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 (group-...

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40
votes
8answers
5k views

How many connected components does $\mathrm{GL}_n(\mathbb R)$ have?

I've noticed that $\mathrm{GL}_n(\mathbb R)$ is not a connected space, because if it were $\det(\mathrm{GL}_n(\mathbb R))$ (where $\det$ is the function ascribing to each $n\times n$ matrix its ...
34
votes
1answer
3k views

Is there an easy way to show which spheres can be Lie groups?

I heard that using some relatively basic differential geometry, you can show that the only spheres which are Lie groups are $S^0$, $S^1$, and $S^3$. My friend who told me this thought that it ...
18
votes
6answers
975 views

How to show path-connectedness of $GL(n,\mathbb{C})$

Well, I am not getting any hint how to show $GL_n(\mathbb{C})$ is path connected. So far I have thought that let $A$ be any invertible complex matrix and $I$ be the idenity matrix, I was trying to ...
13
votes
2answers
3k views

On surjectivity of exponential map for Lie groups

A recent question made me realize I didn't know any proof that exponential of a Lie algebra $\mathfrak g$ of a compact connected Lie group $G$ is surjective. After a bit of thinking I've come up with ...
8
votes
2answers
2k views

About connected Lie Groups

How can I prove that a connected Lie Group is generated by any neighborhood of the identity? The result is almost trivial for $R^n$ but I tried using the open subgroup generated by this neighborhood....
12
votes
6answers
6k views

Jacobian matrix of the Rodrigues' formula (exponential map)

I am working an algorithm which is supposed to align a pair of images. The motion model, which describes the pose $p$ of an image (with respect to the second) in 3D space, is purely rotational. ...
12
votes
2answers
4k views

how to show $SU(2)/\mathbb{Z}_2\cong SO(3)$

Could any one give me hint for this one? how to show $SU(2)/\mathbb{Z}_2\cong SO(3)$, well, Is it the same: there is a 2-fold covering map from $SU(2)$ to $SO(3)$? what is that map will be?
11
votes
5answers
439 views

$\varphi$ in $\operatorname{Hom}{(S^1, S^1)}$ are of the form $z^n$

I'd like to see a proof why $\varphi \in \operatorname{Hom}{(S^1, S^1)}$ looks like $z^n$ for an integer $n$. At first I thought I could argue that if I have a homomorphism that maps $e^{ix}$ to some ...
10
votes
2answers
2k views

Why is $SO(3)\times SO(3)$ isomorphic to $SO(4)$?

Could you please explain me the reason why they are isomorphic? Thanks, bye!
4
votes
3answers
615 views

Under what conditions is the exponential map on a Lie algebra injective?

Let $G$ be a Lie group with Lie algebra $\mathfrak{g}$ and let $\exp :\mathfrak{g}\rightarrow G$ be the exponential map. In his blog, Terrence Tao notes that if a Lie group is not simply-connected, ...
6
votes
2answers
213 views

How to properly apply the Lie Series

I am trying to solve this problem from Symmetry Methods for Differential Equations A Beginner's Guide (Peter E. Hydon). Use the Lie Series $$F(\hat{x},\hat{y})=\sum_{j=0}^{\infty}\frac{\varepsilon^j}{...
3
votes
2answers
1k views

Image of Matrix Exponential Map

It is known that every $A$ belongs to $GL(n,\mathbb C)$ equals to $\exp(B)$ for some $n \times n$ matrix $B$. How to show the following is true? Show that a matrix $M$ belonging to $GL_n(\mathbb R)$ ...
5
votes
1answer
250 views

Proving that $\mathbb R^3$ cannot be made into a real division algebra (and that extending complex multiplication would not work)

I am trying to solve the following exercise: Prove that complex multiplication does not extend to a multiplication on $\mathbb R^3$ so as to make $\mathbb R^3$ into a real division algebra. ...
1
vote
2answers
90 views

How to derive these Lie Series formulas

Relates issues: How to properly apply the Lie Series Exponential of a function times derivative In my old notes about Lie groups and/or operator calculus, I've encountered the following formulas: $$ ...
34
votes
10answers
9k views

What's a good place to learn Lie groups?

Ok so I read the following article the other day: http://www.aimath.org/E8/ and I wanted to learn more about lie groups. Using my exceptional deduction skills I thought "oh it must have something to ...
48
votes
0answers
576 views

Geometric & Intuitive Meaning of $SL(2,R)$, $SU(2)$, etc… & Representation Theory of Special Functions

Many special functions of mathematical physics can be understood from the point of view of the representation theory of lie groups. An example of the power of this viewpoint is given in my question ...
9
votes
3answers
4k views

How do you find the Lie algebra of a Lie group (in practice)?

Given a Lie group, how are you meant to find its Lie algebra? The Lie algebra of a Lie group is the set of all the left invariant vector fields, but how would you determine them? My group is the set ...
10
votes
3answers
2k views

Let $G$ be a Lie group. Show that there is a diffeomorphism $TG \cong G \times T_e G$.

