Biquaternion Algebras and Quartic Extensions
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Quaternions and Cli Ord Geometric Algebras
Quaternions and Cliord Geometric Algebras Robert Benjamin Easter First Draft Edition (v1) (c) copyright 2015, Robert Benjamin Easter, all rights reserved. Preface As a rst rough draft that has been put together very quickly, this book is likely to contain errata and disorganization. The references list and inline citations are very incompete, so the reader should search around for more references. I do not claim to be the inventor of any of the mathematics found here. However, some parts of this book may be considered new in some sense and were in small parts my own original research. Much of the contents was originally written by me as contributions to a web encyclopedia project just for fun, but for various reasons was inappropriate in an encyclopedic volume. I did not originally intend to write this book. This is not a dissertation, nor did its development receive any funding or proper peer review. I oer this free book to the public, such as it is, in the hope it could be helpful to an interested reader. June 19, 2015 - Robert B. Easter. (v1) [email protected] 3 Table of contents Preface . 3 List of gures . 9 1 Quaternion Algebra . 11 1.1 The Quaternion Formula . 11 1.2 The Scalar and Vector Parts . 15 1.3 The Quaternion Product . 16 1.4 The Dot Product . 16 1.5 The Cross Product . 17 1.6 Conjugates . 18 1.7 Tensor or Magnitude . 20 1.8 Versors . 20 1.9 Biradials . 22 1.10 Quaternion Identities . 23 1.11 The Biradial b/a . -
Arxiv:1001.0240V1 [Math.RA]
Fundamental representations and algebraic properties of biquaternions or complexified quaternions Stephen J. Sangwine∗ School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, CO4 3SQ, United Kingdom. Email: [email protected] Todd A. Ell† 5620 Oak View Court, Savage, MN 55378-4695, USA. Email: [email protected] Nicolas Le Bihan GIPSA-Lab D´epartement Images et Signal 961 Rue de la Houille Blanche, Domaine Universitaire BP 46, 38402 Saint Martin d’H`eres cedex, France. Email: [email protected] October 22, 2018 Abstract The fundamental properties of biquaternions (complexified quaternions) are presented including several different representations, some of them new, and definitions of fundamental operations such as the scalar and vector parts, conjugates, semi-norms, polar forms, and inner and outer products. The notation is consistent throughout, even between representations, providing a clear account of the many ways in which the component parts of a biquaternion may be manipulated algebraically. 1 Introduction It is typical of quaternion formulae that, though they be difficult to find, once found they are immediately verifiable. J. L. Synge (1972) [43, p34] arXiv:1001.0240v1 [math.RA] 1 Jan 2010 The quaternions are relatively well-known but the quaternions with complex components (complexified quaternions, or biquaternions1) are less so. This paper aims to set out the fundamental definitions of biquaternions and some elementary results, which, although elementary, are often not trivial. The emphasis in this paper is on the biquaternions as an applied algebra – that is, a tool for the manipulation ∗This paper was started in 2005 at the Laboratoire des Images et des Signaux (now part of the GIPSA-Lab), Grenoble, France with financial support from the Royal Academy of Engineering of the United Kingdom and the Centre National de la Recherche Scientifique (CNRS). -
Hypercomplex Algebras and Their Application to the Mathematical
