Beyond Pseudo-Rotations in Pseudo-Euclidean Spaces

Beyond Pseudo-rotations in Pseudo-Euclidean Spaces

An Introduction to the Theory of Bi-gyrogroups and Bi-gyrovector Spaces

Abraham A. Ungar

North Dakota State University, Department of Mathematics, Fargo, North Dakota, USA

Table of Contents

Cover

Title page

Copyright

Dedication

Acknowledgments

Preface

About the Author

Chapter 1: Introduction

Abstract

1.1 Introduction

1.2 Quantum Entanglement and Geometric Entanglement

1.3 From Galilei to Lorentz Transformations

1.4 Galilei and Lorentz Transformations of Particle Systems

1.5 Chapters of the Book

Chapter 2: Einstein Gyrogroups

Abstract

2.1 Introduction

2.2 Einstein Velocity Addition

2.3 Einstein Addition with Respect to Cartesian Coordinates

2.4 Einstein Addition vs. Vector Addition

2.5 Gyrations

2.6 From Einstein Velocity Addition to Gyrogroups

2.7 Gyrogroup Cooperation (Coaddition)

2.8 First Gyrogroup Properties

2.9 Elements of Gyrogroup Theory

2.10 The Two Basic Gyrogroup Equations

2.11 The Basic Gyrogroup Cancellation Laws

2.12 Automorphisms and Gyroautomorphisms

2.13 Gyrosemidirect Product

2.14 Basic Gyration Properties

2.15 An Advanced Gyrogroup Equation

2.16 Gyrocommutative Gyrogroups

Chapter 3: Einstein Gyrovector Spaces

Abstract

3.1 The Abstract Gyrovector Space

3.2 Einstein Special Relativistic Scalar Multiplication

3.3 Einstein Gyrovector Spaces

3.4 Einstein Addition and Differential Geometry

3.5 Euclidean Lines

3.6 Gyrolines – The Hyperbolic Lines

3.7 Gyroangles – The Hyperbolic Angles

3.8 The Parallelogram Law

3.9 Einstein Gyroparallelograms

3.10 The Gyroparallelogram Law

3.11 Euclidean Isometries

3.12 The Group of Euclidean Motions

3.13 Gyroisometries – The Hyperbolic Isometries

3.14 Gyromotions – The Motions of Hyperbolic Geometry

Chapter 4: Bi-gyrogroups and Bi-gyrovector Spaces – P

Abstract

4.1 Introduction

4.2 Pseudo-Euclidean Spaces and Pseudo-Rotations

4.3 Matrix Representation of SO(m,n)

4.4 Parametric Realization of SO(m,n)

4.5 Bi-boosts

4.6 Lorentz Transformation Decomposition

4.7 Inverse Lorentz Transformation

4.8 Bi-boost Parameter Composition

4.9 On the Block Entries of the Bi-boost Product

4.10 Bi-gyration Exclusion Property

4.11 Automorphisms of the Parameter Bi-gyrogroupoid

4.12 Squared Bi-boosts

4.13 Commuting Relations Between Bi-gyrations and Bi-rotations

4.14 Product of Lorentz Transformations

4.15 The Bi-gyrocommutative Law in Bi-gyrogroupoids

4.16 The Bi-gyroassociative Law in Bi-gyrogroupoids

4.17 Bi-gyration Reduction Properties in Bi-gyrogroupoids

4.18 Bi-gyrogroups – P

4.19 Bi-gyration Decomposition and Polar Decomposition

4.20 The Bi-gyroassociative Law in Bi-gyrogroups

4.21 The Bi-gyrocommutative Law in Bi-gyrogroups

4.22 Bi-gyrogroup Gyrations

4.23 Bi-gyrogroups are Gyrocommutative Gyrogroups

4.24 Bi-gyrovector Spaces

4.25 On the Pseudo-inverse of a Matrix

4.26 Properties of Bi-gyrovector Space Scalar Multiplication

4.27 A Commuting Relation by SVD

4.28 Einstein Bi-gyrogroups and Bi-gyrovector Spaces – P

Chapter 5: Bi-gyrogroups and Bi-gyrovector Spaces – V

Abstract

5.1 Introduction

5.2 Bi-boost Parameter Change, P → V

5.3 Matrix Balls of the Parameter V

5.4 Reparametrizing the Bi-boost

5.5 Lorentz Transformation Decomposition

5.6 Examples

5.7 Inverse Lorentz Transformation

