Abstract
In this article, we investigate regular curves whose derivatives have vanishing mean oscillations. We show that smoothing these curves using a standard mollifier one gets regular curves again. We apply this result to solve a couple of open problems. We show that curves with finite Möbius energy can be approximated by smooth curves in the energy space \(W^{\frac{3}{2},2}\) such that the energy converges which answers a question of He. Furthermore, we prove conjectures by Ishizeki and Nagasawa on certain parts of a decomposition of the Möbius energy and extend a theorem of Wu on inscribed polygons to curves with derivatives with vanishing mean oscillation. Finally, we show that the result by Scholtes on the \(\varGamma \)-convergence of the discrete Möbius energies towards the Möbius energy also holds for curves of merely bounded energy.
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1 Introduction
Approximating functions by functions with better regularity properties was, is, and will certainly remain to be one of the most important techniques in analysis. In this short note, we want to contribute to this topic. We consider regularly closed curves with regularity somewhere between \(C^1\) and merely Lipschitz continuity. One ends up looking at such curves, if one assumes that the curve is parameterized by arc length and lies in some critical fractional Sobolev space \(W^{1+s,\frac{1}{s}}\), \(s \in (0,1)\)—which is known not to embed into \(C^1\). But still the fact that the curve is of class \(W^{1+s, \frac{1}{s}} \) gives us some subtle new information on the derivative that we will use in this article. For example, the derivative of the curve \(\gamma :{\mathbb {R}} / {\mathbb {Z}} \rightarrow {\mathbb {R}}^n\) then belongs to the space \(VMO({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) of all functions with vanishing mean oscillation, i.e.,Footnote 1
Here \(\overline{\gamma '}_{B_r(x)} {:=}\fint _{B_{r}(x)} \gamma '(y) \mathrm{d}y {:=}\frac{1}{2r} \int _{B_{r}(x)} \gamma '(y) \mathrm{d}y\) denotes the integral mean of the function \(\gamma '\) over the ball \(B_r(x).\) Let \(\eta \in C^\infty ({\mathbb {R}}, [0, \infty ))\) be such that \(\eta \equiv 0\) on \({\mathbb {R}} \setminus (-1,1)\) and \(\int _{{\mathbb {R}}} \eta (x) \mathrm{d}x =1\). For \(\varepsilon >0\) we consider the smoothing kernels \(\eta _\varepsilon (x) = \frac{1}{\varepsilon }\eta ( \frac{x}{\varepsilon })\) and set
Though for merely regular curves \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) we cannot expect that the smoothed functions \(\gamma _\varepsilon \) are regular curves, the situation changes drastically, if we assume that \(\gamma '\) has vanishing mean oscillation. We will start with proving the following theorem:
Theorem 1.1
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be a curve parameterized by arc length with \(\gamma '\in VMO ({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\). Then the speed \(|\gamma _\varepsilon '|\) of the convolutions \(\gamma _{\varepsilon }\) defined by (1.1) converges uniformly to \(|\gamma '| = 1\) as \(\varepsilon \rightarrow 0\). So especially, the curves \(\gamma _\varepsilon \) are regular if \(\varepsilon \) is small enough.
Let us also state a useful uniform bi-Lipschitz estimate for the smoothed functions \(\gamma _\varepsilon \), that we will need in the applications later on.
Lemma 1.2
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be an injective curve parameterized by arc length with \(\gamma '\in VMO ({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\). Then there is an \(\varepsilon _0 >0\) such that
Sometimes one might need that also the approximating curves are parameterized by arc length and have the same length as the original curve. In the case that the curve belongs to the fractional Sobolev space \(W^{1+s,\frac{1}{s}}\) for some \(s\in (0,1)\) the following theorem can help. We denote the length of a curve \(\gamma \) by \(L(\gamma )\).
Theorem 1.3
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\cap W^{1+s, \frac{1}{s}}\) be a curve parameterized by arc length and let \(\gamma _\varepsilon \) again denote the convolutions given by (1.1). Furthermore, let \({\tilde{\gamma }}_\varepsilon : {\mathbb {R}} / {\mathbb {Z}} \rightarrow {\mathbb {R}}^n\) be the re-parameterization by arc length of the unit length curve \(\frac{1}{L(\gamma _\varepsilon )} \gamma _\varepsilon \) that satisfies \(\tilde{\gamma }_{\varepsilon }(0) = \frac{1}{L(\gamma _\varepsilon )} \gamma _\varepsilon (0)\). Then \({\tilde{\gamma }}_\varepsilon \) still converges to the curve \(\gamma \) in \(W^{1+s, \frac{1}{s}}\).
