In this paragraph, we shall suppose that the ring A is commutative. We shall denote by Q a quadratic form on the A-module E, and by Φ the associated bilinear form (§3, No. 4).
1. Definition and universal property of the Clifford algebra.
Definition 1
The Clifford algebra of Q, denoted by C(Q), is the quotient algebra of the tensor algebra T(E) of the module E by the two-sided ideal (denoted by I(Q)) generated by the elements of the form x⊗x−Q(x)⋅1(x∈E).
We shall denote by ρQ (or simply by ρ when there is no danger of confusion) the mapping of E into C(Q) composed of the canonical mapping of E into T(E) and the canonical mapping σ of T(E) onto C(Q); the mapping ρQ is said to be canonical. Let us note that C(Q) is generated by ρQ(E), and that, for x∈E, we have
ρ(x)2=Q(x)⋅1;
whence, replacing x by x+y (x,y in E)
ρ(x)ρ(y)+ρ(y)ρ(x)=Φ(x,y)⋅1
Example
If E admits a basis consisting of a single element e, T(E) is isomorphic to the polynomial algebra A[X], and C(Q) is a quadratic extension of A, having as basis (1,u), where u is the element u=ρ(e) and satisfies u2=Q(e).
Let Th denote the h-th tensor power ⨂hE in T(E), and let T+ (resp. T−) be the sum of the Th for h even (resp. odd).
Comme T(E) is the direct sum of T+ and T− and I(Q) is generated by elements of T+, I(Q) is the direct sum of T+∩I(Q) and T−∩I(Q), and C(Q) is the direct sum of the two submodules C+(Q)=σ(T+) and C−(Q)=σ(T−) (also denoted by C+ and C−). The elements of C+ will be called even (resp. odd). We have the relations
(3) C+C+⊂C+,C+C−⊂C−,C−C+⊂C−,C−C−⊂C+.
In particular C+ is a subalgebra of C(Q).
Proposition 1
Let f be a linear mapping of E into an algebra D over A such that f(x)2=Q(x).1 for all x∈E. There exists one and only one homomorphism fˉ of C(Q) into D such that f=fˉ∘ρQ.
The uniqueness of fˉ follows from the fact that C(Q) is generated by ρQ(E). Let h be the unique homomorphism of T(E) into D which extends f (h is defined by h(x1⊗⋯⊗xn)=f(x1)…f(xn)). We have
h(x⊗x−Q(x).1)=(f(x)2−Q(x)).1=0,
and consequently h vanishes on I(Q) and defines by passing to the quotient the homomorphism fˉ in question.
Prop. 1 expresses that C(Q) is the solution of a universal mapping problem (Sets, Chap. IV, § 3, No. 1).
Take in particular for D the opposite algebra of C(Q) and for f the mapping ρ; prop. 1 entails that there exists one and only one anti-automorphism β of C(Q) whose restriction to ρ(E) is the identity; it is called the principal antiautomorphism of C(Q). It is clear that β2=1.
D’autre part let Q′ be a quadratic form on an A-module E′ and f a linear mapping of E into E′ such that Q′∘f=Q. We have ρQ(f(x))2=Q′(f(x)).1=Q(x).1, and consequently there exists one and only one homomorphism C(f) of C(Q) into C(Q′) such that C(f)∘ρQ=ρQ′∘f. If f is the identity, C(f) is the identity; if Q′′ is a quadratic form on an A-module E′′ and g a linear mapping of E′ into E′′ such that Q′′∘g=Q′, we have C(g∘f)=C(g)∘C(f). When E′ is a submodule of E and f the canonical injection of E′ into E (so that Q′ is the restriction of Q to E′), we say that C(f) is the canonical homomorphism of C(Q′) into C(Q).
Let us take in particular Q′=Q and for f the mapping x→−x; we see that there exists one and only one automorphism α of C(Q) such that α∘ρ=−ρ; it is called the principal automorphism of C(Q). It is clear that α2=1, and that the restriction of α to C+ (resp. C−) is the identity (resp. the mapping u→−u).
Proposition 2
Let A′ be a commutative ring, φ a homomorphism of A into A′, Q’ the quadratic form on E′=A′⊗AE deduced from Q by extension of scalars (§3, no 4, prop. 3). There exists one and only one isomorphism j of the algebra A′⊗AC(Q) onto C(Q′) such that j(1⊗ρQ(x))=ρQ′(1⊗x) for every x∈E.
It suffices to prove that the algebra C′=A′⊗C(Q) and the mapping 1⊗ρQ of E′ into C′ form a solution of the same problem of universal mapping as C(Q′) and ρQ′. Now, let D’ be an algebra over A′ and let f′ be an A′-linear mapping of E′ into D’ such that f′(x′)2=Q′(x′).1 for every x′∈E′. The mapping g:x→f′(1⊗x) of E into D’ (considered as an A-module by means of the homomorphism φ) is A-linear and we have g(x)2=Q′(1⊗x).1=Q(x).1 for every x∈E. There therefore exists one and only one A-homomorphism g of C(Q) into D’ such that g(ρQ(x))=f′(1⊗x). Consequently there exists one and only one A′-homomorphism f′ of C′ into D’ such that f′(1⊗ρQ(x))=f′(1⊗x) for every x∈E; by linearity it follows that f′((1⊗ρQ)(x′))=f′(x′) for every x′∈E′. QED.
2. Some operations in the tensor algebra.
In this no we shall denote by ex (x∈E) the linear mapping u→x⊗u of the tensor algebra T(E) into itself.
Lemma 1
Let f be an element of the dual E∗ of E. There exists one and only one linear mapping if of T(E) into itself such that
if(1)=0(4)
if∘ex+ex∘if=f(x).I(5)
for every x∈E (where I denotes the identity mapping). The mapping f→if of E∗ into L(T(E)) is linear. We have if(Tn)⊂Tn−1, (if)2=0, and if∘ig+ig∘if=0 for f,g in E∗. The mapping if is zero on the subalgebra of
T(E) generated by the kernel of f. The ideal I(Q) is stable under if; passing to the quotient, if therefore defines a linear mapping (still denoted by if) of C(Q) into itself.
Indeed formula (5) can be written
if(x⊗u)=−x⊗if(u)+f(x)⋅u(x∈E,u∈T(E)).
