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On finite type invariants of welded string links and ribbon tubes

Adrien Casejuane  and  Jean-Baptiste Meilhan Univ. Grenoble Alpes, CNRS, IF, 38000 Grenoble, France adrien.casejuane@univ-grenoble-alpes.fr jean-baptiste.meilhan@univ-grenoble-alpes.fr
Abstract.

Welded knotted objects are a combinatorial extension of knot theory, which can be used as a tool for studying ribbon surfaces in 44-space. A finite type invariant theory for ribbon knotted surfaces was developed by Kanenobu, Habiro and Shima, and this paper proposes a study of these invariants, using welded objects. Specifically, we study welded string links up to wkw_{k}-equivalence, which is an equivalence relation introduced by Yasuhara and the second author in connection with finite type theory. In low degrees, we show that this relation characterizes the information contained by finite type invariants. We also study the algebraic structure of welded string links up to wkw_{k}-equivalence. All results have direct corollaries for ribbon knotted surfaces.

Key words and phrases:
welded knotted objects, ribbon knotted surfaces in 44-space, finite type invariants
1991 Mathematics Subject Classification:
57M27, 57M25, 57Q45

1. Introduction

In the study of knotted surfaces, i.e. smooth embeddings of 22-dimensional manifolds in 44-space, the class of ribbon surfaces has proved to be of particular interest. These are the analogue of ribbon knots in 33-space, as defined by Fox in the sixties, in the sense that such knotted surfaces bound immersed 33-manifolds with only one fixed topological type of so-called ribbon singularities. Ribbon knotted surfaces were extensively studied from the early days higher dimensional knot theory, notably through the work of Yajima [18, 19] and Yanagawa [21, 22, 20]. One nice feature of ribbon knotted surfaces is that they admit a natural notion of ’crossing change’. Indeed, one can always arrange such surfaces so that the only crossings occur along circles of double points: swapping the over/under information along such a circle then yields a new ribbon surface. Just like the usual crossing change can be used to define Vassiliev knot invariants, Kanenobu, Habiro and Shima used this local move to introduce a theory of finite type invariants for ribbon knotted surfaces [7, 8]. For ribbon 22-knots, Habiro and Shima further showed that finite type invariants are completely determined by the (normalized) Alexander polynomial.

This paper aims at characterizing, in a similar way, finite type invariants of ribbon tubes, which are ribbon knotted annuli in the 44-ball whose boundary is given by fixed copies of the unlink. These objects were introduced in [1], as a higher dimensional analogue of string links. For 11-component ribbon tubes, the situation is strictly the same as for ribbon 22-knots, in the sense that all finite type invariants come from the coefficients αk\alpha_{k} (k2(k\geq 2) of the normalized Alexander polynomial [13]. For ribbon tubes of more components, a number of finite type invariants can be derived from this polynomial, as follows. Given a sequence RR of possibly overlined indices, there is a canonical procedure to connect the various components of a ribbon tube into a single annulus, and evaluating αk\alpha_{k} on the latter yields a degree kk finite type invariant R;k\mathcal{I}_{R;k} of the initial ribbon tube, called a closure invariant, see Definition 2.16. Another family of finite type invariants of ribbon tubes is given by the higher-dimensional Milnor invariants defined in [1]. The first of these invariants is Milnor invariant μ(ij)\mu(ij), which in effect is the (nonsymmetric) linking number of component ii with component jj. The main result of this paper can be stated as follows.

Theorem 1.1.

Let TT and TT^{\prime} be two nn-component ribbon tubes. The following are equivalent for k{2;3}k\in\{2;3\}.

  1. (1)

    TT and TT^{\prime} are RCkRC_{k}-equivalent.

  2. (2)

    For any finite type invariant ν\nu of degree <k<k, we have ν(T)=ν(T)\nu(T)=\nu(T^{\prime}).

  3. (3)

    TT and TT^{\prime} cannot be distinguished by the following invariants:

    • \bullet

      If k=2k=2: linking numbers μ(ij)\mu(ij), for all iji\neq j.

    • \bullet

      If k=3k=3: linking numbers μ(ij)\mu(ij) for all iji\neq j, and closure invariants (i);2\mathcal{I}_{(i);2} for all ii, (j,i);2\mathcal{I}_{(j,i);2}, (i,j¯);2\mathcal{I}_{(i,\overline{j});2} and (i¯,j);2\mathcal{I}_{(\overline{i},j);2} for all i<ji<j, and (j¯,i,k¯);2\mathcal{I}_{(\overline{j},i,\overline{k});2} for all pairwise distinct i,j,ki,j,k such that j<kj<k.

Here, the RCkRC_{k}-equivalence is an equivalence relation introduced by Watanabe in [17] which, by the above, characterizes the information contained by finite type invariants of ribbon tubes of degree <3<3. This relation, discussed in Section 5, is an analogue in higher dimensions of Habiro’s CkC_{k}-equivalence for usual knotted objects [6]. Watanabe showed that for ribbon 22–knots, the RCkRC_{k}-equivalence characterizes the information contained by all finite type invariants of degree <k<k [17, Thm. 1.1].

Note that according to Theorem 1.1, any degree 22 invariant of ribbon tubes can be expressed as a combination of linking numbers and closure invariants: we give such a formula for length 33 Milnor invariants in Proposition 4.6. Note also that the case k=2k=2 above was essentially already known by [2], see [13, § 7.2].

In Section 4.2, we investigate degree 33 invariants in the 22-component case. The classification result is only given modulo a conjectured relation, but it appears already at this stage that closure invariants no longer suffice to generate all degree 33 invariants, since the classification also involves length 44 Milnor invariants. See Remark 4.15. An extensive study of degree 33 invariants of ribbon tubes, and discussions on the perspectives that it opens, can be found in [3].

The results of this paper on ribbon knotted surfaces are all obtained as consequences of diagrammatic results. Another remarkable feature of ribbon surfaces is indeed that they can be described and studied using welded objects, which are a quotient of virtual knot theory, see Section 2.1. Early works of Yajima [18] highlighted the fact that all relations in the fundamental group of the complement of a ribbon 22–knot can be encoded using the usual diagrammatics of knot theory. This key observation was later completed and formalized by Satoh, as a surjective map from welded objects to ribbon knotted surfaces [16]. Hence the core of the present paper is a characterization of finite type invariants of welded string links. The theory of finite type invariants for welded objects is based on the virtualization move, which replaces a classical crossing by a virtual one, and the above-mentioned closure and Milnor invariants do have a strict analogue for welded string links, with the same finite type properties, see Section 2.3..

Our main tool will be the arrow calculus developed in [13], which is a welded analogue of Habiro’s clasper calculus [6]. In particular, a family of finer and finer equivalence relations on welded objects called wkw_{k}-equivalence is defined in [13], which is closely related to finite type theory. It is indeed known that two wkw_{k}-equivalent welded objects cannot be distinguished by any finite type invariant of degree <k<k. The converse implication also holds for welded (long) knots, thus fully characterizing the information contained by finite type invariants of these objects, and it is conjectured that such an equivalence also holds for welded string links (Conjecture 3.3). This is a natural analogue of the Goussarov-Habiro conjecture for finite type invariants of string links and homology cylinders [6] and, as a matter of fact, our results amount to verify this conjecture at low degree. Indeed, our main diagrammatical results are classifications of welded string links up to wkw_{k}-equivalence for k3k\leq 3 by finite type invariants (Corollary 4.4), which imply Theorem 1.1 as seen in Section 5. Several general results are also given on the set of wkw_{k}-equivalence classes of welded string links, showing in particular that these form a finitely generated, non abelian group.

We conclude this introduction by mentioning the recent work of Colombari, who gave a complete classification of welded string links up to wkw_{k}-concordance, for all kk, in [4]. This equivalence relation, generated by wkw_{k}-equivalence and welded concordance, turns out to completely characterize welded string links (hence, classical string links) having the same Milnor invariants of length k\leq k. This result also shows that all finite type concordance invariants of welded string links are given by Milnor invariants.

The rest of this paper is organized as follows. In Section 2.1, we review the notion of welded knotted objects and the basics of arrow calculus. Section 3 is devoted to the wkw_{k}-equivalence; some algebraic properties of welded string links up to wkw_{k}-equivalence are given in Section 3.3. Finite type invariants of welded string links are characterized at low degree in Section 4. The topological counterparts of our results, including the proof of Theorem 1.1, are given in the final Section 5.

2. Welded objects and arrow calculus

2.1. Welded knotted objects

Recall that a virtual diagram is a planar immersion of some 11-dimensional manifold; the singular set is a finite collection of transverse double points endowed with a decoration, either as a classical or as a virtual crossing. In figures, classical crossings are represented as in usual knot diagrams, while virtual crossings are simply drawn as double points (we do not follow the customary convention using circled double points).

Definition 2.1.

A welded knotted object is the equivalence class of a virtual diagram modulo the generalized Reidemeister moves and the OC move. Here the generalized Reidemeister moves consist of the three usual Reidemeister moves (involving classical crossings), and the Detour move shown in Figure 2.1. The OC move is shown on the right-hand side of the same figure.

Refer to caption
Figure 2.1. The Detour and OC moves (In the Detour move, the grey part indicates any subdiagram, with classical and/or virtual crossings)

Recall that usual (string) links inject into welded (string) links, in the sense that two diagrams without virtual crossings, that are related by a sequence of generalized Reidemeister and OC moves, represent isotopic objects, see [5, Thm 1.B]. Welded objects are also intimately related to ribbon knotted surfaces in 44-space, via Satoh’s Tube map [16], as further developed in Section 5.

