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# Equivariant principal bundles over spheres and cohomogeneity one manifolds

## 1. Introduction

Let $`\mathrm{\Pi }`$ and $`G`$ be Lie groups. A principal $`(\mathrm{\Pi },G)`$-bundle is a locally trivial, principal $`G`$-bundle $`p:EX`$ such that $`E`$ and $`X`$ are left $`\mathrm{\Pi }`$-spaces. The projection map $`p`$ is $`\mathrm{\Pi }`$-equivariant and $`\gamma (eg)=(\gamma e)g`$, where $`\gamma \mathrm{\Pi }`$ and $`gG`$ acts on $`eE`$ by the principal action. Equivariant principal bundles, and their natural generalizations, were studied by T. E. Stewart , T. tom Dieck , \[6, I (8.7)\], R. Lashof ,  together with P. May  and G. Segal .

These authors study equivariant principal bundles by homotopy theoretic methods. There exists a classifying space $`B(\mathrm{\Pi },G)`$ for principal $`(\mathrm{\Pi },G)`$-bundles , so the classification of equivariant bundles in particular cases can be approached by studying the $`\mathrm{\Pi }`$-equivariant homotopy type of $`B(\mathrm{\Pi },G)`$. If the structural group $`G`$ of the bundle is abelian, then the main result of  states that equivariant bundles over a $`\mathrm{\Pi }`$-space $`X`$ are classified by the ordinary homotopy classes of maps $`[X\times _\mathrm{\Pi }E\mathrm{\Pi },BG]`$. In practice, this program leads to an obstruction theory rather than a classification. See, however, the results of Lashof in the special cases where $`\mathrm{\Pi }`$ acts transitively  or semi-freely  on the base space $`X`$.

Another approach to equivariant principal bundles uses the “local” invariants arising from isotropy representations at singular points of $`(X,\mathrm{\Pi })`$, together with equivariant gauge theory , , , . By an isotropy representation at a $`\mathrm{\Pi }`$-fixed point $`x_0X`$ we mean the homomorphism $`\alpha _{x_0}:\mathrm{\Pi }G`$ defined by the formula

$$\gamma e_0=e_0\alpha (\gamma )$$

where $`e_0p^1(x_0)`$. The homomorphism $`\alpha `$ is independent of the choice of $`e_0`$ up to conjugation in $`G`$. The relationship between the local invariants and the homotopy classification (in the form of a Localization Theorem ?) deserves further study.

In this paper, we use the second approach for $`\mathrm{\Pi }=SO(n)`$ acting in the standard way on $`X=S^n`$. In this concrete situation, we obtain a complete classification by relatively elementary geometric methods. It turns out that the local isotropy representations at the north and south poles of $`S^n`$ explicitly determine the classification of $`(SO(n),G)`$ principal bundles over $`S^n`$ (for short $`(n,G)`$-bundles). One surprising consequence is that the set $`(n,G)`$ of $`(n,G)`$-bundles is finite for $`n3`$. In contrast, the set of (non-equivariant) principal $`G`$-bundles over $`S^n`$ is often infinite. A detailed statement of these results is given in the next section and their proofs, essentially self-contained, are explained in Sections 3 to 6. Several examples are given in Section 7. In Section 8 we show how these results fit into the more general setting of equivariant $`(\mathrm{\Pi },G)`$-bundles over certain $`\mathrm{\Pi }`$-manifolds studied by K. Jänich  and E. Straume . In particular, we obtain a classification of $`(\mathrm{\Pi },G)`$-bundles over cohomogeneity 1 manifolds.

The authors would like to thank P. de la Harpe for helpful discussions.

## 2. Statement of results

Let $`S^n`$ be the $`n`$-dimensional sphere of radius 1 in $`𝐑^{n+1}`$. We consider the action on $`S^n`$ of the group $`SO(n)`$, by orthogonal transformations fixing the poles $`(0,\mathrm{},0,\pm 1)`$.

Let $`G`$ be a Lie group. We denote by $`(n,G)`$ the set of smooth homomorphisms from $`SO(n)`$ to $`G`$ modulo the conjugations by elements of $`G`$. Unless specified, all maps between manifolds are smooth of class $`C^{\mathrm{}}`$.

By a $`G`$-principal bundle $`\eta `$ over $`S^n`$, we mean, as usual, a smooth map $`p:ES^n`$ from a manifold $`E=E(\eta )`$ and a free right action $`E\times GE`$ so that $`p(zg)=p(z)`$ with the standard local triviality condition. The isomorphism classes of $`G`$-bundles over $`S^n`$ are in bijection with $`\pi _{i1}(G)/\pi _0(G)`$, the quotient of the homotopy group $`\pi _{n1}(G)`$ (based on the neutral element $`e`$ of $`G`$) by the action of $`\pi _0(G)`$ induced by the conjugation of $`G`$ on itself. The bijection associates to a bundle $`\eta `$ the class $`C(\eta ):=[(\mathrm{id}_{S^n})]\pi _{n1}(G)/\pi _0(G)`$, where $`:\pi _n(S^n)\pi _{n1}(G)`$ is the boundary operator in the homotopy exact sequence of $`\eta `$ \[23, Th. 18.5\].

A $`SO(n)`$-equivariant principal $`G`$-bundle $`\xi `$ over $`S^n`$ (or an $`(n,G)`$-bundle for short) is a $`G`$-principal bundle $`\xi ^{\mathrm{}}`$ over $`S^n`$ together with a left action $`SO(n)\times E(\xi )E(\xi )`$ commuting with the free right action of $`G`$ and such that the projection to $`S^n`$ is $`SO(n)`$-equivariant (we write $`E(\xi )`$ for $`E(\xi ^{\mathrm{}}`$)). Two $`(n,G)`$-bundles $`\xi _1,\xi _2`$ are isomorphic if there exists a diffeomorphism $`h:E(\xi _1)E(\xi _2)`$ which is both $`SO(n)`$ and $`G`$-equivariant and which commutes with the projections to $`S^n`$. We will compute the set $`(n,G)`$ of isomorphism classes of $`(n,G)`$-bundles.

Let $`\xi `$ be a $`(n,G)`$-bundle. Choose points $`a,bE(\xi )`$ such that $`p(a)=(0,\mathrm{},1)`$ and $`p(b)=(0,\mathrm{},1)`$. Let $`\alpha ,\beta `$ be the maps from $`SO(n)`$ to $`G`$ determined by the formulae $`Aa=a\alpha (A)`$ and $`Ab=b\beta (A)`$. We shall prove in Lemma 3.2 that $`\alpha `$ and $`\beta `$ are smooth homomorphisms and that their class in $`(n,G)`$ depend only on $`[\xi ](n,G)`$. We call $`\alpha `$ and $`\beta `$ the isotropy representations (associated to $`a`$ and $`b`$). This defines a map $`J:(n,G)(n,G)\times (n,G)`$ by $`J(\xi ):=([\alpha ],[\beta ])`$. When $`n=2`$ and $`G`$ is connected, $`J(\xi )`$ is a complete invariant which, in particular, determines the (non-equivariant) isomorphism class of $`\xi ^{\mathrm{}}`$. More precisely, let $`\psi :(2,G)\times (2,G)\pi _1(G)`$ be the map determined by $`\psi (\alpha ,\beta )(z):=[\alpha (z)\beta (z)^1]`$ (one uses that $`SO(2)S^1`$ and that $`\psi `$ is well defined if $`G`$ is connected).

###### Theorem A.

Suppose that $`G`$ is connected Lie group. Then,

1. the map $`J:(2,G)(2,G)\times (2,G)`$ is a bijection.
2. if $`J(\xi )=([\alpha ],[\beta ])`$, then $`\psi (\alpha ,\beta )=C(\xi ^{\mathrm{}})`$.

We shall now generalize Theorem A for $`n2`$ or $`G`$ any Lie group. In general, $`J`$ is then neither injective nor surjective and $`C(\xi ^{\mathrm{}})`$ is not determined by $`J(\xi )`$. Consider $`SO(n1)`$ as the subgroup of $`SO(n)`$ fixing the last coordinate. The restriction $`[\mu ][\mu |_{SO(n1)}]`$ gives a map $`\mathrm{Res}:(n,G)(n1,G)`$. Denote by $`(n,G)\times _{(n1)}(n,G)`$ the set of $`([\alpha ],[\beta ])(n,G)\times (n,G)`$ such that $`\mathrm{Res}[\alpha ]=\mathrm{Res}[\beta ]`$. If $`\phi :HG`$ is a group homomorphism, we denote by $`Z_\phi G`$ the centralizer of $`\phi (H)`$.

###### Theorem B.

Let $`G`$ be any Lie group $`G`$. Then

1. the image of $`J`$ is $`(n,G)\times _{(n1)}(n,G)`$.
2. let $`\alpha ,\beta :SO(n1)G`$ be two smooth homomorphisms such that $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}=:\gamma `$. Then $`J^1([\alpha ],[\beta ])`$ is in bijection with with the set of double cosets $`\pi _0(Z_\alpha )\backslash \pi _0(Z_\gamma )/\pi _0(Z_\beta )`$.

###### Remark 2.1.

The compatibility statement in Part (i) of Theorem B was also observed by K. Grove and W. Ziller \[7, Prop. 1.6\]. In § 8, Theorem B is extended to a more general setting, to include equivariant principal bundles over “special” $`\mathrm{\Pi }`$-manifolds in the sense of Jänich . In particular this provides a classification of the equivariant bundles considered by Grove and Ziller.

Since $`SO(1)`$ is trivial, Theorem $`B`$ reduces to Part (i) of Theorem A when $`n=2`$. To determine $`C(\xi ^{\mathrm{}})`$ as in Part (ii) of Theorem A, we must choose particular representatives of $`[\alpha ]`$ and $`[\beta ]`$ (in general, $`J(\xi )`$ does not determine $`\xi ^{\mathrm{}}`$: see examples 7.2 and 7.5). An isotropic lifting for $`\xi `$ is a smooth curve $`\stackrel{~}{c}:[1,1]E(\xi )`$ lifting the meridian arc $`c(t)=(0,\mathrm{},\mathrm{cos}(\pi t/2),\mathrm{sin}(\pi t/2))`$ and such that $`B\stackrel{~}{c}(t)=\stackrel{~}{c}(t)\alpha (B)`$ for all $`BSO(n1)`$. Isotropic lifting always exist (see Lemma 3.5). Choosing $`a:=\stackrel{~}{c}(1)`$ and $`b:=\stackrel{~}{c}(1)`$ leads to isotropy representations $`\alpha ,\beta :SO(n)G`$ such that $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}`$. The map $`\psi (\alpha ,\beta ):SO(n)G`$ constructed as in Theorem A then satisfies $`\psi (\alpha ,\beta )(AB)=\psi (\alpha ,\beta )(A)`$ when $`BSO(n1)`$. It thus induces a map

$$\overline{\psi }(\alpha ,\beta ):S^{n1}SO(n)/SO(n1)G.$$

Note that $`\overline{\psi }`$ is well defined since $`\alpha `$ and $`\beta `$ are actual homomorphisms and not conjugacy classes.

###### Proposition C.

Let $`\xi `$ be a $`(n,G)`$-bundle. Let $`\alpha ,\beta :SO(n)G`$ be the isotropy representation associated to the end points of an isotropic lifting. Then, $`[\overline{\psi }(\alpha ,\beta )]=C(\xi ^{\mathrm{}})`$ in $`\pi _{n1}(G)/\pi _0(G)`$.

We shall prove two consequences of Theorem B and Proposition C which emphasize the constrast between the cases $`n=2`$ and $`n3`$.

###### Proposition D.

Let $`\eta `$ be a principal $`G`$-bundle over $`S^2`$ with $`G`$ a non-trivial Lie group. Then there exist infinitely many $`\xi (2,G)`$ such that $`\xi ^{\mathrm{}}\eta `$.

###### Proposition E.

For $`G`$ a compact Lie group, the set $`(n,G)`$ is finite when $`n3`$.

These results are proved in § 5, while the former sections are devoted to preliminary material. In Section 6, we determine which $`(n,G)`$-bundles come from an $`SO(n+1)`$-equivariant bundles. Examples are given in § 7.

## 3. Preliminary constructions

###### 3.1.

$`J`$ is well defined. This follows from the following lemma.

###### Lemma 3.2.

Let $`\xi `$ be a $`(n,G)`$-bundle. Let $`a,bE(\xi )`$ such that $`p(a)=(0,\mathrm{},1)`$ and $`p(b)=(0,\mathrm{},1)`$. Let $`\beta ,\alpha `$ be the maps from $`SO(n)`$ to $`G`$ determined by the formulae $`Aa=a\alpha (A)`$ and $`Ab=b\beta (A)`$. Then $`\alpha `$ and $`\beta `$ are smooth homomorphisms and their class in $`(n,G)`$ depends only on $`[\xi ](n,G)`$.

###### Proof.

Let $`A,BSO(n)`$. One has

$$\begin{array}{ccc}\hfill a\alpha (BA)& =& (BA)a=B(Aa)=B(a\alpha (A))=\hfill \\ & =& (Ba)\alpha (A)=a(\alpha (B)\alpha (A)).\hfill \end{array}$$

Therefore, $`\alpha `$ and similarly, $`\beta `$, are homomorphism. They are smooth because the action of $`SO(n)`$ is smooth. If $`a^{}`$ is another choice instead of $`a`$, there exists $`gG`$ such that $`a^{}=ag`$ and one has

(3.3)
$$a(g\alpha ^{}(A))=a^{}\alpha ^{}(A)=Aa^{}=Aag=a(\alpha (A)g),$$

whence $`\alpha ^{}(A)=g^1\alpha (A)g`$. This proves that the class of $`(\alpha ,\beta )`$ in $`(n,G)`$ does not depend on the choice of $`a`$ and $`b`$. Now, if $`h:E(\xi )\stackrel{}{}E(\xi ^{})`$ is a $`(SO(n),G)`$-equivariant diffeomorphism over the identity of $`S^n`$, then, by choosing $`a^{}:=h(a)`$ and $`b^{}:=h(b)`$, one has $`(\alpha ^{},\beta ^{})=(\alpha ,\beta )`$. The proof of Lemma 3.2 is then complete. ∎

###### 3.4.

Isotropic liftings. Let $`I:=[1,1]`$ and $`c:IS^n`$ be the parametrisation of the meridian arc $`c(t)=(0,\mathrm{},\mathrm{cos}(\pi t/2),\mathrm{sin}(\pi t/2))`$. Let $`\stackrel{~}{c}:IE=E(\xi )`$ be a (smooth) lifting of $`c`$. As $`c(t)`$ is fixed by $`SO(n1)`$, one has $`B\stackrel{~}{c}(t)=\stackrel{~}{c}(t)\alpha _t(B)`$, for $`BSO(n1)`$. As in the proof of Lemma 3.2, one checks that this gives a smooth path $`\alpha _t`$ ($`tI`$) of homomorphisms from $`SO(n1)`$ to $`G`$, which depends on the lifting $`\stackrel{~}{c}`$. Call $`\stackrel{~}{c}`$ isotropic if $`\alpha _t`$ is constant: $`\alpha _t(B)=\alpha (B)`$ for all $`BSO(n1)`$.

###### Lemma 3.5.

Any $`(n,G)`$-bundle admits an isotropic lifting.