As (4) completely determines if on T0, and since (6) determines if on Tn if its values on Tn−1 are known, the uniqueness of if is proved. On the other hand, for x∈E and u∈Tn−1, the right-hand side of (6) is bilinear on E×Tn−1; this proves the existence of if by induction on n (Chap. III, § 1, No. 2) and also proves, by induction on n, that if(Tn)⊂Tn−1. If f=ag+bh (a, b in A, g, h in E*) it is clear that aig+bih satisfies (4) and (5), hence is equal to if. We have
(if)2∘ex=−if∘ex∘if+f(x)if=ex∘(if)2
and, since (if)2(1)=0, it follows by induction on n that (if)2 is zero on Tn. Replacing f by f+g, the relation (if)2=0 gives if∘ig+ig∘if=0. An analogous reasoning by induction to the preceding ones shows that if is zero on the subalgebra generated by the kernel of f. Finally (6) entails that the set of elements u of I(Q) such that if(u)∈I(Q) is a left ideal of T(E); moreover, if u=(x⊗x−Q(x)⋅1)⊗ν (x∈E,ν∈T(E)), we have
therefore I(Q) is stable under if, and the last assertion follows. QED.
Let F be a bilinear form on E; in the remainder of this paragraph we shall denote by ixF (x∈E) the mapping if corresponding to the linear form f:y→F(x,y) on E.
Lemma 2
There exists one and only one linear mapping λF of T(E) into itself such that
λF(1)λF∘ex=1=(ex+ixF)∘λF(x∈E).
For any f∈E∗, we have
λF∘if=if∘λF.
Indeed, formula (8) is equivalent to
λF(x⊗u)=x⊗λF(u)+ixF(λF(u))(x∈E,u∈T(E)).
Comme (7) completely determines λF on T0, and since (10) determines λF on Tn if its values on Tn−1 are known, the uniqueness of λF is demonstrated. On the other hand, for x∈E and u∈Tn−1, the right-hand side of (10) is bilinear on E×Tn−1; this demonstrates the existence of λF by induction on n. It remains to prove (9), which we shall do by induction; both members of (9) are zero on T0; suppose (9) to be true on ∑h=0n−1Th; then, for x∈E and u∈Tn−1, we have:
On the other hand, if F=0, we have ixF=0 for every x∈E, and consequently λF=I, which entails that, for every F, we have λF∘λ−F=λ−F∘λF=I.
3. Basis of the Clifford algebra.
Proposition 3
Let Q and Q' be two quadratic forms and F a bilinear form on E such that Q′(x)=Q(x)+F(x,x) for every x∈E. The mapping λF maps the ideal I(Q′) onto the ideal I(Q), and defines an isomorphism (denoted by λF) of the A-module C(Q′) onto the A-module C(Q).
Since λF is a bijection whose inverse bijection is λ−F (Lemma 3), it suffices to prove the inclusion λF(I(Q′))⊂I(Q). Since I(Q) is a left ideal stable under ixF (Lemma 1), (8) shows that the set of u∈T(E) such that λF(u)∈I(Q) is a left ideal. It therefore suffices to prove that, whatever u∈T(E) and x∈E, we have λF(x⊗x⊗u−Q′(x)u)∈I(Q). Now, according to (8) and Lemma 1, we have
If the quadratic form Q is zero, C(Q) is none other than the exterior algebra of E.
Indeed the exterior algebra of E is none other than the quotient of T(E) by the two-sided ideal J generated by the elements of the form a⊗ν⊗a (a∈E,ν∈T(E)) (Chap. III, § 5, No. 5 and No. 9). It is clear that I(Q)⊂J. It is therefore enough to show that a⊗ν⊗a∈I(Q). This is obvious if ν∈T0. Suppose this assertion proved for ν∈∑h=0n−1Th, and let x∈E and u∈Tn−1; we have
a⊗x⊗u⊗a=(a+x)⊗(a+x)⊗u⊗a−a⊗a⊗u⊗a−x⊗a⊗u⊗a−x⊗x⊗u⊗a
and the four terms of the right-hand side belong to I(Q).
Suppose in particular that the module E admits a basis (xi)i∈L, and totally order the set of indices L. We know (Chap. III, § 5, No. 6) that the exterior algebra of E admits as a basis the family formed by the elements xH, where H runs through the set of finite subsets of L and where xH is the element xh1∧…∧xhq, (h1,…,hq) denoting the strictly increasing sequence of the elements of H.
On the other hand, consider the bilinear form F defined by F(xi,xj)=−Φ(xi,xj) if i>j, F(xi,xj)=0 if i<j and F(xi,xi)=−Q(xi). It is clear that Q(x)+F(x,x)=0; with the notations of Prop. 3, it follows from this proposition and Lemma 4 that λˉF is an isomorphism of ∧E onto C(Q), which is therefore a free A-module. Now prove, by induction on the number of elements of H, that we have
λˉF(xH)=ρ(xh1)…ρ(xhq)
(where (h1,…,hq) is the strictly increasing sequence of the elements of H). This is obvious if H has 0 or 1 element. Suppose (11) verified for the subsets having at most q−1 elements. Consider a subset H having q elements, denote its smallest element by j, and write H={j}∪K, where K is a subset having q−1 elements. We have, by (8) and the induction hypothesis
putting, for every finite subset J of L, xJ′=ρ(xj1)…ρ(xjs), where (j1,…,js) is the increasing sequence of the elements of J. Now, for i∈K, xi belongs to the kernel of the linear form y→F(xj,y), hence ixjF(xK′)=0 (Lemma 1). This proves the desired result.
We have therefore proved the following theorem:
Theorem 1
Suppose that the A-module E admits a basis (xi)i∈L, the set of indices L being endowed with a total ordering. For every finite subset H of L, put xH=ρ(xh1)ρ(xh2)…ρ(xhq), where (h1,…,hq) is the strictly increasing sequence of the elements of H. Then the elements xH form a basis of the A-module C(Q).
Corollary 1
If E is a free module of dimension n, C(Q) is a free module of dimension 2n; moreover, if n>0, C+ and C− are free modules of dimension 2n−1.
This follows at once from the properties of the binomial coefficients.
