Thoughts on Typesetting

In 2012 IAP, I taught myself how to use LaTeX by typesetting the 8.033 — Relativity lecture notes. I also did this so that the lecturer I had that semester and the lecturer for the following semester would both have these notes at their disposal; for the record, the former is on sabbatical this academic year, while the latter did indeed use it when he taught the class this past fall. I needed to teach myself LaTeX because I was going to be taking 8.13, which I did this past fall, and that requires LaTeX use for papers (and recommends Beamer for presentations as well). That said, recently I was hanging out with some friends and a couple of them suggested that LaTeX isn't really necessary as far as producing scientific papers goes, because Microsoft Office Word 2013 has an advanced enough equation editor that it can essentially replace LaTeX, especially as it now recognizes basic LaTeX syntax. At first, given how much I had used LaTeX (and also given some of my past negative feelings toward Microsoft), I felt a little defensive. But then I realized I should give the comparison a fairer shot, so I decided to see if I could try to replicate one of my PRL-formatted LaTeX-typeset papers in LibreOffice Writer. Follow the jump to see my findings.

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Time and Temperature are Complex

In a post from a few days ago, I briefly mentioned the notion of imaginary time with regard to angular momentum. I'd like to go into that a little further in this post.

In 3 spatial dimensions, the flat (Euclidean) metric is $\eta_{ij} = \delta_{ij}$, which is quite convenient, as lengths are given by $(\Delta s)^2 = (\Delta x)^2 + (\Delta y)^2 + (\Delta z)^2$ which is just the usual Pythagorean theorem. When a temporal dimension is added, as in special relativity, the coordinates are now $x^{\mu} = (ct, x_{j})$, and the Euclidean metric becomes the Minkowski metric $\eta_{\mu \nu} = \mathrm{diag}(-1, 1, 1, 1)$ so that $\eta_{tt} = -1$, $\eta_{(t, j)} = 0$, and $\eta_{ij} = \delta_{ij}$. This means that spacetime intervals become $(\Delta s)^2 = -(c\Delta t)^2 + (\Delta x)^2 + (\Delta y)^2 + (\Delta z)^2$, which is the normal Pythagorean theorem only if $\Delta t = 0$. In general, time coordinate differences contribute negatively to the spacetime interval. In addition, Lorentz transformations are given by a hyperbolic rotation by a [hyperbolic] angle $\alpha$ equal to the rapidity given by $\frac{v}{c} = \tanh(\alpha)$. This doesn't look quite the same as normal Euclidean geometry. However, a transformation to imaginary time, called a Wick rotation, can be done by setting $\tau = it$, so $x^{\mu} = (ic\tau, x_{j})$, $\eta_{\mu \nu} = \delta_{\mu \nu}$, $(\Delta s)^2 = (c\Delta t)^2 + (\Delta x)^2 + (\Delta y)^2 + (\Delta z)^2$ as in the usual Pythagorean theorem, and the Lorentz transformation is given by a real rotation by an angle $\theta = i\alpha$ (though I may have gotten some of these signs wrong so forgive me) where $\alpha$ is now imaginary. Now, the connection to the component $L_{(0, j)}$ of the angular momentum tensor should be more clear.

I first encountered this in the class 8.033 — Relativity, where I was able to explore this curiosity on a problem set. That question and the accompanying discussion seemed to say that while this is a cool thing to try doing once, it isn't really useful, especially because it does not hold true in general relativity with more general metrics $g_{\mu \nu} \neq \eta_{\mu \nu}$ except in very special cases. However, as it turns out, imaginary time does play a role in quantum mechanics, even without the help of relativity.

Schrödinger time evolution occurs through the unitary transformation $u = e^{-\frac{itH}{\hbar}}$ satisfying $uu^{\dagger} = u^{\dagger} u = 1$. This means that the probability that an initial state $|\psi\rangle$ ends after time $t$ in the same state is given by the amplitude (whose square is the probability [density]) $\mathfrak{p}(t) = \langle\psi|e^{-\frac{itH}{\hbar}}|\psi\rangle$. Meanwhile, assuming the states $|\psi\rangle$ form a complete and orthonormal basis (though I don't know if this assumption is truly necessary), the partition function $Z = \mathrm{trace}\left(e^{-\frac{H}{k_B T}}\right)$, which can be expanded in the basis $|\psi\rangle$ as $Z = \sum_{\psi} \langle\psi|e^{-\frac{H}{k_B T}}|\psi\rangle$. This, however, is just as well rewritten as $Z = \sum_{\psi} \mathfrak{p}\left(t = -\frac{i\hbar}{k_B T}\right)$. Hence, quantum and statistical mechanical information can be gotten from the same amplitudes using the substitution $t = -\frac{i\hbar}{k_B T}$, which essentially calls temperature a reciprocal imaginary time. This is not really meant to show anything more deep or profound about the connection between time and temperature; it is really more of a trick stemming from the fact that the same Hamiltonian can be used to solve problem in quantum mechanics or equilibrium statistical mechanics.

