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In the
mathematical Mathematics is an area of knowledge that includes the topics of numbers, formulas and related structures, shapes and the spaces in which they are contained, and quantities and their changes. These topics are represented in modern mathematics ...
field of
geometric topology In mathematics, geometric topology is the study of manifolds and maps between them, particularly embeddings of one manifold into another. History Geometric topology as an area distinct from algebraic topology may be said to have originated i ...
, a Heegaard splitting () is a decomposition of a compact oriented
3-manifold In mathematics, a 3-manifold is a space that locally looks like Euclidean 3-dimensional space. A 3-manifold can be thought of as a possible shape of the universe. Just as a sphere looks like a plane to a small enough observer, all 3-manifolds lo ...
that results from dividing it into two handlebodies.


Definitions

Let ''V'' and ''W'' be handlebodies of genus ''g'', and let ƒ be an orientation reversing
homeomorphism In the mathematical field of topology, a homeomorphism, topological isomorphism, or bicontinuous function is a bijective and continuous function between topological spaces that has a continuous inverse function. Homeomorphisms are the isomorphi ...
from the
boundary Boundary or Boundaries may refer to: * Border, in political geography Entertainment *Boundaries (2016 film), ''Boundaries'' (2016 film), a 2016 Canadian film *Boundaries (2018 film), ''Boundaries'' (2018 film), a 2018 American-Canadian road trip ...
of ''V'' to the boundary of ''W''. By gluing ''V'' to ''W'' along ƒ we obtain the compact oriented
3-manifold In mathematics, a 3-manifold is a space that locally looks like Euclidean 3-dimensional space. A 3-manifold can be thought of as a possible shape of the universe. Just as a sphere looks like a plane to a small enough observer, all 3-manifolds lo ...
: M = V \cup_f W. Every closed,
orientable In mathematics, orientability is a property of some topological spaces such as real vector spaces, Euclidean spaces, surfaces, and more generally manifolds that allows a consistent definition of "clockwise" and "counterclockwise". A space is ...
three-manifold may be so obtained; this follows from deep results on the triangulability of three-manifolds due to Moise. This contrasts strongly with higher-dimensional manifolds which need not admit smooth or piecewise linear structures. Assuming smoothness the existence of a Heegaard splitting also follows from the work of
Smale Smale is a surname. Notable people with the surname include: *Bob Smale, American pianist on ''The Lawrence Welk Show'' * John G. Smale (1927-2011), American businessman *Sir John Jackson Smale, British lawyer and Chief Justice of Hong Kong * Step ...
about handle decompositions from Morse theory. The decomposition of ''M'' into two handlebodies is called a Heegaard splitting, and their common boundary ''H'' is called the Heegaard surface of the splitting. Splittings are considered up to isotopy. The gluing map ƒ need only be specified up to taking a double
coset In mathematics, specifically group theory, a subgroup of a group may be used to decompose the underlying set of into disjoint, equal-size subsets called cosets. There are ''left cosets'' and ''right cosets''. Cosets (both left and right) ...
in the
mapping class group In mathematics, in the subfield of geometric topology, the mapping class group is an important algebraic invariant of a topological space. Briefly, the mapping class group is a certain discrete group corresponding to symmetries of the space. Mot ...
of ''H''. This connection with the mapping class group was first made by
W. B. R. Lickorish William Bernard Raymond Lickorish (born 19 February 1938) is a mathematician. He is emeritus professor of geometric topology in the Department of Pure Mathematics and Mathematical Statistics, University of Cambridge, and also an emeritus fello ...
. Heegaard splittings can also be defined for compact 3-manifolds with boundary by replacing handlebodies with compression bodies. The gluing map is between the positive boundaries of the compression bodies. A closed curve is called essential if it is not homotopic to a point, a puncture, or a boundary component. A Heegaard splitting is reducible if there is an essential simple closed curve \alpha on ''H'' which bounds a disk in both ''V'' and in ''W''. A splitting is irreducible if it is not reducible. It follows from Haken's Lemma that in a reducible manifold every splitting is reducible. A Heegaard splitting is stabilized if there are essential simple closed curves \alpha and \beta on ''H'' where \alpha bounds a disk in ''V'', \beta bounds a disk in ''W'', and \alpha and \beta intersect exactly once. It follows from Waldhausen's Theorem that every reducible splitting of an
irreducible manifold In topology, a branch of mathematics, a prime manifold is an ''n''- manifold that cannot be expressed as a non-trivial connected sum of two ''n''-manifolds. Non-trivial means that neither of the two is an ''n''-sphere. A similar notion is that of ...
is stabilized. A Heegaard splitting is weakly reducible if there are disjoint essential simple closed curves \alpha and \beta on ''H'' where \alpha bounds a disk in ''V'' and \beta bounds a disk in ''W''. A splitting is strongly irreducible if it is not weakly reducible. A Heegaard splitting is minimal or minimal genus if there is no other splitting of the ambient three-manifold of lower
genus Genus ( plural genera ) is a taxonomic rank used in the biological classification of extant taxon, living and fossil organisms as well as Virus classification#ICTV classification, viruses. In the hierarchy of biological classification, genus com ...
. The minimal value ''g'' of the splitting surface is the Heegaard genus of ''M''.