Corollary 2
If E is a free module, the canonical mapping ρ of E into C(Q) and the mapping a→a.1 of A into C(Q) are injective.
Corollary 3
Suppose that E is the direct sum of two free submodules E1 and E2. Let Qi be the restriction of Q to Ei and pi the canonical mapping of C(Qi) into C(Q) (i=1,2). Then the linear mapping p of C(Q1)⊗C(Q2) into C(Q) deduced from the bilinear mapping (a,b)→p1(a)p2(b) of C(Q1)×C(Q2) into C(Q) is a bijection.
It is enough in fact to consider the basis of E obtained by taking the union of a basis of E1 and a basis of E2.
Corollary 4
The hypotheses and notation being those of Cor. 3, suppose moreover that E1 and E2 are orthogonal, and transport to C(Q1)⊗C(Q2), by means of the bijection p, the algebra structure of C(Q). If ai and bi are even or odd elements of C(Qi) (i=1,2), then a(a1⊗a2)(b1⊗b2)=ε(a1b1)⊗(a2b2), with ε=1 unless a2 and b1 are odd, in which case ε=−1.
It suffices indeed to prove that p2(a2)p1(b1)=εp1(b1)p2(a2), and for this purpose we may suppose that p2(a2) (resp. p1(b1)) is a product x1…xh (resp. y1…yk) of elements of ρQ(E2) (resp. ρQ(E1)). Since E1 and E2 are orthogonal, we have
xiyj+yjxi=Φ(xi,yj)=0,
whence
x1…xhy1…yk=(−1)hky1…ykx1…xh.
The conclusions of cor. 3 and 4 remain true if we omit the hypothesis that E1 and E2 are free modules (cf. exerc. 1).
4. Structure of the Clifford algebra.
In this no., we shall assume that A is a field, that E is a finite-dimensional vector space of dimension m over A, and that the quadratic form Q is non-degenerate (which, according to th. 1 of § 5, no. 1, requires that m be even if A is of characteristic 2). Since E is free, the canonical mapping ρ is injective (no. 3, cor. 2 of th. 1). We shall henceforth identify E with its image in C(Q).
Theorem 2
Suppose that the dimension of E is an even number m=2r and that Q is neutral (§ 4, no. 2). Then the algebra C(Q) is separable (chap. VIII, § 7, no. 5, def. 1) and is isomorphic to the algebra of endomorphisms of a vector space of dimension 2r over A. Moreover, if m>0, C+(Q) is separable and is direct sum of two ideals isomorphic to the algebra of endomorphisms of a vector space of dimension 2r−1 over A.
Indeed, since Q is neutral, E can be decomposed into the direct sum of two totally singular subspaces N and P of dimensions r (§ 4, no. 2, cor. 1 of prop. 2). The restriction of Q to N being zero, the subalgebra S of C(Q) generated by N is identified with the exterior algebra of N (no. 3, lemma 4). For n∈N, we shall denote by en′ the mapping t→nt of S into itself.
Let (n1,…,nr) be a basis of N; we shall denote by (p1,…,pr) the basis of P such that Φ(ni,pj)=δij (§ 4, no. 2, prop. 2). For p∈P, we shall denote by p′ the linear form n→Φ(n,p) on N, and by ip the endomorphism of S obtained by passing to the quotient from the endomorphism ip′ of T(N) associated with p′ as was said in lemma 1 of no. 2. By (5), we have
en′∘ip+ip∘en′=Φ(n,p)(n∈N,p∈P).
Put, for x=n+p∈E (with n∈N and p∈P), s(x)=en′+ip. It is clear that s is a linear mapping of E into L(S). Since we have
s(x)2=(en′+ip)2=Q(n)+Φ(n,p)=Q(x)
by virtue of (12) and lemma 1 (no. 2), s extends to a homomorphism (which we shall still denote by s) of C(Q) into L(S) (no. 1, prop. 1). We shall now prove that this homomorphism is surjective, which, since C(Q) and L(S) are both of dimension 22r, will imply that s is an isomorphism and will prove our first assertion.
Let us indeed denote by I the interval [1,r]. For any subset H of I, we shall put H′=I−H and denote by nH (resp. pH) the product of the ni (resp. pi) for i∈H, arranged in increasing order of the indices. Recall that the nH form a basis of S (No. 3, Theorem 1). Finally, for any two subsets H, K of I, put xH,K=nHpInK. We shall now prove that the elements s(xH,K) of s(C(Q)) generate L(S). Now, if j∈/H, we have s(pj)(nH)=ipj(nH)=0 by Lemma 1, since the ni for i∈H belong to the kernel of the linear form n→Φ(n,pj) on N; on the other hand, we have
(by (12)). Since s is a homomorphism, it follows that, for any two subsets H, K of I, s(pK)(nH)=0 if K⊂H, and that s(pK)(nH)=±nH−K if K⊂H. Since, for M⊂I and L⊂I, by definition s(nM)(nL)=nMnL, and nMnL is zero if M∩L=∅ and is equal to ±nM∪L otherwise, it follows from the above that, for any subsets H,K,L of I, s(xH,K)(nL)=s(nH)s(pI)s(nK′)(nL) is zero if K=L and is equal to ±nH if K=L. This shows that the s(xH,K) generate L(S) and completes the proof of the first assertion.
To prove the second assertion, put S+=S∩C+ and S−=S∩C−; it is clear that S+ (resp. S−) is the subspace of S generated by the nH such that H has an even (resp. odd) number of elements, that S is the direct sum of S+ and S−, and that s(C+) leaves S+ and S− stable. Consequently s maps C+ into a subalgebra of L(S), isomorphic to the product L(S+)×L(S−); the restriction of s to C+ is an isomorphism of C+ onto this subalgebra, since s is injective and C+ and L(S+)×L(S−) both have dimension 22r−1 (No. 2, Corollary 1 of Theorem 1). QED.
Corollary
If m is even, but Q of arbitrary index, the algebra C(Q) is a central simple algebra of dimension 2m. Moreover, if m>0, the subalgebra C+(Q) is separable, and its center Z is of dimension 2 over A. When Z is a field, Z is a separable quadratic extension of A and C+(Q) is simple; otherwise, Z is direct product of two fields isomorphic to A, and C+(Q) is then direct product of two simple subalgebras of dimensions 2m−2.