Remark 2.2.

Virtual diagrams modulo generalized Reidemeister move give rise to virtual knotted objects, that were first introduced in the early nineties by L. Kauffman in [9], and M. Goussarov, M. Polyak and O. Viro in [5].

This paper will mainly deal with the following class

Definition 2.3.

An nn-component welded string link is the welded class of nn properly immersed copies of the unit interval into [0,1]×[0,1][0,1]\times[0,1], endowed with nn fixed points on [0,1]×{ε}[0,1]\times\{\varepsilon\} (ε=0,1\varepsilon=0,1), such that the iith copy of the interval runs from the iith fixed point in [0,1]×{0}[0,1]\times\{0\} to the iith fixed point in [0,1]×{1}[0,1]\times\{1\}. A 11-component welded string link is also called a welded long knot.

We denote by wSL(n)wSL(n) the set of welded string links. The stacking product endows wSL(n)wSL(n) with a monoid structure, whose unit 𝟏\mathbf{1} is given by the trivial diagram of nn intervals, with no crossing.

2.2. Arrow calculus

We now review the diagrammatic calculus for welded objects developed in [13], called arrow calculus. This is a welded analogue of Habiro’s clasper calculus for usual knotted objects [6] and, as such, it is intimately related to finite type invariants, see Section 2.3.3. Let LL be some welded knotted object.

Definition 2.4.

A ww-tree for LL is a connected unitrivalent tree TT, immersed into the plane so that

  • -

    trivalent vertices are endowed with a cyclic order, are pairwise disjoint and disjoint from LL;

  • -

    univalent vertices are pairwise disjoint and lie in L{crossings of L}L\setminus\{\textrm{crossings of $L$}\};

  • -

    edges are oriented, so that each trivalent vertex involves exactly one outgoing edge;

  • -

    edges may contain virtual (but not classical) crossings, either with LL or with TT itself;

  • -

    edges may contain decorations \bullet, called twists, which are subject to the involutive rule that two consecutive twists do cancel.

Moreover, for a union of wwÐtrees for LL, we assume that vertices are pairwise disjoint, and that crossings among edges are all virtual.

We shall call tails and head the endpoints of a ww-tree, according to the orientation.

Definition 2.5.

The degree of a ww-tree is the number of tails. For k1k\geq 1, we call wkw_{k}-tree a ww-tree of degree kk.

Now, a ww-tree is an instruction for modifying LL, according to a process which we abusively call surgery, defined as follows.

Definition 2.6.

Let AA be a w1w_{1}-tree for the diagram LL. The surgery on LL along AA yields a new welded diagram LAL_{A} according to the local rule:

[Uncaptioned image].

If AA crosses (virtually) either LL or some other ww-tree, then the strands of LAL_{A} likewise cross the same object virtually.

In general, if TT is a wkw_{k}-tree for LL, then surgery along TT is defined as surgery along the union of w1w_{1}-trees E(T)E(T), called the expansion of TT and defined recursively by the rule:

[Uncaptioned image].
Remark 2.7.

In the above figure, the dotted parts represent parallel subtrees, which are parallel copies of the non-depicted part ot the initial ww-tree, that always cross each other virtually – see [13, Conv. 5.1] for a detailed explanation.

A key point is that any welded object LL can be represented in this way as a union of some diagram with no classical crossing and some ww-trees, called an arrow presentation for LL. Since we shall be concerned with welded string links in this paper, let us define this notion more formally in this particular context.

Definition 2.8.

Let LL be an nn-component welded string link. An arrow presentation (𝟏,T)(\mathbf{1},T) of LL consists of the trivial diagram 𝟏\mathbf{1}, together with a union of ww-trees TT for 𝟏\mathbf{1} such that L=𝟏TL=\mathbf{1}_{T}. Two arrow presentations are equivalent if they represent equivalent welded diagrams.

By [13, Prop. 4.2], any element of wSL(n)wSL(n) admits an arrow presentation; moreover, a complete set of relations is known, that relates any two arrow presentations of a given diagram:

Theorem 2.9.

[13, Thm. 5.21] Two arrow presentations are equivalent if and only if they are related by a sequence of the following moves:

  1. (1)

    Any generalized Reidemeister move involving ww-trees and/or the diagram, and the following local moves:

    [Uncaptioned image]
  2. (2)

    Head and Tail reversal:

    [Uncaptioned image][Uncaptioned image]
  3. (3)

    Tails exchange (tails may or may not belong to the same ww-tree):

    [Uncaptioned image]
  4. (4)

    Isolated arrow:

    [Uncaptioned image]
  5. (5)

    Inversion:

    [Uncaptioned image]
  6. (6)

    Slide:

    [Uncaptioned image]

Moreover, a collection of further operations on arrow presentations can be derived from these moves, as summarized below.

Proposition 2.10.

[13, Lemmas 5.14 to 5.18] The following local moves give equivalent arrow presentations.

  1. (7)

    Heads exchange:

    [Uncaptioned image]
  2. (8)

    Head/Tail exchange:

    [Uncaptioned image]
  3. (9)

    AS (Antisymmetry):

    [Uncaptioned image]
  4. (10)

    Fork:

    [Uncaptioned image]
Convention 2.11.

In what follows, we will blur the distinction between arrow presentations and the welded diagrams obtained by surgery. Moreover, we shall use the moves of the previous two results by only referring to their numbering (1)-(10).

2.3. Invariants of welded string links

Recall that given a welded string link LL, there is an associated welded group G(L)G(L), which is abstractly generated by all arcs and with a conjugating relation associated with each classical crossing, see e.g. [13, § 6.1]. We stress that, if LL is a classical string link, then G(L)G(L) is the fundamental group of the complement.

2.3.1. Closure invariants

We now introduce a family of invariants of welded string links, defined by evaluating the normalized Alexander polynomial on some welded long knot built via a closure process.

Let KK be a welded long knot. The normalized Alexander polynomial Δ~K(t)[t±1]\tilde{\Delta}_{K}(t)\in\mathbb{Z}[t^{\pm 1}] of KK was first defined in [7]; see [13, § 6.2] for a review.

Definition 2.12.

The kkth normalized coefficient of the Alexander polynomial is the coefficient αk(K)\alpha_{k}(K) in the power series expansion of Δ~K(t)\tilde{\Delta}_{K}(t) at t=1t=1:

Δ~K(t)=1+k=2αk(K)(1t)k.\tilde{\Delta}_{K}(t)=1+\sum_{k=2}^{\infty}\alpha_{k}(K)(1-t)^{k}.

We now proceed with defining the general closure process underlying closure invariants.

Definition 2.13.

Let nn\in\mathbb{N}. A list of length kk (k<nk<n) is a sequence of pairwise distinct, possibly overlined integers in {1,,n}\{1,\cdots,n\}.

A list is an instruction for closing an nn-component welded string link into a welded long knot.

Definition 2.14.

Let LL be an nn-component welded string link, and let RR be a list of length <n<n. Then ClR(L)Cl_{R}(L) is the welded long knot obtained as follows:

  • delete a neighborhood L([0,1]×[0,ε[[0,1]×]1ε,1])L\cap([0,1]\times[0,\varepsilon[\cup[0,1]\times]1-\varepsilon,1]) of the boundary of LL, and fix the points pi:={12}×{i}p_{i}:=\{\frac{1}{2}\}\times\{i\} (i=0,1i=0,1) on the boundary of [0,1]×[0,1][0,1]\times[0,1];

  • delete all components whose index does not appear in RR;

  • reverse the orientation of all components whose index is overlined in RR;

  • build a welded long knot, starting at p0p_{0} and ending at p1p_{1}, by connecting these kk oriented strands endpoints following the order of the list RR and the orientation of each strand, with arbitrary arcs that cross virtually the rest of the diagram.

See Figure 2.2 for a couple examples. Observe that this process is well-defined thanks to the Detour move. Note also that the process extends naturally to arrow presentations, by closing the trivial diagram 𝟏\mathbf{1} as instructed by the list RR.

Example 2.15.

Consider the arrow presentation for LwSL(2)L\in wSL(2) shown in the middle of Figure 2.2.

Refer to caption
Figure 2.2. The closures Cl(2,1¯)(L)Cl_{(2,\overline{1})}(L) (left) and Cl(1,2)(L)Cl_{(1,2)}(L) (right) of the welded string link LL.

On the one hand, the closure Cl(1,2)(L)Cl_{(1,2)}(L) is the welded long knot K1K_{1} represented on the right-hand side of the figure. On the other hand, as shown in the same figure, the closure Cl(2,1¯)(L)Cl_{(2,\overline{1})}(L) gives the welded long knot K2K_{2}. Furthermore, we have that Cl(1,2¯)(L)=K1Cl_{(1,\overline{2})}(L)=K_{1} and Cl(2¯,1¯)(L)=K2Cl_{(\overline{2},\overline{1})}(L)=K_{2}. Finally, by the Fork move (10), ClR(L)Cl_{R}(L) is the trivial long knot for R=(1¯,2),(1¯,2¯),(2,1),(2¯,1)R=(\overline{1},2),(\overline{1},\overline{2}),(2,1),(\overline{2},1).

We can now define closure invariants of welded string links.

Definition 2.16.

