Function spaces and bounded
compositions on metric measure spaces
Tom´
as Soto
Academic dissertation
To be presented, with the permission of the Faculty of Science of the University of Helsinki, for public criticism in Auditorium B123, Exactum (Gustaf H¨allstr¨omin
katu 2b, Helsinki), on September 4th, 2015, at 12 o’clock noon.
Department of Mathematics and Statistics Faculty of Science
University of Helsinki HELSINKI 2015
ISBN 978-951-51-1465-5 (paperback) ISBN 978-951-51-1466-2 (PDF) Unigrafia Oy
Acknowledgements
First and foremost, I wish to expect my gratitude to my advisor Eero Saksman for introducing me to this subject and for all the guidance I have received over the years. I consider myself privileged having been one of his students.
Two of the articles presented in this dissertation were written in collaboration with several other mathematicians. It has been an honor for me to work with them. I thank the pre-examiners of this thesis, Lizaveta Ihnatsyeva and Yuan Zhou, for taking the time to read through the manuscript and making several valuable remarks.
For financial support, I am indebted to the Finnish Centre of Excellence in Anal-ysis and Dynamics and the Vilho, Yrj¨o and Kalle V¨ais¨al¨a Foundation. I would also like to thank the Institute for Pure and Applied Mathematics at UCLA for support-ing my participation in the program “Interactions Between Analysis and Geometry” in Spring 2013.
Finally I want to thank my family and friends for their support. Helsinki, August 2015
List of included articles
This thesis consists of an introductory part followed by the three articles listed below.
[I] H. Koch, P. Koskela, E. Saksman and T. Soto: Bounded compositions on scaling invariant Besov spaces, J. Funct. Anal. 266 (2014), no. 5, 2765–2788.
[II] M. Bonk, E. Saksman and T. Soto: Triebel-Lizorkin spaces on metric spaces via hyperbolic fillings, arXiv:1411.5906.
[III] T. Soto: Pointwise and grand maximal function characterizations of Besov-type and Triebel-Lizorkin-Besov-type spaces, Ann. Acad. Sci. Fenn. Math., to appear. The author had a major role in the analysis and writing of the joint articles [I] and [II].
Contents Acknowledgements
List of included articles
1. Introduction: Function spaces on Rd 1
2. Bounded compositions and quasiconformal invariance 3
3. Function spaces on metric measure spaces 6
3.1. Hyperbolic fillings 9
4. Function spaces based on Morrey-Campanato-type norms 13
1. Introduction: Function spaces on Rd The theory of the function spaces ˙Bs
p,q(Rd) (Besov spaces) and ˙Fp,qs (Rd) (Triebel-Lizorkin spaces) goes back to the works of Besov [6], Triebel [62] and (Triebel-Lizorkin [44]. They have since been studied systematically, as they arise naturally in many con-texts, such as partial differential equations, interpolation theory and trace operators. In essence, these spaces arise from norms that in some sense measure the smoothness of a function. Familiar special cases include the Lebesgue spaces Lp(
Rd) for p >1, the real variable Hardy spacesHp(Rd) for 0< p ≤1, the Sobolev spaces ˙Wk,p(Rd) forp > 1 and positive integersk, and the John-Nirenberg space BM O(Rd) of func-tions with bounded mean oscillation. We refer to e.g. [63, Section 2.2] and [23, Section 6.7] for accounts on the history of the Besov and Triebel-Lizorkin spaces.
Let us introduce some notation.
Notation. (i) For a dimensiond∈N:={1,2,3,· · · }, which shall be fixed from now on, we denote by S(Rd) the class of Schwartz functions, i.e. the class of complex-valued C∞(Rd) functions φ such that the function x 7→ P(x)∂αφ(x) is bounded whenever P is a polynomial on Rd and ∂αφ is any partial derivative of φ. S(
Rd) is equipped with the standard locally convex topology. We denote by S0(
Rd) the class of tempered distributions, i.e. the class of continuous complex-valued linear functionals on S(Rd). For standard facts about the Schwartz space and tempered distributions, particularly their Fourier-transforms (denoted byb·) and convolutions (denoted by· ∗ ·), we refer to e.g. [23].
(ii) We denote bymdthe standard Lebesgue measure onRd. We shall often write dx fordmd(x), and |E|for md(E) whenE is a Lebesgue measurable subset of Rd.
(iii) We shall use the notation f . g when f and g are non-negative functions defined on the same set and the inequality f ≤ Cg holds with a finite constant C, independent of some parameters that are either specified or obvious from the context. The notationf ≈g means that f .g and g .f.
With these facts and conventions in mind, we can formulate the Fourier-analytical definitions of the homogeneous Besov spaces ˙Bs
p,q(Rd) and the homogeneous Triebel-Lizorkin spaces ˙Fs
p,q(Rd). To this end, fix a function φ ∈ S(Rd) such that φb is
supported on the annulus{ξ ∈Rd : 1/2≤ |ξ| ≤2},|
b
φ| is bounded away from zero on{ξ ∈Rd : 3/5≤ |ξ| ≤5/3}and the sequence of functions{ξ 7→
b
φ(2−jξ) : j ∈Z} is a partition of unity inRd\{0}. Writeφj, j ∈Z, for the functionx7→2jdφ(2jx).
2
Definition. (i) Let p, q ∈ (0,∞] and s ∈ R. The Besov space ˙Bp,qs (Rd) is the quasi-normed space of tempered distributionsf ∈ S0(
Rd) such that kfkB˙s p,q(Rd):= X j∈Z 2jskf ∗φjkLp( Rd) q1/q
(standard modification forq =∞) is finite.
(ii) Letp ∈(0,∞), q ∈(0,∞] and s∈R. The Triebel-Lizorkin space ˙Fp,qs (Rd) is the quasi-normed space of tempered distributionsf ∈ S0(
Rd) such that kfkF˙s p,q(Rd):= Z Rd X j∈Z 2js|f ∗φj(x)| qp/q dx 1/p
(standard modification forq =∞) is finite.