As an aside, it turns out that temperature, even when measured in an absolute scale, can be negative. There are plenty of papers of this online, but suffice it to say that this comes from a more general statistical definition of temperature. Rather than defining it (as it commonly is) as the average kinetic energy of particles, it is better to define it as a measure of the probability distribution that a particle will have a given energy. Usually, particles tend to be in lower energy states more than in higher energy states, and as a consequence, the temperature is positive. However, it is possible (and has been done repeatedly) under certain circumstances to cleverly force the system in a way that causes particles to be in higher energy states with higher probability than in lower energy states, and this is exactly the negative temperature. More formally, $\frac{1}{T} = \frac{\partial S}{\partial E}$ where $E$ is the energy and $S$ is the entropy of the system, which is a measure of how many different states the system can possibly have for a given energy. For positive temperature, if two objects of different temperatures are brought into contact, energy will flow from the hotter one to the colder, cooling the former and heating the latter until equal temperatures are achieved. For negative temperature, though, if an object with negative temperature is brought in contact with an object that has positive temperature, each object tends to increase its own entropy. Like most normal objects, the latter does this by absorbing energy, but by the definition of temperature, the former does this by releasing energy, meaning the former will spontaneously heat the latter. Hence, negative temperature is hotter than positive temperature; this is a quirk of the definition of reciprocal temperature, so really what is happening is that absolute zero on the positive side is still the coldest possible temperature, absolute zero on the negative side is now the hottest temperature, and $\pm \infty$ is in the middle.

This was really just me writing down stuff that I had been thinking about a couple of months ago. I hope this helps someone, and I also await the day when TV newscasters say "complex time brought to you by..." instead of "time and temperature brought to you by...".

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A Less-Seen View of Angular Momentum

Many people learn in basic physics classes that angular momentum is a scalar quantity that describes the magnitude and direction of rotation, such that its rate of change is equal to the sum of all torques $\tau = \dot{L}$, akin to Newton's equation of motion $\vec{F} = \dot{\vec{p}}$. People who take more advanced physics classes, such as 8.012 — Physics I, learn that in fact angular momentum and torque are vectors; in the case of fixed-axis rotation, the moment of inertia (the rotational equivalent to mass) is a scalar so $\vec{L} = I\vec{\omega}$ means that angular momentum points in the same direction as angular velocity. By contrast, in general rigid body motion, the moment of inertia becomes anisotropic and becomes a tensor, so \[\vec{L} = \stackrel{\leftrightarrow}{I} \cdot \vec{\omega}\] implies that angular momentum is no longer parallel to angular velocity, but instead the components are related (using Einstein summation for convenience) by \[L_i = I_{ij} \omega_{j}.\] This becomes important in the analysis of situations like gyroscopes and torque-induced precession, torque-free precession, and nutation.

There is one problem though: there is nothing particularly vector-like about angular momentum. It is constructed as a vector essentially for mathematical convenience. The definition $\vec{L} = \vec{x} \times \vec{p}$ only works in 3 dimensions. Why is this? Let's look at the definition of the cross product components: in 3 dimensions, the permutation tensor has 3 indices, so contracting it with 2 vectors produces a third vector $\vec{c} = \vec{a} \times \vec{b}$ such that $c_i = \varepsilon_{ijk} a_{j} b_{k}$. One trick that is commonly taught to make the cross product easier is to turn the first vector into a matrix and then perform matrix multiplication with the column representation of the second vector to get the column representation of the resulting vector: the details of this rule are hard to remember, but the source is simple, as it is just $a_{ij} = \varepsilon_{ijk} a_{k}$. Now let us see what happens to angular velocity and angular momentum using this definition. Angular velocity was previously defined as a vector through $\vec{v} = \vec{\omega} \times \vec{x}$. We know that $\vec{x}$ and $\vec{v}$ are true vectors, while $\vec{\omega}$ is a pseudovector (defined by it flipping direction when the coordinate system undergoes reflection), so $\vec{\omega}$ is vector to be made into a tensor. Using the previous definition that in 3 dimensions $\omega_{ij} = \varepsilon_{ijk} \omega_{k}$, then \[v_i = \omega_{ij} x_{j}\] now defines the angular velocity tensor. Similarly, angular momentum is a pseudovector, so it can be made into a tensor through $L_{ij} = \varepsilon_{ijk} L_{k}$. Substituting this into the equation relating angular momenta and angular velocities yields \[L_{ij} = I_{ik} \omega_{kj}\] meaning the matrix representation of the angular momentum tensor is now the matrix multiplication of the matrices representing the moment of inertia and angular velocity tensors.

