Quasi-conformal minimal Lagrangian diffeomorphisms of the

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1 Quasi-conformal minimal Lagrangian diffeomorphisms of the hyperbolic plane (joint work with J.M. Schlenker) January 21, 2010

2 Quasi-symmetric homeomorphism of a circle A homeomorphism φ : S 1 S 1 is quasi-symmetric if there exists K such that 1 K [φ(a), φ(b); φ(c), φ(d)] [a, b; c, d] K for every a, b, c, d S 1 = H 2.

3 Quasi-symmetric homeomorphism of a circle A homeomorphism φ : S 1 S 1 is quasi-symmetric if there exists K such that 1 K [φ(a), φ(b); φ(c), φ(d)] [a, b; c, d] K for every a, b, c, d S 1 = H 2. A homeomorphism g : S 1 S 1 is quasi-symmetric iff there exits a quasi-conformal diffeo φ of H 2 such that g = φ S 1.

4 The universal Teichmüller space T = {quasi-conformal diffeomorphisms of H 2 }/ where φ ψ is there is A PSL 2 (R) such that φ S 1 = A ψ S 1.

5 The universal Teichmüller space T = {quasi-conformal diffeomorphisms of H 2 }/ where φ ψ is there is A PSL 2 (R) such that φ S 1 = A ψ S 1. T = {quasi-symmetric homeomorphisms of S 1 }/PSL 2 (R).

6 Shoen conjecture Conjecture (Shoen) For any quasi-symmetric homeomorphism g : S 1 S 1 there is a unique quasi-conformal harmonic diffeo Φ of H 2 such that g = Φ S 1

7 Main result THM (B-Schlenker) For any quasi-symmetric homeomorphism g : S 1 S 1 there is a unique quasi-conformal minimal Lagrangian diffeomorphims Φ : H 2 H 2 such that g = Φ S 1

8 Minimal Lagrangian diffeomorphisms A diffeomorphism Φ : H 2 H 2 is minimal Lagrangian if It is area-preserving; The graph of Φ is a minimal surface in H 2 H 2.

9 Minimal Lagrangian maps vs harmonic maps Given a minimal Lagrangian diffemorphism Φ : H 2 H 2, let S H 2 H 2 be its graph, then the projections φ 1 : S H 2 φ 2 : S H 2 are harmonic maps, and the sum of the corresponding Hopf differentials is 0.

10 Minimal Lagrangian maps vs harmonic maps Given a minimal Lagrangian diffemorphism Φ : H 2 H 2, let S H 2 H 2 be its graph, then the projections φ 1 : S H 2 φ 2 : S H 2 are harmonic maps, and the sum of the corresponding Hopf differentials is 0. Conversely given two harmonic diffeomorphisms u, u such that the sum of the corresponding Hopf differentials is 0, then u (u ) 1 is a minimal Lagrangian diffeomorphism.

11 Known results Labourie (1992): If S, S are closed hyperbolic surfaces of the same genus, there is a unique Φ : S S that is minimal Lagrangian. Aiyama-Akutagawa-Wan (2000): Every quasi-symmetric homeomorphism with small dilatation of S 1 extends to a minimal Lagrangian diffeomorphism. Brendle (2008): If K, K are two convex subsets of H 2 of the same finite area, there is a unique minimal lagrangian diffeomorphism g : K K.

12 The AdS geometry We use a correspondence between minimal Lagrangian diffeomorphisms of H 2 and maximal surfaces of AdS 3.

13 The AdS geometry We use a correspondence between minimal Lagrangian diffeomorphisms of H 2 and maximal surfaces of AdS 3. Given a qs homeo g of the circle, we prove that minimal Lagrangian diffeomorphisms extending g correspond bijectively to maximal surfaces in AdS 3 satisfying some asymptotic conditions (determined by g).

14 The AdS geometry We use a correspondence between minimal Lagrangian diffeomorphisms of H 2 and maximal surfaces of AdS 3. Given a qs homeo g of the circle, we prove that minimal Lagrangian diffeomorphisms extending g correspond bijectively to maximal surfaces in AdS 3 satisfying some asymptotic conditions (determined by g). We prove that there exists a unique maximal surface satisfying these asymptotic conditions.

15 Remark The correspondence {minimal Lagrangian maps of H 2 } {maximal surfaces in AdS 3 } is analogous to the classical correspondence {harmonic diffeomorphisms of H 2 } {surfaces of H = 1 in M 3 }

16 The Anti de Sitter space The AdS 3 space The correspondence maximal surfaces vs minimal maps AdS 3 = model manifolds of Lorentzian geometry of constant curvature 1. AdS 3 = (H 2 R, g) where g (x,t) = (g H ) x φ(x)dθ 2 φ(x) = ch(d H (x, x 0 )) 2 [Lapse function]

17 The AdS 3 space The correspondence maximal surfaces vs minimal maps AdS 3 = AdS 3 /f where f (x, θ) = (R π (x), θ + π) and R π is the rotation of π around x 0 f(x) \pi x

18 The AdS 3 space The correspondence maximal surfaces vs minimal maps The boundary of AdS 3 AdS 3 = S 1 S 1. The conformal structure of AdS 3 extends to the boundary. Isometries of AdS 3 extend to conformal diffeomorphisms of the boundary.

