Diffeomorphic to the 3 sphere.

The $U(1)$ unitary group is one very over-generalized way of looking at it :-)

The complex analogue of the special orthogonal group, i.e. the subgroup of the unitary group with determinant equals exactly 1 instead of an arbitrary complex number with absolute value equal 1 as is the case for the unitary group.

Double cover of $SO(3)$.

Isomorphic to the quaternions.

Bibliography:

Pauli matrix.

TODO motivation. Motivation. Motivation. Motivation. The definitin with quotient group is easy to understand.

The second smallest non-Abelian finite simple group after the alternating group of degree 5.

Full set of all possible special relativity symmetries:

In simple and concrete terms. Suppose you observe N particles following different trajectories in Spacetime.

There are two observers traveling at constant speed relative to each other, and so they see different trajectories for those particles:Note that the first two types of transformation are exactly the non-relativistic Galilean transformations.

The Poincare group is the set of all matrices such that such a relationship like this exists between two frames of reference.

Subset of Galilean transformation with speed equals 0.

This is a good and simple first example of Lie algebra to look into.

Take the group of all Translation in ${\mathbb{R}}^1$.

Let's see how the generator of this group is the derivative operator:

The way to think about this is:

So let's take the exponential map:and we notice that this is exactly the Taylor series of $f(x)$ around the identity element of the translation group, which is 0! Therefore, if $f(x)$ behaves nicely enough, within some radius of convergence around the origin we have for finite $x_0$:

This example shows clearly how the exponential map applied to a (differential) operator can generate finite (non-infinitesimal) Translation!

A law of physics is Galilean invariant if the same formula works both when you are standing still on land, or when you are on a boat moving at constant velocity.

For example, if we were describing the movement of a point particle, the exact same formulas that predict the evolution of $x_{land}(t)$ must also predict $x_{boat}(t)$, even though of course both of those $x(t)$ will have different values.

It would be extremely unsatisfactory if the formulas of the laws of physics did not obey Galilean invariance. Especially if you remember that Earth is travelling extremelly fast relative to the Sun. If there was no such invariance, that would mean for example that the laws of physics would be different in other planets that are moving at different speeds. That would be a strong sign that our laws of physics are not complete.

The consequence/cause of that is that you cannot know if you are moving at a constant speed or not.

Lorentz invariance generalizes Galilean invariance to also account for special relativity, in which a more complicated invariant that also takes into account different times observed in different inertial frames of reference is also taken into account. But the fundamental desire for the Lorentz invariance of the laws of physics remains the same.