This has another consequence: the meaning of the components of the angular velocity and angular momentum become much more clear. Previously, $L_{j}$ was the generator of rotation in the plane perpendicular to the $j$-axis, and $\omega_{j}$ described the rate of this rotation: for instance, $L_z$ and $\omega_z$ relate to rotation in the $xy$-plane. This is somewhat counterintuitive. On the other hand, the tensor definitions $L_{ij}$ and $\omega_{ij}$ deal with rotations in the $ij$-plane: for example, $L_{xy}$ generates and $\omega_{xy}$ describes rotations in the $xy$-plane, which seem much more intuitive. Also, with this, $L_{ij} = x_{i} p_{j} - p_{i} x_{j}$ becomes a definition (though there may be a numerical coefficient that I am missing, so forgive me).

The nice thing about this formulation of angular velocities and momenta as tensor quantities is that this is generalizable to 4 dimensions, be it 4 spatial dimensions or 3 spatial and 1 temporal dimension (as in relativity). $L_{\mu \nu} = x_{\mu} p_{\nu} - p_{\mu} x_{\nu}$ now defines the generator of rotation in the $\mu\nu$-plane. Similarly, $\omega_{\mu \nu}$ defined in $L_{\mu \nu} = I_{\mu}^{\; \xi} \omega^{\xi}_{\; \nu}$ describes the rate of rotation in that plane. The reason why these cannot be vectors any more is that the permutation tensor gains an additional index, so contracting it with two vectors yields a tensor with 2 indices; this means that the cross product as laid out in 3 dimensions does not work in any other number of dimensions (except, interestingly enough, for 7, and that is because a 7-dimensional Cartesian vector space can be described through the algebra of octonions which does have a cross product, just as 2-dimensional vectors can be described by complex numbers and 3-dimensional vectors can be described by quaternions).

This has further nice consequence for special relativity. The Lorentz transformation as given in $x^{\mu'} = \Lambda^{\mu'}_{\; \mu} x^{\mu}$ is a hyperbolic rotation through an angle $\alpha$, equal to the rapidity defined as $\alpha = \tanh(\beta)$. A hyperbolic rotation is basically just a normal rotation through an imaginary angle. This can actually be seen by transforming to coordinates with imaginary time (called a Wick rotation, which may come back up in a post in the near future): $x^{\mu} = (ct, x^{j}) \rightarrow (ict, x^{j})$, allowing the metric to change as $\eta_{\mu \nu} = \mathrm{diag}(-1, 1, 1, 1) \rightarrow \delta_{\mu \nu}$. This changes the rapidity to just be a real angle, and the Lorentz transformation becomes a real rotation. Because only the temporal coordinate has been made imaginary while the spatial coordinates have been left untouched, because the Lorentz transformation is now a real rotation, and because angular momentum generates real rotations, then it can be said that the angular momentum components $L_{(0, j)}$ generate Lorentz boosts along the $j$-axis. This fact remains true even if the temporal coordinate is not made imaginary and the metric remains with an opposite sign for the temporal component, though the math of Lorentz boost generation becomes a little more tricky. That said, typically the conservation of angular momentum implies symmetry of the system under rotation, thanks to the Noether theorem. Naïvely, this would imply that conservation of $L_{(0, j)}$ is associated with symmetry under the Lorentz transformation. The truth is a little more complicated (but not by too much), as my advisor and I found from a few Internet searches. Basically, in nonrelativistic mechanics, just as momentum is the generator of spatial translation, position is the generator of (Galilean) momentum boosting: this can be seen in the quantum mechanical representation of momentum in the position basis $\hat{p} = -i\hbar \frac{\partial}{\partial x}$, and the analogous representation of position in the momentum basis $\hat{x} = i\hbar \frac{\partial}{\partial p}$. If the system is invariant under translation, then the momentum is conserved and the system is inertial, whereas if the system is invariant under boosting, then the position is conserved and the system is fixed at a given point in space. In relativity, the analogue to a Galilean momentum boost is exactly the Lorentz transformation, so conservation of $L_{(0, j)}$ corresponds to the system being fixed at its initial spacetime coordinate; this is OK even in relativity because spacetime coordinates are invariant geometric objects, even if their components transform covariantly.