19 The AdS 3 space The correspondence maximal surfaces vs minimal maps The boundary of AdS 3 AdS 3 = S 1 S 1. The conformal structure of AdS 3 extends to the boundary. Isometries of AdS 3 extend to conformal diffeomorphisms of the boundary. There are exactly two foliations of AdS 3 by lightlike lines. They are called the left and right foliations. Leaves of the left foliation meet leaves of the right foliation exactly in one point.

20 The AdS 3 space The correspondence maximal surfaces vs minimal maps The double foliation of the boundary of AdS 3 Figure: The l behaviour of the double foliation of AdS 3.

21 The AdS 3 space The correspondence maximal surfaces vs minimal maps The boundary of AdS 3 Figure: Every leaf of the left (right) foliation intersects S 1 {0} exactly once.

22 The product structure The AdS 3 space The correspondence maximal surfaces vs minimal maps The map π : AdS 3 S 1 S 1 obtained by following the left and right leaves is a diffeomorphism.

23 Spacelike meridians The AdS 3 space The correspondence maximal surfaces vs minimal maps A a-causal curve in AdS 3 is locally the graph of an orientation preserving homeomorphism between two intervals of S 1.

24 Spacelike meridians The AdS 3 space The correspondence maximal surfaces vs minimal maps A a-causal curve in AdS 3 is locally the graph of an orientation preserving homeomorphism between two intervals of S 1. A-causal meridians are the graphs of orientation preserving homeomorphisms of S 1.

25 The AdS 3 space The correspondence maximal surfaces vs minimal maps g(x) x Figure: Every leaf of the left/right foliation intersects the meridian just in one point

26 The AdS 3 space The correspondence maximal surfaces vs minimal maps Spacelike surfaces in AdS 3 A smooth surface S AdS 3 is spacelike if the restriction of the metric on TS is a Riemannian metric. Spacelike surfaces are locally graphs of some real function u defined on some open set of H 2 verifying φ 2 u 2 < 1.

27 The AdS 3 space The correspondence maximal surfaces vs minimal maps Spacelike surfaces in AdS 3 A smooth surface S AdS 3 is spacelike if the restriction of the metric on TS is a Riemannian metric. Spacelike surfaces are locally graphs of some real function u defined on some open set of H 2 verifying φ 2 u 2 < 1. Spacelike compression disks lift in AdS 3 to graphs of entire spacelike functions u : H 2 R.

28 The AdS 3 space The correspondence maximal surfaces vs minimal maps The asymptotic boundary of spacelike graphs Figure: If S = Γ u is a spacelike graph in AdS 3, then u extends on the boundary and S projects to spacelike compression disk.

29 Notations The AdS 3 space The correspondence maximal surfaces vs minimal maps Let S be a spacelike surface in AdS 3. We consider: 1 I= the restriction of the Lorentzian metric on S; 2 J= the complex structure on S; 3 k= the intrinsic sectional curvature of S; 4 B : TS TS= the shape operator; 5 E : TS TS= the identity operator; 6 H = trb= the mean curvature of the surface S. The Gauss-Codazzi equations are d B = 0 k = 1 det B.

30 Maximal surfaces The AdS 3 space The correspondence maximal surfaces vs minimal maps A surface S AdS 3 is maximal if H = 0.

31 The AdS 3 space The correspondence maximal surfaces vs minimal maps From maximal graphs to minimal diffeomorphisms of H 2 Let S be any spacelike surface in AdS 3. We consider two bilinear forms on S µ l (x, y) = I((E+JB)x, (E+JB)y) µ r = I((E JB)x, (E JB)y)

32 The AdS 3 space The correspondence maximal surfaces vs minimal maps From maximal graphs to minimal diffeomorphisms of H 2 Let S be any spacelike surface in AdS 3. We consider two bilinear forms on S µ l (x, y) = I((E+JB)x, (E+JB)y) µ r = I((E JB)x, (E JB)y) Prop (Krasnov-Schlenker) Around points where µ l (resp. µ r ) is not degenerate, it is a hyperbolic metric. When S is totally geodesic then I = µ l = µ r ; det(e + JB) = det(e JB) = 1 + det B = k

33 The AdS 3 space The correspondence maximal surfaces vs minimal maps From maximal graphs to minimal diffeomorphisms Let S be a spacelike graph: if k < 0 then µ l and µ r are hyperbolic metrics on S; if k ɛ < 0 then µ l and µ r are complete hyperbolic metrics.

