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This paper investigates a real-valued topological invariant of 3-manifolds called topological volume. For a given 3-manifold M it is defined as the smallest volume of the complement of a (possibly empty) hyperbolic link in M. Various refinements of this invariant are given, asymptotically tight upper and lower bounds are determined, and all non-hyperbolic closed 3-manifolds with topological volume of at most 3.07 are classified. Moreover, it is shown that for all but finitely many lens spaces, the volume minimiser is obtained by Dehn filling one of the cusps of the complement of the Whitehead link or its sister manifold., Comment: 26 pages, 5 figures

Let $M$ be a compact 3--manifold with boundary a single torus. We present upper and lower complexity bounds for closed 3--manifolds obtained as even Dehn fillings of $M.$ As an application, we characterise some infinite families of even Dehn fillings of $M$ for which our method determines the complexity of its members up to an additive constant. The constant only depends on the size of a chosen triangulation of $M$, and the isotopy class of its boundary. We then show that, given a triangulation $\mathcal T$ of $M$ with $2$--triangle torus boundary, there exist infinite families of even Dehn fillings of $M$ for which we can determine the complexity of the filled manifolds with a gap between upper and lower bound of at most $13 |\mathcal T| + 7.$ This result is bootstrapped to obtain the gap as a function of the size of an ideal triangulation of the interior of $M$, or the number of crossings of a knot diagram. We also show how to compute the gap for explicit families of fillings of knot complements in the three-sphere. The practicability of our approach is demonstrated by determining the complexity up to a gap of at most 10 for several infinite families of even fillings of the figure eight knot, the pretzel knot $P(-2,3,7)$, and the trefoil., Comment: 23 pages, 10 figures, 3 tables

This paper presents, for the special case of once-punctured torus bundles, a natural method to study the character varieties of hyperbolic 3-manifolds that are bundles over the circle. The main strategy is to restrict characters to the fibre of the bundle, and to analyse the resulting branched covering map. This allows us to extend results of Steven Boyer, Erhard Luft and Xingru Zhang. Both $SL(2, \mathbb{C})$-character varieties and $PSL(2, \mathbb{C})$-character varieties are considered. As an explicit application of these methods, we build on work of Baker and Petersen to show that there is an infinite family of hyperbolic once-punctured bundles with canonical curves of $PSL(2, \mathbb{C})$-characters of unbounded genus., Comment: 38 pages, 3 figures, 2 tables

Previous work of the authors with Bus Jaco determined a lower bound on the complexity of cusped hyperbolic 3-manifolds and showed that it is attained by the monodromy ideal triangulations of once-punctured torus bundles. This paper exhibits an infinite family of minimal ideal triangulations of Dehn fillings on the link $8^3_9$ that also attain this lower bound on complexity., Comment: 18 pages, 10 figures, 3 tables

A theory of transversely oriented spun-normal immersed surfaces in ideally triangulated 3--manifolds is developed in this paper, including linear functionals determining the boundary curves, Euler characteristic and homology class of these immersions. This is used to develop and implement an algorithm to compute the unit ball of the Thurston norm for cusped hyperbolic 3--manifolds of finite volume. As an application of independent interest, we give an upper bound on the minimal entropy of pseudo-Anosov maps of surfaces with number of cusps bounded linearly in genus., Comment: 37 pages, 13 figures

We give three algorithms to determine the crosscap number of a knot in the 3-sphere using $0$-efficient triangulations and normal surface theory. Our algorithms are shown to be correct for a larger class of complements of knots in closed 3-manifolds. The crosscap number is closely related to the minimum over all spanning slopes of a more general invariant, the slope norm. For any irreducible 3-manifold $M$ with incompressible boundary a torus, we give an algorithm that, for every slope on the boundary that represents the trivial class in $H_1(M; \mathbb{Z}_2)$, determines the maximal Euler characteristic of any properly embedded surface having a boundary curve of this slope. We complement our theoretical work with an implementation of our algorithms, and compute the crosscap number of knots for which previous methods would have been inconclusive. In particular, we determine 196 previously unknown crosscap numbers in the census of all knots with up to 12 crossings., Comment: 36 pages, 14 figures, 2 tables. Improved algorithms to work in quadrilateral coordinates and included computational results