We shall make use of connections on $`(n,G)`$-bundles which are $`SO(n)`$-invariant. These can be obtained by averaging any connection (see \[1, p. 522\]), since the space of connections is an affine space. If a curve $`u(t)`$ in $`E(\xi )`$ is horizontal for a $`SO(n)`$-invariant connection, then $`u(t)g`$ and $`Au(t)`$ are horizontal. Lemma 3.5 then follows from the following

###### Lemma 3.6.

Let $`\xi `$ be a $`(n,G)`$-bundle endowed with a $`SO(n)`$-invariant connection. Then, any lifting $`\stackrel{~}{c}`$ of $`c`$ which is horizontal is isotropic.

###### Proof.

If $`\stackrel{~}{c}`$ is an horizontal lifting , so are $`B\stackrel{~}{c}`$ and $`\stackrel{~}{c}\alpha (B)`$ for $`BSO(n1)`$. As $`B\stackrel{~}{c}(1)=\stackrel{~}{c}(1)\alpha (B)`$, one has $`B\stackrel{~}{c}(t)=\stackrel{~}{c}(t)\alpha (B)`$ for all $`tI`$. ∎

###### 3.7.

The $`(n,G)`$-bundles $`\xi _{\alpha ,\beta }`$. If $`X`$ is a topological space, the unreduced suspension $`\mathrm{\Sigma }X`$ is

$$\mathrm{\Sigma }X:=I\times X/\{(1,x)(1,x^{})\text{ and }(1,x)(1,x^{}),x,x^{}X\}.$$

We donote by $`C_{}X`$ the image of $`[1,1)\times X`$ in $`\mathrm{\Sigma }X`$ and by $`C_+X`$ those of $`(1,1]\times X`$.

Let $`(\alpha ,\beta )`$ be a pair of smooth homomorphisms from $`SO(n)`$ to $`G`$. Define the space $`\widehat{E}_{\alpha ,\beta }`$ by

$$\begin{array}{ccc}\widehat{E}_{\alpha ,\beta }& :=& I\times SO(n)\times G/\{(1,A^{},g)(1,A,\alpha (A^1A^{})g)\text{ and }\hfill \\ & & (1,A^{},g)(1,A,\beta (A^1A^{})g),ASO(n)\}.\hfill \end{array}$$

The space $`\widehat{E}_{\alpha ,\beta }`$ admits an obvious free right action of $`G`$ and a map $`p:\widehat{E}_{\alpha ,\beta }\mathrm{\Sigma }SO(n)`$. This makes a principal $`G`$-bundle over $`\mathrm{\Sigma }SO(n)`$; indeed, trivializations on $`C_\pm SO(n)`$ are given by

(3.8)
$$\begin{array}{ccccccccccc}\widehat{\phi }_{}:\hfill & [t,A,g]\hfill & \hfill & ([t,A],\alpha (A)g)\hfill & \text{ if }\hfill & 1t<1\hfill & & & & & \\ \widehat{\phi }_+:\hfill & [t,A,g]\hfill & \hfill & ([t,A],\beta (A)g)\hfill & \text{ if }\hfill & 1<t1.\hfill & & & & & \end{array}$$

The change of trivializations is

(3.9)
$$\widehat{\phi }_{}\widehat{\phi }_+^1([t,A],g)=([t,A],\alpha (A)\beta (A)^1g).$$

Now, suppose that $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}`$. Form the space $`E_{\alpha ,\beta }`$ as the quotient

$$E_{\alpha ,\beta }:=\widehat{E}_{\alpha ,\beta }/\{[t,AB,g][t,A,\alpha (B)g],BSO(n1)\}.$$

Let $`\epsilon :SO(n)S^{n1}`$ be the map which associates to a matrix its last column; it is also the projection $`\epsilon :SO(n)SO(n)/SO(n1)S^{n1}`$. There is an map $`p:E_{\alpha ,\beta }\mathrm{\Sigma }S^{n1}`$ given by $`p([t,A,g])=[t,\epsilon (A)]`$ and a free $`G`$-action given by $`[t,A,g]g_1:=[t,A,gg_1]`$ As above, we check that this defines a $`G`$-principal bundle over $`\mathrm{\Sigma }S^{n1}`$; the trivializations $`\widehat{\phi }_\pm `$ descend to trivializations $`\stackrel{ˇ}{\phi }_\pm `$ over $`C_\pm S^{n1}`$.

The map $`[t,A]Ac(t)`$ descends to a homeomorphism $`f:\mathrm{\Sigma }S^{n1}\stackrel{}{}S^n`$. By replacing $`p`$ by $`fp`$, we obtain a (topological) principal $`G`$-bundle

$$\xi _{\alpha ,\beta }:E_{\alpha ,\beta }\stackrel{p}{}S^n.$$

Let $`S_\pm ^n`$ be the punctured spheres $`S_\pm ^n:=f(C_\pm S^{n1})`$. The trivializations given by the compositions

(3.10)
$$\phi _\pm :p^1(S_\pm ^n)\stackrel{\stackrel{ˇ}{\phi }_\pm }{}C_\pm S^{n1}\times G\stackrel{f\times \mathrm{id}}{}S_\pm ^n\times G$$

are homeomorphisms from $`p^1(S_\pm ^n)`$ onto manifolds. The change of trivialization is a diffeomorphism, being obtained by conjugating that of (3.9) by $`f`$. Therefore, $`\phi _\pm `$ produce a smooth manifold structure on $`E_{\alpha ,\beta }`$. The map $`p`$ and the $`G`$ action are smooth. One checks that the map

$$\begin{array}{cccccc}SO(n)\times \widehat{E}_{\alpha ,\beta }\widehat{E}_{\alpha ,\beta }& \mathrm{given}\mathrm{by}& C[t,A,g]:=[t,CA,g]& & & \end{array}$$

descends to a smooth $`SO(n)`$-action on $`E_{\alpha ,\beta }`$ which makes $`\xi _{\alpha ,\beta }`$ a $`(n,G)`$-bundle.

###### 3.11.

Proof of Part (i) of Theorem B. Let $`\xi `$ be a $`(n,G)`$-bundle. By Lemma 3.5 there exists an isotropic lifting $`\stackrel{~}{c}:IE(\xi )`$ of $`c`$. Choosing $`a:=\stackrel{~}{c}(1)`$ and $`b:=\stackrel{~}{c}(1)`$ produces a representative $`(\alpha ,\beta )`$ of $`J(\xi )`$ with $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}`$. Therefore, the image of $`J`$ is contained in $`(n,G)\times _{(n1)}(n,G)`$.

Conversely, a class $`P(n,G)\times _{(n1)}(n,G)`$ is represented by a pair $`(\alpha ,\beta )`$ with $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}`$. Let $`\mathrm{𝟏}`$ be the identity matrix in $`SO(n)`$ and $`e`$ be the unit element of $`G`$. Computing $`J(\xi _{\alpha ,\beta })`$ with the points $`a:=[1,\mathrm{𝟏},e]`$ and $`b:=[1,\mathrm{𝟏},e]`$ in $`E_{\alpha ,\beta }`$ shows that $`J(\xi _{\alpha ,\beta })=P`$. ∎

## 4. The map $`\stackrel{~}{J}_\gamma `$

Let $`\gamma :SO(n1)G`$ be a smooth homomorphism. Define a set $`_\gamma (n,G)`$ as follows: an element of $`_\gamma (n,G)`$ is represented by a pair $`(\alpha ,\beta )`$ of smooth homomorphisms from $`SO(n)`$ to $`G`$ such that $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}=\gamma `$. Two pairs $`(\alpha _1,\beta _1)`$ and $`(\alpha _2,\beta _2)`$ represent the same element of $`_\gamma (n,G)`$ if there is a smooth path $`\{g_tt[1,1]\}`$ in the centralizer $`Z_\gamma `$ of $`\gamma (SO(n1))`$ such that $`\alpha _2(A)=g_1\alpha _1(A)g_1^1`$ and $`\beta _2(A)=g_1\beta _1(A)g_1^1`$. There is an obvious map $`j:_\gamma (n,G)(n,G)\times _{(n1)}(n,G)`$.

Part (i) of Theorem B, already proven in (3.11), permits us to define a map $`\overline{J}:(n,G)(n1,G)`$ by $`\overline{J}(\xi ):=\mathrm{Res}[\alpha ]=\mathrm{Res}[\beta ]`$. We shall now compute the preimage $`\overline{J}^1([\gamma ])`$.

###### Proposition 4.1.

Let $`\gamma :SO(n1)G`$ be a smooth homomorphism. Then there exists a bijection $`\stackrel{~}{J}_\gamma :\overline{J}^1([\gamma ])\stackrel{}{}_\gamma (n,G)`$ such that $`j\stackrel{~}{J}_\gamma =J`$.

The proof divides into several steps.

###### 4.2.

Definition of $`\stackrel{~}{J}_\gamma `$. Let $`\xi `$ be a $`(n,G)`$-bundle with $`\overline{J}(\xi )=[\gamma ]`$. Choose, using Lemma 3.5, an isotropic lifting $`\stackrel{~}{c}_0:IE(\xi )`$ of $`c`$. As $`\overline{J}(\xi )=[\gamma ]`$, the constant path $`\alpha _t^0:SO(n1)G`$ associated to $`\stackrel{~}{c}_0`$ is conjugated to $`\gamma `$: there exists $`gG`$ such that $`\alpha _t^0(B)=g\gamma (B)g^1`$. Let $`\stackrel{~}{c}:=\stackrel{~}{c}_0g`$. Like in Equation (3.3), one checks that $`\stackrel{~}{c}`$ is $`\gamma `$-isotropic, i.e. $`\alpha _t=\gamma `$. Choosing $`a:=\stackrel{~}{c}(1)`$ and $`b:=\stackrel{~}{c}(1)`$ then produces a pair $`(\alpha ,\beta )`$ of smooth homomorphisms from $`SO(n)`$ to $`G`$ which represents a class $`\stackrel{~}{J}_\gamma (\xi )`$ in $`_\gamma (n,G)`$.

To see that $`\stackrel{~}{J}_\gamma `$ is thus well defined, let $`\stackrel{~}{c}^{}`$ be another $`\gamma `$-isotropic lifting of $`c`$. The smooth path $`tg_tG`$ defined by $`\stackrel{~}{c}^{}(t)=\stackrel{~}{c}(t)g_t`$ then satisfies, for all $`BSO(n1)`$:

$$\gamma (B)=\alpha _t^{}(B)=g_t^1\alpha _t(B)g_t=g_t^1\gamma (B)g_t.$$

Therefore, $`g_tZ_\gamma `$. One has $`\alpha ^{}(A)=g_1^1\alpha _t(A)g_1`$ and $`\beta ^{}(A)=g_1^1\beta _t(A)g_1`$, for all $`ASO(n)`$, which proves that $`\stackrel{~}{J}_\gamma (\xi )`$ does not depend on the choice of a $`\gamma `$-isotropic lifting.

Now, if $`h:E(\xi )\stackrel{}{}E(\xi ^{})`$ is a $`(SO(n),G)`$-equivariant diffeomorphism over the identity of $`S^n`$ and $`\stackrel{~}{c}:IE(\xi )`$ is a $`\gamma `$-isotropic lifting for $`\xi `$, then $`c^{}:=h\stackrel{~}{c}`$ is a $`\gamma `$-isotropic lifting for $`\xi ^{}`$ giving $`(\alpha ^{},\beta ^{})=(\alpha ,\beta )`$. This proves that $`\stackrel{~}{J}_\gamma `$ is well defined.

###### 4.3.

Surjectivity of $`\stackrel{~}{J}_\gamma `$. Let $`(\alpha ,\beta )`$ represent a class $`P`$ in $`_\gamma (n,G)`$. One checks that $`\stackrel{~}{J}_\gamma (\xi _{\alpha ,\beta })=P`$, using that the path $`t[t,\mathrm{𝟏},e]`$ is a $`\gamma `$-isotropic lifting for $`\xi _{\alpha ,\beta }`$.

###### 4.4.

Injectivity of $`\stackrel{~}{J}_\gamma `$. Let $`\gamma :SO(n1)G`$ be a smooth homomorphism. and let $`\xi `$ be a $`(n,G)`$-bundle with $`\overline{J}(\xi )=[\gamma ]`$. There exists $`aE(\xi )`$ with $`p(a)=(0,\mathrm{},1)`$ and $`Ba=a\gamma (B)`$ for all $`BSO(n1)`$. Choose a $`SO(n)`$-invariant connection on $`\xi `$ and let $`\stackrel{~}{c}`$ an horizontal lifting of $`c`$ with $`\stackrel{~}{c}(1)=a`$. By Lemma 3.6, $`\stackrel{~}{c}`$ is $`\gamma `$-isotropic. If $`\beta :SO(n)G`$ is defined by $`A\stackrel{~}{c}(1)=\stackrel{~}{c}(1)\beta (A)`$, then $`(\alpha ,\beta )`$ represents $`\stackrel{~}{J}_\gamma (\xi )`$.

Consider the map $`\widehat{\lambda }:\widehat{E}_{\alpha ,\beta }E(\xi )`$ given by

$$\widehat{\lambda }([t,A,g]):=A\stackrel{~}{c}(t)g.$$

The map $`\widehat{\lambda }`$ descends to a continuous map $`\lambda :E_{\alpha ,\beta }E(\xi )`$ which is both $`SO(n)`$ and $`G`$-equivariant and which covers the identity of $`S^n`$. Therefore $`\xi `$ and $`\xi _{\alpha ,\beta }`$ are isomorphic as topological $`(n,G)`$-bundles. What remains to prove is that $`\lambda `$ is a diffeomorphism, which is only non-trivial around the fibers $`E_\pm `$ above the north and south poles.

The connection on $`\xi `$ provides a smooth trivialization of $`\xi `$ restricted to the punctured sphere $`S_{}^n`$ (see 3.7) in the following way. Consider the map $`s_{}:p^1(S_{}^n)E_{}`$ assigning to $`z`$ the end point in $`E_{}`$ of the horizontal path through $`z`$ above the meridian arc through $`p(z)`$. Define the $`G`$-equivariant map $`\sigma _{}:p^1(S_{}^n)G`$ by $`s_{}(z)=a\sigma _{}(z)`$. The required trivialization $`\tau _{}:p^1(S_{}^n)S_{}^n\times G`$ is $`\tau _{}(z):=(p(z),\sigma _{}(z))`$.

Take the trivialization $`\phi _{}`$ for $`\xi _{\alpha ,\beta }`$ defined in Equations (3.10) of (3.7). As $`\stackrel{~}{c}`$ is horizontal, one has

$$\tau _{}\lambda \phi _{}^1(x,g)=(x,g).$$

This, and the same for $`E_+`$, prove that $`\lambda `$ is a diffeomorphism. We have thus established that if $`\stackrel{~}{J}_\gamma (\xi )`$ is represented by $`(\alpha ,\beta )`$ then the $`(n,G)`$-bundle $`\xi `$ is isomorphic to $`\xi _{\alpha ,\beta }`$, which proves the injectivity of $`\stackrel{~}{J}_\gamma `$.

The proof of Proposition 4.1 is now complete. ∎

## 5. Proof of the main results

This section contains the proofs of the results stated in § 2.