34 The AdS 3 space The correspondence maximal surfaces vs minimal maps From maximal graphs to minimal diffeomorphisms Let S be a spacelike graph: if k < 0 then µ l and µ r are hyperbolic metrics on S; if k ɛ < 0 then µ l and µ r are complete hyperbolic metrics. Prop Let S be a maximal graph with uniformly negative curvature and let φ S,l : S H 2 φ S,r : S H 2. be the developing maps for µ l and µ r respectively. The diffeomorphism Φ S = φ S,r φ 1 S,l : H 2 H 2 is minimal Lagrangian. Moreover It is C-quasi-conformal for some C = C(sup S k) The graph of Φ S S 1 is S.

35 The AdS 3 space The correspondence maximal surfaces vs minimal maps From a minimal Lagrangian map to a maximal surface Prop Given any quasi-conformal minimal Lagrangian map Φ : H 2 H 2 there is a unique maximal surface S with uniformly negative curvature producing Φ. The proof relies on the fact that µ l and µ r determines I and B in some explicit way.

36 The AdS 3 space The correspondence maximal surfaces vs minimal maps Given a quasi-symmetric homeo g of S 1 the following facts are equivalent: There exists a unique quasi-conformal minimal Lagrangian diffeomorphism Φ of H 2 such that Φ S 1 = g. There exists a maximal surface S AdS 3 with uniformly negative curvature such that S = Γ g.

37 AdS results Step 1 Step 2 Uniform estimates THM (B-Schlenkler) We fix a homeomorphism g : S 1 S 1. There is a maximal graph S such that S = Γ g. If g is quasi-symmetric then there is a unique S as above with uniformly negative curvature.

38 Higher dimension result Step 1 Step 2 Uniform estimates AdS n+1 = H n R THM (B-Schlenker) Let Γ be any acausal subset of AdS n+1 that is a graph of a function u : S n 1 R. Then there exists a maximal spacelike graph M in AdS n+1 such that M = Γ.

39 Step 1 Step 2 Uniform estimates We fix a homeomorphism g : S 1 S 1. We consider the lifting of the graph of g in curve Γ g. We have to find a function u such that its graph is spacelike φ u < 1; its graph is maximal Hu = 0; the closure of its graph in is Γ g. AdS 3 that is a closed

40 Step 1 Step 2 Uniform estimates The convex hull of Γ g There is a minimal convex set K in AdS 3 containing Γ g. Moreover: K = Γ g ; The boundary of K is the union of two C 0,1 -spacelike graphs K, + K ;

41 Step 1 Step 2 Uniform estimates The convex hull of Γ g

42 The approximations surfaces Step 1 Step 2 Uniform estimates Let T r = B r (x 0 ) R 1 AdS 3 and consider U r = T r K. Prop (Bartnik) There is a unique maximal surface S r contained in T r such that U r = S r. Moreover S r is the graph of some function u r defined on B r (x 0 ). K T_r

43 The approximations surfaces Step 1 Step 2 Uniform estimates Let T r = B r (x 0 ) S 1 AdS 3 and consider U r = T r K. Prop (Bartnik) There is a unique maximal surface S r contained in T r such that U r = S r. Moreover S r is the graph of some function u r defined on B r (x 0 ). K S_r T_r

44 Step 1 Step 2 Uniform estimates The existence of the maximal surface Step 1 There is a sequence r n such that u n := u rn converge to a function u uniformly on compact subset of H 2. Moreover if S is the graph of u we have that S = Γ g. Step 2 The surface S is a maximal surface.

45 Surfaces S r are contained in K Step 1 Step 2 Uniform estimates Lemma If M is a cpt maximal surface such that M is contained in K, then M is contained in K. By contradiction suppose that M is not contained in K p M \ K = point that maximizes the distance from K. q K = point such that d(p, q) = d(p, K ). P= plane through p orthogonal to [q, p]. P is tangent to M and does not disconnect M principal curvatures at p are negative.

46 The construction of the limit Step 1 Step 2 Uniform estimates S r K u r are uniformly bounded on B R (x 0 ). φ u r < 1 The maps u r are uniformly Lipschitz on any B R (x 0 ). We conclude: There is a sequence r n such that u n = u rn converge uniformly on compact sets of H 2 to a function u. The graph of the map u say S is a weakly spacelike surface: it is Lipschitz and satisfies φ u 1.

47 The asymptotic boundary of S Step 1 Step 2 Uniform estimates S is contained in K S Γ g. S is a spacelike meridian of AdS 3 S = Γ g.

48 A possible degeneration Step 1 Step 2 Uniform estimates The surface S could contain some lightlike ray. Remark We have to prove that the surfaces S n are uniformly spacelike in T ρ.