This is an expository proof that, if $M$ is a compact $n$-manifold with no boundary, then the set of holonomies of strictly-convex real-projective structures on $M$ is a subset of $\operatorname{Hom}(\pi_1M,\operatorname{PGL}(n+1,\mathbb RR))$ that is both open and closed., Comment: Improved exposition, and figures added

Suppose $E$ is an end of an irreducible, properly convex, real-projective $n$-manifold $M$. If $\pi_1E$ contains a subgroup of finite index isomorphic to ${\mathbb Z}^{n-1}$, and $E\hookrightarrow M$ is $\pi_1$-injective, then $E$ is a generalized cusp. We list some consequences when all ends are of this type. Under certain hypotheses we prove the holonomy of a properly convex manifold is irreducible.

Suppose $G$ is finitely generated group and $\mathcal{C}(G)$ consists of all $\rho:G\to\operatorname{PGL}(n+1,\mathbb{R})$ for which there exists a properly convex set in $\mathbb{R}\mathbb{P}^n$ that is preserved by $\rho(G)$. Then the image of $\mathcal{C}(G)$ is closed in the character variety. Suppose $G$ does not contain an infinite, normal, abelian subgroup and $\mathcal{D}(G)\subset\mathcal{C}(G)$ is the subset of holonomies of properly-convex $n$-manifolds with fundamental group $G$. Then the image $\mathcal{D}(G)$ is closed in the character variety. If $M$ is the interior of a compact $n$-manifold and $G=\pi_1M$ is as above, and either $M$ is closed, or $\pi_1M$ contains a subgroup of infinite index isomorphic to $\mathbb{Z}^{n-1}$, then $\mathcal{D}(G)$ is closed. If, in addition, $M$ is the interior of a compact manifold $N$ such that every component of $\partial N$ is $\pi_1$-injective, and finitely covered by a torus, then every element of $\mathcal{D}(G)$ is the holonomy of a properly-convex structure on $M$, and $\mathcal{D}(G)$ is a union of connected components of a semi-algebraic set.

We compute and analyse the moduli space of those real projective structures on a hyperbolic 3-orbifold that are modelled on a single ideal tetrahedron in projective space. Parameterisations are given in terms of classical invariants, traces, and geometric invariants, cross ratios., Comment: 9 pages, 1 figure

This paper illustrates a computational approach to Culler-Morgan-Shalen theory using ideal triangulations, spun-normal surfaces and tropical geometry. Certain affine algebraic sets associated to the Whitehead link complement as well as their logarithmic limit sets are computed. The projective solution space of spun-normal surface theory is related to the space of incompressible surfaces and to the unit ball of the Thurston norm. It is shown that all boundary curves of the Whitehead link complement are strongly detected by its character variety. The specific results obtained can be used to study the geometry and topology of the Whitehead link complement and its Dehn surgeries. The methods can be applied to any cusped hyperbolic 3--manifold of finite volume., Comment: 44 pages, 15 figures, 7 tables

Generalising a seminal result of Epstein and Penner for cusped hyperbolic manifolds, Cooper and Long showed that each decorated strictly convex projective cusped manifold has a canonical cell decomposition. Penner used the former result to describe a natural cell decomposition of decorated Teichm\"uller space of punctured surfaces. We extend this cell decomposition to the moduli space of decorated strictly convex projective structures of finite volume on punctured surfaces. The proof uses Fock and Goncharov's $\mathcal{A}$-coordinates for doubly decorated structures. In addition, we describe a simple, intrinsic edge-flipping algorithm to determine the canonical cell decomposition associated to a point in moduli space, and show that Penner's centres of Teichm\"uller cells are also natural centres of the cells in moduli space. We show that in many cases, the associated holonomy groups are semi-arithmetic., Comment: 44 pages, 16 Figures