###### 5.1.

Proof of Theorem B. Part (i) has already been proven in (3.11). We shall now prove Part (ii). Let $`\alpha ,\beta :SO(n1)G`$ be two smooth homomorphisms such that $`\alpha |_{SO(n1)}=\beta |_{SO(n1)}=\gamma `$. The pair $`(\alpha ,\beta )`$ defines a class $`[\alpha ,\beta ]_\gamma (n,G)`$. The group $`Z_\gamma \times Z_\gamma `$ acts on $`_\gamma (n,G)`$ by

$$(g,h)[\alpha ,\beta ]:=[g\alpha g^1,h\beta h^1].$$

The set $`J^1([\alpha ],[\beta ])\overline{J}^1([\gamma ])`$ is, via the bijection $`\stackrel{~}{J}_\gamma :\overline{J}^1([\gamma ])\stackrel{}{}_\gamma (n,G)`$ of Proposition 4.1, in bijection with an orbit of the above action. Let “$``$” be the equivalence relation on $`Z_\gamma \times Z_\gamma `$ defined by $`(g_1,h_1)(g_2,h_2)`$ iff $`(g_1,h_1)[\alpha ,\beta ]=(g_2,h_2)[\alpha ,\beta ]`$. Let

$$\varphi :Z_\gamma \times Z_\gamma \pi _0(Z_\alpha )\backslash \pi _0(Z_\gamma )/\pi _0(Z_\beta )$$

be the map defined by $`\varphi (g,h):=[g^1h]`$. Part (ii) of Theorem B then follows from the following lemma.

###### Lemma 5.2.

$`(g_1,h_1)(g_2,h_2)`$ iff $`\varphi (g_1,h_1)=\varphi (g_2,h_2)`$.

###### Proof.

Suppose that $`(g_1,h_1)(g_2,h_2)`$. This means that there exist $`s_{},s_+Z_\gamma `$, with $`[s_{}]=[s_+]`$ in $`\pi _0(Z_\gamma )`$, such that the following equality

$$(g_1\alpha g_1^1,h_1\beta h_1^1)=(s_{}g_2\alpha g_2^1s_{}^1,s_+h_2\beta h_2^1s_+^1)$$

holds in $`Z_\gamma \times Z_\gamma `$. This implies that

$$g_1=s_{}g_2A\text{ and }h_1=s_+h_2B$$

with $`AZ_\alpha `$ and $`BZ_\beta `$ (the centralizers of the images of $`\alpha `$ and $`\beta `$). Therefore $`g_1^1h_1=A^1g_2^1s_{}^1s_+h_2B`$, which implies $`\varphi (g_1,h_1)=\varphi (g_2,h_2)`$.

To prove the converse, observe that

* $`(g,h)(Cg,Ch)`$ for $`CZ_\gamma `$.
* $`(g,h)(gA,hB)`$ for $`AZ_\alpha `$ and $`BZ_\beta `$.
* $`(g,h)(g,uh)`$ for $`u`$ in the identity component of $`Z_\gamma `$.

Suppose that $`\varphi (g_1,h_1)=\varphi (g_2,h_2)`$. This means that there are $`AZ_\alpha `$, $`BZ_\beta `$ and $`u`$ in the identity component of $`Z_\gamma `$ auch that $`g_1^1h_1=A^1g_2^1uh_2B`$ ($`u`$ can be put in the middle since the identity component of $`Z_\gamma `$ is a normal subgroup of $`Z_\gamma `$). One then has

$$(g_1,h_1)(e,g_1^1h_1)=(e,A^1g_2^1uh_2B)(g_2A,uh_2B)(g_2,h_2).$$

###### Proof of Proposition C.

Let $`\xi `$, $`\alpha `$ and $`\beta `$ as in the statement of Proposition C. Let $`\gamma :=\alpha _{|SO(n1)}=\beta _{|SO(n1)}`$. Then, $`\xi \overline{J}^1([\gamma ])`$ and, by 4.2, one has $`\stackrel{~}{J}(\xi )=[\alpha ,\beta ]`$ in $`_\gamma (n,G)`$. By 4.4, $`\xi =\xi _{\alpha ,\beta }`$. Therefore, $`C(\xi ^{\mathrm{}})=C(\xi _{\alpha ,\beta }^{\mathrm{}})=[\overline{\psi }(\alpha ,\beta )]`$, the last equality coming from Equation (3.9) of 3.7 and that $`C(\xi ^{\mathrm{}})`$ can be represented by the transition function \[23, Th. 18.4\]. ∎

###### Proof of Theorem A.

Since $`SO(1)`$ is trivial, $`Z_\gamma =G`$ which is suppose to be connected. Therefore, Part (i) is a particular case of Part (i) of Theorem B. Let $`c:IS^n`$ parametrizing the meridian arc, as in (3.4). Let $`\alpha ,\beta :SO(2)G`$ be two homomorphisms representing $`J(\xi )`$. One can find $`a`$ and $`b`$ so that $`\alpha `$ and $`\beta `$ are the isotropy representations associated to $`a`$ and $`b`$. As $`G`$ is connected, the submanifold $`P_0:=p^1(c(I))`$ of $`E(\xi )`$ is connected and there is a smooth lifting $`\stackrel{~}{c}`$ of $`c`$ such that $`\stackrel{~}{c}(1)=a`$ and $`\stackrel{~}{c}(1)=b`$. As $`SO(1)`$ is trivial, $`\stackrel{~}{c}`$ is isotropic. Part (ii) of Theorem A then follows from Proposition C. ∎

###### Proof of Proposition D.

Recall that any element of $`\pi _1(G,e)`$ can be represented by a homomorphism (a geodesic in a maximal compact subgroup $`K`$ of $`G`$, with a $`K`$-bi-invariant Riemannian metric, being a $`1`$-parameter subgroup \[11, Ch. IV, § 6\]). Therefore, if $`\eta `$ is a $`G`$-bundle over $`S^2`$, there exists a homomorphism $`\alpha :S^1G`$ such that $`C(\eta )=[\alpha ]`$. For $`q𝐍`$, let $`\alpha _q:S^1G`$ given by $`\alpha _q(z):=\alpha (z)^q`$. If $`\alpha `$ is not trivial, the classes $`[\alpha _q]`$ are all distinct in $`(2,G)`$. Indeed, the set $`(2,G)`$ is in bijection with lattice points in a Weyl chamber of the Lie algebra of a maximal torus of $`G`$ and the point representing $`\alpha _q`$ is $`q`$ times those representing $`\alpha `$.

Suppose first that $`\eta `$ is not trivial. Hence, $`\alpha `$ is not trivial and $`[\alpha _{q+1},\alpha _q]`$ are all different classes in $`_\gamma (2,G)`$ with $`[\overline{\psi }(\alpha _{q+1},\alpha _q])=C(\eta )`$. The result then follows from Propositions C and 4.1.

When $`\eta `$ is trivial, one takes any non-trivial homomorphism $`\alpha :SO(2)G`$. The classes $`[\alpha _q,\alpha _q]`$ in $`_\gamma (2,G)`$ represent infinitely many distinct $`SO(2)`$-equivariant $`G`$-bundles $`\xi _q`$ with trivial $`\xi _q^{\mathrm{}}`$. ∎

###### Proof of Proposition E.

If $`n3`$, the group $`SO(n)`$ is semi-simple and the set $`(n,G)`$ is finite. The latter follows from the following known results:

* a homomorphism is determined by its tangent map at the identity (as a homomorphism of Lie algebras).
* the Lie algebra of $`G`$ contains only finitely many semi-simple Lie subalgebras, up to inner automorphism \[21, Prop. 12.1\].
* there are only finitely many homomorphisms between two semisimple Lie algebras.

Also, if $`G`$ is compact, the group $`Z_\gamma `$ is compact and then $`\pi _0(Z_\gamma )`$ is finite. Proposition E then follows from Theorem B. ∎

###### Remark 5.3.

To remove the hypothesis “$`G`$ compact” from Proposition E, it is enough to consider the case $`G`$ connected. Indeed, $`_\gamma (n,G)`$ is a quotient of $`_\gamma (n,G_e)`$, where $`G_e`$ is the connected component of $`e`$. One would then need the following kind of result: if $`H`$ is a compact Lie subgroup of a connected Lie group $`G`$, then $`\pi _0(Z(H))`$ is finite. We do not know whether this true.

## 6. $`SO(n+1)`$-equivariant bundles

In this section, we describe the $`(n,G)`$-bundles which are $`SO(n+1)`$-equivariant $`G`$-bundles, for the natural action of $`SO(n+1)`$ on $`S^n`$. Let $`\delta :SO(n)\stackrel{}{}SO(n)`$ be the conjugation by the diagonal $`(n\times n)`$-matrix $`\mathrm{Diag}(1,\mathrm{},1,1)`$ (or, equivalently, $`\mathrm{Diag}(1,\mathrm{},1,1)`$). If $`\alpha :SO(n)G`$ is a smooth homomorphism, observe that $`\mathrm{Res}[\alpha ]=\mathrm{Res}[\alpha \delta ]`$ in $`(n1,G)`$.

###### Theorem 6.1.

Let $`\xi `$ be a $`(n,G)`$-bundle. If $`\xi `$ comes from an $`SO(n+1)`$-equivariant $`G`$-bundle then $`J(\xi )`$ is of the form $`([\alpha ],[\alpha \delta ])`$.

For any $`[\alpha ](n1,G)`$ there is a unique $`\xi (n,G)`$ which comes from a $`SO(n+1)`$-equivariant $`G`$-bundle and such that $`J(\xi )=([\alpha ],[\alpha \delta ])`$.

###### Proof.

For $`\theta [0,\pi ]`$, let $`R_\theta SO(n+1)`$ be the rotation of angle $`\theta `$ in the plane of the last $`2`$ coordinates. Let $`R:=R_\pi `$, the diagonal matrix with entries $`(1,\mathrm{},1,1,1)`$.

Let $`\xi `$ be an $`SO(n+1)`$-equivariant bundle. Choose $`a,bE(\xi )`$, with $`p(a)=(0,\mathrm{},1)`$ and let $`b:=Ra`$. For $`ASO(n)`$, one has $`R^1AR=\delta (A)`$ and

(6.2)
$$\begin{array}{cccccc}b\beta (A)\hfill & =\hfill & Ab=A(Ra)=R(R^1AR)a\hfill & & & \\ & =\hfill & Ra\alpha (\delta (A))=b\alpha (\delta (A)),\hfill & & & \end{array}$$

whence $`\beta =\alpha \delta `$, which proves Part (i).

Let $`\alpha :SO(n)G`$ be a smooth homomorphism and set $`\gamma :=\alpha _{|SO(n1)}`$. Suppose that $`\xi `$ is an $`SO(n+1)`$-equivariant $`G`$-bundle with $`aE(\xi )`$ such that $`p(a)=(0,\mathrm{},1)`$ and $`Aa=a\alpha (A)`$ for $`ASO(n)`$. Then $`\xi \overline{J}^1([\gamma ])`$. let $`c:IE(\xi )`$ be the curve $`c(t):=R_{\theta (t)}a`$, where $`\theta (t):=\frac{\pi }{2}(t1)`$. Using that $`R_\theta ^1BR_\theta =B`$ for $`BSO(n1)`$, on checks, as in equation (6.2), that $`c`$ is a $`\gamma `$-isotropic lifting. By (4.2) and equation (6.2), one has $`\stackrel{~}{J}_\gamma (\xi )=([\alpha ],[\alpha \delta ])`$ in $`_\gamma (n,G)`$. By Proposition 4.1, this proves that $`\xi `$ is determined by $`\alpha `$, which proves the uniqueness statment of Part (ii).

It remains to construct, for a smooth homomorphism $`\alpha :SO(n)G`$, an $`SO(n+1)`$-equivariant $`G`$-bundle with $`J(\xi )=([\alpha ],[\alpha \delta ])`$. Consider the map $`p:SO(n+1)S^n`$ sending a matrix to its last column. This makes an $`SO(n+1)`$-equivariant $`SO(n)`$-bundle (the principal $`SO(n)`$-bundle associated to the tangent bundle of $`S^n`$). Let $`\xi `$ be the $`G`$-bundle obtained by the Borel construction, using the homomorphism $`\alpha \delta :SO(n)G`$

(6.3)
$$E(\xi ):=SO(n+1)\times G/\{(BA,g)=(B,\alpha (\delta (A))g)\}.$$

This is an $`SO(n+1)`$-equivariant $`G`$-bundle. Choosing $`a:=(R,e)`$ and $`b:=(I,e)`$, one sees that

$$Aa=(AR,e)=(R\delta (A),e)=(R,\alpha (A)e)=a\alpha (A)$$

and

$$Ab=(A,e)=(I,\alpha (\delta (A))e)=b\alpha (\delta (A)).$$

Therefore, $`\xi `$ is an $`SO(n+1)`$-equivariant $`G`$-bundle with $`J(\xi )=([\alpha ],[\alpha \delta ])`$. ∎

###### Remark 6.4.

Theorem 6.1 and its proof show that any $`SO(n+1)`$-equivariant $`G`$ bundle is derived from the tangent bundle to $`S^n`$ by the Borel construction (formula (6.3)). This can be compared with \[10, § 6\].

## 7. Examples and applications

Notation: if $`X`$ is a set, we denote by $`\mathrm{\Delta }X`$ the diagonal in $`X\times X`$.

###### 7.1.

$`n=2`$ and $`G=U(m)`$. A homomorphism $`\alpha :S^1U(m)`$ has, up to conjugacy, a unique diagonal form $`\alpha (z)=\mathrm{Diag}(z^{p_1},\mathrm{},z^{p_m})`$, with $`p_1\mathrm{}p_m`$. The same holds for $`\beta `$. By Theorem A, $`(2,U(m))`$ is then in bijection with the set of pairs $`(p,q)`$ of $`m`$-tuples of non-decreasing integers. In $`\pi _1(U(m))=𝐙`$, one has $`[\alpha ]=_{i=1}^mp_i`$ and $`[\beta ]=_{i=1}^mq_i`$, so, by Proposition C:

$$C(\xi ^{\mathrm{}})=\underset{i=1}{\overset{m}{}}(p_iq_i).$$

If one wishes instead to characterize $`\xi ^{\mathrm{}}`$ by its first Chern number $`c(\xi ^{\mathrm{}})H^2(S^2)=𝐙`$, then $`c(\xi ^{\mathrm{}})=C(\xi ^{\mathrm{}})`$ \[19, p. 445\].

For instance, if $`\tau `$ is the unit tangent bundle over $`S^2`$ with the natural action, then $`\alpha (z)=z`$, $`\beta (z)=z^1`$, so $`C(\tau )=2`$ and $`c(\tau )=2=\chi (S^2)`$.

Note that, if $`\xi `$ comes from a $`SO(3)`$-bundle, then, by Theorem 6.1, one has $`q_i=p_i`$ (like for $`\tau `$ above). In particular $`c(\xi ^{\mathrm{}})`$ must be even (see also \[10, (6.3)\]).

###### 7.2.

$`n=2`$ and $`G=O(2)`$. For $`q𝐙`$, let $`\alpha _q:SO(2)O(2)`$ be the homomorphism $`AA^q`$. The set $`(2,O(2))`$ is in bijection with $`𝐍`$ given by $`\alpha _q|q|`$. The same recipe produces a bijection $`\pi _1(O(2),e)/\pi _0(O(2))𝐍`$. Let $`\xi _{p,q}:=\xi _{\alpha _p,\alpha _q}`$ be the $`(2,O(2))`$-bundles constructed in (3.7). By Proposition 4.1 and (4.3), each $`(2,O(2))`$ is represented by some $`\xi _{p,q}`$, with the only relation $`\xi _{p,q}=\xi _{p,q}`$. One has $`J(\xi _{p,q})=(|p|,|q|)`$ and $`C(\xi _{p,q})=|pq|`$. Therefore, $`J^1(r,s)`$ contains 1 element if $`rs=0`$ and 2 otherwise.

