A Lie group is a group (in the sense of abstract algebra) that is also a differentiable manifold, such that the group operations (addition and inversion) are smooth, and so we can study them with differential calculus. They are a special type of topological group. Consider using with the ...

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Explaining Spin(3)

I’m going to discuss the action of Spin(3) on Euclidean vectors. This thing has several alternative names: “versors”/“rotation quaternions”, “quaternionic adjoint representation”, “quaternion action ...
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57 views

Help with a proof that SO(n) is path-connected.

I've found lots of different proofs that SO(n) is path connected, but I'm trying to understand one I found on Stillwell's book "Naive Lie Theory". It's fairly informal and talks about paths in a very ...
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45 views

John Lee's book question about symplectic group

Exercise 12-14 in John Lee's book, An introduction to Smooth Manifolds, reads as follows: The real symplectic group is the subgroup $Sp(n, \mathbb{R}) \subset GL(2n, \mathbb{R})$ consisting of ...
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73 views

Meaning of Exponential map

I've been studying differential geometry using Do Carmo's book. There's the notion of exponential map, but I don't understand why it is called "exponential" map. How does it has something to do with ...
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1answer
25 views

Lie group as a subset of its Lie algebra

Consider a (possibly infinite-dimensional) Lie group $\mathcal{G}$ and let $\mathcal{A}$ be an algebra with a product $\cdot$ and the bracket $[u,v]=u\cdot v - v\cdot u$. The following statement is ...
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68 views

A compact connected solvable Lie group is a torus

I am looking for the proof of the following statement. A compact connected solvable Lie group of dimension $n\geq 1$ is a torus, i.e., it isomorphic to the product of $n$ copies of $S^1$. A ...
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322 views

Campbell-Baker-Hausdorff formula for $\log(\exp(X+Y)\exp(X-Y))$

Given $X,Y\in \mathfrak g\mathfrak l_{\mathbb R}(n)$, and the CBH formula for $\log(\exp X\exp Y)$ (wiki), is it possible to derive the general term in the series of $\log(\exp(X+Y)\exp(X-Y))$ that ...
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20 views

Free and proper action

I don't know how to solve this problem. Let G be a Lie group and H a closed Lie subgroup ,that is, a subgroup of G which is also a closed submanifold of G. Show that the action of H in G defined by ...
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21 views

Finite-dimensional, irreducible Representations of the Diffeomorphism Group $Diff(R^4)$

Is there any possible way to study the finite-dimensional, irreducible representations of $Diff(R^4)$ systematically? My interests stems from the fact, that the symmetry group of general relativity is ...
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1answer
27 views

$Hom_G(\pi,\sigma)$ = $Hom_{\mathfrak{g}}(d\pi,d\sigma)$?

Let $G$ be a Lie group. Let $\mathfrak{g}$ be the corresponding Lie algebra. Let $(\pi,V)$ and $(\sigma, W)$ be representations of $G$, with corresponding differentials $d\pi$ and $d\sigma$, which are ...
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50 views

The isomorphisms between $S^5$ and $SU(3)/SU(2)$? [closed]

What is the precise isomorphisms between the coset $SU(3)/SU(2)$ and the five-sphere $S^5$?
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52 views

How to prove that the adjoint group is a Lie subgroup of $Gl(\mathfrak{g})$

Let $G$ be a Lie group with Lie algebra $\mathfrak{g}$. Let $Ad: G \rightarrow GL(\mathfrak{g})$ be the Adjoint representation. I want to prove that $Ad(G)$ is a Lie subgroup of $GL(\mathfrak{g})$. ...
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71 views

Quaternion–Spinor relationship?

I've known for some time about the rotation group action of the ('pure') quaternions on $ \mathbf{R}^3 $ by conjugation. I've recently encountered spinors and notice similarities in their definitions ...
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1answer
56 views

Clarification of notion of proper group action.

In a course on differential manifolds and Lie groups, the following theorem was stated, though never proven: Let $M$ and $N$ be smooth manifolds, and suppose $G$ is a Lie group acting on $M$. If ...
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1answer
34 views

Tangent space to lie group at identity.

I'm supposed to show that for a Lie group G, $T_{(e,e)}G\times G \simeq T_eG\oplus T_eG$ and that $T_{(e,e)}m$ is given by $(X,Y)\mapsto X+Y$. I'm having trouble proving this. I'm not exactly clear ...
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15 views

Straight forward derivation of the bch formula?

