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HARMONIC ANALYSIS
MICHAEL E. TAYLOR
Introduction ix
12. Spinors
1. Clifford algebras and spinors
2. Spinor bundles and the Dirac operator
3. Spinors on four-dimensional Riemannian manifolds
4. Spinors on four-dimensional Lorentz manifolds
13. Semisimple Lie Groups
1. Introduction to semisimple Lie groups
2. Some representations of semisimple Lie groups
Appendixes
A. The Fourier transform and tempered distributions 287
B. The spectral theorem 292
C. The Radon transform on Euclidean space 298
D. Analytic vectors, and exponentiation of Lie algebra representations 300
References 313
Index 327
mi INTRODUCTION
can be bypassed without affecting one's understanding of subsequent chapters. 1. One parameter groups of operators. In this section we look at r e p
resentations of the Lie group R of real numbers. If B is a Banach space, a one
parameter group of operators on B is a set of bounded operators
(1.3)
BASIC CONCEPTS 3
The groups we will mainly be considering are unitary groups, i.e., strongly
continuous groups of operators U(t)on a Hilbert space H such that
(1.10) U(t)*= U(t)-' = U(-t).
Clearly, in this case, IIU(t)ll = 1. The translation group 72 on L2(R),a special
case of (1.5)-(1.6), is a unitary group.
A one parameter group V ( t )of operators on B has associated an infinitesimal
generator A, which is an operator, often unbounded, on B, defined by
(1.11) Au = lim h-'(V(h)u - u )
h-+O
on the domain
(1.12) D(A) = { u E B : s- lim h-'(V(h)u - u ) exists in B}.
h-0
PROPOSITION
1.2. The infinitesimal generator A of V ( t )9.i a closed, densely
defined operator. We have
(1.13) V ( t )D(A) c D(A) for all t E R,
and
(1.14) AV(t)u = (d/dt)V(t)u for u E D(A).
If (1.9) holds and ReX > K , then X belongs to the resolvent set of A and
is closed in B $ B.
Our proof of Proposition 1.2 follows some notes of Nelson [184],as will our
proof of Proposition 1.3. First, if u E D(A), then, for t E R,
(1.18) hdl(V(h)V(t)u- V ( t ) u )= V(t)h-l(V(h)u- u),
which immediately gives (1.13),and also (1.14),if we replace V ( h ) V ( t )in (1.18)
+
by V ( t h). To show D(A) is dense in B, let u E B, and consider
We will not take the space to characterize which operators A in general are
generators of one parameter groups, but we will characterize the generators of
unitary groups, as skew adjoint operators. We define this notion.
For a densely defined operator A on a Hilbert space H, its adjoint A* has
domain
and we define A* by
(1.27) (A'u,v ) = (u,Av) . for u E D(A'), v E D(A).
An operator is called selfadjoint if
(1.28) D(A) = D ( A ' ) and A* = A,
and skew adjoint if
(1.29) D(A) = D(A*) and A' = -A.
Note that A is selfadjoint if and only if i A is skew adjoint.
We say that A is symmetric (resp. skew symmetric) if D(A) C D(A') and
A'u = Au (resp. A'u = -Au) for u E D(A). If A is symmetric, then
(1.30) Im((Af i)u,u ) = I I u I ~ ~ for u E D(A),
so clearly the maps
are injective, with closed range if A is closed. The following result, due to von
Neumann, can be found in many functional analysis books, e.g., [49, 192, 193,
2561.
THEOREM 1.4. Let A be a closed symmetric operator. Then A is selfadjoint
if and only if the maps (1.31) are both onto, equivalently, i f and only ifi and -i
belong to the resolvent set of A. In such a case, the operators
Ul = (A+i)(A-i)-' and U2 = (A-i)(A+i)-'
are unitary.
THEOREM1.5. If U(t) is a unitary group, its infinitesimal generator is skew For these concepts to be significant, we need to know these spaces are dense
in B. Such facts are easily proved by refinements of the argument in Proposition
adjoint.
1.2, showing that D(A) is dense in B. In fact, for u E B, consider
PROOF.
Suppose u, v E D(A). Then
(1.32) (Au, u) = lim h-'((U(h)
h-+O
- I)u, v ) .
For each h # 0, the right side of (1.32) is equal to Here we will take the notation j(-iA) to be merely symbolic for the right side
of (1.39). Motivation for this notation can be found in the discussion of the
(1.33) h-l(u, (U(-h) - I)u), spectral theorem in Appendii B. If p E C r ( R ) , then the identity
which tends in the limit h + 0 to (u, -Au), i.e., m
This is half of a theorem of Stone. The other half is the converse: clearly shows that j(-iA)u is a Cm vector. Note that
Now it is clear that the right side of (1.45) is holomorphic in s E C. Since one
(1.37) u is a Cw vector e u E D(Ak) for all k. has
Furthermore, we say u is an "analytic vector" for V provided F(t) = V(t)u is a
real analytic function oft. It is easy to see this condition is equivalent to having
F(t) extend to a strip (Imtl < K, by exploiting the group property. Also,
for s1,s2 E R, by analytic continuation, this continues to hold for sl,sz E C,
(1.38) u is an analytic vector e l l ~ ~ u5l l~ ( C l c ) ~ if (1.45) defines V(s)j,(-iA)u for s E C. Thus, for each E > 0, each u E B,
for some C = C(U). j,(-iA)u is an analytic vector (in fact, an entire analytic vector) for V(t). In
8 BASIC CONCEPTS BASIC CONCEPTS 9
analogy with (1.42), it is clear that for each u E B,j,(-iA)u -+ u as E -, 0,so LEMMA1.7. Let V(t) be a one parameter group on B, with infinitesimal
it follows that the space of analytic vectors for V(t) is dense in B. generator A. Let L be a weak' dense linear subspace of the dual space B*.
In the case when U(t) = eitA is a unitary group on a Hilbert space H, so Suppose that u, v E B, and that
A is selfadjoint, then the algebraic linear span of the ranges of the projections
E((-j, j ) ) , where E is the spectral measure of A, is dense in H , and each el- (1.55) lim h-'(~(h)u - u, w)= (v, w) for all w E L.
h-0
ement in this linear span is an analytic vector. In the noncommutative case, Then u E D(A), and Au = v .
the denseness of smooth and analytic vectors requires an argument generalizing
that of the previous paragraph, rather than a simple application of the spectral PROOF. The hypothesis (1.55) implies (V(t)u, w)is differentiable, and
theorem. We say more about this in the next section. (dldt)(V(t)u, w)= (V(t)v, w)
Another notation for (1.39) is V(p):
for all w E L. Hence (V(t)u - u, w)= $(v(s)v, w)ds for all w E L. The weak'
(1.47) V(p)u = / p(t)V(t)udt. denseness of L implies V(t)u - u = Sj V(s)v ds, so the convergence in B-norm
As we noted, this is well defined for p E C r ( R ) . If V(t) is uniformly bounded, of h-'(V(h)u - u) = h-' J: V(s)v ds to v as h -+ 0 is apparent.
particularly if it is a unitary group, then (1.4) defines a bounded operator for
2. Representation8 of Lie groups, convolution algebras, a n d Lie
any p E L1(R). A simple calculation shows that
algebras. Let G be a Lie group, with identity element e, and let B be a Banach
(1.48) V(PI * ~ 2 =) V ( P ~ ) ~ ( P Z ) space. A representation n of G on B is a family of bounded operators
where the convolution pl * pz is defined by
would differ from w by the constant factor c, and hence d'g would differ from dg
by the constant factor icl, so Haar measure is well defined by the prescription
= / h(g~)f~(g;l)x(g)dg~dg,
j1:. (2.12) are called the left regular representations of G on LP(G). Similarly one
has right regular representations on LP(G, d,g):
(2.13) ~p(g)u(z)= u(x!J), U E LP(G,dl.9).
i
(2.21) $(n) = {n(f)u: u E B, f E C,"(G)).
g(n) is called the ''Gkding space" for n, following the important work of [08).
What we have shown is that
c CW(n),
i
I
1 r
1
12 BASIC CONCEPTS BASIC CONCEPTS
and that $(n) is dense in B, for any (strongly continuous) representation n of for XI Y E g. (Compare (2.44).) It follows that
G on B. Fkom (2.15), it is clear that
(2.23) n(g) $ (T) c 5(n) for all g E G.
We are now ready to define the action which a representation n of G induces
on the Lie algebra g of G. We identify g with the tangent space T,G. Each
X E g is associated to a one parameter subgroup of G:
that is,
(2.24) 7x(t) = ex~(tX).
(2.36) n([X,Y])u = [r(X),n(Y)]u for u E $(n).
Thus,
In particular, if B is finite-dimensional, (2.36) holds for all u E B.
(2.25) Vx(t) = n(7x(t)) It is important to know that the Ghding space $(n) is dense in other spaces
is a (strongly continuous) one parameter group of operators on B. In $1 we besides the representation space B. For example, we claim $(n) is dense in the
discussed the infinitesimal generator of a one parameter group: domain D(a(X)) for each nonzero X E g, i.e.,
stated before, it must be a scalar multiple of dg. Hence, for any integrable PROPOSITION 2.3. If u E D(n(X)), X E g, then
function h on G,
n(fj)u -* u in D(n(X))
where the factor A(gl), called the modular function, defines a homomorphism PROOF. What we must show is that
A:G-Rf
of G into the multiplicative group of positive real numbers. Hence (2.37) yields Since we know n(fj)n(X)u -
n(X)n(fj)u -n(X)u in B.
-
The difference in sign in (2.34) is explained as follows. Consider the diffeomor-
phism n: G G given by n(g) = g-l. This map produces a map n* on vector
fields, and, for X E g = T,G, we have
show that (2.49) holds on a dense linear subspace of B. In particular, it now
suffices to show (2.47) holds for any u = n(fo)u belonging to $(n). But, by
(2.33) and (2.17),
n(X)n(fj)*(fo)v = -n(X$fj)n(fo)v
= -n(X$ f j * fo)v.
Since n* preserves Lie brackets, this shows that (2.44) and (2.34) are equivalent.
One could imagine reversing conventions, i.e., reversing the signs in (2.34) and As j 4 oo, f j + 6, in E1(G), the space of compactly supported distributions on
(2.44), but this would mess up the signs in (2.36). This gives one reason for the
convention (2.44).
Suppose a sequence f j E C r ( G ) is picked as follows. Fix some coordinate
chart U about e E G, identified with the origin; you could use exponential
G, and it follows that
x$ f j * fo
This shows that n(X)n(fj)n(fo)v
-- X$ fo in CF(G).
n(X)n(fo)v as j -+ oo, and completes the
coordinates. Put Lebesgue measure on U, matching up with the coordinate proof of Proposition 2.3.
expression for Haar measure at e = 0. Let fl(z) E C r ( U ) , SU fl(z) dx = 1, A further denseness result is that $(n) is dense in Cw(n), where the space of
aj -+ 1 as j-
and set fj(z) = jnfi(jx), n = dimG. Then Su fj(x) dx = 1, and SG fj(g) dg =
co. We now establish the following result, which provides a
second proof of Proposition 2.1.
smooth vectors for n is given an appropriate Frkhet space topology. We shall
prove this in the next section, where we look at representations of distributions,
a topic suggested by the role of (2.53) in the proof of the last proposition. One
16 BASIC CONCEPTS BASIC CONCEPTS 17
consequence of the denseness of $(n) in Cm(n) would be to generalize (2.36) to exponentiated to Lie group representations, as explained in Appendix D. On the
u E Cw(a). However, it is better to show this directly: other hand, it is an important fact that for any Lie group representation n of G
on B, there is a dense subspace of B consisting of analytic vectors. This is also
PROPOSITION 2.4. We have, for X, Y E g, proved in Appendii D. It involves approximating u E B by a sequence
(2.54)
and
n(X) : Cm (n) -+ Cw (T),
(2.60) = lG fj(g)x(g)udg
(2.55) n([X,Y]) = [n(X),n(Y)]u, u E Cm(n). where f j is a sequence, not in CF(G) as before, but of strongly peaked functions
PROOF. The statement that @(g) = a(g)u is a C
O O function on G with which are analytic on G, with appropriate estimates. It is harder to construct
such f j than in the case of C?(G), but one can let fj(g) = h(tj, g), t j 1 0,
values in B implies that, for any differential operator P with smooth coefficients,
where h(t, g) is the fundamental solution to the heat equation (slat - A)h =
P@(g)is Cm also. Suppose P = Xf. Differentiability of n(g)u at g = e implies
0, t > 0, where A is the Laplace operator on G, endowed with some left invariant
u E D(n(X)), and
Riemannian metric. For details, see Appendii D.
(2.56) ~ $ n ( ~=
) ua(g)n(X)u. Once such a left invariant metric is imposed, one can show that, for any t > 0,
Since the left side of (2.56) is clearly C m with values in B, this proves (2.54). h(t,g) decreases faster than any exponential e-Kdist(g*e),as g + oo. If n is a
Furthermore, (2.56) implies strongly continuous representation of G on a Banach space B, it is easy to show
A(s)[A(X),r(Y)lu = n(g)n(X)r(Y)u - n(g)r(Y)n(X)u
= XfX;n(g)u - x;xfs(g)u for some C, M < m, in analogy with (1.9). Furthermore, because G with a left
= xpYIn(g)u = s(g)n([X,Y])u, invariant Riemannian metric is a homogeneous space, one can obtain an estimate
and setting g = e gives (2.55). (2.62) vol B R ( ~5) CeKR for all R,
The following is a useful characterization of the space of smooth vectors for
for some C, K < oo,where BR(e) = {g € G: dist(g, e) 5 R). It follows that
a representation r. We recall that if A1, A2 are (possibly unbounded) operators
on B with domains D(A1), D(A2), then the domain of AlA2 is defined to be
(2.57) D(AiA2) = {u E D(A2): A ~ Eu D(A1)).
is well defined for any continuous f on G satisfying an estimate of the form
PROPOSITION 2.5. Ij n is a representation of G on B, then u E B belongs
to Cm (n) if and only if
(2.58) u E D(n(Xjl). ..a(Xj,)) +
where L > M K. One can generalize this in various ways. As already stated,
for all Xj,E g, any k. if n is uniformly bounded, particularly if it is unitary, (2.63) is well defined for
any f E L1(G).
PROOF. As basically noted in the proof of Proposition 2.4, a(g)u is C1 if and
only if u E D(n(Xj)) for all X j E g, in which case Xfn(g)u is given by (2.56) 3. Representations of distributions a n d universal enveloping al-
for all X E g. Reasoning by induction on m shows that n(g)u is Cm if and only gebras. We want to extend the representation n(f) considered in $2 for f E
if (2.58) holds for all k 5 m, in which case CF(G) to the case where f is a compactly supported distribution on G, i.e.,
(2.59) X p .. X F n(g)u = x(g)n(Xjl) a(Xjk)u. f E &'(G). As we will see, this extension will specialize to a representation
of the universal enveloping algebra of g. As before, n is a strongly continuous
This proves the proposition. representation of G on a Banach space B. For simplicity we will assume B is
A class of vectors more restricted than smooth vectors is the class of analytic reflexive. We will first define
vectors, discussed in Appendii D. A vector u E B is an analytic vector for a
representation n of G provided n(g)u is an analytic function on G with values (3.1) n(k) : Cm (n) -, B
in B. Alternatively, one can impose appropriate estimates on (2.59) at g = e, to for k E &'(G). Recall that to say u E Cm(n) is to say
define the concept of an analytic vector for a Lie algebra representation. Analytic
vectors are useful objects to have, to show Lie algebra representations can be
BASIC CONCEPTS
BASIC CONCEPTS 19
is a Cw function of g E G with values in B. Given w E B*, set
This implies @ is strongly Lipschitz (in particular, strongly continuous). This
= (A(s)u, 4.
(OU,W(S) gives ID,(@(x),w)l 5 CIIIWII,and hence there are unique Qj(x) E B such that
Clearly (pU,, E Cw(G). We want Dj(@(x),w)= (Q~(x),w);IIQj(z)II 5 GI.
Now if 8 is weakly C2, then each Q, is weakly C' and by the argument given
( m u , w) = ((OU,W, k) Q3 is continuous. Furthermore, if we write
to define n(k)u. Note that the right side of (3.4) is well defined. Since k acts as
a continuous linear functional on Cm(G), for some C,m and some compact 8 , (@(z+ Y),w)= (@(z),w)3. C Y J ( Q J ( ~ ) I W )
+ D2(@(z),w). Y . Y 3.R ~ ( z , YW)
,
I ( P u , w , ~5) ~CII(Ou,wllc-(~)5 CIIIPU~~C~(U)II~IIB.. where I Y ~ - ~ R ~y,(W)
Z , -,0 as y -t 0 and apply the uniform boundedness the*
If B is reflexive, this estimate shows that (3.4) defmes a unique element n(k)u E rem, we get
B. It is clear that, for u E Cw(a) fixed, the map
l ~ l - - ~ I l @ ( ~-+@(z)
Y ) - ~ Y , Q , ( ~ )5I(72.
I
is a continuous linear map of E1(G) into B. We can show that, for u E Cw(a), This implies 8 is strongly differentiable, with derivative (Ql(z), ...,Qn(z)).
a(k)u belongs to a subspace of B, as follows. Thus, if @ is weakly C2 it is strongly C1. It follows easily that if 8 is weakly Ck
Note that, for g E G, from (2.15) and a limiting argument, we have then it is strongly Ck-', and this proves the lemma.
Consequently we can elevate (3.10) to
(n(g)n(k)u, w) = ((Ou,w,X(g)k) = (n(X(g)k)u,w)
where X(g): E' -,E' is the natural extension of X(g) : C r 4 C r defined by ~ ( k ) Cw(a)
: -,Cm(a) for k E E1(G).
X(g)f (gl) = f(g-'gl). It is now time to topologize the linear space Cw(r). For U c G relatively
In fact, (3.9) defines X(g) : Cw -, Cm, and on E' we define compact, XI,. ..,Xn a basis for g, and a = (a(l),. .., a ( N ) ) E (1,. .., n I N ,
consider the seminorms
X(g) = X(g-l)*.
It is clear that (3.7) is a smooth function of g E G, for any w E B*. In other = SUP
PU,~(U)
gEU
11~2")x S ~ . ( ~ ) T ( ~ ) ? & I I B
'''
where we define C z ( a ) , the space of "weakly smooth" vectors, to consist of all The collection of these seminorms is easily seen to define a complete metric
u E B such that, for each w E B*, the function (o,,, on G defined by (3.3) topology on Cw(a), making Cw(a) a Fr6chet space. Note that an equivalent
belongs to Cm(G). We have the following useful result. family of seminorms defining the topology of Cw(n) is
LEMMA3.1. p ~ , ~ (= ) I I X ~ .I.),x L~
u sup a(g)ulls
Q ( ~ )
C$('n) = Cw (a). L7Er-J
Furthermore, the continuity of (3.6) from E1(G)to B together with the closed
graph theorem yields
( Y ) = f (g-ly)
PROPOSITION
3.3. For each u E Cm(n), the map
and we set
E' (G) 4 Cm ( n )
i l ( Y 1 = fl(9-l).
It is clear that (3.29) is well defined if
fi E Cm(G), f2 E E1(G),
is continuous.
With this result, we easily deduce
PROPOSITION
3.4. The Girding space $(n) is dense in Cm(n).
1 , f2 E D1(G),
f2 * fib)= l l
f 2 ( ~ ) f l ( y - ~ g=) d ~ fl(y-')f2(gy) d ~ .
(3.41) (f2 * f1,h) = // ~ I ( Y ) ~ ~ ( ~ - ' Y - ' ) w A ( ~ ) A ( Y )dgdy
f2 * fi(g) = ( x ( ~ - ~ ) f ~ =, i (f2,x(g)i1),
,) = / f 1 ( y ) ( ~ i *2 ~) ( Y M Y .
BASIC CONCEPTS BASIC CONCEPTS 23
Now the differential operator P(D) can be written as a linear combination, with ' Then we set
coefficients in Cw(U) (all on the right), of products of vector fields, either of the (3.70) u(g) = @ ~ C I J .
form X F or of the form x?, where {XI,. ..,Xn) is some basis of g. It follows . .
that, for some constants a;, a,: The correspondence
(3.63) v= a g ~ ~ ."..'~ 2 ( ' ) 6 ,= pLse. By virtue of the characterization of the Lie bracket on g, X p Y 1= [x;, X l ] , we
k<m see that J is in the kernel of this homomorphism, so we have a homomorphism
Here PR and PL are right and left invariant differential operators on Cw(G),
which in fact are polynomials in right (resp. left) invariant vector fields. We have
proved the following result.
of algebras
(3.73) a: L((g)
Note that U(g) and DL(G) possess filtrations
- DL(G).
PROPOSITION 3.8. The maps a , P, 7 are all linear isomorphisms. In partic- limiting procedures. Since specific classes of distributions for which it is natural
ular, a is an isomorphism of algebras. to do this vary strongly from group to group, we will not discuss any general
results here. -
PROOF. From Proposition 3.7 we know a is surjective. To complete the proof,
it will suffice to show that 7 is injective and p is surjective.
I
4. Irreducible representations of Lie groups. Let a be a (strongly con-
So let p be a polynomial in ker 7. Say p € P,k, with leading term tinuous) representation of a Lie group G on a Banach space B. We say n is
(3.82) p(t) = aatT'...tzn +.... topologically irreducible, or simply irreducible, provided B has no closed proper
lal=k I
subspace invariant under n(g) for all g E G. We will mainly be interested in the
I case when B = H is a Hilbert space, and n is a unitary representation. In that
Consider the differential operator ~ ( p )in
, an exponential coordinate system cen- I case, if E c H is a closed proper invariant subspace, it is clear that its orthogonal
tered at e. 7(p) is an operator of order 5 k, and its leading term at e is precisely complement is also invariant, so a unitary representation which is not irreducible
(3.83) aaDyL...Dgn. can be written as a direct sum of smaller representations. In case H is also finite-
lal=k dimensional, this process of reduction could be carried out a finite number of
If 7(p) = 0, then (3.83) must vanish. Thus actually p E ~,k-'. An inductive
argument shows p = 0 if p E ker 7.