###### 7.3.

$`n=2`$ and $`G=SO(m)`$ with $`m3`$. A maximal torus of $`SO(m)`$ is formed by matrices containing 2-blocks concentrated around the diagonal, so isomorphic to $`SO(2)^k`$ where $`k=[m/2]`$. As in 7.1, by Theorem A, $`(2,SO(m))`$ is then in bijection with the set of pairs $`(p,q)`$ of $`k`$-tuples of non-decreasing integers. The bundle $`\xi ^{\mathrm{}}`$ is determined by its second Stiefel-Whitney number $`w(\xi ^{\mathrm{}})𝐙_2`$ which is then given by

$$w(\xi ^{\mathrm{}})=\underset{i=1}{\overset{[\frac{m}{2}]}{}}(p_iq_i)(\mathrm{mod}\mathrm{\hspace{0.17em}2}).$$

Again, $`\xi `$ comes from a $`SO(3)`$-equivariant bundle iff $`q_i=p_i`$ and then $`\xi ^{\mathrm{}}`$ is trivial.

###### 7.4.

$`n=2k+13`$ and $`G`$ is a compact classical group other than $`SO(2m)`$. The important thing is that $`SO(n1)`$ contains a maximal torus of $`SO(n)`$. Therefore, by \[3, Ch. 6, Corollary 2.8\], for any embedding $`\psi :GU(m)`$, the representations $`\psi \alpha `$ and $`\psi \beta `$ are conjugate in in $`U(M)`$. For $`G`$ a compact classical group other than $`SO(2m)`$, this implies that $`\alpha `$ and $`\beta `$ are conjugate in $`G`$ \[20, Pro. 8, p.56\]. Therefore, the image of $`J`$ is the diagonal $`\mathrm{\Delta }(n,G)`$. We do not know whether this true for $`G=SO(2m)`$ (see \[20, Rm. p.57\] for a possible source of counter-examples).

###### 7.5.

$`n=2k+13`$ and $`G=SO(n)`$. The set $`(n,SO(n))`$ has just two elements, represented by the trivial homomorphism and the identity $`\mathrm{id}`$ of $`SO(n)`$. If $`\iota :SO(n1)SO(n)`$ denotes the inclusion, then $`Z_{[\iota ]}`$ contains 2 elements, represented by the identity matrix and the diagonal matrix $`D`$ with entries $`(1,\mathrm{},1,1)`$. Let $`\delta `$ be the inner automorphism of $`SO(n)`$ given by the conjugation by $`D`$. By Theorem B, the set $`(n,SO(n))`$ for $`n=2k+13`$ then contains 3 elements:

1. the trivial bundle $`S^n\times SO(n)`$ with the action $`A(z,B)=(Az,B)`$. The isotropy representations are both trivial.
2. the trivial bundle $`S^n\times SO(n)`$ with the action $`A(z,B)=(Az,AB)`$. It is characterized by $`\overline{J}(\xi )=[\iota ]`$ and $`J_\iota (\xi )=([\mathrm{id}],[\mathrm{id}])`$. This does not come from an $`SO(n+1)`$-equivariant bundle.
3. the principal $`SO(n)`$-bundle $`𝒯S^n`$ associated with the tangent bundle of $`S^n`$. It is characterized by $`\overline{J}(𝒯S^n)=[\iota ]`$ and $`J_\iota (𝒯S^n)=([\mathrm{id}],[\delta ])`$. This comes from an $`SO(n+1)`$-equivariant bundle.

Observe that $`([\mathrm{id}],[\delta ])=([\delta ],[\mathrm{id}])`$ in $`_\iota (n,SO(n))`$. By Proposition C, this implies that $`C(𝒯S^n)=C(𝒯S^n)`$. This proves again the classical fact that $`C(𝒯S^{2k+1})\pi _{2k}(SO(2k+1))`$ is of order 2 \[4, Cor. IV.1.11\].

###### 7.6.

$`n=2k6`$ and $`G=SO(n)`$. The set $`(n,SO(n))`$ contains 3 elements, represented by the trivial homomorphism, the identity $`\mathrm{id}`$ of $`SO(n)`$ and the conjugation $`\delta `$ by the diagonal matrix with entries $`(1,\mathrm{},1,1)`$. The non-trivial homomorphisms restrict to the inclusion $`\iota :SO(n1)SO(n)`$. The group $`Z_\iota `$ is trivial. Therefore, $`J`$ is injective and the set $`(n,SO(n))`$ for $`n=2k`$ then contains 5 elements:

1. the trivial bundles $`S^n\times SO(n)`$ with the actions $`A(z,B)=(Az,B)`$, $`A(z,B)=(Az,AB)`$ and $`A(z,B)=(Az,\delta (A)B)`$. Their images by $`J`$ is the diagonal $`\mathrm{\Delta }(n,SO(n))`$.
2. the principal $`SO(n)`$-bundle $`𝒯S^n`$ associated with the tangent bundle of $`S^n`$. One has $`J(𝒯S^n)=([\mathrm{id}],[\delta ])`$.
3. the $`(n,G)`$-bundle $`𝒯S^n`$ with $`J(𝒯S^n)=([\delta ],[\mathrm{id}])`$. Its underlying $`SO(n)`$-principal bundle is stably trival with Euler number $`2`$.

The trivial bundle with action $`A(z,B)=(Az,B)`$, as well as the bundles in (ii) and (iii) are the ones coming from $`SO(n+1)`$-equivariant bundles.

###### 7.7.

$`n=4`$ and $`G=SO(3)`$. The groups $`SO(4)`$ and $`SO(3)`$ are built up out of the unit quaternions $`S^3`$ by $`SO(4)(S^3\times S^3)/\{(1,1),(1,1)\}`$ and $`SO(3)S^3/\{\pm 1\}`$. Recall that these isomorphisms are constructed as follows: the orthogonal transformation $`A_{p,q}SO(4)`$ associated to $`(p,q)S^3\times S^3`$ is $`A_{p,q}(x):=px\overline{q}`$, where $`x𝐇`$ is a quaternion and $`𝐇`$ is made isomorpohic to $`𝐑^4`$ by choosing $`(i,j,k,1)`$ as a basis. The correspondence $`pA_{p,p}`$ then induces the inclusion $`\iota :SO(3)SO(4)`$. As for the automorphism $`\delta `$ of $`SO(4)`$ of § 6, the conjugation by $`D:=\mathrm{Diag}(1,\mathrm{},1,1)`$, as $`Dx=\overline{x}`$, one checks easily that $`\delta (A_{p,q})=A_{q,p}`$.

The non-equivariant isomorphism class of a $`SO(3)`$-principal bundle $`\eta `$ is characterized by $`C(\eta )\pi _3(SO(3))=\pi _3(S^3)=𝐙`$. It is also determined by its first Pontrjagin number $`p(\eta )4𝐙`$, with the relation $`p(\eta )=4C(\eta )`$.

The set $`(4,SO(3))`$ contains 3 elements represented by the trivial homomorphism and those induced by the projections $`S^3\times S^3S^3`$ given by $`\sigma _1(p,q):=p`$, $`\sigma _2(p,q):=q`$. The last two restrict over $`SO(3)`$ to the identity $`\mathrm{id}`$ of $`SO(3)`$. The group $`Z_\iota `$ being trivial, the map $`J`$ is injective. This shows that the set $`(4,SO(3))`$ contains 5 elements:

1. the trivial bundles $`S^4\times SO(3)`$ with the actions $`A(z,B)=(Az,B)`$ and $`A(z,B)=(Az,\sigma _i(A)B)`$ for $`i=1,2`$. Their images by $`J`$ is the diagonal $`\mathrm{\Delta }(4,SO(3))`$.
2. the principal $`SO(3)`$-bundle $`:𝐑P^7S^4`$ coming from the quaternionic Hopf bundle $`S^7S^4`$; the $`SO(4)`$-action comes from the $`SU(2)\times SU(2)`$-action on $`S^7`$ given by $`(p,q)(z_1,z_2)=(pz_1,qz_2)`$. One has $`J()=([\sigma _1],[\sigma _2])`$ and $`p(^{\mathrm{}})=4`$.
3. the $`(n,G)`$-bundle $``$ with $`J()=([\sigma _2],[\sigma _1])`$ and $`p(^{\mathrm{}})=4`$.

The trivial bundle with action $`A(z,B)=(Az,B)`$, as well as the bundles in (ii) and (iii) are the ones coming from $`SO(5)`$-equivariant bundles.

###### 7.8.

$`n=4`$ and $`G=SO(4)`$. Taking the notations of 7.7, the set $`(4,SO(4))`$ contains 5 elements represented by:

* the trivial homomorphism.
* those induced by $`\sigma _1(p,q):=(p,p)`$ and $`\sigma _2(p,q):=(q,q)`$.
* the identity $`\mathrm{id}`$ of $`SO(4)`$.
* the homomorphism $`\delta (p,q):=(q,p)`$.

The non-trivial homomorphisms all restrict to to $`\iota `$ over $`SO(3)`$. The group $`Z_\iota `$ is trivial and then $`J`$ is injective. The non-equivariant isomorphism class of a $`SO(4)`$-principal bundle $`\eta `$ is characterized by $`C(\eta )\pi _3(SO(4))=\pi _3(S^3\times S^3)=𝐙𝐙`$. More usually, one takes the pair of integers $`(p(\eta ),e(\eta ))`$ formed by the first Pontrjagin number ($`2𝐙`$) and the Euler number of $`\eta `$. The linear map which sends $`C(\eta )`$ to $`(p(\eta ),e(\eta ))`$ has matrix $`({}_{1}{}^{2}{}_{1}{}^{2})`$ (as can be checked on the examples below).

One sees that the set $`(4,SO(3))`$ then contains 17 elements:

1. the trivial bundles $`S^4\times SO(3)`$ with the 5 actions using the above representations. Their images by $`J`$ are just the diagonal elements $`\mathrm{\Delta }(4,SO(4))`$.
2. the principal $`SO(4)`$-bundle $`\widehat{}`$ whose total space is $`E(\widehat{}):=𝐑P^7\times _{SO(3)}SO(4)`$. One has $`J(\widehat{})=([\sigma _1],[\sigma _2])`$ and $`C(\widehat{}^{\mathrm{}})=(1,1)`$ therefore its characteristic classes are $`(p(^{\mathrm{}}),e(^{\mathrm{}}))=(4,0)`$. Also its “inverse” $`\widehat{}`$, with $`J(\widehat{})=([\sigma _2],[\sigma _1])`$ and $`(p(^{\mathrm{}}),e(^{\mathrm{}}))=(4,0)`$.
3. the principal $`SO(4)`$-bundle $`𝒯S^4`$ associated with the tangent bundle of $`S^4`$. One has $`J(𝒯S^4)=([\mathrm{id}],[\delta ])`$. Therefore, $`C(𝒯S^4)=(1,1)`$ and $`(p(𝒯^{\mathrm{}}),e(𝒯^{\mathrm{}}))=(0,2)`$. Again, one can consider its inverse.
4. the $`(n,G)`$-bundles $`\xi _i`$ ($`i=1,2`$) with $`J(\xi _i)=([\mathrm{id}],[\sigma _i])`$ and their inverses $`\xi _i`$. They satisfy $`C(\xi _1)=(0,1)`$ and $`C(\xi _2)=(1,0)`$, or, equivalently:

$$(p(\xi _1^{\mathrm{}}),e(\xi _1^{\mathrm{}}))=(2,1)\text{ and }(p(\xi _2^{\mathrm{}}),e(\xi _2^{\mathrm{}}))=(2,1).$$
5. the $`(n,G)`$-bundle $`\xi _{i,\delta }`$ ($`i=1,2`$) with $`J(\xi _i)=([\delta ],[\sigma _i])`$ and their inverses. They satisfy $`C(\xi _{1,\delta })=(1,0)`$ and $`C(\xi _{1,\delta })=(0,1)`$, or, equivalently:

$$(p(\xi _{1,\delta }^{\mathrm{}}),e(\xi _{1,\delta }^{\mathrm{}}))=(2,1)\text{ and }(p(\xi _{2,\delta }^{\mathrm{}}),e(\xi _{2,\delta }^{\mathrm{}}))=(2,1).$$

Only the trivial bundle with action $`A(z,B)=(Az,B)`$ and the bundles in (ii) and (iii) come from $`SO(5)`$-equivariant bundles.

###### 7.9.

$`G=U(m)`$. In order to have non-trivial $`(n,U(m))`$-bundles, one must have $`\mathrm{dim}U(m)>\mathrm{dim}SO(n)`$. We check that we are then in the stable range, where, by Bott periodicity,

$$\pi _{n1}(U(m))\pi _{n1}(U(m+k))\{\begin{array}{ccccc}0\hfill & \text{if }n\text{ is odd}\hfill & & & \\ 𝐙\hfill & \text{if }n\text{ is even.}\hfill & & & \end{array}$$

Problem: which integers occur as $`C(\xi ^{\mathrm{}})`$ for a $`(n,U(m))`$-bundle $`\xi `$ ?

## 8. A more general setting

The orthogonal action of $`SO(n)`$ on $`S^n`$ is an example of the special $`\mathrm{\Pi }`$-manifolds defined by Jänich \[13, 1.2\]. Other examples include the “cohomogeneity one” actions studied by E. Straume  (see  for a recent application and other references). In this section we give the classification of equivariant $`(\mathrm{\Pi },G)`$-bundles over special $`\mathrm{\Pi }`$-manifolds. We will assume in this section that $`\mathrm{\Pi }`$ and $`G`$ are both compact Lie groups.

Let $`X`$ be a smooth, connected, closed $`n`$-dimensional manifold with a smooth $`\mathrm{\Pi }`$-action. Choose a $`\mathrm{\Pi }`$-invariant Riemannian metric on $`X`$, and then each tangent space $`T_xX`$ contains a $`\mathrm{\Pi }_x`$ invariant subspace $`V_x`$ perpendicular to the orbit $`\mathrm{\Pi }x`$. Then $`X`$ is called a special $`\mathrm{\Pi }`$-manifold if for each $`xX`$ the representation of $`\mathrm{\Pi }_x`$ on the normal space $`V_x`$ is the direct sum of a trivial representation and a transitive representation.

It follows that the orbit space $`M=X/\mathrm{\Pi }`$ admits a natural structure as a topological manifold with boundary \[13, 1.3\], with dimension equal to $`ndim(\mathrm{\Pi }/H)`$ where $`H`$ is the principal isotropy type. Under the “functional” smooth structure \[2, VI.6\], the orbit space $`M`$ is a smooth manifold with boundary. The pair $`(X,\pi :XM)`$ is called a special $`\mathrm{\Pi }`$-manifold over $`M`$.

Special $`\mathrm{\Pi }`$ manifolds over $`M`$ were classified by Jänich \[13, 3.2\], and independently by W.-C. Hsiang and W.-Y. Hsiang  (see also \[2, V.5, VI.6\]).

