Related papers: Quaternions and dynamics
Over the past few years, the applications of dual-quaternions have not only developed in many different directions but has also evolved in exciting ways in several areas. As dual-quaternions offer an efficient and compact symbolic form with…
Just like the well-established Euler angles representation, fused angles are a convenient parameterisation for rotations in three-dimensional Euclidean space. They were developed in the context of balancing bodies, most specifically walking…
The fundamental equation describing the rotational dynamics of a rigid body is ${\vec \tau}=d{\vec L} / dt$ which is a straightforward consequence of the Newton's second law of motion and is only valid in an inertial coordinate system.…
The present article deals with general mechanics in an unconventional manner. At first, Newtonian mechanics for a point particle has been described in vectorial picture, considering Cartesian, polar and tangent-normal formulations in a…
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…
It was proposed the Lie group such that symplectic structure of orbits of co-adjoint representation of the group is revealed symplectic structure of a rigid body dynamics in quaternion variables. It is shown that Poisson brackets of…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
We give an overview of recent advances in analysis of equations of electrodynamics with the aid of biquaternionic technique. We discuss both models with constant and variable coefficients, integral representations of solutions, a numerical…
Standard (Arnold-Liouville) integrable systems are intimately related to complex rotations. One can define a generalization of these, sharing many of their properties, where complex rotations are replaced by quaternionic ones. Actually this…
In this paper, we present some applications of quaternions and octonions. We present the real matrix representations for complex octonions and some of their properties which can be used in computations where these elements are involved.…
Most of theoretical physics is based on the mathematics of functions of a real or a complex variable; yet we frequently are drawn to try extending our reach to include quaternions. The non-commutativity of the quaternion algebra poses…
Classical dynamical equations describing a certain version of the nonHamiltonian interaction of two rotators (Euler tops with completely degenerate inertia tensors) are considered. The simplest case is integrated. It is shown that the…
In this work, we use real quaternions and the basic concept of the final speed of light in an attempt to enhance the standard description of special relativity. First, we demonstrate that it is possible to introduce a quaternion time domain…
The Dirac belt trick is often employed in physics classrooms to show that a $2\pi$ rotation is not topologically equivalent to the absence of rotation whereas a $4\pi$ rotation is, mirroring a key property of quaternions and their…
In this article, we introduce and study the concept of $\textit{spherical-vectors}$, which can be perceived as a natural extension of the arguments of complex numbers in the context of quaternions. We initially establish foundational…
This article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space…
Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an…
Vorticity dynamics of the three-dimensional incompressible Euler equations is cast into a quaternionic representation governed by the Lagrangian evolution of the tetrad consisting of the growth rate and rotation rate of the vorticity. In…
The satisfactory development of Quaternionic Analysis has indicated new solutions for physical and mathematical problems. It is worth mentioning the fact that quaternions possess four dimensions, and in this way they may be considered as…
Euler's equation relates the change in angular momentum of a rigid body to the applied torque. This paper fills a gap in the literature by using Lagrangian dynamics to derive Euler's equation in terms of generalized coordinates. This is…