A few remarks are in order here. The two quantities above are not actually honest quasi-norms; by the choice of the function φ (and consequently the functions φj), they vanish when fbis supported at the origin, i.e. when f is a polynomial. The
spaces ˙Bs
p,q(Rd) and ˙Fp,qs (Rd) therefore become quasi-normed spaces after dividing out the polynomials. The elements of ˙Bs
p,q(Rd) and ˙Fp,qs (Rd) are thus strictly speak-ing equivalence classes of tempered distributions modulo polynomials, but in the sequel we shall abuse notation by also writing f ∈ B˙s
p,q(Rd) for tempered distribu-tions (or funcdistribu-tions) f such that kfkB˙s
p,q(Rd) < ∞, and similarly for other function
spaces.
Triebel’s book [63] is the standard reference for the theory of these spaces. As far as their basic properties are concerned, let us simply mention here that they are always quasi-Banach spaces, that they are independent of the choice ofφ up to equivalent quasi-norms, and that the class S(Rd) of Schwartz functions is a dense subspace of ˙Bs
p,q(Rd) and ˙Fp,qs (Rd) whenever max(p, q)<∞.
The above definition of ˙Fp,qs (Rd) does not result in a sensible definition of ˙F∞s,q(Rd) when replacing the integration by taking the essential supremum over x. For a discussion of the definition of the spaces ˙Fs
∞,q(Rd), we refer to [19] and Section 4 below.
Example. Here are some examples of well-known function spaces included in the Besov and Triebel-Lizorkin scales. Here and in the sequel “X = Y” for function spaces X and Y means that there is a canonical isomorphism between the two spaces inducing continuous inclusions in both directions.
(1) ˙Fp,20 (Rd) =Lp(Rd) when 1< p <∞. (2) ˙F0
p,2(Rd) =Hp(Rd) when 0< p ≤1. (3) ˙F0
∞,2(Rd) =BM O(Rd).
(4) ˙Fp,2m(Rd) = ˙Wm,p(Rd), the homogeneous Sobolev space of order m, when 1< p <∞ and m∈N.
(5) ˙Fp,2s (Rd) = ˙Hs,p(Rd), a Sobolev-type space of fractional order s defined in terms of Bessel potentials, when 1< p <∞ and 0< s <1.
(6) ˙Bs
p,p(Rd) = W˙s,p(Rd), a Sobolev-type space of fractional order s obtained e.g. as a real interpolation space between Lp(Rd) and ˙W1,p(Rd), when 1 < p < ∞and 0< s <1.
(7) ˙Bs
∞,∞(Rd) = ˙Cs(Rd), the homogeneous H¨older-Zygmund space of order s,
when 0< s <1.
2. Bounded compositions and quasiconformal invariance
A basic question in the theory of function spaces is the following: Which trans-formations of the underlying space, i.e. homeomorphisms ϕ : Rd →
Rd, preserve a function spaceA in the sense that
kf◦ϕkA≤CϕkfkA
with some constantCϕ <∞ whenever f ∈ A? In other words, which composition operators1 are bounded on A?
For Sobolev and Besov spaces within certain index ranges, this question has been investigated in [70, 43, 64, 22, 38, 9, 12] among others. In our case of homogeneous spaces, it is easily seen that for any fixed indices we have
kf(λ·)kB˙s p,q(Rd)≈λ s−d/pkfk ˙ Bs p,q(Rd) for all f ∈B˙ s p,q(R d) and kf(λ·)kF˙s p,q(Rd)≈λ s−d/pkfk ˙ Fs p,q(Rd) for all f ∈ ˙ Fp,qs (Rd)
whenever λ > 0, with the implied constants independent of λ and f. In particu-lar, when ps = d with d > 2, the spaces ˙Bs
p,q(Rd) and ˙Fp,qs (Rd) enjoy something resembling uniform conformal invariance. One of the main motivations behind ar-ticle [I] is the question whether these spaces are actually invariant under the much richer class of quasiconformal mappings. Results to this direction are classically known e.g. for the Sobolev space ˙W1,d(
Rd) with d ≥ 2, and also for Besov and Triebel-Lizorkin spaces within certain index ranges, but much has still been left open in previous literature. Before elaborating on this, let us recall the definition of quasiconformality.
Definition. (i) A homeomorphism ϕ: Rd →
Rd is said to be quasiconformal if the quantity Hϕ(x) := lim sup r→0 sup{|ϕ(x)−ϕ(y)| : |x−y| ≤r} inf{|ϕ(x)−ϕ(z)| : |x−z| ≥r} is bounded uniformly inx∈Rd.
1Here and in the sequel, it is implicitly assumed that composition operators are well defined,
i.e. that the homeomorphism in question has the Luzin propertyN. Alternatively, a composition operator could be said to be bounded if it is bounded on a dense subspace of continuous functions.
4
(ii) A homeomorphism ϕ: Rd →
Rd is said to be quasisymmetric if there exists an increasing homeomorphismρ: (0,∞)→(0,∞) so that
|ϕ(x)−ϕ(y)| |ϕ(x)−ϕ(z)| ≤ρ
|x−y|
|x−z|
for all pointsx∈Rd and y,z ∈
Rd\{x}.
The notions of quasiconformality and quasisymmetry are known to coincide in dimensions d > 1. Roughly speaking, the condition for quasiconformality asks that on the infinitesimal level, balls be transformed into ellipsoids with uniformly bounded eccentricity. Quasisymmetry in turn implies that balls will globally be mapped into “quasiballs”, i.e. domains contained between two balls with comparable radii. Standard references for the theory of quasiconformal mappings include [1], [65] and [4]. A rich theory of quasiconformal and quasisymmetric mappings in the setting of more general metric measure spaces has been developed in [30].
Let us return to the question of bounded composition operators on scaling in-variant function spaces over Rd. Below is a brief list of relevant results in previous literature.
