Nonlinear waves, synchronization and patterns by Rabinovich M.I., et al. (eds.)

By Rabinovich M.I., et al. (eds.)

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Xm) in a neighbourhood of a point xo, and let g = (a) (g), ... , ,l (g)) with cf (e) = 0 for all p be a chart of the group on a neighbourhood of e. Then an action of G on Mis described by m functions of both sets of variables i= 1, ... ,m If we take {gp} to be the one-parameter subset of G of those elements near the neutral element for which all but one coordinate, say a P , are kept fixed to zero, the actions of the sets r P define paths x(ap ) on M with x(O) = Xo. 8) Finally, if we move Xo this leads to a smooth vector field called the vector field of infinitesimal transformations.

If ~i is a base of the vector space of a Lie algebra we have the identity [~j, ~k] = ~ ~k ~i' J The constants ~k are called structure constants of the algebra. For 71 = ~ ai ~i we have ". "'k "k (ad 71) ~i = ~ aJ (ad ~j) ~i = ~ aJ cji ~k =~ 71i ~k j j·k • k Thus we have a homeomorphism of the elements of the Lie algebra into a set of matrices which may be calculated from the structure constants. In general, this homomorphism is not an isomorphism, for - as can be seen at once - the center (that is the set of elements of the algebra which commute with the whole algebra) is mapped onto zero.

One of the basic concepts in the theory of manifolds is that of a tangent vector. Its intuitive meaning is given by the velocity of a body moving on a curve on the manifold. A smooth curve on a manifold M is any smooth mapping of the real line IR into M. We· shall denote the parameter in IR by the letter t and the points of M by x. In the neighbourhood of a fixed point Xo the curve is determined by m = dim M smooth functions xi(t) the local coordinates of x(t) in a chart containing Xo = x(O). Two curves x(t) and yet) starting in the same point Xo are called tangential in Xo if [:t (xi(t) - yi(t)) t =0 =0 for i = 1, ...

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