Let RR be a list, and let k2k\geq 2 be some integer. The closure invariant R;k\mathcal{I}_{R;k} is the welded string link invariant defined by R;k(L)=αk(ClR(L))\mathcal{I}_{R;k}(L)=\alpha_{k}(Cl_{R}(L)).

In particular, the closure invariant (i);k\mathcal{I}_{(i);k} simply computes the normalized Alexander coefficient αk\alpha_{k} of the iith component of a welded string link.

It is straightforwardly checked that closure invariants indeed are invariants of welded string links. This family of invariants should be compared to the closure invariants of classical string links of [11], and further developed in [12, § 5.1]; note however that in these latter works, the closure operations introduce classical crossings.

2.3.2. Welded linking numbers and Milnor invariants

Given an nn-component welded string link LL and two distinct indices i,j{1,,n}i,j\in\{1,\cdots,n\}, the welded linking number μ(ij)\mu(ij) is given by

μL(ij)=cCi,jsign(c),\mu_{L}(ij)=\sum_{c\in C_{i,j}}\textrm{sign}(c),

where the sum runs over the set Ci,jC_{i,j} of classical crossings where component ii passes over component jj, and where the sign of the crossing is given by the usual rule:

iijj+1+1iijj1-1

It is quite straightforward to verify that this indeed defines a welded invariant. If LL is a classical string link, then clearly we have that μ(ij)=μ(ji)\mu(ij)=\mu(ji) is the usual linking number.

These invariants were first introduced in [5], under the name of virtual linking numbers. Just like usual linking numbers were widely generalized into Milnor invariants in [14], there is a welded extension of Milnor invariants μ(I)\mu(I) for any sequence of indices II, which generalizes the welded linking numbers. This extension was first given in [1, Sec. 6] using a topological approach and the Tube map (see Section 5), and a purely diagrammatic version was later provided in [15].

2.3.3. Finite type invariants

We now recall the definition of finite type invariants of welded objects, and observe that the above invariants all fall into this category.

Recall that a virtualization move on a welded diagram is the replacement of a classical crossing by a virtual one. Given a welded diagram LL, and a subset SS of the set of classical crossings of LL, we denote by LSL_{S} the welded diagram obtained by applying the virtualization move to all crossings in SS.

Definition 2.17.

Let ν\nu be an invariant of welded string links, taking values in some abelian group. Then ν\nu is a finite type invariant of degree k\leq k if, for any LwSL(n)L\in wSL(n) and any set SS of k+1k+1 classical crossings in LL, we have

SS(1)|S|ν(LS)=0.\sum_{S^{\prime}\subset S}(-1)^{|S^{\prime}|}\nu(L_{S^{\prime}})=0.

This is a finite type invariant of degree kk if, moreover, it is not of degree k1\leq k-1.

This definition was first given in [5, Sec. 2.3] in the context of virtual knots and links. Actually, in that same paper, the authors further identified the first nontrivial invariants of the theory:

Lemma 2.18.

[5] For all i,j{1,,n}i,j\in\{1,\cdots,n\}, the welded linking number μ(ij)\mu(ij) is a degree 11 finite type invariant of welded string links.

There are finite type invariants in any degree. Indeed, we have the following.

Lemma 2.19.

[7] For all k2k\geq 2, αk\alpha_{k} is a degree kk finite type invariant of welded long knots.

As an immediate consequence, we have:

Corollary 2.20.

For all k2k\geq 2 and all list RR, the closure invariant IR,kI_{R,k} is a degree kk finite type invariant of welded string links.

Remark 2.21.

We note that Lemma 2.18 generalizes to all Milnor invariants, in the sense that for a sequence II of k2k\geq 2 indices in {1,,n}\{1,\cdots,n\}, the welded Milnor invariant μ(I)\mu(I) is a degree k1k-1 finite type invariant of welded string links. A complete proof of this fact can be found in the Appendix of [3].

3. wkw_{k}-equivalence

In this section, we review the family of equivalence relations introduced in [13], called wkw_{k}-equivalence, and recall how it can be used as a tool for studying finite type invariants. Although the definition can be made in the general context of welded objects, we shall restrict ourselves below to welded string links; in particular, we investigate the algebraic properties of the group of wkw_{k}-equivalence classes of welded string links.

3.1. Definition and relation to finite type invariants

Let kk be a positive integer.

Definition 3.1.

Two welded string links L,LL,L^{\prime} are wkw_{k}-equivalent, denoted by LkLL\stackrel{{\scriptstyle k}}{{\sim}}L^{\prime}, if there exists a finite sequence (Li)0in(L_{i})_{0\leq i\leq n} of elements of wSL(n)wSL(n) such that L0=LL_{0}=L, Ln=LL_{n}=L^{\prime} and for each ii, Li+1L_{i+1} is obtained from LiL_{i} either by surgery along a wlw_{l}-tree for some lkl\geq k or by a generalized Reidemeister or OC move.

Using the Expansion move (E), one sees that the wkw_{k}-equivalence becomes finer as kk increases. This notion turns out to be closely related to finite type theory.

Proposition 3.2.

[13, Prop. 7.5] For k2k\geq 2, two welded (string) links that are wkw_{k}-equivalent, share all finite type invariants of degree <k<k.

Furthermore, it is proved in [13] that the converse holds for welded knots and welded long knots. For welded string links, we are naturally led to the following, which was first discussed in [13, § 10.3].

Conjecture 3.3.

Two welded string links are wkw_{k}-equivalents if and only if they cannot be distinguished by finite type invariants of degree <k<k.

This can be seen as a welded analogue of the Goussarov-Habiro conjecture, see [6]. As a matter of fact, Corollary 4.4 validates this conjecture at low degree.

3.2. Refined arrow calculus

When working up to wkw_{k}-equivalence, the arrow calculus can be further refined: the point is that working up to wkw_{k}-equivalence allows for operations ’up to higher order terms’. Indeed, in addition to the ten moves of Theorem 2.9 and Proposition 2.10, we have a number of extra operations at our disposal for manipulating arrow presentations. Some of these operations are summarized in Lemma 3.4 below, whose proof can be found in [13, Sec. 7.4]. They are given in terms that are slightly stronger than wkw_{k}-equivalence, as follows. Given two arrow presentations (𝟏,T)(\mathbf{1},T) and (𝟏,T)(\mathbf{1},T^{\prime}) and some integer k1k\geq 1, we denote by

(𝟏,T)k(𝟏,T)(\mathbf{1},T)\stackrel{{\scriptstyle\scriptsize{\raisebox{1.50694pt}[0.0pt][1.50694pt]{$k$}}}}{{\rightarrow}}(\mathbf{1},T^{\prime})

the fact that (𝟏,T)=(𝟏,TT′′)(\mathbf{1},T)=(\mathbf{1},T^{\prime}\cup T^{\prime\prime}) for some union T′′T^{\prime\prime} of w-trees of degree k\geq k. Note that (𝟏,T)k(𝟏,T)(\mathbf{1},T)\stackrel{{\scriptstyle\scriptsize{\raisebox{1.50694pt}[0.0pt][1.50694pt]{$k$}}}}{{\rightarrow}}(\mathbf{1},T^{\prime}) implies that 𝟏Tk𝟏T\mathbf{1}_{T}\stackrel{{\scriptstyle k}}{{\sim}}\mathbf{1}_{T^{\prime}}.

Lemma 3.4.

Let k,kk,k^{\prime} be integers.

  1. (11)

    Twist: If k2k\geq 2, for any wkw_{k}-tree containing a twist we have

    [Uncaptioned image]
  2. (12)

    Generalized Head/Tail exchange: We have

    [Uncaptioned image]

    where WW and WW^{\prime} are ww-trees of degree kk and kk^{\prime}, respectively, so that TT is a wk+kw_{k+k^{\prime}}-tree.

  3. (13)

    IHX: If k3k\geq 3 we have

    [Uncaptioned image]

    where II, HH and XX are three wkw_{k}-trees as shown.

As with arrow moves (1)-(10), we shall use the relations of Lemma 3.4 by only referring to their numbering.

Remark 3.5.

Combining the Twist relation (11) with the with the reversal move (2) and the AS move (9), we have that the two welded long knots K1K_{1} and K2K_{2} of Example 2.15, are w3w_{3}-equivalent:

==\bullet==\bullet==\bullet\bullet3\stackrel{{\scriptstyle 3}}{{\sim}}

Combining relation (12) with the previous exchange moves (3) and (7), we have the following.

Corollary 3.6.

[13, Cor. 7.13] Let TT and TT^{\prime} be ww-trees of degree kk and kk^{\prime}, respectively. One can freely exchange the relative position of two adjacent univalent vertices (head or tail) of TT and TT^{\prime} at the cost of extra ww-trees, all of degree k+k\geq k+k^{\prime}.

This can be used to rearrange any arrow presentation of an element of wSL(n)wSL(n) into a product of elementary pieces, each obtained by surgery along a single ww-tree, as in [13, Lem. 7.15].

Another noteworthy consequence of Corollary 3.6 is the following additivity property for closure invariants.

Proposition 3.7.

