CASPER GULDBERG O N HOMOTOPY AUTOMORPHISMS OF K OSZUL SPACES (cid:88) PHD THESIS MAY2015 Casper Guldberg PhD thesis submitted to: Department of Mathematical Sciences PhD School of Science University of Copenhagen Faculty of Science Universitetsparken 5 University of Copenhagen DK-2100 København Ø May 2015. Denmark [email protected] http://www.math.ku.dk/~tdf244 Advisors: Alexander Berglund Stockholm University, Sweden Nathalie Wahl University of Copenhagen, Denmark Assessment committee: Kathryn Hess E´cole polytechnique F´ed´erale de Lausanne, Switzerland Pascal Lambrechts Universit´e catholique de Louvain, Belgium Ib Madsen (chairman) University of Copenhagen, Denmark ThisworkissupportedbytheDanishNationalResearchFoundationthroughtheCentreforSymmetry and Deformation (DNRF92). (cid:13)c Casper Guldberg (according to the Danish legislation) ISBN 978-87-7078-959-2 3 Abstract In this thesis we study the rational homotopy theory of the spaces of self-equivalences of Koszul spaces - that is, of simply connected spaces which are simultaneously formal and coformal in the language of rational homotopy theory. The primary tool to do so is the Homotopy Transfer Theorem for L -algebras. We begin with a Lie model for the universal cover of BautX where ∞ X is a Koszul space, and construct a well-behaved contraction to a smaller chain complex using relationsbetweenthecohomologyalgebraandhomotopyLiealgebraofaKoszulspace.Thenwe study the transferred structure which retains all information about the rational homotopy type, and derive several structural properties. We establish criteria for coformality of the universal cover of BautX, improving on existing results, and provide examples: highly connected mani- foldsandtwo-stagespaces,amongothers.Ourmainexampleisthatoforderedconfigurationsin Rn,forwhichourmodelissmallenoughthatwecancomputeseveralrationalhomotopygroups of the universal cover of BautX. Finally we study the group of components π0(autXQ) for a KoszulspaceX,andestablishasufficientconditionforittobeisomorphictothegroupofalgebra automorphisms of the cohomology algebra of X, or equivalently the Lie algebra automorphisms of the homotopy Lie algebra of X. Resum´e I denne afhandling studerer vi den rationale homotopiteori for rummene af selvækvivalenser af Koszul rum - det vil sige, af enkeltsammenhængende rum der er b˚ade formelle og koformelle. Detprimæreværkstøjtilatforetagestudieter“HomotopyTransferTheorem”forL -algebraer. ∞ Vi begynder med en Lie model for den universelle overlejring til BautX hvor X er et Koszul rum,ogkonstruererenpænsammentrækningtiletmindrekædekompleksvedhjælpafrelationer mellem kohomologialgebraen og homotopi Lie algebraen for et Koszul rum. S˚a studerer vi den overførtestrukturderhuskeralinformationomrationalhomotopitype,ogudlederflerestruktu- relle egenskaber. Vi fastsætter kriterier for koformalitet af den universelle overlejring af BautX derforbedrereksisterenderesultateroggivereksempler:højtsammenhængendemangfoldigheder og“two-stage”rum,blandtandre.VoreshovedeksempelerordnedekonfigurationeriRn,forhvil- ke vores model er tilstrækkelig lille til at vi kan udregne adskillige rationale homotopigrupper af denuniverselleoverlejringforBautX.Endeligtstuderervigruppenafkomponenterπ0(autXQ) foretKoszulrumX,ogfindertilstrækkeligebetingelserforatdenneerisomorftilgruppenafal- gebraautomorfierafkohomologialgebraen,ellerækvivalentafLiealgebraautomorfierafhomotopi Lie algebraen for X. Contents Abstract 3 Contents 5 1. Introduction 7 1.1. Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3. Consequences of main results . . . . . . . . . . . . . . . . . . . . 8 1.4. Technical results . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.5. Structure of the thesis . . . . . . . . . . . . . . . . . . . . . . . . 11 1.6. Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2. Preliminaries 12 2.1. Differential graded (co)algebras and Lie algebras . . . . . . . . . 12 2.2. Twisting morphisms, bar and cobar constructions . . . . . . . . 17 2.3. Koszul duality for Lie and commutative algebras . . . . . . . . . 19 2.4. L -algebras . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 ∞ 2.5. Algebraic models for rational spaces . . . . . . . . . . . . . . . . 25 2.6. Classification of fibrations. . . . . . . . . . . . . . . . . . . . . . 31 3. Transferred L -structure 32 ∞ 3.1. Induced contractions . . . . . . . . . . . . . . . . . . . . . . . . 32 3.2. Contractions for Koszul algebras . . . . . . . . . . . . . . . . . . 37 3.3. Contractions and gradings . . . . . . . . . . . . . . . . . . . . . 41 3.4. Transferred operations and gradings . . . . . . . . . . . . . . . . 42 4. On homology 46 4.1. Positive homological part . . . . . . . . . . . . . . . . . . . . . . 50 4.2. Degree zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.3. Degree zero by simplicial methods . . . . . . . . . . . . . . . . . 60 5. Configuration spaces 66 5.1. Rational homotopy groups . . . . . . . . . . . . . . . . . . . . . 67 5.2. L -structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 ∞ 6. Suggestions for further research 78 6.1. The role of non-linear Maurer-Cartan elements . . . . . . . . . . 78 6.2. Coformality of BautF(Rn,3) . . . . . . . . . . . . . . . . . . . 80 6.3. On autF(Rn,k) for k ≥4 . . . . . . . . . . . . . . . . . . . . . . 82 References 85 5 7 1. Introduction 1.1. Background. Thisthesisisabouttherationalhomotopytypeofthespaceof self-homotopyequivalences,orhomotopyautomorphisms,ofcertainnicetopological spaces, called Koszul spaces. These are simply connected spaces of finite Q-type withthepropertythattheyaresimultaneouslyformalandcoformalinthelanguage of rational homotopy theory. Returning to more explicit statements at a later point, we just note here that there are plenty of interesting examples of spaces whichsatisfiesthiscondition: loopspaces,suspensionsofconnectedspaces,various classes of manifolds, ordered configuration spaces for points in Rn. We may also note that products and wedges of Koszul spaces are again Koszul spaces. The terminology: Koszul space, is borrowed from Berglund [2], and justified by the fact that the rational cohomology algebra H∗(X;Q) of such a space X is a graded commutative Koszul algebra and the rational homotopy Lie algebra π (ΩX)⊗Q is a graded Koszul Lie algebra, such that these are Koszul dual to ∗ one another under the duality between the operads governing respectively graded commutative algebras and graded Lie algebras. It has long been known that for a simply connected space X of finite Q-type with Quillen model L, the space of homotopy automorphisms autX is related to the derivations on L, cf. Schlessinger-Stasheff [33]. Concretely the positive part of the homotopy quotient of the derivations by the inner derivations DerL//L, is a Lie model for the universal cover of BautX (see Tanr´e [38]). See also [34] for a survey of the literature on homotopy theory of mapping spaces, and in particular spaces of self-equivalences. Where as the model of Schlessinger-Stasheff and the work of Tanr´e does not address π0(autX), there are also results on this. Denote by XQ the rationalisation of X. There are obvious maps π0(autXQ)→autH∗(X;Q), π0(autXQ)→autπ∗(ΩX)⊗Q, given by sending a homotopy class to the induced map on respectively cohomology andhomotopy. Sullivan[37]showedthatthefirstofthesemapsisalwayssurjective for a formal space, and Neisendorfer-Miller [30] showed that the second map is alwayssurjectiveforacoformalspace. Sullivan[37]andWilkerson[40]alsoshowed that π0(autXQ) is a linear algebraic group if X is either a finite CW-complex, or has finite Postnikov tower. There exist general models for mapping spaces expressed in terms of so called Maurer-Cartan elements of a simplicial dg Lie algebra constructed from models of source and target respectively. See Berglund [3] for details on this, or Buijs- F´elix-Murillo [9] for a related approach. The first of these is particularly useful to investigate set of path components of autXQ, but for the main part our starting point is the Lie model of derivations given by Schlessinger-Stasheff, from which we proceed as follows. 