Indeed, let A′ be the algebraic closure of A, and Q′ the quadratic form on E′=A′⊗AE deduced from Q by extension of scalars. We have seen that C(Q′) is isomorphic to A′⊗AC(Q) (prop. 2), and it is clear that C+(Q′) is isomorphic to A′⊗AC+(Q). Since Q′ is neutral (§4, No. 2, Cor. 2 of prop. 3), the corollary is an immediate consequence of Th. 2 and the permanence theorems of Chap. VIII, §7.
Remark 1
Since the algebra C(Q) is simple, it has only one class of irreducible representations; they are called spinor representations; when one fixes one's attention on one of these representations, say τ, the elements of the space on which τ is carried out are called spinors. If Q is neutral, the restriction of τ to C+(Q) is, like that of s, the sum of two inequivalent absolutely irreducible representations; the elements of the subspaces on which these two representations are carried out are called semispinors. In the general case, if C+(Q) is not simple, the restriction of τ to C+(Q) must, since it is faithful, contain subrepresentations belonging to each of the two classes of irreducible representations of C+(Q), and hence is the sum of two inequivalent absolutely irreducible representations, since this is so after extension of scalars to the algebraic closure A′ of A. On the other hand, if C+(Q) is simple, it has only one class of irreducible representations, and the restriction of τ to C+(Q) is therefore irreducible, since it decomposes by extension of scalars to A′ into two non-equivalent representations.
Remark 2
Suppose that A is of characteristic =2, and let (x1,…,xm) (m=2r) be an orthogonal basis of E. Put
z=2rx1…xm∈C(Q);
since xixj+xjxi=0 for i=j, we have zxj=−xjz, which entails that z belongs to the center Z of C+(Q) without belonging to A. We have
z2=22r(−1)rQ(x1)…Q(xm)=(−1)rD
where D denotes the discriminant of Φ with respect to the basis (xj) (cf. exerc. 9).
Theorem 3
Suppose that the dimension of E is an odd number m=2r+1 (and hence that A is of characteristic =2).
a) The algebra C+(Q) is central simple. If Q is of maximum index r, C+(Q) is isomorphic to the endomorphism algebra of a vector space of dimension 2r over A.
b) The algebra C(Q) is separable. Its center Z is of dimension 2, and C(Q) is isomorphic to Z⊗AC+(Q), and hence is simple or a direct sum of two simple subalgebras.
Let x0 be a non-isotropic vector of E, and let F be the orthogonal of x0; denote by Q1 the quadratic form y→−Q(x0)Q(y) on F; it is clear that Q1 is non-degenerate. Since x0y=−yx0 (for y∈F), we have (x0y)2=−Q(x0)Q(y)=Q1(y), and consequently the mapping y→x0y of F into C+(Q) extends to a homomorphism h of C(Q1) into C+(Q) (No. 1, Prop. 1). Now C(Q1) is simple (Th. 2) and has the same dimension 22r as C+(Q); this implies, since h(1)=1, that h is an isomorphism. Moreover, if Q is of index r, x0 can be chosen in such a way that Q1 is also of index r (§ 4, No. 2, Prop. 3), which proves a.
Soit now (x1,…,x2r) an orthogonal basis of F; let z=x0x1…x2r. One verifies immediately that z commutes with xj for j=0,…,2r, and hence belongs to the center of C(Q). Let Z be the subspace of C(Q) generated by 1 and z; it is a subalgebra of the center of C(Q) and a quadratic extension of A, since z is odd and z2 is equal to the scalar (−1)rQ(x0)…Q(x2r). Consider the homomorphism θ of Z⊗AC+(Q) into C(Q) defined by θ(u⊗v)=uv. Since z∈C− and is invertible, the mapping u→zu is an isomorphism of the module C+ onto C−, which entails that θ(Z⊗C+) contains C+ and C−, and hence coincides with C(Q). Since Z⊗C+ and C(Q) have the same dimension 22r+1, θ is an isomorphism; this proves b, in view of the results of Chap. VIII, § 7.
Remark
The discriminant D of Φ with respect to the basis (xj)(j=0,…,2r) is equal to 22r+1Q(x0)…Q(x2r). Consequently Z is generated by 1 and by the odd element z′=2r+1z such that z′2=(−1)r2D. The algebra C(Q) is therefore simple if and only if 2(−1)rD is not a square in A.
5. Clifford group.
In this No., we suppose that A is a field, that E is of finite dimension m, and that Q is non-degenerate. We identify E with its canonical image in C(Q).
Definition 2
The Clifford group of Q (resp. special Clifford group of Q) is called the multiplicative group of the invertible elements s of C(Q) (resp. C+(Q)) such that sEs−1=E.
In this No. we shall denote by G and G+ the Clifford group and the special Clifford group of Q. It is clear that G+=G∩C+(Q).
Theorem 4
Put, for s∈G and x∈E, φ(s).x=sxs−1.
a) The mapping φ is a homomorphism of G into the orthogonal group O(Q) of Q and its kernel is the set of invertible elements of the center Z of C(Q).
b) The set E∩G is the set of nonsingular vectors of E; for x∈E∩G, −φ(x) is the symmetry with respect to the hyperplane orthogonal to x.
c) If dim(E) is even, one has φ(G)=O(Q), φ(G+) is of index 2 in O(Q) if E={0}, and is equal to SO(Q) if A is of characteristic =2.
d) If dim(E) is odd (which implies that A is of characteristic =2), one has φ(G)=φ(G+)=SO(Q).
Indeed, one has Q(sxs−1)=(sxs−1)2=sx2s−1=Q(x) for s∈G and x∈E, which shows that φ(s)∈O(Q). For φ(s)=1 to hold, it is necessary and sufficient that s commute with the elements of E, that is to say, belong to the center Z of C(Q). This proves a).
For an element x of E to belong to G, it is necessary that it be invertible, that is to say, that it be a nonsingular vector (since x2=Q(x)). If this is so, one has x−1=Q(x)−1x, whence, for every y∈E,
Every element s of G is of the form zs′, where z is an invertible element of Z and s′ belongs to G∩C+(Q) or to G∩C−(Q); the subgroup G+ is of index 2 in G when E={0}.