Let kk and kk^{\prime} be two integers, and let RR be a list. Let WW and WW^{\prime} be unions of ww-trees for the trivial diagram 𝟏\mathbf{1}, of degree k\geq k and k\geq k^{\prime}, respectively. For all d<k+kd<k+k^{\prime}, we have

R;d(𝟏W𝟏W)=R;d(𝟏W)+R;d(𝟏W).\mathcal{I}_{R;d}(\mathbf{1}_{W}\cdot\mathbf{1}_{W^{\prime}})=\mathcal{I}_{R;d}(\mathbf{1}_{W})+\mathcal{I}_{R;d}(\mathbf{1}_{W}).
Proof.

It is an immediate consequence of Corollary 3.6 that ClR(𝟏W)ClR(𝟏W)k+kClR(𝟏W𝟏W)Cl_{R}(\mathbf{1}_{W})\cdot Cl_{R}(\mathbf{1}_{W^{\prime}})\stackrel{{\scriptstyle k+k^{\prime}}}{{\sim}}Cl_{R}(\mathbf{1}_{W}\mathbf{1}_{W^{\prime}}). Now, since αd\alpha_{d} is a finite type invariant of degree dd by Proposition 2.19, we have αd(ClR(𝟏W)ClR(𝟏W))=αd(ClR(𝟏W𝟏W))\alpha_{d}(Cl_{R}(\mathbf{1}_{W})\cdot Cl_{R}(\mathbf{1}_{W^{\prime}}))=\alpha_{d}(Cl_{R}(\mathbf{1}_{W}\mathbf{1}_{W^{\prime}})), and the result follows from the additivity property of αd\alpha_{d} as given in [13, Cor. 6.6]. ∎

3.3. The group of welded string links up to wkw_{k}-equivalence

Let n,kn,k\in\mathbb{N}^{\ast}. We denote by wSL(n)kwSL(n)_{k} the set of wkw_{k}-equivalence classes of nn-component welded string links.

As already observed in [13, § 7.2], wSL(n)1wSL(n)_{1} is the trivial group for all n1n\geq 1. It is also known that wSL(1)kwSL(1)_{k} is a finitely generated abelian group for all k1k\geq 1 [13, Cor. 8.8]. In the general case, we have the following results.

Theorem 3.8.

For n,kn,k\in\mathbb{N}^{\ast}, wSL(n)kwSL(n)_{k} is a finitely generated group.

Proof.

Let us first prove the group structure. Let FF be a union of ww-trees of degree l\geq l for 𝟏\mathbf{1} (lkl\leq k). Consider a union FF^{\prime} of ww-trees, which consists of a parallel copy of each ww-tree in FF, that only differs by a twist \bullet next to the head. By the Inversion move (5), we have that (𝟏,FF)(\mathbf{1},F\cup F^{\prime}) is equivalent to (𝟏,)(\mathbf{1},\emptyset). Now, we can use Corollary 3.6 to move FF^{\prime} above a disk DD containing FF; this introduces a union of ww-trees W~\tilde{W} of degree 2l\geq 2l, which may intersect DD. Next W~\tilde{W} can in turn be moved above the disk DD using Corollary 3.6, and this introduces another union of ww-trees, each of degree 3l\geq 3l. Iterating this process, we eventually obtain in this way that the trivial diagram 𝟏\mathbf{1} is wkw_{k}-equivalent to a product 𝟏F𝟏W\mathbf{1}_{F}\cdot\mathbf{1}_{W}, where WW is a union of ww-trees, disjoint from DD. We have thus built the inverse of 𝟏F\mathbf{1}_{F} up to wkw_{k}-equivalence. Now, it remains to observe that the group wSL(n)kwSL(n)_{k} is finitely generated, since there are only finitely many ww-trees in each finite degree. ∎

Remark 3.9.

A consequence of this proof, in the case k=l+1k=l+1, is the following. If TT is a wlw_{l}-tree for 𝟏\mathbf{1}, then 𝟏T𝟏Tl+1𝟏\mathbf{1}_{T}\cdot\mathbf{1}_{T^{\bullet}}\stackrel{{\scriptstyle{l+1}}}{{\sim}}\mathbf{1}, where TT^{\bullet} is obtained by inserting a twist \bullet near the head of TT.

Proposition 3.10.

The group wSL(n)kwSL(n)_{k} is not abelian for n2n\geq 2 and k2k\geq 2.

Proof.

Consider the 22-component welded string links DD and DD^{\prime} shown on the left-hand side of Figure 3.1.

Refer to caption
Figure 3.1. The welded string links DD and DD^{\prime}, and the welded long knot KK

On one hand, by the Reversal moves (2), the closure Cl(1,2)(D)Cl_{(1,2)}(D) is the welded long knot KK shown on the right-hand side of the figure. On the other hand, by the Tails exchange and Isolated arrow moves (3) and (4), the welded long knot Cl(1,2)(D)Cl_{(1,2)}(D^{\prime}) is trivial. It is easily checked that α2(K)=1\alpha_{2}(K)=1, thus proving that the closure invariant (1,2);2\mathcal{I}_{(1,2);2} distinguishes DD and DD^{\prime}. By Proposition 2.19, this proves that DD and DD^{\prime} are not w2w_{2}-equivalent, hence not wkw_{k}-equivalent for any k2k\geq 2. ∎

4. Characterization of low degree invariants of welded string links

The main results of this paper follow from a complete description of the group wSL(n)kwSL(n)_{k} for low values of kk.

4.1. Classification of welded string links up to w3w_{3}-equivalence

For pairwise distinct indices i,j,ki,j,k, let Zi,jZ_{i,j}, EiE_{i}, and Gi,j,kG_{i,j,k} be the following welded string links:

iijjZi,jZ_{i,j}

       iiEiE_{i}        iijjkkGi,j,kG_{i,j,k}

Furthermore, for all pair of indices i,ji,j such that i<ji<j, let Ai,jA_{i,j}, Bi,jB_{i,j}, Ci,jC_{i,j} and Di,jD_{i,j} be the following welded string links:

iijjAi,jA_{i,j}

       iijjBi,jB_{i,j}        iijjCi,jC_{i,j}        iijjDi,jD_{i,j}(i<j)(i<j)

For each of the above elements XX of wSL(n)wSL(n), we also denote by X1X^{-1} the welded string link obtained by inserting a twist \bullet near the head of the defining ww-tree. For n0n\geq 0, we also denote by XnX^{-n} the product of nn copies of X1X^{-1}.

We note the following, rather non-intuitive relation.

Proposition 4.1.

For all i,j{1,,n}i,j\in\{1,\cdots,n\} such that i<ji<j, we have

Ai,jBi,jCi,jDi,j3𝟏.A_{i,j}\cdot B_{i,j}\cdot C_{i,j}\cdot D_{i,j}\stackrel{{\scriptstyle 3}}{{\sim}}\mathbf{1}.
Proof.

Starting with the union UU of four w1w_{1}-trees shown on the left-hand side below, the result follows from a sequence of Head/Tail exchange moves (8). In the figures, we indicate by an \ast the place where each such move is performed. On one hand, we have the following sequence of equivalences:

U:[Uncaptioned image]3[Uncaptioned image]Ai,j13[Uncaptioned image]Ai,j1Ci,j13Ai,j1Ci,j1.U:\ \vbox{\hbox{\includegraphics[height=54.06006pt]{B0.pdf}}}\ \stackrel{{\scriptstyle 3}}{{\sim}}\ \vbox{\hbox{\includegraphics[height=54.06006pt]{B1.pdf}}}\ \cdot\ A_{i,j}^{-1}\stackrel{{\scriptstyle 3}}{{\sim}}\ \vbox{\hbox{\includegraphics[height=54.06006pt]{B1bis.pdf}}}\ \cdot\ A_{i,j}^{-1}\cdot C_{i,j}^{-1}\ \stackrel{{\scriptstyle 3}}{{\sim}}\ A_{i,j}^{-1}\cdot C_{i,j}^{-1}.

Here, the first equivalence is given by the Head/Tail exchange move (8) on the jjth component of 𝟏\mathbf{1}. The w2w_{2}-tree created by this move is a copy of Ai,j1A_{i,j}^{-1}, by the Twist move (11), which can be isolated from the rest of the diagram using Corollary 3.6. The second equivalence above is given by the Head/Tail exchange move (8) on the iith component. This introduces a w2w_{2}-tree which is a copy of Ci,j1C_{i,j}^{-1} by the Head reversal move (2) and the Twist move (11), and which can also be isolated by Corollary 3.6. The third equivalence then follows directly from the Inversion move (5). On the other hand, starting with the same union UU of w1w_{1}-trees, one can perform a similar sequence of Head/Tail exchange moves, but in the opposite order. This gives the following sequence of equivalences:

U:[Uncaptioned image]3[Uncaptioned image]Bi,j3Bi,jDi,j.U:\vbox{\hbox{\includegraphics[height=54.06006pt]{B0bis.pdf}}}\ \stackrel{{\scriptstyle 3}}{{\sim}}\ \vbox{\hbox{\includegraphics[height=54.06006pt]{B2.pdf}}}\ \cdot\ B_{i,j}\stackrel{{\scriptstyle 3}}{{\sim}}\ B_{i,j}\cdot D_{i,j}.

This shows the desired relation Ai,jBi,jCi,jDi,j3𝟏A_{i,j}\cdot B_{i,j}\cdot C_{i,j}\cdot D_{i,j}\stackrel{{\scriptstyle 3}}{{\sim}}\mathbf{1} by Theorem 3.8. ∎

Notation 4.2.

For pairwise distinct indices i,j,k{1,,n}i,j,k\in\{1,\cdots,n\}, we set

  1. (i).