We present a practical algorithm to test whether a 3-manifold given by a triangulation or an ideal triangulation contains a closed essential surface. This property has important theoretical and algorithmic consequences. As a testament to its practicality, we run the algorithm over a comprehensive body of closed 3-manifolds and knot exteriors, yielding results that were not previously known. The algorithm derives from the original Jaco-Oertel framework, involves both enumeration and optimisation procedures, and combines several techniques from normal surface theory. Our methods are relevant for other difficult computational problems in 3-manifold theory, such as the recognition problem for knots, links and 3-manifolds., Comment: 25 pages, 15 figures; journal version of the conference paper arXiv:1212.1531

A celebrated result concerning triangulations of a given closed 3-manifold is that any two triangulations with the same number of vertices are connected by a sequence of so-called 2-3 and 3-2 moves. A similar result is known for ideal triangulations of topologically finite non-compact 3-manifolds. These results build on classical work that goes back to Alexander, Newman, Moise, and Pachner. The key special case of 1-vertex triangulations of closed 3-manifolds was independently proven by Matveev and Piergallini. The general result for closed 3-manifolds can be found in work of Benedetti and Petronio, and Amendola gives a proof for topologically finite non-compact 3-manifolds. These results (and their proofs) are phrased in the dual language of spines. The purpose of this note is threefold. We wish to popularise Amendola's result; we give a combined proof for both closed and non-compact manifolds that emphasises the dual viewpoints of triangulations and spines; and we give a proof replacing a key general position argument due to Matveev with a more combinatorial argument inspired by the theory of subdivisions., Comment: Minor corrections. To appear in L'Enseignement Math\'ematique. 41 pages, 42 figures

The Heegaard genus of a 3-manifold, as well as the growth of Heegaard genus in its finite sheeted cover spaces, has extensively been studied in terms of algebraic, geometric and topological properties of the 3-manifold. This note shows that analogous results concerning the trisection genus of a smooth, orientable 4-manifold have more general answers than their counterparts for 3-manifolds. In the case of hyperbolic 4-manifolds, upper and lower bounds are given in terms of volume and a trisection of the Davis manifold is described., Comment: 5 pages

Previous work of the authors studies minimal triangulations of closed 3-manifolds using a characterisation of low degree edges, embedded layered solid torus subcomplexes and 1-dimensional $\mathbb{Z}_2$-cohomology. The underlying blueprint is now used in the study of minimal ideal triangulations. As an application, it is shown that the monodromy ideal triangulations of the hyperbolic once-punctured torus bundles are minimal., Comment: 34 pages, 20 figures, Accepted for publication by the Journal of Topology

Closed essential surfaces in a three-manifold can be detected by ideal points of the character variety or by algebraic non-integral representations. We give examples of closed essential surfaces not detected in either of these ways. For ideal points, we use Chesebro's module-theoretic interpretation of Culler-Shalen theory. As a corollary, we construct an infinite family of closed hyperbolic Haken 3-manifolds with no algebraic non-integral representations into PSL(2, C), resolving a question of Shanuel and Zhang., Comment: 9 pages, 1 figure. Version 2 includes internally referenced ancillary files

These notes grew out of our learning and applying the methods of Fock and Goncharov concerning moduli spaces of real projective structures on surfaces with ideal triangulations. We give a self-contained treatment of Fock and Goncharov's description of the moduli space of framed marked properly convex projective structures with minimal or maximal ends, and deduce results of Marquis and Goldman as consequences. We also discuss the Poisson structure on moduli space and its relationship to Goldman's Poisson structure on the character variety., Comment: 65 pages, 26 fugures