The second assertion follows obviously from the first, since the nonsingular vectors belong to G∩C−(Q). Suppose first that dim(E) is even, and let s=t′+t′′, with t′∈C+(Q) and t′′∈C−(Q); by definition we have sx=(φ(s).x)s for every x∈E; since t′x and (φ(s).x)t′ (resp. t′′x and (φ(s).x)t′′) are odd (resp. even) elements, we have t′x=(φ(s).x)t′, whence s−1t′x=xs−1t′ for every x∈E. It follows that s−1t′∈Z and, since dim(E) is even, Z=A (No. 4, cor. of Theorem 2), hence t′=as, where a∈A. If a=0, we therefore have s=a−1t′ and t′∈G∩C+(Q); if a=0, s=t′′∈G∩C−(Q) and the lemma is proved in this case. If dim(E) is odd, A is of characteristic =2, hence for every s∈G, φ(s) is a product of symmetries with respect to nonsingular vectors xi(i=1,2,…,h) (§ 6, No. 4, Proposition 5); if we put s′=x1x2…xh, we have φ(s)=φ(s′), hence s=zs′, where z∈Z, and s′ belongs to C+(Q) or to C−(Q) according as h is even or odd.
Suppose dim(E) is even. Since every element u of O(Q) extends in one and only one way to an automorphism uˉ of C(Q) (Proposition 1), and since C(Q) is central simple (Theorem 2), uˉ is an inner automorphism (Chapter VIII, § 10, No. 1, Theorem 1). There therefore exists an element s of G such that φ(s)=u. On the other hand, the center of C(Q) is contained in C+, which entails that φ(G)/φ(G+) is isomorphic to G/G+, hence that φ(G+) is of index 2 in φ(G)=O(Q) if E={0}. This proves the first two assertions of c).
Suppose finally that A is of characteristic =2. Then every element u of O(Q) is a product of symmetries with respect to hyperplanes orthogonal to nonsingular vectors xi(i=1,…,h) (§ 6, n° 4, prop. 5); consequently one has u=(−1)hφ(x1…xh) and det(u)=(−1)h. For u to belong to SO(Q), it is necessary and sufficient that h be pair, which shows that φ(G+)⊃SO(Q). Since SO(Q) is of index 2 in O(Q) when E={0}, one has φ(G+)=SO(Q) if E is of even dimension, which completes the proof of c). On the other hand, if the dimension of E is odd, φ(G) does not contain the orthogonal transformation x→−x; indeed this extends to the principal automorphism α of C(Q) (n° 1), and α is not an inner automorphism since the center Z of C(Q) contains a nonzero element of C−(Q) (th. 3). Thus φ(G)=O(Q), and, since φ(G)⊃φ(G+)⊃SO(Q) and SO(Q) is of index 2 in O(Q), one has φ(G)=φ(G+)=SO(Q). This proves d). Q.E.D.
The subgroup φ(G+) of O(Q), which is of index 2 if E={0}, is called the group of rotations of E, and its elements are called rotations; it is denoted by O+(Q). Notice that, if A is not of characteristic 2, one has O+(Q)=SO(Q) (cf. exerc. 9).
Proposition 4
Let β be the principal antiautomorphism of C(Q) (n° 1). For every s∈G+, β(s)s is a scalar. The mapping N:s→β(s)s is a homomorphism of G+ into the multiplicative group A∗ of nonzero elements of A.
Indeed, for s∈G+, one has sEs−1=E, whence β(s)−1Eβ(s)=E, which shows that β(s)∈G+. Since sx=(φ(s).x)s for all x∈E, one has xβ(s)=β(sx)=β(s)(φ(s).x), and consequently β(s)sx=β(s)(φ(s).x)s=xβ(s)s, which implies that β(s)s belongs to the center of C(Q). Since, moreover, β(s)s belongs to C+(Q), β(s)s is a scalar (Theorem 2 and 3). Finally one has β(st)st=β(t)β(s)st=β(s)sβ(t)t, that is to say N(st)=N(s)N(t) for s,t in G+. QED.
The scalar N(s)=β(s)s (s∈G+) is called the spinor norm of s. We denote by G0+ and call the reduced Clifford group the kernel of the homomorphism N. The image φ(G0+) is denoted by O0+(Q) and is called the reduced orthogonal group of Q. Since the kernel of the restriction of φ to G+ is the set of even and invertible elements of the center of C(Q) (Theorem 4) and is therefore identified with A∗ (Theorem 2 and 3), φ(G+)/O0+(Q) is isomorphic to G+/A∗G0+, and hence also to N(G+)/N(A∗), and in particular commutative. It is clear that N(A∗) is the subgroup (A∗)2 of squares of elements of A∗. If Q is of index >0, there exist, whatever a∈A∗ may be, two elements x and y of E such that Q(x)=a and Q(y)=1 (§ 4, No. 2, Proposition 4) ; since xy∈G+ and N(xy)=Q(x)Q(y)=a, this shows that N(G+)=A∗, and hence that φ(G+)/O0+(Q) is isomorphic to A∗/(A∗)2.
Exercices. — ¶ 1) Prove Cor. 3 and 4 of Theorem 1 of No. 3 when E1 and E2 are any two supplementary submodules in E. (First establish Cor. 4: now prove for this purpose that the tensor product C(Q1)⊗C(Q2) is endowed with an algebra structure by the sign convention made in the statement of Cor. 4, and that this algebra S is solution of the same universal mapping problem as C(Q); for this purpose, one will consider, for every linear mapping f of E into an algebra D over A such that (f(x))2=Q(x).1, the homomorphism fˉi of C(Qi) into D such that fˉi(1)=1, fˉi(ρQi(xi))=f(xi) for xi∈Ei (i=1,2) and one will prove that there exists a homomorphism fˉ of the algebra S into D such that
fˉ(z1⊗z2)=fˉ1(z1)fˉ2(z2)
for zi∈C(Qi) (i=1,2). To prove then Cor. 3, consider the quadratic form Q′ external direct sum of Q1 and Q2 (§ 3, No. 4), and remark that one has Q′(x)=Q(x)+F(x,x), F being the bilinear form defined by F(x1+x2,y1+y2)=−Φ(x1,y2) for xi,yi in Ei (i=1,2) ; use then Prop. 3.)