Im doing a project on rigid body dynamics and need to derive the bch formula, anyone know a simple yet complete derivation?
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30 views

Adjoint representation of the isotropie group of a homogeneous space

I have difficulties seeing why is the following true: Let $G$ be a lie group and $H$ a closed subgroup, with $\tilde{g}$ and $\tilde{h}$ their lie algebras. The adjoint action of $g\in G$ is given by ...
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1answer
67 views

Question regarding character varieties on a torus with compact gauge group

Let $G$ be a compact, connected Lie group. Let $x, y \in G$ be an arbitrary pair of commuting elements. Is there necessarily a torus $T \leq G$ containing $x$ and $y$? Apparently not: Commutativity ...
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1answer
41 views

Exponentials of Representations of Lie Algebras

Assume G is a lie group and g is its lie algebra. Consider a representation of G : D:G->End(V). Then there is a corresponding representation of g : d:g->End(V). My question is, when you can express ...
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1answer
33 views

Compactness of Lie groups

Let $G$ be a Zariski-closed subgroup of $GL(V)$, where $V$ is an $n$-dimensional complex vector space. Question. Does $G$ have the structure of a compact Lie group? Such $G$ certainly is a Lie ...
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40 views

Are the orbits of a connected Lie group acting on a vector space always embedded manifolds?

Setting: We have a connected Lie group $G$ and a smooth map $G \to GL(V)$, where $V$ is a finite-dimensional vector space. Are the orbits of $G$ on $V$ embedded submanifolds? More precisely, if one ...
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39 views

Why is the space of symmetric positive definite matrices under the affine invariante metric a symmetric space?

I consider here the space of symmetric positive definite matrices SPD(n) with the metric invariant under: $(G,M) \rightarrow GMG^t $, where $M\in SPD(n)$ and $G\in Gl(n)$. The isotrpie group of $I$ is ...
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23 views

classifying map of associated bundles

Let $G\leq GL(\mathbb{R}^n)$ be a group and $\xi$ be a principal $G$-bundle over a space $X$. Let $\eta=\xi[\mathbb{R}^n]$ be the associated vector bundle of $\xi$. Let $f_\xi: X\to BG$ be the ...
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1answer
39 views

Geodesic completeness of a Lie group

Let $G$ be a Lie group and $\rho$ some left(right, bi)-invariant Riemannian metric on $G$. Is it possible to say for which $\rho$ an underlying manifold $G$ is geodesically complete (maybe for every ...
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1answer
91 views

Differential in Lie groups

I am trying to make sense of the Lie group machinery and relate it to the calculus. Suppose that $\psi(t)=\phi(s)\phi(t), s, t \in I$. Where $\phi(t)$ is a one-parameter subgroup of the Lie group ...
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107 views

Partial derivatives on Manifolds

Let $F : A \times B \to C$ be a map of smooth manifolds. Define the following maps ("partial derivatives"): $E_1 F: TA \times B \to TC$ $E_1 F(a,v,b) = D_a F(-,b) v $ where $v \in T_a A$ $E_2 F: A ...
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61 views

duality for (co)homology of Lie algebras

Let $R$ be a commutative ring and $\mathfrak{g}$ a Lie $R$-algebra that has an $R$-module basis with $n$ elements. What is the relationship between $H_k(\mathfrak{g};R)$, $H_{n-k}(\mathfrak{g};R)$, ...
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1answer
32 views

complexification of $SO(2)$

While computing the complexification of Lie group $SO(2)$, I get the result is all the matrix of the following form $$\left(\begin{array}{cc} \frac{e^{t-\sqrt{-1}\theta}+e^{-t+\sqrt{-1}\theta}}{2} ...
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1answer
45 views

Example of a proper metric space such that the associated length space is not proper.

Can anyone give me a example of a proper metric space $(X,d)$ such that $(X,\bar d)$, where $\bar d$ is the induced length metric, is not proper. I have a example but I am not sure if it is right. ...
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1answer
43 views

Correspondence between one-parameter subgroups of G and TeG

I am reading the proof of this theorem from Andreas Arvanitoyeorgos and I cannot get some points in it, highlighted below. Theorem. The map $\phi \to d\phi_0(1)$ defines a one-to-one correspondence ...
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1answer
32 views

Example of 3-dimensional nonabelian Lie group

Could you please give an example of a Lie group diffeomorphic to $S^1\times \mathbb{R}^2$? Okay, $S^1\times \mathbb{R}^2$ suits us. What about nonabelian one?
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1answer
43 views

Two definitions of left-invariant vector fields of a Lie group

I am reading these lines from a text which shows why the bracket of two left-invariant vector fields is also a left-invariant vector field. But cannot easily get one of the lines. Let $L_a$ be the ...
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22 views

Computations of common isometry groups, $O(n)/O(n-1), SO(n)/SO(n-1), U(n)/U(n-1)$, etc?

On wikipedia, some of the common isometry groups are given: $S^{n-1}\cong O(n)/O(n-1)$, $S^{n-1}\cong SO(n)/SO(n-1)$, etc. Is there a reference where some/any of these groups are computed? I'm just ...
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1answer
181 views

What does the logarithm of the identity look like on a Lie group?