Gay and Kirby recently introduced the concept of a trisection for arbitrary smooth, oriented closed 4-manifolds, and with it a new topological invariant, called the trisection genus. This paper improves and implements an algorithm due to Bell, Hass, Rubinstein and Tillmann to compute trisections using triangulations, and extends it to non-orientable 4-manifolds. Lower bounds on trisection genus are given in terms of Betti numbers and used to determine the trisection genus of all standard simply connected PL 4-manifolds. In addition, we construct trisections of small genus directly from the simplicial structure of triangulations using the Budney-Burton census of closed triangulated 4-manifolds. These experiments include the construction of minimal genus trisections of the non-orientable 4-manifolds $S^3 \tilde{\times} S^1$ and $\mathbb{R}P^4$., Comment: 16 pages, 2 figures, 5 tables

In this sequel to earlier papers by three of the authors, we obtain a new bound on the complexity of a closed 3--manifold, as well as a characterisation of manifolds realising our complexity bounds. As an application, we obtain the first infinite families of minimal triangulations of Seifert fibred spaces modelled on Thurston's geometry $\widetilde{\text{SL}_2(\mathbb{R})}.$, Comment: 21 pages, 10 figures

Algorithms that decompose a manifold into simple pieces reveal the geometric and topological structure of the manifold, showing how complicated structures are constructed from simple building blocks. This note describes a way to algorithmically construct a trisection, which describes a $4$-dimensional manifold as a union of three $4$-dimensional handlebodies. The complexity of the $4$-manifold is captured in a collection of curves on a surface, which guide the gluing of the handelbodies. The algorithm begins with a description of a manifold as a union of pentachora, or $4$-dimensional simplices. It transforms this description into a trisection. This results in the first explicit complexity bounds for the trisection genus of a $4$-manifold in terms of the number of pentachora ($4$-simplices) in a triangulation., Comment: 15 pages, 9 figures

The fundamental groups of compact 3-manifolds are known to be residually finite. Feng Luo conjectured that a stronger statement is true, by only allowing finite groups of the form $PGL(2,R),$ where $R$ is some finite commutative ring with identity. We give an equivalent formulation of Luo's conjecture via faithful representations and provide various examples and a counterexample., Comment: 17 pages

The hyperbolic dodecahedral space of Weber and Seifert has a natural non-positively curved cubulation obtained by subdividing the dodecahedron into cubes. We show that the hyperbolic dodecahedral space has a 6-sheeted irregular cover with the property that the canonical hypersurfaces made up of the mid-cubes give a very short hierarchy. Moreover, we describe a 60-sheeted cover in which the associated cubulation is special. We also describe the natural cubulation and covers of the spherical dodecahedral space (aka Poincar\'e homology sphere)., Comment: 15 pages + 6 pages appendix, 7 figures, 4 tables

In a series of papers the authors associated to an $L^2$-acyclic group $\Gamma$ an invariant $\mathcal{P}(\Gamma)$ that is a formal difference of polytopes in the vector space $H_1(\Gamma;\Bbb{R})$. This invariant is in particular defined for most 3-manifold groups, for most 2-generator 1-relator groups and for all free-by-cyclic groups. In most of the above cases the invariant can be viewed as an actual polytope. In this survey paper we will recall the definition of the polytope invariant $\mathcal{P}(\Gamma)$ and we state some of the main properties. We conclude with a list of open problems., Comment: 19 pages, 4 figures

Recently Gay and Kirby described a new decomposition of smooth closed $4$-manifolds called a trisection. This paper generalises Heegaard splittings of $3$-manifolds and trisections of $4$-manifolds to all dimensions, using triangulations as a key tool. In particular, we prove that every closed piecewise linear $n$-manifold has a multisection, i.e. can be divided into $k+1$ $n$-dimensional $1$-handlebodies, where $n=2k+1$ or $n=2k$, such that intersections of the handlebodies have spines of small dimensions. Several applications, constructions and generalisations of our approach are given., Comment: 23 pages, 6 figures