¶ 2) Suppose that E be direct sum of two orthogonal submodules E1,E2 and denote by Qi the restriction of Q to Ei (i=1,2);
on suppose en outre qu’il existe u∈C+(Q2) tel que u2=a.1, a étant invér sible dans A, et que uρQ2(x2)=−ρQ2(x2) pour tout x2∈E2. Now prove qu’il existe un isomorphisme φ de C(Q) sur le produit tensoriel C(aQ1)⊗C(Q2) (tel qu’il est défini dans le chap. III, § 3, n° 1), ayant la propriété que pour tout x=x1+x2 (xi∈Ei,i=1,2), on a
φ(ρQ(x))=ρaQ1(x1)⊗u−1+1⊗ρQ2(x2).
(Proving the existence of the homomorphism φ as a consequence of the universal property of C(Q). On the other hand, there is a homomorphism g1 of C(aQ1) into C(Q) such that g1(ρaQ1(x1))=h2(u)ρQ1(x1), where h2 denotes the canonical homomorphism of C(Q2) into C(Q); remark then that g1(z1) and h2(z2) commute for z1∈C(aQ1) and z2∈C(Q2), and deduce the existence of a reciprocal homomorphism to φ.)
In what case does this result apply when A is a field of characteristic =2 (use Remark 2 following Cor. of Th. 2)?
3) a) With the notation of No. 2, let xi (1⩽i⩽n) be elements of E such that f(xi)=0; show that we have if(x1⊗x2⊗⋯⊗xn)=0. In particular, if F is a bilinear form on E such that F(xi,xj)=0 for i>j, we have iFE(x2⊗x3⊗⋯⊗xn)=0.
b) With the notation of Prop. 3 of No. 3, let xi (1⩽i⩽n) be elements of E such that F(xi,xj)=0 for i>j. Show that we have λF(ρQ′(x1)…ρQ′(xn))=ρQ(x1)…ρQ(xn) (use a) and formula (10) of No. 2).
c) We suppose that A is a field of characteristic =2; for every quadratic form Q on E, let μQ be the mapping λF of C(Q) onto ∧E corresponding to F(x,y)=21Φ(x,y). Now prove that if the vectors xi (1⩽i⩽n) are pairwise orthogonal, one has
μQ(x1x2…xn)=x1∧x2∧…∧xn.
Deduce that if yi (1⩽i⩽n) are n arbitrary vectors, one has
4) Let Ch be the submodule of C(Q) generated by the products of k elements of ρQ(E) for 0⩽k⩽h. Show that the mapping
(x1,…,xh)→ρQ(x1)…ρQ(xh)
defines, on passing to the quotients, an alternating multilinear mapping of Eh into Ch/Ch−1. One deduces from this a linear mapping πh of ∧hE into Ch/Ch−1; show that πh is an isomorphism when E is a free module. If f is an orthogonal transform, one has C(f)∘πh=πh∘(∧hf). When A is a field of characteristic =2, show that πh is the restriction of the inverse mapping μQ−1 defined in exerc. 3 c).
5) With the notation of No. 2, consider the mapping if of ∧E into itself. Show that one has
and deduce that if is none other than the right interior product z→z└f (chap. III, § 8, No. 4, def. 2).
6) Show that, if E admits an orthogonal basis (e1,e2) for Q, and if we put αi=Q(ei) (i=1,2), the algebra C(Q) is isomorphic to the quaternion algebra over A corresponding to the pair (α1,α2).
7) Let A be a maximal ordered field, E a vector space of even dimension 2r over A, and Q a non-degenerate quadratic form on E, positive or negative. Show that, if Q is positive, C(Q) is isomorphic to a matrix algebra over A when r(r−1)/2 is even, and to a matrix algebra over the quaternion algebra over A when r(r−1)/2 is odd. If Q is negative, C(Q) is isomorphic to a matrix algebra over A when r(r+1)/2 is even, and to a matrix algebra over the quaternion algebra over A when r(r+1)/2 is odd (use exerc. 2 and 6). What is the structure of C+(Q) in these different cases?
8) Let A be the ring Z/(4), E the A-module Z/(2); if we put Q(0) = 0, Q(u) = 1 for the unique element u=0 of E, Q is a quadratic form on E. Show that the A-modules C(Q) and ∧E are not isomorphic (it will be proved that C(Q) is isomorphic to the direct sum of two modules isomorphic to E).
¶ 9) We suppose that A is a field of characteristic 2, E a vector space of finite dimension 2r, Q a non-degenerate quadratic form on E.
a) Let (ei) be a symplectic basis (§5, No. 1) of E for the alternating bilinear form Φ associated with Q. Show that the element
z=e1e2+e3e4+⋯+e2r−1e2r
of C+(Q) forms, together with the unit element, a basis of the center Z of C+(Q). In order that Z be the direct sum of two fields, it is necessary and sufficient that the element
Δ(Q)=Q(e1)Q(e2)+Q(e3)Q(e4)+⋯+Q(e2r−1)Q(e2r)
(called the pseudo-discriminant of Q with respect to the symplectic basis (ei)) be of the form λ2+λ, with λ∈A.
b) Let u be a similarity for Φ (§6, No. 5) with multiplier μ(u), and let Q1(x)=Q(u(x)). Put
u(e2i−1)=j=1∑raije2j−1+j=1∑rbije2j,
u(e2i)=j=1∑rcije2j−1+j=1∑rdije2j,
and Q(e2i−1)=αi,Q(e2i)=βi (1≤i≤r). Now prove that
Δ(Q1)=(μ(u))2Δ(Q)+(D(u))2+μ(u)D(u)
where
D(u)=i,j∑(αjaijcij+βjbijdij+bijcij)
(Dickson invariant of u with respect to the basis (ei)). (Notice that the element
belongs to Z.) In order that u be a similarity for Q (§4, Exercise 9) with multiplier μ(u), it is necessary and sufficient that D(u)=0 or D(u)=μ(u); the similarities for Q such that D(u)=0 are called direct.