    ϕi,j,k=(j¯,i,k¯);2(i¯,j);2(i,k¯);2(k,j);2+(i);2+(j);2+(k);2μ(ji)μ(ki)\!\!\!\!\phi_{i,j,k}=\mathcal{I}_{(\overline{j},i,\overline{k});2}-\mathcal{I}_{(\overline{i},j);2}-\mathcal{I}_{(i,\overline{k});2}-\mathcal{I}_{(k,j);2}+\mathcal{I}_{(i);2}+\mathcal{I}_{(j);2}+\mathcal{I}_{(k);2}-\mu(ji)\mu(ki);

  2. (ii).

    αi,j=(i,j¯);2+(i¯,j);2(j,i);2(i);2(j);2\alpha_{i,j}=\mathcal{I}_{(i,\overline{j});2}+\mathcal{I}_{(\overline{i},j);2}-\mathcal{I}_{(j,i);2}-\mathcal{I}_{(i);2}-\mathcal{I}_{(j);2};

  3. (iii).

    βi,j=(i¯,j);2(i);2(j);2\beta_{i,j}=\mathcal{I}_{(\overline{i},j);2}-\mathcal{I}_{(i);2}-\mathcal{I}_{(j);2};

  4. (iv).

    γi,j=(i¯,j);2(j,i);2\gamma_{i,j}=\mathcal{I}_{(\overline{i},j);2}-\mathcal{I}_{(j,i);2}.

Theorem 4.3.

Let LL be an nn-component welded string link. We have

L3L1L2,L\stackrel{{\scriptstyle 3}}{{\sim}}L_{1}\cdot L_{2},

where L1=ijZi,jμL(ij)L_{1}=\prod_{i\neq j}Z_{i,j}^{\mu_{L}(ij)} with product taken according to the lexicographic order on (i,j)(i,j), and

L2=1inEi(i);2(L)1i<jnAi,jαi,j(L)Bi,jβi,j(L)Ci,jγi,j(L)1in1j<knij,ikGi,j,kϕi,j,k(L).L_{2}=\prod_{1\leq i\leq n}E_{i}^{\mathcal{I}_{(i);2}(L)}\ \prod_{1\leq i<j\leq n}A_{i,j}^{\alpha_{i,j}(L)}B_{i,j}^{\beta_{i,j}(L)}C_{i,j}^{\gamma_{i,j}(L)}\ \prod_{\begin{subarray}{c}1\leq i\leq n\\ 1\leq j<k\leq n\\ i\neq j,i\neq k\end{subarray}}G_{i,j,k}^{\phi_{i,j,k}(L)}.
Corollary 4.4.

The following are equivalent.

  1. (1)

    Two welded string links LL and LL^{\prime} are w3w_{3}-equivalent;

  2. (2)

    For any finite type invariant ν\nu of degree at most 22, we have ν(L)=ν(L)\nu(L)=\nu(L^{\prime});

  3. (3)

    LL and LL^{\prime} have same linking numbers μ(ij)\mu(ij), and same closure invariants (i);2\mathcal{I}_{(i);2} for all ii, (j,i);2\mathcal{I}_{(j,i);2}, (i,j¯);2\mathcal{I}_{(i,\overline{j});2} and (i¯,j);2\mathcal{I}_{(\overline{i},j);2} for all i<ji<j, and (j¯,i,k¯);2\mathcal{I}_{(\overline{j},i,\overline{k});2} for all pairwise distinct i,j,ki,j,k such that j<kj<k.

Proof.

The fact that (1)(1) implies (2)(2) is given by Proposition 3.2, and since all invariants listed in (3) are degree 2\leq 2 invariants (Lemma 2.18 and Corollary 2.20), we have implication (2)(3)(2)\Rightarrow(3). Theorem 4.3 shows that (3)(3) implies (1)(1). ∎

Remark 4.5.

Theorem 4.3 also implies that a welded string LL is w2w_{2}-equivalent to the product ijZi,jμL(ij)\prod_{i\neq j}Z_{i,j}^{\mu_{L}(ij)}. As a direct consequence, we have that two welded string links are w2w_{2}-equivalent if and only if they have same welded linking numbers μ(ij)\mu(ij), a result that was first proved in [2].

Proof of Theorem 4.3.

We start with an arbitrary ww-tree presentation of LL. By Corollary 3.6, we have that LL is w3w_{3}-equivalent to L1L2L^{\prime}_{1}\cdot L^{\prime}_{2}, where LiL^{\prime}_{i} is a product of welded string links, each obtained from 𝟏\mathbf{1} by surgery along a single wiw_{i}-tree (i=1,2i=1,2).

By the involutivity of twists, the Reversal moves (2) and the Isolated arrow move (3), we can freely assume that each w1w_{1}-tree in L1L^{\prime}_{1} is a copy of either Zi,jZ_{i,j} or Zi,j1Z_{i,j}^{-1}. By Remark 3.9, we thus have

L3ijZi,jei,jL2,L\stackrel{{\scriptstyle 3}}{{\sim}}\prod_{i\neq j}Z_{i,j}^{e_{i,j}}\cdot L^{\prime}_{2},

for some coefficients ei,je_{i,j}\in\mathbb{Z}. Observe that the welded linking numbers are additive under stacking, and recall that they are w2w_{2}-equivalence invariants by Lemma 2.18 and Proposition 3.2. Hence, applying μ(kl)\mu(kl) (for some klk\neq l) to this equivalence gives

μL(kl)=ijei,j×μZi,j(kl).\mu_{L}(kl)=\sum_{i\neq j}e_{i,j}\times\mu_{Z_{i,j}}(kl).

An elementary computation gives that μZi,j(kl)=δikδjl\mu_{Z_{i,j}}(kl)=\delta_{ik}\delta_{jl}, hence ei,j=μL(ij)e_{i,j}=\mu_{L}(ij) for any pair (i,j)(i,j) of distinct integers.

We now focus on L2L^{\prime}_{2}. Consider a w2w_{2}-tree TT for 𝟏\mathbf{1}, such that 𝟏T\mathbf{1}_{T} is a factor of L2L^{\prime}_{2}. Let us first show that, up to w3w_{3}-equivalence, TT can be assumed to be a copy of Ei±1E_{i}^{\pm 1}, Ai,j±1A_{i,j}^{\pm 1}, Bi,j±1B_{i,j}^{\pm 1}, Ci,j±1C_{i,j}^{\pm 1} or Gi,j,k±1G_{i,j,k}^{\pm 1}. Suppose first that all three endpoints of TT are on the same component, say component ii. Then by the Fork move (10), 𝟏T\mathbf{1}_{T} is nontrivial only if the head of TT is located between both tails of TT, and the Reversal moves (2), AS move (9) and Twist relation (11) ensure that TT is necessarily a copy of either EiE_{i} or Ei1E_{i}^{-1}. In the case where TT is attached to exactly two components of 𝟏\mathbf{1}, say ii and jj, then the same combinatorial arguments give that TT can be freely assumed to be a copy of Ai,j±1A_{i,j}^{\pm 1}, Bi,j±1B_{i,j}^{\pm 1}, Ci,j±1C_{i,j}^{\pm 1} or Di,j±1D_{i,j}^{\pm 1}. Hence by Proposition 4.1, we can further assume that TT is either Ai,j±1A_{i,j}^{\pm 1}, Bi,j±1B_{i,j}^{\pm 1} or Ci,j±1C_{i,j}^{\pm 1} with i<ji<j. Finally, in the case where the three endpoints of TT lie on pairwise distinct components i,j,ki,j,k, then the same considerations show that TT is a copy of Gi,j,k±1G_{i,j,k}^{\pm 1} for pairwise distinct indices i,j,ki,j,k such that j<kj<k. Moreover by Corollary 3.6, any two factors obtained from 𝟏\mathbf{1} by surgery along a w2w_{2}-tree, commute up to w3w_{3}-equivalence. Summarizing, we have proved that

(4.1) L3ijZi,jμL(ij)=L11inEiei1i<jnAi,jai,jBi,jbi,jCi,jci,j1in1j<knij,ikGi,j,kgi,j,k,L\stackrel{{\scriptstyle 3}}{{\sim}}\underbrace{\prod_{i\neq j}Z_{i,j}^{\mu_{L}(ij)}}_{=L_{1}}\ \prod_{1\leq i\leq n}E_{i}^{e_{i}}\ \prod_{1\leq i<j\leq n}A_{i,j}^{a_{i,j}}B_{i,j}^{b_{i,j}}C_{i,j}^{c_{i,j}}\ \prod_{\begin{subarray}{c}1\leq i\leq n\\ 1\leq j<k\leq n\\ i\neq j,i\neq k\end{subarray}}G_{i,j,k}^{g_{i,j,k}},

for some gi,j,kg_{i,j,k}, ai,ja_{i,j}, bi,jb_{i,j}, ci,jc_{i,j} and eie_{i} in \mathbb{Z}. In what follows, for convenience we shall call basic factor any factor appearing in the product (4.1).
Consider the invariant (i);2\mathcal{I}_{(i);2}, which is the normalized Alexander coefficient α2\alpha_{2} of the iith component. By [13, Lem. 6.4], we have that (i);2(Ei±1)=±1\mathcal{I}_{(i);2}(E_{i}^{\pm 1})=\pm 1 and (i);2\mathcal{I}_{(i);2} vanishes on any other basic factor. Recall that (i);2\mathcal{I}_{(i);2} is an invariant of w3w_{3}-equivalence (Theorem 3.2). By the additivity property of Proposition 3.7, evaluating (i);2\mathcal{I}_{(i);2} on (4.1)(\ref{eqnw3nbr}) thus gives us that ei=(i);2(L)e_{i}=\mathcal{I}_{(i);2}(L).
Next we evaluate the closure invariants (i,j¯)\mathcal{I}_{(i,\overline{j})}, (i¯,j)\mathcal{I}_{(\overline{i},j)} and (i,j)\mathcal{I}_{(i,j)} (i<ji<j) on the following basic factors:

(Ai,jBi,jCi,jEiEj(i,j¯);2:10111(i¯,j);2:01011(j,i);2:01111)\begin{pmatrix}\smallsetminus&A_{i,j}&B_{i,j}&C_{i,j}&E_{i}&E_{j}\\ \mathcal{I}_{(i,\overline{j});2}:&1&0&-1&1&1\\ \mathcal{I}_{(\overline{i},j);2}:&0&1&0&1&1\\ \mathcal{I}_{(j,i);2}:&0&1&-1&1&1\\ \end{pmatrix}

Moreover, these three closure invariants vanish on L1L_{1}, and on all basic factors Gi,j,kG_{i,j,k}. By Theorem 3.2 and Proposition 3.7, evaluating these invariants on (4.1)(\ref{eqnw3nbr}) gives:

(i,j¯);2(L)\displaystyle\mathcal{I}_{(i,\overline{j});2}(L) =\displaystyle= ai,jci,j+ei+ej,\displaystyle a_{i,j}-c_{i,j}+e_{i}+e_{j},
(i¯,j);2(L)\displaystyle\mathcal{I}_{(\overline{i},j);2}(L) =\displaystyle= bi,j+ei+ej,\displaystyle b_{i,j}+e_{i}+e_{j},
(j,i);2(L)\displaystyle\mathcal{I}_{(j,i);2}(L) =\displaystyle= bi,jci,j+ei+ej.\displaystyle b_{i,j}-c_{i,j}+e_{i}+e_{j}.

Consequently, we have

  1. ai,j=(i,j¯);2(L)+(i¯,j);2(L)(j,i);2(L)(i);2(L)(j);2(L)a_{i,j}=\mathcal{I}_{(i,\overline{j});2}(L)+\mathcal{I}_{(\overline{i},j);2}(L)-\mathcal{I}_{(j,i);2}(L)-\mathcal{I}_{(i);2}(L)-\mathcal{I}_{(j);2}(L);

  2. bi,j=(i¯,j);2(L)(i);2(L)(j);2(L)b_{i,j}=\mathcal{I}_{(\overline{i},j);2}(L)-\mathcal{I}_{(i);2}(L)-\mathcal{I}_{(j);2}(L);

  3. ci,j=(i¯,j);2(L)(j,i);2(L)c_{i,j}=\mathcal{I}_{(\overline{i},j);2}(L)-\mathcal{I}_{(j,i);2}(L).

Finally, the closure invariant (j¯,i,k);2\mathcal{I}_{(\overline{j},i,k);2} takes the following values on basic factors:

(Gi,j,kAi,jBi,jCi,jAi,kBi,kCi,kAj,kBj,kCj,kEiEjEk(j¯,i,k¯);2:10101010111110)\setcounter{MaxMatrixCols}{15}\begin{pmatrix}\smallsetminus\!&\!G_{i,j,k}\!&\!A_{i,j}\!&\!B_{i,j}\!&\!C_{i,j}\!&\!A_{i,k}\!&\!B_{i,k}\!&\!C_{i,k}\!&\!A_{j,k}\!&\!B_{j,k}\!&\!C_{j,k}\!&\!E_{i}\!&\!E_{j}\!&\!E_{k}\!&\!\star\\ \mathcal{I}_{(\overline{j},i,\overline{k});2}:&1&0&1&0&1&0&-1&0&1&-1&1&1&1&0\end{pmatrix}

where \star stands for any other basic factor. Hence by Theorem 3.2 and Proposition 3.7, we have:

(j¯,i,k¯);2(L)(j¯,i,k¯);2(L1)=gi,j,k+bi,j+ai,kci,k+bj,kcj,k+ei+ej+ek.\mathcal{I}_{(\overline{j},i,\overline{k});2}(L)-\mathcal{I}_{(\overline{j},i,\overline{k});2}(L_{1})=g_{i,j,k}+b_{i,j}+a_{i,k}-c_{i,k}+b_{j,k}-c_{j,k}+e_{i}+e_{j}+e_{k}.

Here however, unlike in the preceding computation, (j¯,i,k);2\mathcal{I}_{(\overline{j},i,k);2} does not vanish on L1L_{1}. Indeed, the closure Cl(j¯,i,k)Cl_{(\overline{j},i,k)} of the following diagram

iijjkk

yields the welded long knot KK of Figure 3.1, which satisfies α2(K)=1\alpha_{2}(K)=1. Based on this observation, a computation shows that (see [3, Lem. 2.3.18]):

(j¯,i,k¯);2(L1)=μL(ji)μL(ki).\mathcal{I}_{(\overline{j},i,\overline{k});2}(L_{1})=\mu_{L}(ji)\mu_{L}(ki).

It follows that

gi,j,k\displaystyle g_{i,j,k} =\displaystyle= (j¯,i,k¯);2(L)μL(ji)μL(ki)bi,jai,k+ci,kbj,k+cj,keiejek\displaystyle\mathcal{I}_{(\overline{j},i,\overline{k});2}(L)-\mu_{L}(ji)\mu_{L}(ki)-b_{i,j}-a_{i,k}+c_{i,k}-b_{j,k}+c_{j,k}-e_{i}-e_{j}-e_{k}
=\displaystyle= (j¯,i,k¯);2(L)(i¯,j);2(L)(i,k¯);2(L)(k,j);2(L)\displaystyle\mathcal{I}_{(\overline{j},i,\overline{k});2}(L)-\mathcal{I}_{(\overline{i},j);2}(L)-\mathcal{I}_{(i,\overline{k});2}(L)-\mathcal{I}_{(k,j);2}(L)
+(i);2(L)+(j);2(L)+(k);2(L)μL(ji)μL(ki).\displaystyle\,+\,\mathcal{I}_{(i);2}(L)+\mathcal{I}_{(j);2}(L)+\mathcal{I}_{(k);2}(L)-\mu_{L}(ji)\mu_{L}(ki).

This gives the desired formula. ∎

A notable observation about Corollary 4.4 is that degree 22 finite type invariants of welded string links are generated by closure invariants – while degree 11 invariants are generated by the welded linking numbers. This means that any other degree 22 invariant can be expressed as a linear combination of (products of) such invariants, and Theorem 4.3 can be used effectively to make this explicit. The next result gives such a formula for length 33 welded Milnor invariants.

Proposition 4.6.

Let i,j,ki,j,k be pairwise distinct indices. We have

μ(ijk)\displaystyle\mu(ijk) =\displaystyle= μ(ji)μ(ik)μ(ij)μ(jk)μ(ik)μ(jk)\displaystyle\mu(ji)\mu(ik)-\mu(ij)\mu(jk)-\mu(ik)\mu(jk)
+(i¯,k,j¯);2(k¯,i);2(k,j¯);2(j,i);2+(i);2+(j);2+(k);2.\displaystyle+\,\mathcal{I}_{(\overline{i},k,\overline{j});2}-\mathcal{I}_{(\overline{k},i);2}-\mathcal{I}_{(k,\overline{j});2}-\mathcal{I}_{(j,i);2}+\mathcal{I}_{(i);2}+\mathcal{I}_{(j);2}+\mathcal{I}_{(k);2}.
Proof.

It suffices to prove the result for μL(123)\mu_{L}(123), where LL is a 33-component welded string link. Since μ(123)\mu(123) is a degree 22 invariant, and using the additivity property of [13, Lem. 6.11], evaluating on the w3w_{3}-equivalence class representative of Theorem 4.3 gives

μL(123)=μL1(123)+μL2(123)=μL1(123)+ϕ3,1,2(L)×μG3,1,2(123)=1.\mu_{L}(123)=\mu_{L_{1}}(123)+\mu_{L_{2}}(123)=\mu_{L_{1}}(123)+\phi_{3,1,2}(L)\times\underbrace{\mu_{G_{3,1,2}}(123)}_{=1}.\\

A direct computation gives

μL1(123)=μL(21)μL(13)μL(12)μL(23),\mu_{L_{1}}(123)=\mu_{L}(21)\mu_{L}(13)-\mu_{L}(12)\mu_{L}(23),

and the desired formula then follows from the definition of the invariant ϕ3,1,2\phi_{3,1,2}. ∎

Remark 4.7.

The main result of this section, Corollary 4.4, should be seen as a welded analogue of [10, Thm. 4.23], as restated in [11, Thm. 2.2], in the classical case. There, it is shown that two classical string links are C3C_{3}-equivalent if and only if they have same Vassiliev invariants of degree <3<3, which is equivalent to having same linking numbers, Milnor’s triple linking numbers, Casson knot invariants of each component, and a closure-type invariant, namely the Casson invariant of the closure Cl1,2¯Cl_{1,\overline{2}}. Observe that the welded case of Corollary 4.4 involves a significantly greater number of invariants. Now, Proposition 2.10 of [10] expresses the classical triple linking number in terms of closure invariants111 Proposition 4.6 is to be compared to [10, Prop. 2.10] (this formula was later widely generalized in [12]).. This shows that, in the classical setting as well, degree 22 invariants are generated by closure invariants. It follows from the results of [11] and [12] that this remains true at least up to degree 55; see Remark 4.15 for the welded case.