(1) When d ≥ 2, quasiconformality is a sufficient and necessary condition for a homeomorphism ϕ: Rd →
Rd to preserve the Sobolev space ˙W1,d(Rd) = ˙
F1
d,2(Rd). This essentially goes back to Ziemer [70] and Lewis [43] (see also Nakai [48]). Note that the sufficiency result follows easily from the chain rule together with the following well-known analytic properties satisfied by a (positively oriented) quasiconformal mapping ϕ: ϕ∈Wloc1,1(Rd,
Rd) and |Dϕ| ≤CϕJϕ
pointwise almost everywhere, where the left-hand side stands for the operator norm of the Jacobian matrix of ϕ, Jϕ is the Jacobian determinant of ϕand Cϕ <∞ is a constant.
(2) When d ≥ 2, quasiconformality is a sufficient, and essentially also a nec-essary condition for a homeomorphism ϕ: Rd →
Rd to preserve the space BM O(Rd) = ˙F∞0,2(Rd). This was proven by Reimann [51]; see also [3] for another approach.
(3) For s ∈ (0,1), quasiconformality (or quasisymmetry if d= 1) is a sufficient and necessary condition for a homeomorphism ϕ: Rd→ Rd to preserve the space ˙Bs
d/s,d/s(Rd) = ˙Fd/s,d/ss (Rd). This was obtained for s ∈ (0, d/(d+ 1)] by Vodop’yanov [64], and improved in dimension d= 1 for all s ∈ (0,1) by Bourdaud and Sickel [9]. Furthermore, a similar result for Besov spaces on a certain variety of Ahlfors-regular metric measure spaces was obtained by Bourdon and Pajot [12, 10] by identifying the Besov spaces with the so-called first `p-cohomology groups of the conformal gauge related to the underlying metric.
(4) When d ≥ 2, s ∈ (0,1) and q > d/(d+s), quasiconformality is a sufficient condition for a homeomorphismϕ: Rd→
Rdto preserve the space ˙Fd/s,qs (R d).
This was proven by Koskela, Yang and Zhou [41]. They also obtain a similar result for Triebel-Lizorkin spaces defined on more general metric measure spaces; we refer to Section 3 below for details.
Let us point out that the sufficiency part for the spaces ˙Bs
d/s,d/s(R
d) can be ob-tained by interpolating between the respective results for the spaces ˙W1,d(
Rd) and BM O(Rd) [19, Corollary 8.3] to obtain boundedness of the composition operator for the spaces ˙Fd/s,2s (Rd) for all s ∈(0,1), and then interpolating between two such spaces (see [61, Theorem 2.4.2/1] and [27, Theorem 8.4]) to obtain boundedness on ˙Bs
d/s,d/s(R
d) = ˙Fs
d/s,d/s(R
d) for all s ∈ (0,1). Continuing this way, one can ob-tain boundedness on the spaces ˙Fs
d/s,q(R
d) for some (but far from all) values of the parameterq.
As stated above, the main motivation for article [I] was to investigate the previ-ously open case of Besov spaces ˙Bd/s,qs (Rd) with q 6= d/s. Perhaps surprisingly, it turns out that these spaces are not preserved by any nontrivial transformations of Rd. Our main results in the Euclidean setting essentially read as follows.
Theorem. Suppose that ϕ: Rd →
Rd, d ≥ 2, is a homeomorphism such that the
composition operator induced by ϕ is bounded on B˙d/s,qs (Rd) for some s ∈(0,1) and
q∈(1,∞) with q6=d/s. Then ϕ is bi-Lipschitz.
The same holds in the range 0 < q ≤ 1 with the a priori assumption that ϕ ∈ Wloc1,1(Rd,
Rd).
The converse, i.e. that bi-Lipschitz mappings induce bounded composition oper-ators on any space ˙Bp,qs (Rd) with 0 < s < 1, p > d/(d+s) and q > 0, is obvious from well-known characterizations in terms of first differences; see e.g. [63, Sections 2.5 and 5.2]. We also obtain a similar result in the setting of more general metric measure spaces; see Section 3 below for details.
In the proof of the main part of the above theorem, we first establish capacity estimates for the spaces ˙Bd/s,qs (Rd) with 0 < s < 1 < q < ∞, similar to some standard Sobolev capacity estimates, to deduce that a homeomorphismϕinducing a bounded composition operator must be quasiconformal. The other main ingredient of the proof is a series of norm estimates for certain functions contructed from standard bump functions, relating their ˙Bs
d/s,q(Rd)-norms on the one hand to the `q-norm of the peak values of the bumps if the bumps are related to balls with radii forming a dyadic scale, and on the other hand to the `d/s-norm of the peak values if the bumps are related to balls with equal radii. We deduce from these results that Jϕ must be bounded away from zero and infinity almost everywhere, which in conjunction with quasisymmetry yields thatϕ must be bi-Lipschitz.
A similar phenomenon for Sobolev-Lorentz spaces W Ld,q(Ω) with q 6= d and Ω⊂Rd a domain has subsequently been observed in [31].
As a byproduct of our capacity estimates and a generalized Sobolev-type embed-ding theorem due to Jawerth [32], we also obtain the following converse result to the quasiconformal invariance theorem by Koskela, Yang and Zhou mentioned above.
6
Corollary. Suppose that ϕ: Rd →
Rd, d ≥ 2, is a homeomorphism such that the
composition operator induced by ϕ is bounded on F˙d/s,qs (Rd), where 0 < s < 1 and
0< q ≤ ∞. Then ϕ is quasiconformal.
In particular, the homeomorphisms inducing bounded composition operators on
˙ Fs
d/s,q(R
d), where0< s <1andd/(d+s)< q ≤ ∞, are precisely the quasiconformal
mappings.
