Preface |
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Notation |
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ix | |
1 Mathematical structures |
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1 | (4) |
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1.1 Classifying mathematical concepts |
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1 | (1) |
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1.2 Defining mathematical structures and mappings |
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2 | (3) |
2 Abstract algebra |
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5 | (22) |
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5 | (3) |
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6 | (2) |
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8 | (1) |
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8 | (9) |
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2.2.1 Inner products of vectors |
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10 | (1) |
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11 | (1) |
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2.2.3 Multilinear forms on vectors |
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12 | (2) |
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2.2.4 Orthogonality of vectors |
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14 | (1) |
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2.2.5 Algebras: multiplication of vectors |
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15 | (1) |
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16 | (1) |
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2.3 Combining algebraic objects |
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17 | (5) |
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2.3.1 The direct product and direct sum |
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18 | (1) |
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19 | (1) |
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20 | (2) |
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2.4 Dividing algebraic objects |
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22 | (3) |
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22 | (1) |
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2.4.2 Semidirect products |
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23 | (1) |
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24 | (1) |
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2.4.4 Related constructions and facts |
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25 | (1) |
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25 | (2) |
3 Vector algebras |
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27 | (24) |
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3.1 Constructing algebras from a vector space |
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27 | (11) |
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27 | (1) |
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3.1.2 The exterior algebra |
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28 | (2) |
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3.1.3 Combinatorial notations |
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30 | (2) |
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32 | (2) |
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34 | (1) |
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34 | (2) |
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36 | (2) |
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3.2 Tensor algebras on the dual space |
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38 | (6) |
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3.2.1 The structure of the dual space |
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38 | (2) |
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40 | (1) |
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3.2.3 Tensors as multilinear mappings |
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40 | (1) |
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3.2.4 Abstract index notation |
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41 | (2) |
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3.2.5 Tensors as multi-dimensional arrays |
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43 | (1) |
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44 | (7) |
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3.3.1 Exterior forms as multilinear mappings |
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44 | (1) |
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3.3.2 Exterior forms as completely anti-symmetric tensors |
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45 | (1) |
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3.3.3 Exterior forms as anti-symmetric arrays |
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46 | (1) |
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3.3.4 The Clifford algebra of the dual space |
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46 | (1) |
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3.3.5 Algebra-valued exterior forms |
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47 | (2) |
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3.3.6 Related constructions and facts |
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49 | (2) |
4 Topological spaces |
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51 | (16) |
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4.1 Generalizing surfaces |
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51 | (4) |
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52 | (1) |
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4.1.2 Generalizing dimension |
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52 | (1) |
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4.1.3 Generalizing tangent vectors |
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53 | (1) |
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4.1.4 Existence and uniqueness of additional structure |
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53 | (1) |
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54 | (1) |
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55 | (5) |
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56 | (1) |
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57 | (3) |
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60 | (7) |
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60 | (1) |
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61 | (1) |
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62 | (2) |
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64 | (3) |
5 Algebraic topology |
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67 | (16) |
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5.1 Constructing surfaces within a space |
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68 | (3) |
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68 | (1) |
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69 | (1) |
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70 | (1) |
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71 | (1) |
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5.2 Counting holes that aren't boundaries |
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71 | (5) |
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5.2.1 The homology groups |
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71 | (2) |
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73 | (2) |
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5.2.3 Calculating homology groups |
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75 | (1) |
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5.2.4 Related constructions and facts |
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75 | (1) |
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5.3 Counting the ways a sphere maps to a space |
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76 | (7) |
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5.3.1 The fundamental group |
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77 | (2) |
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5.3.2 The higher homotopy groups |
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79 | (1) |
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5.3.3 Calculating the fundamental group |
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80 | (1) |
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5.3.4 Calculating the higher homotopy groups |
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80 | (1) |
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5.3.5 Related constructions and facts |
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80 | (3) |
6 Manifolds |
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83 | (28) |
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6.1 Defining coordinates and tangents |
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84 | (8) |
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84 | (1) |
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6.1.2 Tangent vectors and differential forms |
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85 | (4) |
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89 | (2) |
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6.1.4 Tangent vectors in terms of frames |
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91 | (1) |
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92 | (4) |
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92 | (1) |
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6.2.2 The differential and pullback |
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92 | (2) |
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6.2.3 Immersions and embeddings |
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94 | (1) |
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95 | (1) |
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6.3 Derivatives on manifolds |
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96 | (11) |
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96 | (1) |
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6.3.2 The Lie derivative of a vector field |
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97 | (2) |
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6.3.3 The Lie derivative of an exterior form |
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99 | (2) |
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6.3.4 The exterior derivative of a 1-form |
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101 | (3) |
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6.3.5 The exterior derivative of a k-form |
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104 | (2) |
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6.3.6 Relationships between derivations |
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106 | (1) |
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6.4 Homology on manifolds |
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107 | (4) |
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107 | (1) |
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108 | (1) |
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109 | (2) |
7 Lie groups |
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111 | (30) |
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7.1 Combining algebra and geometry |
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111 | (2) |
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7.1.1 Spaces with multiplication of points |
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111 | (1) |
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7.1.2 Vector spaces with topology |
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112 | (1) |
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7.2 Lie groups and Lie algebras |
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113 | (6) |
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7.2.1 The Lie algebra of a Lie group |
