condition can be expressed algebraically by specifying that the (2, 1) entries are zero.) If ρ is irreducible, χ ρ = χ ρ ρ is conjugate to ρ. Kate Petersen ( Florida State) Character Varieties December 10, / 22

8 A representation ρ(γ) is called reducible if up to conjugation ρ(γ) is upper triangular. The set of reducible representations X red (Γ) is itself an algebraic set. (The upper triangular condition can be expressed algebraically by specifying that the (2, 1) entries are zero.) If ρ is irreducible, χ ρ = χ ρ ρ is conjugate to ρ. Essentially, the SL 2(C) character variety of Γ is R(Γ) modulo conjugation. (More collapsing can occur for reducible representations.) We let X irr (Γ) be the Zariski closure of X (Γ) X red (Γ). (Every component of X irr (Γ) contains the characters of some irreducible representation.) Kate Petersen ( Florida State) Character Varieties December 10, / 22

9 The isomorphism class of X (Γ) is independent of the presentation of Γ. We write X (M) to mean (the isomorphism class of) X (π 1(M)). Kate Petersen ( Florida State) Character Varieties December 10, / 22

10 The isomorphism class of X (Γ) is independent of the presentation of Γ. We write X (M) to mean (the isomorphism class of) X (π 1(M)). Standard 2 2 matrix trace relations imply that all traces of elements of Γ = γ 1,..., γ N : r 1,... r k are linearly determined by traces of elements of the form γ i1 γ i2... γ in where i j < i j+1. The finite set of variables χ ρ(γ i1 γ i2... γ in ) suffice to determine X (Γ). If Γ is generated by only two elements, γ 1 and γ 2, the variables χ ρ(γ 1), χ ρ(γ 2) and χ ρ(γ 1γ ±1 2 ) suffice to determine X (Γ). Kate Petersen ( Florida State) Character Varieties December 10, / 22

11 The isomorphism class of X (Γ) is independent of the presentation of Γ. We write X (M) to mean (the isomorphism class of) X (π 1(M)). Standard 2 2 matrix trace relations imply that all traces of elements of Γ = γ 1,..., γ N : r 1,... r k are linearly determined by traces of elements of the form γ i1 γ i2... γ in where i j < i j+1. The finite set of variables χ ρ(γ i1 γ i2... γ in ) suffice to determine X (Γ). If Γ is generated by only two elements, γ 1 and γ 2, the variables χ ρ(γ 1), χ ρ(γ 2) and χ ρ(γ 1γ ±1 2 ) suffice to determine X (Γ). We call an irreducible component of X (M) a canonical component if it contains the character of a discrete faithful representation, and write X 0(M) for such a component. Kate Petersen ( Florida State) Character Varieties December 10, / 22

12 Figure-8 knot complement example π 1(S 3 4 1) = Γ 8 = α, β : wα = βw, w = α 1 βαβ 1 X (Γ 8) is determined by χ ρ(α), χ ρ(β) and χ ρ(αβ 1 ). Since α and β are conjugate χ ρ(α) = χ ρ(β). We will let x = χ ρ(α), and y = χ ρ(αβ 1 ). Kate Petersen ( Florida State) Character Varieties December 10, / 22

13 Figure-8 knot complement example π 1(S 3 4 1) = Γ 8 = α, β : wα = βw, w = α 1 βαβ 1 X (Γ 8) is determined by χ ρ(α), χ ρ(β) and χ ρ(αβ 1 ). Since α and β are conjugate χ ρ(α) = χ ρ(β). We will let x = χ ρ(α), and y = χ ρ(αβ 1 ). A reducible representation is conjugate to «a s ρ(α) = A = 0 a 1 ρ(β) = B = a t 0 a 1 «x = a + a 1 and y = tr(ab 1 ) = 2 for all reducible representations. Kate Petersen ( Florida State) Character Varieties December 10, / 22

14 Figure-8 knot complement example π 1(S 3 4 1) = Γ 8 = α, β : wα = βw, w = α 1 βαβ 1 X (Γ 8) is determined by χ ρ(α), χ ρ(β) and χ ρ(αβ 1 ). Since α and β are conjugate χ ρ(α) = χ ρ(β). We will let x = χ ρ(α), and y = χ ρ(αβ 1 ). A reducible representation is conjugate to «a s ρ(α) = A = 0 a 1 ρ(β) = B = a t 0 a 1 «x = a + a 1 and y = tr(ab 1 ) = 2 for all reducible representations. The matrix relation is WA = BW where W = A 1 BAB 1, and reduces to ««0 (t s)(a 2 + a 2 3) 0 0 WA BW = = Therefore (t s)(x 2 5) = 0 so s = t or x 2 = 5. X red (Γ 8) is given by {(x, y) : y = 2} = A 1. Kate Petersen ( Florida State) Character Varieties December 10, / 22