3. Function spaces on metric measure spaces
Function spaces, especially spaces with first-order smoothness, in the setting of more general metric measure spaces have become an important research topic in recent years. Applications include e.g. geometric group theory [37, 11], embeddings of metric spaces to Banach spaces [37, 15], quasiconformal geometry [30, 7] and geometry and curvature in metric measure spaces [57, 58, 45, 2]. On the other hand, characterizations of Sobolev spaces in terms of e.g. pointwise differences make some problems easier to approach even in the standard Euclidean setting. The most well-known examples of Sobolev-type spaces defined on a general metric measure space are the spaces M˙ 1,p introduced by Haj lasz [25, 26], defined in terms of what are nowadays known as Haj lasz gradients, and the Newtonian spaces N1,p introduced by Shanmugalingam [56]. Before recalling the definition of ˙M1,p, let us formulate the basic assumptions on our metric measure spaces.
In this chapter, we writeZ := (Z, d, µ) for a metric measure space. It is generally assumed that the balls in Z with respect to the metric d have positive and finite µ-measure. All measures appearing in this chapter are assumed Borel regular. The spaceZ is said to be doubling if there exists a constant C <∞ such that
µ B(ξ,2r)≤Cµ B(ξ, r) (1)
for all ξ∈Z and r >0.
Definition. Let p ∈ (0,∞). M˙ 1,p(Z) is the collection of measurable functions f: Z →C such that there exists a function g: Z →[0,∞] in Lp(Z) so that
|f(ξ)−f(η)| ≤d(ξ, η) g(ξ) +g(η)
for all ξ, η∈Z. Such a function g is called a Haj lasz gradient of f. Write kfkM˙1,p(Z) := inf
g kgkL
p(Z)
for all f ∈ M˙1,p(Z), where the infimum is taken over all Haj lasz gradients g of f. ˙
M1,p(Z) then becomes a quasinormed space after dividing out the functions that are constant µ-almost everywhere.
We refer to e.g. [26] for a survey of different Sobolev-type spaces on metric mea-sure spaces. Let us mention here that the space ˙M1,p(Z) is always a quasi-Banach space (Banach space for p ≥1), that it satisfies a certain Sobolev-type embedding theorem [26, Theorem 8.7] on a fairly general class of metric measure space (in-cluding doubling metric measure spaces), and that ˙M1,p(Rd) is known to coincide
with ˙W1,p(Rd) for p ∈(1,∞). It has further been shown by Koskela and Saksman [39] that ˙M1,p(
Rd) coincides with the Hardy-Sobolev space ˙H1,p(Rd) = ˙Fp,21 (Rd) for p∈(d+1d ,1]. This means that inRd, the definition of ˙M1,pyields the “correct” spaces from the point of view of harmonic analysis forp∈(d+1d ,∞).
In [41], Koskela, Yang and Zhou introduced the following notions of a Triebel-Lizorkin space and a Besov space in the setting of metric measure spaces.
Definition. Let s ∈ (0,∞). For a measurable function f: Z → C, write Ds(f) for the collection of sequences~g := (gk)k∈Z of measurable functionsgk: Z →[0,∞]
such that
|f(ξ)−f(η)| ≤d(ξ, η)s gk(ξ) +gk(η)
whenever 2−k−1 ≤d(ξ, η)<2−k.
Ds(f) is called the collection offractional s-Haj lasz
gradients of f.
(i) Let p ∈ (0,∞), q ∈ (0,∞] and s ∈ (0,∞). M˙p,qs (Z) is the collection of measurable functions f: Z →C such that
kfkM˙s p,q(Z):=~g∈inf Ds(f) Z Z gk(ξ) : k∈Z p `qdµ(ξ) 1/p
is finite. M˙p,qs (Z) becomes a quasi-normed space after dividing out the functions that are constant µ-almost everywhere.
(ii) Let p, q ∈ (0,∞] and s ∈ (0,∞). N˙p,qs (Z) is the collection of measurable functionsf: Z →C such that
kfkN˙s p,q(Z) :=~g∈inf Ds(f) X k∈Z kgkk q Lp(Z) 1/q
(obvious modification for q = ∞) is finite. N˙s
p,q(Z) becomes a quasi-normed space after dividing out the functions that are constant µ-almost everywhere.
These spaces are for s ∈ (0,1) generalizations of the Triebel-Lizorkin and Besov spaces on Rd in the sense that M˙s
p,q(Rd) = ˙Fp,qs (Rd) for p, q > d/(d +s) and ˙
Np,qs (Rd) = ˙Bp,qs (Rd) for p > d/(d+s) and q > 0 [41, Theorem 3.2]. We also have ˙
Mp,1∞(Rd) = ˙M1,p(Rd), but when s≥1 andq < ∞, the spaces ˙Mp,qs (Z) and ˙Np,qs (Z) will often be trivial (i.e. only contain constant functions) [21, Theorems 4.1 and 4.2]. A theory of Triebel-Lizorkin and Besov spaces on Ahlfors regular metric measure spaces, based on Littlewood-Paley type decompositions, was introduced by Han and Sawyer [28] (see (CG1) below for the definition of Ahlfors regularity). A Littlewood-Paley based theory of Triebel-Lizorkin and Besov spaces on metric measure spaces satisfying the doubling condition (1) and also a certain “reverse doubling” condition has further been developed by Han, M¨uller and Yang [27]. The spaces introduced in [27] will under suitable assumptions coincide with the spaces ˙Ms
p,q and ˙Np,qs re-spectively [41, Theorem 4.1]. See also [54, 21, 16, 36].
8
The main result in [41] concerning the quasiconformal invariance of the spaces ˙
Fd/s,qs (Rd) is obtained by establishing the quasiconformal invariance of the spaces ˙
Ms
d/s,q(Rd) and using the identification of these spaces with the spaces ˙Fd/s,qs (Rd). Similarly, in proof of the main result of [I] we mostly work with the ˙Ns
d/s,q-norm and another equivalent norm in terms of first differences given in [21]. For this reason, these results generalize to the setting of metric measure spaces with sufficiently reasonable geometry – such as the spaces with “controlled geometry” considered in [30].