1.2. Overview. For a formal space the Quillen model L is relatively small - we may take the Quillen construction on the cohomology A=H∗(X;Q). For a space which is also coformal, the Quillen model is quasi-isomorphic to the homotopy Lie algebra L of the space. The explicit nature of the Koszul duality lets us do even better: there is always an explicit surjective quasi-isomorphism f: L −∼→ L. We 8 extendthistoawell-behavedcontractionofL ontoL,andbystandardhomological perturbation theory this induces a contraction of DerL onto the f-derivations Der (L,L). ThisinturnisisomorphictothecomplexsA⊗LtwistedbyaMaurer- f Cartan element κ corresponding to f. Thus the positive homology of this twisted complexsA⊗ Lcomputesthepositiverationalhomotopygroupsπ (autX,1 )⊗Q. κ ∗ X ThishasbeennoticedbyBerglund[2,3]. Howeverourapproachhereletsusobtain more information in two distinct ways. Recall that the homotopy Lie algebra of a simply connected space X, is the graded abelian group π (ΩX)⊗Q, equipped with the Samelson bracket. The first ∗ way we obtain more information is by the Homotopy Transfer Theorem for L - ∞ algebras: thedgLiestructureonDerL transfersalongthecontractiontosA⊗ L, κ and further to the homology H (sA⊗ L). With this transferred structure, the ∗ κ homology computes π (autX,1 )⊗Q not only as a graded abelian group, but as ∗ X a graded Lie algebra - the homotopy Lie algebra of the 1-connected covering space BautX(cid:104)1(cid:105). Even better: the L -algebra H (sA⊗ L) completely determines the ∞ ∗ κ rational homotopy type of BautX(cid:104)1(cid:105). Secondly, the degree zero homology of the dg Lie algebra DerL contains infor- mation about π0autXQ. In addition to Sullivan and Wilkersons results mentioned above, Block-Lazarev [6] later identified the Lie algebra of π0autXQ in terms of theHarrisoncohomologyoftheminimalSullivanmodelforX,andweobservehow the Lie algebra for π0autXQ is computed by H0(sA⊗κL) in our case where X is a Koszul space. To obtain more information about π0autXQ we also employ the model alluded to above. Berglund [3] shows that there is a bijection [XQ,XQ](cid:39)π0(MC•(A⊗L)) between the homotopy classes of self-maps of XQ and the path components of the Kan complex MC (A ⊗ L). This Kan complex is the simplicial set of Maurer- • Cartan elements in the simplicial dg Lie algebra Ω ⊗A⊗L, where Ω is Sullivans • • simplicial de Rham algebra. We use this to identify a sufficient condition for when the group π0autXQ is isomorphic to the groups autL and autA. 1.3. Consequences of main results. The following are some interesting conse- quences of the main technical results of the thesis discussed further below. First we express the rational homotopy of automorphisms of certain manifolds in terms of derivations of their homotopy Lie algebras. Theorem 1.1 (cf. Example 4.14). For n ≥ 1, let M be an n-connected manifold of dimension d ≤ 3n + 1, and let L denote the rational homotopy Lie algebra π (ΩM)⊗Q. ∗ If rankH∗(M)>4 then there are isomorphisms of graded Lie algebras π (aut M,1 )⊗Q(cid:39)(DerL) , >0 ∗ M >0 π (autM,1 )⊗Q(cid:39)(DerL/adL) . >0 M >0 If rankH∗(M) = 4 then L may have a center, on which the derivations act, and there are isomorphisms of graded Lie algebras π (aut M,1 )⊗Q(cid:39)(DerL) (cid:110)sZ(L) , >0 ∗ M >0 >0 π (autM,1 )⊗Q(cid:39)(DerL/adL) (cid:110)sZ(L) . >0 M >0 >0 9 If rankH∗(M)≥4 then the universal cover of the classifying space Baut M(cid:104)1(cid:105) is ∗ coformal, and BautM(cid:104)1(cid:105) is coformal if the centre Z(L) is zero. This generalises the result by Berglund-Madsen [5] who showed this for a 2d- dimensional (d−1)-connected manifold M with rankH∗(M) > 4. The strongest statement of this kind that we obtain here, is that the conclusion holds for any Poincar´e duality space X which is Koszul and has cup length at most 2. The following can be thought of as a Koszul dual statement to Theorem 1.1, which will be more clear from the context where it appears in the thesis. Theorem 1.2 (cf. Theorem 4.19). Let X be a simply connected space with finitely generated cohomology A concentrated in even degrees, and let q be a homogeneous non-degenerate quadratic form in the generators of A, such that A(cid:39)Q[x ,...,x ]/(q). 