In the last section, we will show how to apply the techniques of this article in order to answer some open questions in the literature and settle some conjectures in the context of knot energies. All the statements of the theorems are known for curves that possess more regularity than we can naturally assume. The approximation techniques above allow to extend these statements to curves of bounded Möbius energy—which is the most natural assumption for these theorems. Let us just present one particular open question due to He here.
O’Hara introduced the Möbius energy [10]
for regular curves \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\), which was the first geometric implementation of the concept of knot energy. In the influential paper [6], Freedman et al. discussed many interesting properties of this energy including its invariance under Möbius transformations.
In his article [7], He asked whether any regular curve of bounded Möbius energy can be approximated by smooth curves such that the energy converges. We will use the above approximation result together with the characterization of curves of finite Möbius energy in [3] to give the following answer:
Theorem 1.4
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be a curve parameterized by arc length such that the Möbius energy \( E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma )\) is bounded. Then there is a constant \(\varepsilon _0>0\) such that the \(\gamma _\varepsilon \) are smooth regular curves for all \(0< \varepsilon < \varepsilon _0\) converging to \(\gamma \) in \(W^{\frac{3}{2},2}\) and in energy, i.e., \(E_{\text {m}\ddot{\mathrm{o}}\text {b}} (\gamma _\varepsilon ) \rightarrow E_{\text {m}\ddot{\mathrm{o}}\text {b}} (\gamma )\) for \(\varepsilon \rightarrow 0\).
We hope that the list of applications, although far from being complete, convinces the reader that the results and techniques developed in this article are of considerable importance for the analysis of critical knot energies for curves.
2 Preliminaries
2.1 Fractional Sobolev Spaces
In the applications, we will use the classification of curves of finite energy \(E^\alpha \) in [3] using fractional Sobolev spaces. For \(s \in (0,1)\), \(p \in [1,\infty )\), and \(k\in {\mathbb {N}}_0\) the space \(W^{k+s,p}({\mathbb {R}} / {\mathbb {Z}}, \mathbb R^n)\) consists of all functions \(f\in W^{k,p}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n )\) for which
is finite. This space is equipped with the norm \(\Vert f\Vert _{W^{k+s,p}} {:=}\Vert f\Vert _{W^{k,p}} + \lfloor f^{(k)}\rfloor _{W^{s,p}}.\) For a thorough discussion of the subject of fractional Sobolev spaces, we point the reader to the monograph by Triebel [12], Chapter 7 of [1], and the very nicely written and easily accessible introduction to the subject [5].
The following result is a special case of Theorem 1.1 in [3]:
Theorem 2.1
(Classification of curves with finite Möbius energy) Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be a curve parameterized by arc length. Then the Möbius energy \(E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma )\) is finite if and only if \(\gamma \) is bi-Lipschitz and belongs to \(W^{\frac{3}{2},2}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\).
We will also use the well-known fact, that \(f \in W^{s,p} ({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\), \(s \in (0,1)\), \(p = \frac{1}{s}\), implies \(f \in VMO ({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\). This follows, for example, from
for \(r \rightarrow 0\).
Applying this to \(f= \gamma '\), in view of Theorem 2.1, the velocity of a curve parameterized by arc length of finite Möbius energy belongs to VMO. Hence, we can apply Theorem 1.1 in this situation.
2.2 Vitali’s Theorem
Apart from the approximation results from the last section, our applications heavily rely on Vitali’s characterization of \(L^1\) convergence.
Theorem 2.2
(Vitali’s theorem, cf. [2]). A sequence \(f_n\), \(n \in {\mathbb {N}}\), of \(L^1\) functions in a measure space \((X, \sigma , \mu )\) converges to f in \(L^1\) if and only if the following three conditions hold:
- (1)
\(f_n\) converges in measure to f, i.e., for all \(\varepsilon >0\)
$$\begin{aligned} \lim _{n \rightarrow \infty } \mu (|f_n - f| > \varepsilon ) =0. \end{aligned}$$ - (2)
\(f_n\) is uniformly integrable, i.e., for every \(\varepsilon >0\) there is a \(\delta >0\) such that \(\mu (E) < \delta \) for a measurable \(E \subset X\) implies
$$\begin{aligned} \int _E |f_n| d\mu < \varepsilon \end{aligned}$$for all \(n \in {\mathbb {N}}\).
- (3)
\(f_n\) is tight, i.e., for every \(\varepsilon >0\) there is a measurable \(E \subset X\) of finite measure such that
$$\begin{aligned} \int _{X\setminus E}|f_n| d\mu < \varepsilon \end{aligned}$$for all \(n \in {\mathbb {N}}\).
Of course, every sequence of measurable functions on a finite measure space is tight.
3 Approximation by Smooth Curves: Proof of Theorem 1.1, Lemma 1.2, and Theorem 1.3
Proof of Theorem 1.1
Note that \(\int _{{\mathbb {R}}} \eta _\varepsilon (x) \mathrm{d}x =1\) and \(\Vert \gamma '\Vert _{L^\infty } \le 1 \) imply
for all \(x \in {\mathbb {R}} / {\mathbb {Z}}\).