Generalized Heegaard splittings

A generalized Heegaard splitting of ''M'' is a decomposition into compression bodies V_i, W_i, i = 1, \dotsc, n and surfaces H_i, i = 1, \dotsc, n such that \partial_+ V_i = \partial_+ W_i = H_i and \partial_- W_i = \partial_- V_. The interiors of the compression bodies must be pairwise disjoint and their union must be all of M. The surface H_i forms a Heegaard surface for the submanifold V_i \cup W_i of M. (Note that here each ''Vi'' and ''Wi'' is allowed to have more than one component.) A generalized Heegaard splitting is called strongly irreducible if each V_i \cup W_i is strongly irreducible. There is an analogous notion of
thin position Thin may refer to: * a lean body shape. ''(See also: emaciation, underweight)'' * ''Thin'' (film), a 2006 HBO documentary about eating disorders * Paper Thin (disambiguation), referring to multiple songs * Thin (web server), a Ruby web-server b ...
, defined for knots, for Heegaard splittings. The complexity of a connected surface ''S'', ''c(S)'', is defined to be \operatorname\left\; the complexity of a disconnected surface is the sum of complexities of its components. The complexity of a generalized Heegaard splitting is the multi-set ', where the index runs over the Heegaard surfaces in the generalized splitting. These multi-sets can be well-ordered by
lexicographical order In mathematics, the lexicographic or lexicographical order (also known as lexical order, or dictionary order) is a generalization of the alphabetical order of the dictionaries to sequences of ordered symbols or, more generally, of elements of a ...
ing (monotonically decreasing). A generalized Heegaard splitting is thin if its complexity is minimal.


