Quaternion Algebras Applications of Quaternion Algebras
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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). -
The General Linear Group
18.704 Gabe Cunningham 2/18/05 [email protected] The General Linear Group Definition: Let F be a field. Then the general linear group GLn(F ) is the group of invert- ible n × n matrices with entries in F under matrix multiplication. It is easy to see that GLn(F ) is, in fact, a group: matrix multiplication is associative; the identity element is In, the n × n matrix with 1’s along the main diagonal and 0’s everywhere else; and the matrices are invertible by choice. It’s not immediately clear whether GLn(F ) has infinitely many elements when F does. However, such is the case. Let a ∈ F , a 6= 0. −1 Then a · In is an invertible n × n matrix with inverse a · In. In fact, the set of all such × matrices forms a subgroup of GLn(F ) that is isomorphic to F = F \{0}. It is clear that if F is a finite field, then GLn(F ) has only finitely many elements. An interesting question to ask is how many elements it has. Before addressing that question fully, let’s look at some examples. ∼ × Example 1: Let n = 1. Then GLn(Fq) = Fq , which has q − 1 elements. a b Example 2: Let n = 2; let M = ( c d ). Then for M to be invertible, it is necessary and sufficient that ad 6= bc. If a, b, c, and d are all nonzero, then we can fix a, b, and c arbitrarily, and d can be anything but a−1bc. This gives us (q − 1)3(q − 2) matrices. -
Normal Subgroups of the General Linear Groups Over Von Neumann Regular Rings L
PROCEEDINGS OF THE AMERICAN MATHEMATICAL SOCIETY Volume 96, Number 2, February 1986 NORMAL SUBGROUPS OF THE GENERAL LINEAR GROUPS OVER VON NEUMANN REGULAR RINGS L. N. VASERSTEIN1 ABSTRACT. Let A be a von Neumann regular ring or, more generally, let A be an associative ring with 1 whose reduction modulo its Jacobson radical is von Neumann regular. We obtain a complete description of all subgroups of GLn A, n > 3, which are normalized by elementary matrices. 1. Introduction. For any associative ring A with 1 and any natural number n, let GLn A be the group of invertible n by n matrices over A and EnA the subgroup generated by all elementary matrices x1'3, where 1 < i / j < n and x E A. In this paper we describe all subgroups of GLn A normalized by EnA for any von Neumann regular A, provided n > 3. Our description is standard (see Bass [1] and Vaserstein [14, 16]): a subgroup H of GL„ A is normalized by EnA if and only if H is of level B for an ideal B of A, i.e. E„(A, B) C H C Gn(A, B). Here Gn(A, B) is the inverse image of the center of GL„(,4/S) (when n > 2, this center consists of scalar invertible matrices over the center of the ring A/B) under the canonical homomorphism GL„ A —►GLn(A/B) and En(A, B) is the normal subgroup of EnA generated by all elementary matrices in Gn(A, B) (when n > 3, the group En(A, B) is generated by matrices of the form (—y)J'lx1'Jy:i''1 with x € B,y £ A,l < i ^ j < n, see [14]). -
Generalized Quaternions
GENERALIZED QUATERNIONS KEITH CONRAD 1. introduction The quaternion group Q8 is one of the two non-abelian groups of size 8 (up to isomor- phism). The other one, D4, can be constructed as a semi-direct product: ∼ ∼ × ∼ D4 = Aff(Z=(4)) = Z=(4) o (Z=(4)) = Z=(4) o Z=(2); where the elements of Z=(2) act on Z=(4) as the identity and negation. While Q8 is not a semi-direct product, it can be constructed as the quotient group of a semi-direct product. We will see how this is done in Section2 and then jazz up the construction in Section3 to make an infinite family of similar groups with Q8 as the simplest member. In Section4 we will compare this family with the dihedral groups and see how it fits into a bigger picture. 2. The quaternion group from a semi-direct product The group Q8 is built out of its subgroups hii and hji with the overlapping condition i2 = j2 = −1 and the conjugacy relation jij−1 = −i = i−1. More generally, for odd a we have jaij−a = −i = i−1, while for even a we have jaij−a = i. We can combine these into the single formula a (2.1) jaij−a = i(−1) for all a 2 Z. These relations suggest the following way to construct the group Q8. Theorem 2.1. Let H = Z=(4) o Z=(4), where (a; b)(c; d) = (a + (−1)bc; b + d); ∼ The element (2; 2) in H has order 2, lies in the center, and H=h(2; 2)i = Q8. -