Let $`M_A=\{B_\alpha \}_{\alpha A}`$ denote the set of boundary components of $`M`$. An admissible isotropy group system $`(H,U_A)`$ over $`M`$ consists of a closed subgroup $`H`$ of $`\mathrm{\Pi }`$ and a set $`U_A=\{U_\alpha \}_{\alpha A}`$ of closed subgroups in $`\mathrm{\Pi }`$ containing $`H`$, with the property that for each $`\alpha A`$ there exists a transitive representation in which $`H`$ appears as the isotropy group of a non-zero vector. Let $`\mathrm{\Gamma }=N(H)/H`$ and $`\mathrm{\Omega }_\alpha =N(U_\alpha )N(H)/H`$ for each $`\alpha A`$. The idea of the classification is to re-construct $`X`$ from the unique principal $`\mathrm{\Gamma }`$-bundle $`P`$ over $`M`$ such that $`P_{|M_0}=\{xX|\mathrm{\Pi }_x=H\}`$, and a reduction of the structural group of $`P|B_\alpha `$ to $`\mathrm{\Omega }_\alpha `$ over each of the boundary components $`B_\alpha `$.

Let $`B_\alpha \times [0,1]`$ be a collar neighbourhood of some component $`B_\alpha `$ in $`M`$, and let $`Y_\alpha =\pi ^1(B_\alpha \times [0,1])`$ denote its pre-image in $`X`$. The key fact is the following identification of $`Y_\alpha `$ as a $`\mathrm{\Pi }`$-space.

###### Theorem 8.1.

(Tube Theorem \[2, V.4.2\]) Let $`Y=Y_\alpha `$, $`B=B_\alpha `$ and $`\mathrm{\Omega }=\mathrm{\Omega }_\alpha `$. There exists a right $`\mathrm{\Omega }`$-principal bundle $`Q=Q_\alpha `$ over $`B`$, and a $`\mathrm{\Pi }`$-equivariant diffeomorphism

$$M_\psi \times _\mathrm{\Omega }Q\stackrel{}{}Y$$

commuting with the projection to $`[0,1]`$, where $`M_\psi `$ denotes the mapping cylinder of the canonical projection $`\psi :\mathrm{\Pi }/H\mathrm{\Pi }/U`$.

Let $`X_0=X_\alpha \pi ^1(B_\alpha \times [0,1/2))`$ and $`M_0=X_0/\mathrm{\Pi }`$. The Tube Theorem shows that $`X`$ is $`\mathrm{\Pi }`$-diffeomorphic to the union

$$X=X_0\underset{\alpha }{}Y_\alpha =\mathrm{\Pi }/H\times _\mathrm{\Gamma }P\underset{\alpha }{}M_{\psi _\alpha }\times _{\mathrm{\Omega }_\alpha }Q_\alpha $$

with the identification on the overlaps $`B_\alpha \times [1/2,1]`$ induced by a reduction of structural groups $`P|B_\alpha \mathrm{\Gamma }\times _{\mathrm{\Omega }_\alpha }Q_\alpha `$.

Two special $`\mathrm{\Pi }`$-manifolds $`(X_1,\pi _1)`$ and $`(X_2,\pi _2)`$ over $`M`$ are called isomorphic when there exists a $`\mathrm{\Pi }`$-equivariant diffeomorphism $`f:X_1X_2`$ so that the induced diffeomorphism $`\overline{f}:MM`$ is the identity. By the the smooth isotopy lifting theorem of G. Schwarz \[22, Corollary 2.4\] this is equivalent to Jänich’s original definition where $`f`$ was assumed to be only isotopic to the identity, by an isotopy fixing $`M`$ pointwise. Let $`𝒮[H,U_A]`$ denote the set of isomorphism classes of special $`\mathrm{\Pi }`$-manifolds over $`M`$, with isotropy group system fine equivalent to $`(H,U_A)`$ (cf. \[13, §2\]).

###### Theorem 8.2.

(\[13, 3.2\]) Let $`(H,U_A)`$ be an admissible isotropy group system over $`M`$, where $`M`$ is a smooth, compact connected manifold with boundary. Then

$$𝒮[H,U_A][M,M_A;B\mathrm{\Gamma },B\mathrm{\Omega }_A].$$

In order to classify equivariant $`(\mathrm{\Pi },G)`$-bundles $`(E,p)`$ over a special $`\mathrm{\Pi }`$-manifold $`X`$, called special $`(\mathrm{\Pi },G)`$-bundles for short, we will generalize the results of Lashof  to describe the bundles over $`\mathrm{\Pi }`$-spaces $`X_0`$ and $`Y_\alpha `$ with one orbit, and then follow Jänich’s method to glue the pieces together.

First some general definitions: if $`\rho :HG`$ is a (smooth) homomorphism, $`[\rho ]`$ denotes the set of homomorphisms $`\rho ^{}:HG`$ such that $`\rho ^{}(h)=g\rho (h)g^1`$ for some $`gG`$ and all $`hH`$. We will say that the fibre over $`x`$ belongs to $`[\rho ]`$ if for each $`zp^1(x)`$ there exists $`\rho ^{}[\rho ]`$ such that $`hz=z\rho ^{}(h)`$ for all $`hH`$. Then let

$$X^{[\rho ]}=\{xX^H|\mathrm{the}\mathrm{fibre}\mathrm{over}x\mathrm{belongs}\mathrm{to}[\rho ]\}$$

Let $`X_0^{[\rho ]}=X_0X^{[\rho ]}`$ and notice that $`X_0^{[\rho ]}P=\{xX|\mathrm{\Pi }_x=H\}`$. By \[16, Lemma 1.2\], the space

$$E^\rho =\{zE|hz=z\rho (h),hH\}$$

is an $`Z_\rho `$-bundle over $`X^{[\rho ]}`$, where $`Z_\rho `$ is the centralizer of $`\rho `$ in $`G`$. The group $`\widehat{G}=\mathrm{\Pi }\times G`$ has a left action on the total space $`E`$ given by the formula $`(\gamma ,g)z=\gamma zg^1`$ for any $`(\gamma ,g)\widehat{G}`$ and any $`zE`$. Let us set

$$H\rho :=\{(h,\rho (h))|hH\}\mathrm{\Pi }\times G$$

and

$$\mathrm{\Gamma }\rho :=N(H\rho )/H\rho .$$

Then $`E^\rho `$ is just the fixed set of $`H\rho `$ in $`E`$ under this action.

Two special $`(\mathrm{\Pi },G)`$-bundles $`(E_1,p_1)`$ and $`(E_2,p_2)`$ over $`M`$ are called equivalent when there exists a $`\mathrm{\Pi }`$-equivariant $`G`$-bundle isomorphism $`\varphi :E_1E_2`$, covering a $`\mathrm{\Pi }`$-equivariant diffeomorphism $`f:X_1X_2`$, so that the induced diffeomorphism $`\overline{f}:MM`$ is the identity.

We now give the classification of the part of $`(E,p)`$ lying over $`M_0`$. After the remarks above, we see that it follows directly from the slice theorem \[2, II.5.8\].

###### Theorem 8.3.

(\[16, 1.9\]) Let $`\rho :HG`$ be a smooth homomorphism. The equivalence classes of $`(\mathrm{\Pi },G)`$-equivariant bundles $`(E_0,p_0)`$ over $`M_0`$ with all fibres belonging to $`[\rho ]`$ are in bijection with the homotopy classes of maps $`[M_0,B\mathrm{\Gamma }\rho ]`$.

We next define an admissible $`(\mathrm{\Pi },G)`$-isotropy group system over $`M`$ to be a set $`(H,U_A;\rho ,\rho _A)`$, where $`H`$ and $`U_A`$ are as above, $`\rho :HG`$ is a homomorphism, and $`\rho _A=\{\rho _\alpha \}_{\alpha A}`$ is a set of homomorphisms $`\rho _\alpha :U_\alpha G`$ such that $`\rho _\alpha |H=\rho `$. We define

$$\mathrm{\Omega }_\alpha \rho _\alpha =N(U_\alpha \rho _\alpha )N(H\rho )/H\rho $$

and

$$\mathrm{\Omega }_A\rho _A=\{\mathrm{\Omega }_\alpha \rho _\alpha \}_{\alpha A}.$$

A special $`(\mathrm{\Pi },G)`$-bundles $`(E,p)`$ realizes an admissible $`(\mathrm{\Pi },G)`$-isotropy group system $`(H,U_A;\rho ,\rho _A)`$ over $`M`$ if

1. there exists points $`\{y_\alpha Y_\alpha \}`$ such that $`\mathrm{\Pi }_{y_\alpha }=U_\alpha `$,
2. for each $`y_\alpha `$, the normal space $`V_{y_\alpha }`$ to the orbit $`\mathrm{\Pi }y_\alpha `$ has a point $`z_\alpha V_{y_\alpha }`$ with $`\mathrm{\Pi }_{z_\alpha }=H`$,
3. the images $`c_\alpha (t)`$ of rays in $`V_{y_\alpha }`$ joining $`z_\alpha `$ to $`y_\alpha `$, have isotropic liftings $`\stackrel{~}{c}_\alpha (t)`$ to $`E`$ such that $`\stackrel{~}{c}_\alpha (t)E^\rho `$ for $`0t<1`$ and $`\stackrel{~}{c}_\alpha (1)E^{\rho _\alpha }`$.

It is not difficult to check (following \[13, §2\]) that every special $`(\mathrm{\Pi },G)`$-bundle $`(E,p)`$ over $`M`$ realizes some admissible $`(\mathrm{\Pi },G)`$-isotropy group system $`(H,U_A;\rho ,\rho _A)`$. This isotropy group system is unique up to a natural notion of equivalence, extending the “fine-orbit structure” of Jänich.

We say that two isotropy group systems $`(H,U_A;\rho ,\rho _A)`$ and $`(H^{},U_A^{};\rho ^{},\rho _A^{})`$ are fine-equivalent if the following conditions hold:

1. there exists an element $`\gamma \mathrm{\Pi }\times G`$ such that $`H^{}\rho ^{}=\gamma H\rho \gamma ^1`$, and
2. there exist $`n_\alpha NH\rho `$ such that $`U_\alpha ^{}\rho _\alpha ^{}=(\gamma n_\alpha )U_\alpha \rho _\alpha (\gamma n_\alpha )^1`$.

Let $`𝒮[H,U_A;\rho ,\rho _A]`$ denote the set of equivalence classes of special $`(\mathrm{\Pi },G)`$-bundles over $`M`$ realizing the given $`(\mathrm{\Pi },G)`$-isotropy group system, up to fine equivalence.

###### Theorem 8.4.

Let $`(H,U_A;\rho ,\rho _A)`$ be an admissible $`(\mathrm{\Pi },G)`$-isotropy group system over $`M`$, where $`M`$ is a smooth, compact connected manifold with boundary. Then

$$𝒮[H,U_A;\rho ,\rho _A][M,M_A;B\mathrm{\Gamma }\rho ,B\mathrm{\Omega }_A\rho _A].$$

###### Proof.

Suppose that we are given an admissible $`(\mathrm{\Pi },G)`$-isotropy group system over $`M`$. Let $`(E,p)`$ be a special $`(\mathrm{\Pi },G)`$-bundle over $`M`$ realizing the given $`(\mathrm{\Pi },G)`$-isotropy group system. By restricting the bundle to $`M_0`$, we get a map $`\omega _0:M_0B\mathrm{\Gamma }\rho `$ classifying the principal $`\mathrm{\Gamma }\rho `$-bundle $`P\rho `$ (which completely determines $`(E_0,p_0)`$) by Theorem 8.3. We can apply the Tube Theorem 8.1 to the $`\widehat{G}=\mathrm{\Pi }\times G`$ action on $`p^1(Y_\alpha )E`$, since $`zE^\rho `$ means that $`\widehat{G}_z=H\rho `$ and similarly for $`zE^{\rho _\alpha }`$. This identifies the restriction of our bundle to the part over $`B_\alpha \times [0,1]`$ as $`M_{\phi _\alpha }\times _{\mathrm{\Omega }_\alpha \rho _\alpha }Q\rho _\alpha `$, where

$$\phi _\alpha :\widehat{G}/H\rho \widehat{G}/U_\alpha \rho _\alpha $$

is the $`\widehat{G}`$-equivariant projection, and $`Q\rho _\alpha `$ is a principal right $`\mathrm{\Omega }_\alpha \rho _\alpha `$-bundle over $`B_\alpha `$. The classifying map $`\omega _0`$ for $`P\rho `$ therefore extends to a map

$$\omega :(M,M_A)(B\mathrm{\Gamma }\rho ,B\mathrm{\Omega }_A\rho _A)$$

where the notation means that each boundary component $`B_\alpha `$ is mapped into the $`\alpha `$-component of $`B\mathrm{\Omega }_A\rho _A`$. The restriction of $`\omega `$ to $`B_\alpha `$ classifies $`Q\rho _\alpha `$. This shows that $`(E,p)`$ is determined up to equivalence by $`\omega `$.

Conversely, if we are given a map $`\omega `$ as above we can reconstruct a special $`(\mathrm{\Pi },G)`$-equivariant bundle over $`M`$ realizing the isotropy group system, up to fine equivalence. It can be checked that this bundle is unique up to equivalence. ∎

###### Remark 8.5.

Note that a special $`\mathrm{\Pi }\times G`$-manifold over $`M`$ is a special $`(\mathrm{\Pi },G)`$-bundle over $`M`$ precisely when the subgroup $`1\times G`$ acts freely on the total space. The isotropy group system for the bundle is just the collection of isotropy groups for the $`\mathrm{\Pi }\times G`$-action. This observation shows that Theorem 8.4 follows from Jänich’s results.

###### Corollary 8.6.

Let $`\mathrm{\Pi }`$ and $`G`$ be compact Lie groups. The set of special $`(\mathrm{\Pi },G)`$-equivariant bundles over $`M`$ is finite, provided that $`dimM1`$ and the isotropy groups are semi-simple.

###### Proof.

This is proved using , as for the finiteness of $`(n,G)`$. ∎

To conclude this section, we discuss the connection between these results and Theorem B. Let $`X`$ be a special $`\mathrm{\Pi }`$-manifold over $`M`$, and let $`(X,)`$ denote the set of bundle isomorphism classes of principal $`(\mathrm{\Pi },G)`$-bundles over $`X`$ with isotropy group system fine equivalent to $`:=(H,U_A;\rho ,\rho _A)`$. Here a bundle isomorphism is a $`\mathrm{\Pi }`$-equivariant $`G`$-bundle isomorphism $`\varphi :E_1E_2`$ covering the identity on $`X`$.

###### Lemma 8.7.

There is a commutative diagram:

where the horizontal composites have images represented by the element $`[X]`$.