Since $T_p G$ is isomorphic to $T_e G$ for all $p\in G$, it makes sense that each vector in $T_p G$ can be identified with a vector in $T_e G$. Hence, to make the map from $TG$ one to one, we must ...
11
votes
6answers
782 views

Getting started with Lie Groups

I am looking for some material (e.g. references, books, notes) to get started with Lie Groups and Lie Algebra. My motivation is that I (eventually) want to understand the theory underpinning papers ...
11
votes
1answer
889 views

Which Lie groups have Lie algebras admitting an Ad-invariant inner product?

I am trying to answer the following question: Which Lie groups have a Lie algebra admitting an $\text{Ad}$-invariant inner product? First of all, all compact Lie groups satisfy this condition ...
4
votes
1answer
710 views

fundamental group of $GL^{+}_n(\mathbb{R})$

I would like to know whether the $GL^{+}_n(\mathbb{R})$ the set of all invertible matrices with positive determinant is simply connected or not? I guess it is not simply connected but that is just a ...
4
votes
2answers
4k views

How to evaluate the derivatives of matrix inverse?

Cliff Taubes wrote in his differential geometry book that: We now calculate the directional derivatives of the map $$M\rightarrow M^{-1}$$ Let $\alpha\in M(n,\mathbb{R})$ denote any given matrix. ...
3
votes
1answer
698 views

Pushforward of Inverse Map around the identity?

Let $G$ be a Lie group and $i:G \rightarrow G$ denote the inversion map. (Notation: $f_*$ is the pushforward map $F_*:T_pG \rightarrow T_{i(p)}G$ which takes $(F_{*}X)(f)=X(f\circ F)$ and $X$ is a ...
0
votes
1answer
104 views

Proving left-invariance (and proof-verification for right-invariance) for metric constructed from left-invariant Haar measure

$\newcommand{\diff}{\mathrm{d}}$ TL;DR Having read this I know something about Haar measures, in particular that a left-invariant one exists and is unique on any Lie group $G$. I know that defining: ...
19
votes
2answers
3k views

Visualizing the fundamental group of SO(3)

Recently I became interested in trying to visualize the fact that $\pi_1(\text{SO}(3)) = \mathbb{Z}/2\mathbb{Z}$. For whatever reason, the plate trick doesn't do it for me, so I've been looking for ...
13
votes
1answer
621 views

The Quaternions and $SO(4)$

I am interested in the map $\phi:S^3 \times S^3 \to GL_4(\mathbb{R})$ given as follows: Let $(p,q) \in S^3 \times S^3$. We identify $p$ and $q$ as real quaternions with unit norms and define $\phi(p,...
8
votes
2answers
664 views

deformation retract of $GL_n^{+}(\mathbb{R})$

Well, I need a deformation retract from $GL_n^{+}(\mathbb{R})$ to $SO(n)$ Here is what I tried, let $A\in GL_n^{+}(\mathbb{R})$ $A=(A_1,\dots,A_n)$ where $A_i$'s are collumn vectors, Recall that the ...
6
votes
0answers
84 views

Exact sequences of $SU(N)$ and $SO(N)$

We know that the spin group $Spin(N)$ has a short exact sequence of Lie groups $$1 \to Z_2 \to Spin(N) \to SO(N) \to 1\textrm{.}$$ I wonder whether there are some examples for $SU(N)$ and $SO(N)$ ...
5
votes
0answers
135 views

— Cartan matrix for an exotic type of Lie algebra --

(1) Is there a notion of Cartan matrix for non-semisimple Lie algebra? For example, consider this Lie algebra: $$ [X_i, X_j] = f_{ij}{}^k X_k \qquad\qquad [X_i,Y^j] = - f_{ik}{}^j Y^k \qquad\qquad [...
5
votes
0answers
380 views

Exponential map is surjective for compact connected Lie group

How do I show that for every compact connected group $G$, the exponential map $\exp \colon\mathfrak{g} \rightarrow G$ is surjective? I tried to find the proof on the internet but most of them are ...
3
votes
2answers
1k views

Proof: Tangent space of the general linear group is the set of all squared matrices

Let us assume we have the following definition of a tangent space: Definition of smooth path Let $X\subset\mathbb{R}^n$. Let $I$ be a real interval. \begin{equation} P \text{ is a smooth path in } ...
3
votes
1answer
106 views

set of almost complex structures on $\mathbb R^4$ as two disjoint spheres

The set of almost complex structures on $\mathbb R^{2n}$ is given by $$ M_n = \frac{GL(2n,\mathbb R)}{GL(n,\mathbb C)} = \mathcal C_+ \sqcup \mathcal C_-,$$ taking into account that $\det = \pm 1$ ...
9
votes
3answers
704 views

Does every irreducible representation of a compact group occur in tensor products of a faithful representation (and its dual)?