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114 | (1) |
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7.2.2 The Lie groups of a Lie algebra |
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115 | (1) |
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7.2.3 Relationships between Lie groups and Lie algebras |
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116 | (1) |
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7.2.4 The universal cover of a Lie group |
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117 | (2) |
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119 | (8) |
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7.3.1 Lie algebras of matrix groups |
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119 | (1) |
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120 | (2) |
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7.3.3 Matrix groups with real entries |
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122 | (1) |
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7.3.4 Other matrix groups |
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123 | (1) |
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7.3.5 Manifold properties of matrix groups |
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124 | (2) |
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7.3.6 Matrix group terminology in physics |
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126 | (1) |
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127 | (8) |
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128 | (2) |
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7.4.2 Group and algebra representations |
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130 | (1) |
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7.4.3 Lie group and Lie algebra representations |
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131 | (1) |
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7.4.4 Combining and decomposing representations |
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132 | (2) |
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7.4.5 Other representations |
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134 | (1) |
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7.5 Classification of Lie groups |
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135 | (6) |
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136 | (2) |
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7.5.2 Simple Lie algebras |
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138 | (2) |
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7.5.3 Classifying representations |
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140 | (1) |
8 Clifford groups |
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141 | (20) |
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8.1 Classification of Clifford algebras |
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141 | (8) |
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141 | (2) |
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8.1.2 Representations and spinors |
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143 | (2) |
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8.1.3 Pauli and Dirac matrices |
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145 | (3) |
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8.1.4 Chiral decomposition |
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148 | (1) |
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8.2 Clifford groups and representations |
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149 | (12) |
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149 | (1) |
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150 | (2) |
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8.2.3 Lie group properties |
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152 | (1) |
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8.2.4 Lorentz transformations |
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153 | (3) |
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8.2.5 Representations in spacetime |
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156 | (3) |
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8.2.6 Spacetime and spinors in geometric algebra |
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159 | (2) |
9 Riemannian manifolds |
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161 | (56) |
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9.1 Introducing parallel transport of vectors |
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161 | (14) |
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161 | (1) |
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9.1.2 The parallel transporter |
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162 | (1) |
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9.1.3 The covariant derivative |
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163 | (2) |
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165 | (1) |
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9.1.5 The covariant derivative in terms of the connection |
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166 | (3) |
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9.1.6 The parallel transporter in terms of the connection |
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169 | (1) |
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9.1.7 Geodesics and normal coordinates |
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170 | (2) |
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172 | (3) |
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9.2 Manifolds with connection |
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175 | (19) |
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9.2.1 The covariant derivative on the tensor algebra |
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175 | (2) |
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9.2.2 The exterior covariant derivative of vector-valued forms |
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177 | (2) |
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9.2.3 The exterior covariant derivative of algebra-valued forms |
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179 | (2) |
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181 | (3) |
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184 | (3) |
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9.2.6 First Bianchi identity |
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187 | (3) |
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9.2.7 Second Bianchi identity |
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190 | (3) |
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193 | (1) |
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9.3 Introducing lengths and angles |
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194 | (23) |
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9.3.1 The Riemannian metric |
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194 | (2) |
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9.3.2 The Levi-Civita connection |
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196 | (2) |
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9.3.3 Independent quantities and dependencies |
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198 | (1) |
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9.3.4 The divergence and conserved quantities |
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199 | (4) |
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9.3.5 Ricci and sectional curvature |
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203 | (3) |
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9.3.6 Curvature and geodesics |
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206 | (3) |
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9.3.7 Jacobi fields and volumes |
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209 | (3) |
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212 | (3) |
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9.3.9 Related constructions and facts |
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215 | (2) |
10 Fiber bundles |
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217 | (48) |
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217 | (5) |
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10.1.1 Matter fields and gauges |
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217 | (1) |
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10.1.2 The gauge potential and field strength |
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218 | (1) |
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219 | (3) |
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222 | (7) |
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222 | (3) |
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225 | (1) |
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226 | (3) |
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10.3 Generalizing tangent spaces |
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229 | (17) |
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10.3.1 Associated bundles |
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229 | (1) |
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230 | (3) |
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233 | (4) |
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10.3.4 Gauge transformations on frame bundles |
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237 | (4) |
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10.3.5 Smooth bundles and jets |
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241 | (1) |
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10.3.6 Vertical tangents and horizontal equivariant forms |
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242 | (4) |
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10.4 Generalizing connections |
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246 | (13) |
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10.4.1 Connections on bundles |
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246 | (1) |
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10.4.2 Parallel transport on the frame bundle |
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247 | (3) |
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10.4.3 The exterior covariant derivative on bundles |
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250 | (1) |
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10.4.4 Curvature on principal bundles |
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251 | (1) |
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10.4.5 The tangent bundle and solder form |
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252 | (4) |
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10.4.6 Torsion on the tangent frame bundle |
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256 | (1) |
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257 | (2) |
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10.5 Characterizing bundles |
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259 | (6) |
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259 | (3) |
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10.5.2 Characteristic classes |
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262 | (1) |
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10.5.3 Related constructions and facts |
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263 | (2) |
Appendix A Categories and functors |
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265 | (4) |
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A.1 Generalizing sets and mappings |
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265 | (1) |
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266 | (3) |
Bibliography |
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269 | (2) |
Index |
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