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For $X\in L$, define the Adjoint representation of a Lie algebra by ${\mathrm{ad}}_X(Y)=[X,Y]$. The Jacobi identity gives, for every $Z$,Thus $\mathrm{ad}$ preserves brackets and is a Lie algebra representation. Its Killing form isUsing the representation identity and the cyclic property of the trace,The Killing form is also symmetric by cyclicity.

In a basis $T_a$, write $[T_a,T_b]=c_{ab}{}^d{T}_d$. The lowered structure constants satisfyThe first expression is antisymmetric in $a,b$ and the second in $b,c$. These transpositions generate all permutations, so $c_{abc}$ is totally antisymmetric.

An invariant subspace of $L$ under its Adjoint representation of a Lie algebra is exactly an ideal of a Lie algebra: $[L,I]\subseteq I$. A simple Lie algebra has no nonzero proper ideal, proving the adjoint representation is irreducible.

Put $D_X=d(X)$. The same trace calculation proves invariance of the Trace form of a Lie algebra representation:Because the $D_X$ are anti-Hermitian, $H$ is a real symmetric bilinear form. The Killing form of a simple compact Lie algebra is negative definite. Define a real linear map $T$ by $H(X,Y)=\kappa (TX,Y)$. Invariance of both forms implies that $T$ commutes with every ${\mathrm{ad}}_Z$, while symmetry makes $T$ self-adjoint for the positive inner product $-\kappa$. By the spectral theorem, its real eigenspaces are invariant under the Adjoint representation of a Lie algebra. Irreducibility forces a single eigenvalue, so $T=\mu I$ and $H=\mu \kappa$. This also avoids the extra care needed when applying the complex form of the Schur lemma to a real vector space.

The kernel of $d$ is an ideal of a Lie algebra. It cannot be all of $L$: a trivial representation of dimension greater than one is reducible. Simplicity therefore makes $d$ faithful. For every nonzero $X$,Hence the positive trace index for a compact simple Lie algebra givesin the adapted basis.

For the cubic trace tensor of a Lie algebra representation, the identityexpands toSet $Y=T_d$, $X=T_a$, $Z=T_b$, $W=T_c$. Cyclicity of $B$ converts $B_{\ell bc}$ to $B_{bc\ell }$ and $B_{a\ell c}$ to $B_{ca\ell }$. Thus the invariance identity for a cubic trace tensor is

For the final contraction, it is important to keep the specified index-raising convention. In the adapted basis write $C_{ab}{}^c=c_{ab}{}^c$. Then $c_{abc}=-C_{ab}{}^c$, while raising the last two indices with ${\kappa }^{ab}=-{\delta }^{ab}$ gives $c_a{}^{mn}=-C_{am}{}^n$. Total antisymmetry and the definition of the Killing form implyOnly the antisymmetric part of $B$ in $m,n$ contributes, soConsequently the Killing-normalized contraction of a cubic trace tensor isThe negative sign printed in the last requested identity is incompatible with raising indices by the inverse Killing form. The opposite sign is obtained if one instead defines the lowered structure constants using the positive Euclidean metric, a different convention from the one specified.

For a concrete check, take the two-dimensional representation of $\mathfrak{su}(2)$ with $T_a=-i{\sigma }_a/(2\sqrt{2})$, where the ${\sigma }_a$ are Pauli matrices. ThenTheir contraction is $+{\delta }_{ab}/8$, confirming the positive sign with $\mu =1/4$ and providing a counterexample to the printed sign.

Take a local gauge transformation $g(x)$ acting on the adjoint field by ${\Phi }^{\prime }=g\Phi g^{-1}$. The connection convention $D_{\mu }={\partial }_{\mu }+[A_{\mu },\cdot ]$ is compatible withIndeed, differentiating ${\Phi }^{\prime }$ gives the extra commutator $[({\partial }_{\mu }g)g^{-1},{\Phi }^{\prime }]$, exactly cancelled by the inhomogeneous term in the transformed gauge potential.

For a direct proof of the Yang-Mills gauge transformation of curvature, put ${\Omega }_{\mu }=({\partial }_{\mu }g)g^{-1}$ and $B_{\mu }=g{A}_{\mu }{g}^{-1}$. Differentiation givesSubstituting $A_{\mu }^{\prime }=B_{\mu }-{\Omega }_{\mu }$ into the Yang-Mills field strength cancels all terms involving $\Omega$ and leavesThis direct calculation also applies when the adjoint action has a kernel.