Let us formulate the assumptions on the metric spaces in question more precisely. For the necessary definitions (such as those of linear local connectivity, quasicon-vexity and the Poincar´e inequaltiy), we refer to [30]. Suppose that Z := (Z, d, µ) and Z0 := (Z0, d0, µ0) are metric measure spaces such that
(CG1) Z and Z0 are Q-Ahlfors regular for some Q >1, i.e. µ B(ξ, r) ≈rQ for all ξ ∈Z and r∈(0,2diamZ), and similarly for Z0 in place of Z,
(CG2) Z is proper and quasiconvex, and supports a weak (1, Q)-Poincar´e inequality, (CG3) Z0 is pathwise connected, locally compact and linearly locally connected, (CG4) Z and Z0 are both bounded or they are both unbounded.
In particular, with these assumptions any quasiconformal homeomorphismϕ: Z → Z0 is quasisymmetric. Furthermore, any quasisymmetric homeomorphism ψ: Z → Z0 has a “Jacobian” Jψ: Z → [0,∞) defined pontwise µ-almost everywhere, the pullback measure σψ :=E 7→µ0 ψ(E)
is doubling,ψ satisfies the standard change of variables formula (i.e.dσψ =Jψdµ) andJψ satisfies a certain reverse H¨older type inequality, originally due to Gehring [20].
With these assumptions, the metric version of the main result in [41] reads as follows.
Theorem (Koskela, Yang, Zhou). Assume that the metric measure spaces Z and
Z0 are as above, and thatϕ: Z →Z0 is a quasiconformal mapping. Thenf 7→f◦ϕ
is a bounded operator fromM˙Q/s,qs (Z0)to M˙Q/s,qs (Z) for alls∈(0,1]andq ∈(0,∞].
Similarly, we have the following generalization of the main result of [I].
Theorem. Assume that the metric measure spaces Z andZ0 be as above, 0< s <1,
1< q <∞ and q6=Q/s. If f 7→f◦ϕ, where ϕ:Z →Z0 is a homeomprhism, is a bounded operator from N˙s
Q/s,q(Z
0) to N˙s
Q/s,q(Z), then ϕ is bi-Lipschitz.
This necessity result is obtained in a natural way using the same norm and capac-ity estimates as in the Euclidean case. The proof of the quasiconformal invariance result for the spaces ˙MQ/s,qs , on the other hand, is quite long and very technical, and one reason for this seems to be that an “optimal”s-Haj lasz gradient of a given function f is not obtained as the image of f under a linear operator (it may not even be unique). One of the main motivations behind the article [II] was thus to find a new characterization of first-order Triebel-Lizorkin spaces on metric measure spaces better suited for such problems. For this purpose, we shall use a construction
known as the hyperbolic filling of the underlying space Z in the spirit of [12] and [8].
3.1. Hyperbolic fillings. To motivate our approach to the spaces ˙Fs
p,q(Z) below, let us momentarily return to the definition of the spaces ˙Fs
p,q(Rd). Recall that we have kfkF˙s p,q(Rd) = Z Rd 2js|P f(x,2−j)−P f(x,2−j+1)| : j ∈Z p `qdx 1/p , where the functionP f is defined onRd+1+ :=Rd×(0,∞) byP f\(·, t)(ξ) = Φ(tξ)b f(ξ),b
with b Φ(ξ) := X j≤0 b φ(2−jξ)
whenξ6= 0 andΦ(0) := 1, so thatb Φ is a smooth and compactly supported functionb
identically 1 in B(0,1). P f(·,2−j) is thus a “good” approximation of f at levels of oscillation up to scale 2j, so P f is in some sense a substitute for the Poisson extension off. We also have
f = ∞ X j=−∞ P f(·,2−j)−P f(·,2−j+1) (2)
with convergence in the space of tempered distributions modulo polynomials; see [49, pages 51–54]. Note that the distance of the points (x,2−j) and (x,2−j+1) in the standard hyperbolic metric of the space Rd+1+ is a constant independent of x and j, so the quantity |P f(x,2−j)−P f(x,2−j+1)| can be viewed as (a constant times) a discrete approximation of the “hyperbolic distortion” of the function P f at the point (x,2−j).
Let us now return to the setting of metric measure spaces. We assume in the remainder of this section that the metric measure space Z := (Z, d, µ) satisfies the doubling condition (1). Using the doubling condition, one can then easily deduce that
µ B(ξ, λr)≤C0λQµ B(ξ, r) (3) for allξ ∈Z, r >0 and λ ≥ 1, where C0 is a finite constant and Q ≥1 is in some sense an upper bound for the dimension ofZ. Q shall be fixed from now on.
We denote by X the hyperbolic filling of the space Z as defined in [12] and [8]. More precisely, for any integern, we choose a maximal set of points{ξx}x∈Xn, where
Xnis some index set, so thatd(ξx, ξx0)≥2−n−1wheneverxandx0 are distinct points
of Xn. By the doubling property, the balls B(x) := B(ξx,2−n) then have bounded overlap (uniformly in n). Let |x| :=n stand for the “level” of a point x ∈ Xn. We then consider the disjoint union X := F
n∈ZXn, and denote by (X, E) the graph such that two points x, x0 ∈ X are joined by an edge in E if and only if x 6= x0, ||x| − |x0|| ≤1 and B(x)∩B(x0)6=∅.
10
Figure. Illustration of the levels X−1 through X3 of a hyperbolic filling of the unit interval [0,1].
If the pointx0 ∈ X is joined to another point x ∈ X by an edge, we say that x0 is a neighbor of x and write x0 ∼ x. By the doubling condition on Z, it is easily seen that the graph (X, E) has bounded valency, i.e. ∆(X) := supx∈Xdeg(x)<∞, where deg(x) stands for the number of neighbors of x. Under some mild additional assumptions onZ, the natural path metric on the graph (X, E) makes it hyperbolic in the sense of Gromov so that its boundary at infinity coincides withZ (see [12]); this is the reason whyX is called a hyperbolic filling of Z.