Let $G$ be a compact (Hausdorff) group and $V$ a faithful (complex, continuous, finite-dimensional) representation of it. (Hence $G$ is a Lie group.) Is it true that every irreducible representation ...
8
votes
2answers
995 views

Universal Cover of $SL_{2}(\mathbb{R})$

Why does the universal cover of $SL_{2}(\mathbb{R})$ have no finite dimensional representations?
7
votes
2answers
192 views

Correspondence of representation theory between $\mathrm{GL}_n(\mathbb C)$ and $\mathrm U_n(\mathbb C)$

If I know something about the representation theory of the general linear group $\mathrm{GL}_n(\mathbb C)$, what can I say about the representation theory of the unitary group $\mathrm U_n(\mathbb C)$?...
6
votes
1answer
89 views

The last accidental spin groups

For dimensions $n\le 6$ there are accidental isomorphisms of spin groups with other Lie groups: $\DeclareMathOperator{Spin}{\mathrm{Spin}}$ $$\begin{array}{|l|l|} \hline \Spin(1) & \mathrm{O}(1) \...
5
votes
2answers
461 views

Representations of Direct Sum of Lie Algebras

I'm trying to prove the following. Let $\frak{g}$ and $\frak{h}$ be (semisimple) Lie algebras. Then every representation $d$ of $\frak{g}\oplus\frak{h}$ is the tensor product of representations $d^1$ ...
7
votes
2answers
309 views

Is the determinant the “only” group homomorphism from $\mathrm{GL}_n(\mathbb R)$ to $\mathbb R^\times$?

This might be a dumb question; I know only enough group theory to be able to ask dumb questions. Ken W. Smith has pointed out that one way to get intuition about the determinant is to observe that it ...
4
votes
1answer
844 views

First and second homotopy groups of a connected Lie group

I try to understand why for a connected Lie group $G$ the first fundamental group $\pi_1(G)$ is abelian, and mainly why the second fundamental group is trivial $\pi_2(G)=0$? Thanks for anyone who ...
2
votes
0answers
49 views

How I could define a inner product in the characters in $SL(2, \mathbb R)$

I have homework in a course on Lie groups, in which I must show that $(\pi_m,\mathbb C_m[x,y])$ are the only irreducible representations of finite dimension in SL(2,ℝ). Here $ C_m[x,y])$ is the vector ...
1
vote
1answer
61 views

Proof that these two definitions are equivalent

Where can I find a proof of or how can I prove that these two definitions are equivalent? Definition 1: The Lie algebra of a Lie group $G \subset GL_n$ is the tangent space at $I$. Definition 2: ...
13
votes
2answers
318 views

Is $SO_n({\mathbb R})$ a divisible group?

The title says it all ... Formally, if $SO_n(\mathbb R)=\lbrace A\in M_n({\mathbb R}) |AA^{T}=I_n, {\sf det}(A)=1 \rbrace$ and $W\in SO_n(\mathbb R)$, is it true that for every integer $p$, there is ...
10
votes
0answers
79 views

Reciprocity for branching rules of $\mathrm{GL}_n(\mathbb C)$

[Separated from another question] If I have information about the restriction of representations of the general linear group, can I make any statements about the induction (by Frobenius reciprocity)? ...
7
votes
1answer
1k views

Non surjectivity of the exponential map to GL(2,R)

I was asked to show that the exponential map $\exp: \mathfrak{g} \mapsto G$ is not surjective by proving that the matrix $\left(\matrix{-1 & 0 \\ 0 & -2}\right)\in \text{GL}(2,\mathbb{R})$ can'...
6
votes
0answers
425 views

Alternating and special orthogonal groups which are simple

I have an idle curiosity about a funny coincidence between two sequences of groups. It is well-known by those who know it well that the alternating group $A_d$ of degree $d$ is simple if and only if $...
5
votes
1answer
67 views

On lifting an action of $G$ on $X$ to an action of $G'$ on $\tilde{X}$.

I am reading the section on covering actions from Glen Bredon's Tranformation groups. Let $G$ be a Lie group (not necessarily connected) acting effectively/faithfully on a connected, locally path ...
4
votes
1answer
473 views

Why is $Sp(2m)$ as regular set of $f(A)=A^tJA-J$, and, hence a Lie group.

I'm trying to prove that $Sp(2m)$ is a Lie group using this: defining a function $f(A)=A^tJA-J$ and trying to see that this is a submersion. But I've not realized yet what is the domains and the range ...
3
votes
1answer
84 views

An short exact sequence of $\mathfrak{g}$ of which head and tail are in category $\mathcal{O}$.

Let $\mathfrak{g}$ be a finite-dimensional, semisimple Lie algebra over $\mathbb{C}$. Let $$ 0\rightarrow X \rightarrow Y \rightarrow Z \rightarrow 0 $$ be a short exact sequence of $\mathfrak{g}$-...
2
votes
2answers
65 views

Projectivization and stereographic projection, or: Why nonlinear + nonlinear = linear?

This previous question had me thinking about something I've taken for granted. Consider $\mathrm{SL}_2(\mathbb{C})$ acting on $\mathbb{C}^2$, which descends to an action on the complex projective line ...
1
vote
1answer
38 views

Compute $ad_X$, $ad_Y$, and $ad_Z$ relative to a basis

For a lie algebra $\mathbb{g} $ we can define the adjoint representation as: $ ad: \mathbb{g} \rightarrow End(\mathbb{g}) $ as the map such that $ad_x(y)=[x, y] $ for all $\in \mathbb{g} $ I am ...