Expand $D_{\mu }{F}_{\nu \rho }+D_{\nu }{F}_{\rho \mu }+D_{\rho }{F}_{\mu \nu }$. The mixed second derivatives of $A$ cancel in pairs. The first-derivative terms from differentiating $[A_{\nu },A_{\rho }]$ cancel the terms from $[A_{\mu },{\partial }_{\nu }{A}_{\rho }-{\partial }_{\rho }{A}_{\nu }]$. The remaining sum isby the Jacobi identity. Thus the gauge-theory Bianchi identity is

For the variation of the Yang-Mills action, write $a_{\mu }=\delta A_{\mu }$. Differentiating the curvature gives $\delta F_{\mu \nu }=D_{\mu }{a}_{\nu }-D_{\nu }{a}_{\mu }$. Invariance of the Killing form impliesThis is invariant integration by parts for a gauge covariant derivative. Using symmetry of the Killing form, antisymmetry of $F$, and compactly supported variations,Since the Killing form of a semisimple Lie algebra is nondegenerate and the variations are arbitrary, the Yang-Mills equations are

For the constant Yang-Mills theta term, symmetry under exchanging the two antisymmetric index pairs givesup to the boundary variation of the Yang-Mills theta term. Contracting the gauge-theory Bianchi identity with ${ϵ}^{\mu \nu \rho \sigma }$ makes the last integrand vanish. Therefore a constant theta term does not alter the bulk Yang-Mills equations: $D_{\mu }{F}^{\mu \nu }=0$. Its variation is a boundary term, so this conclusion uses compact support or boundary conditions that remove that term.

Finally apply $D^{\rho }$ to the gauge-theory Bianchi identity, obtainingThe adjoint covariant derivative obeys $[D_{\alpha },D_{\beta }]X=[F_{\alpha \beta },X]$. Commute $D^{\rho }$ past the other derivative. The differentiated divergences vanish by the Yang-Mills equations, leavingIn the last line the second commutator needs its sign tracked carefully: directly,Thus the simplified sum gives the covariant wave equation for the Yang-Mills field strengthAll spacetime derivatives and index manipulations here use the fixed flat metric.

Use $\omega ={\sum }_{i}d{q}_i\wedge d{p}_i$, ${\iota }_{X_f}\omega =df$ andThen $X_f(g)=\{g,f\}$ and $[X_f,X_g]=-X_{\{f,g\}}$. For a left group action, let ${\xi }_P(p)={\frac{d}{dt}|}_0\exp (t\xi )\cdot p$; its fundamental fields obey $[{\xi }_P,{\eta }_P]=-[\xi ,\eta {]}_P$.

The components of a moment map satisfyThus ${\xi }_P=X_{{\mu }_{\xi }}$. A Hamiltonian moment map additionally has coadjoint equivariance,Here the right side evaluates on $\xi$ as $⟨\mu (p),{\mathrm{Ad}}_{g^{-1}}\xi ⟩$. With that convention its infinitesimal form is $\{{\mu }_{\xi },{\mu }_{\eta }\}={\mu }_{[\xi ,\eta ]}$. Some definitions reserve “moment map” for this equivariant version; choosing Hamiltonians for every generator first gives a weakly Hamiltonian action.

To derive the obstruction, compare the two antihomomorphism identities:On connected $P$, nondegeneracy of $\omega$ makesa constant alternating bilinear form. The two Jacobi identities implyReplacing ${\mu }_{\xi }$ by ${\mu }_{\xi }+b(\xi )$ changes $\kappa$ to $\kappa -b([\xi ,\eta ])$. Thus vanishing of this class in Lie algebra cohomology is the precise moment-map equivariance obstruction. In particular a connected group with $H^2(\mathfrak{g},\mathbb{R})=0$ permits constants to be chosen so that the component Poisson algebra is the Lie algebra. A locally effective action makes this realization faithful; otherwise it realizes the quotient by the infinitesimal kernel. The linear span of the components has the Lie brackets; the entire algebra of polynomial products of them is, of course, larger.