There are a few remaining issues with this analysis. One is that rotations in 3 dimensions are just sums of pairs of rotations in planes, and rotations in 4 dimensions are just sums of pairs of rotations in 3 dimensions. This relates in some way (that I am not really sure of) to symmetries under special orthogonal/unitary transformations in those dimensions. In dimensions higher than 4, things get a lot more hairy, and I'm not sure if any of this continues to hold. Also, one remaining issue is that in special relativity, because the speed of light is fixed and finite, rigid bodies cease to exist except as an approximation, so the description of such dynamics using a moment of inertia tensor generalized to special relativity may not work anymore (though the description of angular momentum as a tensor should still work anyway). Finally, note that the generalization of particle momentum $p_{\mu}$ to a distribution of energy lies in the stress-energy tensor $T_{\mu \nu}$, so the angular momentum of such a distribution becomes a tensor with 3 indices that looks something like (though maybe not exactly like) $L_{\mu \nu \xi} = x_{\mu} T_{\nu \xi} - x_{\nu} T_{\mu \xi}$. In addition, stress-energy tensors with relativistic angular momenta may change the metric itself, so that would need to be accounted for through the Einstein field equations. Anyway, I just wanted to further explore the formulations and generalizations of angular momentum, and I hope this helped in that regard.

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A Less-Seen View of Complex Numbers

This post is a little different from the last one, only because it's more about mathematics than physics. It's based on thoughts I have been having about complex numbers and how they relate to 2-dimensional vectors. Follow the jump to see more.

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A Different Kind of Math

This semester I'm taking a class titled 18.05 Introduction to Probability and Statistics. The math class I took last semester was 18.03 Differential Equations.
Prior to this semester, in almost every math class I've taken (at least since high school, because I don't remember too much detail about my classes before then), the homework assignments have basically been: "OK, so you did this problem illustrating the fundamentals of this concept? Good. Now do 20 more problems just like that with different numbers." Sure, there were a couple word problems here and there, but those were extremely straightforward as well and didn't really require a whole lot of thought.
Now, however, all the problems are word problems, and as evidenced by the recent problem sets, they require quite a bit more thought and interpretation. They look like they are very open-ended (i.e. any answer could be right), but the truth is that there is only one fairly specific way to solve a problem. For example, there was one question on the last problem set that almost seemed like it was asking for my personal opinion, but it really was a cleverly-disguised question asking me to construct a Poisson approximation with the data provided in the problem. The emphasis now is not on the mathematical techniques, because those are fairly basic and there isn't any new math being taught here; now, the emphasis is on being able to correctly parse what the question is asking and apply the correct mathematical tools to reach a solution. Plus, this is made a little bit more difficult by the fact that many people including myself subconsciously resort to intuition to answer questions of probability, and when it comes to probability, human intuition has been repeatedly shown to be very, very wrong; I think this is because people instinctively try to look for patterns rather than looking at the bigger picture of chances, and this is something I do too.
I think it'll be a fun class, but even now it's certainly a little bit more challenging than previous math classes. I don't think it should be that bad though!

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Isaac Newton, Progress, and Patents

In my physics recitation class today, our recitation leader briefly digressed from the material at hand to discuss the history of differential calculus and the conflict between Isaac Newton and Gottfried Leibniz. Basically, Newton claimed to have invented differential calculus first (although, as with any other "invention", neither can truly claim to have invented calculus from scratch as they were building on the work of mathematicians before them (and I don't just mean 1 + 1 = 2 — I mean things like infinite series and tangent lines)), but as he kept his work secret for decades, he ended up publishing his work on calculus after Leibniz published his work. While both were initially on good terms, as Newton became more possessive of his own work and convinced of his own originality, the debate became progressively more heated, with Newton and his supporters accusing Leibniz of plagiarism. Follow the jump to read more.
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