5.8 Bi-boosts

5.9 Bi-boost Product

5.10 Product of Bi-boosts

5.11 Product of Lorentz Transformations

5.12 Bi-gyroassociative Law in Bi-gyrogroupoids

5.13 Relationships Between the Bi-boost Parameters P and V

5.14 Properties of Bi-gyrations in the Ball

5.15 Bi-gyrogroups – V

5.16 Einstein Bi-gyroaddition and Bi-gyration

5.17 On the Special Relativistic Einstein Gyroaddition

5.18 Bi-gamma Identities for the Primed Binary Operation

5.19 Bi-gyrogroup Gyrations

5.20 Uniqueness of Left and Right Gyrations

5.21 Bi-gyrogroups Are Gyrocommutative Gyrogroups

5.22 Matrix Division Notation

5.23 Additive Decomposition of the Lorentz Bi-boost

5.24 Bi-gyrovector Spaces

5.25 On the Pseudo-inverse of a Matrix

5.26 Scalar Multiplication: The SVD Formula

5.27 Properties of Bi-gyrovector Space Scalar Multiplication

5.28 Scaling Property

5.29 Homogeneity Property

5.30 Bi-gyrohalf

5.31 A Commuting Relation for Scalar Multiplication and Rotations

5.32 P-V Scalar Multiplication Relationship

5.33 Bi-gyrovector Space Isomorphism

5.34 Group Isomorphism Between Lorentz Groups

5.35 Einstein Bi-gyrogroups and Bi-gyrovector Spaces – V

5.36 The Bi-gamma Norm

5.37 The Bi-gyrotriangle Inequality

Chapter 6: Applications to Time-Space of Signature (m,n)

Abstract

6.1 Application of the Galilei Bi-boost of Signature (1,n)

6.2 Application of the Galilei Bi-boost of Signature (m,n)

6.3 Application of the Lorentz Bi-boost of Signature (1, n)

6.4 Application of the Lorentz Bi-boost of Signature (m,n)

6.5 Particles that are Systems of Subparticles

6.6 Einstein Addition of Signature (m,n)

6.7 On the Bi-boost Product

6.8 Relativistic Time-Space Bi-norm of Signature (m,n)

6.9 Relativistic Time-Space Bi-inner Product of Signature (m,n)

6.10 A Bi-gyrotriangle Bi-gamma Identity

6.11 (m, n)-Velocity Structures that Einstein Addition Preserves

6.12 (m,n)-Velocity Structures that Einstein Scalar Multiplication Preserves

6.13 Partially Integrated Particles: Example

6.14 Linking Einstein Addition of Signature (m,n) with the Special Relativistic Einstein Addition

6.15 Linking Einstein Scalar Multiplication of Signature (m,n) with the Special Relativistic Einstein Scalar Multiplication

6.16 Natural Sub-bi-gyrovector Spaces

6.17 Bi-gyrohyperbolic Matrix Functions

6.18 Bi-gyrohyperbolic Bi-boosts

Chapter 7: Analytic Bi-hyperbolic Geometry: The Geometry of Bi-gyrovector Spaces

Abstract

7.1 Introduction

7.2 Bi-gyropoints in Bi-gyrovector Spaces

7.3 Bi-gyrodistance

7.4 Bi-gyrolines in Bi-gyrovector Spaces

7.5 Reduction of Bi-gyrolines to Gyrolines

7.6 Betweenness

7.7 The Bi-gyrotriangle Equality

7.8 A Bi-gyroruler for Bi-gyrolines

7.9 Bi-gyromidpoints

7.10 Reduction of Bi-gyrotriangles to Gyrotriangles

7.11 Bi-gyroparallelograms

7.12 Bi-gyroisometries: The Bi-hyperbolic Isometries

7.13 Bi-gyromotions: The Motions of Bi-hyperbolic Geometry

7.14 Bi-gyrosemidirect Product Groups

Notation and Special Symbols

References

Index

Copyright

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Dedication

To my daughters Tamar and Ziva,

my sons Ilan and Ofer,

and my grandchildren

for love and inspiration.

Abraham A. Ungar

Acknowledgments

Abraham A. Ungar 2017

The author is indebted to Nikita Barabanov for discussing and improving several topics that play an important role in the book.