Examples

;
Three-sphere In mathematics, a 3-sphere is a higher-dimensional analogue of a sphere. It may be embedded in 4-dimensional Euclidean space as the set of points equidistant from a fixed central point. Analogous to how the boundary of a ball in three dimensio ...
: The three-sphere S^3 is the set of vectors in \mathbb^4 with length one. Intersecting this with the xyz hyperplane gives a
two-sphere A sphere () is a geometrical object that is a three-dimensional analogue to a two-dimensional circle. A sphere is the set of points that are all at the same distance from a given point in three-dimensional space.. That given point is the ...
. This is the standard genus zero splitting of S^3. Conversely, by
Alexander's Trick Alexander's trick, also known as the Alexander trick, is a basic result in geometric topology, named after J. W. Alexander. Statement Two homeomorphisms of the ''n''-dimensional ball D^n which agree on the boundary sphere S^ are isotopic. Mo ...
, all manifolds admitting a genus zero splitting are
homeomorphic In the mathematical field of topology, a homeomorphism, topological isomorphism, or bicontinuous function is a bijective and continuous function between topological spaces that has a continuous inverse function. Homeomorphisms are the isomorphi ...
to S^3. Under the usual identification of \mathbb^4 with \mathbb^2 we may view S^3 as living in \mathbb^2. Then the set of points where each coordinate has norm 1/\sqrt forms a
Clifford torus In geometric topology, the Clifford torus is the simplest and most symmetric flat embedding of the cartesian product of two circles ''S'' and ''S'' (in the same sense that the surface of a cylinder is "flat"). It is named after William Kingdo ...
, T^2. This is the standard genus one splitting of S^3. (See also the discussion at
Hopf bundle In the mathematical field of differential topology, the Hopf fibration (also known as the Hopf bundle or Hopf map) describes a 3-sphere (a hypersphere in four-dimensional space) in terms of circles and an ordinary sphere. Discovered by Heinz Ho ...
.) ; Stabilization: Given a Heegaard splitting ''H'' in ''M'' the stabilization of ''H'' is formed by taking the
connected sum In mathematics, specifically in topology, the operation of connected sum is a geometric modification on manifolds. Its effect is to join two given manifolds together near a chosen point on each. This construction plays a key role in the classifi ...
of the pair (M, H) with the pair \left(S^3, T^2\right). It is easy to show that the stabilization procedure yields stabilized splittings. Inductively, a splitting is standard if it is the stabilization of a standard splitting. ;
Lens space A lens space is an example of a topological space, considered in mathematics. The term often refers to a specific class of 3-manifolds, but in general can be defined for higher dimensions. In the 3-manifold case, a lens space can be visualize ...
s: All have a standard splitting of genus one. This is the image of the Clifford torus in S^3 under the quotient map used to define the lens space in question. It follows from the structure of the
mapping class group In mathematics, in the subfield of geometric topology, the mapping class group is an important algebraic invariant of a topological space. Briefly, the mapping class group is a certain discrete group corresponding to symmetries of the space. Mot ...
of the
two-torus In geometry, a torus (plural tori, colloquially donut or doughnut) is a surface of revolution generated by revolving a circle in three-dimensional space about an axis that is coplanar with the circle. If the axis of revolution does not tou ...
that only lens spaces have splittings of genus one. ;
Three-torus The three-dimensional torus, or 3-torus, is defined as any topological space that is homeomorphic to the Cartesian product of three circles, \mathbb^3 = S^1 \times S^1 \times S^1. In contrast, the usual torus is the Cartesian product of only two ...
: Recall that the three-torus T^3 is the
Cartesian product In mathematics, specifically set theory, the Cartesian product of two sets ''A'' and ''B'', denoted ''A''×''B'', is the set of all ordered pairs where ''a'' is in ''A'' and ''b'' is in ''B''. In terms of set-builder notation, that is : A\ti ...
of three copies of S^1 (
circle A circle is a shape consisting of all points in a plane that are at a given distance from a given point, the centre. Equivalently, it is the curve traced out by a point that moves in a plane so that its distance from a given point is const ...
s). Let x_0 be a point of S^1 and consider the graph \Gamma = S^1 \times \ \times \ \cup \ \times S^1 \times \ \cup \ \times \ \times S^1 . It is an easy exercise to show that ''V'', a
regular neighborhood The term regular can mean normal or in accordance with rules. It may refer to: People * Moses Regular (born 1971), America football player Arts, entertainment, and media Music * "Regular" (Badfinger song) * Regular tunings of stringed instrumen ...
of \Gamma, is a handlebody as is T^3 - V. Thus the boundary of ''V'' in T^3 is a Heegaard splitting and this is the standard splitting of T^3. It was proved by Charles Frohman and
Joel Hass Joel Hass is an American mathematician and a professor of mathematics and at the University of California, Davis.piecewise linear) embedding of the two-sphere into the three-sphere. (In higher dimensions this is known as the
Schoenflies theorem Arthur Moritz Schoenflies (; 17 April 1853 – 27 May 1928), sometimes written as Schönflies, was a German mathematician, known for his contributions to the application of group theory to crystallography, and for work in topology. Schoenflies ...
. In dimension two this is the
Jordan curve theorem In topology, the Jordan curve theorem asserts that every ''Jordan curve'' (a plane simple closed curve) divides the plane into an " interior" region bounded by the curve and an "exterior" region containing all of the nearby and far away exterior ...
.) This may be restated as follows: the genus zero splitting of S^3 is unique. ; Waldhausen's theorem: Every splitting of S^3 is obtained by stabilizing the unique splitting of genus zero. Suppose now that ''M'' is a closed orientable three-manifold. ; Reidemeister–Singer theorem: For any pair of splittings H_1 and H_2 in ''M'' there is a third splitting H in ''M'' which is a stabilization of both. ; Haken's lemma: Suppose that S_1 is an essential two-sphere in ''M'' and ''H'' is a Heegaard splitting. Then there is an essential two-sphere S_2 in ''M'' meeting ''H'' in a single curve.


Classifications

There are several classes of three-manifolds where the set of Heegaard splittings is completely known. For example, Waldhausen's Theorem shows that all splittings of S^3 are standard. The same holds for
lens space A lens space is an example of a topological space, considered in mathematics. The term often refers to a specific class of 3-manifolds, but in general can be defined for higher dimensions. In the 3-manifold case, a lens space can be visualize ...
s (as proved by Francis Bonahon and Otal). Splittings of
Seifert fiber space A Seifert fiber space is a 3-manifold together with a decomposition as a disjoint union of circles. In other words, it is a S^1-bundle ( circle bundle) over a 2-dimensional orbifold. Many 3-manifolds are Seifert fiber spaces, and they account for ...
s are more subtle. Here, all splittings may be isotoped to be vertical or horizontal (as proved by Yoav Moriah and Jennifer Schultens). classified splittings of
torus bundle A torus bundle, in the sub-field of geometric topology in mathematics, is a kind of surface bundle over the circle, which in turn is a class of three-manifolds. Construction To obtain a torus bundle: let f be an orientation-preserving homeomor ...
s (which includes all three-manifolds with
Sol geometry In mathematics, Thurston's geometrization conjecture states that each of certain three-dimensional topological spaces has a unique geometric structure that can be associated with it. It is an analogue of the uniformization theorem for two-dimens ...
). It follows from their work that all torus bundles have a unique splitting of minimal genus. All other splittings of the torus bundle are stabilizations of the minimal genus one. As of 2008, the only
hyperbolic Hyperbolic is an adjective describing something that resembles or pertains to a hyperbola (a curve), to hyperbole (an overstatement or exaggeration), or to hyperbolic geometry. The following phenomena are described as ''hyperbolic'' because they ...
three-manifolds whose Heegaard splittings are classified are two-bridge knot complements, in a paper of Tsuyoshi Kobayashi.