In order to construct an estimationP f of a functionf inL1loc(Z) (which we take to mean the space of measurable functions integrable on bounded subsets of Z) at each level ofX, write
P f(x) := 1 µ B(x)
Z
B(x)
f(ξ)dµ(ξ)
for allx∈X, and define the (absolute value of the) discrete derivative of a function u:X →C by
|du(x)|:= X x0∼x
|u(x0)−u(x)|.
Finally, forξ ∈Z, denote by Γξ the cone inX with tip at ξ, i.e. the set {x ∈ X : ξ∈B(x)}. Our definition in [II] then reads as follows.
Definition. Suppose that 0< s≤1,Q/(Q+s)< p <∞and Q/(Q+s)< q ≤ ∞. Then the Triebel-Lizorkin space ˙Fs
p,q(Z) is the vector space of all functions f ∈ L1
loc(Z) such that
kfkF˙s p,q(Z):= |d(P f)| Js p,q(X) is finite, where kukJs p,q(X) := Z Z 2|x|s|u(x)| : x∈Γξ p `qdµ(x) 1/p
for all functions u: X → C. F˙s
p,q(Z) becomes a quasi-normed space after dividing out the functions that are constantµ-almost everywhere.
Let us first mention that the space ˙Fs
p,q(Z) defined above is independent of the choice of the hyperbolic filling X in the sense that two admissible choices yield uniformly comparable quasi-norms; this is obtained conveniently as a byproduct of our other results. It turns out that we have ˙Fs
p,q(Z) = ˙Mp,qs (Z) for all indices as in the above definition, so the spaces ˙Fs
p,q(Z) with 0< s < 1 generalize the spaces ˙
Fs
p,q(Rd) in the same index range.
Our most important results are obtained through identifications of ˙Fs
p,q(Z) with certain sequence spaces defined on the hyperbolic filling. Namely, fixingx0 ∈X, we have the quasi-Banach isomorphism
˙ Fs p,q(Z)≈ {u: X →C : |du| ∈ Js p,q(X), u(x0) = 0} {u∈ Js p,q(X) : u(x0) = 0} (4) for all p, q > Q/(Q+s); the space on the right-hand side essentially stands for the space of sequences u on X such that |du| ∈ Js
p,q(X), divided by the subspace of sequences that would produce constant functions when taking the “trace” toZ. On the other hand, by defining a sequence spaceJs
p,q(E) similar toJp,qs (X) on the edges of the graph (X, E), the spaces ˙Fs
p,q(Z) with 0 < s <1 are obtained as retracts of the spaces Js
p,q(E), i.e. there exist bounded linear operators S: ˙Fp,qs (Z) → Jp,qs (E) and R: Js
p,q(E)→F˙p,qs (Z) such that R◦S = IdF˙s p,q(Z).
First of all, from (4) one can with little effort deduce that the spaces ˙Fs
p,q(Z) with 1< p,q <∞ are reflexive Banach spaces, which is a new result in the generality of doubling spacesZ. We also obtain the following version of the generalized Sobolev embedding theorem, due to Jawerth [32] in the Euclidean case.
Proposition. Suppose that the space Z := (Z, d, µ) satisfies the doubling condition
(3)and thatµsupports the lower mass boundµ(B)≥crQ, wherec >0is a constant,
for all balls B with radius r < diamZ. Let s0, s1 ∈ (0,1), p0 ∈ (Q+sQ0,∞), p1 ∈ (Q+sQ
1,∞) and q0, q1 ∈ (0,∞] be such that s0 > s1, p0 < p1 and s0 −Q/p0 =
s1−Q/p1. Then ˙ Fs0 p0,q0(Z)⊂ ˙ Fs1 p1,q1(Z)
12
In the proof of this embedding result, we essentially adapt Jawerth’s methods to the metric setting to obtain the embeddingJs0
p0,q0(X)⊂ J
s1
p1,q1(X), whence the result
follows by the definition of the spaces ˙Fs p,q(Z).
Concerning quasisymmetric invariance, we obtain a short proof of the quasisym-metric invariance result in [41] stated above. To elaborate on the proof, let us momentarily assume that the spaces Z and Z0 satisfy the properties (CG1)–(CG4) above, and denote the hyperbolic filling of Z0 by (X0, E0). We then move the ac-tion of a quasisymmetric homeomorphismϕ: Z →Z0 inside the hyperbolic fillings. More precisely, it is known that there exists a (essentially unique) quasi-isometric mapping Φ : X → X0 that extends ϕ in the sense that ϕ(ξ) ∈ B(Φ(x)) whenever ξ∈B(x). The quasi-isometry property of Φ means that
1
λdX(x, y)−c≤dX0 Φ(x),Φ(y)
≤λdX(x, y) +c for some constantsλ≥1 and c≥0, and
[
x∈X
BdX0 Φ(x), r
=X0
for some r > 0. Here dX and dX0 stand for the restrictions of the natural length
metrics on the graphs (X, E) and (X0, E0) to X and X0 respectively.
Using these facts and some rather straightforward maximal function techniques, we deduce that the composition operator u 7→ u◦Φ is bounded from Js
Q/s,q(X
0)
to Js
Q/s,q(X). Using our tools for the spaces ˙F s
p,q(Z), we then proceed to show that this composition operator essentially commutes with a “trace” operator taking the right-hand side of (4) with p = Q/s to ˙Fs
Q/s,q(Z), concluding the proof of the quasisymmetric invariance of the spaces ˙Fs
Q/s,q.
Furthermore, using the generalized Sobolev embedding theorem stated above in conjunction with our capacity estimates in [I], we obtain the following converse to the quasisymmetric invariance result for the full range of the parameter q.
Proposition. Suppose that the spacesZ andZ0 are connected andQ-Ahlfors regular for someQ >1, and thatZ0 is linearly locally connected. If the composition operator induced by a homeomorphism ψ: Z → Z0 is bounded from F˙s
Q/s,q(Z
0) to F˙s
Q/s,q(Z)
for somes ∈(0,1) and q∈(Q+sQ ,∞], then ψ is quasiconformal.
