Related papers: Why and How to Avoid the Flipped Quaternion Multip…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
We review the general problem of finding a global rotation that transforms a given set of points and/or coordinate frames (the "test" data) into the best possible alignment with a corresponding set (the "reference" data). For 3D point data,…
The algebra of fourvectors is described. The fourvectors are more appropriate than the Hamilton quaternions for its use in Physics and the sciences in general. The fourvectors embrace the 3D vectors in a natural form. It is shown the…
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…
The study of pattern avoidance in permutations, and specifically in flattened partitions is an active area of current research. In this paper, we count the number of distinct flattened partitions over [n] avoiding a single pattern, as well…
As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…
We further develop a simple and compact technique for calculating the three flavor neutrino oscillation probabilities in uniform matter density. By performing additional rotations instead of implementing a perturbative expansion we…
A proposal for the matrix model formulation of the M-theory on a space with a boundary is given. A general machinery for modding out a symmetry in M(atrix) theory is used for a Z_2 symmetry changing the sign of the X_1 coordinate. The…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
While in general there is no one-to-one correspondence between complex and quaternion quantum mechanics (QQM), there exists at least one version of QQM in which a {\em partial} set of {\em translations} may be made. We define these…
A collective model is proposed to describe the chiral rotation and vibration and applied to a system with one $h_{11/2}$ proton particle and one $h_{11/2}$ neutron hole coupled to a triaxial rigid rotor. The collective Hamiltonian is…
This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists and wrenches, which are…
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…
Quaternions often appear in wide areas of applied science and engineering such as wireless communications systems, mechanics, etc. It is known that are two types of non-isomorphic generalized quaternion algebras, namely: the algebra of…
In the effort to design and to construct a quantum computer, several leading proposals make use of spin-based qubits. These designs generally assume that spins undergo pairwise interactions. We point out that, when several spins are engaged…
We classify two-qubit commuting Hamiltonians in terms of their computational complexity. Suppose one has a two-qubit commuting Hamiltonian H which one can apply to any pair of qubits, starting in a computational basis state. We prove a…
We analytically derive transition probabilities for four-neutrino oscillations in matter. The time evolution operator giving the neutrino oscillations is expressed by the finite sum of terms up to the third power of the Hamiltonian in a…
In this paper, we offer and discuss three efficient structural solutions for the hardware-oriented implementation of discrete quaternion Fourier transform basic operations with reduced implementation complexities. The first solution: a…
This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The approach novelty is that…
The reciprocal square root is an important computation for which many very sophisticated algorithms exist (see for example \cite{863046,863031} and the references therein). In this paper we develop a simple differential compensation (much…