For \(r \le \frac{1}{2}\), let us set
where
denotes the integral mean.
We calculate using the triangle inequality and the estimate above
So we derive
Since
as \(\varepsilon \rightarrow 0\) since \(\gamma '\) has vanishing mean oscillation, we deduce that \(|\gamma _\varepsilon '| \rightarrow |\gamma '|=1\) uniformly as \(\varepsilon \rightarrow 0\). So especially \(\gamma _{\varepsilon }\) is a regular curve for \(\varepsilon >0\) small enough. This completes the proof of Theorem 1.1.
Proof of Lemma 1.2
We first note that the bound in VMO of the first derivative for \(\gamma \) is inherited by the curves \(\gamma _\varepsilon \); more precisely, we have (using Fubini twice and substituting variables appropriately)
So we have
For \(x\not =y\), \(r=\frac{|x-y|}{2}\), and \(z=\frac{x+y}{2}\), we can now estimate
where we have used (3.1) with \(\gamma \) replaced by \(\gamma _\varepsilon \), (3.2), and (3.3). If we now choose \(r_0 >0\) and \(\varepsilon _0>0\) small enough, we get
for all \(0< \varepsilon < \varepsilon _0\) and \(0< r < r_0\).
Since \(\gamma \) is injective, continuous, and \(K{:=}\{(x,y) \in ({\mathbb {R}} / {\mathbb {Z}})^2: |x-y| \ge r_0 \}\) is compact, we furthermore have
Making \(\varepsilon _0>0\) smaller if necessary, we can guarantee that
for all \(\varepsilon < \varepsilon _0\) which together with the last estimate yields
Hence
Remark 3.1
If we assume that our curve \(\gamma \in C^{0,1}\) is not parameterized by arc length but uniformly regular in the sense that
then the argument of the proof above still shows that \(\gamma _\varepsilon \) is a regular curve for all \(\varepsilon >0\) small enough.
Proof of Theorem 1.3
Let us now consider the curves \({\tilde{\gamma }}_\varepsilon \) which obviously converge to \(\gamma \) uniformly and hence especially in \(L^p\) for \(p = \frac{1}{s}\). We now show that the derivatives of these curves satisfy
using Vitali’s theorem where
denotes the Gagliardo semi-norm that we introduced in Sect. 2.1.
We therefore consider the integrand
To show that for a sequence \(\varepsilon _i \downarrow 0\) the integrands \(I_{\varepsilon _i}\) are uniformly integrable, we use the inequality \(|a+b|^p \le 2^{p-1}(|a|^p+|b|^p)\) to estimate these integrands from above by
Let us now consider the transformation
where \(s=s_\varepsilon \) denotes the re-parameterization of \(\frac{1}{L(\gamma _\varepsilon )} \gamma _\varepsilon \) by arc length such that \(s(0)=0\). Note that since \(\gamma '_\varepsilon \) is uniformly bounded away from 0 by Theorem 1.1, these transformations are uniformly bi-Lipschitz for \(\varepsilon >0\) small enough. For \(E \subset ({\mathbb {R}} / {\mathbb {Z}})^2\), we therefore have
Let us show that the integrands
are uniformly integrable. For this, for \(\varepsilon _0> 0\), we first chose an \(i_0 \in {\mathbb {N}}\) such that
for all \(i > i_0\). We then chose \(\delta >0\) such that for every set \(F \subset ({\mathbb {R}} / {\mathbb {Z}})^2\) with \(|F| \le \delta \) we have
and
for the finite set of indices \(i \in \{1,2, \ldots , i_0\}\). We hence get for \(i \in {\mathbb {N}}\) with \(i >i_0\) using the triangle inequality in \(L^2\)
for all \(F \subset ({\mathbb {R}} / {\mathbb {Z}})^2\) with \(|F| \le \delta .\) This proves that the integrands
are indeed uniformly integrable.
Hence, for every \(\varepsilon _0>0\) there is a \(\delta >0\) such that \(|\psi _{\varepsilon _i}^{-1}(E)|\le \delta \) implies
for all \(i \in {\mathbb {N}}\). But, as the \(\psi _{\varepsilon }^{-1}\) are uniformly Lipschitz for \(\varepsilon >0\) small enough, we get that there is a \({\tilde{\delta }} >0\) such that \(|E| \le {\tilde{\delta }}\) implies \(|\psi ^{-1}_\varepsilon (E)| \le \delta \) and hence
Thus, the \( I_{\varepsilon _i}\) are uniformly integrable.