1 n Then there is an action of (DerA) on the centre Z(L) which is 1-dimensional, >0 and isomorphisms of graded Lie algebras π (autX)⊗Q(cid:39)(DerA) (cid:110)sZ(L), >0 >0 π (aut X)⊗Q(cid:39)(DerA) , >0 ∗ >0 and Baut X(cid:104)1(cid:105) is coformal. ∗ Secondly, for some Koszul spaces the group π0(autXQ) is as small as it can possibly be. Recall that according to Sullivan [37] and Neisendorfer-Miller [30], π0(autXQ) surjects onto aut(H∗(X;Q)) and respectively onto aut(π∗(ΩX)⊗Q) for a Koszul space, and compare to the following. Theorem 1.3 (cf. Corollary4.36). Let X be a Koszul space such that H∗(X;Q) is generatedasanalgebrainasinglecohomologicaldegreed. Equivalentlyπ (ΩX)⊗Q ∗ is generated as a Lie algebra in degree d−1. If (i) Hi(X;Q)=0 for all i≥d2, or (ii) π (ΩX)⊗Q=0 for all i≥d(d−1), i then there are isomorphisms of groups aut(π∗(ΩX)⊗Q)(cid:39)π0(autXQ)(cid:39)aut(H∗(X;Q)) TwointerestingclassesofKoszulspaceswithrationalcohomology(orhomotopy) generated in a single degree, arise as examples for Theorem 1.3: those 1) for which the cup length is less than the rational connectivity, 2) for which the Whitehead length is less than the rational connectivity. BothcasesaresubsumedbytheconditionofhavingrationalL.S.-categorylessthan the rational connectivity. Anon-trivialexamplefromthefirstclass,isthatoforderedconfigurationspaces. Consider the space F(Rn,k) of k ordered points in Rn. Cohomology is generated indegreen−1andvanishesabovedegree(k−1)(n−1),whichislessthan(n−1)2 provided that k <n. Thus we get autπ∗(ΩF(Rn,k))⊗Q(cid:39)π0(autF(Rn,k)Q)(cid:39)autH∗(F(Rn,k);Q). Stayingwiththeexampleofconfigurationspaces,weproduceseveralcomputational results about their rational homotopy groups. For k = 3 and even n ≥ 4 we give closedformulaeforthedimensionsofallrationalhomotopygroupsofautF(Rn,3), 10 and compute several rational homotopy groups in the cases k =4,5,6. Further we identify the Lie algebra associated to the linear algebraic group π0(autF(Rn,3)Q), and see that it is neither semi-simple, solvable or nilpotent. Finally, we note that the simplicial techniques used to study π0(autXQ) for a Koszul space X, immediately yields an explicit computation of π0(aut(BG)Q) and ofπ0(autGQ)fora(simply)connectedcompactLiegroupG-cf. Example4.42. In both cases we get a product of general linear groups, and in the simply connected case, where both groups can be computed by our techniques, we see that they are isomorphic m+1 (cid:89) π0(autGQ)(cid:39) GL(ij,Q)(cid:39)π0(aut(BG)Q), j=1 where i is the number of generators of the rational cohomology algebras in a j particular degree, and m+1 is the number of distinct degrees for generators. In thesamewayweeasilycomputeπ0(autVQ)forareal,complexorquartenionStiefel manifold V - cf. Example 4.43 n (cid:89) π0(autVQ)(cid:39) Q×, j=1 where n is the number of generators for the rational cohomology algebra. 1.4. Technical results. To state the main technical results of the thesis we need the following observation. Koszul algebras come equipped with a weight grading, that is A=A(0)⊕A(1)⊕A(2)⊕··· and L=L(1)⊕L(2)⊕··· such that the multiplication and respectively bracket preserves the weight. The weight1partsarenaturallyidentifiedwiththeindecomposables,andwemaychoose presentationsforAandLsuchthatallrelationsarequadratic,inparticularwemay identify the weight n parts with elements of word length and respectively bracket length n. The tensor product A⊗L is bigraded by weights, and we may define the shifted weight grading on the complex sA⊗ L by letting bidegree (p,q) be the κ elements in sA(p+1)⊗ L(q+1). Then the main technical result of the thesis is: κ Theorem 1.4 (Corollary4.2). The L -structure on H s(A⊗ L) transferred from ∞ ∗ κ the derivations DerL//L, respects the shifted weight grading in the sense that for any r ≥1 the operation (cid:96) has bidegree (2−r,2−r). r From this we obtain several structural results about H (sA⊗ L), and thus the ∗ κ homotopyLiealgebraπ (autX,1 )⊗Q. WeidentifypartofthehomologyasDerL ∗ X and part as DerA and show: Theorem1.5(cf. StructureTheorem4.8). LetX beaKoszulspacewithhomotopy Lie algebra L. The graded Lie algebra π (aut X,1 )⊗Q is a split extension of ∗ ∗ X the positive derivations (DerL) . >0