Since 7 is injective, commutativity of (3.80) implies P is also injective. To see
I I
times and would stop, and any finite-dimensional unitary representation would
be broken into a finite direct sum of irreducible representations.
This need not happen for nonunitary representations. Consider the represen-
0 is surjective, let T E U(g); say T E Uk(g), e.g., tation of R on R2 given by
(3.84) T= x
Ilk
a,X,(l) .
8 . . 8Xu(,) mod J. (4.1) n ( t ) = e x p t ( Oo 0l ) = (Ai).
Using the identities It is clear that the linear span of (A)
is invariant, but has no invariant comple-
(3.85) X, 8 X3 = X3 8 X, + [x,, x3] mod J I
mentary subspace. For a certain class of Lie groups, the semisimple ones, it can
be shown that any finitedimensional representation is completely reducible to
we can reorder the factors Xu(,) in (3.84) so a(j) is increasing, to write I a direct sum of irreducible representations. This result, known as Weyl's "uni-
(3.86) T= ~,X!~')~...@XF)+T'
modJ tary trick," involves reducing to the case of compact groups, via an analytic
continuation. See Chapter 13 for a brief discussion of this.
lal=k
For a unitary representation, the following version of Schur's lemma is often
where x?') is given by (3.78), and T' E Ilk-'(g). Then, clearly, useful.
(3.87) T =P x
iI.l=k
bat:' ...t?
1 modUk-'(g).
1
PROPOSITION4.1. A group G of unitary operators on a Hilbert space H is
irreducible if and only if, for any bounded linear operator A on H,
(4.2) U A = AU for all U E G =+ A = X I .
above, so that T = B(p). Thus P is surjective. Hence P is bijective. This can be proved as a simple consequence of the spectral theorem; see
Since /3 and a are surjective, commutativity of (3.80) implies 7 is surjective, Appendix B for such a proof.
so 7 is also bijective. Finally, since P and 7 are isomorphisms, so is a = 7 0 P-', As one example of a situation where Proposition 4.1 applies, let n be a unitary
and the proposition is proved. representation of a Lie group GI and let Z denote the center of G. Thus, for
In view of (3.67), the representation of DL(G)defined by (3.66) coincides each go E 2 , n(go) must commute with all n(g), g E G. By Proposition 4.1, this
with the natural representation induced from g to U(g). This representation of implies for n irreducible:
(
the universal enveloping algebra of g is an important tool in understanding the
(4.3) dgo) = X(go)I, for go E Z,
representation of G from which it arises. ,
As mentioned in $2, there is use for considering n(f) for f not necessarily where X(g0) is a complex number of absolute value 1 for each go E 2. The
compactly supported, for example, for f E L1(G), if n is unitary. Similarly, we Heisenberg group Hn,studied in Chapter 1, has a one-dimensional center. Many
can define n(k) for certain distributions, not compactly supported, by various noncommutative Lie groups, however, have no center, or a very small center. It
1
1
?
1 .1 -
28 BASIC CONCEPTS BASIC CONCEPTS 29
is important that other operators arise which commute with r(g) for all g E G, has compact closure in G. In such cases, the center of the convolution algebra
and hence act as scalars if n is an irreducible unitary representation. C$ (G) is zero.
For example, suppose fo E C r ( G ) belongs to the center of the convolution We can also look for elements in the center of the convolution algebra E1(G).
algebra C r ( G ) , i.e., In analogy with (4.12), the condition for ko E Pt(G) to belong to the center is
(4.6) .(fib -
uniformly bounded in L1-norm. It follows that
747)~
for all u E Cm(x); since the operators x(fj) are uniformly bounded, (4.6) holds
(4.17)
defined by
A, : Cm (G) -+ Cm (G),
for some PLE DL(G), identified with the universal enveloping algebra U(g) by
Proposition 3.8. In such a case, (4.19) is equivalent to XS6, * PL6, = PL6, *
+ +
(XZ6, A(X)6,). Now generally X$6, = Xf6, A(X)6,, so (4.20) defines an
and element of the center of E1(G) if and only if
multiples of the identity. Hence II" = f ( H ) . But II is clearly a selfadjoint This implies the linear span of { ( n8 Ik)(g)u:g E G ) has closure of the form
algebra of operators (e.g., n(g)*= n(g-I)), so the double commutant theorem B 8 V with V a linear subspace of C k , and the proof is easily completed.
implies n,= IX" = L (H). This completes the proof. It is clear that a representation n of G on B is topologically irreducible if and
One can define an infinite sequence of notions of irreducibility, connecting only i f it is 1-irreducible. The following is the improved Schur's lemma.
topological irreducibility to complete topological irreducibility, as follows. We PROPOSITION 4.5. Let n be a 2-irreducible representation of G on B. Let A
say a representation n of G on B is k-irreducible provided that, for any two sets be a (possibly unbounded) linear operator on B, wzth dense domain f . Suppose
of k' elements of B, {ul,...,ukt} (linearly independent) and {vl,...,vkj), and
that n(g)L C for each g E G. Also suppose A is closable, i.e., the closure of
any E > 0, there exists T E II, given by (4.23),such that the graph $ A of A is the graph of a linear operator. Then, if
(4.27) IITuj - vjllB < E for 1 5 j 5 k', i f k' 5 k. (4.32) n(g)Au= An(g)u for all u E L, g E G,
32 BASIC CONCEPTS BASIC CONCEPTS 33
it follows that 2 is a multiple of the identity One connection with unitary representations is the following. If r is a unitary
- representation of G on H, ( E H a unit vector, consider
(4.33) A = XI.
PROOF. The graph QA = {(u, Au) E B $ B : u E f ) is a linear subspace
of B $ B, and (4.32) implies $ A is invariant under the action n 8 I2of G on
B $ B. Hence $A is invariant and is a proper invariant subspace of B $ B. By In this case, a short calculation gives
Proposition 4.4, $A must be of the form B 8 V for some proper linear subspace
V of C2; hence dimc V = 1. Such spaces are precisely the graphs of operators
of the form (4.33) (together with 0 $ B, which is not a graph), so the proof is so p is positive definite. Conversely, let p E C(G) satisfy (4.38). We put an
complete. "inner product'' on Mo = C r ( G ) by
A densely defined operator A is closable if and only if its adjoint A* is densely
defined. In particular, if B = H is a Hilbert space, then A is closable if it is
symmetric. In general, it might not be a priori clear that such a symmetric
(4.41) 1
((u, v)) = (u * P , ~ ) L ~ (=
G ) /u(y)p(y-'g)mdy dg.
Since p is continuous, we can throw in more general u and v, including at least
A even has a selfadjoint extension, so Proposition 4.5 is a strong result. A MI = {compactly supported measures on G). Let X C MI be the set of elements
consequence of principal interest is u such that ((u,u)) = 0. Form the quotient M2 = Ml/X, and complete U2 with
PROPOSITION4.6. Let n be an irreducible unitary representation of G on respect to the induced norm, to get a Hilbert space H. A dense subspace of
H. Suppose k E E1(G) belongs to the center of E1(G). Then n(k) is a scalar H is given by equivalence classes of compactly supported measures on G, or
multiple of the identity even by equivalence classes containing elements of Cr(G). G acts on H via
(4.34) n(k) = X I . its left regular representation on C r ( G ) . Note that, if X,u(z) = u(gF1z) for
u E C g (G) , then
PROOF. Regard n(k) as an operator on H with domain f = Cw(n). We
know that n(g)f C f for all g. Also, if k is in the center of E1(G), (4.42) ((A,'-', Xgv)) = (Xg(u * P), X,V)L~(G)
(4.35) n(g)n(k) = n(6,)n(k) = n(6, * k) = (21 * P, u)L~(G)
= ((u, v)).
= n(k * 6,) = n(k)n(6,) = n(k)n(g) This action extends naturally to measures, and we get an action of G on H by
for all g E G, these operators acting on Cm(n). Finally, note that, for k E unitary operators; strong continuity can be checked, and we have associated a
cr(G), unitary representation np of G to a positive definite continuous function p on
G. This sketches the famous Gelfand-Naimark-Segal construction. Note that, if
( E H is taken to be the image of the point mass 6,, we have
and more generally, or k E tl(G),
(4.37) n(k)* 2 n(k#), In this case, 5 has the property that {n(g)(: g E G) is dense in H; such a vector
where k# E E1(G) is defined by (3.44). In particular, the domain of n(k)* is called a cyclic vector.
contains Cm(n) = f , and so n(k) is closable. Since any irreducible unitary It can be shown that, if n is any unitary representation of G, with a cyclic
representation is 2-irreducible, Proposition 4.5 applies, and we are done. vector (a separable H is a sum of cyclic subspaces; note that ?r is irreducible if
It is a general fact that any Lie group has lots of irreducible unitary represen- and only if all nonzero vectors are cyclic), and we consider p(g) = (n(g)<,E), then
tations. We will sketch the argument for this here, referring to 1111,1341,for n is unitarily equivalent to the representation above. Thus we have a surjective
details. It exploits the relation between unitary representations of a Lie group map
(or even a locally compact group) G and positive definite functions on G. A
bounded continuous function p(g) is said to be positive definite provided the (4.44) GNS: P --+ C
operation of convolution on the right by p is a positive semidefinite operator, where P is the set of continuous positive definite functions on G and C is the set
i.e., if for all u E C$('G), of equivalence classes of cyclic unitary representations of G. We could replace
P in (4.44) by PI = {p E P: llpllL.. = p(e) 5 I), which is a convex subset of
Lw(G), which is also compact in the weak* topology. It is not empty; after all,
34 BASIC CONCEPTS BASIC CONCEPTS 35
the regular representation exists: applying (4.39) to the regular representation, so G acts as a group of inner automorphisms on itself. Identifying T,G, on which
with [ = 8 E L2(G) gives the derivative DCB(e) acts, with g, we define
(5.3) Ad(g) = DC,(e).
This is equivalent to the identity
as a rich class of positive definite functions on G.
Now it can be shown that irreducible representations correspond precisely to (5.4) exp(tAd(g)X) = gexp(tx)g-', X E g,
extreme points of PI, under the mapping (4.44). By the Krein-Milman theorem, since both sides of (5.4) clearly defme one parameter subgroups of G, with the
PI has a lot of extreme points, of which it is the closed convex hull. In such same initial direction at t = 0. The adjoint representation of G induces a Lie
a fashion the existence of a lot of irreducible unitary representations is estab- algebra representation of g into End(g), given by the usual Lie bracket,
lished. One can also relate the decomposition of a given representation s into ad Y (X) = [Y,XI,
(5.5)
irreducibles to the expression of p(g) = (s(g)<, E), for some cyclic vector (, as
a barycenter of the set of extreme points of PI, with respect to some proba- which follows by setting g = expsY in (5.4) and evaluating the s derivative at
bility measure, via Choquet's theorem. For more on this, see [ I l l , 1341, and s = 0. Consequently,
references given there. (5.6) Ad(exp Y) = ead', Y E g.
The approach this affords to representation theory is somewhat abstract. An If G is connected, a subspace gl of g is invariant under Ad(g) for all g G if
effective way to decompose representations does not follow easily. There may and only if it is invariant under ad X for all X E g. The statement
be many different ways to express an element p E PI as the center of mass of
extreme points, so the uniqueness of a decomposition of a given representation (5.7) X E g , Y E g l * [X,Y] E g i
into irreducibles is left open. A related matter is that the equivalence relation on is the statement that gl is an ideal in the Lie algebra g. If a Lie algebra g has
the set of extreme points of PI, specifying when the associated representations no proper ideals (and g # R), g is said to be simple. Simple Lie algebras are in
are equivalent, is not given explicitly. The set of equivalence classes of irreducible a sense the furthest away from the Lie algebras of the commutative groups Rn,
unitary representations, the natural quotient of the set of extreme points of PI, all of whose linear subspaces are not only subalgebras but ideals.
could conceivably have a very messy structure. Some order can be imposed on the variety of Lie algebras by considering
In fact, it turns out that Lie groups (and other locally compact groups) fall various properties they can share or fail to share with the commutative Lie
into two classes, "type I" and "nontype I." The type I groups have unique de- algebras. Of course, the adjoint representation is trivial on Rn and zero on its
composition properties and other nice representation theoretic behavior. Groups Lie algebra. On the other hand,
studied in this monograph are of type I, usually. Nontype I groups are related
to exotic von Neuman algebras, and used to be regarded as hopeless from a r e p (5.8) ad: g + End(g)
resentation theoretic point of view. Recent advances of A. Connes on the theory is clearly injective if g is simple. In fact the kernel of ad is an ideal 8 in g, the
of von Neumann algebras have stimulated interest in representations of nontype center of g:
I groups; see Sutherland [232]. We will say nothing further about type I and
(5.9) a = { X ~ g :[ X , Y ] = O f o r a l l Y ~ g ) .
nontype I groups, referring to [168, 2561, and particularly [161]for an extended
discussion. The map (5.8) is injective precisely when the center of g is 0.
From some points of view, the closest a nonabelian Lie algebra can come to
5. Varieties of Lie groups. A very important representation of a Lie group being abelian is to have the property that a d X is a nilpotent transformation for
G, which plays a key role in the study of the structure of G as well as its each X E g, i.e.,
representation theory, is the adjoint representation of G on its Lie algebra g, (5.10) X E g =+ 3k = k(X) such that ad^)^ = 0.
defined as follows. For g E G, define In such a case, we say g is a nilpotent Lie algebra. A (connected) Lie group with
such a Lie algebra is said to be a nilpotent Lie group. A nilpotent Lie algebra has
a lot of ideals. In fact, there exist ideals gj, with d
im g j = j, j = 0, 1, ...,dim g,
such that
(5.11) 18,gjl C gj-1.
36 BASIC CONCEPTS BASIC CONCEPTS 37
This result, a consequence of Engel's theorem, is proved in Chapter 6. Note every simple Lie algebra is semisimple. It can be proved that every semisimple
in particular that gl is nonzero and is contained in the center of g. Another Lie algebra is a direct sum of simple ideals. See 1100, 129, 2461.
characterization of nilpotent Lie algebras is the following. Let +
If g is a Lie algebra, and a and b are two solvable ideals, clearly a b = c is
(5.12) Dg = [g,g] = linear span of {[X, Y]: X, Y E g). an ideal, and since c/a R b/b n a, c/a is solvable, so c can also be shown to be
solvable. Hence any Lie algebra g has a unique maximal solvable ideal
By the Jacobi identity, [g, g] is an ideal in g (maybe not proper). More generally,
if $ is an ideal in g, then (5.17) q = radg.
Clearly g/radg contains no solvable ideals, i.e., it is semisimple. An important
(5.13) [g, t)] = linear span of {[XIY] : X E g, Y E t)) theorem of Levi is that there exists a subalgebra m of g such that
is an ideal in g. Set (5.18) q+m=g, qnm=O.
(5.14) B(o) = 8, g(1) = 181gI, g(j) = [BI~ ( j - l ) ] . In such a case,
Then g is nilpotent if and only if some g ( ~ = ) 0. The simplest nonabelian (5.19) m e g/radg
situation would be when g(l) # 0 but g(2) = 0. The g is said to be a step is semisimple, and we have the Levi decomposition
two nilpotent Lie algebra. The most basic example is the Lie algebra of the
Heisenberg group Hn,studied in Chapter 1. As noted, a nilpotent Lie algebra g (5.20) Bwqxm,
always has a nontrivial center 3. It is easy to see that g/d is nilpotent also. g is of a general Lie algebra g as a semidirect product of a solvable ideal q and a
put together from these simpler pieces. This fact permits inductive arguments semisimple Lie algebra m (which acts on q). For a proof, see 1129, 2461. Impor-
to work in analyzing the representation theory of nilpotent Lie groups, as shown tant examples of Lie groups which have natural semidirect product structures
in Chapter 6, after certain requisite tools are developed in Chapter 5. include the Euclidean groups E(n), which are semidirect products of SO(n) and
More generally, one considers Lie algebras g with the following property: g Rn, where SO(n) acts on Rn in the natural fashion, and also the Poincart?
has a nontrivial center 3, g/3 has a nontrivial center 31, and so forth, until one groups, semidirect products SO(n, 1) x Rn+', where the Lorentz group SO(n, 1)
reaches a commutative quotient. The inverse images of these respective centers acts on Rn+' so as to preserve the Lorentz metric. Both SO(n) and SO(n, 1) are
in g form a chain of ideals semisimple. The representation theory of the Euclidean and Poincare groups is
discussed in Chapter 5.
(5.15) g = 8 1 > 8 2 _ > ' " > g ~ > ~ ~ + l = O( B K = ~ )
In addition to the adjoint representation, another representation of G of fun-
<
such that gj/gj+l is abelian, for 1 j 5 K. In such a case, one says g is a damental importance is the coadjoint representation, a representation of G on
solvable Lie algebra, and G is a solvable Lie group. Another characterization is the dual space g' defined by
the following. With Dg given by (5.12), set (5.21) Ad*(g) = Ad(g-')*,
(5.16) DPg = D(Dp-lg). i.e.,
Then g is solvable if and only if Dpg = 0 for some p. The simplest example of a (5.22) (XIAd' (g)w) = (Ad(g-I)X, w), X E g , w E g'.
(nonnilpotent) solvable Lie algebra is the tw*dimensional Lie algebra of Aff (R1),
The adjoint and coadjoint representations are not necessarily equivalent, al-
the group of &ne transformatiocs of the real line, also called the "ax+b group," though sometimes they are. An intertwining operator between the two arises
studied in Chapters 5 and 7. The representation theory of solvable Lie groups is via the Killing form
also amenable to inductive methods, with considerably more effort than required
in the nilpotent case. Only a few specific examples are treated in these notes. (5.23) B(X,Y) = tr(adXadY),
One complication that arises is that some solvable groups are not "type I." Very which is a symmetric bilinear form B: g x g -,R. Since B(X, .) acts as a linear
detailed results on when such a group is type I and if so how its representation form on g, (5.23) induces a linear map
theory goes are given in [9, 10).
Fkom the characterization (5.15) of solvable Lie algebras, it follows that a Lie
(5.24) P : g + g'.
algebra g contains a (nonzero) solvable ideal if and only if it contains a (nonzero) It is easy to see that, for g E GI
abelian ideal. A Lie algebra with no such ideals is said to be semisimple. Clearly (5.25) B(Ad(g)X, Ad(g)Y) = B(XIY)I
38 BASIC CONCEPTS BASIC CONCEPTS 39
which is equivalent to the intertwining property bilinear form on Rn, the symplectic form. This group, the symplectic group,
arises in Chapter 1 as a group of automorphisms of the Heisenberg group Hn,
and is studied further in Chapter 11. Interestingly, there is a complete classifi-
Note that rewriting (5.25) as
cation of the semisimple Lie algebras, while solvable Lie algebras seem to exist
in profusion beyond classification.
and differentiating gives Some of the semisimple Lie groups we just mentioned are compact. An im-
portant theorem of Weyl is that, if a connected Lie group G is semisimple, then
(5.28) B(ad ZX, Y) = -B(X, ad ZY), X, Y, Z E g. G is compact if and only if the Killing form (5.23) is negative definite. In such a
The map (5.24) is an isomorphism if and only if B is nonsingular. Often P case, the negative of the Killing form induces a bi-invariant Riemannian metric
is far from an isomorphism. For example, if g is abelian, B is identically zero. on G. Generally, averaging any left invariant metric on a compact Lie group G
More generally, a theorem of Cartan states that a Lie algebra g is solvable if and produces a bi-invariant metric. Some compact Lie groups are not semisimple,
only if such as the tori Tk,and also the unitary groups U(n), which contain the simple
subgroups SU(n) but have the unitary scalars cI, Icl = 1, as a one-dimensional
(5.29) B(X, [Y, Z]) = 0 for all X, Y, Z E g. center. Their Lie algebras belong to a class slightly larger than semisimple,
For a proof, see [129,2461. In such a case, B is clearly degenerate. Another called reductive. Generally, a reductive Lie algebra is one for which [g,g] = Dg
important theorem of Cartan, proved in these references, is that B is nondegen- is semisimple, in which case it can be shown that g is the direct sum of its center
erate, i.e., nonsingular, if and only if g is semisimple. In such a case it can be and Dg. Examples of noncompact reductive Lie algebras include gl(n, C) and
shown that, if gl is an ideal, then B restricted to gl x gl, which coincides with u(p, q), whose derived algebras Dg are, respectively, the semisimple Lie algebras
the Killing form of 01, is nonsingular, and the orthogonal complement g2 with sl(n, C) and ~ u ( Pq).
,
respect to B of g1 is an ideal: g = gl $02. Inductively, such a semisimple Lie From the point of view of a student of multidimensional Fourier series, i.e.,
algebra g is a sum of simple ideals. harmonic analysis on the torus, the natural generalization is the study of har-
Semisimple Lie groups arise as symmetry groups of spaces with the most nat- monic analysis on compact Lie groups. The discreteness of the representation
ural and pleasing sorts of symmetries. The paradigm examples of such spaces, theory carries over, and a fairly complete representation theory exists for com-
whose perfection has been admired since the time of the Greeks, are the spheres pact Lie groups, some of which is discussed in Chapter 3.