To show that \(I_\varepsilon \) converges in measure to 0 we show that \({\tilde{\gamma }}'_\varepsilon \) converges to \(\gamma '\) in \(L^p\). This can be seen from the estimate
Since the functions \(s_\varepsilon \) are uniformly bi-Lipschitz for \(\varepsilon >0\) small, we get
Furthermore, for a smooth function f we have
Using again that the \(s_\varepsilon \) are uniformly bi-Lipschitz for small \(\varepsilon \) together with the triangle inequality, we get
and choosing smooth functions f converging to \(\gamma \) in \(W^{1,p}\) we get that
Hence, the integrands \(I_\varepsilon \) converge locally in \(L^1\) to 0 on \(\{(x,y) \in ({\mathbb {R}}/ {\mathbb {Z}})^2 : x \not = y\}\) and hence in measure. As \(I_{\varepsilon _i}\) converges to 0 in measure and is uniformly integrable, we can apply Vitali’s theorem (Theorem 2.2) to prove the claim.
4 Applications
We want to present several applications of Theorem 1.1. We will start with analyzing the convergence of the Möbius energy and the parts of its decomposition found by Ishizeki and Nagasawa if the original curve has bounded Möbius energy. Unfortunately, the smoothed curves \(\gamma _\varepsilon \) in general do not converge in \(W^{1, \infty }\)—so we cannot apply the fact that the Möbius energy is \(C^1\) in \(W^{\frac{3}{2},2} \cap W^{1,\infty }\) [4, Theorem II]. We will show how to use the convergence of \(|\gamma _\varepsilon '|\) from Theorem 1.1 together with bi-Lipschitz estimates in order to prove convergence in energy.
4.1 Convergence of Some Critical Knot Energies
4.1.1 The Möbius Energy
As a first application, we want to answer a question due to He [7, Question 8 in Sect. 7]. He asked, whether a curve of bounded Möbius energy can be approximated by smooth curves such that the energies of these curves converge to the energy of the initial curve. The following lemma shows that this is indeed the case and that one can just use the mollified curves \(\gamma _\varepsilon \). This lemma together with Theorem 1.1 obviously proves Theorem 1.4.
Lemma 4.1
(Convergence of the Möbius energy) Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be parameterized by arc length of finite Möbius energy. Then we have \( E_{\text {m}\ddot{\mathrm{o}}\text {b}} (\gamma _\varepsilon ) \rightarrow E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma )\).
Proof
We use Vitali’s convergence theorem to prove this lemma. Setting \(I_\gamma (x,w){:=}\left( \frac{1}{|\gamma (x+w) - \gamma (x)|^2} - \frac{1}{d_\gamma (x,x+w)^2} \right) |\gamma '(x)| \, |\gamma ' (x+w)|\), we get
As \(|\gamma _\varepsilon '|\) converges pointwise to \(| \gamma '|\) by Theorem 1.1 and \(\gamma _\varepsilon \) converges to \(\gamma \) pointwise, the integrand \(I_{\gamma _\varepsilon }(x,w)\) also converges to \(I_{\gamma }(x,w)\) pointwise. Let us show that the integrands are uniformly integrable. For this purpose, we only have to consider points close to the diagonal, i.e., we will only integrate over \(x,y \in {\mathbb {R}} / {\mathbb {Z}}\) with \(|x-y|\le \frac{1}{4}\), since on the rest of the domain the bi-Lipschitz estimate gives us a uniform bound on the integrand.
We have for \(\varepsilon > 0\) small enough and \(|w|\le \frac{1}{4}\) that \(d_{\gamma _\varepsilon }(x+w,x) = \int _0^1 |\gamma _\varepsilon '(x+sw)|ds\). Together with the identity \(\gamma _\varepsilon (x+w) - \gamma _\varepsilon (x) = w\int _{0}^1 \gamma _\varepsilon '(x+sw)ds\), we get
Using the uniform bi-Lipschitz estimate Lemma 1.2, we get
for all \(\varepsilon >0\) small enough.
As all vectors \( a,b \in {\mathbb {R}}^n \setminus \{0\}\) satisfy
and
we get
Applying this inequality to \(a=\gamma '(x+s_1 w)\) and \(b = \gamma '(x+s_2 w)\) , we arrive at
for all \(|w|\le \frac{1}{4}\) and \(\varepsilon >0\) small enough. Let us now show that \({{\tilde{I}}}_{\gamma _\varepsilon }(x,w)\) converges to \({{\tilde{I}}}_{\gamma }(x,w)\) in \(L^1({\mathbb {R}} / {\mathbb {Z}} \times [-\frac{1}{2}, \frac{1}{2}])\) which implies that \(I_{\gamma _\varepsilon }(x,w) \le C \tilde{I}_{\gamma _\varepsilon }(x,w) \) is uniformly integrable.