###### Proof.

The exact sequences $`1Z_\rho \mathrm{\Gamma }\rho \mathrm{\Gamma }`$ and $`1Z_{\rho _\alpha }\mathrm{\Omega }_\alpha \rho \mathrm{\Omega }_\alpha `$ of groups induce a map $`u:[M,M_A;BZ_\rho ,BZ_{\rho _A}][M,M_A;B\mathrm{\Gamma }\rho ,B\mathrm{\Omega }_A\rho _A]`$. By Theorem 8.4 and Theorem 8.2, we also have a surjective map

$$v:(X,)[M,M_A;BZ_\rho ,BZ_{\rho _A}]$$

induced by $`u`$ and our construction of equivariant bundles. ∎

###### Theorem 8.8.

Let $`X`$ be a special $`\mathrm{\Pi }`$-manifold over $`M`$, and $`=(H,U_A;\rho ,\rho _A)`$ an admissible isotropy group system. Then

$$v:(X,)[M,M_A;BZ_\rho ,BZ_{\rho _A}].$$

###### Proof.

The map $`v`$ is given in the diagram above, and we have already observed that it is surjective. Suppose that $`\xi _1`$, $`\xi _2(X,)`$ with $`v(\xi _1)=v(\xi _2)`$. Then we have a continuous map

$$(M\times I,(M\times I))(BZ_\rho ,BZ_{\rho _A})$$

realizing the homotopy between the classifying maps for $`\xi _1`$ and $`\xi _2`$. By the surjectivity of $`v`$ for $`(\mathrm{\Pi },G)`$-bundles over $`M\times I`$, we get a bundle $`(E,p)`$ over $`X\times I`$ which restricts to $`\xi _1`$ and $`\xi _2`$ at the ends $`X\times I`$. Since $`EE_0\times I`$, we get $`\xi _1\xi _2`$. ∎

Let $`\mathrm{Aut}(X)`$ be the group of $`\mathrm{\Pi }`$-equivariant isotopy classes of $`\mathrm{\Pi }`$-equivariant diffeomorphisms of $`X`$ over the identity of $`M`$. The group $`\mathrm{Aut}(X)`$ preserving acts on $`(X,)`$ by pulling back: $`f\xi :=(f^1)^{}\xi `$. This action is well defined by the equivariant Covering Homotopy Theorem of Palais \[2, II.7.3\]. If

$$\lambda :𝒮[H,U_A;\rho ,\rho _A]𝒮[H,U_A]$$

denote the natural forgetful map, then there is an induced map

$$\psi :(X,)\lambda ^1(X)$$

given by applying our stronger equivalence relation on bundles (which allows $`\varphi `$ to cover a self-diffeomorphism of $`X`$).

###### Proposition 8.9.

The map $`\psi `$ induces a bijection between $`\lambda ^1(X)`$ and the quotient of $`(X,)`$ by the action of $`\mathrm{Aut}(X)`$.

###### Proof.

The map from one set of bundles to the other is defined by regarding a $`(\mathrm{\Pi },G)`$-bundle over $`X`$ as an element of $`\lambda ^1(X)`$, and this is well-defined since the equivalent relation in $`𝒮[H,U_A;\rho ,\rho _A]`$ is stronger. Moreover, two bundles with isotropy group system $``$ over $`X`$ are equivalent if and only if they are in the same orbit of the action of $`\mathrm{Aut}(X)`$, hence our correspondence is injective. On the other hand, if $`(E^{},p^{})`$ is a bundle with base space $`X^{}`$ in $`\lambda ^1(X)`$, then there exists a $`\mathrm{\Pi }`$-equivariant diffeomorphism $`h:XX^{}`$ covering the identity on $`M`$. Then $`E:=h^{}(E^{})`$ is an equivalent element in $`\lambda ^1(X)`$, and is a bundle over $`X`$, so our correspondence is surjective. ∎

These results and Theorem 8.4 can sometimes be used for explicit classification of equivariant $`(\mathrm{\Pi },G)`$-bundles over special $`\mathrm{\Pi }`$-manifolds. Notice that Bredon in \[2, V.7\] together with \[2, Theorem V.6.4\] has determined $`\mathrm{Aut}(X)`$ in many cases of interest.

We shall now specialize to special $`\mathrm{\Pi }`$-manifolds over $`I:=[1,1]`$, and extend Theorem B to this setting. Examples include cohomogeneity 1 actions on spheres, classified in \[25, Thm. C, Table II\]. The two components $`\{\pm 1\}`$ of $`I`$ are denoted $`\{\pm \}`$, and the notation $`=(H,U_\pm ;\rho ,\rho _\pm )`$ will be used for the admissible $`(\mathrm{\Pi },G)`$-isotropy group systems, as well as $`\mathrm{\Gamma }`$, $`\mathrm{\Omega }_\pm `$, etc. The classification of special $`\mathrm{\Pi }`$-manifolds over $`I`$ takes the following form.

###### Theorem 8.10.

Let $`(H,U_\pm )`$ be an admissible isotropy group system over $`I`$. Then $`𝒮[H,U_\pm ]`$ is in bijection with the double cosets $`\pi _0(\mathrm{\Omega }_{})\backslash \pi _0(\mathrm{\Gamma })/\pi _0(\mathrm{\Omega }_+)`$.

###### Proof.

This follows directly from Theorem 8.2, since

$$[I,I;B\mathrm{\Gamma },B\mathrm{\Omega }_\pm ]\pi _1(B\mathrm{\Omega }_{})\backslash \pi _1(B\mathrm{\Gamma })/\pi _1(B\mathrm{\Omega }_+)\pi _0(\mathrm{\Omega }_{})\backslash \pi _0(\mathrm{\Gamma })/\pi _0(\mathrm{\Omega }_+).\mathit{}$$

###### Remark 8.11.

The bijection of Theorem 8.10 can be seen in a more constructive way. Given a special $`\mathrm{\Pi }`$-manifold $`X`$ over $`I`$, we can choose an $`H`$-meridian $`c:IX`$, i.e. a smooth section of $`XI`$ so that $`\mathrm{\Pi }_{c(t)}=H`$ for $`t`$ in the interior of $`I`$; this can be obtained from a smooth section of the (trivial) principal $`\mathrm{\Gamma }`$-bundle $`PI`$. Let $`U_\pm :=\mathrm{\Pi }_{c(\pm 1)}`$. We say that $`(H,U_\pm )`$ is an $`H`$-meridian isotropy group system for $`X`$. Choosing another smooth section of $`P`$ gives isotropy groups conjugate to $`U_\pm `$ by elements in the same connected component of $`N(H)`$.

As in (3.7), the special $`\mathrm{\Pi }`$-manifold $`X`$ can be reconstructed as a quotient of $`I\times \mathrm{\Pi }`$:

$$X=(I\times \mathrm{\Pi }/H)/\{(\pm 1,g)(\pm 1,gu_\pm ),u_\pm U_\pm \}$$

Therefore, $`X`$ is determined by the subgroups $`U_\pm `$ (compare \[7, Prop. 1.6\]). Moreover, any set $`(H,U_\pm ^{})`$, where the $`U_\pm ^{}`$ are conjugate to $`U_\pm `$, occurs as an $`H`$-meridian isotropy group system for some special $`\mathrm{\Pi }`$-manifold $`X^{}`$ over $`I`$ (proved as in (4.3)). In this way, $`𝒮[H,U_\pm ]`$ is a quotient of $`\pi _0(N(H))\times \pi _0(N(H))`$. The diagonal group acts trivially, and by carefully examining the relevant equivalence relation one sees that $`𝒮[H,U_\pm ]`$ is in bijection with $`\pi _0(\mathrm{\Omega }_{})\backslash \pi _0(\mathrm{\Gamma })/\pi _0(\mathrm{\Omega }_+)`$.

Let $`X`$ be a special $`\mathrm{\Pi }`$-manifold over $`I`$. We will now compute the set $`(X,G)`$ of isomorphism classes of $`\mathrm{\Pi }`$-equivariant principal $`G`$-bundles over $`X`$. Fix an $`H`$-meridian isotropy group system $`(H,U_\pm )`$ for $`X`$ induced by a smooth $`H`$-meridian $`c:IX`$. If $`\xi =(E,p)`$ is a $`(\mathrm{\Pi },G)`$-bundle over $`X`$, then we can choose an isotropic lift $`\stackrel{~}{c}:IE`$, and obtain an admissible isotropy group system $`=(H,U_\pm ;\rho ,\rho _\pm )`$ for the bundle.

Since the composition of an isotropic lift with a bundle isomorphism is again isotropic, the conjugacy classes $`[\rho _\pm ](U_\pm ,G)`$ depend only on $`[\xi ](X,G)`$. This defines a map

$$J:(X,G)(U_{},G)\times (U_+,G).$$

We write $`(U_{},G)\times _H(U_+,G)`$ for the set of pairs $`([\rho _{}],[\rho _+])(U_{},G)\times (U_+,G)`$ such that $`\mathrm{Res}[\rho _{}]=\mathrm{Res}[\rho _+]`$ in $`(H,G)`$.

Theorem B generalizes to special manifolds over $`I`$ as follows:

###### Theorem 8.12.

Let $`X`$ be a special $`\mathrm{\Pi }`$-manifold over $`I`$ realizing the isotropy group system $`(H,U_\pm )`$. The set $`(X,G)`$ of isomorphism classes of $`(\mathrm{\Pi },G)`$-bundles over $`X`$ is determined by the following properties:

1. the image of $`J`$ is $`(U_{},G)\times _H(U_+,G)`$.
2. Let $`\rho _\pm :U_\pm G`$ be two smooth homomorphisms such that $`\rho _{}|_H=\rho _+|_H=:\rho `$. Then there is a bijection between $`J^1([\rho _{}],[\rho _+])`$ and the set of double cosets $`\pi _0(Z_\rho _{})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\rho _+})`$.

###### Proof.

Since $`\rho _\pm `$ comes from an admissible system, the image of $`J`$ is contained in $`(U_{},G)\times _H(U_+,G)`$. On the other hand, let $`\rho _\pm :U_\pm G`$ be two smooth homomorphisms such that $`\rho _{}|_H=\rho _+|_H=:\rho `$. The special $`(\mathrm{\Pi }\times G)`$-manifold constructed as in Remark 8.11, with isotropy group system $`(H\rho ,U_\pm \rho _\pm )`$ (associated to an $`H\rho `$-meridian) is a $`(\mathrm{\Pi },G)`$-bundle $`\xi `$ over $`X`$ (the special $`\mathrm{\Pi }`$-manifold with $`H`$-meridian isotropy group system $`(H,U_\pm )`$). One has $`J(\xi )=([\rho _{}],[\rho _+])`$, which proves Part (i).

If $`(E,p)J^1([\rho _{}],[\rho _+])`$ then its isotropy group system is fine equivalent to $`=(H,U_\pm ;\rho ,\rho _\pm )`$. In the notation introduced earlier, we have

$$(X,)=J^1([\rho _{}],[\rho _+])$$

and the result now follows from Theorem 8.8. ∎

We also have a more explicit version of Proposition 8.9. Note that $`J(f\xi )=J(\xi )`$, for $`f\mathrm{Aut}(X)`$, so we must investigate the action of $`\mathrm{Aut}(X)`$ on a pre-image $`(X,)J^1([\rho _{}],[\rho _+])`$. The group $`\mathrm{Aut}(X)`$ has a homotopy description: choose a base point $`()\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+`$ which corresponds to the class of $`X`$ in $`\pi _0(\mathrm{\Omega }_{})\backslash \pi _0(\mathrm{\Gamma })/\pi _0(\mathrm{\Omega }_+)`$.

###### Proposition 8.13.

(Bredon \[2, V.7.3, VI.6.4\]) There is a group anti-isomorphism

$$\mathrm{Aut}(X)[I,I;\mathrm{\Gamma },\mathrm{\Omega }_\pm ]_{}$$

###### Proof.

The pointed maps $`(I,I)(\mathrm{\Gamma },\mathrm{\Omega }_\pm )`$ send $`I`$ into the component of $`\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+`$ containing the base point $`()`$. Let $`f\mathrm{Aut}(X)`$. Using our $`H`$-meridian $`c`$, one defines a smooth path $`d:I\mathrm{\Pi }/H`$ by the formula

$$f(c(t))=d(t)c(t).$$

The map $`f`$ being $`\mathrm{\Pi }`$-equivariant, one has, for all $`hH`$

$$hd(t)c(t)=hf(c(t))=f(hc(t))=f(c(t))=d(t)c(t)$$

This implies, for all $`tI`$, that $`d(t)N(H)/H=\mathrm{\Gamma }`$. For $`t=\pm 1`$, one gets in addition that $`d(\pm 1)\mathrm{\Omega }_\pm `$. We check that this defines an anti-homomorphism from $`\mathrm{Aut}(X)`$ to the group $`[I,_{}I,_+I;\mathrm{\Gamma },\mathrm{\Omega }_{},\mathrm{\Omega }_+]`$. Now, if $`d(t)`$ represents a class in the latter, the formula

$$f_d(\alpha c(t)):=\alpha d(t)c(t),\alpha \mathrm{\Pi },tI$$

defines an element $`f_d`$ of $`\mathrm{Aut}(X)`$ and constitutes an inverse to the above anti-homomorphism. ∎

Suppose that the homomorphisms $`\mathrm{\Gamma }\rho \mathrm{\Gamma }`$ and $`\mathrm{\Omega }_\pm \rho \mathrm{\Omega }_\pm `$ are surjective. Then we have a fibre bundle

(8.14)
$$Z_\rho _{}\backslash Z_\rho /Z_{\rho _+}\mathrm{\Omega }_{}\rho \backslash \mathrm{\Gamma }\rho /\mathrm{\Omega }_+\rho \mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+.$$

Therefore, $`\pi _1(\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+)`$ acts on $`\pi _0(Z_\rho _{}\backslash Z_\rho /Z_{\rho _+})=\pi _0(Z_\rho _{})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\rho _+})`$.

###### Theorem 8.15.

Suppose that the homomorphisms $`\mathrm{\Gamma }\rho \mathrm{\Gamma }`$ and $`\mathrm{\Omega }_\pm \rho \mathrm{\Omega }_\pm `$ are surjective. Let $`\rho _\pm :U_\pm G`$ be two smooth homomorphisms such that $`\rho _{}|_H=\rho _+|_H=:\rho `$. Then the quotient of $`J^1([\rho _{}],[\rho _+])`$ by the action of $`\mathrm{Aut}(X)`$ is in bijection with with the quotient of $`\pi _0(Z_\rho _{})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\rho _+})`$ by the action of $`\pi _1(\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+)`$.

###### Proof.

By Theorem 8.8, there is a surjective map $`\psi :J^1([\rho _{}],[\rho _+])\lambda ^1([X])`$. Since $`\mathrm{\Gamma }\rho \mathrm{\Gamma }`$ and $`\mathrm{\Omega }_\pm \rho \mathrm{\Omega }_\pm `$ are surjective, we have the fibration (8.14). From the homotopy exact sequence of this fibration, we see that $`\lambda ^1([X])`$ is in bijection with the quotient of $`\pi _0\left(Z_\rho _{}\backslash Z_\rho /Z_{\rho _+}\right)`$ by the action of $`\pi _1(\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+)`$. But this is just the action of $`\mathrm{Aut}(X)`$ by Proposition 8.13. ∎

###### Example 8.16.

Consider the standard action of $`\mathrm{\Pi }=SO(n)`$ on $`S^n`$, with $`H=SO(n1)`$. As $`U_\pm =\mathrm{\Pi }`$, the homomorphisms $`\mathrm{\Gamma }\rho \mathrm{\Gamma }`$ and $`\mathrm{\Omega }_\pm \rho \mathrm{\Omega }_\pm `$ are surjective.

When $`n=2`$, $`H`$ is the trivial group. If $`G`$ is connected, then $`Z_\rho =G`$ is connected and the map $`J`$ is a bijection, as seen in Theorem A. Also, the group of $`\mathrm{\Pi }`$-automorphism of $`S^2`$ is equal to $`\mathrm{\Pi }`$, so $`\mathrm{Aut}(S^2)`$ is trivial.

