Related papers: An introduction to using dual quaternions to study…
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…
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…
Dual quaternions can represent rigid body motion in 3D spaces, and have found wide applications in robotics, 3D motion modelling and control, and computer graphics. In this paper, we introduce three different right linear independency for a…
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 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…
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…
The use of complexified quaternions and $i$-complex geometry in formulating the Dirac equation allows us to give interesting geometric interpretations hidden in the conventional matrix-based approach.
We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers.…
This article investigates Kak neural networks, which can be instantaneously trained, for complex and quaternion inputs. The performance of the basic algorithm has been analyzed and shown how it provides a plausible model of human perception…
An involution is usually defined as a mapping that is its own inverse. In this paper, we study quaternion involutions that have the additional properties of distribution over addition and multiplication. We review formal axioms for such…
Rotations on the 3-dimensional Euclidean vector-space can be represented by real quaternions, as was shown by Hamilton. Introducing complex quaternions allows us to extend the result to elliptic and hyperbolic rotations on the Minkowski…
We develop quaternionic analysis using as a guiding principle representation theory of various real forms of the conformal group. We first review the Cauchy-Fueter and Poisson formulas and explain their representation theoretic meaning. The…
This is part two of a series of four methodological papers on (bi)quaternions and their use in theoretical and mathematical physics: 1- Alphabetical bibliography, 2- Analytical bibliography, 3- Notations and terminology, and 4- Formulas and…
The interior structure of arbitrary sets of quaternion units is analyzed using general methods of the theory of matrices. It is shown that the units are composed of quadratic combinations of fundamental objects having a dual mathematical…
The purpose of this effort is to investigate if the use of quaternion mathematics can be used to better model and simulate the electromagnetic fields that occur from moving electromagnetic charges. One observed deficiency with the commonly…
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…
We extend Jordan's notion of principal angles to work for two subspaces of quaternionic space, and so have a method to analyze two orthogonal projections in M_n(A) for A the real, complex or quaternionic field (or skew field). From this we…
Aiming at applications to the scientific visualization of three dimensional simulations with time evolution, a keyboard based control method to specify rotations in four dimensions is proposed. It is known that four dimensional rotations…
This dissertation is about The history of quaternions and their associated rotation groups as it relates to theoretical physics.
Fourier transform (FT) plays a crucial role in a broad range of applications, from enhancement, restoration and analysis through to security, compression and manipulation. The Fourier transform (FT) is a process that converts a function…