Jensen’s inequality followed by Fubini’s theorem and the substitutions \( x = x+s_2 w\), \(w=(s_1-s_2)w\) give
We set
Combining \(||f|^2 -|g|^2| = (|f|+|g|)||f|-|g|| \le (|f|+|g|)|f-g| \) with Cauchy’s inequality, we get
Spelling out the above inequality gives
This shows that the family of functions \(\tilde{I}_{\gamma _\varepsilon }\) converge to \({\tilde{I}}_{\gamma }\) in \(L^1\). Hence, for every sequence \(\varepsilon _i \downarrow 0\), the integrands \(I_{\gamma _{\varepsilon _i}}\) are uniformly integrable and Vitali’s theorem (Theorem 2.2) implies \(E(\gamma _{\varepsilon _i}) \xrightarrow {i \rightarrow \infty } E(\gamma ).\)\(\square \)
4.1.2 Ishizeki’s and Nagasawa’s Decomposition of the Möbius Energy
In [9], Ishizeki and Nagasawa found the decomposition
of the Möbius energy where
\(\tau = \frac{\gamma '}{|\gamma '|}\) and
As in the proof of Lemma 4.1, we can show the following.
Lemma 4.2
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) be a curve of bounded Möbius energy. Then
Proof
It is enough to show the convergence for \(E^1\), as the statement for \(E^2\) follows from the decomposition
by Ishizeki and Nagasawa [9]. As \(\gamma \) has bounded Möbius energy, we know that \(\gamma '\in VMO\). As in the proof of Theorem 1.3 one shows that the integrand in the definition of \(E^1\) converges in measure. From the uniform bi-Lipschitz estimate in Lemma 1.2 and the estimate
and the fact that \(|\gamma _\varepsilon '|\) is uniformly bounded away from 0 for all \(\varepsilon \) sufficiently small, we get
We have shown in the proof of Lemma 4.1 that the right-hand side of this inequality is uniformly integrable for every sequence \(\varepsilon _i \downarrow 0\)—and thus the integrands in the definition of \(E^1\) are uniformly integrable and Vitali’s theorem (Theorem 2.2) implies the assertion. \(\square \)
4.2 Proof of a Conjecture by Ishizeki and Nagasawa
In [9], Ishizeki and Nagasawa proved that for all curves \(\gamma \) in \(C^{1,1}\) we have \(E^1 (\gamma ) \ge 2 \pi ^2\) and conjectured that the same is also true under the weaker but more natural condition \(\gamma \in W^{\frac{3}{2},2}\). Using the techniques we developed so far, we can now prove this conjecture quite easily.
Theorem 4.3
(A conjecture by Nagasawa and Ishizeki). We have \(E^1 (\gamma ) \ge 2 \pi ^2\) for all regular curves \(\gamma \in W^{\frac{3}{2} ,2}({\mathbb {R}} / {\mathbb {Z}} , {\mathbb {R}}^3)\).
Proof
Let \(\gamma _\varepsilon = \gamma *\eta _\varepsilon \). Since
and \(E(\gamma _\varepsilon ) \ge 2\pi ^2\) as the inequality holds for smooth curves, we get \( E^1(\gamma ) \ge 2 \pi ^2.\)\(\square \)
In the same paper, Ishizeki and Nagasawa also showed the Möbius invariance of the energies \(E^1\) and \(E^2\) for curves of bounded Möbius energy except for one important case: the case of an inversion in a sphere centered on the curve. For applications this seems to be one of the most important cases. We can now show that in this last case the energy \(E^1\) decreases by \(2 \pi ^2\), whereas \(E^2\) increases by the same amount
Theorem 4.4
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^3)\) be a regular curve with bounded Möbius energy and I be an inversion in a sphere centered on \(\gamma \). Then
Proof
We only have to show the statement for \(E^1\) as due to a theorem of Ishizeki and Nagasawa the sum
is known to be invariant under all Möbius transformations [8].
Let us assume that \(\gamma \) is parameterized by arc length. We set \(\gamma _\varepsilon {:=}\gamma *\eta _\varepsilon \) and assume without loss of generality, that 0 is the center of the inversion I. Then we can find \(x_\varepsilon \rightarrow 0\) such that \(0 \in \gamma _\varepsilon ({\mathbb {R}} / {\mathbb {Z}}) + x_\varepsilon .\) Let us denote by \({\tilde{\gamma }}_\varepsilon : \mathbb R \rightarrow {\mathbb {R}}^n\) a re-parameterization of \(I \circ (\gamma _\varepsilon - x_\varepsilon )\) by arc length such that \({\tilde{\gamma }}_\varepsilon (0)= (I \circ \gamma _{\varepsilon })(0)\) and let \({\tilde{\gamma }}: {\mathbb {R}} \rightarrow {\mathbb {R}}^n\) a re-parameterization of \(I \circ \gamma \) by arc length such that \({\tilde{\gamma }}(0)= (I \circ \gamma )(0)\). Then \(\tilde{\gamma }_\varepsilon \) converges pointwise to \({\tilde{\gamma }}\).