Let $G$ be a compact, connected Lie group with identity element $e$ and $\mathfrak g$ its Lie algebra. Consider the set $$ L=\{A\in\mathfrak g\setminus\{0\};\exp(A)=e\}. $$ The most descriptive name ...
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1answer
41 views

If $df_e: T_eG_1\to T_eG_2$ is surjective, and $G_2$ connected Lie group, then $f$ is surjective.

Suppose $f$ is a morphism of Lie groups, and $df_e\colon T_eG_1\to T_eG_2$ is a surjective map of the tangent spaces of two Lie groups, where $G_2$ is connected. I read that by the Inverse Function ...
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1answer
86 views

A question about contractibility of a Lie group

In Lawson's book Spin Geometry, chapter II, before Proposition 1.11, it mentions a fact that if the 1st, 2nd and 3rd homotopy groups of a Lie group $G$ vanish (although $\pi_2(G)=0$ automatically), ...
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42 views

Why do Ad(K) orbits in the $-1$ eigenspace of a Cartan decomposition intersect the Weyl chamber once?

Let $G$ be a semisimple Lie group and let $\frak p\oplus t$ be a Cartan decomposition of $\frak g$ and $K$ the connected subgroup with Lie algebra $\frak t$. Choose a maximal abelian subalgebra ...
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58 views

When is “being a linear algebraic $k$-group” preserved?

Let $G$ be a linear algebraic group over a field $k$, with Char$(k)=0$. What "group-theoretical operations" preserve the property of "being a $k$-linear algebraic group"? For example When ...
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1answer
43 views

symmetric group as a subgroup of general linear group

Is the symmetric group $S_n$ a normal subgroup of the general linear group $GL(n,\mathbb{R})$? We regard $\sigma\in S_n$ acts on $\mathbb{R}^n$ by permuting the coordinates ...
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46 views

Identifying a Lie algebra from its universal enveloping algebra

Its been a while since I've worked on Lie algebras and I can't remember how to approach this problem: How do I identify the lie algebra (up to isomorphism) associated to a certain universal ...
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23 views

Component of the identity is generated by any connected neighborhood of the identity when the group is locally connected?

I read a theorem that if $G$ is a locally connected group, then the component of the identity $G_0$ is generated by any connected neighborhood of $e$. It goes like: Let $V$ be a connected nbhd of ...
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1answer
39 views

Rotations in higher dimensions vs. Spheres

Where my questions stem from: When we study the rotations in a plane or of some specific higher dimensions, there exists a neat approach to represent all the rotations as a spheres $\mathbb S^i$, for ...
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33 views

What Lie groups have a discrete set of order two elements?

We know that the set of order two elements of $R^n$, tori and $S^3$ are discrete. Are there others examples of Lie groups with such property? Are there some characterization of such class?
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12 views

Spaces of homogeneous type is seperable

Can anyone suggest me some reference for the following proof? $(X,d,\mu)$ is a space of homogenoeus type. Prove that it is seperable.
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1answer
33 views

Lie algebra and left-invariant vector fields

I want to prove that the tangent space of a Lie group at its identity $e$ is isomorphic to the vector space of left-invariant vector fields. Given an element $D \in T_e G$ (a derivation), the ...
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1answer
38 views

Reflection in terms of simple reflections

Suppose $\beta=\sum_{i=1}^ka_i\alpha_i$, where $\alpha_i$ are simple roots. Is there any easier way to write the reflection corresponding to $\beta$ say $s_{\beta}$ in terms of $s_{\alpha_i}$'s. I ...
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1answer
31 views

A smooth non-stably trivial smooth vector bundle

This may well be just a look-up, but do you have an example of a non-stably trivial smooth vector bundle? If it has a presentation as the vector bundle associated to the representation of some ...
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2answers
79 views

How to show $\exp(tX)\exp(tY)=\exp(t(X+Y)+tR(t))$ with $\displaystyle \lim_{t\to 0} R(t)=0$?

Let $X\in GL(n, \mathbb R)$. The exponential of $X$ is the matrix given by $$\exp(X)=\sum_{n=0}^\infty \frac{X^n}{n!}.$$ I need some help for showing the following result: ...
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29 views

Derivative of exponential map

Somehow I've gotten myself confused trying to take the derivative of the exponential map on $\mathfrak{so(3)}$. For vector $\theta$, $\delta \theta$, and $p \in \mathbb{R}^3$, define $$R(\theta, p) ...
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75 views

Theorem about the subgroup of a Lie group fixed by an involution

When trying to do Lie-theoretic calculations on Lie groups (finding the Bruhat decomposition, etc.) I've often come across expositions that seem to be implicitly using a result something like the ...