A useful sufficient condition is semisimplicity, which can be proved here without assuming the desired equivariance. Let $B$ be the nondegenerate Killing form and define $D$ by $B(D\xi ,\eta )=\kappa (\xi ,\eta )$. Invariance of $B$ and the cocycle identity giveso $D$ is a derivation. Choose $Z$ uniquely by $B(Z,\xi )=\mathrm{tr}(D\mathrm{ad}\xi )$. Since $[D,\mathrm{ad}\xi ]=\mathrm{ad}(D\xi )$, cyclicity of trace givesHence $D=\mathrm{ad}Z$ and $\kappa (\xi ,\eta )=B(Z,[\xi ,\eta ])$. The shift $b(\xi )=B(Z,\xi )$ removes the obstruction. This proves semisimple moment-map equivariance; for connected $G$ infinitesimal equivariance integrates along its one-parameter subgroups to group equivariance. It does not claim that arbitrary symplectic actions of arbitrary groups have moment maps.

For the Kepler calculation, put $k=Mm$ and work on $r=|\mathbf{r}|>0$, since the Hamiltonian is singular at the origin. The Hamilton equations areThe angular momentum therefore obeysFor the Runge-Lenz vector,The vector triple product identity gives $\mathbf{r}\times \mathbf{L}=\mathbf{r}(\mathbf{r}\cdot \mathbf{p})-r^2\mathbf{p}$. Thereforeand the terms cancel. Since $\dot{f}=\{f,H\}$, this proves

The conserved quantities consequently generate transformations preserving energy. Their brackets give the Kepler dynamical symmetry algebra. On $H<0$, define $\mathbf{A}=\mathbf{K}/\sqrt{-2H}$ as a function on that whole open region. Because $H$ Poisson commutes with both vectors, its brackets areWith ${\mathbf{J}}_{\pm }=(\mathbf{L}\pm \mathbf{A})/2$ one obtains two commuting $\mathfrak{so}(3)$ algebras:Thus the negative-energy algebra is $\mathfrak{so}(4)$. On $H>0$, using $\mathbf{A}=\mathbf{K}/\sqrt{2H}$ instead changes the last bracket to $-{ϵ}_{ijk}{L}_k$, yielding $\mathfrak{so}(3,1)$, with $\mathbf{L}$ rotations and $\mathbf{A}$ boosts. At zero energy the brackets of conserved functions on the characteristic orbit quotient give $\mathfrak{e}(3)=\mathfrak{so}(3)⋉{\mathbb{R}}^3$, with commuting $\mathbf{K}$.

There are two global qualifications. First, an energy hypersurface carries a presymplectic form: its restricted two-form has characteristic direction $X_H$. At $H=0$, the literal vector fields of $\mathbf{K}$ need only commute modulo $X_H$, since differentiating $\{K_i,K_j\}=-2H{ϵ}_{ijk}{L}_k$ still produces an $L_k{X}_H$ term. On nonzero-energy regions the energy-dependent normalization above gives an exact Hamiltonian Lie algebra; one must differentiate that normalization before restricting to a level. Second, completeness is required for a global group action. The collision-excluded Kepler phase space need not have complete hidden-symmetry flows, so the brackets establish local actions (or the appropriate simply connected covers), not an unconditional global action on every unregularized trajectory. Collision regularization supplies the familiar global bound-motion symmetry; this distinction is developed in math.berkeley.edu/~alanw/277papers00/tang.pdf . It does not change the three energy-dependent Lie algebras just derived.

A principal bundle $\pi :P\to B$ with structure group $G$ has a smooth free right $G$-action, each fibre is a single orbit, and it is locally equivariantly isomorphic to $U\times G\to U$. A representation $\rho :G\to GL(V)$ defines the associated vector bundleLocal sections of $P$ identify $E$ with $U\times V$, and changes of section act by $\rho$ on the fibre coordinates.

A principal bundle is trivial if and only if it has a global smooth section. Given $s:B\to P$, the map $(b,g)\mapsto s(b)g$ is an equivariant isomorphism $B\times G\to P$: freeness and transitivity give its unique inverse on each fibre, and local trivializations make that inverse smooth. Conversely a product bundle has section $b\mapsto (b,e)$. This proves principal bundle trivialization by a global section. A contractible paracompact base is a sufficient condition for triviality of such a bundle; local sections alone are insufficient on a general base.

A manifold is parallelizable when its tangent bundle is trivial, equivalently when it possesses a global smooth frame. The circle $S^1$ is an example, with its nowhere-vanishing unit tangent field. The sphere $S^3$ is another: regard it as the unit quaternions. At a unit quaternion $q$, the three tangent vectors $qi,qj,qk$ are independent and smoothly depend on $q$. Quaternion multiplication preserves the norm, so these form an orthonormal frame. This gives the quaternionic left-invariant frame on the three-sphere.