The proof now relies on the following
Claim 4.5
We have
where
denotes the Gagliardo semi-norm on \({\mathbb {R}}.\)
Let us use this claim to prove the statement for \(E^1\) in Theorem 4.4. On the one hand, Lemma 4.2 and the Möbius invariance for smooth curves imply
Note that \({\tilde{\gamma }}_\varepsilon \) have uniformly bounded Möbius energy and are thus uniformly bi-Lipschitz. So on the other hand, we can use the estimate
and follow the argument in the proof of Lemma 4.1 to see that the integrands in the definition of the energies \(E^1({\tilde{\gamma }}_\varepsilon )\) satisfy the assumptions of Vitali’s theorem. Hence,
\(\square \)
Proof of Claim 4.5
We will show that the integrands appearing in the definition of
are tight and uniformly integrable on compact subsets and converge in measure on compact subsets to 0. Then the claim essentially follows from Vitali’s theorem. These integrands are
As in the proof of Theorem 1.3, one sees that \(\gamma '_\varepsilon \) converge in measure to \(\gamma '\) and hence the integrands converge in measure to 0 on compact subsets.
Let us first deal with the point \(\infty \) and show that for every \(\delta >0\) there is an \(R>0\) such that
for all \(\varepsilon >0\) small enough. For this, we use the Möbius invariance of the Möbius energy [6, Theorem 2.1]. Together with Fatou’s lemma the latter implies
Hence,
For \(\delta >0\), we now choose \(R>0\) such that
Then
for \(\varepsilon >0\) small enough, since else the lower semi-continuity of the Möbius energy would imply
In view of (4.6), we even obtain
for all \(\varepsilon >0\) sufficiently small and hence
So the energy does not concentrate at the point infinity. Let us translate this into a statement for the Gagliardo semi-norm.
One estimates
With \(f(t){:=}{\tilde{\gamma }}_\varepsilon '(x+tw)\), we find using that \({\tilde{\gamma }}_\varepsilon \) is parameterized by arc length that
and hence
Applying Lemma 2.2 in [3] with \(q=2\) and \(\varepsilon = \frac{1}{2} \), we get
Thus the right-hand side of (4.8) can further be estimated from below by
Using Fubini and substituting \(w=t_1(y-x)\) and \(w=(1- t_2) (y-x)\), respectively, we get the estimate
Plugging these estimates into (4.8), we get for \(\sigma \in (0,1)\)
The Gagliardo semi-norm on the right-hand side can be bounded by the Möbius energy which is uniformly bounded for our curves. Choosing first \(\sigma \in (0,1)\) small enough and then \(R>0\) big enough we get (4.5).
We will now deduce that
again using Vitali’s theorem. As noted before, we know that the integrand converges to 0 in measure.
To show uniform integrability of the integrands, we use \(|a+b| \le 2(|a|^2 + |b|^2)\) valid for \(a,b \in {\mathbb {R}}^n\) to get the estimate
Of course, one only has to show that the first summand is uniformly integrable for a sequence \(\varepsilon _i \downarrow 0\). This can be done using the same arguments as in the proof of Theorem 1.3.
Hence, Vitali’s theorem (Theorem 2.2) implies that
Let us now conclude the proof of the claim. For \(\delta >0\) we first use (4.5) to get an \(R>0\) such that
for all \(\varepsilon >0\) small enough and
Then (4.9) implies
and thus
With the help of Theorem 4.4, we can now also discuss the case of equality in Theorem 4.3 to get the following extension of Corollary 4.1 in [9].
Theorem 4.6
We have \(E^1 (\gamma ) \ge 2 \pi ^2\) for all regular curves \(\gamma \in W^{\frac{3}{2} ,2}({\mathbb {R}} / {\mathbb {Z}} , {\mathbb {R}}^3)\) with equality if and only if \(\gamma \) is a circle.
We omit the proof of Theorem 4.6 as it is literally the same as the proof of Corollary 4.1 in [9] where one only uses Theorem 4.4 instead of Theorem 1.2 in [9].
