I have seen it asserted several times that it is well-known that the boundary of any manifold that is itself a boundary of a higher-dimensional manifold must always be empty. Yet, despite it supposedly being well-known, I have not been able to find any proof of this theorem. I have also searched through two popular topology textbooks – Topology by Munkres and Algebraic Topology by Hatcher – but have not been able to find this theorem. Is there any reputable source, such as a well-known topology textbook, that discusses this theorem and provides a proof? Or, if anyone here has a (relatively basic) proof of this theorem, I'd appreciate it.
The boundary of any manifold that is itself a boundary of a higher-dimensional manifold must always be empty?
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@QiaochuYuan comment is very wise; too bad he had no time to expand it into a full answer.
My reference book here is "Topologie algébrique", Yves Félix & Daniel Tanré, in French.
(First: one must not confuse a boundary in general topology, and a boundary in algebraic topology. Although related, the two concepts have different definitions and properties. In general topology, in the usual case $\delta$ is idempotent: $\delta \circ \delta = \delta$; in algebraic topology, as you noted, $\delta \circ \delta = 0$. You are certainly aware of that, this is more a note for other readers).
The fact that $\delta \circ \delta = 0$ is key in homology. It is in fact part of the definition of a chain complex:
a sequence of $R$-modules$^{(*)}$ ($R$ is a commutative ring) $C_n$ and morphisms of $R$-modules $d_n$ :
$\dots \overset {d_{n+1}} \longrightarrow C_n \overset {d_n} \longrightarrow C_{n-1} \overset {d_{n-1}} \longrightarrow \dots \overset {d_1} \longrightarrow C_0 \overset {d_0} \longrightarrow 0$
where $\forall n \ge 1, d_n \circ d_{n-1} = 0$.
Boundary operator is $\delta = (d_n)_n$.
(*) This can also be presented with abelian groups, but $R$-modules are more general, and any abelian group can be made into a $\mathbb Z$-module by repeated addition, i.e. $n.x = x+x+ \dots +x$.
The $R$-module of $n$-degree cycles, $Z_n$, is by definition $d_n$ kernel.
The $R$-module of $n$-degree boundaries, $B_n$, is by definition $d_{n+1}$ image.
As $d_{n+1} \circ d_n = 0$, $B_n \subset Z_n$: all boundaries are cycles.
Quotient $H_n = Z_n / B_n$ is called the $n^{\text{th}}$ homology module of $(C_*,d)$ complex. If all cycles are boundaries, then $H_n=0$.
And then definitions go on with chain complex morphisms, short exact sequences of chain complexes, long exact sequences, etc. The fact that by definition $\delta \circ \delta = 0$ plays a key role in all results.
Now, how does that fit with geometric intuition?
In the case of simplicial homology, complexes are constructed using oriented simplexes.
If we denote by $\langle a_1, a_2, \dots, a_n \rangle$ the oriented simplex whose vertices are $a_1, a_2, \dots, a_n$,
for any permutation $\sigma$,
$\langle a_{\sigma(1)}, a_{\sigma(2)}, \dots, a_{\sigma(n)} \rangle = (-1)^{\varepsilon(\sigma)} \langle a_1, a_2, \dots, a_n \rangle$, where $\varepsilon(\sigma)$ is the sign of the permutation.
Then the boundary operator $\delta$ is defined by $\delta \langle a_1, a_2, \dots, a_n \rangle = \sum\limits_{k=1}^n (-1)^{k+1} \langle a_1, a_2, \dots, {{\overset - a}_k}, \dots, a_n \rangle$, where ${{\overset - a}_k}$ means: suppress $a_k$.
With this, when calculating $\delta \circ \delta$, terms cancel each other and we end with $\delta \circ \delta = 0$.
Intuitively, this comes from the fact that in an $n$-simplex, the $n-2$ simplexes are each present twice, as boundaries of two $n-1$-simplexes, and their orientation is opposite, so they cancel each other in $\delta \circ \delta$.
Singular homology shows similar definitions and results.
This intuition is of course less clear in the case of manifolds. However I am content with the fact that, in general, continuous theories can be seen as limits of discrete theories, and algebraic topology is full of such cases.
This is the proposition on page 59, Chapter 2 in Guillemin and Pollack, Differential Topology:
A proof is given immediately after. Note the identification of manifolds without boundary and manifolds with empty boundary on the previous page.
The crucial point is that if $\varphi : U \to \mathbf{R}^{n-1} \times \mathbf{R}_{\ge 0}$ is a chart for $X$ (with $U \cap \partial X \ne \varnothing$) then the restriction $\varphi : U \cap \partial X \to \mathbf{R}^{n-1} \times \{0\}$ is a chart for $\partial X$.