For any Lie group $G$ of dimension $n$, choose a basis $E_1,\dots ,E_n$ of $T_{e}G$. Left translations defineThese fields are smooth; at every $g$, the differential of the diffeomorphism $L_g$ is invertible, so they are a basis of $T_{g}G$. Hence every Lie group manifold is parallelizable, as in parallelization of a Lie group by left translations.

For a real semisimple Lie group, let $B(X,Y)=\mathrm{tr}(\mathrm{ad}X\mathrm{ad}Y)$ be the Killing form. It is nondegenerate and invariant under the adjoint action. Left translating $B$ gives a bi-invariant pseudo-Riemannian metric. For left-invariant fields, the Koszul formula reduces toThus ${\nabla }_{X}Y=[X,Y]/2$. The curvature convention of Question 1 givesTo obtain the Ricci tensor, trace the linear map $X\mapsto R(X,Y)Z$. Since $[[X,Y],Z]=\mathrm{ad}Z\mathrm{ad}YX$,This proves the Killing-form Einstein metric construction for every real semisimple group. If $G$ is compact semisimple, $-B$ is positive definite and its Ricci tensor is $-\frac{1}{4}B=\frac{1}{4}g$, giving a Riemannian Einstein metric. For a noncompact semisimple group the general Killing-form construction is indefinite. Thus the unrestricted assertion is understood in the pseudo-Riemannian sense appropriate here; positive definiteness is not obtained by simply taking $-B$ in the noncompact case.

For a finite-dimensional Lie algebra, the Killing form is defined using the Adjoint representation on the algebra itself, rather than the given Lie algebra representation $d$:The Jacobi identity gives ${\mathrm{ad}}_{[X,Y]}=[{\mathrm{ad}}_X,{\mathrm{ad}}_Y]$. Using the cyclic property of the trace,The same trace identity makes the Killing form symmetric. For a basis $(t_a)$, the lowered structure constants of a Lie algebra are $c_{abc}=\kappa ([t_a,t_b],t_c)$. Antisymmetry of the Lie bracket gives $c_{abc}=-c_{bac}$, while invariance gives $c_{abc}=\kappa (t_a,[t_b,t_c])=-c_{acb}$. The two adjacent transpositions generate every permutation, proving the antisymmetry of Killing-lowered structure constants: $c_{abc}$ is totally antisymmetric, even if the Killing form is degenerate.

A semisimple Lie algebra has no nonzero solvable ideal; equivalently, its solvable radical is zero, or, in characteristic zero, its Killing form is nondegenerate. A real compact Lie algebra is the algebra of some compact Lie group, equivalently an algebra admitting a positive-definite invariant bilinear form on a Lie algebra. For a real semisimple Lie algebra the compactness criterion from the Killing form says precisely that $\kappa$ is negative-definite. A compact algebra with a nonzero abelian center has a degenerate Killing form, so the semisimplicity qualification matters.

For a semisimple Lie algebra, let ${\kappa }^{ab}$ denote the inverse matrix of ${\kappa }_{ab}=\kappa (t_a,t_b)$. Its Casimir operator in $d$ isThis contraction is independent of the chosen basis. To prove centrality directly, put $[X,t_b]=A^a{}_b{t}_a$. Invariance gives $A^{\mathsf{T}}\kappa +\kappa A=0$, hence $A{\kappa }^{-1}+{\kappa }^{-1}{A}^{\mathsf{T}}=0$. The Lie algebra representation property and the product rule for a commutator now giveIndeed, the coefficient of $d(t_c)d(t_b)$ in this expression is $(A{\kappa }^{-1}+{\kappa }^{-1}{A}^{\mathsf{T}}{)}^{cb}$. Thus $[d(X),C]=0$ for every $X$. No irreducibility of $d$ is required.

