Show that $\theta_{ij}$ in eq. (24.4) must be antisymmetric if $R$ is orthogonal.
2Structure Constants from SO$(N)$ Transformations, Q24.2
By considering the $\mathrm{SO}(N)$ transformation $R'^{-1}R^{-1}R'R$, where $R$ and $R'$ are independent infinitesimal $\mathrm{SO}(N)$ transformations, prove eq. (24.7).
3Noether Current and Charge Algebra, Q24.3
Find the Noether current $j^{a\mu}$ for the transformation of eq. (24.6).
Show that $[\phi_i, Q^a] = (T^a)_{ij}\phi_j$, where $Q^a$ is the Noether charge.
Use this result, eq. (24.7), and the Jacobi identity (see problem 2.8) to show that $[Q^a, Q^b] = if^{abc}Q^c$.
4Generators of Sp$(2N)$, Q24.4
The elements of the group $\mathrm{SO}(N)$ can be defined as $N\times N$ matrices $R$ that satisfy
\[R_{ii'}R_{jj'}\delta_{i'j'} = \delta_{ij}.\tag{4.1}\]
The elements of the symplectic group $\mathrm{Sp}(2N)$ can be defined as $2N\times 2N$ matrices $S$ that satisfy
\[S_{ii'}S_{jj'}\eta_{i'j'} = \eta_{ij},\tag{4.2}\]
where the symplectic metric $\eta_{ij}$ is antisymmetric, $\eta_{ij}=-\eta_{ji}$, and squares to minus the identity: $\eta^2 = -I$. One way to write $\eta$ is
\[\eta = \begin{pmatrix} 0 & I \\ -I & 0 \end{pmatrix},\tag{4.3}\]
where $I$ is the $N\times N$ identity matrix. Find the number of generators of $\mathrm{Sp}(2N)$.