“…Next, we consider the symmetries of the discrete subgroup D. Given that we restrict attention to a particular canonical Lie group G = (R 3 , ψ), and given the above interpretation of the arguments of w, the task in fact requires that we find all sets of generators of D. We give an algorithm which, given any set of generators, puts the set in the form (5.5), and quote necessary and sufficient conditions, from Nicks and Parry [19], that group elements of the form (5.5) generate D. Then, any set of generators is obtained from a set of the form (5.5) (satisfying the necessary and sufficient conditions given in [19]) by a sequence of elementary operations -the Nielsen transformations described in Johnson [13].…”