The matrix units obey $E_{ij}{E}_{pq}={\delta }_{jp}{E}_{iq}$. Consequently the general linear Lie algebra $\mathcal{M}={\mathfrak{gl}}_n(\mathbb{R})$ hasFor its Killing form, write $L_X(Z)=XZ$ and $R_X(Z)=ZX$, so that ${\mathrm{ad}}_X=L_X-R_X$. Left multiplication acts identically on each of the $n$ columns, and right multiplication identically on each of the $n$ rows. Thus $\mathrm{Tr}(L_X{L}_Y)=\mathrm{Tr}(R_X{R}_Y)=n\mathrm{tr}(XY)$. The diagonal coefficient of $L_X{R}_Y$ on $E_{ij}$ is $X_{ii}{Y}_{jj}$, giving $\mathrm{Tr}(L_X{R}_Y)=\mathrm{tr}X\mathrm{tr}Y$; the other mixed trace is identical. This proves the Killing form of the general linear Lie algebra:The scalar matrices form a nonzero central abelian ideal, so $\mathcal{M}$ is not semisimple for any $n\ge 1$. More explicitly, the radical of the Killing form is $\mathbb{R}I$, since vanishing against every $Y$ forces $nX-(\mathrm{tr}X)I=0$ by nondegeneracy of the trace pairing. For $n\ge 2$, take $H=E_{11}-E_{22}$. Then $\kappa (H,H)=4n>0$, whereas a positive-definite invariant inner product would make every adjoint map skew and hence give $\kappa (X,X)\le 0$. Therefore $\mathcal{M}$ is not compact when $n\ge 2$. For the allowed exceptional value $n=1$, the abstract abelian algebra $\mathbb{R}$ is a compact Lie algebra, being isomorphic to the algebra of $U(1)$; the particular matrix group $G{L}_1(\mathbb{R})$ is nevertheless noncompact. This distinguishes compactness of an algebra from that of a chosen group realizing it.

For the final algebra, the printed basis specifies strictly upper triangular matrices. If $i<j$ and $p<q$, the first term in $[E_{ij},E_{pq}]$ can be nonzero only when $i<j=p<q$, and then $E_{iq}$ is strictly upper triangular; the second can be nonzero only when $p<q=i<j$, and then $E_{pj}$ is strictly upper triangular. Bilinearity proves closure under the Lie bracket. To compute its own Killing form, grade $E_{ij}$ by the positive integer $j-i$. Bracketing with any basis element increases that degree whenever the result is nonzero. In a basis ordered by degree, all adjoint maps are strictly triangular, as are their products. Every such product has zero trace, so the Killing form of a nilpotent Lie algebra vanishes here. Therefore the subspace denoted by a prime in the PDF isThis is the defined radical of the Killing form, not the derived algebra; for $n=1$ both $\mathcal{L}$ and this radical are zero.

Covariance of the fundamental gauge covariant derivative requires $D_{\mu }^{f\prime }(g\chi )=g{D}_{\mu }^f\chi$ for every column $\chi$. Expanding the left side and cancelling $g{\partial }_{\mu }\chi$ gives $({\partial }_{\mu }g)+A_{\mu }^{\prime }g=g{A}_{\mu }$. Therefore the necessary and sufficient Yang-Mills gauge transformation isIn operator notation $D_{\mu }^{f\prime }=g{D}_{\mu }^f{g}^{-1}$. Expanding its commutator on an arbitrary column shows $[D_{\mu }^f,D_{\nu }^f]\chi =F_{\mu \nu }\chi$: the second derivatives cancel, as do the terms containing a single derivative of $\chi$. Conjugating this identity proves the gauge field strength transformationThus the gauge field strength transforms homogeneously even though the potential has an inhomogeneous derivative term.

For the adjoint scalar field, write $B_{\mu }=({\partial }_{\mu }g)g^{-1}$ and ${\Phi }^{\prime }=g\Phi g^{-1}$. Differentiating the inverse matrix givesThe extra terms cancel, proving $D_{\mu }^{\prime }{\Phi }^{\prime }=g(D_{\mu }\Phi )g^{-1}$ for the adjoint covariant derivative. Its curvature is obtained by another direct expansion:where the Jacobi identity combines the last two terms.

For the equations of motion take compactly supported variations, and assume $e\ne 0$, as required by the Lagrangian coefficient. Invariance of the Killing form impliesIndeed, the two connection terms sum to $\kappa ([A_{\mu },X],Y)+\kappa (X,[A_{\mu },Y])=0$. This is the gauge-covariant integration by parts identity. The needed variations areAntisymmetry of the gauge field strength combines its two variation terms. Applying gauge-covariant integration by parts to the action $S=\int \mathcal{L}{d}^{4}x$ givesHere $\kappa ([\delta A_{\nu },\Phi ],D^{\nu }\Phi )=\kappa (\delta A_{\nu },[\Phi ,D^{\nu }\Phi ])$ fixes the sign of the scalar current. Since the Killing form is nondegenerate on a semisimple Lie algebra, independent variations give the coupled Yang-Mills equations and scalar equationEquivalently, $D_{\mu }{F}^{\mu \nu }=e^2[D^{\nu }\Phi ,\Phi ]$. These signs use the stated Minkowski metric, with upper spatial derivatives $D^i=-D_i$.