If $`n3`$, the group $`\mathrm{\Gamma }=\mathrm{\Omega }_\pm `$ has 2 elements, the non-trivial one represented by the diagonal matrix $`D:=\mathrm{Diag}(1,\mathrm{}1,1,1)`$. The space $`\mathrm{\Omega }_{}\backslash \mathrm{\Gamma }/\mathrm{\Omega }_+`$ being reduced to a point, it follows from Theorem 8.15 that the group $`\mathrm{Aut}(S^n)`$ acts trivially on $`(S^n,G)`$. This has the following consequence:

###### Proposition 8.17.

Let $`\rho _\pm :SO(n)G`$ be two representations into a compact Lie group $`G`$ such that $`\rho _\pm {}_{|SO(n1)}{}^{}=\rho `$. Then, the element $`\rho _{}(D)\rho _+(D)^1`$ belongs to $`Z_\rho `$ and represent the trivial element in $`\pi _0(Z_\rho _{})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\rho _+})`$.

###### Proof.

As $`\rho _\pm {}_{|H}{}^{}=\rho `$, one has, for all $`hH`$,

$$\rho _+(D)^1\rho (h)\rho _+(D)=\rho _{}(D)^1\rho (h)\rho _{}(D).$$

Therefore, $`\rho _{}(D)\rho _+(D)^1Z_\rho `$.

Recall that our $`H`$-meridian for $`S^n`$ is $`c(t)=(0,\mathrm{},\mathrm{cos}(\pi t/2),\mathrm{sin}(\pi t/2))`$. By Proposition 4.1 and its proof there exists a $`(\mathrm{\Pi },G)`$-bundle $`\xi `$ over $`S^n`$, with a $`\rho `$-isotropic lifting $`\stackrel{~}{c}:IE(\xi )`$ of $`c`$ such that the isotropy representations associated to $`\stackrel{~}{c}(\pm 1)`$ are $`\rho _\pm `$. The curve $`\stackrel{~}{c}`$ is the horizontal lifting of $`c`$ for a $`\mathrm{\Pi }`$-invariant connection. There is no problem to extend the definitions of $`c(t)`$ and $`\stackrel{~}{c}(t)`$ for $`t𝐑`$. This defines $`\mu G`$ by

$$\stackrel{~}{c}(3)=\stackrel{~}{c}(1)\mu \text{ and }\stackrel{~}{c}(5)=\stackrel{~}{c}(1)\mu .$$

For $`t[1,1]`$, one has $`D\stackrel{~}{c}(t)=\stackrel{~}{c}(2t)\rho _+(D)`$ (since this is true for $`t=1`$ and both side are horizontal). For $`t=1`$, this gives

$$\stackrel{~}{c}(1)\mu \rho _+(D)=\stackrel{~}{c}(3)\rho _+(D)=D\stackrel{~}{c}(1)=\stackrel{~}{c}(1)\rho _{}(D)$$

Therefore, $`\mu =\rho _{}(D)\rho _+(D)^1`$.

Now, let $`\xi _1:=\delta ^{}\xi `$; one has

$$E(\xi _1)=\{(x,u)S^n\times E(\xi )\delta (x)=\pi (u)\}$$

and the $`\mathrm{\Pi }`$-action on $`E(\xi _1)`$ comes from the diagonal action. A $`\rho `$-isotropic lifting $`\stackrel{~}{c}_1:IE(\xi _1)`$ of $`c`$ is then given by

$$\stackrel{~}{c}_1(t):=(c(t),\stackrel{~}{c}(t2)).$$

By Proposition 4.1, one has $`\xi =\xi _1`$ in $`(S^n,G)`$ iff $`\stackrel{~}{J}_\rho (\xi )=\stackrel{~}{J}_\rho (\xi _1)`$ in $`_\rho (n,G)`$. By 4.2, using the curves $`\stackrel{~}{c}`$ and $`\stackrel{~}{c}_1`$, one has in $`_\rho (n,G)`$

$$\stackrel{~}{J}_\rho (\xi )=[\rho _{},\rho _+]\text{ and }\stackrel{~}{J}_\rho (\xi _1)=[\mu ^1\rho _{}\mu ,\rho _+].$$

This proves that $`\mu `$ represents the unit element in $`\pi _0(Z_\rho _{})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\rho _+})`$. ∎

###### Example 8.18.

Consider the action of $`SO(3)`$ on the traceless $`(3\times 3)`$-symmetric matrixes by conjugation. Restricting this action to the unit sphere (for the invariant scalar product $`\mathrm{tr}(AB)`$) makes $`S^4`$ a special $`SO(3)`$-manifold over $`I`$ (see \[7, §3\]) for more details on this classical cohomogeneity one $`SO(3)`$-action on $`S^4`$). Here $`H=S(O(1)\times O(1)\times O(1))`$, $`U_{}=S(O(1)\times O(2))`$ and $`U_+=S(O(2)\times O(1))`$. Observe that any homomorphism $`\rho _\pm :U_\pm G`$ is trivial unless its restriction to $`H`$ is injective.

Take $`G=SO(3)`$ and use the standard inclusions of $`U_\pm `$ into $`SO(3)`$. Any non-trivial homomorphism $`\rho _{}`$ is conjugate to $`\stackrel{~}{\rho }_{}:(\epsilon ,r_\theta )(\epsilon ,r_\theta ^p)`$ and any non-trivial $`\rho _+`$ is conjugate to $`\stackrel{~}{\rho }_+:(r_\theta ,\epsilon )(r_\theta ^q,\epsilon )`$, where $`p,q𝐍_{\mathrm{odd}}`$, the set of positive odd integers. Both $`\stackrel{~}{\rho }_\pm `$ restrict on $`H`$ to the identification $`\rho `$ of $`H`$ with the diagonal matrices of $`SO(3)`$. One has $`Z_\rho =H`$, $`Z_{\stackrel{~}{\rho }_{}}=\{\mathrm{diag}(1,1,1),\mathrm{diag}(1,1,1)\}`$ and $`Z_{\stackrel{~}{\rho }_+}=\{\mathrm{diag}(1,1,1),\mathrm{diag}(1,1,1)\}`$. Therefore, the set of double cosets $`\pi _0(Z_{\stackrel{~}{\rho }_{}})\backslash \pi _0(Z_\rho )/\pi _0(Z_{\stackrel{~}{\rho }_+})`$ is trivial and $`([S^4I],SO(3))`$ is in bijection, via the map $`J`$ of theorem 8.12, with $`\{0,0\}𝐍_{\mathrm{odd}}\times 𝐍_{\mathrm{odd}}`$.

In \[7, § 3\], $`(SO(3),SO(3))`$-bundles $`P_{p,q}`$ over $`S^4`$ are constructed for $`p,q𝐙`$ with $`p3(\mathrm{mod}\mathrm{\hspace{0.17em}4})`$ (those come from $`(S^3\times S^3)`$-bundles). These bundles satisfy $`J(P_{p,q})=(|p|,|q|)`$, so, up to isomorphism, the sign of $`p`$ and $`q`$ does not matter.

###### Example 8.19.

This is the complex analogue of Example 8.18. One considers the action of $`SU(3)`$ on the traceless $`(3\times 3)`$-Hermitian matrixes by conjugation and restrict it to the unit sphere. One thus gets a special $`SU(3)`$-manifold over $`I`$ diffeomorphic to $`S^7`$. The isotropy groups are $`H=S(U(1)\times U(1)\times U(1))`$, $`U_{}=S(U(1)\times U(2))`$ and $`U_+=S(U(2)\times U(1))`$. As in Example 1, any homomorphism $`\rho _\pm :U_\pm G`$ is trivial unless its restriction to $`H`$ is injective.

For $`G=SU(3)`$, one checks that any non trivial homomorphism of $`U_\pm `$ to $`G`$ is conjugate to the standard inclusion. As $`Z(H)=H`$ in $`SU(3)`$, the map $`J`$ is injective and $`(S^7,SU(3))`$ consists of two elements.


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# 𝑈𝐵𝑉 stellar photometry of bright stars in GC M5. I. 𝑈𝑉 colour-magnitude and colour-colour diagrams and some peculiarities in the HB stellar distribution

## 1 Introduction

The photometric works on Globular Clusters (GCs), very often, do not include the $`U`$ band observations. The $`U`$–band, however, is very important since it provides a comparatively long–base colour index $`UV`$, which removes the degeneracy in HB colours for $`(BV)_0<0`$ and is also the most sensitive temperature parameter for early type stars in the $`UBV`$ system (Buser & Kurucz 1978). This colour index is furthermore useful to obtain stellar atmospheric parameters using theoretical models (e.g. Kurucz 1992). Taking in mind the good resolution in the RC–focus (F/8, scale 12.86 arcsec mm-1) of the 2-m telescope of the Natl. Astron. Obs. ’Rozhen’, some years ago, we started a program to study the central parts of some globular clusters. Here are presented the results concerning M5$``$NGC5904. In this case, our aim was to produce $`UBV`$ magnitudes for a large, statistically significant sample of stars at the level of the horizontal branch and above and to investigate some puzzling CMD features. We draw special attention to stars occupying the blue horizontal branch (BHB). The distribution of these stars poses a number of questions that are still open and need further investigation as e.g.: the presence of a gap in the BHB; the ultraviolet deficiency of some BHB stars; the real location of the bluest HB stars on the $`\mathrm{log}L,\mathrm{log}T_{\mathrm{e}ff}`$ diagram.

In the following we present the observational material and reduction procedures (Sect.2). The $`UV`$–diagrams are analysed in Sect. 3. The main topics in this section are the presence of a gap, the $`UV`$-bright star candidates and the discrepancy between the observed BHB and the zero-age horizontal branch (ZAHB) model. The two–colour diagram features are discussed in Sect. 4. This includes the observed ultraviolet deficiency of BHB stars and the ultraviolet excess of the RGB stars. An assessment of the cluster metallicity and reddening is also given. The results obtained are summarised and discussed in Sect. 5 .

## 2 observational material

The present investigation of M5 is based on photographic plates and CCD frames taken of the central part of the cluster. To achieve better resolution of stellar images all observations were obtained with short-time exposures. The average seeing, measured at FWHM of the stellar image, is $`2`$ arcsec. On each plate - 5$`U`$, 6$`B`$ and 5$`V`$ \- nine overlaping regions, covering up to 5.5 arcmin away from the cluster center, were scanned with a Joyce–Loebl microdensitometer. The data were smoothed by means of a wavelet transform and subsequently converted into relative intensities using calibration curves specific for each plate (for details see Markov 1994). The digital images were analysed with originally developed reduction procedures. To check the reliability of these procedures part of the observations were processed via DAOPHOT (Stetson 1987) – a detailed comparison of the results is given in Markov et al. (1997). The efficiency of the wavelet transform in localising stellar images in crowded fields is described in Borissova et al. 1997. A similar approach had been previously employed by Auriére & Coupinot (1989) to obtain improved photometry for stars in dense globular clusters fields. In order to obtain more precise photometric calibration, supplementary 3$`V`$ and 3$`B`$ CCD observations of the M5 core were taken at March 16, 1997 with a SBIG ST-6 camera (pixelsize = 0.32 arcsec). Seeing conditions for the night were stable with FWHM$`0.9`$. The standard field in M92 of Christian et al. (1985) was observed to calibrate the program images.

The transformation of the instrumental magnitudes to the standard $`U`$ system was performed by means of 24 stars from the Arp’s (1962) photoelectric standard sequence in the field of M5. This sample covers wide range of colours: $`0.23<BV<1.48`$, $`0.32<UB<1.56`$ and $`0.55<UV<3.04`$. The BHB stars are of special interest in our investigation and separate transformations to the standard system have been employed for them. In this colour region 7 Arp’s photoelectric and 3 secondary photometric standard stars, taken from Richer and Fahlman (1987), were used.

The calibration into $`B,V`$ standard system was performed in two steps. First, we used the CCD observations to calibrate $`BV`$ instrumental magnitudes with respect to the primary standard stars in M92 (Christian et al. 1985). Then, 86 stars common for photographic and CCD measurements were used as a local secondary standard to calibrate all other program stars. The mean internal errors are in the range of $`0.02÷0.04`$. The total error including the uncertainties in the photoelectric data is $`\pm 0.03`$ in the stellar magnitudes and $`\pm 0.04`$ in the colour indices.

Our photometry can be compared with earlier works e.g.:

1. the UBV CCD photometry of von Braun et al. (1998). For 18 stars in common, the mean differences between our data and those of von Braun et al. (1998) are: $`\mathrm{\Delta }U=0.019\pm 0.032`$; $`\mathrm{\Delta }(UB)=0.013\pm 0.031`$ and $`\mathrm{\Delta }(UV)=0.036\pm 0.038`$. Obviously, the two magnitude sets match each other within the error. A systematic difference of about 0.06 mag was found for the U magnitudes of 5 AGB stars (in the sense von Braun’s data being brighter). These stars were not included in the above assessments.
2. the photographic photometry of BCF. The mean difference in the zero point ($`V_{\mathrm{our}}V_{\mathrm{BCF}}`$), based on 182 common stars, is 0.01 mag. There seems to be a small colour difference of 0.03 mag for BHB stars (our magnitudes being redder).
3. the CMD mean lines of Sandquist et al. (1996). Figure 1 shows the $`V,BV`$ diagram on which the Sandquist et al. (1996) fiducial lines are overlaid for comparison.

## 3 $`UV`$ colour–magnitude diagrams

### 3.1 The $`V,UV`$ diagram

Figure 2a shows the $`V,UV`$ diagram for M5. Two features of this diagram are worth noting: the BHB in this plane is not as steep as that in $`V,BV`$ (Fig. 1); the BHB stars form an almost linear sequence with a discontinuity at $`V15.45`$ and $`UV0.05`$. The latter is illustrated in the histogram (Fig. 2a). To test statistical significance of this BHB feature, the $`\mathrm{}_{\mathrm{H}B}`$ co-ordinate deduced from Ferraro et al. (1992) and Dixon et al. (1996) is used. $`\mathrm{}_{\mathrm{H}B}`$ is a measure of the star position along the HB in the $`M_\mathrm{V},(UV)_0`$ diagram as marked by its projection on the HB ridgeline. The $`\mathrm{}_{\mathrm{H}B}`$ parameter grows from the red extreme (RE) to the blue end of the HB. The zero point for $`\mathrm{}_{\mathrm{H}B}`$ is set at $`(UV)_0^{\mathrm{R}E}=0.7`$. The HB ridgeline is determined as a non-linear fit to the sample of 160 HB stars supplemented with 68 RR Lyr variables. Their colours are assumed to be randomly distributed inside the instability strip boundaries $`(0.26>(UV)_0<0.45)`$ with a mean magnitude $`V_{\mathrm{RR}}=15.19`$. The scale ratios used is $`\mathrm{\Delta }\mathrm{}_{\mathrm{H}B}/\mathrm{\Delta }(UV)_0=3.341`$ and $`\mathrm{\Delta }\mathrm{}_{\mathrm{H}B}/\mathrm{\Delta }M_\mathrm{V}1.42`$. A histogram of the $`\mathrm{}_{\mathrm{H}B}`$ distribution is shown in Fig. 3 and the cumulative distribution – in Fig. 4. The gap is clearly recognised at $`\mathrm{}_{\mathrm{H}B}=0.42\pm 0.057`$. Following Hawarden (1971) and Newell (1973), we tested the significance of the gap by means of ’$`\chi ^2`$ statistics’ applied to the cumulative distribution and found that the gap is statistically significant at the 99.93 per cent level. However, Catelan et al. (1998) have recently argued that the Hawarden-Newell technique substantially overestimates the probability that the gap is real. This result together with the fact that only 80 per cent (228 stars) of all observed HB stars have been involved in our analysis make the reality of the gap not convincing enough.