15 Figure-8 Irreducible representations Up to conjugation an irreducible representation is ρ(α) = A = a 1 0 a 1 «ρ(β) = B = with x = a + a 1, y = r. The relation collapses to «0 AW WB = = (r 2) 0 a 0 2 r a where = (a 2 + a 2 )(1 r) + 1 r + r 2 = (x 2 2)(1 r) + 1 r + r 2. ««Kate Petersen ( Florida State) Character Varieties December 10, / 22

16 Figure-8 Irreducible representations Up to conjugation an irreducible representation is ρ(α) = A = a 1 0 a 1 «ρ(β) = B = with x = a + a 1, y = r. The relation collapses to «0 AW WB = = (r 2) 0 a 0 2 r a where = (a 2 + a 2 )(1 r) + 1 r + r 2 = (x 2 2)(1 r) + 1 r + r 2. X irr (Γ 8) = X 0(Γ 8) is the vanishing set of the equation (x 2 2)(1 r) + 1 r + r 2 = 0 x 2 (r 1) = r 2 + r 1. ««Kate Petersen ( Florida State) Character Varieties December 10, / 22

17 Figure-8 Irreducible representations Up to conjugation an irreducible representation is ρ(α) = A = a 1 0 a 1 «ρ(β) = B = with x = a + a 1, y = r. The relation collapses to «0 AW WB = = (r 2) 0 a 0 2 r a where = (a 2 + a 2 )(1 r) + 1 r + r 2 = (x 2 2)(1 r) + 1 r + r 2. X irr (Γ 8) = X 0(Γ 8) is the vanishing set of the equation (x 2 2)(1 r) + 1 r + r 2 = 0 x 2 (r 1) = r 2 + r 1. ««Writing this as `x(r 1) 2 = (r 2 + r 1)(r 1) we let z = x(r 1) and have the Weierstrass equation of the elliptic curve z 2 = r 3 2r + 1. Kate Petersen ( Florida State) Character Varieties December 10, / 22

18 Some Structural Questions About X (M) Question 1) How many irreducible components does X (M) have? Question 2) What are the dimensions of these components? Kate Petersen ( Florida State) Character Varieties December 10, / 22

19 Some Structural Questions About X (M) Question 1) How many irreducible components does X (M) have? Question 2) What are the dimensions of these components? Thurston s hyperbolic Dehn surgery theorem implies that if M is a finite volume hyperbolic 3-manifold dim C X 0(M) = #(cusps of M). Culler and Shalen have shown that if M is small (does not contain a closed essential surface) then any component of X irr (M) must have C-dimension at most 1. If Γ is generated by N elements, then the dimension of any component of Γ is bounded by `N 1 + `N `N N. If Γ is generated by two elements g1 and g 2 then the dimension is bounded by 3, as the necessary variables are χ ρ(g 1), χ ρ(g 2) and χ ρ(g 1g 2). Kate Petersen ( Florida State) Character Varieties December 10, / 22

20 Long and Reid proved that if M 1 and M 2 are one-cusped commensurable hyperbolic 3-manifolds that cover a common orbifold with a flexible cusp then Y 0(M 1) is birational to Y 0(M 2). Kate Petersen ( Florida State) Character Varieties December 10, / 22

21 Long and Reid proved that if M 1 and M 2 are one-cusped commensurable hyperbolic 3-manifolds that cover a common orbifold with a flexible cusp then Y 0(M 1) is birational to Y 0(M 2). Let F N be the free group on N generators g 1,..., g N. Let G n = ρ(g n). Up to conjugation we can take «««a1 b 1 a2 b 2 an b n G 1 = 0 a 1, G 2 = 1 c 2 a 1, G n = 2 c n d n with a nd n b nc n = 1 for n = 3,..., N and b 2c 2 = 0 and b 1 = 0 or 1. Therefore, for n > 2 each matrix has 3 degrees of freedom, and G 1 and G 2 have a total of 3 degrees of freedom. So dim C (F N ) 3(N 2) + 3 = 3N 3. Kate Petersen ( Florida State) Character Varieties December 10, / 22