+
Sn. The group of isometries of Sn is O(n I), the orthogonal group on Rn+l, We will say a little about when a Lie group G is unimodular, i.e., when its
which has two connected components; the connected component of the identity left invariant Haar measure is also right invariant. Recall the modular function
+ + +
is SO(n 1); its Lie algebra so(n 1) is semisimple (for n 1 2 3); in fact it A(g), defined by (2.38) and (3.40). Since dg and d,g are gotten by left and right
+
is simple except for n 1 = 4; so(4) x so(3) @ so(3). These compact groups translation of some nonvanishing element w E An T:G, n = dim G, it is clear
act on Rn+l , provided with a positive definite (Euclidean) metric. Noncom- that, at g, they differ by the factor which Ad*(g) induces on AnT;, so
pact analogues, made significant by relativity theory, are the groups O(n, 1) of
linear transformations on Rn+', preserving the indefinite, nondegenerate forms
+ +
z: ... xz - z:+,. The group O(n, 1) also acts as a group of isometries of Classes of groups we can be sure are unimodular include compact groups. This
is clear since the image of G under the homomorphism A : G -+ R+ must be a
hyperbolic space Un, which, as opposed to Sn, has constant negative curva-
+
ture. Sn sits as an ideal boundary of Un+', and the group O(n 1,l) induces compact subgroup of R+, hence (1). Also, any semisimple Lie group is unimod-
ular. Indeed, since Ad(g) preserves the nondegenerate metric B(X,X) in this
a group of conformal transformations on Sn. These facts and some of their
implications are investigated in Chapter 10. More generally than O(n, I), we case, it a fortiori preserves a volume element on g. Using (5.6),we can write
can consider O(p,q), the group of linear transformations on RP+q preserving
+
the form x: .. . + 2; - - .. . - xi+,. Linear transformations of determi- If g is nilpotent, by (5.11) we can choose a basis of g with respect to which adX
nant one on a complex vector space preserving a nondegenerate Hermitian inner is strictly upper triangular, so clearly tr a d X = 0, and we see that any nilpotent
product form the semisimple groups SU(p, q). These and other semisimple Lie Lie group is unimodular. Solvable Lie groups need not be unimodular; indeed,
groups, compact and noncompact, are studied in Chapters 2-3 and 8-13. One the "az + b group," Aff (R1),is not.
other series of semisimple groups we mention here is Sp(n, R), the group of lin- Lie groups are mainly classified-by their Lie algebras. Indeed, a connected
ear transformations on R2n preserving a certain nondegenerate skew-symmetric and simply connected Lie group G is uniquely determined by its Lie algebra
I
!
g. If a: g -+ Ij is a Lie algebra homomorphism and Ij is the Lie algebra of a I semidirect product Sp(n, R) X , Hn, where the symplectic group acts as a group
Lie group H, then a necessarily exponentiates to a Lie group homomorphism of automorphisms of the Heisenberg group Hn, as discussed in Chapter 1. As
a: 6 --t H. This follows from an even stronger statement of the influence the for the semidirect product listed in dimension seven, SU(2) acts on C2 in the
algebra structure on g has on the group structure of 6,the Campbell-Hausdorff t
natural fashion.
formula, which says We hope that the reader of this monograph will become comfortable and
< familiar with such groups as listed above, and various natural generalizations,
(exp X) (exp Y) = exp @(XIY) and some of their diverse roles in analysis.
where @(X,Y) is given by a certain convergent power series, for X and Y small.
This power series is of a "universal" sort:
@(X,Y)=X+Y+3[X,Y]+...
where the terms homogeneous of degree k are sums of k - 1 fold Lie brackets
of X and Y, with coefficients which do not depend on g. This result is also
useful for exponentiating infinite-dimensional representations of g, when one has
a dense space of analytic vectors to work with; see Appendix D for more on this.
We refer to [129,2461 for a proof of the Campbell-Hausdorff formula, and the
precise expression for the general term in (5.33), which is fairly complicated.
We end this section with a list, by no means exhaustive, of some of the garden
variety Lie groups in dimensions one through ten.
Dimension Groups
R' -+ S' = U(l) = SO(2) I
R2 -+ T 2 , Aff(R1)
R3 -+ T3, SU(2) + S0(3), Sp(1, R) = SL(2, R) 4 SOe(2,I),
E(2), H1
R4 x A A2 R ~E(4)
,
Arrows indicate covering groups. Two of the groups on this list are semidirect
products, with Lie algebras of the form g = Rn x A A2 Rn, having Lie bracket \
where
(1.6)
The Heisenberg Group It follows that p . D and q X , defined with domains C r ( R n ) ,have unique
selfadjoint extensions, equal to their closures. (See Proposition 2.2 of Chapter
0.) Also, if we define the Schwartz space S(Rn) of rapidly decreasing functions
It is on the Heisenberg group Hn that harmonic analysis will be pursued by
first, and furthest, in analogy with Fourier analysis on Rn. A primary goal of
+I z I ) ~ I D ~ u ( z ) ]
this chapter is to develop harmonic analysis on Hn far enough to solve natural
classes of PDEs that arise on Hn and R x Hn, analogous to the Laplace, heat,
and wave equations discussed in the introduction for Rn. Some of the rich and
(1.8)
where
S(Rn) = { U E CDD(Rn):
sup(1
1
< m for all N , o ,
beautiful structures that arise naturally in this pursuit will stimulate numerous
investigations in subsequent chapters. The operators 11, and Pa which we study
in §§6-8, analopes of the Laplacian, are not elliptic, but, excluding exceptional with Dj = ( l / i ) d / d z j ,we see that
values of a,possess the property of hypoellipticity, discussed in $86 and 7. We
call such operators Usubelliptic!l (1.10) .rpS (Rn)C S (Rn) and m, S (Rn)c S (Rn).
We begin to investigate the group structure of (1.1)-(1.2) by comparing rpmq
1. Construction o f the Heisenberg group Hn. Here we want to construct
and mqrp. Indeed, we have
the group of unitary operators on L2(Rn)generated by the n-dimensional group
of translations
(1.1) T ~ U ( Z=
) U(Z + p), p E Rn, and
and the n-dimensional group of multiplications (1.12) m , ~ ~ u (=z e) i q ' z ( ~ p u )=
( zeiq"u(z
) + p).
(1.2) mqu(z)= eiq.zu(z), q E Rn. Comparing (1.11) and (1.12),we get the identity
+
We will see that such a group is a (2n 1)-dimensional Lie group; Hn will be
(1.13) eip.Deiq,X = eiq.peiq.X ip.D
its universal covering group. Note that the infinitesimal generators of T, and mq e ,
are easily identified. In analogy with (1.54)of Chapter 0,we have known as the Weyl commutator relations, the identity
(1.3) P -
-eip.D
(1.4) ( p .D)u(x) = ( l / i )
j=1
CPjau/azj. From this it is clear that the group generated by (1.1) and (1.2) consists
precisely of all operators of the form
Also, clearly,
mq = eiq.X
(1.5) We prefer to express such operators in the form
(1.16) ei(t+~.X+~.D), q, p E Rn, t E R.
THE HEISENBERG GROUP 45
Note that
all other commutators being zero, where the commutator [X,Y] of two vector
fields is XY - YX.
We could use a parametrization of H n suggested by the representation (1.15),
instead of (1.16). Indeed, replacing (1.25) by
gives the group law (1.30). The parametrization of H n giving the group law
(1.26) has the advantage of being more symmetrical, which will make more
apparent the action of the automorphisms of Hn, as we will see in $4.
THE HEISENBERG GROUP 47
46 THE HEISENBERG GROUP
This implies a,(x) = a,(z) a.e. for x E B,, if p 2 v, so a(x),set equal to a,(%)
2. Representations of Hn. If Hn is the Heisenberg group constructed in on B,,, is well defined a.e., and (2.7) holds for all u E CF(Rn). It follows that
$1, the operators (1.17) in Proposition 1.1 give a unitary representation of Hn a E Lm(Rn),with llall~m= IIAll, and (2.7) holds for all u E L2(Rn).
on L2(Rn),which we will denote by all Now if A commutes with s l ( g ) for all g , we also have
s1 (t,9, P ) = e
i(t+q.X+pD),
(2.1) (2.8) A~'P=
' ~e ' p D ~ for all p E Rn,
or equivalently which implies
(2.2) sl (t,q, p)u(z)= ei(t+q.z+**/2)~(~p). +
The group homomorphism property This implies a(z) is constant a.e., and the proof of Theorem 2.1 is complete.
We sketch a second proof of Theorem 2.1. Suppose a1 = sI $ a11 is an
(2.3) a1(991)= s1(g)s1(91) orthogonal decomposition on L2(Rn)= HI $ HII. Pick tq E HI, v r ~E HII,unit
follows from the identity (1.25) and the definition (1.26) of the group operation vectors. Then sl(g)w is always orthogonal to Q I , so we have
on Hn. The strong continuity property
(2.4) gj -* g in Hn, u E L 2 ( ~ n+) sl(gj)u+ T I ( ~ ) U in L2(Rn)
for all q,p - E Rn. In particular, for each p E Rn, the Fourier transform
follows from Lemma 1.2.
The building blocks for representations of a Lie group are the irreducible
+
of tq(z p ) q ~ ( z )an , element of L'(Rn), vanishes identically. This implies
v ~ ( z + p ) v ~= ) for each p, which in turn implies V I = 0 a.e. if v I I ( z #
~ (0za.e., ) 0
unitary representations. Recall that a representation s of G on H is irreducible on a set with positive measure. This contradiction proves the irreducibility of
if and only if the only closed linear subspaces of H invariant under a(g)for all
T I . A variant of this second argument, with some needed additional technical
g G are V = H and V = 0. We now show that irreducibility is a property of details, will appear in the proof of Lemma 5.1.
TI.
Let us identify the space Cm(nl)of smooth vectors for the representation nl.
THEOREM2.1. sl, given by (2.2), is an irreducible unitary rep~esentation Recall that to say u E L2(Rn)belongs to Cw(nl)is to say that
of Hn. (2.10) F(t,q, P) = ~ l ( 9,
t ,P)U
PROOF. By the easy part of Schur's lemma, to prove n1 is irreducible it is a Cm function of ( t , q , p ) E Hn with values in L2(Rn). From the explicit
suffices to show that, if A is a bounded operator which commutes with s l ( g ) for formula (2.2), it is clear that every u E S(Rn), defined by (1.8), belongs to
all g E Hn, then it is a scalar. So let A be such an operator. In particular, Cm(al). In fact, this gives all smooth vectors:
(2.5) ~ e ' *= ~ ' P ' ~
forAall q E Rn. PROPOSITION2.2. We have
Using the Fourier decomposition (2.11) CW(nl)= S(Rn).
In order to prove that C w ( s l )c S (Rn),it is convenient to have the following
analysis of smooth vectors for the subgroup of operators (7,: p E Rn).
we deduce that, for all b E S(Rn), PROPOSITION 2.3. Suppose u E L2(Rn)i s a Ck vector for the group (7,: p E
(2.6) A(b(z)u(z))= b(z)Au(x) in L2(Rn),for all u E L2(Rn). +
Rn). If k > n/2, then u is bounded and continuous. If k = IQ I , IQ > 4 2 ,
1 2 0, then D"u is bounded and continuow for all la1 5 1.
We claim this implies
PROOF.By Proposition 2.5 of Chapter 0, u is a Ck vector for 7, if and only
(2.7) Au(z) = a(z)u(x) if
for some a E Lm(Rn). Indeed, let x,(x) be the characteristic function of B, = (2.12) DUuE L ~ ( R ~for) all la1 5 k.
{ z E Rn: 1x1 < v), and let a,(x) = Ax,(x). Note that, if p 2 v and f E
CF(B,), then applying (2.6) to b = f , u = X , gives
<
Thus EuO(<) E L2(Rn)for la[ k, i.e.,
A f = A ( f x p )= a,(z)f ( z ) .
48 THE HEISENBERG GROUP THE HEISENBERG GROUP
But for k > n 12, using Cauchy's inequality, we have is given explicitly on L2(Rn) by
(2.23) T*X (t, q, p)U(z) = e'(*XtkX1'1q.~+~~~/2) +
U(Z x ' / ~ ~ ) .
We remark that r x is unitarily equivalent to rf (A E R \ 0), defined by
(2.24) = r ( t , Q,p) = ei(?t+h.X+~D)
< m,
and given explicitly on L2(Rn) by
i.e., S E L1(Rn). The Fourier inversion formula
(2.25) +
nx#(t, q,p)u(x) = eiX(t+q'2+q'p/2)~(zp), \ 0.
(2.15) u(z) = (21)-~/' / i ( ~ e ~dt. (
ER
There are also the following one-dimensional representations of Hn, which of
course are irreducible. For (y, q ) E RZn,set
then implies u is bounded and continuous. This proves the first part of Propo-
sition 2.3, and the rest follows easily. (2.26) n(,,,) (t, q,p) = ei(~.q+"p).
Proposition 2.3 is a special case of a Sobolev imbedding theorem. For further
Two unitary representations n and p of a Lie group G on Hilbert spaces
studies of Sobolev spaces, see [121,234,239,267]. We now show how it applies H and H' are unitarily equivalent provided there is a unitary transformation
U: H -+ H' such that
(2.27) Ux(g)U-I = p(g) for all g E G.
Such an operator U is called an intertwining operator between s and p.
PROPOSITION2.4. No two dgerent representations of H n given by (2.22)
and (2.26) are unitarily equivalent.
PROOF.The only point with is not completely trivial is the impossibility of
(2.28) U T ~ ( ~ ) U -=' xx*(g) for d l g E Hn,
if A # A'. Indeed, letting g = (t,O, 0), we see that (2.28) implies
u~"~U-' = eixtt for all t E R,
and since eiXt is scalar, this implies eiXt = eixft for all t E R, which implies
X = A'.
We will call the representations xkx the Schrijdinger representations of Hn.
The following important result is due to Stone and von Neumann. A proof
will be given in Chapter 5.
THEOREM 2.5. Every irreducible unitary representation of H n is unitarily
equivalent to one of the form (2.22) or (2.26).
In analogy with the study of the exponential functions ei2.e, which give the
irreducible unitary representations of Euclidean space Rn, we associate to a
function f on G a "Fourier transform"
which will be discussed further in the next section. In analogy with the Plan-
cherel theorem for Euclidean space, there is the following result for Hn.
50 THE HEISENBERG GROUP THE HEISENBERG GROUP 51
THEOREM2.6 ( PLANCHEREL
THEOREM FOR THE HEISENBERG
GROUP). and the operator KR defined by
m
(2.30) /Hn ~ f ( z ) ~=
~ en[_
dz II*A(~)II~SI~I~~A- (3.5) KRf = k * f
is right invariant, i.e., commutes with the operators &, w E G, defined by
Here llTll& = tr(T'T) is the squared Hilbert-Schmidt norm. This result will
be proved in $3. Note that polarization of (2.30) gives (3.6) RUf ( 4 = f (.zw).
If a is a unitary representation of G on a Hilbert space H, then, as seen in
SG
Chapter 0, we can define a(f) = f (z)n(z) dz for f E L1(G). Also, in Chapter
0, a(k) is defined on Cm(a) for any compactly supported distribution, k E E1(G).
If we replace g by a sequence in C$('Hn) tending to the delta function and pass We have seen that, generally, n(k1 * k2) = n(kl)n(k2), given, e.g., kj E E1(G).
to the limit, we get Thus we expect knowledge of a(k) for all irreducible unitary representations of
THEOREM2.7 (INVERSION
FORMULA FOR THE HEISENBERG
GROUP). G to give a great deal of information about the operators KL and KR defined
by (3.3) and (3.5). Here we look into this for G = Hn.
Recall from $2 the representations
Note that the representations (2.26) do not appear in (2.30)-(2.32). One says
this set of representations has zero Plancherel measure. Formula (2.30) can be and
stated as saying that cn(XlndX on R \ 0 is the Plancherel measure on the set of ( t=, ei(y.q+7.p).
~ ( ~ , ~q,) p)
(3.8)
equivalence classes of irreducible unitary representations of Hn.
The way the representations a*x and a(,,,) act on the Lie algebra of H n is We get
easily read off from (2.22) and (2.26). We have
(2.33) akx(T) = fiX, a*x(Lj) = f i ~ ' / ~ z j , rrtx(Mj) = ~ ' / ~ a / d z ~ ,
and
Here I(T,y, 7) denotes the Euclidean inverse Fourier transform
(2.34) r(y,tl)(T) = 09 r(y,g)(Lj) = iyj, r(y,tl)(Mj) = iVj.
(3.10) L(T, y, 7)) = (2r)-(2n+1)/2 / k(t, p)e'(t'+q'yip'd dt dq dp,
3. Convolution operators on H n and the Weyl calculus. Recall from
and the operator k(&X,~ Z X * / ~X1I2D),
X, of the form a(X, D), with f X as a
Chapter 0 that, if f and g are two functions on a Lie group G, the convolution
parameter, is defined by the Weyl functional calculus, as
f * g is defined by
(3.11) a ( x , D) = (2a)-" 1 ~ ( qp)e'
, (vxi'D) dqdp,
-
Here dw is Haar measure on G; as mentioned, Haar measure on Hn is Lebesgue of a(z, 0.The following gives a constant alternate formula for the Weyl calculus.
measure on R2n+1. This convolution is defined on various classes of functions
and distributions, and we recall that (f, g) f *g defines various bilinear maps, PROPOSITION 3.1. We have, fo~.well-behaved a(z, t),
including
(3.12) a(X, D)u(z) = (2~)-" a(&(zi-y), <)ei(Z-~)'~u(y)
dy dt.
(3.2)
L' (G) x L~(G) -+ L' (G), CF (G) x c?(G) -+ c,"(G),
E1(G) x E1(G) -,E1(G).
PROOF.
By (1.17), we have /
Given a function or distribution k on G, the operator KL defined by
(3.3) K~f=f*k
is left invariant, i.e., commutes with the operators Lw, w E G, defined by
(3.4) Lwf (2)= f (w-'4,
52 THE HEISENBERG GROUP THE HEISENBERG GROUP
(3.13)
(2~)-" / a(y, 0 6 ( x - y + $p)e-'('Pu(x + p) dpdz d l (3.20)
Returning to (3.9), we can state that result a s We take a paragraph to describe convolution operators on the group Bn
(isomorphic to Hn), with the group law given by (1.30), and representations
7rLA given by
where
q,p) = e*iAtef i A 1 / l q . ~ e i ~ l / l p . ~
7rIT;A(t,
or equivalently
I
I
(3.22)
We have
(3.16) k(&.r, y, q) = u ~ ( f . r ) ( f ~ - ' / ~ y~,- ' / ~ q ) , T > 0.
The behavior of n(,,,)(k) is given simply by This is seen to give a representation slightly different from the Weyl calculus,
(3.17)
qY,,)(k) = 1 (,k(t, p)ei(~.q+'.p)dt dq dp defined by (3.11), (3.12). Indeed, for an operator of the form
1
= k(0, y, q) . ( 2 ~ ) ~ .
Formulas (3.14)-(3.16) reduce the study of harmonic analysis on Hn to a
I.
1
(3.24)
we obtain
Au(x) =
J 6(q, p)eiq'Xei~.Du(z)dq dp,
is $ IA(z, y))2dzdy. By (3.12), we have a(X, D)u(z) = $A(z, y)u(y) dy with which is the Kohn-Nkenberg representation, given in 11411,and in many subse-
quent publications on pseudodifferential operators; we write
(3.19)
J
A(x, y) = ( 2 ~ ) - ~a(; (z + y), ~ ) e ~ ( ~ - yd<.
)'C
54 THE HEISENBERG GROUP THE HEISENBERG GROUP 55
Consequently we have flows generated by Hamiltonian vector fields, defined as follows. If f (q, p) is a
smooth function on (some domain in) Rzn, the Hamiltonian vector field Hs is
given as
i.e., the operator &(k) is naturally expressed in terms of the Kohn-Nirenberg (4.5) H f = C ( a f / d q j ) d / d ~ j- (af /d~j)d/dqj.
formalism rather than the Weyl calculus. A comparison of (3.25) with (3.11), j
using the identity (1.18), shows that As proved in the references above, the flow generated by such a vector field
preserves the form w. If such a flow consists of linear transformations, then of
course the bilinear form u is also preserved. Given f , g E Cw(Rzn),
with
(4.6) Hs9 = {f!9)
(3.29) S(q,p) = ei~.pl2b(q,p), is called the Poisson bracket. Note that {f,g) = -{g, f). Also the Jacobi iden-
which is the same as saying tity holds, so Cw(Rzn) is an infinite-dimensional Lie algebra under the Poisson
bracket. The set P of polynomials in (q,p) is a Lie subalgebra.
(3.30) b(z, E ) = e('/2)D=.D~XI 0. A further basic result in Hamiltonian mechanics is that any vector field X
For more on the relation between the Weyl calculus and the Kohn-Nirenberg defined on a region R C R2n whose flow preserves w is locally of the form (4.5),
calculus, see Hcrmander [119]. with f(q,p) uniquely determined up to an additive constant. If R is simply
The advantage of using the Weyl calculus over the Kohn-Nirenberg calculus connected, in particular if R = RZn,then X is globally of the form (4.5).
in developing harmonic analysis on the Heisenberg group arises partly for the Now if Q is a second order homogeneous polynomial on Rzn, then HQ is a
same reason that the group law (1.26) manifests symmetries more transparently vector field with linear coefficients; hence it generates a flow consisting of linear
than the group law (1.30). transformations preserving w , and hence u, i.e., a one parameter subgroup of
Sp(n, R). We claim this gives an isomorphism of Lie algebras:
4. Automorphisms of Hn; the symplectic groups. The formula (1.26) (4.7) sp(n, R) = {Q: Q is a second order homogeneous polynomial on Rzn).
for the group action on Hn can be written
To establish (4.7), it remains to consider the generator of a general one parameter
(4.1) ( t 1 , ~ l )(t2,w2)
. = (tl +t2 + &u(w1,w2),w1+ wz), subgroup of Sp(n, R). This is a vector field X on R2", with coefficients which
are linear in (q,p), and the flow generated by X preserves w. As mentioned, this
where, if wj = (qj,pj) E RZn,we set
implies X = HQ for some Q E Cw(Rzn), uniquely determined up to an additive
(4.2) , = Pl .q2 - q1 ' p2.
4 ~ 1WZ) constant. Since all the first order partial derivatives of Q(q,p) are functions
which are linear in (q,p), we see that Q must be a polynomial in (q, p) of degree
Thus u is a nondegenerate, antisymmetric bilinear form, called the symplectic
form. We have written, set theoretically,
5 2. Any linear term in Q would lead to unwanted constant terms among the
coefficients of X, so Q must be the sum of a homogeneous second order term and
a constant. The constant makes no contribution to HQ, so we can drop it. Since
It follows that, for any linear map T on RZn, preserving the symplectic form u generally [HQ,HP] = HtQ,p), the Lie bracket is preserved in the identification
given by (4.2), the map (4.7), which is now established. Similarly, for the Lie algebra bn of Hn,we have
(4.8) bn = (1: 1 polynomial of degree 5 1 on Rzn).