4.3 Inscribing Equilateral polygons
With the tools we have at hand, we can also extend a result of Wu [13] on inscribed equilateral polygons in the following way
Theorem 4.7
Let \(\gamma \in C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^d)\) be a uniformly regular curve, i.e.,
with \(\gamma ' \in VMO\) that is injective. Then for every \(n\in {\mathbb {N}}\), \(n \ge 2\), and any \(x_0 \in {\mathbb {R}} / {\mathbb {Z}}\), there is an inscribed equilateral n-gon with the starting point \(\gamma (x_0).\)
The proof is based on the fact, that there is a lower bound \(c_n >0\) of the Gromov distortion of equilateral n-gons as the infimum of the Gromov distortion is attained for an equilateral n-gon and thus cannot be 0. We approximate \(\gamma \) by the smooth curves \(\gamma _\varepsilon \). Then Wu’s theorem guarantees the existence of an inscribed equilateral n-gon with the starting point \(\gamma _\varepsilon (x_0)\) and the fact above will show that these polygons subconverge to an non-vanishing equilateral n-gon that has all the desired properties.
Proof
Let \(\gamma _\varepsilon = \gamma *\eta _\varepsilon \) be the standard mollified curves and \(\varepsilon >0\) be so small that \(\gamma _{\varepsilon }\) is a regular curve (cf. Remark 3.1). Furthermore, let \(p_\varepsilon \) be the in \(\gamma _{\varepsilon }\) inscribed equilateral n-gon through point \(\gamma _{\varepsilon }(x_0)\). Its existence is guaranteed by Wu’s theorem. We first note that \(\inf _{\varepsilon >0} {{\mathrm{diam}}}p_{\varepsilon } =0\) would imply due to the uniform bi-Lipschitz estimate from Lemma 1.2
where \(c_n\) is a lower bound on the Gromov distortion of equilateral n-gons.
On the other hand, inequality (3.4) implies
which implies
for all \(r>0\) and \(\varepsilon >0\) sufficiently small. But this contradicts inequality (4.10).
So we have shown that \(\inf _{\varepsilon> 0} {{\mathrm{diam}}}p_\varepsilon >0.\) As the vertices of the polygons \(p_{\varepsilon }\) belong to a bounded set, we can chose a subsequence \(\varepsilon _i \rightarrow 0\) such that the vertices of the polygons \(p_{\varepsilon _i}\) converge in \({\mathbb {R}} ^d\) to the vertices of an equilateral n-gon. As furthermore \(\gamma _\varepsilon \) converges uniformly to \(\gamma \) as \(\varepsilon \downarrow 0\), the equilateral n-gon is inscribed in \(\gamma \) with starting point \(\gamma (x_0)\). \(\square \)
4.4 \(\varGamma \)-Convergence of the Discrete Möbius Energies by Scholtes
Let us extend the \(\varGamma \)-convergence result by Scholtes in [11]. Scholtes introduced the discretized Möbius energy
of a polygon \(p:{\mathbb {R}}/ {\mathbb {Z}} \rightarrow {\mathbb {R}}^n\) with vertices \(p(a_i)\), \(a_i \in [0,1)\), \(i=1,\ldots , m\).
Theorem 4.8
(\(\varGamma \)-convergence of discrete Möbius energies) Let \(q \in [1,\infty )\). We have
on the space of curves \(C^{0,1}({\mathbb {R}} / {\mathbb {Z}}, {\mathbb {R}}^n)\) of unit velocity equipped with the \(L^q\) and \(W^{1,q}\)-norm.
Scholtes proved this theorem for curves that are in \(C^1\), a property that is not implied by bounded Möbius energy. The respective \(\liminf \)-inequality was already shown by Scholtes to hold in our more general setting. We will give two proofs of the \(\limsup \)-inequality. The first one combines [11, Corollary 1.4] with our extension of Wu’s result in the last section. The second proof reduces the problem to the known \(\limsup \)-inequality for \(C^\infty \) functions approximating the curve by smooth curves using Theorem 1.3.
So the second proof does neither use the full strength of the results by Scholtes nor does it rely on our extension of Wu’s theorem. It only relies on the fact that we can approximate our curves and a \(\limsup \)-inequality for smooth functions—and hence the method of proof in contrast to the first one should be applicable in other situations as well.
Proof 1 of Theorem 4.8
By Theorem 4.7 we find an inscribed equilateral n-gon \(p_n\) in \(\gamma \). [11, Corollary 1.4] then tells us that
So the only thing left to show is that the \(p_n\) converge to \(\gamma \) in \(W^{1,q}\) for all \(q \in [1, \infty )\). But this follows from the observation by Scholtes, that \(p_n\) converges to \(\gamma \) in \(W^{1,2}\). Since both \(p_n\) and \(\gamma \) are uniformly bounded in \(W^{1,\infty }\) we get the convergence in \(W^{1,q}\), \(q >2\) using the estimate
Proof 2 of Theorem 4.8
Since the \(\liminf \)-inequality was already shown by Scholtes, we again only have to prove the \(\limsup \) inequality. Scholtes has already shown that the \(\limsup \) inequality holds for \(C^1\) curves parameterized by arc length. If now \(\gamma \) is a regular curves with bounded Möbius energy, we can consider the smoothed curves \(\gamma _\varepsilon = \gamma *\eta _\varepsilon \) and let \(\tilde{\gamma }_m\) the re-parameterizations of the curves \(\frac{1}{L(\gamma _{\frac{1}{m}})} \gamma _{\frac{1}{m}}\) by arc length. By Lemma 4.1 we have \(\lim _{m \rightarrow \infty } E_{\text {m}\ddot{\mathrm{o}}\text {b}}({\tilde{\gamma }}_{m}) = E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma )\).