Hypercomplex Algebras and their application to the mathematical formulation of Quantum Theory Torsten Hertig I1, Philip H¨ohmann II2, Ralf Otte I3 I tecData AG Bahnhofsstrasse 114, CH-9240 Uzwil, Schweiz 1 [email protected] 3 [email protected] II info-key GmbH & Co. KG Heinz-Fangman-Straße 2, DE-42287 Wuppertal, Deutschland 2 [email protected] March 31, 2014 Abstract Quantum theory (QT) which is one of the basic theories of physics, namely in terms of ERWIN SCHRODINGER¨ ’s 1926 wave functions in general requires the field C of the complex numbers to be formulated. However, even the complex-valued description soon turned out to be insufficient. Incorporating EINSTEIN’s theory of Special Relativity (SR) (SCHRODINGER¨ , OSKAR KLEIN, WALTER GORDON, 1926, PAUL DIRAC 1928) leads to an equation which requires some coefficients which can neither be real nor complex but rather must be hypercomplex. It is conventional to write down the DIRAC equation using pairwise anti-commuting matrices. However, a unitary ring of square matrices is a hypercomplex algebra by definition, namely an associative one. However, it is the algebraic properties of the elements and their relations to one another, rather than their precise form as matrices which is important. This encourages us to replace the matrix formulation by a more symbolic one of the single elements as linear combinations of some basis elements. In the case of the DIRAC equation, these elements are called biquaternions, also known as quaternions over the complex numbers. As an algebra over R, the biquaternions are eight-dimensional; as subalgebras, this algebra contains the division ring H of the quaternions at one hand and the algebra C ⊗ C of the bicomplex numbers at the other, the latter being commutative in contrast to H. -
Arithmetic of Hyperbolic 3-Manifolds
Arithmetic of Hyperbolic 3-Manifolds Alan Reid Rice University Hyperbolic 3-Manifolds and Discrete Groups Hyperbolic 3-space can be defined as 3 H = f(z; t) 2 C × R : t > 0g dsE and equipped with the metric ds = t . Geodesics are vertical lines perpendicular to C or semi-circles perpendicular to C. Codimension 1 geodesic submanifolds are Euclidean planes in 3 H orthogonal to C or hemispheres centered on C. 3 The full group of orientation-preserving isometries of H can be identified with PSL(2; C). Abuse of notation We will often view Kleinian groups as groups of matrices! A discrete subgroup of PSL(2; C) is called a Kleinian group. 3 Such a group acts properly discontinuously on H . If Γ is torsion-free (does not contain elements of finite order) then Γ acts freely. 3 In this latter case we get a quotient manifold H =Γ and a 3 3 covering map H ! H =Γ which is a local isometry. 3 We will be interested in the case when H =Γ has finite volume. Note: If Γ is a finitely generated subgroup of PSL(2; C) there is always a finite index subgroup that is torsion-free. Examples 1. Let d be a square-freep positive integer, and Od the ring of algebraic integers in Q( −d). Then PSL(2; Od) is a Kleinian group. 3 Indeed H =PSL(2; Od) has finite volume but is non-compact. These are known as the Bianchi groups. d = 1 (picture by Jos Leys) 2. Reflection groups. Tessellation by all right dodecahedra (from the Not Knot video) 3.Knot Complements The Figure-Eight Knot Thurston's hyperbolization theorem shows that many knots have complements that are hyperbolic 3-manifolds of finite volume. -
Hypercomplex Numbers
Hypercomplex numbers Johanna R¨am¨o Queen Mary, University of London [email protected] We have gradually expanded the set of numbers we use: first from finger counting to the whole set of positive integers, then to positive rationals, ir- rational reals, negatives and finally to complex numbers. It has not always been easy to accept new numbers. Negative numbers were rejected for cen- turies, and complex numbers, the square roots of negative numbers, were considered impossible. Complex numbers behave like ordinary numbers. You can add, subtract, multiply and divide them, and on top of that, do some nice things which you cannot do with real numbers. Complex numbers are now accepted, and have many important applications in mathematics and physics. Scientists could not live without complex numbers. What if we take the next step? What comes after the complex numbers? Is there a bigger set of numbers that has the same nice properties as the real numbers and the complex numbers? The answer is yes. In fact, there are two (and only two) bigger number systems that resemble real and complex numbers, and their discovery has been almost as dramatic as the discovery of complex numbers was. 1 Complex numbers Complex numbers where discovered in the 15th century when Italian math- ematicians tried to find a general solution to the cubic equation x3 + ax2 + bx + c = 0: At that time, mathematicians did not publish their results but kept them secret. They made their living by challenging each other to public contests of 1 problem solving in which the winner got money and fame. -