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. -
SL{2, R)/ ± /; Then Hc = PSL(2, C) = SL(2, C)/ ±
PROCEEDINGS OF THE AMERICAN MATHEMATICAL SOCIETY Volume 60, October 1976 ERRATUM TO "ON THE AUTOMORPHISM GROUP OF A LIE GROUP" DAVID WIGNER D. Z. Djokovic and G. P. Hochschild have pointed out that the argument in the third paragraph of the proof of Theorem 1 is insufficient. The fallacy lies in assuming that the fixer of S in K(S) is an algebraic subgroup. This is of course correct for complex groups, since a connected complex semisimple Lie group is algebraic, but false for real Lie groups. By Proposition 1, the theorem is correct for real solvable Lie groups and the given proof is correct for complex groups, but the theorem fails for real semisimple groups, as the following example, worked out jointly with Professor Hochschild, shows. Let G = SL(2, R); then Gc = SL(2, C) is the complexification of G and the complex conjugation t in SL(2, C) fixes exactly SL(2, R). Let H = PSL(2, R) = SL{2, R)/ ± /; then Hc = PSL(2, C) = SL(2, C)/ ± /. The complex conjugation induced by t in PSL{2, C) fixes the image M in FSL(2, C) of the matrix (° ¿,)in SL(2, C). Therefore M is in the real algebraic hull of H = PSL(2, R). Conjugation by M on PSL(2, R) acts on ttx{PSL{2, R)) aZby multiplication by - 1. Now let H be the universal cover of PSLÍ2, R) and D its center. Let K = H X H/{(d, d)\d ED}. Then the inner automorphism group of K is H X H and its algebraic hull contains elements whose conjugation action on the fundamental group of H X H is multiplication by - 1 on the fundamen- tal group of the first factor and the identity on the fundamental group of the second factor. -
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. -
Order (Group Theory) 1 Order (Group Theory)
Order (group theory) 1 Order (group theory) In group theory, a branch of mathematics, the term order is used in two closely-related senses: • The order of a group is its cardinality, i.e., the number of its elements. • The order, sometimes period, of an element a of a group is the smallest positive integer m such that am = e (where e denotes the identity element of the group, and am denotes the product of m copies of a). If no such m exists, a is said to have infinite order. All elements of finite groups have finite order. The order of a group G is denoted by ord(G) or |G| and the order of an element a by ord(a) or |a|. Example Example. The symmetric group S has the following multiplication table. 3 • e s t u v w e e s t u v w s s e v w t u t t u e s w v u u t w v e s v v w s e u t w w v u t s e This group has six elements, so ord(S ) = 6. By definition, the order of the identity, e, is 1. Each of s, t, and w 3 squares to e, so these group elements have order 2. Completing the enumeration, both u and v have order 3, for u2 = v and u3 = vu = e, and v2 = u and v3 = uv = e. Order and structure The order of a group and that of an element tend to speak about the structure of the group. -
On the Tensor Product of Two Composition Algebras