The Poisson bracket (4.6) gives (4.8) as a module over (4.7) and this is the
is an automorphism of Hn. We say T belongs to Sp(n, R), the symplectic group. infinitesimal action of Sp(n, R) as a group of automorphisms of bn, induced by
The symplectic group will get a fuller treatment in Chapter 11, but we need its action as a group of automorphisms of Hn, given by (4.4). Note that the
to introduce some concepts here, making some use of the theory of Hamiltonian direct sum of (4.7) and (4.8), P(2), the space of polynomials in (z, 5) of degree
vector fields as presented in a number of basic texts, such as Arnold 141, or [I, < 2, is also a Lie algebra.
-
2391. The representations a&xof H n given by (2.6) give rise to representations of
A linear symplectic map on R2n is a special case of a canonical transformation, the Lie algebra bn of Hn, by the usual formula
which is a map p: RZn -+ R2n preserving the differential form w = zYzl dqj A
(4.9) nkx(X) = lim t-'(n*x(exPtX) - I).
dpj, i.e., cp'w = w. Examples of such canonical transformations are elements of t-0
56 THE HEISENBERG GROUP THE HEISENBERG GROUP 57
We see that, if the description (4.8) of fin is used, we have that 3 has two irreducible components, respectively the even and odd parts of
L2(Rn). The proof is similar to that of Theorem 2.2.
It is useful to know that the Schwartz space S(Rn), consisting of Cm func-
tions which, together with all their derivatives, decrease more rapidly than any
negative power of 121 at infinity, is invariant under the action of 3. We have
We define a representation w of the Lie algebra sp(n, R), given by (4.7), as PROPOSITION
4.1. For all g E s ~ K R ) ,
w(pjpk) = (lli)(alazj)(a/azk),
(4.11) ~ ( q j q k=
) izjxk, PROOF. The group S P ~ R is) connected, so it suffices to show (4.17) for g
~ ( p j p k=
) .$[zk(d/dzj) (a/dzj)zk]. in a small neighborhood of the identity element. Thus one need only show
A unified definition of (4.11) is (4.18) e'tQ(xlD): S(Rn) -, S(Rn),
(4.12) w(&) = iQ(X, Dl, in the special case when iQ(X, D) is one of the operators (4.11), since clearly
finite products of corresponding one parameter subgroups of S P ~ R fill
) out a
where Q(X, D) is defined by the Weyl calculus, extended to polynomials, as
neighborhood of the identity in Sp(n, R). The case iQ(X, D) = ixjxk is trivial,
indicated in the remark preceding (3.22). Note that x l and w fit together to give
and the case iQ(X, D) = (l/i)(d/dxj)(d/azk) follows by taking the Fourier
a representation of the larger Lie algebra P(l).
transform. It remains to investigate the case
For each (real valued) second order polynomial Q, the symmetric operator
Q(X, D) = A is essentially selfadjoint, so the exponential eiQ(X*D)is well defined.
(4.19)
+
iQ(X, D) = i[zk(d/dzj) ( d / d ~ j ) ~ k ]
One way to prove this is to show that the linear space +
= ~ k ( d / d ~ j );6jk.
(4.13) ll= {p(z)e-lzl' : p polynomial on Rn), In this case, integrating an ODE shows
which is clearly dense in L2(Rn), is a space of analytic vectors for A, i.e., (4.20) e'tQ(xJJ)u(z) = dt'ik/2u(z + tzkej),
(4.14) ( I A k u l (5~ ~c ( C ~ k ) for
~ u E ll. where e j is the j t h coordinate vector. This makes (4.18) clear for this case too.
The proposition is proved.
See Appendix D for a discussion of analytic vectors. The proof that (4.14) holds
for A = Q(X, D), Q a second order polynomial, can be reduced to an estimate It is clear that each u E S(Rn) is a smooth vector for 3. By considering
of high order derivatives of e-IzIa, which in turn follows from the estimate
the special case Q(X, D) = -A + )xi2, it can be deduced that conversely each
smooth vector belongs to S(Rn), i.e., S(Rn) is precisely the space of smooth
vectors for 3. It is easy to show that each xkx representing H n leaves S(Rn)
which is proved in Appendix D. We leave the details as an exercise, noting that invariant, and that S(Rn) is precisely the space of smooth vectors for each such
the square root in (4.15) explains why Z l is analytic for second order Q(X, D), representation.
not merely first order. On the other hand, llis not analytic for higher order The following important result relates the representations x * ~and w.
Q(X, D), and there exist such operators which are symmetric but not essentially THEOREM4.2. Let T = exp HQ E Sp(n, R). Then
selfadjoint.
(4.21) n*x(t, Tw) = e-'Q(X*D)nhA(t,W ) ~ " ( ~ I ~ ) .
General results about analytic vectors, described in Appendix D, imply that
the representation w of the Lie algebra sp(n, R) generates a unitary representa- PROOF. If we set w = (q,p) E RZn,then
tion (4.22) w(X,D) = q . X + p . D ,
-
of the universal covering group Sp(n, R) of Sp(n, R). Actually, w can be exponen-
and (4.21) follows from
The identity (4.24) is equivalent to the operator differential equation with inner product
(4.25) (d/ds)[(exp sHQ)wl(X,D) = -i[&(X, D), e ex^ ~ H Q ) W )Dl].
(~,
Now the left side of (4.25) is
The operators u H c,u and u H du/13<, are closed linear operators on U sat-
(x,
[HQ(exp ~ H Q ) W I D), isfying the commutation relation [d/dc,, c,] = 1. These operators are not skew
so to prove (4.25), it suftices to show adjoint. In fact, integration by parts and use of the Cauchy-Riemann equations
give
{Q, v)(X, D) = -i[Q(X, Dl, v(X, Dl1
(5.3) (aulafJ, v) = (u, 6v).
for any linear v(z, [) and any second order polynomial Q(z, [). This is readily
It follows that
verified, and the proof of the theorem is complete.
If the covering homomorphism is denoted (5.4)
PI(T) = 2, P~(L,)= (i/t/Z)(a/ac, + $1, A(M,) = (i/JZ)(a/at - $1,
j: S P R ) -, Sp(n, R), i defines a skew-adjoint representation of bn. It generates a unitary representation
and if, for T E Sp(n, R), the automorphism (4.4) of Hn is also denoted T, then I +
Pi of Hn, defined as follows. For (t,q,p) E Hn, let z = q ip, so we write
we can restate Theorem 4.2 as ( 4 % ~=) (t,z), z E Cn. Then h ( t , z) acts on M by
(4.28) n*x(j(g)z) = G(g)-ln*x(z)G(g), z E Hn39 E SPKR). (5.5) &(t, z)u(c) = eat+(a/fi)cz-1z12z~(f+ i ~ l f i ) .
The formula We claim pi is unitarily equivalent to nl. First we give a direct proof of its
irreducibility.
LEMMA5.1. The representation P1 of Hn on M is irreducible.
then yields the following result, known as metaplectic covariance of the Weyl Suppose we have an orthogonal decomposition M = UI
PROOF. $ MII, with
calculus. I MI and MII closed and each invariant under PI, so & = PI @ PII. Pick Q E MI,
PROPOSITION 4.3. or g E s ~ K R ) ,let QI E MII, both unit vectors. We can assume q and VII are analytic vectors, since
analytic vectors are dense (see Appendix D). Such functions are in particular
a q b , 0 = a(j(g)(x, 0). analytic vectors for the operations of multiplication by 5, and of d/ag,; hence,
for some E > 0, ly(c)leEI*Iand Ivr~(c)le'l~Iare square integrable with respect to
aq(X, D) = ~ ( ~ ) - l a ( X
D)G(g).
, the measure e-lcla/2 dc, and, for Icl small,
In addition to the automorphisms of H n given by (4.4), there is also the family (5.6) + +
( ~ I ( s C),~II(S c)) = 0.
of "dilations," given by Making a change of variable in the integral (5.2) for (5.6) gives
-
Q x ( t , q,p) = (&At, f~ " ~ A1I2p),
q,
which was introduced in $2, As pointed out there, we have
A > 0, (5.7)
J vr(f)~I(f)e-Re(~
for c E Cn,Icl small. This implies that
c)e-lcl"2 dc = 0
,
THE HEISENBERG GROUP THE HEISENBERG GROUP 61
of polynomials in < is a dense linear subspace of M, consisting of analytic vectors Here, as in (5.5), our dot product is bilinear. Computing K'K reduces to com-
for pi. If Dl = fi $ PIr, then the projections of P onto MI and MII clearly would puting Gaussian integrals; for K to be unitary, one takes CT = .R-"/~.We omit
provide dense linear subspaces of these Hilbert spaces, consisting of analytic the details.
vectors. I If we use the complex vector fields on Hn,
Since we have (5.18) +
ZJ = LJ iMJ, -
ZJ = LJ - iMJ,
then (5.4) implies
the Stone-von Neumann theorem implies Dl must be unitarily equivalent to TI.
(5.19) pi (2,) = i\/Za/d~J, (ZJ) = ifit.
In fact, we can produce a unitary intertwining operator Considering both the Bargmann-Fok and the Schrodinger representations of
~,)M
K: L ~ ( R - H n leads to many useful insights, as we will see in the following two sections,
and also in Chapter 11.
such that
al = K-'&K, 6. ( S u b ) ~ a p l a c i a n so n Hn a n d harmonic oscillators. A central object
in the application of harmonic analysis on Hn to partial differential equations is
in the form the "Heisenberg Laplacian"
n
(6.1) fo=z(L: + Mi).
with K(z,<) constructed below. We remark that, once the formula (5.12) for J=I
K is obtained, one can verify directly that it defines a unitary transformation This second order differential operator is not elliptic; it is associated to a degen-
satisfying (5.10)-(5.11), so in the end we do not need to depend on the Stone- erate metric on Hn. We also study certain other sub-Laplacians in this section.
I In particular, we need to understand the spectrum of the operator nkx(Lo) for
von Neumann theorem.
Since we have for the Schrijdinger representation i each f A. Note that
n
nl(T) = il, al(LJ) = iz,, rl(MJ) = a/azJ,
\
(6.2) fl(y,r))(fo)= E(Y:
+ $1,
3=1
and, by (2.14),
n
z, K(x, $1 = (1/h)(a/as3 + c3)K(x,S), (6.3) n,tx(fo) = z ( a 2 / a ~ , 2- 2;) = -A(-A +
[xi2).
- (a/azJ)K(z, 5) = ! l / f i ) ( a / a ~ - $)K(Z, 5)- 3=1
as well as being holomorphic in c; thus K(z, $) is determined by its values for
<EE If we first consider the case n = 1, we see that, given K(0,O) = Ci, the
first equation specifies K(O,<) uniquely as
I Thus understanding the spectrum of x*x(fo) is equivalent to understanding the
spectrum of the operator
H = -A + 1zl2.
This operator is called the harmonic oscillator Hamiltonian, as it arises in the
Schrtidinger equation du/at = iHu for the quantum mechanical harmonic oscil-
Subtracting the second equation in (5.14) from the first gives
(a/azJ + zJ)K(z, S) = f i $ ~ ( z ,c), To analyze the spectrum of (6.4), it suffices to treat the one-dimensional case
so we can integrate in the x variable from (5.15) to get H = -d2/dx2 + z2.
K(x,5) = C1 e x p ( h < z - $(c2 + x2)), We have seen in $4 that eatHpreserves the Schwartz space S(R). It follows that
H is essentially selfadjoint on S(R) (see Appendix A). In this case, it is easy to
in case n = 1. We can take products to get for general n. see that the domain of H is precisely
K(z, S) = C; e x p ( f i ~x. - $(<. 5 + Id2)). (6.6) D(H) = {u E L2(R): uU(z)E L 2 ( ~and
) x2u(z) E L 2 ( ~ ) ) .
62 THE HEISENBERG GROUP THE HEISENBERG GROUP 63
We can also deduce that a bounded subset B of D(H) is relatively compact then
in L2(R). In fact, from uy(x) bounded in L 2 ( R ) it follows that u$ is locally (6.17) A : V, -,
uniformly bounded and hence u j is locally uniformly Lipschitz, so a subsequence
can be selected, converging locally uniformly, uj, -t u. On the other hand, and
if ( 1 + x2)ui is bounded in L 2 ( R ) , then for any E > 0 there is an interval (6.18) A* :V -,V,+2.
[-N, N ] = I such that SRiI ) U ~ ( dx Z ) <~ E~ for all j. Hence ujk -+ u in the
In particular, if p E spec H , then either p - 2 E spec H or A annihilates V,.
L 2 ( R ) norm. It follows that
From (6.10) we see A annihilates only the linear span of
(6.7) ( I + H)-' is a compact operator on L2(R).
(6.19) hO(x)= ~ - l / ~ e - ~ ' / 2 .
Thus L2(R) has an orthonormal basis consisting of eigenfunctions for H. Each
eigenspace has finite dimension (dimension one for (6.5), as we will see in a The factor A-'I4 has been thrown in to make ho a unit vector in L2(R). Thus
moment), and the eigenvalues of H must tend to +oo. In a moment we will see we see that Vi is the linear span of ho and that
exactly what they are. (6.20) spec H = {1,3,5,7,. ..).
Generalizing (6.6), we find
By (6.11), A : V, 4 V,-2 is an isomorphism for p 2 3 an odd integer, so each
(6.8) D(Hk) = {U E L 2 ( R ) :z j ~ k Eu L 2 ( R ) for j + 1 5 2 k ) . V2k+' is one-dimensional and is the linear span of
In particular, (6.21) hk(%)= ck(d/dz - ~ ) ~ e =- ~ ~k ~~ k /( ~~ ) e - ~ ' / ~ ,
(6.9) nmk)
k
= where Hk(x) is the Hermite polynomial
H k ( x ) = (-1) kez' (dldx)ke-2'
so all the eigenfunctions of H belong to S ( R ) .
As is emphasized in quantum mechanics texts, one easy way to analyze the (6.22) [k/21
= ( - l ) j [ k ! / j ! ( k- 2 j ) ! ] ( 2 ~ ) ~ - ~ 3 .
spectrum of (6.5) is to use the operators
j=O
(6.10) A = -d/dx - x, A' = d/dz - x. The constants ck are chosen so llhkll = 1; they will be specified shortly. Since
A calculation gives the eigenspaces V, are mutually orthogonal, we know the h k ( x ) are mutually
orthogonal, i.e.,
(6.11) A*A=H-1, AA*=H+l. 00
The first identity shows 1 is the smallest possible eigenvalue of H . These iden-
tities imply
(6.23)
1, H ~ ( Z ) H ~ ( Z ) ~d-s~=' 0 if j
I
A
64 THE HEISENBERG GROUP THE HEISENBERG GROUP 65
which can be deduced from the generating function identity We can use this result on the spectrum of the harmonic oscillator Hamiltonian
m H to determine invertibility of the operators nkx (f,), where
(6.29) Hk(z)tk/k! = e2zt-t'.
k=O (6.36) LI, = Lo + iaT.
See Lebedev 11541 for details on this. Note that (6.29) follows immediately from Note, from (2.14) and (6.3),
(6.22). (6.37) nkx(f2,) = -AH 'F Xa = -X(H f a).
Having shown that the spectrum of -d2/dz2 +z2 consists of the positive odd
integers, all simple eigenvalues, we deduce that the spectrum of -A + )zI2on From the analysis of the spectrum of H , we have
+
L2(Rn) consists of all the positive integers of the form n 2j, j = 0,1,2,. ..: PROPOSITION
6.1. n*x(LI,) 6 invertible, for all X E (0, m), if and only if
(6.38) Fa avoids the set { n + 2 j : j = 0,1,2,. ..).
Note that, for H = -A + ]%I2 on Rn, an orthonormal basis of the n +2j As will be seen later, this condition is equivalent to hypoellipticity of the
eigenspace of H is given by operator La.
We now consider more general second order differential operators on Hn,
namely operators of the form
The combinatorially rather complicated form of the Hermite functions given
by (6.21)-(6.22) induces one to seek a simpler approach. In fact, use of the
Bargmann-Fok representation provides a cleaner route to understanding the
spectrum of H. Note, from formula (5.4), where
n
This is a neat formula. The formula for eitH, which we will consider in the next We define the Hamilton map of Q(z, 4) to be the linear map F on R2" given by
section, is more complicated. (6.44) u(u, Fv) = Q(u, v), U,v E R ~ ~ ,
THE HEISENBERG GROUP THE HEISENBERG GROUP 67
where Q(u,v) is the symmetric bilinear form on R2" polarizing the quadratic PROPOSITION 6.3. IfQ(z, E) is a second order homogeneous positive definite
form Q(u), i.e., Q(u) = Q(u, u). We are assuming Q is positive definite. So we polynomial, then the spectrum of Q(X, D) is
see that F is skew symmetric and invertible, so its eigenvalues must all be pure
imaginary, nonzero, and occur in complex conjugate pairs, i.e., be of the form
fipj, 15j 5 n, p j > 0.
It turns out that we can pick a symplectic basis of RZn, diagonalizing Q, as where fip,, 1 5 j 5 n, are the eigenvalues of the Hamilton map F associated
with Q by (6.44), p j > 0.
LEMMA6.2. If Q is positive definite, there is a symplectic basis of RZn, Note that changing (z, E) to (-2, <) changes the sign of the symplectic form on
{e,, fj: 1 5 j 5 n), i.e., a basis satisfying Rn, so the Hamilton map of Q(-z, () is similar to the negative of that of Q(z, t).
Thus the two Hamilton maps of Q ( f z, t ) have the same set of eigenvalues, so
, = 0 = ~ ( f jfk),
~ ( e jek) , , = 6jky
~ ( e jfk) Q(-X, D) has the same spectrum as Q(X, D); the two operators are unitarily
such that, if equivalent.
n
Generalizing Proposition 6.1, we can determine invertibility of the operators
U= ~~~jej+pjfj,
j=1 m x (Pa), where
(6.53) +
Pa = Po iaT, Po given by (6.39).
n
Note that
Q(u, 4 = C p j ( a j 2 + P;),
j=1 (6.54) w ( p a ) = -X[Q(fX, D) f a].
w"thp j given by (6.45). We have
PROOF. F-I is characterized by u(u,v) = Q(u, F-'v), so F-' is skew sym- PROPOSITION6.4. T*~(P,) is invertible for all X E (0,m), if and only if
metric with respect to the inner product Q. Thus there is a basis {Ej, F!: 1 5 (6.55) fa avoids the set (6.52).
j 5 n) of R2", orthonormal with respect to Q, such that This condition turns out to be equivalent to hypoellipticity of Pa, and also
F-'Ej = -Aj$, F-'Fj = AjEj, Xj > 0. implies hypoellipticity of any operator of the form
(6.56) P = Po +iaT + x
2n
j=1
ajYj, a j E C.
G(g)-lQ(X, D)3(9) = Q g G , D)
n
(6.57) + +
p j ( L j Mj) iaT.
Qg(xl €1 = x ~ j ( $+
j= 1
b), That this can be arranged is also a consequence of Lemma 6.2.
so Q(X, D) is unitarily equivalent to 7. Functional calculus for Heisenberg Laplaciane and for harmonic
oscillator Hamiltonians. We would like to understand the behavior of func-
xn
j=1
pi(-a2/az; + 2;).
I
1 tions f(-fa), f(-Pa) of the selfadjoint operators f a , Pa considered in 56.
Recall that
Our analysis of the spectrum of the one-dimensional harmonic oscillator then
yields the following result.
j= 1
68 THE HEISENBERG GROUP THE HEISENBERG GROUP 69
and, more generally, The Weyl symbol ht(z, F ) is related to the kernel of the operator e-tH, defined
2n by
(7.2) Pa = ajkqYk + iaT,
j,k=l
where
Yj = Lj, Yj+, = Mj, 1 5 j 5 n,
and (ajk) is a positive definite symmetric matrix of real numbers. The operators
f (-La) and f (-Pa) are defined by the spectral theorem. Recall that
(7.14) Kt (z, y) = (2n)-"
J ht (4 (z + y), <)ei(z-y)'Cdt.
Consequently, the identity (7.11) (for n = 1) is equivalent to
(7.3) ur,(iA)(X, D) = -A(-A +
1zI2f a),
(7.4) up, (kA)(X, D) = -A[Q(f X, D) 5 a].
We have also set This is Mehler's formula for the hdamental solution to auldt = Hu. By virtue
of the analysis of spec H and the formula (6.21) of 56, thii is in turn equivalent
(7.5) .*x(k) = UK(* Dl, to the generating function identity
for K u = u * k, as defined in (3.14). m
It follows that
(7-7) uf(r,)(f A)(X, D) = f (-A(-A + 1zI2f a)),
and more generally,
for products of Hermite functions. A direct proof of (7.16) is given in Lebedev
(7.8) ~~(P,)(*X)(X,D)= f(-A[Q(fX,D) f 01). [154], pages 61-63.
Thus we need to understand The next proof we give of Proposition 7.1 is independent of the above, and
this provides a proof of (7.16), as remarked by Peetre 11941, whose derivation
(7.9) f (H), H = -A 1xI2,+ we follow in (7.21)-(7.24). First we derive a general formula for (the Fourier
and more generally to understand f (Q(X, D)), hopefully with a parameter X transform of) the Weyl symbol of an operator.
thrown in. LEMMA7.2. We have
The first case of (7.9) we study is f (H) = e-tH. We produce the Weyl symbol
of such operators, as follows.
PROPOSITION7.1. We have PROOF. We will apply the inversion formula on the Heisenberg group, which
reads
(7.10) e-tH = ht (X, D) Pca
with
(7.11) ht(x, 5) = (COsht)-ne-(tanht)(lz12+l~12). Now, if (%g)(A,q,p) denotes the Fourier transform with respect to the first
variable, we have, setting A = 1,
Equivalently,
(7.12) At (q,P) = (2 sinh t)-ne-('/4)(coth t)(l'?12+l~I".