Split Quaternions and Spacelike Constant Slope Surfaces in Minkowski 3- Space
Split Quaternions and Spacelike Constant Slope Surfaces in Minkowski 3- Space Murat Babaarslan and Yusuf Yayli Abstract. A spacelike surface in the Minkowski 3-space is called a constant slope surface if its position vector makes a constant angle with the normal at each point on the surface. These surfaces completely classified in [J. Math. Anal. Appl. 385 (1) (2012) 208-220]. In this study, we give some relations between split quaternions and spacelike constant slope surfaces in Minkowski 3-space. We show that spacelike constant slope surfaces can be reparametrized by using rotation matrices corresponding to unit timelike quaternions with the spacelike vector parts and homothetic motions. Subsequently we give some examples to illustrate our main results. Mathematics Subject Classification (2010). Primary 53A05; Secondary 53A17, 53A35. Key words: Spacelike constant slope surface, split quaternion, homothetic motion. 1. Introduction Quaternions were discovered by Sir William Rowan Hamilton as an extension to the complex number in 1843. The most important property of quaternions is that every unit quaternion represents a rotation and this plays a special role in the study of rotations in three- dimensional spaces. Also quaternions are an efficient way understanding many aspects of physics and kinematics. Many physical laws in classical, relativistic and quantum mechanics can be written nicely using them. Today they are used especially in the area of computer vision, computer graphics, animations, aerospace applications, flight simulators, navigation systems and to solve optimization problems involving the estimation of rigid body transformations. Ozdemir and Ergin [9] showed that a unit timelike quaternion represents a rotation in Minkowski 3-space. -
K-Theory and Algebraic Geometry
http://dx.doi.org/10.1090/pspum/058.2 Recent Titles in This Series 58 Bill Jacob and Alex Rosenberg, editors, ^-theory and algebraic geometry: Connections with quadratic forms and division algebras (University of California, Santa Barbara) 57 Michael C. Cranston and Mark A. Pinsky, editors, Stochastic analysis (Cornell University, Ithaca) 56 William J. Haboush and Brian J. Parshall, editors, Algebraic groups and their generalizations (Pennsylvania State University, University Park, July 1991) 55 Uwe Jannsen, Steven L. Kleiman, and Jean-Pierre Serre, editors, Motives (University of Washington, Seattle, July/August 1991) 54 Robert Greene and S. T. Yau, editors, Differential geometry (University of California, Los Angeles, July 1990) 53 James A. Carlson, C. Herbert Clemens, and David R. Morrison, editors, Complex geometry and Lie theory (Sundance, Utah, May 1989) 52 Eric Bedford, John P. D'Angelo, Robert E. Greene, and Steven G. Krantz, editors, Several complex variables and complex geometry (University of California, Santa Cruz, July 1989) 51 William B. Arveson and Ronald G. Douglas, editors, Operator theory/operator algebras and applications (University of New Hampshire, July 1988) 50 James Glimm, John Impagliazzo, and Isadore Singer, editors, The legacy of John von Neumann (Hofstra University, Hempstead, New York, May/June 1988) 49 Robert C. Gunning and Leon Ehrenpreis, editors, Theta functions - Bowdoin 1987 (Bowdoin College, Brunswick, Maine, July 1987) 48 R. O. Wells, Jr., editor, The mathematical heritage of Hermann Weyl (Duke University, Durham, May 1987) 47 Paul Fong, editor, The Areata conference on representations of finite groups (Humboldt State University, Areata, California, July 1986) 46 Spencer J. Bloch, editor, Algebraic geometry - Bowdoin 1985 (Bowdoin College, Brunswick, Maine, July 1985) 45 Felix E. -