Preface

This book is introductory in that it requires no previous exposure to pseudo-Euclidean spaces. What lie in the book beyond pseudo-rotations in pseudo-Euclidean spaces are the Lorentz transformations of signature (m, n), m, and their parametric realization. Lorentz transformations of signature (m, n) are well known in the mathematical and physical literature. Of particular interest in the physical literature is the Lorentz transformation of signature (1, 3), which is the Lorentz transformation of Einstein’s special theory of relativity.

The intended audience of the book includes graduate students and explorers who are interested in the study of Lorentz transformations in pseudo-Euclidean spaces as a powerful mathematical tool for establishing novel results in

1.non-associative algebra;

2.non-Euclidean geometry; and

3.relativity physics.

In 1988 the author had realized parametrically the Lorentz transformations of signature (1, n, by an orientation parameter along with a velocity parameter that turns out to be a gyrovector. Surprisingly, the parametric realization of the Lorentz transformations of signature (1, n) led to the discovery of two novel algebraic objects that possess universal significance. These are

1.the gyrogroup and

2.the gyrovector space.

A gyrovector space is a gyrocommutative gyrogroup into which a scalar multiplication is incorporated. The significance of n-dimensional gyrovector spaces rests on the fact that they form the algebraic setting for n-dimensional analytic hyperbolic geometry, just as n-dimensional vector spaces form the algebraic setting for n-dimensional analytic Euclidean geometry. Analytic hyperbolic geometry is the hyperbolic geometry of Lobachevsky and Bolyai, studied analytically. The resulting study of analytic hyperbolic geometry is available in seven books that the author published during 2001–2015.

The significance of results that stem from the 1988 parametric realization of the Lorentz transformations of signature (1, n), n > 1, led the author to extend the parametric realization of the Lorentz transformations of signature (m, n) to all m, n > 1. Not unexpectedly, this extension leads to the discovery of the two algebraic objects that are mentioned in the book subtitle, namely,

1.the bi-gyrogroup and

2.the bi-gyrovector space.

The discovery of these two algebraic objects is unfolded in the book along with the novel generalized analytic hyperbolic geometry, called bi-hyperbolic geometry of signature (m, n), to which they give rise.

In the same way that

1.n-dimensional vector spaces form the algebraic setting for n-dimensional analytic Euclidean geometry and

2.n-dimensional gyrovector spaces form the algebraic setting for n-dimensional analytic hyperbolic geometry (as shown in Chap. 3); it is shown in the book that

3.bi-gyrovector spaces of signature (m, n), m, form the algebraic setting for analytic bi-hyperbolic geometry of signature (m, n).

In the special case when m = 1, bi-hyperbolic geometry of signature (m, n) descends to n-dimensional hyperbolic geometry. A point of bi-hyperbolic geometry of signature (m, n), m, is a system of m n-dimensional subpoints, which are in geometric entanglement when m, n > 1. Hence, for instance, a triangle in bi-hyperbolic geometry of signature (m, n) is a system of m subtriangles, which are in geometric entanglement when m, n > 1.

In the special case when n = 3, n-dimensional hyperbolic geometry is the geometry that underlies relativistic particle motion in Einstein’s special theory of relativity. Similarly, in the special case when n = 3, bi-hyperbolic geometry of signature (m, n) is the geometry that underlies the relativistic collective motion of a particle system that consists of m subparticles, which are in geometric entanglement. There are indications in the book that the observed geometric entanglement in bi-hyperbolic geometry of signature (m, 3), m > 1, regulates the omnipresence of entanglement of m particles in physics. In particular, it is demonstrated in the book that the existence of a universal finite speed limit poses no conflict with particle entanglement, even when the constituent particles are separated by a large distance.

Abraham A. Ungar, Fargo, North Dakota, USA 2017

About the Author

Abraham A. Ungar is professor in the Department of Mathematics at North Dakota State University, since 1984. After gaining his B.Sc. in Mathematics and Physics (1965) and M.Sc. in Mathematics (1967) from the Hebrew University and Ph.D. from Tel-Aviv University in Applied Mathematics (1973), he held a postdoctoral position at the University of Toronto. His favored research areas are related to hyperbolic geometry and its applications in relativity physics, as indicated in the several books that he published since 2001. He currently serves on the editorial boards of Journal of Geometry and Symmetry in Physics; Communications in Applied Geometry; and Mathematics Interdisciplinary Research.