4.2. Towards a w4w_{4}-classification of welded string links

As indicated in the Introduction, the characterization of degree 33 finite type invariants of welded string links and ribbon tubes, was investigated in detail [3], but a complete result is not known. In this final section, we outline the 22-component case, referring the reader to [3] for the general case. We expect that this exploratory section will lay the ground for future works.

Consider the welded long knots FF and FF^{\prime}, and the 22-component welded string links A,B,C,DA,B,C,D and TOi,OTiTO_{i},OT_{i} (i=1,2,3,4i=1,2,3,4) shown below.

FF

        AA         BB         TO1TO_{1}         OT1OT_{1}         TO2TO_{2}         OT2OT_{2}

FF^{\prime}

        CC         DD         TO3TO_{3}         OT3OT_{3}         TO4TO_{4}         OT4OT_{4}

For i=1,2i=1,2, we denote by FiF_{i} the 22-component welded string link obtained from the trivial one by inserting a copy of FF on the iith component. We also denote with a superscript 1-1 the welded string links obtained from the above ones by inserting a \bullet near the head, which by Remark 3.9 defines the inverse up to w4w_{4}-equivalence.

We saw in Section 4 that the abelian group wSL(2)3wSL(2)_{3} is generated by the welded string links Z1,2Z_{1,2}, Z2,1Z_{2,1}, E1E_{1}, E2E_{2}, A1,2A_{1,2}, B1,2B_{1,2} and C1,2C_{1,2}. In order to capture the next degree case, it hence suffices to understand the set wSL(2)¯4\overline{wSL(2)}_{4} of w4w_{4}-equivalence classes of 22-component welded string links that are w3w_{3}-equivalent to 𝟏\mathbf{1}. Note that Corollary 3.6 implies that wSL(2)¯4\overline{wSL(2)}_{4} is actually an abelian group.

Proposition 4.8.

wSL(2)¯4\overline{wSL(2)}_{4} is generated by F1F_{1}, F2F_{2}, AA, BB, CC, DD, TO1TO_{1} and OT1OT_{1}.

We will need the following technical result to prove Proposition 4.8.

Claim 4.9.

Let T1T_{1} and T2T_{2} be two wkw_{k}-trees for 𝟏\mathbf{1}, which are identical except in a disk where they differ as shown below.

[Uncaptioned image]

We have

𝟏T1𝟏T2k+1𝟏.\mathbf{1}_{T_{1}}\cdot\mathbf{1}_{T_{2}}\stackrel{{\scriptstyle{k+1}}}{{\sim}}\mathbf{1}.
Proof.

Let us start with the union AVA\cup V of ww-trees shown on the left below. Exchanging the tail of AA with the head of VV by move (8), one can isolate and delete AA by move (4). The exchange move (8) introduces a wkw_{k}-tree, which can be isolated up to wk+1w_{k+1}-equivalence by Corollary 3.6. More precisely, we obtain:

[Uncaptioned image],\textrm{\includegraphics{D1.pdf}},

where the second equivalence is obtained by exchanging the tails of the wkw_{k}-tree by move (3), followed by the AS move (9) and the Twist relation (11).

Now let us return to the the union AVA\cup V, and exchange now the head of AA with the adjacent tail of VV using the exchange relation (12). This introduces a wkw_{k}-tree, which can be isolated by Corollary 3.6 as follows:

[Uncaptioned image]

As we show below, the resulting union LRL\cup R of ww-trees satisfies the second equivalence above, and multiplying by the inverse of VV in wSL(n)k+1wSL(n)_{k+1} then gives the desired equivalence.

Let us turn to the union LL of ww-trees. Exchanging both heads by move (7), we can delete the resulting w1w_{1}-tree by move (4). As before, using Corollary 3.6 we then obtain the equivalence on the left-hand side below.

[Uncaptioned image]

We now focus on the wkw_{k}-tree RR. Using the IHX relation (13) and the AS move (9), we have the equivalence shown on the right-hand side. Combining these equivalences for LL and RR indeed provides the desired equivalence, and the proof is complete. ∎

Proof of Proposition 4.8.

Let TT be a w3w_{3}-tree for the 22-component welded string link 𝟏\mathbf{1}. Similar combinatorial considerations as in the proofs of Theorem 4.3 show that, up to w4w_{4}-equivalence, TT can be freely assumed to be a copy of one of the w3w_{3}-trees listed at the beginning of this section, or its inverse. Now, we have the following relations:

(4.2) F4F1\displaystyle F^{\prime}\stackrel{{\scriptstyle 4}}{{\sim}}F^{-1}
(4.3) TO14TO21\displaystyle TO_{1}\stackrel{{\scriptstyle 4}}{{\sim}}TO_{2}^{-1} and TO34TO41\displaystyle TO_{3}\stackrel{{\scriptstyle 4}}{{\sim}}TO_{4}^{-1}
(4.4) OT14OT21\displaystyle OT_{1}\stackrel{{\scriptstyle 4}}{{\sim}}OT_{2}^{-1} and OT34OT41\displaystyle OT_{3}\stackrel{{\scriptstyle 4}}{{\sim}}OT_{4}^{-1}
(4.5) AOT34BOT2\displaystyle A\cdot OT_{3}\stackrel{{\scriptstyle 4}}{{\sim}}B\cdot OT_{2} and CTO34DTO2.\displaystyle C\cdot TO_{3}\stackrel{{\scriptstyle 4}}{{\sim}}D\cdot TO_{2}.

Indeed, using Claim 4.9, with k=3k=3, we immediately obtain relations (6.i) for i=1,2,3i=1,2,3. Let us now prove (6.4): we only show the relation on the left-hand side, since the second relation is proved by the exact same argument. The strategy is very similar to the previous proofs, so we only outline the successive operations needed. Consider a union UU of a w1w_{1} and w2w_{2}-tree, as shown on the left-hand side below. Applying the Head/Tail exchange relation (12) at the bottom of component 22, we obtain the following equivalence:

4\stackrel{{\scriptstyle 4}}{{\sim}}A.\,\cdot\ A.

On the other hand, exchanging the head and tail on component 11 using relation (12), followed by the IHX relation (13), gives the first equivalence below:

4\stackrel{{\scriptstyle 4}}{{\sim}}OT2OT31\,\cdot\ OT_{2}\ OT_{3}^{-1}4\stackrel{{\scriptstyle 4}}{{\sim}}BOT2OT31\,\cdot\ B\ OT_{2}\ OT_{3}^{-1}

The second equivalence is then obtained by using relation (12) at the top of component 22. This proves that A4BOT2OT31A\stackrel{{\scriptstyle 4}}{{\sim}}B\ OT_{2}\ OT_{3}^{-1}. ∎

However, a complete w4w_{4}-equivalence classification result is at this point only accessible modulo the following:

Conjecture 4.10.
AD4BC.A\cdot D\stackrel{{\scriptstyle 4}}{{\sim}}B\cdot C.
Remark 4.11.

This conjectured relation can be seen as an analogue of relation (4.1) up to w4w_{4}-equivalence. None of the invariants involved in this paper can distinguish ADA\cdot D from BCB\cdot C. In particular, Milnor invariants μ(1221)\mu(1221) and μ(2112)\mu(2112) cannot resolve Conjecture 4.10.

Ê

It is however still interesting to study welded string links up to w4w_{4}-equivalence modulo this conjecture, as discussed in Remark 4.15.

Notation 4.12.

We set the following 22-component welded string link invariants:

  1. (i).

    γ1=(1,2);3+(1);3+(2);3+μ(1121)\gamma_{1}=-\mathcal{I}_{(1,2);3}+\mathcal{I}_{(1);3}+\mathcal{I}_{(2);3}+\mu(1121).

  2. (ii).

    γ2=(2¯,1);3(1);3(2);3+(1);2+(2);2\gamma_{2}=\mathcal{I}_{(\overline{2},1);3}-\mathcal{I}_{(1);3}-\mathcal{I}_{(2);3}+\mathcal{I}_{(1);2}+\mathcal{I}_{(2);2}.

  3. (iii).

    γ3=(2,1);3+(2¯,1);3+μ(2212)\gamma_{3}=-\mathcal{I}_{(2,1);3}+\mathcal{I}_{(\overline{2},1);3}+\mu(2212).

Theorem 4.13.