We show that associating the Euclidean cell decomposition due to Cooper and Long to each point of the moduli space of framed strictly convex real projective structures of finite volume on the once-punctured torus gives this moduli space a natural cell decomposition. The proof makes use of coordinates due to Fock and Goncharov, the action of the mapping class group as well as algorithmic real algebraic geometry. We also show that the decorated moduli space of framed strictly convex real projective structures of finite volume on the thrice-punctured sphere has a natural cell decomposition., Comment: 22 pages, 7 figures; v2: small edits and correction of typographical errors

Cooper and Long generalised Epstein and Penner's Euclidean cell decomposition of cusped hyperbolic manifolds of finite volume to non-compact strictly convex projective manifolds of finite volume. We show that Weeks' algorithm to compute this decomposition for a hyperbolic surface generalises to strictly convex projective surfaces., Comment: 15 pages, 10 figures

We study a properly convex real projective manifold with (possibly empty) compact, strictly convex boundary, and which consists of a compact part plus finitely many convex ends. We extend a theorem of Koszul which asserts that for a compact manifold without boundary the holonomies of properly convex structures form an open subset of the representation variety. We also give a relative version for non-compact (G,X)-manifolds of the openess of their holonomies., Comment: Exposition improved and references added

We generalise work of Young-Eun Choi to the setting of ideal triangulations with vertex links of arbitrary genus, showing that the set of all (possibly incomplete) hyperbolic cone-manifold structures realised by positively oriented hyperbolic ideal tetrahedra on a given topological ideal triangulation and with prescribed cone angles at all edges is (if non-empty) a smooth complex manifold of dimension the sum of the genera of the vertex links. Moreover, we show that the complex lengths of a collection of peripheral elements give a local holomorphic parameterisation of this manifold., Comment: 19 pages, 4 figures, 2 tables; to appear in the Proceedings of the American Mathematical Society

In 1976 Thurston associated to a $3$-manifold $N$ a marked polytope in $H_1(N;\mathbb{R}),$ which measures the minimal complexity of surfaces representing homology classes and determines all fibered classes in $H^1(N;\mathbb{R})$. Recently the first and the last author associated to a presentation $\pi$ with two generators and one relator a marked polytope in $H_1(\pi;\mathbb{R})$ and showed that it determines the Bieri-Neumann-Strebel invariant of $\pi$. In this paper, we show that if the fundamental group of a 3-manifold $N$ admits such a presentation $\pi$, then the corresponding marked polytopes in $H_1(N;\mathbb{R})=H_1(\pi;\mathbb{R})$ agree., Comment: 20 pages, 2 figures

For a smooth, closed $n$-manifold $M$, we define an upper semi-continuous integer-valued complexity function on $H^1(M;{\mathbb R})$ using Morse theory. This measures how far an integral class is from being a fiber of a fibration. The fact complexity minimisers are open generalises Tischler's result on the openness of classes dual to fibrations. We then use this to define a complexity function on 1-dimensional cohomology of a finitely presented group, which is constant on open rays from the origin and vanishes precisely on the geometric invariant due to Bieri, Neumann and Strebel., Comment: 13 pages, to appear in Proceedings of the 5th Japanese-Australian Workshop on Real and Complex Singularities

We use Fox calculus to assign a marked polytope to a `nice' group presentation with two generators and one relator. Relating the marked vertices to Novikov-Sikorav homology we show that they determine the Bieri-Neumann-Strebel invariant of the group. Furthermore we show that in many cases the marked polytope is an invariant of the underlying group and that in those cases the marked polytope also determines the minimal complexity of all the associated HNN-splittings., Comment: 33 pages, 5 figures

We prove that the homeomorphism problem for 2-manifolds can be decided in logspace. The proof relies on Reingold's logspace solution to the undirected $s,t$-connectivity problem in graphs., Comment: 11 pages, 2 figures

