Related papers: The Cubli: Modeling Utilizing Quaternions
This paper describes the passage of light through a system of waveplates mathematically in terms of quaternions, an extension of the complex numbers, instead of the more usual Jones vectors and Jones matrices. Both the light beam and the…
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…
As an expansion of complex numbers, the quaternions show close relations to numerous physically fundamental concepts. In spite of that, the didactic potential provided by quaternion interrelationships in formulating physical laws are hardly…
Basic facts and definitions of conformal moduli of rings and quadrilaterals are recalled. Some computational methods are reviewed. For the case of quadrilaterals with polygonal sides, some recent results are given. Some numerical…
In this paper we show that there are applications that transform the movement of a pendulum into movements in $\mathbb{R}^3$. This can be done using Euler top system of differential equations. On the constant level surfaces, Euler top…
Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate…
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in…
Quaternion-valued differential equations (QDEs) is a new kind of differential equations which have many applications in physics and life sciences. The largest difference between QDEs and ODEs is the algebraic structure. On the…
The Minkowski product of unit quaternion sets is introduced and analyzed, motivated by the desire to characterize the overall variation of compounded spatial rotations that result from individual rotations subject to known uncertainties in…
It is shown that the groups of Euclidian rotations, rigid motions, proper, orthochronous Lorentz transformations, and the complex rigid motions can be represented by the groups of unit-norm elements in the algebras of real, dual, complex,…
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…
We reformulate Special Relativity by a quaternionic algebra on reals. Using {\em real linear quaternions}, we show that previous difficulties, concerning the appropriate transformations on the $3+1$ space-time, may be overcome. This implies…
A new formula is obtained in algebraic topology, in terms of Betti numbers, and a new method, called the spinal method, is suggested and developed for generating quadrangulations of closed orientable surfaces. Those surfaces arise as the…
The parameterisation of rotations in three dimensional Euclidean space is an area of applied mathematics that has long been studied, dating back to the original works of Euler in the 18th century. As such, many ways of parameterising a…
In the last one and a half centuries, the analysis of quaternions has not only led to further developments in mathematics but has also been and remains an important catalyst for the further development of theories in physics. At the same…
The Sierpinski tetrahedron has a remarkable property: It is projected to squares in three orthogonal directions, and moreover, to sets with positive Lebesgue measures in numerous directions. This paper proposes a method for characterizing…
Pauli matrices are 2x2 tracefree matrices with a real diagonal and complex (complex-conjugate) off-diagonal entries. They generate the Clifford algebra Cl(3). They can be generalised by replacing the off-diagonal complex number by one…
We develop a robust method to model quadruply lensed quasars, relying heavily on the work of Witt (1996), who showed that for elliptical potentials, the four image positions, the source, and the lensing galaxy lie on a right hyperbola. For…
The inverted pendulum is a mechanical system with a rapidly oscillating pivot point. Using techniques similar in spirit to the methodology of effective field theories, we derive an effective Lagrangian that allows for the systematic…
The paper explains how a unit generalized quaternion is used to represent a rotation of a vector in 3-dimensional space. We review of some algebraic properties of generalized quaternions and operations between them and then show their…