Applications and connections


Minimal surfaces

Heegaard splittings appeared in the theory of
minimal surface In mathematics, a minimal surface is a surface that locally minimizes its area. This is equivalent to having zero mean curvature (see definitions below). The term "minimal surface" is used because these surfaces originally arose as surfaces that ...
s first in the work of
Blaine Lawson Herbert Blaine Lawson, Jr. is a mathematician best known for his work in minimal surfaces, calibrated geometry, and algebraic cycles. He is currently a Distinguished Professor of Mathematics at Stony Brook University. He received his PhD from ...
who proved that embedded minimal surfaces in compact manifolds of positive sectional curvature are Heegaard splittings. This result was extended by William Meeks to flat manifolds, except he proves that an embedded minimal surface in a flat three-manifold is either a Heegaard surface or
totally geodesic This is a glossary of some terms used in Riemannian geometry and metric geometry — it doesn't cover the terminology of differential topology. The following articles may also be useful; they either contain specialised vocabulary or provi ...
. Meeks and
Shing-Tung Yau Shing-Tung Yau (; ; born April 4, 1949) is a Chinese-American mathematician and the William Caspar Graustein Professor of Mathematics at Harvard University. In April 2022, Yau announced retirement from Harvard to become Chair Professor of mathem ...
went on to use results of Waldhausen to prove results about the topological uniqueness of minimal surfaces of finite genus in \R^3. The final topological classification of embedded minimal surfaces in \R^3 was given by Meeks and Frohman. The result relied heavily on techniques developed for studying the topology of Heegaard splittings.


Heegaard Floer homology

Heegaard diagrams, which are simple combinatorial descriptions of Heegaard splittings, have been used extensively to construct invariants of three-manifolds. The most recent example of this is the
Heegaard Floer homology In mathematics, Floer homology is a tool for studying symplectic geometry and low-dimensional topology. Floer homology is a novel invariant that arises as an infinite-dimensional analogue of finite-dimensional Morse homology. Andreas Floer intro ...
of Peter Ozsvath and Zoltán Szabó. The theory uses the g^ symmetric product of a Heegaard surface as the ambient space, and tori built from the boundaries of meridian disks for the two handlebodies as the
Lagrangian submanifold In differential geometry, a subject of mathematics, a symplectic manifold is a smooth manifold, M , equipped with a closed nondegenerate differential 2-form \omega , called the symplectic form. The study of symplectic manifolds is called sy ...
s.


History

The idea of a Heegaard splitting was introduced by . While Heegaard splittings were studied extensively by mathematicians such as
Wolfgang Haken Wolfgang Haken (June 21, 1928 – October 2, 2022) was a German American mathematician who specialized in topology, in particular 3-manifolds. Biography Haken was born in Berlin, Germany. His father was Werner Haken, a physicist who had Max ...
and
Friedhelm Waldhausen Friedhelm Waldhausen (born 1938 in Millich, Hückelhoven, Rhine Province) is a German mathematician known for his work in algebraic topology. He made fundamental contributions in the fields of 3-manifolds and (algebraic) K-theory. Career Wald ...
in the 1960s, it was not until a few decades later that the field was rejuvenated by , primarily through their concept of strong irreducibility.


See also

*
Manifold decomposition In topology, a branch of mathematics, a manifold ''M'' may be decomposed or split by writing ''M'' as a combination of smaller pieces. When doing so, one must specify both what those pieces are and how they are put together to form ''M''. Manifo ...
* Handle decompositions of 3-manifolds * Compression body


References

* * * * * *{{Citation , last1=Kobayashi , first1=Tsuyoshi , title=Heegaard splittings of exteriors of two bridge knots , url=https://projecteuclid.org/journals/geometry-and-topology/volume-5/issue-2/Heegaard-splittings-of-exteriors-of-two-bridge-knots/10.2140/gt.2001.5.609.full , year=2001 , journal=Geometry and Topology , volume=5 , issue=2 , pages=609–650, doi=10.2140/gt.2001.5.609 , s2cid=13991798 3-manifolds Minimal surfaces Geometric topology