“…In this case, the usual Euclidean algorithm can be applied to R; a simple corollary to this is that if Ep2, Rq is the subgroup of SLp2, Rq generated by upper and lower triangular matrices, then SLp2, Rq " Ep2, Rq. There is a corresponding notion for rings with involutions as well, originally explored by the second author [21]: let pR, σq be a subring with involution of a division algebra; we say that it is σ-Euclidean if there exists a function Φ : R Ñ W to some well-ordered set W such that for all a, b P R with b ‰ 0 and aσpbq P R `, there exists some q P R `such that Φpa ´bqq ă Φpbq. A σ-Euclidean ring has a corresponding σ-Euclidean algorithm, which retains many of the nice properties of the usual Euclidean algorithm; it is easily proved, for example, that if pR, σq is σ-Euclidean, then SL σ p2, Rq " Ep2, Rq, where Ep2, Rq is the subgroup of SL σ p2, Rq generated by upper and lower triangular matrices.…”