Now we can apply this to any case where q ( g ) = F(X, D), and given any
This result goes back to Mehler [154]. As it is a central result, we will give
F(X, D) there exist many such g. Since according to (3.16) we have F(y,q) =
several proofs.
i(1, y, q), we get (7.17), upon taking Fourier transforms.
First note that, by commutativity, e-tH = e-tHl ..-e-tHn where H j =
-a2/azj2 + 2;. Thus ht(x, t ) = ht(xl, 51) ...ht(zn, t,), and kt(q,p) satisfies
We now turn to a second proof of Proposition 7.1. We have already reduced
to the case n = 1. Now (7.17) implies
the analogous multiplicativity conditions. Hence it suffices to prove the propo-
sition for H = -dl/dz2 +
z2, acting on functions of one variable.
70 THE HEISENBERG GROUP THE HEISENBERG GROUP 71
In order to calculate this trace, one would naturally choose a basis for L2(R) We can use Proposition 7.2 to analyze the solution operator
diagonalizing H, i.e., the basis hj(z) given by (6.21). We can avoid a lot of (7.29) esL o
combiiatorial work in evaluating the result if we instead use the Bargmann-Fok
representation Dl, defined by (5.5). Note that to the "Heisenberg group heat equation"
(7.21) n ( 0 , q,p)f (HI= K-'P1(0, q,p)f (W)K,
where K is the unitary operator given by (5.8) and W is given by (6.32), i.e., In fact, by (3.16), we have
(7.22) W = 2$/a$ + 1 (for n = 1).
In this case, recall the orthonormal basis of U diagonalizing W is
with
(7.23) wj(<) = (2/j!)112<j. I,(&T, y, q) = ue.to( f ~ ) ( f ~ - l / ~ y- ,l / ~ q )
+
Hence, if (q,p) is identified with z = q ip E C, (7.32) = ha,(& T - ' / ~ ~ , T - ' / ~ ~ ) .
(7.24) czlLt(z)
Hence, if
= tr(pl(O, - ~ ) e - ~ ~ )
(7.33) i = 1 w
-00
e-"*kS(t,q.p) dt,
we have, by (7.12),
(7.34) (?ik,)(~, q, p) = cnTn(sinhST)-" exp[-(T coth s7)(lqI2 lpI2)/4], +
which implies
(7.35)
w
ks(t, q, p) = cn /__ eiTtrn(sinhST)-" exp[-(T coth s ~ ) ( l q+l ~Ip/2)/4]dr
I
:
n
THE HEISENBERG GROUP
suppose (7.48)
n I n ( ~ / s i n h p j . r )= ( - T - ~det
j=1
~ sinh(~/i)~~)-'/~.
(7.39) Po = C p J ( ~ j 2 + Mj), Now let
j=1
! (7.49) AQ = ( - ~ 6 ) ' / ~
and then (7.4) holds with Q(X, D) given by (7.25). Thus we have !
be the unique square root of the matrix -F$ with positive spectrum, and define
a quadratic form 7 on RZnby
with
H
i
@(&T, y,q) = ue.PO( * ~ ) ( * ~ - l / ~,y~ - l / ~ q ) We see that, in the symplectic coordinate system on RZn such that Q(z, z) =
(7.41) I
= h27(&~-1/2y,r-llZq), i C ~ ( q j 2 + ~ ; )z, = ( q , ~ )wehave?(z,
, 2) = C(q;+pj2), and thus r ( f ( A ~ ) z , z =
)
where h$(z, <) is given by (7.27). Hence if (71kf)(~,q,p)denotes the partial
+
f (pj)(q; p?). Consequently,
n
Fourier transform of :k with respect to the first variable, we have, by (7.28), I - (712) C(cothpjT)(q; + p;) = - ( T / ~ ) Y ( c o ~ ~ T A2)
Qz,
(7.50) j=1
n
(3k?)(7, q, P) = cn n ( ~ sinh
j=l
/ S7/lj) exp
j=1
iI = - ( T / ~ ) Q ( A QC~O ~ ~ T A8).
QZ,
I Thus we can rewrite the heat kernel (7.45) invariantly as
As before, we obtain 1 (7.51) k?(t, I) = & LWm
~"'@Q(T,z) dr
II (7.43)
7.4. With Po given by (7.39), we have, for s > 0,
PROPOSITION
) k?(t, Q, PI,
esP060(t,q , ~ =
i with
(7.52)
with @Q(T,t ) = ( - T - ~det
~ sinh(~/i)FQ)-'/~ e x p [ - ( ~ / 4 ) Q ( ~coth
~ ' T A ~ zt)].
,
Note that we can write (noncanonically), RZn = C n with z = z + i t , and then (4.12). In fact, the Lie algebra of such infinitesimal generators (with A selfadjoint
u(z,zl) = Imz - 2. This makes it clear that the unitary group U(n) on C n on Cn) has dimension n2 and is spanned by
preserves the symplectic form. Since the unitary group acts transitively on the
unit sphere in Cn, we have immediately I (7.60) +
~i~= i(cja/ack ckalacj), M ~=
! ~cja/ack - 6ka/afj.
PROPOSITION7.5. The symbol a(z, <) is a function of 1zI2 + /<I2 alone Q 1 These operators are intertwined by K to
and only if a(X, D) commutes with 3(g) for all g E j-'U(n).
We will suppose the amplitude a(z, 5) is sufficiently well behaved. One tacit
restriction we make is a(X, D) maps S to S and S' to S'. We define Rad to
1 where
If we write where
(7.68) ht(z, <I= g(t,Q), Q = 1212+ IEI2, (7.78) +
+,(q,p) = ~ ~ - ' ( 2 1 ~21pl2)e-lql"I~Ig.
)~
then (7.67) becomes It seems that any concrete information on f (H) obtainable from (7.72), (7.73),
could be obtained just as easily from the formula (7.11) for e-tH, by some kind
(7.69) + +
a d a t = - ~ g QaZg/aQ2 nag/ag. of synthesis. For example, if we denote the resolvent of H by
Now, having grown accustomed to (7.11), we make the "inspired guess" that (7.79) (H + a)-' = ra(X, D),
(7.70) ht(z, 5) = a(t)e-b(t)(lzla+lela), i.e., g(t, Q) = a(t)e-*@IQ. then
Then the left side of (7.69) is (ai/a-VQ)g and the right side is (-Q+Qb2 -nb)g,
so the identity (7.69) is equivalent to
(7.71) ai(t)/a(t) = -nb(t) and bi(t) = 1- b(t)2.
We can solve the second equation for b(t) by separation of variables. Since
ho(z, E) = 1, we need b(0) = 0, so the unique solution is seen to be b(t) = tanht.
Then the equation a'la = -ntanht, with a(0) = 1, gives a(t) = (cosht)-".
This completes the third proof of the identity (7.11).
We now obtain the following general formula for an operator f (H). An equiv-
alent result was obtained by Peetre [194]; see also Miller [175], Geller [75], and
Nachman [181]. where the identity is fist seen to be valid for Re a > 0. We leave it as an exercise
PROPOSITION
7.9. We have to the reader to analytically continue (7.80) to all complex a not an integer of
the form -2j - n, i.e., not in the spectrum of -H.
(7.72) f (H) = cn xf
m
j=O
(2j + 1)1Zj(x,D) One can also analytically continue the formulas associated with e-tH to an-
alyze eitH, t E R, and synthesize operators from this unitary group. This is
with discussed in Taylor 12351.
Formula (7.80) could be used to get a formula for
(7.73) qj(z, E) = (-1)j~jn-l(41~12+ $1zl2)e-('/*)(1~1~+IEI~).
Here Ly-' is the Laguerre polynomial: Alternatively, as pointed out by Gaveau [70], we can get a formula for I , from
the identity
For properties of Laguerre polynomials, see Lebedev [154], page 76. The one
property we use here is the generating function identity
(7.82) .ti1= 1 w
eaPods, [Real < n,
w
as follows. The formulas (7.36)-(7.38) give
(7.75)
j=O
Ljm(z2 + t2)0j = (1 - e)-"-' eq[-e(z2 + t2)/(1 - e)]. l,(t,q,p) = /
0
03
e - ( r ~ o t h r)(191a+l~la)/2s
dTds.
(7.76) f (HI = F(X, D)
If we first integrate with respect to s and use
with
THE HEISENBERG GROUP THE HEISENBERG GROUP 79
we get, for lRe a1 < n, We see that P, is smooth in (t, q,p), for s > 0. Note the homogeneity
Ps(t, q, P) = s-2n-1Pl (tls2, qls,pls).
Note that (7.91) continues naturally for complex s such that 1 argsl < z/4.
= ck /__ e - " ' [ ( c o s h ~ ) ( ~+~ ~lpI2)/2
m
~ - i(sinh~)t]-'dr. Note that e-s(-CO)lll is a holomorphic semigroup for Re s 2 0, and it is desirable
to understand its kernel, particularly for s = iu, pure imaginary. Analytic
continuation of (7.91) and application to the study of the wave equation on the
Note the mixed homogeneity:
Heisenberg group will be made in the next section.
l,(rt, r'/2q, ~ ' 1 =
~ renl,(t,
~ ) q,p). We end this section with a brief look at spectral asymptotics for the Heisenberg
Laplacian f o and certain other operators, on compact quotients of Hn. Let
We leave it as an exercise to the reader to verify that (7.85) defines a function r c H n be a discrete subgroup such that H n / r is compact. Such co-compact
smooth for (t, q,p) # (0,0,0), smooth even near the rays q = p = 0, t # 0. We
groups appear naturally if one ~ n s i d e r H",
s isomorphic to Hn, as the group of
also leave it as an exercise to analytically continue (7.85) to a E C such that matrices (1.32). One can take r to be the set of s_uch matrices such that t,q,p
+
f a avoids the set {n 2j: j = 0,1,2,. ..}. Integration by parts is effective. It have all integer~ntries,for example, in which case r is a discrete subgroup of H"
is perhaps convenient to write (7.85) as such that Hn/r is diffeomorphic to a circle bundle over T2". The formula for
(7.87) l.(t,q,p) = c; /-
-W
+
[(z2 l)ll2 - zla[($ + 1)1/2(1q12+ lpI2)/2 - izt]-" esC0 on H n / r is obtained from that on Hn by the standard method of images
(also called Poisson summation). If kf (t, q,p) denotes esLO&(t,q,p) on Hn/I',
(z2 + 1)-'12 dz. we have
Equivalent formulas were given in Folland and Stein [64]. The smoothness of (7.93) k,#(t, q, P) = C kS(7 .(t, q, PI)
(7.85) away from (t,q,p) = (0,0,0) implies that, if f E E'(Hn), then f is fzl -fa-
smooth where f is. Hence if u E &' and f p u = f , then u is smooth where f is, where k8(t,q,p) is given by (7.35). The rapid decrease of this function implies
i.e., La is hypoelliptic. the sum in (7.93) is convergent, to a smooth function, for s > 0. Thus, for s > 0,
We can also calculate the kernel esC0 is a smoothing operator. In particular it is a compact selfadjoint operator
in L2(Hn/I').
t , = Ps(t, q,p)
( - f o ) - 1 / 2 e - s ( - L o ) 1 1 a 6 ~ (q,p) We deduce that Lo has a discrete spectrum tending to -m, on L2(Hn/I').
from the heat kernel (7.35), using the subordination identity (which follows by We can study the asymptotic distribution of the eigenvalues of Lo by examining
taking the A-derivative of the formula (1.11) in the Introduction): the asymptotic behavior as s 10 of
(7.94) tr esCO = e-~13
3
I
rn = kl(O,O, 0) = c, /-w
w
(r/ sinh r)" dr.
I
I
I
80 THE HEISENBERG GROUP
This is a special case of "heat asymptotics" for some general classes of subelliptic
operators, studied in greater generality in [171, 15, 2351. More generally, one
gets an infinite sum involving increasing powers of s, rather than just one term.
This is analogous to the complete asymptotic expansion for the trace of the
ordinary heat kernel on a general compact Riemannian manifold (see [166]),
compared to that for the torus Tn.
A standard Tauberian argument, due to Karamata (see, e.g., 12341, Chapter
XII), shows that (7.97) has the following implication on the counting function
(7.99) N ( p ) = cardinality of {-pj spec Lo : <j < <}.
Namely,
(7.100) lim <-"-'N(P)
Ir-'=Q
= m(vo1 Hn/r)/r(n + 2).
On Hn/I' is also a family of Riemannian metrics, depending on a parameter E,
degenerating (or rather exploding) as E 10, characterized by having associated
Laplace operators
1,
kE,S(tlq, p) = c ~ s - ~ - ~ei+(t/s)(T/sinh T ) n e - ( ~ ~ ~ t h r ) ( ~ q 1 2 + l ~ 1 2 ) dT
= s - n - l ~ ( t l s ,Q/&, P/&,E/s),
/~e-~+2/~
where
Now f (c) has poles at < = n, 2n, 3a,..., so we can deform 7 as indicated in
Figure 8.2.
It is clear that we can continue P,(t,O) to the entire half plane {s E C: Re s >
01, and, on the boundary of this region, i.e., the imaginary axis, P,(t,O) con-
tinues analytically as long as -s2/A avoids the points jn, j = 1,2,3,. ... Thus
P;,(t,O) = ( - ~ ~ ) - ~ / ~ e ' ~ ( - ~ 0 ) ~ is' ~analytic 0 ) long as s2 # 4ltljn, j =
6 ~ ( t , as
1,2,3,. ... Note also that P;,(t,O) and P-i,(t,O) agree for s2/41tl < n , so
(-L0)-1/2 ~ i n s ( - L 0 ) ~ / ~ 6 ~ ( tvanishes
,0) for It1 > s2/4n. This is a special case
of the finite propagation speed which we will derive.
We want in general to deform the contour 7 so that its image g(7') will hug
a segment of the positive real axis. Let us note that, for z E R, scot z is
monotonically decreasing from 1 to -w for z E [O,n), with derivative zero at
z = 0, going to -co as z -+ n. Thus, assuming A > 0, for x E [O,n), g(z)
increases from g(0) = B to a maximum at x = xo and then decreases to -w as
x -,?r. The point zo = xo(A, B) E [0,n) is defined by gl(zo) = 0, i.e.,
Thus deforming the path 7 so it crosses the real axis at xo and proceeds for a
while along the curve orthogonal to the real axis through zo along which g(<)
is real-valued, effects a deformation of the contour g(7) to a curve which hugs a
+
segment of the real axis [E, E E ) . See Figure 8.3.
Here
In particular, if g(5) is real, then B cos <+Asin < is either real or pure imaginary.
It follows that, if
(8.19) < = u + iv, u, v real,
then either < is real, or
(8.20) B c o s u + A s i n u = 0 or - Bsinu+Acosu=O.
Now, write
cos = cos u cosh v - i sin u sinh v,
(8.21)
sin < = sin u cosh v + i cos u sinh v.
If g1(<)= 0, we must have, by (8.17),
FIGURE
8.3 (8.22) c = cos < sin + (AIB) sin2 5,
and substituting in (8.21) and equating real and imaginary parts, respectively,
We see that Pts(t, Z) and P-,,(t, z ) agree for s2 < E , which gives us our result gives
on finite propagation speed:
+
u = (sin u cos u (AIB) sin2 u) cosh2v
PROPOSITION
8.1. The fundamental solution of the wave equation (8.23) + (sin u cos u - (AIB) cos2u) sinh2v,
sins(-L0)'/~60(t, Z) +
v = (cos2u - sin2 u 2(A/B) sin u cos u) sinh v cosh v.
gl(<) = (B cos < + A sin < - B</ sin <)/sin <. (8.29) v l sinh v = cosh v.
But the left side of (8.29) is 5 1 and the right side is 2 1, with equality only at
Thus, if gl(<) = 0,
v = 0. Again we get no nonreal s satisfying the hypotheses of the lemma, so the
g(<) = B ( < / ~ i n <=) ~B-'(Bcos< + as in^)^. proof is complete.
I
Note that, as a set, SU(2) is naturally identified with the unit sphere S3 in C2.
Its Lie algebra su(2) consists of 2 x 2 complex skew adjoint matrices of trace 0.
A basis of su(2) consists of
THE UNITARY GROUP THE UNITARY GROUP 89
Note the commutation relations for some X E R (since x(A) is a sum of squares of skew adjoint operators, it
must be negative). Let
[X1,X2]=X3, [X2,X3l=X1, [X3,X11=X2.
These are the same as the relations i x j = k, j x k = i, k x i = j so su(2) is (1.12) Lj = r(Xj), C = n(A).
seen to be isomorphic to R3 with the cross product. Now we will diagonalize L1 on V. Say
Note that the following generators of the Lie algebra so(3) of SO(3) have the
same commutation relations as (1.3). Indeed, so(3) is spanned by (1.13) V, = {v E V: Llv = ipv),
(1.14) V= $ V,.
ipEapec L1
and We leave it to the reader to check that this has the same structure as indicated in
Figure 1.1. Note that p1 = k/2, and if the complexification of su(2) is identified
L+L- = C - L: + i ~ ~
with the set of 2 x 2 complex matrices of trace zero in such a way that
+
= -A2 - L: iL1 on V.
Thus (1.28) L+ = (: :), L = ( ), Ll = (i/2)
(1.21) L-L+ = P(P + 1) - X2 on V,, we have, for 0 < j5 k,
and
(1.29) V-kI2+j = linear span of z f - j d .
(1.22) L+L- = p(p - 1) - X2 on V,.
We can deduce the classification of irreducible unitary representations of
Note that, since L1 and L2 are skew adjoint, we have SO(3) from the discussion above as follows. We have a double covering ho-
L+L- = -(L2 + iL3)*(L2+ iL3), momorphism p: SU(2) -+ S0(3), with
negative selfadjoint, and also L- L+ is negative selfadjoint. We see that ker L+ = (1.30) ker p = {fI}.
ker L-L+; ker L- = ker L+L-. These observations make the assertions (1.18)- Now each irreducible representation dj of SO(3) defines an irreducible represen-
(1.20) fairly transparent. We indicate the situation pictorially: tation dj op of SU(2), which must be equivalent to one of the ?rk given by (1.26),
(1.27). We see that nk factors through to a representation of SO(3) if and only
if nk is the identity on kerp, i.e., if and only if nk(-I) = I. Clearly this holds if
and only if k is even. Thus all the irreducible unitary representations of SO(3)
are given by representations dj on Pzj, uniquely defined by
(1.31) dj(p9) = 72j(g), E SU(2).
In other words, half of the representations (1.26), (1.27) of SU(2) give rise to
From (1.21) and (1.22) we see that pl(pl + 1) = X2 = ,uO(pO- 1). In particular, representations of S0(3), namely those on vector spaces of odd dimension. Note
if that in this case the operator A is represented by
(1.23) (1.32) dj(A) = - j ( j + 1).
then We note that the irreducible representations of U(2) can be classified, using
the results of SU(2). Indeed, we have the exact sequence
(1.24)
0 -+ K -+ S1 x SU(2) -+ U(2) -, 0
and
(1.25) X2 = k(k + 2)/4 = (dimv2 - 1)/4. where
K = {(w, g) E S1 x SU(2) : g = w-'I, w2 = 1)
Since L+ and L- are inverses of each other, up to a well-defined scalar multiple, (1.34)
on each segment of Figure 1.1, and each V, is onedimensional (by (1.24), or = {(l,I), (-1, -I)}.
directly from irreducibility), we see that an irreducible representation n of SU(2) The irreducible representations of S1 x SU(2) are given by
on V is determined uniquely up to equivalence by dimV. Thus there is precisely
one equivalence class of irreducible representations of SU(2) on Ck+l for k = nmk(~,g)= wmrk(g) on Pk,
0,1,2,. ... A convenient model for this is i
with m E Z, k E Z+ U (0). Those giving the complete set of irreducible represen-
(1.26) Pk = {p(z): p homogeneous polynomial of degree k on C2), tations of U(2) are those for which rmk(K) = I , i.e., for which (-l)"nk(-I) = I.
4
with SU(2) acting on Pk by
+
Since nk(-I) = (-l)kI, we see the condition is that m k be an even integer.
Finally let us note that SO(4) is covered by SU(2) x SU(2). To see this, equate
(1.27) =)f ( g - l ~ ) ,
~k(g)f(~ g E SU(2), z E C2. the unit sphere S3c R4, with its standard metric, to SU(2), with a bi-invariant
THE UNITARY GROUP THE UNITARY GROUP 93
metric. Then SO(4) is the connected component of the identity in the isometry Z+ (resp., Z-) the group of upper (resp., lower) triangular matrices in GL(n, C)
group of S3. Meanwhile, SU(2) x SU(2) acts as a group of isometries, by with ones on the diagonal, then
(gltg2) ' X = 9;'~92, gj,z E SU(2)- Z-DZ+ = Greg
Thus we have a map is a dense subset of GL(n, C). For a proof, see Zelobenko [268], page 28, or the
reader can try it as an exercise. We note that a weaker result is easy to prove.
Namely, the Lie algebras of D,Z+, and Z- span M(n, C), and hence, by the
This is a group homomorphism. Note that (gl, g2) E kerr implies gl = 92 = fI , inverse function theorem, 2-DZ+ contains a neighborhood of the identity in
GL(n, C). For a study of holomorphic functions on GL(n, C), this weaker result
can be just as effective.