Let LL be a 22-component welded string link. Assuming Conjecture 4.10, we have

L4L1L2L3,L\stackrel{{\scriptstyle 4}}{{\sim}}L_{1}\cdot L_{2}\cdot L_{3},

where

L1L2=Z1,2μL(12)Z2,1μL(21)E1(1);2(L)E2(2);2(L)A1,2α1,2(L)B1,2β1,2(L)C1,2γ1,2(L)L_{1}\cdot L_{2}=Z_{1,2}^{\mu_{L}(12)}Z_{2,1}^{\mu_{L}(21)}\cdot E_{1}^{\mathcal{I}_{(1);2}(L)}\cdot E_{2}^{\mathcal{I}_{(2);2}(L)}\cdot A_{1,2}^{\alpha_{1,2}(L)}\cdot B_{1,2}^{\beta_{1,2}(L)}\cdot C_{1,2}^{\gamma_{1,2}(L)}

as in Theorem 4.3, and where L3L_{3} is given by

(F1)(1);3(L)(1);3(L12)(F2)(2);3(L)(2);3(L12)(A)γ1(L)γ1(L12)(B)γ2(L)γ2(L12)\displaystyle(F_{1})^{\mathcal{I}_{(1);3}(L)-\mathcal{I}_{(1);3}(L_{12})}\cdot(F_{2})^{\mathcal{I}_{(2);3}(L)-\mathcal{I}_{(2);3}(L_{12})}\cdot(A)^{\gamma_{1}(L)-\gamma_{1}(L_{12})}\cdot(B)^{\gamma_{2}(L)-\gamma_{2}(L_{12})}
(C)γ3(L)γ3(L12)(TO1)μL(1121)μL12(1121)(OT1)μL(2212)μL12(2212).\displaystyle\cdot(C)^{\gamma_{3}(L)-\gamma_{3}(L_{12})}\cdot(TO_{1})^{\mu_{L}(1121)-\mu_{L_{12}}(1121)}\cdot(OT_{1})^{\mu_{L}(2212)-\mu_{L_{12}}(2212)}.

As before, we immediately deduce the following characterization result.

Corollary 4.14.

Assuming Conjecture 4.10, the following are equivalent.

  1. (1)

    Two 22-component welded string links LL and LL^{\prime} are w4w_{4}-equivalent;

  2. (2)

    For any finite type invariant ν\nu of degree at most 33, we have ν(L)=ν(L)\nu(L)=\nu(L^{\prime});

  3. (3)

    LL and LL^{\prime} have same Milnor invariants μ(12)\mu(12), μ(21)\mu(21), μ(1121)\mu(1121) and μ(2212)\mu(2212), and same closure invariants (1,2);3\mathcal{I}_{(1,2);3}, (2,1);3\mathcal{I}_{(2,1);3}, (2¯,1);3\mathcal{I}_{(\overline{2},1);3}, (1);3\mathcal{I}_{(1);3}, (2);3\mathcal{I}_{(2);3}, (2,1);2\mathcal{I}_{(2,1);2}, (1,2¯);2\mathcal{I}_{(1,\overline{2});2}, (1¯,2);2\mathcal{I}_{(\overline{1},2);2}, (1);2\mathcal{I}_{(1);2}, (2);2\mathcal{I}_{(2);2}.

Proof of Theorem 4.13.

By Corollary 3.6, LL is w4w_{4}-equivalent to a product of terms, each obtained from 𝟏\mathbf{1} by surgery along a single wiw_{i}-tree (i3i\leq 3), ordered by their degree. Following the proofs of Theorem 4.3, we can further assume that L4L1L2L3~L\stackrel{{\scriptstyle 4}}{{\sim}}L_{1}\cdot L_{2}\cdot\tilde{L_{3}}, where L1L_{1} and L2L_{2} are as given in the statement and where L3~\tilde{L_{3}} is a product of terms, each obtained from 𝟏\mathbf{1} by surgery along a single w3w_{3}-tree. Proposition 4.8, then gives us that

L4L1L2AaBbCc(TO1)t(OT1)u(F1)e1(F2)e2,L\stackrel{{\scriptstyle 4}}{{\sim}}L_{1}\cdot L_{2}\cdot A^{a}B^{b}C^{c}(TO_{1})^{t}(OT_{1})^{u}(F_{1})^{e_{1}}(F_{2})^{e_{2}},

for some coefficients a,b,c,t,u,e1a,b,c,t,u,e_{1} and e2e_{2} in \mathbb{Z}, that we must now determine. We have the following evaluations of our invariants:

(ABCTO1OT1F1F2(2¯,1);3:0100011(2,1);3:0110111(1,2);3:1001011μ(1211):0002000μ(2122):0000200(1);3:0000010(2);3:0000001)\begin{pmatrix}\smallsetminus&A&B&C&TO_{1}&OT_{1}&F_{1}&F_{2}\\ \mathcal{I}_{(\overline{2},1);3}:&0&1&0&0&0&1&1\\ \mathcal{I}_{(2,1);3}:&0&1&-1&0&1&1&1\\ \mathcal{I}_{(1,2);3}:&-1&0&0&1&0&1&1\\ \mu(1211):&0&0&0&-2&0&0&0\\ \mu(2122):&0&0&0&0&-2&0&0\\ \mathcal{I}_{(1);3}:&0&0&0&0&0&1&0\\ \mathcal{I}_{(2);3}:&0&0&0&0&0&0&1\\ \end{pmatrix}

Note that this matrix has rank 77. Thanks to the additivity properties of closure invariants (Proposition 3.7) and of welded Milnor invariants ([13, Lem. 6.11]), determining the above coefficients then essentially amounts to computing the inverse matrix. (Note that here, unlike in Theorem 4.3, we do not make explicit the evaluations of our invariants on the degree 2\leq 2 part L1L2L_{1}\cdot L_{2}, as it is not necessary for deriving Corollary 4.14.) Details can be found in [3] and are left to the reader. ∎

Remark 4.15.

Corollary 4.14 suggests that, unlike in the degree 22 case, one cannot generate the space of degree 33 finite type invariants of welded string links by only closure invariants. As a matter of fact, further computations show that one cannot replace the classifying invariants μ(1121)\mu(1121) and μ(2212)\mu(2212) by any combination of the closure invariants R;3\mathcal{I}_{R;3} with RR a list of length 2\leq 2.

5. Application to ribbon knotted surfaces

As mentioned in the introduction, one of the main features of welded theory is that it can serve as a tool for the study of certain surfaces in 44-space, called ribbon surfaces. As a matter of fact, all definitions and main results given in this paper for welded string links, do translate naturally to topological results. This relies on the so-called Tube map, due by Satoh [16], which is a surjective map from welded knotted objects to ribbon knotted surfaces. In the context of this paper, this map is a surjective monoid homomorphism

Tube: wSL(n)rT(n),\textrm{Tube: }wSL(n)\longrightarrow\textrm{rT}(n),

where rT(n)\textrm{rT}(n) is the monoid of nn-component ribbon tubes, up to isotopy fixing the boundary, with composition given by stacking. We shall not recall the precise definition of ribbon tubes here, but rather refer the reader to [1, § 2.1] for a detailed treatment. Likewise, we refer to [16] or [1, § 3.3] for the definition of the Tube map.

A key property of ribbon knotted surfaces is that they admit a finite type invariants theory, which was developed in [7, 8]. The definition is strictly the same as Definition 2.17, with the role of the virtualization move now played by the crossing change at crossing circles:

[Uncaptioned image][Uncaptioned image]\vbox{\hbox{\includegraphics[height=51.21504pt]{SingCir_1.pdf}}}\,\,\longleftrightarrow\,\,\vbox{\hbox{\includegraphics[height=51.21504pt]{SingCir_2.pdf}}}

By [18], any ribbon knotted surface admits a diagram where the only crossings are along ’crossing circles’ of double points, as shown in the above figure, and the local move swaps the over/under information at this circle. As observed in [1], if two welded string links differ by a virtualization move, then their images by the Tube map differ by a crossing change at a crossing circle. By definition, if vv is a welded string link invariant, that extends to an invariant v(4)v^{(4)} of ribbon tubes in the sense that v(4)(Tube(L))=v(L)v^{(4)}(\textrm{Tube}(L))=v(L) for any LwSL(n)L\in wSL(n), and if vv is a finite type invariant of degree kk, then so is v(4)v^{(4)}. Note that this observation applies to all closure invariants and all Milnor invariants, owing to the fact that the Tube map induces an isomorphism from the welded group of LL to the fundamental group of the exterior of Tube(L)(L), which preserves peripheral elements (meridians and preferred longitudes) from which these invariants are extracted, see [1, Sec. 2.2.1].

Finally, recall that Watanabe introduced in [17] the RCkRC_{k}-equivalence for ribbon knotted surfaces, and showed that two RCkRC_{k}-equivalent ribbon surfaces cannot be distinguished by finite type invariants of degree <k<k. We shall not recall here the definition of RCkRC_{k}-equivalence, but only note the following fact (see [13]): two welded string links that are wkw_{k}-equivalent, have RCkRC_{k}-equivalent images by the Tube map.

Combining the above facts on the Tube map with the results of this paper, has several concrete consequences for ribbon tubes. Using the surjectivity and additivity of the Tube map, we have the following from the results of Section 3.3.

Corollary 5.1.

The set rT(n)k\textrm{rT}(n)_{k} of RCkRC_{k}-equivalence classes of rT(n)\textrm{rT}(n), is a finitely generated group. This group is abelian if and only if k=1k=1 or n=1n=1.

The characterization of degree <3<3 finite type invariants of ribbon tubes, stated in Theorem 1.1, likewise follows immediately from Corollary 4.4.

Parallel to Conjecture 3.3, this result in low degree raises the following.

Conjecture 5.2.

Two ribbon tubes are RCkRC_{k}-equivalents if and only if they cannot be distinguished by finite type invariants of degree <k<k.

Of course, we also have analogues of the normal form result, Theorem 4.3, and of the results of subsection 4.2, that we shall not state here explicitly.

Acknowledgments.

The authors are indebted to the referee for numerous useful comments. This work is partially supported by the project AlMaRe (ANR-19-CE40-0001-01) of the ANR.

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