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In this short paper, we review the Euler-Rodrigues formula for three-dimensional rotation via fractional powers of matrices. We derive the rotations by any angle through the spectral behavior of the fractional powers of the rotation matrix…
A generalized definition of a frame of reference in spaces with affine connections and metrics is proposed based on the set of the following differential-geometric objects: (a) a non-null (non-isotropic) vector field, (b) the orthogonal to…
Quaternions were appeared through Lagrangian formulation of mechanics in Symplectic vector space. Its general form was obtained from the Clifford algebra, and Frobenius' theorem, which says that "the only finite-dimensional real division…
We construct the quaternion algebra [10] "geometrically" by a three dimensional analogue of the classic two dimensional geometric description of the complex field. The algebraic description of the multiplication operation in three…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
In this paper we study the clockwise simply connected rotating patches for Euler equations. By using the moving plane method we prove that Rankine vortices are the only solutions to this problem in the class of {\it slightly} convex…
Front form dynamics is not a manifestly rotational invariant formalism. In particular, the requirement of an invariance under rotations around the transverse axes is difficult to fulfill.In the present work it is investigated, to which…
3D frame fields are auxiliary for hexahedral mesh generation. There mainly exist three ways to represent 3D frames: combination of rotations, spherical harmonics and fourth order tensor. We propose here a representation carried out by the…
Using the method of moving frames we analyze the algebra of differential invariants for surfaces in three-dimensional affine geometry. For elliptic, hyperbolic, and parabolic points, we show that if the algebra of differential invariants is…
In a previous paper, we proposed an approach for the dynamics of 3D bodies and shells based on the use of affine tensors. This new theoretical frame is very large and the applications are not limited to the mechanics of continua. In the…
We study the higher spin anologs of the six vertex model on the basis of its symmetry under the quantum affine algebra $U_q(\slth)$. Using the method developed recently for the XXZ spin chain, we formulate the space of states, transfer…
The covering of the affine symmetry group, a semidirect product of translations and special linear transformations, in $D \geq 3$ dimensional spacetime is considered. Infinite dimensional spinorial representations on states and fields are…
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…
Rotations in 3 dimensional space are equally described by the SU(2) and SO(3) groups. These isomorphic groups generate the same 3D kinematics using different algebraic structures of the unit quaternion. The Hopf Fibration is a projection…
Rotational symmetry plays a central role in physics, providing an elegant framework to describe how the properties of 3D objects -- from atoms to the macroscopic scale -- transform under the action of rigid rotations. Equivariant models of…
It is well known that a rigid motion of the Euclidean plane can be written as the composition of at most three reflections. It is perhaps not so widely known that a similar result holds for Euclidean space in any number of dimensions. The…
By analogy with the real and complex affine groups, whose unitary irreducible representations are used to define the one and two-dimensional continuous wavelet transforms, we study here the quaternionic affine group and construct its…
We generalize the formulation of non-commutative quantum mechanics to three dimensional non-commutative space. Particular attention is paid to the identification of the quantum Hilbert space in which the physical states of the system are to…
A common problem in physics and engineering is determination of the orientation of an object given its angular velocity. When the direction of the angular velocity changes in time, this is a nontrivial problem involving coupled differential…
Quaternions provide a unified algebraic and geometric framework for representing three-dimensional rotations without the singularities that afflict Euler-angle parametrisations. This article develops a pedagogical and conceptual analysis of…