SO(4) x SU(2) x SU(B)/{f(I, I)),
Let Tn be the group of diagonal elements of U(n); it is an n-torus. Let its
since a dimension count shows r must be surjective. Lie algebra be denoted by H. Then the action of n on T" and on H can be
In the next chapter we will prove the following proposition. Let G1,G2 be simultaneously diagonalized. We can set, for an element X E H', the dual space
compact Lie groups, G = G1 x G2. Then the set of all irreducible unitary to H,
representations of G, up to unitary equivalence, is given by
(2.1) Vx = {v E V: .rr(h)v = iX(h)v, Vh E H),
( ~ ( 9=
) ~ l ( g 1@
) ~2(92):rj E Ej),
and we have a finite direct sum
where g = (gl, 92) E G and n j E Ej is a general irreducible unitary representa-
tion of Gj. In particular, the irreducible unitary representations of SU(2) xSU(2), (2.2) v=$v..
up to equivalence, are precisely the representations of the form If X E H' is such that Vx # 0, we call X a weight, and any nonzero v E Vx a
Jkl(g)=rk(gl)@nl(g2), k,1EZ+U{O), weight vector. We will see that, for certain e;j E gl(n, C), n(e;j) acts on the Vx's
in a revealing fashion, similar to the operators LA of f 1.
acting on Ckfl 8 C1+l, where r k is given by (1.26)-(1.27). By (1.38), the Let e;j be t h e n x n matrix with 1at row i, column j , and 0 in all other spots.
irreducible unitary representations of SO(4) are given by all Jkl such that k 1+ We have the commutation relations
is even, since, for po = (-I, -I) E SU(2) x SU(2), 6kl(p0) = (-I)~+'I.
(2.3) [e;,, ekr] = Gjkeil - b k j .
2. Representation theory for U(n). Let n be a finite-dimensional uni-
tary representation of U(n), on a vector space V. For the moment we will not Note that, if i < j and k < 1, the nontrivial commutation relations among e;j
assume a is irreducible. Then there is induced a skew adjoint representation and ekl reduce to j = k and
(also denoted n) of the Lie algebra u(n) of skew adjoint n x n complex matrices, (2.4) [eij, ejk] = e;k if i < j < k.
and a complex linear representation of its complexification, which is naturally
isomorphic to gl(n, C) = M(n, C), the algebra of n x n complex matrices, since Let
+
any element of M(n,C) can be uniquely written as A iB, with A and B
(2.5) ej = iejj.
skew adjoint. The complexified representation on M(n, C) is also denoted a.
M(n, C ) has a natural structure as a complex Lie algebra, and is the Lie algebra Then {ej: 15 j 5 n) spans H. If h E H is of the form
of GL(n, C), the group of invertible n x n complex matrices, which has a nat-
ural structure as a complex Lie group. This complex linear representation a of
M(n, C ) on V exponentiates to a representation (also denoted n) of GL(n, C)
(2.6) h= x tjej,
then
on V which is holomorphic, in the sense that, with respect to a basis of V, the
matrix entries of such a representation are holomorphic functions on GL(n, C). (2.7) [h,eij] = i(ti - tj)eij.
A useful tool in the study of representations of U(n), in addition to their
analytic continuations to GL(n, C) defined above, is the Gauss decomposition,
Thus the element wjk of H' is defined by
which is the following. If D denotes the group of diagonal matrices in GL(n, C), (2.8) wjk(h) = t j - tk
THE UNITARY GROUP THE UNITARY GROUP 95
is a weight for the adjoint representation of U ( n ) ;we call wjk a root. Similarly It is very interesting that this can be used as a tool for establishing that certain
we call ejk a root vector in gl(n, C ) . representations of U ( n )are irreducible. In fact, we have the following
PROPOSITION 2.3. Let n be a unitary representation of U ( n ) on V , dim V <
w. Suppose the set of vectors E E V annihilated by all raising operators which are
also weight vectors, is equal to the set of nonzero multiples of a single element.
The commutation relation (2.7) implies Then n is irreducible.
+
s ( h ) E j k = Ejk(n(h) iwjk(h)I). PROOF.Otherwise, V = V1$V2 with a acting on each factor, and Proposition
We can utilize this identity in a fashion parallel to our use of (1.10) of the last 2.2 produces two linearly independent weight vectors tj E I$ annihilated by all
section. raising operators.
As an example, consider the natural action of U ( n ) on S k C n , the k-fold
PROPOSITION
2.1. We have symmetric tensor product of Cn. We can identify this with
In particular, if X E H' is a weight for the representation n, then either Ejk with the action given by
+
annihilates Vx 07 X wjk is a weight. (2.16) nk(g)f(4= f ( 9 - w e
PROOF. Let E E Vx. By (2.10), we have We see that, for la1 = k, za is a weight vector, with weight a E Rn = HI. The
action of the operators Eij on Pk is defined by
* ( h ) E j k t = Ejkn(h)E + iEjkwjk(h)<
= i(X(h)+ wjk(h))Ejktl (2.17)
Eijp(z) = (d/dt)p(zl,...,zj-1, zj + tzi, zj+l,. .. ,zn)It=o
= zi(a/azj)p(t).
which establishes the proposition.
Note that, if we factor i out of the diagonal skew adjoint matrices making In particular, the only weight vector za annihilated by all raising operators is
up the Lie algebra H of T n , we have, by reading down the diagonal, a natural z f . We see that nk is an irreducible representation of U ( n )on Pk.
isomorphism of H with Rn. If a,P E Rn, we say a < P, or P - cu > 0, if the As a second example, consider the natural action of U ( n ) on Cn. We
first nonzero coordinate of p - a is positive. Thus there is a natural ordering denote this representation dk,
of the weights. For a given finite-dimensional representation n , with respect to
this ordering there will be a highest weight A, (also called a maximal weight),
(2.18) dk(g)(vlA . .. A v k ) = gvl A . - A gvk, g E U ( n ) ,v j E Cn.
and also a lowest weight A,. From Proposition 2.1 and (2.12), we see that If u l , ...,un denotes the standard orthonormal basis of C n , we see that
Ejk = 0 on Vx, if j < k, ujl A ... A ujk = u7 (jl < < jk)
Ejk = 0 on V x , if j > k. is a weight vector, with weight 7 = ( 7 1 , . ..,rn) E Rn = HI, where 7 j = 1 if j is
some jk occurring in (2.19), 7 j = 0 otherwise. The action of the operators Eij
We call Ejk a mising operator if j < k and a lowering operator if j > k. Thus all
raising operators annihilate Vx, and all lowering operators annihilate VA,. More
generally, we say a weight X is nonraisable if all raising operators annihilate V A
and nonlowerable if all lowering operators annihilate V x . In a little while we will EijujL A . .- A ujk =
show that, if n is irreducible, then the only nonraisable weight is maximal. At
present, we record the following progress. In particular, the only weight vector u., annihilated by all raising operators is
u l A.. .Auk. We see that dk is an irreducible representation of U ( n )on l\k Cn.
PROPOSITION 2.2. If n is a unitary representation of U ( n ) on V , dimV < Note that, in each of the two examples above, V = S k C n and V = l\kC n ,
oo, then there ezists a nonzero highest weight vector5, and in particular there the action of U ( n ) on V is generated by the action of SU(n) on V and the
ezists a nonzero E Vannihilated by all raising operators, which is also a weight action of scalars eiaI on V , a E R. Thus, all these representations restrict to
representations of SU(n) which are irreducible.
96 THE UNITARY GROUP THE UNITARY GROUP
Chapter 3 to discuss the general case; see the end of $2, Chapter 3 for this, By (3.8), we deduce
including some details for the closely related group SU(n).
PROPOSITION
3.1. On the -k(k + 2)/4 eigenspace Vk of A , the operator
3. T h e subelliptic operator X: + X $ o n SU(2). The Laplace operator on -f! has k + 1 eigenvalues, ranging from a minimum of k / 2 to a maximum of
k ( k + 2)/4 or k ( k + 2)/4 - 114, for k even or odd, respectively.
SU(2)
Suppose u E D1(SU(2))satisfies the equation
is elliptic. We want to study the nonelliptic operator
We want to examine smoothness of u given smoothness of f . Note that Propo-
sition 3.1 implies is invertible on { f E L 2 : $ f = 01, and
Note that f! and A commute, so L acts on each eigenspace of A. In particular, the
spectrum of L is discrete. We can examine the spectrum of l by decomposing (3.12) I l ( - ~ ) ' / ~l lf ~ 5
l CllLf l l ~ l .
L2(SU(2)) into eigenspaces of A , which is equivalent to decomposing it into We can take, for example, C = 4. More generally,
subspaces irreducible for the regular action of SU(2) x SU(2) given by
(3.13) Il(-A)k'2f l l ~ a5 ckllLkfllLz.
(3.3) (gl,g2)' f ( 5 ) = f ( g ; l ~ g 2 ) , gj,z E SU(2).
Given f E L2(SU(2)),write
Note, by the Peter-Weyl theorem (discussed in Chapter 3), the irreducible sub-
spaces of L2(SU(2))are precisely the spaces of the form
k
It is well known, and easy to prove, that
where 1 ~ kis the representation of SU(2) on Ck+' described by (1.26), (1.27), (3.15) f E Cw(SU(2)) 11 fkllL2 5 c N ~ - for
~ all N ,
with matrix representation rF(2).Of course, each space Vk is an eigenspace of
the Laplace operator A ; by (1.25) the associated eigenvalue is -k(k $ 2 ) / 4 . and
If we consider the left regular representation (3.16) f is real analytic e 11 fkllLa 5 Cee-Ek for some E > 0.
(3.5) 9 . f ( 2 )= f ( g - l z ) , Note that the solution u to (3.11) satisfies
+
then Vk is a direct sum of k 1 representations of SU(2), each equivalent to T k .
One decomposition of Vk into irreducible subspaces for (3.5) is .
with uk = f!-I fk and, by Proposition 3.1,
k+l
(3.6) vk = $vkl (3.18) llukll~l5 C k - l l l f k l l ~ l .
1=1
Thus, from (3.15) and (3.16), it is clear that u E Cw(SU(2)) if f E C w and
< +
where Vkl = linear span of ni1(z),1 i 5 k 1. Each Vkl breaks up into u is real analytic if f is. We say L is globally C m hypoelliptic and globally
eigenspaces for the operator X I , as discussed in $1: analytic hypoelliptic. It is a special case of general theorems (see Hormander
(3.7) [120],Boutet de Monvel et al. [25])that f! is actually locally C m hypoelliptic
and in fact (see Tartakoff [233],Treves [240]),even locally analytic hypoelliptic.
where The C w and analytic hypoellipticity of L are properties shared with the
Laplace operator A . Since A is elliptic, these properties are classical in this
case. There is another property of A which is not shared by L , namely the
and Kotake-Narasimhan theorem says
(3.19) IIAkullLa c ( c ~Vk) ~u ~is real analytic.
=$
Since L = A - X i , we have Note that the hypothesis of (3.19) implies the function
THE UNITARY GROUP THE UNITARY GROUP 101
is a convergent series for y in some interval (-E, E), and we see u satisfies the There is a natural equivalence between the set of operators on Cw(SU(2))
which are left invariant and the set of operators on S(R2) which commute with
(a2/ay2 + A)V= 0. the harmonic oscillator Hamiltonian H = -A+ 1zI2, or equivalently with the set
of operators on the Bargmann-Fok space U which commute with the operator
+
Since a2/ay2 A is elliptic, local analytic hypoellipticity implies u is analytic, W = 2(zla/azl +z2a/az2)+2 (described in Chapter 1, §6), which we now define.
Let jik denote the natural representation of SU(2) on U (given by iik(g)u(z) =
+
~(g-'z), g E SU(2), z E C2), restricted to the 2k 2 eigenspace of W, which
II.CkullL2S C(Ck)2k, all k E Z+. consists of polynomials in z E C2 homogeneous of degree k. Let ~k denote the
+
associated representation of SU(2) on the 2k 2 eigenspace of H , i.e.,
We can form
a (3.29) ~ k ( g=
) K-l%k(g)K,
U(Y,X) = ~ I Y ~ ~ I ( ~ ~ ) ! ] ( - L ) ~ U ( ~ ) , where K : L2(R2) + U is the unitary operator intertwining the Schradinger and
k=O Bargmann-Fok representations of the Heisenberg group, defined by (5.8), (5.9)
and also get convergence for y in some interval (-E, E), and ) JSU(2) f (g)~(g)
of Chaper 1. I f f E Cw(SU(2)) and ~ ( f = dg, we set
+ L)V= 0.
+
(a2/ay2
Now the operator a2/ay2 f , which has double characteristics, is locally Cw
(3.30) Tf = x
k S'J(2)
f (g)nk(g) dg,
hypoelliptic. But its characteristic set is not a symplectic manifold, so general and
results on analytic hypoellipticity do not apply. In fact, we will show that (3.21)
that T maps L2(SU(2))isometrically into this Hilbert space. Then T' will map Returning to our subelliptic operator l,we have
the range of T isometrically onto L2(SU(2))and will provide the inverse. The PROPOSITION 3.2. Let f ( - 4 6 , = kl(g) E D1(SU(2))and let f (H1H2 - 1)
orthogonality relations, which will be proved in Chapter 3, imply have kernel k2(z,Y ) E D'(R2 x R2). Then
(3.36) l l f 1l&(su(z))= x ( k + l)ll~k(f)ll2Hs.
k
Thus the Hilbert space norm ( I ( I ( ( on C?(R2 x R 2 ) should satisfy the identity
(3.37) IIITfI1I2 = C ( k + l)IIrk(f)IIZ1(RaxRa),
k
and since the harmonic oscillator Hamiltonian H on R 2 is equal to 2(k + 1) on
VTk,we have
IIlTfIl12 = $ ( H i T f , T f ) ~ a ( ~ g x ~ a )
(3.38)
= 4 w 1 + H 2 ) T f ,T f )L"R')
where HI + H z is the harmonic oscillator Hamiltonian on R4. Thus we pick our
pre-Hilbert space norm on C$(R2 x R2) to be
(3.39) 111~1112 = HI + H ~ ) v I ~ ) L ~ ( R ~ ) .
Hence
(3.40) ) )$ ( ( H I + H ~ ) V , T ~ ) L ~ ( R ' ) .
(T'v, ~ ) L z ( s u ( ~=
To get a more explicit formula for T'v, v an operator on L2(R2) commuting
with H , we want to compute T f in the limit when f is the delta function 6,,
g E SU(2). Note that the operator 5?bg is defined by
(3.41) (!f'hg)u(z)= u(g-lz), g E SU(2),z E C2.
Since
(3.42) ~f = K * ( ? ~ ) K
with
and
(3.44)
where, as given in Chapter 1, $5,we have
(3.45) K ( z , z ) = exp[fiz. z - ( z . z 1zI2)/2], +
we obtain the formula for the operator Thg: C r ( R 2 )-r C O O ( R ~ ) :
(3.46) (Tbg)w(z)= //Ra
-~ Ca
-
~ ( yg -, l z ) ~ ( zz)e-IzIa/2w(Y)
, dvol(z)dy.
Thus we have the inversion formula
(3.47)
T'v(g) = // /RaxRa C2
+
( H I H2)v(z,y) K ( y , g-lz)
~ ( z~ ), e - l ~ l ' / ~ dvol(z)
w ( ~ ) d z dy.
SL(2, C) AND MORE GENERAL LORENTZ GROUPS 205
As we saw in the last chapter, there is a double covering SL(2, R) + SOe(2, 1).
This happy situation is repeated for the Lorentz group on four-dimensional
Minkowski space. We have a double covering SL(2, C ) + SOe(3, I), as will
be shown in 81. Another happy coincidence which will be exploited heavily is
that the complexification of the Lie algebra sl(2, C) is isomorphic to a direct
sum of two copies of the complexification of sl(2, R). This will make it easy to The group SL(2, C) covers the Lorentz group SOe(3, 1). This can be seen as
understand the structure of the universal enveloping algebra of sl(2, C). In $2 we follows. Consider the set of selfadjoint matrices
describe the irreducible unitary representations of SL(2, C). Our treatment is
(1.4)
adapted from that of Gelfand, Minlos, and Shapiro [73], but emphasizes the role x = ( 2zz0 -+2i3z l +
22-izl
20 z3
of the Casimir operators in U(sl(2, C)) and identities involving these operators.
Further results on harmonic analysis on SL(2, C) are given in [73], and also in Then
the books [71, 741 of Gelfand et al. $3 of this chapter discusses the structure and
a little of the representation theory of more general Lorentz groups SOe(n,1).
and if g E SL(2, C), then g'Xg is selfadjoint, provided X is, and det(ggXg) =
det X. Since g'Xg = X for all such X if and only if g = f I , we have
1. Introduction to SL(2, C). The group SL(2, C) is the group of all 2 x 2
complex matrices of determinant 1. Thus SL(2, C) is a six-dimensionalconnected (1.6) SOe(3, 1) x SL(2, C)/{f I).
Lie group. Its Lie algebra sl(2, C) consists of all 2 x 2 complex matrices of trace Note that SOe(3, 1) acts as a group of isometries of the three-dimensional hy-
zero. The group SL(2, C) contains the compact subgroup SU(2), which plays a perbolic space, which we can describe as the orbit in R4 satisfying
role in some ways analogous to that played by SO(2) in SL(2, R), since in both
cases they are maximal compact subgroups, and in some ways different, since
SU(2) is not commutative (and hence is not a "Cartan subgroup" of SL(2, C)). with the metric (of constant negative curvature), induced from the Minkowski
As a basis for sl(2, C), we can take metric (1.5) on R4.
We now want to look a little at the structure of the complexified Lie algebra
C sl(2, C), and its universal enveloping algebra. Clearly {Z, A, B) generates
sl(2, R) as a real Lie subalgebra of 4 2 , C). We will see Csl(2, R) as a subalgebra
of Csl(2, C) in various other ways. Let
and we have the commutation relations Then {Z+,A+,B+) and {Z-,A_, B-) span over C a pair of mutually com-
muting subalgebras, each isomorphic to Csl(2, R), in view of the easily verified
(1.2) [Z, A] = 2B, [Z,B] = -2A, [A,B] = -42, commutation relations
(1.9) [Z*, A*] = 4B*, [Z*, B*] = - 4 4 , [A*, Bf] = -Z*,
206 SL(2, C) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 207
with coherently chosen signs, and representation n of G gives a representation of U(g) such that n(T') = n(T)*
on Cm(n), for T E U(g). With this definition of *: U(g) -+ LL(g), note that
*;-.& (1.18) 2; = -2-, A; = -A_,
Consequently, if we denote Cg+ the linear span over C of {Z+, A+, B+), and ,B B; = -B-,
define Cg- similarly, 3;
SO
We have
As for commutation relations among x:, we have (1.22) [Z, R+I= 2iR+, [Z, R-] = -2iR-, [R+,R-] = iZ.
Note that
Other commutation relations follow from the fact that everything in Cg+ com-
I
mutes with everything in Cg-. In direct analogy with (1.27) of Chapter 8, we Since we have noted the special properties of ,x: it is useful to understand
have their interactions witha. A straightforward calculation gives
The nature of the action of K, and hence of the operators Z , R+, R-, on Ht,
has been thoroughly discussed in Chapter 2. In addition to (2.3), which implies
Z = 2im on HI,,,we have
FIGURE2.1
PROOF. To say v E WIf is to say that v E C m ( n ) and that
R+v = 0, Z v = 2ilv, Kv = -21(21+ 2)v.
The structure of R+ and R- is revealed in the following identity for the action
of K , defined by (1.39)-(1.40): Since [Y+,R+] = 0, by (1.28), we see that, given (2.15),
K=.Z2-2iZ+4R+R-=Z2+2iZ+4R-R+. R+ (Y+v) = 0.
Applying K to an element of HlS1,knowing that K acts as a scalar on H l , we Using the commutation relation [Z,Y+] = 2iY+, from (1.28), we have
Z(Y+v) = Y+Zv + 2iY+v = 2i(l+ l)(Y+v).
Ku = -21(21+ 2)u for u E HF To analyze K(Y+v), use (1.43). Since R+v = 0, we have
+
K(Y+v) = Y+(K 4iZ - 8)v
4R-R+u = [-21(21+ 2) + 2m(2m + 2)]u, = Y+(-412 - 41 - 81 - 8)v
4R+ R-u = [-21(21+ 2) + 2m(2m - 2)]u, = -(21+ 2)(21+ 4)Y+v.
The next task confronting us is to analyze the action of Z', Y+, and Y- on These calculations, in fact any two of the three identities (2.16)-(2.18), prove
these spaces. First we see how Y+ ties together various highest weight vectors the lemma for Y+, and the proof of Y- is similar.
for the K-action. Let Let us schematically indicate our situation as follows. Each dot will represent
some space HI,,; adjacent horizontal dots are connected by R+ and R-, and
span Hi; 1 increases as you go down (see Figure 2.1).
denote the space of (smooth) highest weight vectors for the action of K on H:: We next show that the norm of Y+: W: -, W&, is determined, for each 1,
H& = { U E H ? : R+u=o). by the values of the Casimir operators under the representation. Irreducibility
of s implies that, for some real scalars p1 and p2,
Similarly, let W; = HFW1= { u E @: R-u = 0).
0 1 u = p1u, 0 2 u = p2u, U E CW(n).
LEMMA 2.1. We have
The identities (1.37), (1.38) for the Casimir operator lead to the following two
+
plu = 2(Z2 - Zr2)u 8iZu - 2Y-Y+u 8R_R+u, +
Y - : W; -+ W&. +
p2u = 4ZZ'u 8iZ'u - 4R-Y+u - 4Y-R+u,
SL(2, C) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 213
for v E W l f . Note that the coefficient of I I Y + v ~is~ ~> 0, in fact 2 96, for all where ql 2 0 , and, by (2.28),
>
1 0. Thus the coefficient of lv11' must be 2 0 for all 1 such that Hl # 0, i.e., (2.35) + + 161) - &]/32[2(1+ 1)2+ 1 + I].
qf = [32(1+ ~ ) ~ ( p 81l'
(2.29) 32(1+ 1)'(p1 + 81' + 161) - pi > 0 for all 1 such that Hl # 0. In other words, we have defined Y+ on U n ker R+. Furthermore, the identity
We also have the formula for IIZ'vl12: (2.25) specifies Z' on U n ker R+. We have
+
(2.30) 16[4(1+ 1)2 2(1+ l)](IZ'vllz= [16(l+ l ) ( p l + 812 + 161) + d]ll~11~, 8i(l+ 1)Z'ell = pzerl + 4R-Y+ell
= pzell +4 r n q r e 1 + 1 , i ,
(2.1) is nonzero. We say plo is the lowest K-type of K = SU(2) occurring in the
representation n of G. Pick a unit vector elo,lo E Hlo,lo. Let er,,, E Hl0,, be
(2.37) Z'en = atell + &et+l,l, a1 = p2/8i(l+ 1), pi = q r l i m .
the image of elo,lo under repeated powers of R - , normalized by positive scalars In Figure 2.2, we schematically indicate the operators Y+ and 2' specified, so
so Ilelo,mll = 1. Let ero+j,lo+j E Hlo+j,lo+j denote the image of elo,lo under Y$, far, on ker R+.
normalized, so Our next objective will be to specify Z' on all of U . To this end, following
(731, we will use the identity
(qto+j-l ."7llo)elo+i,lo+j = yielO,lo,
[R+,[R-, Z']]= -2Z1,
where mO+k L 0 is defined by IIY+vll = qlo+kllvll, v 6 W l + k , which in turn
is defined by (2.28). If qlo+k = 0, pick elo+k,lo+k E arbitrarily, with a consequence of (1.28), which is equivalent to
unit norm; shortly we will show that this possibility cannot arise. Then let
elo+j-k,lo+j, 0 Ik I: lo+j, denote the image of elo+j,l,+j under R k , normalized
R+ZIR- + R-Z'R+ = R+R-Z' + Z'R-R+ + 22'.
by multiplying by a positive quantity so that Ilelo+j-k,lo+jll = 1. Let This will provide a three-term recurrence relation, for Z'el,m-l in terms of Z1erm
and Z'el,,+l. We will use this in concert with the identity
U =$ UL,, = linear span of {el,,).
