Related papers: Using Lie derivatives with dual quaternions for pa…
More than 150 years after their invention by Hamilton, quaternions are now widely used in the aerospace and computer animation industries to track the paths of moving objects undergoing three-axis rotations. It is shown here that they…
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,…
The coincidence between polynomial neural networks and matrix Lie maps is discussed in the article. The matrix form of Lie transform is an approximation of the general solution of the nonlinear system of ordinary differential equations. It…
A covariant formulation of the virtual power principle based on Lie derivatives is proposed. The Lie covariant approach does not require an inner product and the Cauchy deformation tensor to start, but, at first order in a Galilean…
This is the second and final article on the tutorial on manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using the elementary transform sequence (ETS), before formulating forward kinematics and…
We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more…
In this work, new finite difference schemes are presented for dealing with the upper-convected time derivative in the context of the generalized Lie derivative. The upper-convected time derivative, which is usually encountered in the…
This note being is devoted to the unraveling of the algebraic structure, which governs the quadratic nonhamiltonian interaction of two rotators described in the first part. It should be considered in the context of a general ideology of the…
Quaternion-Kaehler four-manifolds, or equivalently anti-self-dual Einstein manifolds, are locally determined by one scalar function subject to Przanowski's equation. Using twistorial methods we construct a Lax Pair for Przanowski's…
This book is mainly an exposition of the author's works and his joint works with his former students on explicit representations of finite-dimensional simple Lie algebras, related partial differential equations, linear orthogonal algebraic…
The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order…
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody…
Resistance to overfitting is observed for neural networks trained with extended backpropagation algorithm. In addition to target values, its cost function uses derivatives of those up to the $4^{\mathrm{th}}$ order. For common applications…
We demonstrate that the notions of derivative representation of a Lie algebra on a vector bundle, of semi-linear representations of a Lie group on a vector bundle, and related concepts, may be understood in terms of representations of Lie…
We demonstrate the fact that linearity is a meaningful symmetry in the sense of Lie and Noether. The role played by that `linearity symmetry' in the quadrature of linear ordinary second-order differential equations is reviewed, by the use…
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…
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…
We discuss the relationship between Lie derivatives and the linear differential equations on cotangent spaces of algebraic D-varieties at sharp points. We also take the liberty to give an account of Ax's theorem (which may be useful as an…
Dual quaternions and dual quaternion matrices have garnered widespread applications in robotic research, and its spectral theory has been extensively studied in recent years. This paper introduces the novel concept of the dual complex…
We begin with a short presentation of the basic concepts related to Lie groupoids and Lie algebroids, but the main part of this paper deals with Lie algebroids. A Lie algebroid over a manifold is a vector bundle over that manifold whose…