Generic Splitting Fields of Central Simple Algebras: Galois Cohomology and Non-Excellence
GENERIC SPLITTING FIELDS OF CENTRAL SIMPLE ALGEBRAS: GALOIS COHOMOLOGY AND NON-EXCELLENCE OLEG T. IZHBOLDIN AND NIKITA A. KARPENKO Abstract. A field extension L=F is called excellent, if for any quadratic form ϕ over F the anisotropic part (ϕL)an of ϕ over L is defined over F ; L=F is called universally excellent, if L · E=E is excellent for any field ex- tension E=F . We study the excellence property for a generic splitting field of a central simple F -algebra. In particular, we show that it is universally excellent if and only if the Schur index of the algebra is not divisible by 4. We begin by studying the torsion in the second Chow group of products of Severi-Brauer varieties and its relationship with the relative Galois co- homology group H3(L=F ) for a generic (common) splitting field L of the corresponding central simple F -algebras. Let F be a field and let A1;:::;An be central simple F -algebras. A splitting field of this collection of algebras is a field extension L of F such that all the def algebras (Ai)L = Ai ⊗F L (i = 1; : : : ; n) are split. A splitting field L=F of 0 A1;:::;An is called generic (cf. [41, Def. C9]), if for any splitting field L =F 0 of A1;:::;An, there exists an F -place of L to L . Clearly, generic splitting field of A1;:::;An is not unique, however it is uniquely defined up to equivalence over F in the sense of [24, x3]. Therefore, working on problems (Q1) and (Q2) discussed below, we may choose any par- ticular generic splitting field L of the algebras A1;:::;An (cf. -
The Geometry and Topology of Arithmetic Hyperbolic 3-Manifolds
The geometry and topology of arithmetic hyperbolic 3-manifolds Alan W. Reid∗ May 12, 2007 1 Introduction This paper is based on three lectures given by the author at the RIMS Symposium, “Topology, Com- plex Analysis and Arithmetic of Hyperbolic Spaces” held at the Research Institute for Mathematical Sciences, Kyoto University, in December 2006. The goal of the lectures was to describe recent work on understanding topological and geometric properties of arithmetic hyperbolic 3-manifolds, and the connections with number theory. This is the theme of the paper. Our discussion of topological aspects of arithmetic hyperbolic 3-orbifolds is motivated by the following central conjectures from 3-manifold topology: Conjecture 1.1. Let M be a closed hyperbolic 3-manifold, then M is virtually Haken; ie M has a finite sheeted cover N which contains embedded incompressible surface (necessarily of genus at least 2). Conjecture 1.2. Let M be a closed hyperbolic 3-manifold, then M has a finite sheeted cover N for which b1(N) > 0 (where b1(N) is the first Betti number of N). We can also rephrase Conjecture 1.2 to say that vb1(M) > 0 where vb1(M) is defined by vb1(M) = sup{b1(N) : N is a finite cover of M}, and is called the virtual first Betti number of M. Conjecture 1.3. Let M be a closed hyperbolic 3-manifold, then vb1(M) = ∞. Conjecture 1.4. Let M be a closed hyperbolic 3-manifold, then π1(M) is large; that is to say, some finite index subgroup of π1(M) admits a surjective homomorphism onto a non-abelian free group. -
Quaternion Algebra and Calculus