49 A possible degeneration Step 1 Step 2 Uniform estimates The surface S could contain some lightlike ray. Remark We have to prove that the surfaces S n are uniformly spacelike in T ρ.

50 A possible degeneration Step 1 Step 2 Uniform estimates The surface S could contain some lightlike ray. Remark We have to prove that the surfaces S n are uniformly spacelike in T ρ.

51 A possible degeneration Step 1 Step 2 Uniform estimates The surface S could contain some lightlike ray. Remark We have to prove that the surfaces S n are uniformly spacelike in T R.

52 Uniformly spacelike surfaces Step 1 Step 2 Uniform estimates Let U be a compact domain of H 2. The graph of a function u : U R is spacelike if φ 2 u 2 < 1

53 Uniformly spacelike surfaces Step 1 Step 2 Uniform estimates Let U be a compact domain of H 2. The graph of a function u : U R is spacelike if φ 2 u 2 < 1 A family of graphs over U {Γ ui } i I is uniformly spacelike if there exists ɛ > 0 such that φ 2 u i 2 < (1 ɛ) holds for every x U and i I.

54 The main estimate Step 1 Step 2 Uniform estimates Prop For every R > 0 there is a constant ɛ = ɛ(r, K ) such that for n > n(r) sup φ u n < (1 ɛ) B R (x 0 ) The proof is based on the maximum principle using a localization argument due to Bartnik.

55 Step 1 Step 2 Uniform estimates The conclusion of the proof of the existence Let Ω R = {u : B R (x 0 ) R Γ u is spacelike} We consider the operator H : Ω R C (B R (x 0 )) Hu(x) = mean curvature at (x, u(x)) of Γ u. Hu = a ij (x, u, u) ij u + b k (x, u, u) k u. H is an elliptic operator on Ω R at point u Ω R. H is uniformly elliptic on any family of uniformly spacelike functions.

56 How to conclude Step 1 Step 2 Uniform estimates u n BR (x 0 ) is a uniformly spacelike functions; they are solution of a uniformly elliptic equation Hu n = 0; By standard theory of regularity of elliptic equations the limit u is smooth and Hu = 0.

57 The uniform estimate Step 1 Step 2 Uniform estimates The width of the convex hull K δ = inf{d(x, y) x K, y + K }. Lemma In general δ [0, π/2]. It is 0 exactly when g is a symmetric map. If δ = π/2 and there are points at distance π/2, then K is a standard tetrahedron K 0.

58 The standard tetrahedron Step 1 Step 2 Uniform estimates (a,b) (b,a) (a,a) (b,b)

59 Step 1 Step 2 Uniform estimates Characterization of quasi-symmetric maps Prop The following facts are equivalent: 1 g is a quasi-symmetric homeomorphism. 2 δ < π/2. 3 Any maximal surface S such that S = Γ g has uniformly negative curvature.

60 (3) (1) Step 1 Step 2 Uniform estimates S determines a quasi-conformal minimal Lagrangian map Φ such that Φ S 1 = g. Thus g is quasi-symmetric.

61 (1) (2) Step 1 Step 2 Uniform estimates Suppose there exists x n K and y n + K such that d(x n, y n ) π/2 We find a sequence of isometries γ n of AdS 3 such that γ n (x n ) = x 0. the geodesic joining γ n (x n ) to γ n (y n ) is vertical.

62 (1) (2) Step 1 Step 2 Uniform estimates Let K n = γ n (K ). K n = Γ gn and {g n } are uniformly quasi-symmetric. K n K 0 and Γ gn K 0.

63 (1) (2) Step 1 Step 2 Uniform estimates Let K n = γ n (K ). K n = Γ gn and {g n } are uniformly quasi-symmetric. K n K 0 and Γ gn K 0. The boundary of K 0 cannot be approximated by a family of uniformly quasi-symmetric maps.

64 (2) (3) Step 1 Step 2 Uniform estimates We consider χ = log( (det B)/4). We have k = 1 + e 4χ and χ = k [Schlenker-Krasnov]. If p is a local maximum for k then k(p) 0. Moreover if k(p) = 0, then S is flat and K = K 0.

65 (2) (3) Step 1 Step 2 Uniform estimates Lemma If δ < π/2 then sup S B < C.

66 (2) (3) Step 1 Step 2 Uniform estimates Take any sequence x n such that k(x n ) sup k. Let γ n be a sequence such that γ n (x n ) = x 0 and ν n (x) = e (where ν n is the normal field of S n = γ n (S). S n S and x S, k = sup k and x is a local maximum for k. sup k 0.

67 (2) (3) Step 1 Step 2 Uniform estimates If sup k = 0 then S is a flat maximal surface its convex core is K 0. In particular δ(k 0 ) = π/2 On the other hand K n = γ n (S n ) K 0. δ(k n ) = δ < π/2. δ(k n ) δ(k 0 ) = π/2.