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Interpolation of Markoff transformations on the Fricke surface

Interpolation of Markoff transformations on the Fricke surface

By the Fricke surfaces, we mean the cubic surfaces defined by the equation $p^2+q^2+r^2-pqr-k=0$ in the Euclidean 3-space with the coordinates $(p,q,r)$ parametrized by constant $k$. When $k=0$, it is naturally isomorphic to the moduli of once-punctured tori. It was Markoff who found the transformations, called Markoff transformations, acting on …