22 Consider H G. The inclusion ϕ : H G then ϕ induces a map ϕ : R(G) R(H) by ϕ (ρ) = ρ ϕ. We let ϕ also denote ϕ : X (G) X (H) defined by ϕ (χ ρ) = χ ϕ (ρ) = χ ρ ϕ. ϕ is the induced restriction map. Therefore, ϕ (X (G)) X (H). Kate Petersen ( Florida State) Character Varieties December 10, / 22

23 Consider H G. The inclusion ϕ : H G then ϕ induces a map ϕ : R(G) R(H) by ϕ (ρ) = ρ ϕ. We let ϕ also denote ϕ : X (G) X (H) defined by ϕ (χ ρ) = χ ϕ (ρ) = χ ρ ϕ. ϕ is the induced restriction map. Therefore, ϕ (X (G)) X (H). Therefore, if M is regular a cover of M we have ϕ (X (M)) X ( M). The variety ϕ (X (M)) is the restriction subvariety. Kate Petersen ( Florida State) Character Varieties December 10, / 22

24 Consider H G. The inclusion ϕ : H G then ϕ induces a map ϕ : R(G) R(H) by ϕ (ρ) = ρ ϕ. We let ϕ also denote ϕ : X (G) X (H) defined by ϕ (χ ρ) = χ ϕ (ρ) = χ ρ ϕ. ϕ is the induced restriction map. Therefore, ϕ (X (G)) X (H). Therefore, if M is regular a cover of M we have ϕ (X (M)) X ( M). The variety ϕ (X (M)) is the restriction subvariety. Boyer, Luft, and Zhang use this to show the existence of families of manifolds {M n} where the number of components of X irr (M n) is arbitrarily large. One such family is the finite cyclic covers of the figure-8 knot complement. Kate Petersen ( Florida State) Character Varieties December 10, / 22

25 If Γ 1 Γ 2 is any representation ρ : Γ 2 SL 2(C) induces π ρ : Γ 1 SL 2(C). Γ 1 Γ 2 π ρ π ρ SL 2 (C) Kate Petersen ( Florida State) Character Varieties December 10, / 22

26 If Γ 1 Γ 2 is any representation ρ : Γ 2 SL 2(C) induces π ρ : Γ 1 SL 2(C). Γ 1 Γ 2 π ρ π ρ SL 2 (C) X (Γ 2) X (Γ 1) and dim C X (Γ 2) dim C X (Γ 1) Kate Petersen ( Florida State) Character Varieties December 10, / 22

27 If Γ 1 Γ 2 is any representation ρ : Γ 2 SL 2(C) induces π ρ : Γ 1 SL 2(C). Γ 1 Γ 2 π ρ π ρ SL 2 (C) X (Γ 2) X (Γ 1) and dim C X (Γ 2) dim C X (Γ 1) If Γ F N then X (Γ) has a component of dimension at least 3N 3. Kate Petersen ( Florida State) Character Varieties December 10, / 22

28 If Γ 1 Γ 2 is any representation ρ : Γ 2 SL 2(C) induces π ρ : Γ 1 SL 2(C). Γ 1 Γ 2 π ρ π ρ SL 2 (C) X (Γ 2) X (Γ 1) and dim C X (Γ 2) dim C X (Γ 1) If Γ F N then X (Γ) has a component of dimension at least 3N 3. If dim C X (Γ 1) = dim C X (Γ 2) = 1 then X 0(Γ 1) = X 0(Γ 2) or #(components of X (Γ 2)) < #(components of X (Γ 1)) Kate Petersen ( Florida State) Character Varieties December 10, / 22

29 If Γ 1 Γ 2 is any representation ρ : Γ 2 SL 2(C) induces π ρ : Γ 1 SL 2(C). Γ 1 Γ 2 π ρ π ρ SL 2 (C) X (Γ 2) X (Γ 1) and dim C X (Γ 2) dim C X (Γ 1) If Γ F N then X (Γ) has a component of dimension at least 3N 3. If dim C X (Γ 1) = dim C X (Γ 2) = 1 then X 0(Γ 1) = X 0(Γ 2) or #(components of X (Γ 2)) < #(components of X (Γ 1)) Ohtsuki Riley and Sakuma use this idea to show that for all N there is a two-bridge knot K N so that #(components of X (S 3 K N )) > N They find towers of surjections of two-bridge knots π 1(S 3 K N ) π 1(S 3 K N 1 ) π 1(S 3 K 1). Kate Petersen ( Florida State) Character Varieties December 10, / 22