By the \(\limsup \)-inequality of Scholtes, we can find in \(\tilde{\gamma }_m\) inscribed equilateral k-gons \(p_{m,k}\) with \(\limsup _{k \rightarrow \infty } E_{k}(p_{m,k}) \le E_{\text {m}\ddot{\mathrm{o}}\text {b}}({\tilde{\gamma }}_{m})\). We observe that for all \(k, {\tilde{m}}\), and \(m'\ge {\tilde{m}}\), we have
Taking the limes superior with respect to k of this inequality, we get
for all \(m' \ge {\tilde{m}}\). Hence,
for all \({\tilde{m}} \in {\mathbb {N}}\).
If now for every \({\tilde{m}}, k\in {\mathbb {N}}\) we pick \(m_{{\tilde{m}}, k}\in {\mathbb {N}}\) such that \(E_k(p_{m_{{\tilde{m}} , k}k}) \le \inf _{m \ge {\tilde{m}}} E_k(p_{m,k})+ \frac{1}{k}\), we get
Now we are ready to inductively define our sequence of polygons. We let \(p_k\) be equal to \(p_{m_{1,k},k}\) until \(E_k(p_{m_{2,k}}) \le E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma )+1\) for all bigger k. Then, we let \(p_k\) be \(p_{m_{2,k},k}\) until \(E_k(p_{m_{3,k}}) \le E_{\text {m}\ddot{\mathrm{o}}\text {b}}(\gamma ) + \frac{1}{2}\) for all bigger k and so on.
This leads to a sequence \(p_k\) of k-gons inscribed in the curves \({\tilde{\gamma }}_{m_k}\) such that both
and \(m_k \rightarrow \infty \).
We finally have to prove that the polygons \(p_k = p_{m_k, k}\) converge to \(\gamma \) in \(W^ { 1,q}\) for \(k\rightarrow \infty \) for all \(q \in [1, \infty )\). By construction, we know that the \(p_{m_k,k}\) are uniformly bounded in \(W^{1,\infty }\). Let \(p_{m_k,k}(x_1^{k})= \gamma _m(x_1^{k}),\ldots , p_{m_k,k} (x^{k}_k) = \gamma (x_k^{k})\) be the vertices of the k-gon \(p_{m_k,k}\). Due to the uniform bi-Lipschitz estimate, we have \( \frac{1}{Ck} \le |x_{i+1}^k - x_i^{k}| \le \frac{C}{k}\) for a constant \(C < \infty \) and hence we get for \(x \in [x_i^k, x_{i+1}^k]\) using Taylor’s approximation of first order in \(x_i^k\)
So, the \(p_{k}\) converge uniformly to \(\gamma \).
To get the convergence of the derivatives, we use \(p'_k = \overline{(\tilde{\gamma }'_{m_k})}_{[x^k_i,x^k_{i+1}]}\) for \(x \in [x_i^k,x_{i+1}^k]\) to estimate
From (3.4) and (3.3), we get \(VMO_{\tilde{\gamma }'_{m_k}} \le C \cdot VMO_{\gamma '_{m_k}} \le C \cdot VMO_{\gamma '}\). So \(VMO_{\tilde{\gamma }'_{m_k}}( r)\) goes uniformly to zero as \(r \rightarrow 0\) and hence \(p_k'- \tilde{ \gamma }'_{mk}\) converges to 0 as k goes to \(\infty \). Since \(\gamma '_{m_k}\) converges to \(\gamma '\) in \(L^1\), we deduce that \(p'_{k}\) converges to \(\gamma '\) in \(L^1\). Since the polygons are furthermore uniformly bounded in \(W^{1, \infty }\), we get convergence in \(W^{1,q}\) for all \(q \in [1, \infty )\) as at the end of proof 1.
Notes
We give an elementary argument for this fact at the end of Sect. 2.1
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Many thanks to Dennis Kube and Sebastian Scholtes for carefully reading and criticizing a preliminary version of the article as well as to the anonymous referees for their valuable comments. Their input helped me to improve the clarity and quality of the manuscript.
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Blatt, S. Curves Between Lipschitz and \(C^1\) and Their Relation to Geometric Knot Theory. J Geom Anal 29, 3270–3292 (2019). https://doi.org/10.1007/s12220-018-00116-9
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DOI: https://doi.org/10.1007/s12220-018-00116-9