On The Tensor Product of Two Composition Algebras Patrick J. Morandi S. Pumplun¨ 1 Introduction Let C1 F C2 be the tensor product of two composition algebras over a field F with char(F ) =¡ 2. R. Brauer [7] and A. A. Albert [1], [2], [3] seemed to be the first math- ematicians who investigated the tensor product of two quaternion algebras. Later their results were generalized to this more general situation by B. N. Allison [4], [5], [6] and to biquaternion algebras over rings by Knus [12]. In the second section we give some new results on the Albert form of these algebras. We also investigate the F -quadric defined by this Albert form, generalizing a result of Knus ([13]). £ £ Since Allison regarded the involution ¢ = 1 2 as an essential part of the algebra C = C1 C2, he only studied automorphisms of C which are compatible with ¢ . In the last section we show that any automorphism of C that preserves a certain biquaternion subalgebra also is compatible with ¢ . As a consequence, if C is the tensor product of two octonion algebras, we show that C does not satisfy the Skolem-Noether Theorem. Let F be a field and C a unital, nonassociative F -algebra. Then C is a composition algebra if there exists a nondegenerate quadratic form n : C ¤ F such that n(x · y) = n(x)n(y) for all x, y ¥ C. The form n is uniquely determined by these conditions and is called the norm of C. We will write n = nC . Composition algebras only exist in ranks 1, 2, 4 or 8 (see [10]). -
(Order of a Group). the Number of Elements of a Group (finite Or Infinite) Is Called Its Order
CHAPTER 3 Finite Groups; Subgroups Definition (Order of a Group). The number of elements of a group (finite or infinite) is called its order. We denote the order of G by G . | | Definition (Order of an Element). The order of an element g in a group G is the smallest positive integer n such that gn = e (ng = 0 in additive notation). If no such integer exists, we say g has infinite order. The order of g is denoted by g . | | Example. U(18) = 1, 5, 7, 11, 13, 17 , so U(18) = 6. Also, { } | | 51 = 5, 52 = 7, 53 = 17, 54 = 13, 55 = 11, 56 = 1, so 5 = 6. | | Example. Z12 = 12 under addition modulo n. | | 1 4 = 4, 2 4 = 8, 3 4 = 0, · · · so 4 = 3. | | 36 3. FINITE GROUPS; SUBGROUPS 37 Problem (Page 69 # 20). Let G be a group, x G. If x2 = e and x6 = e, prove (1) x4 = e and (2) x5 = e. What can we say 2about x ? 6 Proof. 6 6 | | (1) Suppose x4 = e. Then x8 = e = x2x6 = e = x2e = e = x2 = e, ) ) ) a contradiction, so x4 = e. 6 (2) Suppose x5 = e. Then x10 = e = x4x6 = e = x4e = e = x4 = e, ) ) ) a contradiction, so x5 = e. 6 Therefore, x = 3 or x = 6. | | | | ⇤ Definition (Subgroup). If a subset H of a group G is itself a group under the operation of G, we say that H is a subgroup of G, denoted H G. If H is a proper subset of G, then H is a proper subgroup of G. -
1 Math 3560 Fall 2011 Solutions to the Second Prelim Problem 1: (10
1 Math 3560 Fall 2011 Solutions to the Second Prelim Problem 1: (10 points for each theorem) Select two of the the following theorems and state each carefully: (a) Cayley's Theorem; (b) Fermat's Little Theorem; (c) Lagrange's Theorem; (d) Cauchy's Theorem. Make sure in each case that you indicate which theorem you are stating. Each of these theorems appears in the text book. Problem 2: (a) (10 points) Prove that the center Z(G) of a group G is a normal subgroup of G. Solution: Z(G) is the subgroup of G consisting of all elements that commute with every element of G. Let z be any element of the center, and let g be any element of G, Then, gz = zg. Since z is chosen arbitrarily, this shows that gZ(G) ⊆ Z(G)g, for every g. It also demonstrates the reverse inclusion, so that gZ(G) = Z(G)g. Since this holds for every g 2 G, Z(G) is normal in G. (b) (10 points) Let H be the subgroup of S3 generated by the transposition (12). That is, H =< (12) >. Prove that H is not a normal subgroup of S3. Solution: Denote < (12) > by H. There are many ways to show that H is not normal. Most are equivalent to the following. Choose some σ 2 S3 di®erent from " and di®erent from the transposition (12). In this case, almost any such choice will do. Say σ = (13). Compute (13)(12) and (12)(13) and see that they are not equal.