Figure 5 shows the theoretical ZAHB (Dorman, Rood, O’Conel 1993, oxygen-enhanced model, $`Y_{\mathrm{H}B}=0.249`$; \[Fe/H\]=-1.48; \[O/Fe\]=0.63; $`(mM)_{\mathrm{V},0}=14.46`$) overlaid on the observed HB. Squares denote stars with spectroscopically derived Teff (Crocker, Rood & O’Connel 1988). The compatibility of both sets is satisfactory. Fig 5. shows that although practically all HB stars lie above the theoretical sequence the discrepancy become marked above $`T_{\mathrm{e}ff}\mathrm{10\hspace{0.17em}800}\pm 700\mathrm{K}((UV)_00.025)`$. Grundahl, Catelan, Landsman, Stetson & Andersen (1999) observed a similar effect (called ’$`u`$–jump’) in 14 GC (including M5) from $`u,y`$ photometry. These authors suggested that ’…the $`u`$–jump is a ubiquitous feature, intrinsic to all  HB stars hotter than $`T_{\mathrm{tef}}\mathrm{11\hspace{0.17em}500}\mathrm{K}`$’.

### 3.2 The $`U,UV`$ diagram

We note the following points regarding the $`U,UV`$ diagram (Fig. 2b):

1. The stars of the upper part of the RGB are as bright as the BHB stars. The $`U`$ magnitudes of the brightest RGB stars increase as the stars become redder.
2. The AGB is clearly distinguished from the RGB being, in average, more than 0.20 mag brighter. Note that the brightest AGB stars have an astrometric membership probability $`P=99`$ per cent (Rees 1993; Spassova & Michnevski 1981). The star on the AGB tip, denoted with full square, is ZNG2 $`UV`$–star (Zinn et al. 1972).
3. The group of the so called ’$`UV`$–bright stars’ is clearly separated from the principle sequences. They are indicated with full squares in Fig. 2. Six of the seven $`UV`$–bright stars from Zinn et al. (1972) are measured in our study. Three of them are field stars, and one is variable 41 (Sawyer Hogg 1973). The star ZNG7 is probably variable 25. On the frames it appears blended with the RGB star III–140 (Buonanno et al. 1981). Our $`U`$–photometry confirms that the cluster member III–37 (Cudworth 1979) is an $`UV`$–bright star: although both magnitudes and colours show big dispersion in all studies its position on the classical $`V,BV`$ diagram is above the blue HB. Rees (1993) noted as other possible $`UV`$–bright stars: III–48 (Arp 1962), B169 and B200 (Barnard 1931). Our results confirm this status only for B169. We suspected four new possibles $`UV`$–bright stars: I–17, I–44, II–22 and the star numbered 62 in our catalogue. Another two stars were added to the list according to their position on the V, B–V  diagram. These two stars, with magnitudes and colours: $`V=14.56`$, $`BV=0.42`$ and $`V=14.18`$, $`BV=0.60`$, were detected in the central part of the cluster. Thus, 15 $`UV`$–bright stars candidates are found by different authors in M5. Table 1 lists $`UV`$–bright stars including some that probably belong to the so-called ’blue nose’ ($`f`$ field, $`m`$ cluster member).

## 4  The colour–colour diagram

The $`UB,BV`$ relation can be used to determine the foreground reddening towards M5. Our intrinsic colours were derived assuming reddening EB-V=0.03 mag, with a slope EU-B/ EB-V=0.72. For 38 BHB stars with B–V$`<`$–0.02 we estimate EB-V=0.03$`\pm `$0.014. The spectroscopically determined Teff and $`\mathrm{log}g`$ for 11 HB stars in M5 (Crocker et al. 1988), also allow us to determine the cluster reddening. The $`(BV)_0`$ values for these stars were derived using corresponding relations found in Kurucz (1992). In this way we obtained $`\mathrm{E}_{\mathrm{B}V}=0.029\pm 0.015`$.

Figure 6 shows the two–colour diagram for RGB (left panel, crosses) and AGB (right panel, triangles) for stars with V magnitudes above the level of the HB ($`V15.09`$). In the both panels, the unreddened intrinsic two–colour line for Pop. I normal (L.C. III) giants (Buser & Kurucz 1992) is drawn (solid line). The two types of stars show the well–known ultraviolet excess $`\mathrm{\Delta }`$(U–B)$`{}_{0}{}^{}`$. This excess, measured at (B–V)0=1.0, is a sensitive indicator for the metal abundance (Wallerstein & Helfer 1966; Sandage 1970). In our case $`\mathrm{\Delta }`$(U–B)0 for all stars with (B–V)$`{}_{0}{}^{}`$ \[0.92$`÷`$1.08\] were averaged. The mean excess $`\mathrm{\Delta }`$(U–B)1.0 is 0.178$`\pm `$0.02. Using the Buser & Kurucz’s relation between $`\mathrm{\Delta }`$(U–B)1.0 and \[M/H\] we obtained \[Fe/H\]$`=1.38\pm 0.09`$. The quoted error is derived only from the formal error propagation in the photometric and model data. The M5 metallicity assessments found in the literature show a wide range (Briley et al. 1992, their Table 3). Our value is in an agreement with that found in Zinn & West (1984), $`1.4`$, but is inconsistent with the more recent high-resolution spectroscopic measurements carried out by Carreta & Bragaglia (1998), $`1.11\pm 0.11`$; Carreta & Gratton (1997), $`0.9`$, and Sneden, Kraft, Prosser and Langer (1992) $`1.17\pm 0.01`$. While we could not offer a certain answer on this topic, we would like to note that Borissova et al. (1999) pointed out a remarkable similarity of the upper red giant branches of M5 and NGC6229. For this reason only, one might expect both clusters to share the same metallicity. The reliability of the value derived photometrically for NGC6229 in Borissova et al. (1999), \[Fe/H\]$`=1.4`$, (based on the Zinn & West scale) is confirmed by Wachter, Wallerstein, Brown and Oke (1998). These authors obtained the global metallicity of the cluster,\[M/H\] $`=1.4`$, from a direct medium-resolution spectroscopy of cluster giants.

The AGB stars (within the same colour range) show a smaller ultraviolet excess in comparison with the RGB stars. This is demonstrated in Fig. 6 (right panel), where the mean position of the RGB stars is marked with a dashed line. The difference in the $`UV`$–excesses for RGB and AGB stars is obvious. The implied difference in $`\mathrm{\Delta }(UB)_0`$ is 0.10 mag at $`(BV)_0=1.0`$. A smaller $`UV`$ excess of the AGB stars has been found practically in all globular clusters with available $`UBV`$ measurements.

Figure 7 illustrates the HB in the colour–colour plane based on 161 stars (114 BHB and 47 RHB). A dashed line shows the empirical Pop. I line. A solid line indicates the model ZAHB transformed to $`(BV)_0,(UB)_0`$. This two–colour diagram reveals the following features:

* Stars with $`(BV)_0<0.02`$ fit very well the empirical Pop. I relation and ZAHB. These are stars occupying the region in the $`(BV)_0,(UB)_0`$ plane, where differences in g and metal abundance have negligible effect on the observed colours.
* The cool BHB stars, appearing just to the blue side of the RR Lyrae instability strip, show a small but definite ultraviolet deficiency with respect to the intrinsic two–colour line (Allen 1973). The mean deficiency measured for 18 stars in the colour interval $`0.01(BV)_00.18`$ is $`\mathrm{\Delta }(UB)_0=0.102\pm 0.019`$. This effect was first found by Arp (1962) and is based on only 5 BHB stars with photoelectric measurements. The same effect was also observed in some other clusters: NGC 1904 (Stetson & Harris 1977; Kravtsov et al. 1997), NGC 3201 (Lee 1977), NGC 6723 (Menzies 1974), NGC 5139 (Newell et al. 1969b), NGC 6397 (Newell et al. 1969a), M 15 (Sandage 1970), NGC 1841 (Alcaino et al. 1996). To quantify the effect, we reanalysed available UBV data for BHB stars in some of these clusters using the EB-V values found in Harris (1997). Table 2 summarises the results.

The third column shows the number of stars used. However, extensive photoelectric observations of BHB stars in other globular clusters give somewhat conflicting results. Data for M3, M13 and M92 (Sandage 1970) place such stars essentially on the standard Pop. I two–colour line. Although the possibility of a small systematic error in our $`U`$ magnitudes cannot be totally neglected, the observed effect in the M5 two–colour diagram may be at least partly real. The different values of the ultraviolet deficiency, toghether with it absolute absence in some cases, points to a probable connection of this observable with the cluster parameters.

The ultraviolet deficiency of the BHB stars in respect of the canonical ZAHB sequence is smaller (see Fig. 7). Although the scatter of the data is large – mainly due to the low quality of the photographic observations – the deviation from the model line is systematic and appears to be real. From the Kuruzc’s (1992) computations it is evident that $`(UB)_0`$ colour is a gravity indicator for stars with $`T_{\mathrm{tef}}<\mathrm{10\hspace{0.17em}000}\mathrm{K}`$ ($`(BV)_0>0.02`$). This point is illustrated in Fig. 7, where the $`\mathrm{log}g=2`$ and $`\mathrm{log}g=4`$ model loci are plotted. It is clearly seen, that a satisfactory overlapping of the observed and theoretical sequences is achieved involving low gravity ($`\mathrm{log}g2.0`$) atmospheric models transformed to the $`(UB)_0,(BV)_0`$ plane.

The suggestion of Arp (1962) that ’… fainter BHB stars, as they get very blue have an increasingly large ultraviolet deficiency relatively to Pop. I line.’ is not confirmed.
* The RHB stars do not show any ultraviolet deficiency or ultraviolet excess with respect to the standard Pop. I colour–colour line. It has been known (Sandage 1969, 1970) that the sequence of metal-deficient RHB stars follows an empirical Pop. I relation. Sandage (1970) gives an explanation in terms of the ’fortuitous’ cancellation of the effects of a low metal abundance and low surface gravity.

## 5  Summary and conclusions

$`UBV`$ photographic and $`BV`$ CCD observations in the central part ($`r5.5`$ arcmin) of the globular cluster $`M5NGC5904`$ are presented. The $`UV`$ colour-magnitude and two-colour diagrams for stars down to $`V=16.5`$ mag are analysed.

The main results of our analysis can be summarised as follows :

1. We confirm the presence of a gap in the BHB stellar distribution of M5 announced by Brocato at al. (1995) and Drissen & Shara (1998). In the $`V,UV`$ diagram, the gap is visible at $`V15.45`$ and $`UV0.05`$. Although the high statistical significance of this BHB feature, we consider the question of its reality still uncertain and will discuss it elsewhere (Baev et al., in press).
2. The ultraviolet excess observed for RG stars, $`\mathrm{\Delta }`$ (U–B)0,1.0=0.178$`\pm `$0.02, is used to estimate the metallicity of the cluster. The value obtained in our study, $`1.38\pm 0.09`$, confirms that derived by Zinn & West (1984), $`1.4`$.
3. 6 stars are suspected as new ’$`UV`$–bright’ stars. The $`UBV`$ data for these stars are summarised in Table 1.
4. In the $`V,(UV)_0`$ diagram we find that the hottest BHB stars tend to lie above the canonical ZAHB at a temperature threshold $`T_{\mathrm{eff}}=\mathrm{10\hspace{0.17em}800}\pm 700\mathrm{K}`$. This resembles the effect observed for 14 globular clusters by Grundahl et al. (1998, 1999) and called ’$`u`$–jump’. In our investigation, the BHB sample is considerably richer than those used by GCLSA. This result on the other hand demonstrates the ability of Johnson’s $`UBV`$ to reproduce an effect observed by means of the Str$`\ddot{\mathrm{o}}`$mgren’s photometry.
5. Ultraviolet deficiency is detected for cool BHB stars. Based on Kuruzc’s (1992) atmospheric models, we interprete this effect as an indication for lower surface gravity for these stars. Having in mind that ’$`u`$-jump’ demonstrated in GCLSA is intimately connected to low gravities (’$`\mathrm{log}g`$–jump’) a conclusion could be drawn that two groups of BHB stars in M5 tend to show surface gravities lower than those predicted by existing ZAHB models.

Finally, we would like to add few remarks concerning the nature of the ultraviolet deficiency and the jump. GCLSA argued that a stellar atmosphere effect – radiative levitation of metals – rather than helium mixing, is the primary cause of the $`u`$\- and $`\mathrm{log}g`$-jump phenomenon. One of their arguments against helium mixing is that the size of the jump and its location do not depend on a cluster’s individuality. Collecting data for ultraviolet deficiency in clusters with available $`UBV`$ data, we found that the magnitude of the deficiency varies from cluster to cluster (Table 2) while in some clusters it is not observed at all. These finds together with the results of GCLSA allow us to suggest that the jump and the deficiency more likely have different nature. In addition, taking in view certain evidences for mixing processes in some M5 red giant stars (based on spectral observations referenced in GCLSA), we suppose that the ultraviolet deficiency might be a photometric signature of helium mixing. This draws a possible direction for a future ultraviolet deficiency investigation: to obtain a homogeneous set of UBV data for a large number of GCs and to study the relation of the cluster parameters to the characteristics of the deficiency (if any).

## Acknowledgements

The authors are grateful to S.Moehler, F.Grudahl and M.Catelan for helpful information and discussions. We would also like to thank the anonymous referee for very careful and detailed review of our paper.
This research was supported by the National Sci. Found. grant under contract No. F-604/1996 with the Ministry of Education and Sciences.
This research has made use of NASA’s Astrophysics Data System Abstract Service.

Figure captions

Fig. 1 $`V,BV`$ diagram for stars measured in the annulus with radius $`1r5.5`$ arcmin.
Fig. 2. The $`UV`$ colour-magnitude diagrams. In both diagrams, the place of the suspected gap is indicated by a bar; the $`UV`$–bright stars are marked with squares. In the panel a), above the BHB, is shown the histogram of the stellar counts found in the corresponding colour bins.

Fig. 3. The $`\mathrm{}_{\mathrm{H}B}`$ distribution histogram.

Fig. 4. The $`\mathrm{}_{\mathrm{H}B}`$ cumulative distribution function.

Fig. 5. Comparison between the observed BHB (grey points) and the ZAHB (solid line). Note the general discrepancy between observations and theory as well as the more rapidly rising discrepancy for colours below $`((UV)_00.025)`$. The squares mark the positions of M5 BHB stars with spectroscopically measured Teff and $`\mathrm{log}g`$ (Crocker et al. 1988).

Fig. 6. The two colour diagrams for RGB (left panel) and AGB (right panel) stars. The standard Pop. I line (Allen 1973, solid line) is overlaid on both diagrams. In the right pannel, the mean position of the RGB stars is marked with a dashed line.

Fig. 7. Two-colour diagram for HB stars. The empirical Pop. I line is marked with a dashed line. ZAHB is overlaid also (bold solid line). Two-colour sequences taken from the Kurucz (1992) atmospheric models for two different values of $`\mathrm{log}g`$ are marked with filled stars and squares.