Quaternion Algebra and Calculus David Eberly, Geometric Tools, Redmond WA 98052 https://www.geometrictools.com/ This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ or send a letter to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. Created: March 2, 1999 Last Modified: August 18, 2010 Contents 1 Quaternion Algebra 2 2 Relationship of Quaternions to Rotations3 3 Quaternion Calculus 5 4 Spherical Linear Interpolation6 5 Spherical Cubic Interpolation7 6 Spline Interpolation of Quaternions8 1 This document provides a mathematical summary of quaternion algebra and calculus and how they relate to rotations and interpolation of rotations. The ideas are based on the article [1]. 1 Quaternion Algebra A quaternion is given by q = w + xi + yj + zk where w, x, y, and z are real numbers. Define qn = wn + xni + ynj + znk (n = 0; 1). Addition and subtraction of quaternions is defined by q0 ± q1 = (w0 + x0i + y0j + z0k) ± (w1 + x1i + y1j + z1k) (1) = (w0 ± w1) + (x0 ± x1)i + (y0 ± y1)j + (z0 ± z1)k: Multiplication for the primitive elements i, j, and k is defined by i2 = j2 = k2 = −1, ij = −ji = k, jk = −kj = i, and ki = −ik = j. Multiplication of quaternions is defined by q0q1 = (w0 + x0i + y0j + z0k)(w1 + x1i + y1j + z1k) = (w0w1 − x0x1 − y0y1 − z0z1)+ (w0x1 + x0w1 + y0z1 − z0y1)i+ (2) (w0y1 − x0z1 + y0w1 + z0x1)j+ (w0z1 + x0y1 − y0x1 + z0w1)k: Multiplication is not commutative in that the products q0q1 and q1q0 are not necessarily equal. -
Hyperbolicity of Hermitian Forms Over Biquaternion Algebras
HYPERBOLICITY OF HERMITIAN FORMS OVER BIQUATERNION ALGEBRAS NIKITA A. KARPENKO Abstract. We show that a non-hyperbolic hermitian form over a biquaternion algebra over a field of characteristic 6= 2 remains non-hyperbolic over a generic splitting field of the algebra. Contents 1. Introduction 1 2. Notation 2 3. Krull-Schmidt principle 3 4. Splitting off a motivic summand 5 5. Rost correspondences 7 6. Motivic decompositions of some isotropic varieties 12 7. Proof of Main Theorem 14 References 16 1. Introduction Throughout this note (besides of x3 and x4) F is a field of characteristic 6= 2. The basic reference for the staff related to involutions on central simple algebras is [12].p The degree deg A of a (finite dimensional) central simple F -algebra A is the integer dimF A; the index ind A of A is the degree of a central division algebra Brauer-equivalent to A. Conjecture 1.1. Let A be a central simple F -algebra endowed with an orthogonal invo- lution σ. If σ becomes hyperbolic over the function field of the Severi-Brauer variety of A, then σ is hyperbolic (over F ). In a stronger version of Conjecture 1.1, each of two words \hyperbolic" is replaced by \isotropic", cf. [10, Conjecture 5.2]. Here is the complete list of indices ind A and coindices coind A = deg A= ind A of A for which Conjecture 1.1 is known (over an arbitrary field of characteristic 6= 2), given in the chronological order: • ind A = 1 | trivial; Date: January 2008. Key words and phrases. -
A Tutorial on Euler Angles and Quaternions
A Tutorial on Euler Angles and Quaternions Moti Ben-Ari Department of Science Teaching Weizmann Institute of Science http://www.weizmann.ac.il/sci-tea/benari/ Version 2.0.1 c 2014–17 by Moti Ben-Ari. This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. To view a copy of this license, visit http://creativecommons.org/licenses/ by-sa/3.0/ or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. Chapter 1 Introduction You sitting in an airplane at night, watching a movie displayed on the screen attached to the seat in front of you. The airplane gently banks to the left. You may feel the slight acceleration, but you won’t see any change in the position of the movie screen. Both you and the screen are in the same frame of reference, so unless you stand up or make another move, the position and orientation of the screen relative to your position and orientation won’t change. The same is not true with respect to your position and orientation relative to the frame of reference of the earth. The airplane is moving forward at a very high speed and the bank changes your orientation with respect to the earth. The transformation of coordinates (position and orientation) from one frame of reference is a fundamental operation in several areas: flight control of aircraft and rockets, move- ment of manipulators in robotics, and computer graphics. This tutorial introduces the mathematics of rotations using two formalisms: (1) Euler angles are the angles of rotation of a three-dimensional coordinate frame.