30 Genera of components If M has only one cusp, then X 0(M) is a C-curve. A natural measure of the complexity of X 0(M) is its genus. Kate Petersen ( Florida State) Character Varieties December 10, / 22

31 Genera of components If M has only one cusp, then X 0(M) is a C-curve. A natural measure of the complexity of X 0(M) is its genus. k l Theorem (Macasieb, -P, van Luijk) Let X (k, l) be the SL 2(C) character variety of S 3 J(k, l). If k l then with m = k 2 and n = l 2 genus X 0(k, l) = 3mn m n b where b {0, ±1}. Corollary For all N > 0 there is a twist knot K such that genus(x 0(S 3 K)) > N. Kate Petersen ( Florida State) Character Varieties December 10, / 22

32 Symmetries If φ : M M is a symmetry, then φ induces an automorphism φ on π 1(M), for loops α and β φ ([α]) = [φ(α)]. This, in turn, induces an automorphism φ on X (Γ), so φ (χ ρ([α])) = χ ρ(φ ([α])) = χ ρ([φ(α)]). Kate Petersen ( Florida State) Character Varieties December 10, / 22

33 Symmetries If φ : M M is a symmetry, then φ induces an automorphism φ on π 1(M), for loops α and β φ ([α]) = [φ(α)]. This, in turn, induces an automorphism φ on X (Γ), so φ (χ ρ([α])) = χ ρ(φ ([α])) = χ ρ([φ(α)]). Consider X (Γ) A N. If φ acts trivially on the set of free homotopy classes of un-oriented loops, the action is trivial on A N, and therefore the action is trivial on X (Γ). (The conjugacy classes of elements are fixed up to inverses, and conjugate matrices and inverses have same trace.) Kate Petersen ( Florida State) Character Varieties December 10, / 22

34 Symmetries If φ : M M is a symmetry, then φ induces an automorphism φ on π 1(M), for loops α and β φ ([α]) = [φ(α)]. This, in turn, induces an automorphism φ on X (Γ), so φ (χ ρ([α])) = χ ρ(φ ([α])) = χ ρ([φ(α)]). Consider X (Γ) A N. If φ acts trivially on the set of free homotopy classes of un-oriented loops, the action is trivial on A N, and therefore the action is trivial on X (Γ). (The conjugacy classes of elements are fixed up to inverses, and conjugate matrices and inverses have same trace.) The set S(Γ) of fixed points of φ is an algebraic subset of X (Γ). If M has only one cusp and φ fixes a framing of M, then φ fixes the Dehn surgery characters so X 0(M) S(M). Kate Petersen ( Florida State) Character Varieties December 10, / 22

35 For most two bridge knot complements M, the symmetry group of M is isomorphic to Z 2 Z 2. Those with palindromic twist regions have extra symmetries. k k-2 l l-2 Riley and Ohtsuki studied the effect of this extra symmetry on varieties of representations, and characters. By studying the action at infinity of X (M), Ohtsuki showed that X (M) factors when M has this additional symmetry. Kate Petersen ( Florida State) Character Varieties December 10, / 22

36 An algebraic view of the action of a symmetry is as follows. If φ : M M then π 1(M) π orb 1 (O) where O = M/φ is the orbifold quotient, and π orb 1 (O) is the orbifold fundamental group. X (O) X (M) To ensure that X irr (M) factors, it suffices to find an irreducible character not contained in X (O). (You need to be a bit careful here about dimension.) For two-bridge knots, the Z 2 Z 2 elements act trivially on unoriented free homotopy classes. The additional symmetry always factors X irr (M). One component of X irr (M) consists of those characters of representations that factor through π 1(O) and the other component is those characters that do not. Kate Petersen ( Florida State) Character Varieties December 10, / 22

37 Q n Let M n be the once-punctured torus bundle with tunnel number one, (T I )/Q n. Theorem (Baker, -P) Let g n be the genus of X 0(M n) and d n be the dilatation of the pseudo-anosov map corresponding to M n. Then d n = 2g n + α where α { 3, 2, 1, 0, 1} is explicitly determined. This is a consequence of a precise computation of the character varieties, and showing that each component is smooth and irreducible. Kate Petersen ( Florida State) Character Varieties December 10, / 22

38 Once-punctured torus bundles of tunnel number one Up to homeomorphism, the monodromy of M n = (T I )/Q n is Q n = τ cτ n+2 b where b and c are curves forming a basis for the fiber T and τ a means a right handed Dehn twist about the curve a. M n is hyperbolic if n > 2. We will consider only these n. Kate Petersen ( Florida State) Character Varieties December 10, / 22

