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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36
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7answers
4k 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 ...
30
votes
1answer
2k 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 ...
15
votes
6answers
568 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 ...
7
votes
2answers
1k 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 ...
12
votes
6answers
4k 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. ...
11
votes
5answers
373 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
1k 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!
1
vote
1answer
669 views

Compactness of orthogonal Matrices

Show that the set of all orthogonal matrices in the set of all $n \times n$ matrices endowed with any norm topology is compact.
28
votes
10answers
6k 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 ...
25
votes
0answers
264 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
2answers
1k 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 ...
10
votes
2answers
2k 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 ...
4
votes
2answers
2k 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. ...
9
votes
2answers
602 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 ...
3
votes
2answers
201 views

Defining an isomorphism that respects the Lie bracket: is my work correct?

I previously determined that if $\mathfrak{sl}$ denotes the Lie algebra of $SL_2(\mathbb C)$ and $\mathfrak o$ denotes the Lie algebra of $O(3,\mathbb C)$ then a basis for $\mathfrak{sl}$ is given by ...
3
votes
1answer
509 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 ...
10
votes
3answers
3k 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?
6
votes
0answers
78 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
112 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 ...
2
votes
2answers
979 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 } ...
11
votes
1answer
432 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 ...
8
votes
2answers
794 views

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

Why does the universal cover of $SL_{2}(\mathbb{R})$ have no finite dimensional representations?
6
votes
2answers
164 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 ...
4
votes
1answer
509 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
1answer
652 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 ...
3
votes
2answers
151 views

What does $GL_n(R)$ look like?

Exactly as in the title - what does the general linear group "look like" (you are free to interpret this however you like) as submanifold of $R^{n^2}$? What should I imagine when I think of it? (I ...
10
votes
5answers
312 views

Does non-commuting $\mathfrak{g}$ imply non-abelian $G$?

Question 8.1 in Kristopher Tapp's introductory text on matrix groups asks to show that $SO(n)$ is non-abelian ($n>2$) by finding two elements of $so(n)$ that do not commute. Why is this method ...
9
votes
3answers
599 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 ...
7
votes
1answer
964 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 $\left(\matrix{-1 & 0 \\ 0 & -2}\right)\in \text{GL}(2,\mathbb{R})$ ...
6
votes
0answers
411 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 ...
4
votes
1answer
367 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
2answers
834 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 $GL_n(\mathbb R)$ ...
1
vote
1answer
29 views

Lie algebra of affine linear maps

Let $G$ be the Lie group of affine transformations, $$\{x \mapsto Ax+b,A \in GL(n), b \in \mathbb{R}^n\}.$$ We can represent these maps as matrices $$\begin{pmatrix} A & b \\ 0 & 1 ...
1
vote
1answer
202 views

Lie group structure on some topological spaces

I have some basic background in Lie theory and I have some difficulties to show that some topological spaces admits a Lie group structure. More precisely, for a given Lie group $G$: 1) Why its ...
13
votes
2answers
270 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 ...
5
votes
2answers
235 views

Subgroups of $\Bbb{R}^n$ that are closed and discrete

I am trying to prove that every closed discrete subgroup of $\Bbb{R}^n$ under addition is a free abelian group of finite rank. I have tried to do this by induction on the dimension $n$. Base ...
3
votes
2answers
100 views

The generators of $SO(n)$ are antisymmetric, which means there are no diagonal generators and therefore rank zero for the Lie algebra?

Okay, this may be a silly question but I can't figure it out myself right now. By definition $O \in SO(n)$ fulfils $O^T O=1$ and $\det(O)=1$. For the generators of the group $ T_a \in so(n)$, this ...
3
votes
1answer
128 views

Help needed in understanding the basics of Cartan decomposition of a Lie algebra

I am trying to learn the basics of Cartan decomposition of Lie algebra, and have come across the following example. Consider $\mathfrak{gl_n}$ as the Lie algebra of endomorphisms of $\mathbb{C}^n$. ...
3
votes
0answers
41 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)? ...
3
votes
2answers
521 views

Lie Algebra Homomorphism Question

So this is a bit of a follow-up to my recent question. I don't mean to inundate the feed with my quandaries, but as I move through the theory I keep hitting stumbling blocks (which y'all so kindly ...
2
votes
1answer
90 views

Is trace of regular representation in Lie group a delta function?

My major is physics. I need to use some tools in group theory, but I am really confused by the trace in compact infinite groups. The following is my question: In discrete group theory, the ...
1
vote
1answer
74 views

Where does the ambiguity in choosing a basis for a Lie algebra come from?

This is a follow-up to this question. For matrix Lie algebras, we can define the Lie algebra $g$ of a group $G$ as the set $T_a \in g$ that yield an element of $G$ when put into the exponential map: ...
1
vote
1answer
29 views

Solving a large system of linear equations to satisfy the Lie bracket: am I doing it right?

I'm still working on a Lie algebra isomorphism from the Lie algebra of $SL_2(\mathbb C)$ into the Lie algebra of $O(3, \mathbb C)$. It has been suggested to me to use linear combinations of ...
1
vote
2answers
307 views

A covering map from a differentiable manifold

Let $p: C \to X$ is a covering map. Suppose that $C$ is a differentiable manifold. Is X - differentiable manifold? More precisely, I am interested in the case where $C$ is Submanifold of Lie algebra, ...
0
votes
1answer
50 views

Derivative of a group action

Let $\phi : G \times M \rightarrow M$ be a group action on a smooth manifold $M$ and Lie group $G$. Then we define $$f(t):=\phi(g(t),d(t)).$$ where $g: I \rightarrow G$ and $d: I \rightarrow M$ are ...
0
votes
0answers
20 views

Finding coefficients for this Lie algebra isomorphism

This is a question closely related to my previous questions. How, in this thread here did Hee Kwon Lee find the coefficients $(-i,1,0),\ (-i,-1,0)$ and $(0,0,2i)$? In the linked thread ...
0
votes
1answer
154 views

Maximal tori in U(2)

I'm attending a course about Lie Groups, and in an exercise I'm asked to "find the maximal abelian subgroup of $U(2)$". Certainly an abelian subgroup of $U(2)$ (and in fact of any $U(n)$ increasing ...
24
votes
1answer
816 views

Given a group $ G $, how many topological/Lie group structures does $ G $ have?

Given any abstract group $ G $, how much is known about which types of topological/Lie group structures it might have? Any abstract group $ G $ will have the structure of a discrete topological group ...
17
votes
2answers
2k 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 ...
9
votes
3answers
3k 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 ...