It remains to verify every equation for the static Bogomolny equations. The hypotheses imply $F_{0i}=0$ and $D_0\Phi =0$, so the temporal gauge equation is automatically zero. The gauge-theory Bianchi identityfollows, for example, from the Jacobi identity for the fundamental gauge covariant derivatives, using their commutator $F_{ij}$. Define $B_i=\frac{1}{2}{\epsilon }_{ijk}{F}_{jk}$. Contracting the gauge-theory Bianchi identity with ${\epsilon }_{ijk}$ gives $D_i{B}_i=0$. The Bogomolny equations say $B_i=e{D}_i\Phi$, so $e\ne 0$ implies $D_i{D}_i\Phi =0$. In the static configuration $D_{\mu }{D}^{\mu }\Phi =-D_i{D}_i\Phi$, verifying the scalar equation.

For the spatial gauge equation, use $F^{ij}=F_{ij}$ and $D^j\Phi =-D_j\Phi$. The Bogomolny equations, the curvature commutator proved above, and the contraction of two Levi-Civita symbols givesince ${\epsilon }_{ijk}{\epsilon }_{ik\ell }=-2{\delta }_{j\ell }$. This is exactly $D_i{F}^{ij}+e^2[\Phi ,D^j\Phi ]=0$. Thus the static first-order Bogomolny system satisfies all four gauge equations and the scalar equation, with no extra ansatz or boundary assumption needed for this local implication. This is the mechanism by which Bogomolny monopole equations imply Yang-Mills-Higgs equations.

Work with a complex semisimple Lie algebra and its root system $R$ in the real span $E$ of the roots of a root system. The Killing form induces a positive definite inner product on this real root space, after the usual identification with the dual of the real span of the coroots. For each root $\alpha$, its Weyl reflection isThe Weyl group is $\boxed{W=⟨s_{\alpha }:\alpha \in R⟩}$. The structural facts being used are that these reflections preserve the finite root system, that the roots span $E$, and that the reflections in the simple roots already generate $W$. Thus $W$ is finite: it acts faithfully as permutations of $R$. Equivalently, it is the normalizer of the Cartan subalgebra modulo its centralizer in the associated adjoint group.

For a finite-dimensional Lie algebra, the Killing form is the symmetric bilinear formIn the root-space decomposition of this semisimple Lie algebra, $\mathrm{ad}H$ acts as zero on the abelian Cartan subalgebra and as multiplication by $\alpha (H)$ on ${\mathfrak{g}}_{\alpha }$. For $H,K\in \mathfrak{h}$, their product thus acts as multiplication by $\alpha (H)\alpha (K)$ on each root space. Every root space here is one-dimensional. Taking the trace over the two-dimensional Cartan subalgebra and the eight root spaces provesFor a general weight decomposition the trace would include the corresponding weight multiplicities; the root multiplicities are one in the semisimple setting here.

The PDF's specified five-by-five diagonal matrix is $H=H_1$, so ${\epsilon }_1(H)=1$ and ${\epsilon }_2(H)=0$. In the root sum for the Killing form, the two short roots $\pm {\epsilon }_1$ contribute $1+1$, the two short roots $\pm {\epsilon }_2$ contribute zero, and the four long roots $\pm {\epsilon }_1\pm {\epsilon }_2$ each contribute one. ThereforeThis computation uses the original PDF matrix; the converted TeX incorrectly gives its dimensions.

For a finite-dimensional Lie algebra, write $A_X=\mathrm{ad}X$ for its Adjoint representation. The Killing form is the symmetric bilinear formThe Jacobi identity gives $A_{[X,Y]}=[A_X,A_Y]$. Using the cyclic property of the trace,Thus it is an invariant bilinear form on a Lie algebra. If $[T_a,T_b]=f_{ab}{}^c{T}_c$, the adjoint matrix has entries $(A_{T_a}{)}^c{}_b=f_{ab}{}^c$. Its trace product yields the structure constants of a Lie algebra formulaA semisimple Lie algebra has zero solvable radical, equivalently no nonzero solvable ideal. In characteristic zero, the Cartan criterion for semisimplicity characterizes it by nondegeneracy of its Killing form. A real compact Lie algebra is the Lie algebra of a compact Lie group, equivalently one admitting a positive-definite invariant inner product. For a real semisimple algebra, the compactness criterion from the Killing form says compactness is equivalent to negative-definiteness of $\kappa$. An abelian compact-type algebra has zero Killing form, so this last characterization specifically concerns the semisimple case.