39 Once-punctured torus bundles of tunnel number one Up to homeomorphism, the monodromy of M n = (T I )/Q n is Q n = τ cτ n+2 b where b and c are curves forming a basis for the fiber T and τ a means a right handed Dehn twist about the curve a. M n is hyperbolic if n > 2. We will consider only these n. The fundamental group is isomorphic to The abelianization is Γ ab n Γ n = α, β : β n = α 1 βα 2 βα 1. = Z Z n+2. Therefore X (Z Z n+2) X (Γ n). X (Z Z n+2) = {(x, y, z) : x 2 + y 2 + z 2 xyz = 4, y 2Re(ζ n+2)}. In fact, X red (Γ n) exactly corresponds to these conics. Kate Petersen ( Florida State) Character Varieties December 10, / 22

40 Irreducible Representations Up to conjugation we take a 0 A = ρ(α) = t a 1 «b s, B = ρ(β) = 0 b 1 «and the variables x = χ ρ(α) = a + a 1, y = χ ρ(β) = b + b 1, z = χ ρ(αβ) = ab + a 1 b 1 + st. Kate Petersen ( Florida State) Character Varieties December 10, / 22

41 Irreducible Representations Up to conjugation we take a 0 A = ρ(α) = t a 1 «b s, B = ρ(β) = 0 b 1 «and the variables x = χ ρ(α) = a + a 1, y = χ ρ(β) = b + b 1, z = χ ρ(αβ) = ab + a 1 b 1 + st. The relation is B n = A 1 BA 2 BA 1. We use the Cayley-Hamilton theorem so that «B n b n sf n(y) = 0 b n where f n is the n th Fibonacci polynomial; f 0(y) = 0, f 1(y) = 1, f k+1 (y) + f k 1 (y) = yf k (y). Kate Petersen ( Florida State) Character Varieties December 10, / 22

42 The (irreducible) representations are determined by the vanishing set of ϕ 1 = x f n 1(y) ϕ 2 = zx y + f n(y) ϕ 3 = x`f n+1(y) 1 zf n(y). (The polynomial ϕ 3 factors as f n+1(y) 1 and f n(y) share a factor. ) Kate Petersen ( Florida State) Character Varieties December 10, / 22

43 The (irreducible) representations are determined by the vanishing set of ϕ 1 = x f n 1(y) ϕ 2 = zx y + f n(y) ϕ 3 = x`f n+1(y) 1 zf n(y). (The polynomial ϕ 3 factors as f n+1(y) 1 and f n(y) share a factor. ) The character variety can be blown up to be a union of lines (from the blow ups) and the zero set of where h nl n = f n 1 1. ψ 1 = x f n 1(y), ψ 2 = ux + h n(y), ψ 3 = x ul n(y) With x = ul n(y) this is isomorphic to the vanishing set of u 2 l n(y) + h n(y) = 0. Kate Petersen ( Florida State) Character Varieties December 10, / 22

44 The equation u 2 l n(y) = h n(y) is irreducible except when n 2 (mod 4). Here y divides both l n and h n. This extra component corresponds to the characters x = y = 0 and representations with A and B as above with a 2 = b 2 = 1 in the original model. These are faithful representations of the group α, β : α 2 = β 2, α 4 = 1 Kate Petersen ( Florida State) Character Varieties December 10, / 22

45 The Canonical Component Writing h n and l n as h n and l n except for these factors in the n 2 (mod 4) case, the curve is z 2 l n(y) = h n(y) and is birational to The degree of f n 1 is n 1 1. w 2 = h n(y) l n(y) = (1 f n 1(y)). This is X 0(Γ n) and is a hyperelliptic curve of genus 1 ( n 1 1) if n 2 (mod 2) and 2 ( n 1 3) otherwise. 1 2 Kate Petersen ( Florida State) Character Varieties December 10, / 22

46 The once-punctured torus bundles with tunnel number one have lens space fillings corresponding to a surjection to Z/(n + 2)Z. Let y n+2 be an element of 2Re(ζ n+2). (y n+2, y n+2, 2) (y n+2,y n+2,2) X 0 The (y n+2, y n+2, 2) points correspond to a lens space filling. M 3 has an additional filling, corresponding to a surjection onto Z 10 which corresponds to the (y n+2, y n+2, 2) points. The characters corresponding additional fillings of M 3 and M 5 are the same as those above. Kate Petersen ( Florida State) Character Varieties December 10, / 22