In particular, if Z and Z0 satisfy the properties (CG1)–(CG4) above, 0 < s < 1
and Q/(Q +s) < q ≤ ∞, then the composition operator induced by a homeo-morphism ψ: Z → Z0 is bounded from F˙s
Q/s,q(Z
0) to F˙s
Q/s,q(Z) if and only if ψ is
quasiconformal.
Let us finally formulate our result concerning the complex interpolation of the spaces ˙Fs
p,q(Z). Assume again that Z is merely doubling. For a classical treatment of the complex method of interpolation of Banach spaces by Lions and Calder´on, denoted by [·,·]θ, we refer to e.g. [5]. Our framework for the complex interpolation of quasi-Banach spaces is the interpolation theory of analytically convex spaces – a
property that our spaces ˙Fs
p,q(Z) turn out to enjoy – developed by Kalton et al., see for instance [34, Section 7] and the references therein.
Our result, which appears to be the first of its kind in the setting of doubling metric measure spaces, reads as follows. For several variants of the corresponding result in the Euclidean setting, we refer e.g. to P¨aiv¨arinta [50], Triebel [60, 63], Frazier and Jawerth [19] and Kalton, Mayboroda and Mitrea [34].
Theorem. Suppose that 0< s0, s1 <1, Q/(Q+s0)< p0, q0 <∞, Q/(Q+s1) < p1 <∞, and Q/(Q+s1)< q1 ≤ ∞. For 0< θ <1 we then have
˙ Fs0 p0,q0(Z), ˙ Fs1 p1,q1(Z) θ = ˙F s p,q(Z), (5)
with p, q, and s determined by
1 p = 1−θ p0 + θ p1 , 1 q = 1−θ q0 + θ q1 and s = (1−θ)s0+θs1.
In the proof of this result, it is again convenient to work on the level of hyperbolic fillings. Namely, the spacesJs
p,q(E) are analytically convex quasi-Banachlattices, so the so called Calder´on product method of interpolation turns out to be equivalent with the Lions-Calder´on method. Adapting some methods by Frazier and Jawerth [19], we thus obtain (5) with J in place of ˙F and E in place of Z. It then remains to establish the crucial fact (already alluded to above) that the spaces ˙Fs
p,q(Z) are obtained as retracts of the spaces Js
p,q(E), and use the method of retractions and coretractions to obtain (5).
4. Function spaces based on Morrey-Campanato-type norms More general function spaces in the Euclidean setting have been introduced by many authors in connection with applications. As an example let us mention the
Besov-Morrey spaces ˙Ns
p,u,q(Rd), introduced by Kozono and Yamazaki [42] and Maz-zucato [46], which the authors have studied in the context of the Navier-Stokes equations and other PDEs. They are function spaces similar to the Besov spaces
˙ Bs
p,q(Rd) where the (quasi-)norm of a tempered distribution f is given in terms of Mp
u-norms (as opposed to Lp-norms) of the functions f ∗φj, with φj as in Section 1. Here Mp
u(Rd), 0 < u ≤ p ≤ ∞, refers to the Morrey space, i.e. the space of measurable functions f: Rd→ C for which kfkMup(Rd):= sup x∈Rd, r>0 |B(x, r)|p1− 1 u Z B(x,r) |f(z)|udz 1/u is finite.
Recently Yang and Yuan [66, 68] have introduced and developed a theory of the scales of spaces ˙Fp,qτ,s(Rd) and ˙Bp,qτ,s(Rd), which respectively generalize the Triebel-Lizorkin and Besov spaces and also include some other function spaces based on Morrey-type norms.
Before giving the definition of these spaces, let us introduce some notation. We denote byQthe collection of dyadic cubes inRd, i.e. cubes of the form 2−k [0,1]d+
14
m, where k ∈ Z and m ∈ Zd. For a dyadic cube P := 2−k [0,1]d+m
, write jP :=k.
Definition. (i) Let p, q ∈ (0,∞], s ∈ R and τ ∈ [0,∞). The Besov-type space
˙
Bp,qs,τ(Rd) is the quasi-normed space of tempered distributions f ∈ S0(
Rd) such that kfkB˙s,τ p,q(Rd):= sup P∈Q 1 |P|τ ∞ X j=jP 2jskf∗φjkLp(P) q1/q
(standard modification forq =∞) is finite.
(ii) Let p ∈ (0,∞), q ∈(0,∞], s ∈ R and τ ∈ [0,∞). The Triebel-Lizorkin-type space F˙p,qs,τ(Rd) is the quasi-normed space of tempered distributionsf ∈ S0(
Rd) such that kfkF˙s,τ p,q(Rd) := sup P∈Q 1 |P|τ Z P X∞ j=jP 2js|f ∗φj(z)| qp/q dz 1/p (6)
(standard modification forq =∞) is finite. As usual, the spaces ˙Bs,τ
p,q(Rd) and ˙Fp,qs,τ(Rd) strictly speaking become quasi-normed spaces after dividing out the polynomials, and they are essentially independent of the choice of the functionφ. Let us point out that the dyadic cubes in the definition could be replaced by balls with dyadic radii (because every such ball can be covered by a finite number of dyadic cubes with comparable size, and vice versa).
Here are some examples of how these spaces coincide with other function spaces. • F˙s,0
p,q(Rd) = ˙Fp,qs (Rd) and ˙Bp,qs,0(Rd) = ˙Bsp,q(Rd) for all admissible parameters. • F˙p,qs,1/p(Rd) = ˙F∞s,q(Rd) for all admissible parameters; in particular we have
˙ Fp,20,1/p(Rd) =BM O(Rd) for all p >0. • B˙s, 1 u− 1 p
u,∞ (Rd) = ˙Np,u,s ∞(Rd) for 0< u ≤ p < ∞ and s ∈ R, where ˙Np,u,qs (Rd) stands for the homogeneous Besov-Morrey space introduced in [42] and [46]. • F˙s,
1
u−
1
p
u,q (Rd) = ˙Ep,u,qs (Rd) for 0 < u ≤ p < ∞, 0 < q ≤ ∞ and s ∈ R, where ˙Es
p,u,q(Rd) stands for the homogeneous Triebel-Lizorkin-Morrey space, defined analogously to the spaces ˙Ns
p,u,q(Rd) [59, 52]. • For α ∈ 0,min(1,d2), the space ˙Fα,
1 2−
α d
2,2 (Rd) coincides with the space Qα(Rd) introduced in [18].