Chapter 1

Introduction

Abstract

In the context of relativity physics, pseudo-rotations are known as Lorentz transformations of signature (m, n), m, which are in turn, Lorentz transformations in m time dimensions and n space dimensions. In the Newtonian limit, Lorentz transformations of signature (m, n) tend to corresponding Galilei transformations of signature (m, n). The latter are intuitively clear, giving rise to the interpretation of Galilei transformations of signature (m, n). This interpretation yields a corresponding interpretation for Lorentz transformations of signature (m, n), indicating the emergence of geometric entanglement, which underlies the omnipresence of the entanglement phenomenon in physics.

Keywords

Galilei Transformations; Geometric Entanglement; Lorentz Transformations; Particle Systems; Quantum Entanglement

1.1 Introduction

In the context of relativity physics, pseudo-rotations are known as Lorentz transformations of signature (m, n), which are in turn, Lorentz transformations in m time dimensions and n space dimensions.

of signature (m, n), m, is an (m + n)-dimensional space with the pseudo-Euclidean inner product of signature (m, n). A Lorentz transformation of signature (m, nthat leaves the pseudo-Euclidean inner product invariant. It is special in the sense that the determinant of the (m + n) × (m + n) real matrix Λ is 1, and the determinant of its first m rows and columns is positive [36, p. 478]. Equivalently, it is special in the sense that it can be reached continuously from the identity transformation. Details are presented in Chap. 4.

Lorentz transformations of signature (m, n) are well known in algebra. They are, however, studied in the book in a novel way that stems from their parametric realization. Indeed, what lie in the book beyond pseudo-rotations in pseudo-Euclidean spaces include the parametric realization of Lorentz transformations of signature (m, n). The space of the resulting main parameter encodes new algebraic objects called a bi-gyrogroup and a bi-gyrovector space. Accordingly, the book forms an introduction to the theory of these algebraic objects, demonstrating their universal significance.

The parametric realization of the special relativistic Lorentz transformation of signature (1, n), n > 1, in 1988 [74] gives rise to Einstein gyrogroups and Einstein gyrovector spaces. Einstein gyrovector spaces, in turn, form the algebraic setting for analytic hyperbolic geometry, as demonstrated in Chaps. 2 and 3.

In full analogy, the parametric realization of Lorentz transformations of signature (m, n), m, n > 1, gives rise in the book to Einstein bi-gyrogroups and Einstein bi-gyrovector spaces of signature (m, n). Einstein bi-gyrovector spaces, in turn, form the algebraic setting for analytic bi-hyperbolic geometry, as demonstrated in the book. Bi-hyperbolic geometry turns out to form a natural extension of the analytic hyperbolic geometry studied in [81, 84, 93, 94, 95, 96, 98]. Remarkably, unlike hyperbolic geometry, bi-hyperbolic geometry of signature (m, n), m, n > 1, involves geometric entanglement, a reminiscent of the entanglement observed in physics. The n-dimensional hyperbolic geometry of Lobachevsky and Bolyai is, in fact, a bi-hyperbolic geometry of signature (1, n), n > 1. In this sense, bi-hyperbolic geometry is a natural generalization of hyperbolic geometry from signature (1, n) to signature (m, n), m.

1.2 Quantum Entanglement and Geometric Entanglement

Quantum entanglement is a physical phenomenon that occurs when groups of particles interact in ways such that the quantum state of each particle cannot be described independently of the others, even when the particles are separated by a large distance. Instead, a quantum state must be described for a system of particles as a whole.

Quantum entanglement is a great mystery in physics. Einstein, Podolsky, and Rosen have issued in 1935 a challenge to quantum physics, claiming that the theory is incomplete. They based their argument on the existence of the entanglement phenomenon, which in turn had been deduced to exist based on mathematical considerations of quantum systems. They, accordingly, claimed that the theory that allows for the unreal phenomenon of entanglement has to be incomplete [17].

Contrasting Einstein, Podolsky, and Rosen, we will see in the book that geometric entanglement is quite real within the frame of a natural extension of special relativity

(1)from a theory that stems from the common Lorentz transformation of signature (1, n) (which is regulated by hyperbolic geometry)

(2)to a theory that stems from the Lorentz transformation of signature (m, n), m(which is regulated by bi-hyperbolic geometry).