We define essential and strongly essential triangulations of 3-manifolds, and give four constructions using different tools (Heegaard splittings, hierarchies of Haken 3-manifolds, Epstein-Penner decompositions, and cut loci of Riemannian manifolds) to obtain triangulations with these properties under various hypotheses on the topology or geometry of the manifold. We also show that a semi-angle structure is a sufficient condition for a triangulation of a 3-manifold to be essential, and a strict angle structure is a sufficient condition for a triangulation to be strongly essential. Moreover, algorithms to test whether a triangulation of a 3-manifold is essential or strongly essential are given., Comment: 30 pages, 14 figures. Exposition improved

This paper gives sharp linear bounds on the genus of a normal surface in a triangulated compact, orientable 3--manifold in terms of the quadrilaterals in its cell decomposition---different bounds arise from varying hypotheses on the surface or triangulation. Two applications of these bounds are given. First, the minimal triangulations of the product of a closed surface and the closed interval are determined. Second, an alternative approach to the realisation problem using normal surface theory is shown to be less powerful than its dual method using subcomplexes of polytopes., Comment: 38 pages, 25 figures

This paper introduces even triangulations of n-dimensional pseudo-manifolds and links their combinatorics to the topology of the pseudo-manifolds. This is done via normal hypersurface theory and the study of certain symmetric representation. In dimension 3, necessary and sufficient conditions for the existence of even triangulations having one or two vertices are given. For Haken n-manifolds, an interesting connection between very short hierarchies and even triangulations is observed., Comment: 28 pages, 6 figures

We define a new combinatorial class of triangulations of closed 3-manifolds, satisfying a weak version of 0-efficiency combined with a weak version of minimality, and study them using twisted squares. As an application, we obtain strong restrictions on the topology of a 3-manifold from the existence of non-smooth maxima of the volume function on the space of circle-valued angle structures., Comment: 28 pages, 23 figures; colour printing recommended; to appear in AJM

Let M be an orientable, cusped hyperbolic 3-manifold of finite volume. We show that the restriction map from a Dehn surgery component in the PSL(2,C)-character variety of M to the character variety of the boundary of M is a birational isomorphism onto its image. This generalises a result by Nathan Dunfield. A key step in our proof is the exactness of Craig Hodgson's volume differential on the eigenvalue variety., Comment: 8 pages; minor corrections in light of referee's comments; to appear in Mathematical Research Letters

We present a new, practical algorithm to test whether a knot complement contains a closed essential surface. This property has important theoretical and algorithmic consequences; however, systematically testing it has until now been infeasibly slow, and current techniques only apply to specific families of knots. As a testament to its practicality, we run the algorithm over a comprehensive body of 2979 knots, including the two 20-crossing dodecahedral knots, yielding results that were not previously known. The algorithm derives from the original Jaco-Oertel framework, involves both enumeration and optimisation procedures, and combines several techniques from normal surface theory. This represents substantial progress in the practical implementation of normal surface theory, in that we can systematically solve a theoretically double exponential-time problem for significant inputs. Our methods are relevant for other difficult computational problems in 3-manifold theory, ranging from testing for Haken-ness to the recognition problem for knots, links and 3-manifolds., Comment: 27 pages, 11 figures

This study of properly or strictly convex real projective manifolds introduces notions of parabolic, horosphere and cusp. Results include a Margulis lemma and in the strictly convex case a thick-thin decomposition. Finite volume cusps are shown to be projectively equivalent to cusps of hyperbolic manifolds. This is proved using a characterization of ellipsoids in projective space. Except in dimension 3, there are only finitely many topological types of strictly convex manifolds with bounded volume. In dimension 4 and higher, the diameter of a closed strictly convex manifold is at most 9 times the diameter of the thick part. There is an algebraic characterization of strict convexity in terms of relative hyperbolicity., Comment: 52 pages, 10 figures, minor corrections and additional references