c) Now prove that, if φ is a similarity for Φ, u a similarity for Q, one has
D(uφ)=μ(φ)D(u)+μ(u)D(φ)
(consider the Dickson invariant of φ with respect to the symplectic basis formed by the u(e2i−1) and (μ(u))−1u(e2i) for 1≤i≤r). Deduce that the direct similarities for Q form a normal subgroup of index 2 in the group of similarities for Q.
d) If u is the symmetry with respect to the hyperplane orthogonal to a nonsingular vector in E, now prove that D(u)=1. Deduce that the group φ(G+) (notations of No. 5) is the group SO(Q) defined in Exercise 28 c) of §6.
e) Let u∈O(Q), and suppose Λ is algebraically closed. Show that, in order that u∈SO(Q), it is necessary and sufficient that the number of elementary divisors of the module Eu be pair. (With the notations of Exercise 15 of §5, remark first that if p,q are two distinct irreducible factors of the minimal polynomial of u, the number of indecomposable submodules of which G(p,q) is direct sum is equal to the number of indecomposable submodules of which G(q,p) is direct sum. Remark on the other hand that G(p,p)={0} unless for p=X−1. Prove finally that one can restrict oneself to the case where Eu is equal to G(p,p) (with p=X−1) and is indecomposable. There is then a symplectic basis (ei) of E such that e1,e3,…,e2k−1 form a basis of (p(u))2r−k(E) for 1≤k≤r; show that e1,e3,…,e2r−3 are singular vectors, and conclude that D(u)=1.)
§10 We suppose that A is a field, E a finite-dimensional vector space, Q a degenerate quadratic form on E; let M be a supplementary subspace of E0 in E, B the Clifford algebra (semisimple) of the restriction of Q to M.
a) We suppose first that A is of characteristic =2. Let L be the Clifford algebra of the restriction of Q to E0 (isomorphic to ∧E0), R0 its radical (ideal generated in L by E0, and of codimension 1 in L); show that the radical R of C(Q) is obtained (up to an isomorphism) by defining the algebra structure on B⊗AR0 as in Cor. 4 of Theorem 1, that C(Q)/R is isomorphic to B and C(Q) is direct sum of B and R.
b) Suppose that A has characteristic 2. Let F be the subspace of E⁰ formed by the singular vectors x∈E0, and let N be a supplementary subspace of F with respect to E⁰. If (ai)1≤i≤d is a basis of N, and Q(ai)=αi, the elements αi1/2, in an algebraic closure of A, are linearly independent over A. Let (αi1/2)1≤i≤e be a 2-basis of the field A1=A(α11/2,…,αd1/2) over A (chap. V, § 8, exerc. 1), and let h=dimF. If B₁ is the central simple algebra B⊗AA1, now prove that C(Q) is isomorphic to the algebra B1⊗A1L1, where L1 is the exterior algebra of a vector space of dimension h+d−e over A1. If R1 is the radical of L1 (of codimension 1 (over A1) in L1), the radical R of C(Q) is isomorphic to the algebra B1⊗A1R1, C(Q)/R is isomorphic to B1, and C(Q) is a direct sum of B1 and R.
c) The hypotheses being those of b), suppose in addition that h=0, d=1,e=0 (which implies that dim M is even). If Q0 is the restriction of Q to M, now prove that C+(Q) is isomorphic to C(Q0).
¶ 11) a) With the hypotheses and notations of No. 5, now prove that N(G+) is the subgroup of A∗ generated by the products Q(x)Q(y), where x and y run through the set of non-isotropic vectors of E. (Reduce to the case A=F2; use prop. 5 and exerc. 28 c) of § 6, as well as exerc. 9 d) of § 9.) Case where Q is of index ≥1.
b) Suppose in addition that A=F2, that E is of dimension n≥2 and that Q is of index >0. Now prove that O0+(Q) is the commutator group of the group O(Q). (Reduce to the case n=2, using exerc. 17 c) and 28 e) of § 6.)
c) Retain the hypotheses of b), and suppose in addition that A has characteristic =2 and that E is of even dimension. For the automorphism x→−x of E to belong to O0+(Q) it is necessary and sufficient that the discriminant of Q (with respect to any basis of E) be a square.
¶ 12) a) Let a be an invertible element of A; now prove that there exists one and only one isomorphism θa of C+(Q) onto C+(aQ) such that
θa(ρ(x)ρ(y))=a−1ρ1(x)ρ1(y)
for all x,y in E (ρ and ρ1 denoting the canonical mappings of E into C(Q) and C(aQ) respectively). Deduce that if A is a field of characteristic =2, E a vector space of odd dimension and Q a non-degenerate quadratic form, C(Q) and C(aQ) are isomorphic (cf. exerc. 7).
b) Suppose that A be a field, E a vector space of even dimension 2r>0, Q a non-degenerate quadratic form. Let u be a similitude relative to Q; prove that there exists one and only one A-automorphism uˉ of the algebra C+(Q) such that for 1≤h≤r and xi∈E (1≤i≤2h), one has
uˉ(x1x2…x2h)=μ−hu(x1)u(x2)…u(x2h)
where μ denotes the multiplier of u. For uˉ to be an inner automorphism, it is necessary and sufficient that u be a direct similitude (§ 6, No. 5 and § 9, Exercise 9 b)). Suppose in addition that r≥2; then, for uˉ to be the identity, it is necessary and sufficient that u be a homothety.
Prove that the automorphism uˉ of C+(Q) is the restriction to C+(Q) of an inner automorphism of C(Q).
¶ 13) Suppose that A be a field of characteristic =2, E a vector space of even dimension 2r>0, Q a non-degenerate quadratic form. We denote by Eh the inverse image of ∧hE by the isomorphism μQ of Exercise 3 c), so that Eh is the subspace of C(Q) generated by the products x1x2…xh, where the xi (1≤i≤h) are pairwise orthogonal.
a) Let α be an element of A, s an element of E2. Prove that, if (α+s)2∈A, either s=0, or α=0 and s=xy, where x and y are two orthogonal vectors. (Remark that if t=μQ(α+s), t∧t necessarily belongs to A+∧2E, by expressing s with the aid of an orthogonal basis of E; deduce that one necessarily has t=β+x∧y with β∈A, x,y in E, using § 5, No. 1, Cor. 2 of Theorem 1).
b) Let (x,y),(u,v) be two pairs of orthogonal non-isotropic vectors in E, Pxy and Puv the planes Ax+Ay,Au+Av respectively. In order that one have (xy)(uv)=−(uv)(xy) in C(Q), it is necessary and sufficient that Pxy+Puv be a non-isotropic subspace of dimension 3, in which Pxy and Puv are weakly orthogonal (§ 3, exerc. 11).
c) Let g be an A-automorphism of C+(Q) transforming E2 into itself; prove that there exists a similitude u relative to Q such that g=uˉ (exerc. 12 b)). (Let (ei)1≤i≤2r be an orthogonal basis of E; using a and b), prove that there exists an orthogonal basis (xi) of E such that g(e1ei)=x1xi for 2≤i≤2r.