[Z,Z'] = 0,
214 SL(2, C) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 215
FIGURE 2.3
which implies that
We first apply (2.39) to analyze Z'el,l-l; applying both sides of (2.39) to ell and Now Z' fl-l,l-l is analyzed as in (2.36), and via (2.28) is seen to be orthogonal
using to el,l-l, so (2.45) vanishes. This proves
R-ell = JZier,r-l,
we have
In Figure 2.4, we record schematically our progress in understanding 2'.
From here, for each m I 1 - 2, the recurrence (2.39) uniquely determines the
into which we substitute (2.36). Using component of Z1erm in Ul-l,m @ Ul, €3 Ul+l,,. We claim this is everything, i.e.,
Indeed, any extra components of Z'er, must belong to $X<1-2 H:. The analysis
from (2.10), we have an explicit formula for R+(Z'el,l-l): +
we have so far shows Z 1 ( H f )I H: for p 2 1 2, and so skew-symmetry of Z'
implies Z1(HP)I H i for X I 1 - 2. This proves (2.47) and shows that Z' has
been uniquely determined on U . Then, Y+ and Y- are uniquely specified on U
by the identities
where a1 and fi are defined in (2.37). We indicate our situation in Figure 2.3.
Note that R+(Z'el,l-l) E Ull@Ml+l,l.NOWR+ is injective on each H k except
the highest weight spaces H i . In view of (2.41), we see that (2.43) uniquely
from (1.28). Note that, by (2.47),
determines Z'el-l,r, modulo an element of We want to identify this
element, and show that it actually belongs to Ur-l,l-l, i.e., is a multiple of
el-1,~-1. and
Specifying the component of Z'el,l-l in Ul-l,l-l is easy; skew symmetry of
Z' implies
Thus, the complexified Lie algebra Csl(2,C ) acts on U .
and the right side of (2.44) is defined by (2.36), with 1 replaced by 1 - 1: LEMMA 2.2. Each el, E Ulm is an analytic vector for the action of Csl(2,C )
induced by n.
PROOF. This follows from estimates of operator norms of R*, Z, Y*, Z' on
so the right side of (2.44) is equal to -ivl-l/a. On the other hand, suppose the spaces Ul,. We know the norms of 4 and Z . To estimate those of Y* and
fi-1,i-1 E Hr-l,I-l is orthogonal to el-1.1-1. We have Z', we use the following consequence of (1.45):
216 SL(2, C) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 217
Applying this to el, and taking the inner product with el,, using Z" = -Z' for1 = l o + k , k = 0 , 1 , 2 ,..., m E {-1,-1+1, ...,1-1,l). Thisinturnhas
and Y; = -Y-, we have been specified in terms of {lo, p1, p2) in the argument presented above. There
(2.52) +
211~'e1,11~ II~-er,ll~ + ll~+er,11~= p i + 81(1+ I), is one further analysis to be made, giving p2 in terms of lo and p1. Before we
get to this, we make some comments on specific formulas for the action of these
which provides adequate estimates to prove analyticity. Details are left to the Lie algebra elements on el,. Of course, we have
reader.
Since power series expansions for exp(s1Z+s2A+s3 B+s4Z1+s5A'+s6B')el,
are consequently convergent for C lsj12 small, it follows that X, the closure of and, by (2.10), we can write
U in H, is invariant under T. If n is irreducible, this implies X = H , so we have
proved (2.58) +
R+elm = plmel,m+ir R-elm = pLel,,-l
with
and in particular (2.59) ph= + 1) - m(m + I), pk= 1) - m(m - 1).
dim HI, = 1 if HI, # 0, To start the recursion for the action of Y+ and Z', recall that
(2.54)
+
dim Hl = 21 1 if HI # 0. (2.60) Y+etr = qret+l,l+l,
We see that H1 # 0 only for integers (resp., nonintegral half-integers) 2 lo, if where ql > 0 satisfies (2.37), and, by (2.36),
lo is an integer (resp., nonintegral half-integer). Furthermore, if a is not the
trivial representation, HI # 0 for each such 1. For if not, say if a possibility l1 is
excluded, then $lo51511-l HI is a (finite-dimensional) proper invariant subspace where
for T,which would have to be all of H. But an argument as in Chapter 8 shows
that SL(2, C) cannot have any nontrivial finite-dimensional irreducible unitary (2.62) = -ip2/8(1+
f f ~ I), PI = - i q l / m .
representation, so this possibility is excluded. The analysis of Z' on U I , ~ -discussed
~ above yields the formula
In our analysis so far, we have not excluded the possibility that some qro+k =
0, i.e., Y+ell = 0 for some 1 = lo + k. We now take care of this. (2.63) Z'~I,I-1= -P~-le~-l,r-l + urer,l-l + T ~ ~ I + I , I - I
LEMMA2.3. If lo is minimal such that Hlo # 0, k E Z+U{O) = {0,1,2,. ..), for 1 2 lo + 1, where PI-1 is defined by (2.62), and
+
1 = lo k, then (2.64) I =a -2 , 71 = 2ad5i/&iT2.
We have
i.e., Y+ell is a nonzero multiple ofer+l,l+l. (2.65) Z'elo,lo-l = u ~ ~ e r ~ , l ~ +
Tloelo+l,lo-~
-l
PROOF. If q1 = 0, then, by (2.36), Z1err I el+l,l, so, by skew-symmetry, These formulas determine Y-err = i[R-, Z']ell; we have
Z1el+l,l Iell. Hence Z' maps both er+l,l+l and el+l,l to Hl+l $ Hlf2 in such
a case, and hence, by (2.48), Y+,Y-: Hl+l,l+l + Hlfl $ H1+2. Inductively,
one has that the Lie algebra action leaves $x,l+l HAinvariant, so the G-action
must leave its closure invariant. If a is irrehcible, this is impossible, so the
lemma is proved. Note that -ipiPl-l = -ql-l. Again, for 1 = lo, the first term on the right is
Consequently, the inequality (2.29) can be strengthened to a strict inequality: taken to be 0. If 1 = lo = 0, then of course uo and TO are to be replaced by 0, in
both (2.65) and (2.66); one would have
+ +
32(1+ 1)'(p1 812 161) - p; > 0 for 1 = lo + k, k = 0, l,2,. ..,
'b3 which in turn is equivalent to its special case
which parallels the identity Y+eoo = qoell, from (2.60).
1 (2.56) +
32(10 1)'(p1 + 81; + 1610)- p i > 0. Note that, in the event that lo = 0, if we apply the identities -2iZ' = [R+,Y-]
iI Thus the action of Csl(2, C) on H defined by a given irreducible unitary and 2iZ1 = [R-,Y+] to eoo, we obtain 2iZ'eoo = R-Y+eoo = q~p;~elo,and
representation of SL(2, C) is determined by the action of {Z, R*, Z', Y*) on elm -2iZ1eoo = R+Y-eoo = qoPt-lelo; in either case, Z'eoo = -i(qo/d)eto.
iE
218 SL(2,C) AND MORE GENERAL LORENTZ GROUPS SL(2,C) AND MORE GENERAL LORENTZ GROUPS 219
Comparing the formula (2.61) for 1 = 0 yields a0 = 0. Since, by (2.62), a0 = Whenever this condition on p2 holds, the construction above based on {lo,pl,
-ip2/8, we have established p2) yields an irreducible unitary representation of SL(2, C). The fact that it
yields a Lie algebra representation of sl(2, R) by skew-symmetric operators could
be checked by explicitly solving the recursion formula (2.29) for Z1elm;such ex-
This is the first case of a constraint on p2 implied by a specification of lo; the plicit formulas are given in [73]. Rather than produce such formulas here, we will
constraint for general lo > 0 is given by the following result. Define $, for any be content with the realizations of the principal and supplementary series given
real 1 > -1, by the formula (2.35). below, which establish the existence of all irreducible unitary representations
described by the parametrization {lo, p i , p2) above, subject to (2.77)-(2.78), for
LEMMA2.4. If the lowest K-type of n is the representation on HI,, then s E R or is E (-1,l). We state the result on the classification of the irreducible
2
(2.69) qlO-1 = O. unitary representations of SL(2, C), first derived by Gelfand et al. 1741.
PROOF. We will deduce this by examining the identity [Y+,Y-] = -4iZ, THEOREM2.5. Each nontrivial unitary irreducible representation of the
applied to ell, for 1 2 lo: group SL(2, C) is equivalent to one of the following sort:
(2.79) Principal series: nl,,,,
For 1 > lo, the left side, (Y+Y- - Y-Y+)erl, is a sum of four terms: where lo E (0, $, I,;,. ..}, s E R. This is determined by the condition that
(2.71) component of ell in Y-(-qrer+l,l+l), (2.77)- (2.78) hold.
(2.72) component of err in Y+(el+l,r-l component of Y-ell), (2.80) Complementary series: nopit (t # O),
(2.73) component of err in Y+(el,l-l component of Y-ell), where t t (-1,l); p2 = 0 and (2.77) holds with s = it. These representations are
(2.74) component of ell in Y+(el-l,l-l component of Y-ell). mutually inequivalent, ezcept nogsx and n0,it x no,-it, and all irreducible.
All these coefficients are algebraic functions of 1, and they sum to 81 for each The mutual inequivalence is clear since for different parameters the triples
1 = lo + k, k 6 {1,2,3,. ..). The fourth term is equal to -&,. For 1 = lo, the {l0,p1,p2} differ. Other than the realizations of these representations, which
left side of (2.70) is the sum (2.71)-(2.73), with (2.74) omitted. Now, for 1 = lo, we will undertake shortly, the only point of the theorem which remains to be
the sum (2.71)-(2.74) must also continue to equal 810 if (2.74) is replaced by established is the irreducibility of each of these representations. This can be
-T;-~. The only way this can happen is for the conclusion (2.60) to hold. accomplished in the same fahion as the proof of irreducibility for SL(2, R), in
The identity (2.69) is equivalent to Theorem 2.2 of Chapter 8. Namely, by (2.54), each G-invariant subspace of
$121, HI must be a direct sum of certain HI'S, so if the representation n = nl,,,
of G = SL(2, C) were not irreducible, there must be an identity of the form
This is also consistent with the result (2.68) derived in case lo = 0. If lo > 0, it
is convenient to set (2.81) (n(g)elm,er~,~)= 0 for all g € SL(2, C ) ,
(2.76) s2 = (pi + 81; - 8)/8, for some pair el,, el,,t, which in turn implies
which is 2 0. Then we can write p1 and p2 as (2.82) (Tei,, el^,^) = 0 for all T E %(s1(2,C)).
(2.77) p1 = 8(s2 + 1- I:), Setting T equal to an appropriate product of powers of R+, Y+, and R- produces
(2.78) p2 = 16105. a contradiction, thus proving irreducibility.
We turn to the construction of realizations of the representations in the prin-
i,
As we will see shortly, for any choice of s E R and lo E (0, I,$,. ..), this cipal series. In parallel with the case for SL(2, R), we can construct these by
produces members of the principal series of representations of SL(2, C). In case decomposing the regular representation of SL(2, C) on L2(C2) = L2(R4):
lo = 0, when pl,p2 satisfy (2.77)-(2.78), the associated representation is also a
member of the principal series. But the inequality (2.56) only requires p i > 0 in
this case, whereas (2.77), with s real, requires pl 2 8. We also have irreducible In this case, R(g) commutes with the group of complex dilations:
unitary representations such that (2.77)-(2.78) hold, with lo = p2 = 0, and
s = it, t E (-1, I), called representations of the complementary series.
SL(2, C ) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 221
p(e, t) = ( b ) - 2 2 LI
n=-m
sp(n, a)einotis-' ds,
(2.87) //
R+ S'
Ip(0, t)12td0 dt = ( 2 ~ ) - ~
n=-m
2 1- -00
lsp(n,s)12 ds.
Thus, if we define
f (z) =
pnSs kl
lw f (reioz)e-iner-is d0 dr,
and is unitary provided
A+l=p+l=t
t1 There are a couple of other special subgroups of G we need to pick out, which
are best produced by looking at the action of a, the Lie algebra of A, on g, the
1" where N is the connected Lie group in G generated by the Lie algebra n. This is
a special case of the "Iwasawa decomposition." For details, see Helgason [loo].
Lie algebra of G. The algebra a is one-dimensional here, with generator The Iwasawa decomposition is discussed further in Chapter 13.
/- . - \ There is another decomposition of G, known as the Cartan decomposition.
which we need to describe. It can be given a very geometrical interpretation.
Consider the action of G = SO,(n, 1) on the upper sheet z,+l > 0 of the 2-
sheeted hyperboloid
I
+
where we view X E g as an (n 1) x (n f 1) matrix. This is proportional to the
Killing form, introduced in Chapter 0. We have
: Vj column vectors in Rn-' .
Thus
The condition [ao,X] = X is equivalent to Vl = -V2 and the condition [ao,X] = (3.19)
-X is equivalent A-cu Tv? l =
-'vp,
I?
-- --.-
.I
JU wr: uavc
It is easy to verify the relations
(3.10) n = g l = { X E c: Vl = -V2)
(3.20) i t el c c, it, PI c P, [P,P] c t.
and
Furthermore, there is an automorphism 6'of g, known as the Cartan involution,
(3.11) ii=g-l={X~~:Vl=Vp).
defined for g = so(n, 1) by
We have introduced the standard notations n and Ti for these (abelian) subalge-
bras. Note that
(3.12) [gar BPI C Ba+p such that
A s we will see in Chapter 13, these constructions apply to other semisimple (3.22) e = {XE g: e ( x ) =XI,
groups, though in general a has dimension greater than one and n need not be and
abelian, but it will always be nilpotent.
Here, it is easy to verify that (3.23) p={X~g:6'(X)=-X).
(3.13) g=O@a@n, This involution defines an involutory automorphism 8" of G = SO,(n, I), which is
the identity on K , and hence there is defined an involution on G I K = Un. In fact,
where O is the Lie algebra of K = SO(n). With some effort one can show that the involution of Un is inversion through the point p = (0,. ..,0,1) E Un, sending
I
i (3.14) G = KAN, (21,. .., X ~ , Z , + E~ Un
) to (-21,. ..,-zn,zncl) We remark that O(n) =Ti.
224 SL(2, C) AND MORE GENERAL LORENTZ GROUPS SL(2, C) AND MORE GENERAL LORENTZ GROUPS 225
The decomposition (3.19) is the Cartan decomposition of g. On the Lie group we obtained representations of SL(2, R) on L2(S'), given by formula (3.23) of
level, one has the decomposition Chapter 8. In this case, M is trivial for SOe(2, 1) = PSL(2, R), and K -t S'
is a trivial fibration. In $2 of this chapter, we made an analogous construction
of the principal series for SL(2, C), covering SOe(3, I), and obtained representa-
mapping K x p diffeomorphically onto G. This is different from the Iwasawa tions of PSL(2, C) on sections of line bundles over S2, corresponding to various
decomposition (3.13)-(3.14). p is not a subalgebra of g, as is a @ n, in view of representations of the group M = SO(2) = S1. In this case K -r S2is the Hopf
the inclusion fibration. One can verify that the definition of the principal series representa-
(3.25) tions of SL(2, C) given by (2.89)-(2.92) in this chapter make them of the form
[a,nl C n,
(3.31).
which follows from (3.12), or even (3.7). AN is a solvable subgroup of G, while In the previous discussion of the principal series for SL(2,R) and SL(2, C), we
expp is not a subgroup. Let us note that, in light of the fact that m centralizes saw that, by restricting homogeneous functions to a hyperplane rather than to
a, we have a sphere, we could represent these groups on L2(R') and L2(R2), respectively,
(3.26) adm: g, -,g, rather than on L2(S') and L2 sections of line bundles over S2. The geometrical
correspondences between Rn and Sn in these two cases are stereographic pro-
for each g,, and hence jections, discussed in more detail in Chapter 10. This alternate description of
(3.27) [m, n]C n. the principal series can be generalized. It turns out that
Thus m $ a $ n is a subalgebra of g, and in fact (3.32) G = BR, modulo a set of measure zero,
where = expii, and we can define a representation equivalent to n(x,,) on
is a subgroup of G. Note that L2(R,VA),with Haar measure on R , by picturing a section of the appropriate
vector bundle over Sn-' as a function on G with values in Vx, satisfying a p
propriate compatibility conditions on the right B-cosets, and restricting such
It turns out that, if Sn-' is given its unique (up to a constant) K-invariant functions to m. We omit the details; see 1481 for a discussion of SOe(n, 1) in
metric, i.e., the standard metric, then G = SOe(n,1) acts as a group of conformal particular, and [27,2561,for a general discussion.
automorphisms of Sn-'. For more on this, see Chapter 10. As we have seen, SL(2, R), which covers SOe(2, I), has discrete series r e p
We give a brief description of some of the irreducible unitary representations resentations. On the other hand, SL(2, C), which covers S0,(3, I), does not.
of SOe(n,1). First, there is the principal series. An element of this series is It turns out that generally SOe(2n,1) has discrete series representations, while
constructed by taking a certain finite dimensional unitary representation of the +
S0,(2n 1,l) does not. We refer to Chapter 13 for a further discussion of the
group B = MAN, and constructing the induced representation on G. More discrete series. For G = SOe(n,I), the principal series and discrete series make
precisely, let X E M be an irreducible unitary representation of M and let v E a*. up "almost all" the irreducible unitary representations, in the sense that there
D e h e a unitary representation (A, v) of MAN by is a Plancherel measure p supported on this set C of representations such that,
(3.30) (A, V)(man) = ~ ( m ) e a).
" ~ ~ ~ ~ for f 6 C r (G),
Here log is the inverse of the exponential map of a onto A. l?rom (3.25)-(3.27)
and the fact that m and a commute, we see that this is a representation of B.
So define The measure p is atomic on discrete series representations. A detailed analysis
+
of this for SOe(2n 1 , l ) is given in the last chapter of Wallach [253].There
(3.31) ~ ( x , w )= I n d g ( ~v).
, are also certain "supplementary" series of representations, of total Plancherel
Note that the representation space for R(x,,) is the space of L2 sections of a vector measure zero. A study of the irreducible unitary representations of SOe(n,1)
bundle over Sn-', with fiber isomorphic to the representation space Vx 8 C of was made in Hirai [113,114,1151.
(X,v) E B.
We have seen examples of this before. When the principal series of SL(2, R),
covering SOe(2, I), was obtained in Chapter 8, $3, by decomposing-the regu-
lar action of SL(2, R) on L2(R2) by (purely imaginary) degree of homogeneity,
SPINORS 247
(1.3) u.v+v.u=-2Q(u,v).1.
+ +
where Ak v is the linear span of (1.7) for il .. . in = k, we have a natural
identification of Ak V with the space of antisymmetric k-linear forms V' x . .. x
By construction, Cl(V, Q) has the following universal property. Let A. be any V' 9 R (V' = dual space to V), via
associative algebra over R, with unit, containing V as a linear subset, generated
by V, and such that (1.1) holds in Ao, for all v E V. Then there is a natural (1.10) (vl A.. .hvk)(Xl,. .. , Xk) = (l/k!) (sgno)(vl,X,(l)) ... (vk,Xu(k)),
surjective homomorphism UEsk
We are now going to define the spinor groups Pin(V, Q) %d Spin(V,Q). We matrix, we can reduce our considerations to a product of planar rotations, hence
to a single planar rotation, which is trivially representable as a product of two
reflections.
(1.33) Pin(V, Q) = {vl. ..vk E Cl(V, Q):vj E V, Q(vj) = h l ) , Now we consider the case of a general nondegenerate Q, i.e., g E SOe(p, q),
with the induced multiplication. Since (vl ...vk)(vk ...vl) = h l , it follows that p+q = n. As described in Chaper 9, we have a maximal compact subgroup K x
Pin(V, Q) is a group. We can define an action of Pin(V, Q) on V as follows. If SO(p) x SO(q). For any g E K, the fact that g is a product of reflections follows
+
u E V and z E V, then uz zu = -2Q(z, u) .1 implies from the argument in the previous paragraph. Now, for any h E G = SO.(p, q),
the conjugated operator h-'gh can be regarded as the operator g viewed in
uzu = -zuu - 2Q(z,u)u = Q(u)z - 2Q(z,u)u. another coordinate system. Since the description (1.41) is coordinate invariant,
Note that, if also y E V, this implies any conjugate g' in
Q(UZU,UYU)= Q(u)~Q(z,Y) IZL = {h-lgh: g E K, h E G = SO,(P, q ) )
= Q(z, y) if Q(u) = f1. is a product of reflections (1.41). However, it is easy to see that this set contains
Thus, if u = vl ...vk E Pin(V, Q), and if we define a conjugation on CI(V, Q) by an open set 0 in G. Since, for general X E &,Y E g, we have
exp(sY) exp(tX) exp(-sY) = exp(tedad'x)
it follows that
= exp(tX + st[Y,X]+ O(s2)),
this openness can be deduced from the implicit function theorem, together with
ZHUZU*, zEV, +
the observation that {X [X,Y]:X E e, Y E g) = g for g = so(p,q). Thus
is a Q-isometry on V for each u E Pin(V, Q). It will be more convenient to use any element of 0 , and hence also any element of 0-', is a product of reflections
(1.41). But any element of G is a finite product of elements of 0 and 0-l, for
U# = U* (Q(v1) + ..Q(vk))-' any open set 0 , so the proof is complete.
for u = vl . ..vk E Pin(V, Q). Then we have a group homomorphism Note that each isometry (1.41) is orientation reversing. Thus, if we define
T: Pin(V, Q) -r 0(V, Q), Spin(V,Q) = {vl ...vk:vj E V, Q(vj) = f 1, k even)
where O(V, Q) denotes the orthogonal group, defined by = Pin(V, Q) r l c1° (v, Q)
r(u)z=uzu#, zEv,u~Pin(V,Q).