The related extension of hyperbolic geometry to bi-hyperbolic geometry, in turn, is associated with the natural emergence of the Lorentz transformation of signature (m,n), m, n > 1, into Einstein’s special relativity theory. These generalized Lorentz transformations involve m temporal dimensions and n spatial dimensions as well as a geometric entanglement. The resulting geometric entanglement shares with quantum entanglement a characteristic property. They involve particle systems in such a way that the motion of a constituent particle of a system cannot be described independently of the motion of the others, even when the constituent particles of the system are separated by a large distance. Instead, the motion of the constituent particles must be described for the system as a whole.

1.3 From Galilei to Lorentz Transformations

The Galilei transformation G(v) expresses what we intuitively understand about a particle in motion. It is a linear transformation of time-space coordinates parametrized by a velocity parameter v,

   (1.1)

given by the matrix

   (1.2)

is the Euclidean nis the space of all n × m real matrices, m.

The application of the Galilei transformation G(v) to a (1 + 3)-dimensional time-space particle

   (1.3)

(exponent t yields the following result, which is intuitively clear. The Galilei transformation G(v), also called a Galilei boost, boosts the particle (t, x)t by a velocity v, moving its position x to the boosted position x + vt at time t according to the chain of equations

   (1.4)

of G(v) in (1.4) is a 3 × 1 real matrix. We therefore call G(v) a Galilei transformation of signature (m, n) = (1, 3), anticipating the extension to Galilei transformations of signature (m, n), for all m, along with a link to Lorentz transformations of signature (m, n).

Once we accept the postulates of special relativity, the Galilei transformation G(v) must be replaced by a corresponding Lorentz transformation L(v). The corresponding Lorentz transformation must descend to the Galilei transformation in the Galilean limit c → ∞.

Indeed, it is shown in (6.16), p. 303, that the Lorentz transformation L(v) that corresponds to the Galilei transformation G(v) is the common Lorentz transformation in special relativity, which can be written as

   (1.5)

Here, v² = vtv = ‖v‖² < c², where c is the vacuum speed of light and γv is the Lorentz gamma factor (2.3), p. 11, of special relativity.

The Lorentz transformation L(v) in (1.5) is presented in its additive decomposition form as the sum of a Galilei transformation G(v) and an entanglement part, E(v), multiplied by the factor 1/c². The additive decomposition (1.5) of the Lorentz transformation L(v) clearly exhibits the limit

   (1.6)

Hence, as expected, the Lorentz transformation L(v) tends to its corresponding Galilei transformation G(v) in the Newtonian limit c → ∞.

The extension of the additive decomposition , m, is presented in (5.392), p. 261, suggesting the incorporation of Lorentz transformations of signature (m, n), m, into special relativity (where n = 3 in physical applications) as the transformations that act collectively on particle systems consisting of m n-dimensional subparticles.

The entanglement part E(v) of the Lorentz transformation L(v) in (1.5) is responsible for the emergence of counterintuitive results into special relativity as, for instance, (i) the entanglement of time and space; (ii) time dilation; (iii) length contraction; and (iv) Thomas precession. Owing to the factor 1/c² in (1.5), the relativistic effects that the entanglement part E(v) generates are directly noticeable only at very high speeds.

Unlike the Lorentz transformation L(v) in (1.5), the Galilei transformation G(v) in (1.2) and its action in (1.4) are intuitively clear. Accordingly, it is intuitively clear how to extend the Galilei transformation from the common transformation that acts on particles individually into a transformation that acts on particles collectively. In contrast, it is not yet clear how to extend the Lorentz transformation from the common transformation that acts on particles individually into a transformation that acts on particles collectively.

Fortunately, the intuitively clear extended Galilei transformations will guide us in the search for the extended Lorentz transformations that act on particles collectively, rather than individually. Remarkably, the extended Lorentz transformations that the extended Galilei transformations suggest will turn out in the book to be nothing else but the well-known Lorentz transformations of signature (m, n), m, n > 1.