14) Suppose that A is a field of characteristic =2, E a vector space of dimension n over A, Q and Q1 two non-degenerate quadratic forms on E; let Δ~ (resp. Δ~1) be the class of the discriminant Δ of Q (resp. of the discriminant Δ1 of Q1) with respect to a basis of E, in the group A∗/(A∗)2, a class which does not depend on the basis chosen in E. Suppose that n=2.
a) Prove that if Δ~=Δ~1 and if the Clifford algebras C(Q) and C(Q1) are isomorphic, Q and Q1 are equivalent (consider on C(Q) the quadratic form z↦zzˉ, where z↦zˉ is the unique involutive antiautomorphism of C(Q) whose set of invariants is the center of C(Q) (cf. exerc. 6 and chap. VIII, § 11, exerc. 5 e)); apply the Witt theorem).
(b) In order that C(Q) be isomorphic to the matrix algebra M2(A) it is necessary and sufficient that, for at least one x=0 in E, there exist y,z in E such that Q(x)+Q(y)Q(z)=0; if this is so, this property is true for every x=0 in E.
¶ 15) We retain the general notation and hypotheses of Exercise 14, but suppose n=3.
(a) Now prove that C+(Q) is isomorphic to a quaternion algebra over A and that β is the antiautomorphism z↦zˉ of this algebra whose set of invariants is the center of C+(Q); if P is the subspace of C+(Q) formed by the pure quaternions (that is, such that z=−zˉ; chap. VIII, § 11, Exercise 6), the restriction to P of the quadratic form z↦zzˉ is equivalent to λQ, where λ∈A. Deduce that, in order that C+(Q) be a field, it is necessary and sufficient that Q have index 0.
(b) Now prove that if Δ~=Δ~1 and if the Clifford algebras C(Q) and C(Q1) are isomorphic, Q and Q1 are equivalent. (Consider first the case where −Δ is a square in K, and show that in this case C+(Q) and C+(Q1) are isomorphic; then reason as in Exercise 14 a), using a) and Exercise 6 of chap. VIII, § 11. In the general case, use Exercise 12 a)).
(c) Now prove that the special Clifford group G+ (for the form Q) is identical with the group of invertible elements of C+(Q). (If (e1,e2,e3) is an orthogonal basis of E, and if j=e1e2e3 in C(Q), observe that x→xj is an isomorphism of vector spaces of E onto P).
(d) Deduce from a) and c) that if Q has index 1, the group of rotations O+(Q) is isomorphic to the projective group PGL2(A) (chap. II, 2e éd., App. III, No. 6).
¶ 16) We retain the general hypotheses and notation of Exercise 14, but suppose n=4.
a) Give an example where Δ~=Δ~1 and where C(Q) and C(Q1) are isomorphic, but where Q and Q1 are not equivalent (cf. exerc. 7).
b) Let (ei)1≤i≤4 be an orthogonal basis of E for Q, Q0 the restriction of Q to the hyperplane H=Ae1+Ae2+Ae3. Now prove that, if Z is the center of C+(Q), the algebra C+(Q) is isomorphic to the tensor product Z⊗AC+(Q0). For all z∈C+(Q), one has β(z)z∈Z; for z to belong to the special Clifford group G+, it is necessary and sufficient that z be invertible and that β(z)z∈A.1. Deduce that the group O0+(Q) is isomorphic to the quotient by {1,−1} of the group of elements z∈Z⊗AC+(Q0) such that β(z)z=1.
c) Assume that Δ is not a square in A (which implies, by virtue of Witt's theorem, that the index of Q is 0 or 1). If Q0′ is the quadratic form obtained from Q0 by extension to A′=A(Δ) of the field of scalars, deduce from b) that O0+(Q) is isomorphic to O0+(Q0′). In particular, if Q has index 1, O0+(Q) is the group of commutators of O(Q) and is isomorphic to PSL2(A′) (cf. exerc. 15 d) and chap. III, § 7, exerc. 8).
d) We suppose that Δ is a square in A (which implies, by virtue of Witt’s theorem, that Q is of index 0 or 2) and that Q(e4)=1. If we put j=e1e2e3, every x∈E can be written in one and only one way x=αe4+jz, where α∈A and z is a pure quaternion (Exercise 15 a)) in L=C+(Q0); if we put ψ(x)=α+z, ψ is an isomorphism of vector spaces from E onto L. Let Z=Ac′+Ac′′, where c′ and c′′ are the two orthogonal idempotents in Z; every invertible element s∈C+(Q) can be written in one and only one way s=uc′+vc′′, where u and v belong to L; for s to belong to the special Clifford group G+, it is necessary and sufficient that uuˉ=vvˉ, and we then have ψ(sxs−1)=uψ(x)v−1 for every x∈E. Deduce that the quotient of O0+(Q) by its center (which is a group with 2 elements, cf. Exercise 11 c)) is isomorphic to the product O0+(Q0)×O0+(Q0); in particular, if Q is of index 2, this quotient group is isomorphic to PSL2(A)×PSL2(A).
17) Let K be a commutative field of characteristic =2, A the field K(Xn)n∈N of rational fractions over K, with respect to a countable family of indeterminates (Chapter IV, § 3, No. 1). Let E be a vector space over A, having a countable basis (en)n∈N, and let Φ be a symmetric bilinear form on E, for which (en) is an orthogonal basis and such that Φ(en,en)=Xn for every n∈N. If we put Q(x)=Φ(x,x), show that the Clifford algebra C(Q) is a field (cf. Chapter VIII, § 12, Exercise 14).