Note that if u E V, then, by (1.34), r: Spin(V, Q) -+ SO(V, Q),
and in fact Spin(V, Q) is the inverse image of SO(V, Q) under T in (1.39). We
T(U)Z= z - Q(u, u)-lQ(z, u)u,
now show that T is a two-fold covering map.
which is reflection across the hyperplane in V orthogonal to u. We will next
PROPOSITION
1.3. T is a two-fold covering map. In fact, ker T = (51).
show that any element of O(V, Q) can be written as a product of isometries of
the type (1.41), so 7 is onto. PROOF. Note that f1 E Spin(Q,V) c CI(V, Q) and f 1 acts trivially on V,
via (1.40). Now, if u = vl... vk E kerr, we know k is even (since orientation is
LEMMA 1.2. Any g E O(V, Q) can be written as a product of the reflections
preserved), so uu# = 1. Also, since uxu# = z for all x E V, we have uz = xu,
so xuz = -Q(z)u, z E V. Now pick an orthonormal basis el,. ..,en of V, so
PROOF. If we pick a coordinate system in which Q is diagonal, we see that &(el) = ... = Q(ep) = 1, and Q(eP+l) = ... = Q(ep+,) = -1, n = p q. We +
any g E O(V, Q) is a product of reflections across coordinate hyperplanes and have Q(ej)u = -ejuej, if u E kerr. If we write u = Cai,...i,e;L ...e> where
an element of the connected component of the identity Oe(V,Q) = SOe(p, q), +
each ij is equal to 0 or 1, il . . . + in even, we have, for all j,
so we can suppose g E SOe(p,q). We first consider the case of Q definite, so
~ = ~ ( - l ) ~ j a i , . . . i , e : ' . . . e ~ifuEkerr.
g E Oe(V,Q) = SO(n). In this case, we can write g = expX for some X E so(n),
a skew symmetric real n x n matrix. Choosing an orthonormal basis of Rn with Hence ij = 0 for all j, so u is a scalar. Hence u = f1.
respect to which X is an orthogonal sum of 2 x 2 matrices, plus perhaps a zero We next consider the connectivity properties of Spin(V, Q).
252 SPINORS
PROPOSITION1.4. Spin(V, Q) is the connected 2-fold cover of SO(V, Q) if the universal property of Cl(n $2) gives the isomorphism (1.49).
Q is positive definite or negative definite. By induction, we deduce the following.
PROOF. It suffices to connect -1 E Spin(V, Q) to the identity element 1 E COROLLARY
1.7. We have the isomorphisms of algebras
Spin(V,Q) via a continuous curve in Spin(V, Q). In fact, pick orthogonal unit
(1.50) Cl(2k) x ~ n d ( ~ ~ ~ ) ,
vectors el, ez, with Q(el) = Q(e2) = +I, and set
(1.44) +
) el . (- costel sintez),
~ ( t= 0 5 t 5 n. (1.51) Cl(2k + 1) x ~ n d ( @~~ ~n d~ ( ) ~ ~ ~ ) .
I£ Q is nondegenerate but not definite, then it is easy to see that SO(V, Q) has There is also an analysis of the algebraic structure of Cl(V, Q), which we shall
two connected components, rather than one. In this case, let SOe(V,Q) denote +
not give in detail. If V = Rn, n = p q, and Q is defined by
the connected component of the identity in SO(V, Q), and let Spin,(V, Q) denote Q(alel+...+a,e,)=a:+...+a~-a~+, -...-
the connected component of the identity in Spin(V, Q). aX+v
let us adopt the notation
PROPOSITION1.5. Ezcept in the case where Q has signature (1, I),
(1.52)
7: Spin,(V, Q) + SOe(V, Q) Cl(p, q) = Cl(Rn, Q), Spin(p, q) = Spin(Rn, Q), Spin(n) = Spin(n, 0).
is a 2-fold covering map. The proof of (1.49) shows that
PROOF.You can still pick orthogonal vectors el, e2 with Q(el) = Q(e2) = *l,
and then (1.44) still gives a curve connecting 1 to -1 in Spine(V,Q).
Note that if Q has signature (1, I), then SOe(V,Q) x R is simply connected, F'rom this it is possible to deduce
so a 2-fold cover cannot be connected.
If Q is definite then, as is well known, SO(V, Q) has fundamental group Z2,
and Spin(V,Q) is hence simply connected. It does not follow that Spine(V,Q) In low dimensions, one has
is simply connected if Q is indefinite. For example, as we saw in Chapter 8,
SL(2,R)/Z2 SOe(2, l ) , so Spine(2, 1) x SL(2, R). However, SL(2, R) is not
simply connected; it is homeomorphic to S1 x R2.
Before defining the spaces of spinors, we want to take a brief look at the
structure of the complexified Clifford algebra
For a more complete description, see Lawson and Michelson [149].Here, H is
(1.45) Cl(V, Q) = C 8 Cl(V, Q). the quarternionic field, and H(k) is the ring of k x k quarternionic matrices.
If V = Rn, this is just the Clifford algebra over C of Cn with a nondegenerate We want to associate a space of spinors with (V,Q). In fact, one needs to
bilinear form. Since on Cn all nondegenerate bilinear forms are equivalent, impose more structure to obtain a spinor space; there is no canonicdly defined
the algebraic structures of Cl(V, Q) and Cl(V, Q') are isomorphic, for any two S(V,Q). This fact will have a profound influence on the structure of spinor
nondegenerate forms Q, Q'. We can write bundles, as we will see in the following sections.
(1.46) Cl(V, Q) x Cl(n), n = dim V. As one example, suppose dimV = 2k is even, and that V has a complex
structure J (i.e., a linear map J : V + V with J2= -I) which is an isometry
PROPOSITION1.6. We have the isomorphisms relative to Q, i.e., Q(u,v) = Q(Ju, Jv). This implies Q(u, Jv) = -Q(Ju,v).
(1.47) Cl(1) x C C , + Denote the complex vector space (V, J ) by V. On V we have the Hermitian
(1.48) Cl(2) x Endc(C2), form (nondegenerate, but perhaps indefinite if Q is)
(1.49) +
Cl(n 2) x Cl(n) 8 Cl(2).
PROOF.We leave (1.47) and (1.48) as exercises. As for (1.49), if you embed
Form the complex exterior algebra
Rn+2 into Cl(n)@C1(2)by picking an orthonormal basis el, .. .,e,+2 and taking
ej H ej 8 en+len+2 for 1 5 j 5 n,
ej H 18 ej for j = n + l , n + 2 ,
SPINORS SPINORS 255
(note that A* V = $ikO A3 V) with its natural Hermitian form. For v E 2), one If V = R2k with its standard (positive) Euclidean metric, standard orthonor-
has the exterior product UA: A& + A&+' V; denote its conjugate by the interior mal basis el,. ..,ezk, we impose the complex structure
product j,: A&+' V + A& V. Set Jet = et+kr Je,+k = -et, 1s < k,
2
of Spin(2k) on S*(2k).
v $ ker p, and since Cl(V, Q) is isomorphic to End(C2 ), which has no proper
two-sided ideals, it follows that p is injective. Since both sides of (1.59) have the
same dimension, p is an isomorphism.
Using the inclusions
If V = RZk-', we use the isomorphism
It is clear that under p, the action of Spin(V, Q) preserves both S+ and S-. In and the action of Cl(n) on Sh(2k), n = 2k or 2k - 1.
fact, we have (1.59) restricting to Let us remark that the definition (1.58) of Muon S(V, Q, J ) shows that Mu is
P: clO(v,&) + Endc(S+(V,Q, J)) @ Endc(S-(V, Q, J)), skew adjoint with respect to the natural Hermitian metric on S(V, Q, J ) = Kc V,
for any v E V. It follows that, if p , $ E A; V, (vp,v$) = -(p,vv$) =
~ ( z )S+
: -
From (1.64), we get representations
S- and ~ ( z )S-
: -
this map being an isomorphism. On the other hand, if z E Cll(V, Q), then
S+.
Q(v)(p, $). In particular this implies p: Spin,(V, Q) -, U (A; V, ( , )), the space
of unitary maps. If Q is positive definite, so is the Hermitian metric on A; V,
and hence the representations Df12 of Spin(2k) are unitary. Of course, since
Spin(2k) and Spin(2k - 1) are compact, their representations would necessarily
DS2: Spin(V,Q) + Aut(S*(V, Q, J)) be unitarizable. Since the representations DF12 are irreducible, the invariant
which are irreducible. Hermitian metric on the representation space is unique, up to a scalar multiple.
256 SPINORS SPINORS 257
2. Spinor bundles and t h e Dirac operator. Let M be a smooth manifold PROPOSITION 2.1. The spinor bundle S(P) is a natural Cl(TM, g) module.
with a nondegenerate metric tensor g. Say n = dim M and g has signature (p, q),
p+q = n. Associated with the tangent bundle T M is the bundle of orthonormal PROOF. Given a section u of Cl(TM,g) and a section cp of ~ ( p )we , need to
frames, which is a principal O(p, q) bundle. Suppose we can reduce the group define u .cp as a section of s(P). We regard u as a function on P with values in
to SO,(p,q). In case the metric is positive definite, this amounts to putting Cl(p, q) and cp as a function on P with values in S(2k). Then u .cp is a function
an orientation on M; if M is Lorentzian, it amounts to also imposing a causal on P with values in S(2k); we need to verify the compatibility condition (2.6).
structure on M. So we have the principal SOe(p,q) bundle Indeed, for po E E?, g E Spine(p,q),
Thus s(P) is a vector bundle over M. The sections of s(P) are in natural one-
to-one correspondence with the functions on P , taking values in the vector space
(2.13) TM -
Meanwhile, we have the natural inclusion
Cl(TM, g),
and hence Clifford multiplication induces a map
S(2k), which satisfy the compatibility conditions
(2.6) ~ ( S P O=) ~ ( 9 )(PO),
f PO E F , 9 E Spin,(p,q). DEFINITION.The Dirac operator
We also have the Clifford bundle
is given by
where the representation T of Spin,(p, q) on Cl(p, q) is given by
If we pick a local orthonormal frame field el,. . .,en on TM, so g(e,, ej) is 1
Compare with (1.16). < < + < +
for 1 j p, -1 for p 1 j < p q, then, locally,
Recall from $1that S(2k) is a Cl(p, q) module. It is an extremely important
fact that this extends to the bundle level.
258 SPINORS SPINORS 259
3. Spinors on four-dimensional Riemannian manifolds. Let M be where ( , ) is the natural inner product on A* V extending the inner product
a four-dimensional oriented Riemannian manifold, with metric tensor g, whose Q( , ) on V, and w is the positively oriented unit element of AnV. If Q is
principal SO(4) frame bundle lifts to a Spin(4) bundle, positive definite, we have
** = ( - I ) ~ ( ~ - ~On) Akv.
Special properties of the spinor bundle S(P) = P xSpinC4) S(4) arise from special In particular, if dimV = 4, we have
properties of a four-dimensional oriented vector space V with a positive definite
quadratic form Q, which we will investigate in this section. *: A'V -+ A2v and * * = 1 on A2v.
Recall from $1that, in general, for dimV = 2k, if a complex structure J is Since * is readily verified to be an isometry with respect to the natural inner
imposed such that Q(Ju) = Q(u), u E V, and if the associated k-dimensional product on A* V, we see that, if dim V = 4,
complex vector space is denoted by V, then Cl(V, Q) acts on Kc V = S. If we
l\"=~r\:@$?v
S+=$ALV, S-=$&v,
3 even 3 odd
* = & I on A:V.
Calculations which we shall perform shortly will show that, for dimV = 4,
P l : C e V -,Hom(S+,S-),
(3.12) L+(*a) = L+(a), L-(*a) = -L-(a), a E A2v.
P2: C e V -+ Horn($-, S+). Thus, L* annihilates A: V. What we will then show is that if, for a vector
Recall that dimc S+ = dimc S- = 2k-1, and
End(E)O = {T E End(E): t r T = 01,
dim Hom(S+, S-) = dimHom(S-, S+) = 22k-2.
then we have
In particular, if dimV = 4 = 2k, then both sides of (3.3) and (3.4) have the
same dimension. Thus the following should be no surprise. PROPOSITION3.2. If dimV = 4, we have isomorphisms
3.1. If dim V = 4, PI and Pz are isomorphisms.
PROPOSITION L*:Av: eC -+ End(&)'.
PROOF.It is easy to see that in general Pl and PZare injective, so this follows Let us now make some explicit computations of the action of V and A2 V on
from the remarks above on dimensions. S = Kc V. Let el, ez, es,e4 be an orthonormal basis of V, positively oriented.
In addition to the maps (3.1), (3.2), in general, for dimV = 2k, we have the A complex structure is defined on V by
Jel=eg, Jez=e4.
L*: A2v@ C + End(&).
Thus V has basis el, ez, and es = iel, er = iez. We have
Here the left side has complex dimension (y)
= k(2k - 1) and the right side has
S- = V.
dimension 22k-2. If 2k = 4, these dimensions are, respectively, six and four. We S+ = c @ A ~ v ,
will show that L+ and L- are isomorphisms from appropriate linear subspaces A basis for S+ is
of A2 V 8 C to certain subspaces of End(S+) and End(%), respectively. The
Hodge star operator plays a role in this analysis. 1, el A ez,
Generally, for n = dimV, the Hodge star operator and a basis for S- is
*: Akv-+I \ n - k ~ el, ez.
Recall the action of V on V is given by
*a A p = (a, p)w v.cp=vAcp-j,cp.
262 SPINORS SPINORS 263
In particular we have, for v E V, Using (3.24), we easily find that the map L+: A2 V C3 C + End(S+) has matrix
representation
and We can also read off a proof of Proposition 3.2 directly from these calculations.
Note that all the matrices in (3.28) are skew adjoint. We thus have
(3.23) - a1 + ias - a2 - ia4
Pz(v) =
- az + ia4 a1 + ia3 PROPOSITION 3.3. If dimV = 4 (with positive definite inner product) we
have the R-isomorphisms
TOrecord this differently, we have
(3.30) L*: AilJ + Skew(S*)O
where Skew(S*)O denotes the space of traceless endomorphisms of S*, skew ad-
joint with respect to the natural inner product on S*.
We next want to see explicitly the action of Spin(4) on S+ and S-. It is
convenient to derive first the action of the Lie algebra of Spin(V, Q) on S+ and
S-. We need therefore to identify this Lie algebra. Note that Spin(V,Q) is a
Lie subgroup of CIX(V, Q), the group of invertible elements of Cl(V, Q). Since
C1(V, Q) is an associative algebra with unit, CIX(V, Q) is open in Cl(V, Q), and
its Lie algebra is naturally identified with Cl(V, Q), with [p, $1 = p.$-$.p. We
want to identify the Lie algebra of Spin(V, Q) as a subspace of Cl(V, Q). Using
Note that P1(ej) = -Pz(ej) (in this 2 x 2 matrix representation) if j # 3, the natural identification Cl(V, Q) w A* V, we have
PI(e3) = Pz(e3). Simple calculations show Pl(ej)Pz(ej) = - I , consistent with
the fact that Pl(v)Pz(v) isequal to theactionof v.von S-, whi1ev.v = -ll~11~-1. PROPOSITION3.4. The Lie algebra of Spin(V,Q) is equal to
These calculations clearly reprove Proposition 3.1. Let us turn to calculations A2v c Cl(V, 9).
~ s*.InCl(V,Q), we h a v e v . w = v ~ w - Q ( v , w ) . l , so
o f t h e a c t i o n o f A 2 on
(3.25) (~Aw)~p=v~(w~p)+Q(v,w)p
This holds for a form Q of signature (p, q), p + q = n = dimV.
PROOF.It is easy to check that A2 V is a Lie subalgebra of Cl(V, Q). Denote
for v, w E V, p E V. In particular by Gothe connected Lie group it generates. One can verify that y E A2 V implies
(3.26) (ejAek).p=ej.(ekep), +
[ y , ~E] V for all s E V, and y y* = 0. If u = exp(y) E Go, then s ++ usu*
gives a homomorphism from Cl(V, Q) to itself, since uu* = 1 in this case, and
Thus
V is preserved. Furthermore, the restriction to V preserves Q. The universal
(3.27) (ej A ek) ' = PZ(ej)Pl(ek)'P, 'P E S+, property of Cl(V, Q) implies such a homomorphism is uniquely determined by
(ej A ek) "P = P~(ej)Pz(ek)rp, 'P E S-. its action on V. But there is a v E Spin,(V, Q) giving such an action on V, since
264 SPINORS
Spin,(V, Q) covers SO,(V, Q), so vzv* = uzu* for all z E Cl(V, Q). This implies
v = fu. It follows that Go = Spin,(V, Q), and the proof is complete.
From Proposition 3.4 we can read off the action of spin(4) on S+ from (3.28),
and similarly analyze the action on S-. Using Proposition 3.3, we have
PROPOSITION3.5. The representation Thus ll~o11~ = -1, and ll~111~= 1 1 ~ 2 1 1= = 1. We can thus identify the
~ 11~311~
complexified Clifford algebra C 8 Cl(3,l) with C 8 C1(4) = C1(4), and hence
(3.31) D S 2 @ Dy,: Spin(4) --, Aut(S+) x Aut(S-) Cl(3,l) acts by Clifford multiplication on S = A; V = I\; C2.
gives an isomorphism As in $3, we set S+ = $, ,
(3.17) and (3.18). The inclusion V = R311
to (3.3), (3.4):
- ej
,,,A& V, S- = odd A& V, with the bases
Cl(3,l) induces maps analogous
the space of symmetric C-bilinear forms on Si. Thus Proposition 3.2 yields
isomorphisms
II The matrices oO,ol, 02,03 are called Pauli matrices. As in $3, we have
in analogy with (3.27). Using (4.5) and (4.6), we obtain We see that S+ and S- do not possess a Spine(3, 1) invariant inner product.
However, by Proposition 4.3, they do possess Spine(3, 1) invariant complex vol-
ume elements, i.e., invariant elements w* of A: S*. These induce isomorphisms
3*:s*-, s;
where Si denotes the dual of S*, the space of complex linear maps from S+ to
C. In other words, an antisymmetric second order "tensor" on S* is used to
"lower (or raise) indices" of spinors. The maps (4.15) in turn give isomorphisms
R*: ~ n d ( ~ * )-', Symm(S+),
and analogous results for LL. We deduce the following result, which is in inter.
esting contrast with Proposition 3.2. the space of symmetric C-bilinear forms on S+. If we let
r*=R*oL',
PROPOSITION4.2. We have R-linear isomorphisms
we deduce, from Proposition 4.2,
LL: r \ 2 ~ 3 , -+' Endc(S*)'.
COROLLARY 4.4. We have the R-linear isomorphhms
Of course, the kernel of Lk on A2 R33' @ C is a complex three-dimensional
linear space, but its intersection with the real vector space A2 R3v1 is zero. The r*:A 2 ~ 3 >-+1 Symm(S5).
difference is partly due to the different behavior of the Hodge star operator on Thw 2-forms on R39' are represented by symmetric 2-component spinors.
A* R33'. Instead of having (3.9), a s is readily verified, one has From the analysis of the action of R3,' on Hom(S+, S-) and on Horn($-, S+)
*: A2R3,' -+ A2R3*' and r * = -1 on r\2~3-1. derived in this section, we can derive the following explicit representation of the
In other words, * imposes a complex structure on A2 ~The computation
~ 9 ' .
Dirac operator on flat Minkowski space R39'. With S = S+$S- % c 4 , we have
(4.9) and its analogue for LL show that, instead of (3.12), one has D: I?(R~-',S) 4 I?(R3,', S)
L;(*a) = iL;(a), L'_ (*a) = -il;'_ (a), a E A2~ ~ 7 ' .
3
The result (4.10) on the action of A2 R39' on End(&), together with the
identification of r\2 R3J with the Lie algebra of Spin,(3,1) given by Proposition
P= r"(alazJ
w=O
where (zo,. ..,23) denote coordinates on R3s1 with respect to the basis EO,...,E3,
PROPOSITION
4.3. The representations and are given by
D$,: Spine(3,1) -,Aut(S+)
both give isomorphisms
The 4 x 4 matrices r O , ...,r3 are known as the Dirac matrices. Recall that
Spine(3, 1) SL(2, C).
a',. .., a 3 are the Pauli matrices, given by (4.5).
PROOF.In view of the fact that, for a matrix A, det(esA) = e s t r A , we see
that Spine(3, 1) is represented by elements of SL(2, C ) in both cases (4.13). The
isomorphism (4.10) shows that the maps DfI2:Spin(3, 1) 4 SL(2, C) are local
isomorphisms. Since both Spine(3, 1) and SL(2, C) are connected double covers
of SOe(3, I), it follows that these maps are isomorphisms.
It can be verified that the two representations D S 2 of Spin,(3,1) on C 2 are
not equivalent. Their characters are complex conjugates of each other. Thus
D,/, is the adjoint of DS,.
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Index