• For τ ∈(1p,∞) and all admissible values of p,q and s, ˙ Fp,qs,τ(Rd) = ˙Fs+d(τ− 1 p) ∞,∞ (Rd) and B˙p,qs,τ(Rd) = ˙B s+d(τ−1 p) ∞,∞ (Rd). (7)
Recall that for s > 0, ˙Fs
∞,∞(Rd) and ˙B∞s ,∞(Rd) both coincide with the
homogeneous H¨older-Zygmund space of orders; see e.g. [23, Theorem 6.3.6] and [19, Section 5].
We refer to [69, Proposition 1 and Theorem 2] and the references therein for details about the above coincidences. We also refer to [53] for a detailed discussion of the history of the spaces in question.
In the article [III], our goal was to give a characterization of the spaces ˙Fp,qs,τ(Rd) and ˙Bs,τ
p,q(Rd) with 0< s <1 andp > d/(d+s) in terms of Haj lasz gradients, similar to the characterizations of Triebel-Lizorkin and Besov spaces obtained in [41]. Our definition is as follows. Recall that Ds(f) was defined in Section 3 above.
Definition. (i) Let 0 < p, q ≤ ∞, 0 < s < ∞ and 0 ≤ τ < ∞. The Besov-type space ˙Ns,τ
p,q(Rd) is the quasi-normed space of measurable functions (modulo additive constants)f:Rd → Csuch that kfkN˙s,τ p,q(Rd):=−→g∈inf Ds(f) sup x∈Rd, `∈Z 1 |B(x,2−`)|τ X k≥` kgkkqLp(B(x,2−`)) !1/q
(standard modification forq =∞) is finite.
(ii) Let 0 < p < ∞, 0 < q ≤ ∞, 0 < s < ∞ and 0 ≤ τ < ∞. The Triebel-Lizorkin-type space M˙s,τ
p,q(Rd) is the quasi-normed space of measurable functions (modulo additive constants) f: Rd→
C such that kfkM˙s,τ p,q(Rd) :=−→g∈inf Ds(f) sup x∈Rd, `∈Z 1 |B(x,2−`)|τ Z B(x,2−`) X k≥` gk(z)q p/q dz !1/p
(standard modification forq =∞) is finite.
These definitions in particular make sense in any metric measure space, not justRd. The main theorem in [III] reads as follows. It generalizes the corresponding results obtained in [41, Theorem 3.2] for the standard Triebel-Lizorkin and Besov spaces, corresponding to the cases τ = 0 below.
Theorem. (i) For s ∈ (0,1), p ∈ (d+sd ,∞), q ∈ (d+sd ,∞] and τ ∈ [0,1p + 1−ds), we have M˙p,qs,τ(Rd) = ˙Fp,qs,τ(Rd) with equivalent quasinorms.
(ii) For s ∈ (0,1), p ∈ (d+sd ,∞], q ∈ (0,∞] and τ ∈ [0,1p + 1−ds), we have
˙
Np,qs,τ(Rd) = ˙Bs,τp,q(Rd) with equivalent quasinorms.
Note that ifτ ≥1/p+ (1−s)/d, then s+d(τ−1/p)≥1, so in view of (7) we do not expect that the range ofτ in the theorem could be improved.
The proof of the above theorem consists of two parts [III, Theorems 1.2 and 1.3], similarly to the proof of the original result in [40] and [41]. To elaborate on the proof, let us focus on the case of Triebel-Lizorkin-type spaces.
[III, Theorem 1.2] for the index range in question essentially states that ˙Fs,τ p,q(Rd) coincidesAF˙p,qs,τ(Rd), agrand Triebel-Lizorkin-type space, defined by the quasi-norm (6) with |f∗φj(z)| replaced by
sup ψ∈A
16
whereAstands for the collection of functionsψ contained in a certain neighborhood of 0 (in the locally convex topology of the Schwartz space S) satisfying R
ψ = 0. The spaceAF˙p,qs,τ(Rd) is thus a priori smaller than the space ˙Fp,qs,τ(Rd). For the other direction, we use a so called Calder´on reproducing formula, similar to (2) above, to obtain an estimate for theAF˙p,qs,τ(Rd)-norm of a tempered distribution in terms of the action of analmost diagonal operator acting on the “corresponding” sequence space
˙ fs,τ
p,q(Rd) [68, Definition 3.1]. Almost diagonal operators were originally introduced by Frazier and Jawerth [19] in the context of sequence spaces corresponding to the standard Triebel-Lizorkin and Besov spaces; the boundedness of almost diagonal operators on the sequence spaces ˙fs,τ
p,q(Rd) and ˙bs,τp,q(Rd) was established by Yang and Yuan [68, Theorem 4.1].
[III, Theorem 1.3] for the same indices then establishes the coincidence of the spaceAF˙s,τ
p,q(Rd) with ˙Mp,qs,τ(Rd). The proof is essentially a localized modification of the proof of the corresponding result in [41, Theorem 3.2]. To show that ˙Mp,qs,τ(Rd)⊂ AF˙s,τ
p,q(Rd) with a continuous embedding, a Sobolev-type embedding theorem for the Haj lasz-Triebel-Lizorkin spaces is employed. For the other direction, a fractional Haj lasz gradient for a function f ∈ AF˙p,qs,τ(Rd) is given in terms of the functions z 7→supψ∈A|f∗ψj(z)|.
It is perhaps worth pointing out that [III, Theorems 1.2 and 1.3], which might be of independent interest, both hold for larger (but different) ranges of the parameters.
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