Related papers: Comparison of Methods for Rotating a Point in $\ma…
This paper addresses the numerical solution of the matrix square root problem. Two fixed point iterations are proposed by rearranging the nonlinear matrix equation $A - X^2 = 0$ and incorporating a positive scaling parameter. The proposals…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
The goals of this paper are to obtain theoretical models of what happens when a computer calculates the rotation set of a homeomorphism, and to find a good algorithm to perform simulations of this rotation set. To do that we introduce the…
We study rectangles inscribed in lines in the plane by parametrizing these rectangles in two ways, one involving slope and the other aspect ratio. This produces two paths, one that finds rectangles with specified slope and the other…
The purpose of this paper is to show that the mathematical treatment of three dimensional rotations can be simplified, and its geometrical understanding improved, by using the Rodrigues' vector representation. We present a novel geometrical…
Recently, there has been an increasing interest in employing rotational motion measurements for seismic source inversion, structural imaging and ambient noise analysis. We derive reciprocity and representation theorems for rotational…
If we label the vertices of a triangle with 1, 2 and 4, and the orthocentre with 7, then any of the four numbers 1, 2, 4, 7 is the nim-sum of the other three and is their orthocentre. Regard the triangle as an orthocentric quadrangle.…
The Mercator projection is sometimes confused with another mapping technique, specifically the central cylindrical projection, which projects the Earth's surface onto a cylinder tangent to the equator, as if a light source is at the Earth's…
We study a new class of Radon transforms defined on circular cones called the conical Radon transform. In $\mathbb{R}^3$ it maps a function to its surface integrals over circular cones, and in $\mathbb{R}^2$ it maps a function to its…
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…
A method is proposed to construct spiral curves by inversion of a spiral arc of parabola. The resulting curve is rational of 4-th order. Proper selection of the parabolic arc and parameters of inversion allows to match a wide range of…
We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…
This paper studies the problem of identifying directions of axial symmetry in multivariate distributions. Theoretical results are derived on how the measure or cardinality of the set of symmetry directions relates to spherical symmetry. The…
In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…
In this paper a new method for inverting the Laplace transform from the real axis is formulated. This method is based on a quadrature formula. We assume that the unknown function $f(t)$ is continuous with (known) compact support. An…
We give some methods for computing equations for certain Shimura curves, natural maps between them, and special points on them. We then illustrate these methods by working out several examples in varying degrees of detail. For instance, we…
In this paper we analyse convergence of projected fixed-point iteration on a Riemannian manifold of matrices with fixed rank. As a retraction method we use `projector splitting scheme'. We prove that the projector splitting scheme converges…
The metohod of ortogonal rotations introduced in the previous papers of the author is used for construction of the explicit form the generators of the simple roots for quantum (and ussual) semisimple algebras. All calculations are presented…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Symmetry detection and discrimination are of fundamental meaning in science, technology, and engineering. This paper introduces reflection invariants and defines the directional moment to detect symmetry for shape analysis and object…