1.4 Galilei and Lorentz Transformations of Particle Systems

Similarly to (1.1), let

   (1.7)

and, similarly to (1.2), let

   (1.8)

Furthermore, similarly to (1.3), let

   (1.9)

, we call G(V) in (1.8) a Galilei transformation of signature (m, n) = (2, 3). It acts in (1.10) on a system consisting of two particles that as a whole has m = 2 time dimensions and n = 3 space dimensions. Each particle has its own clock, so that the time of the particle system of m = 2 particles has 2 dimensions, being measured by two clocks. While each of the two particles has its own clock, they share the same space. Hence, the space of the particle system has n = 3 dimensions.

Finally, similar to (1.4) we have

   (1.10)

The generalization

1.from a Galilei transformation G(v) of signature (1, 3) that acts on the time-space coordinates of a single particle in (1.4)

2.into a Galilei transformation G(V) of signature (2, 3) that acts collectively on the time-space coordinates of a system consisting of two 3-dimensional particles in (1.10) is intuitively clear. Further extension

3.into a Galilei transformation of signature (m, n), m, that acts collectively on the time-space coordinates of a system consisting of m n-dimensional particles is obvious and intuitively clear as well.

It is clear from (1.10) that the collective action of a Galilei transformation G(V) of signature (2, 3) on a system consisting of two particles is equivalent to an individual action of the standard Galilei transformation G(v) of signature (1, 3) on each particle of the system. Similarly, a collective action of a Galilei transformation of signature (m, n) on a system consisting of m n-dimensional particles is equivalent to an individual action of the standard Galilei transformation of signature (1, n) on each particle of the system.

Hence, seemingly, the introduction of the concept of a collective action of the Galilei transformation on particle systems is useless, giving rise to no new phenomenon. But, we are not finished. It is demonstrated in the book that the passage from Newtonian physics to special relativistic physics, guided by analogies with the additive decomposition (1.5) of the Lorentz transformation, requires the replacement of a Galilei transformation of signature (m, n) by a corresponding Lorentz transformation of same signature (m, n).

Remarkably, unlike the collective action on a particle system of the Galilei transformation of signature (m, n), m, n > 1, the collective action on a particle system of the Lorentz transformation of signature (m, n), m, n > 1, is not equivalent to an individual action of the standard Lorentz transformation of signature (1, n) on each particle of the system. This non equivalence results from the presence of the entanglement phenomenon. Under a collective action of a Lorentz transformation of signature (m, n), m, n > 1, the constituents of a particle system are in entanglement.

The common Lorentz transformation of signature (1, n), n ≥ 1, in special relativity (n = 3 in physical applications) introduces entanglement in space and time. In the same way, the Lorentz transformation of signature (m, n), m, n > 1, introduces entanglement in the positions and in the times of the constituents of particle systems.

1.5 Chapters of the Book

The book is self-contained. The required background in the theory of Einstein gyrogroups and Einstein gyrovector spaces is presented in Chaps. 2 and 3.

Chapter 2: Einstein Gyrogroups. This chapter presents the required background about Einstein gyrogroups. Einstein velocity addition in his special relativity theory is neither commutative nor associative. However, it is both gyrocommutative and gyroassociative. The resulting rich structure of Einstein velocity addition gives rise in this chapter to an algebraic group-like object called a gyrogroup. Einstein gyrogroups turn out to be gyrocommutative, and they are destined in the book to be extended to bi-gyrocommutative bi-gyrogroups of signature (m, n), m.

Chapter 3: Einstein Gyrovector Spaces. This chapter presents the required background about Einstein gyrovector spaces. Einstein addition admits a scalar multiplication, turning Einstein gyrogroups into Einstein gyrovector spaces. It is shown in this chapter that Einstein gyrovector spaces form the algebraic setting for hyperbolic geometry with spectacular gain in clarity and simplicity, just as vector spaces form the algebraic setting for Euclidean geometry. Einstein gyrovector spaces are destined in the book to be extended to bi-gyrovector spaces of signature (m, n), m. The latter form in the book the algebraic setting for bi-hyperbolic geometry of signature (m, n), m. Remarkably, geometric entanglement emerges in bi-hyperbolic geometry when m, n > 1. When m = 1, bi-hyperbolic geometry of signature (1, n) coincides with hyperbolic geometry in n dimensions and, accordingly, involves no geometric entanglement.

Chapter 4: Bi-gyrogroups and Bi-gyrovector Spaces – P. The group SO(m, n) of Lorentz transformations of signature (m, n), m, is parametrized in this chapter by two orientation parameters and a main parameter Pof P is the space