Related papers: Ortho-normal quaternion frames, Lagrangian evoluti…
This paper presents an experimental study on the application of quaternions in several machine learning algorithms. Quaternion is a mathematical representation of rotation in three-dimensional space, which can be used to represent complex…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
We present a quaternion wavefunction formulation that reduces the incompressible Euler equations to a single nonlinear Schr\"odinger-type equation with a holomorphic constraint, revealing hidden geometric structure connecting quantum and…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
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 goal of this contribution is to introduce the Hamiltonian formalism of theoretical mechanics for analysing motion in generic linear and non-linear dynamical systems, including particle accelerators. This framework allows the derivation…
The gradient of potential vorticity (PV) is an important quantity because of the way PV (denoted as $q$) tends to accumulate locally in the oceans and atmospheres. Recent analysis by the authors has shown that the vector quantity $\bdB =…
Quaternion, an extension of complex number, is the first discovered non-commutative division algebra by William Rowan Hamilton in 1843. In this article, we review the recent progress on building up the connection between the mathematical…
Differential equations are derived which show how generalized Euler vector representations of the Euler rotation axis and angle for a rigid body evolve in time; the Euler vector is also known as a rotation vector or axis-angle vector. The…
This paper showed that Poisson brackets in quaternion variables can be obtained directly from canonical Poisson brackets on cotangent bundle of $SE(3)$ (or $SO(3)$) endowed by canonical symplectic geometry. Quaternion parameters in our case…
The review of modern study of algebraic, geometric and differential properties of quaternionic (Q) numbers with their applications. Traditional and "tensor" formulation of Q-units with their possible representations are discussed and groups…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
The 3D incompressible Euler equation is an important research topic in the mathematical study of fluid dynamics. Not only is the global regularity for smooth initial data an open issue, but the behaviour may also depend on the presence or…
150 years after the discovery of quaternions, Hamilton's conjecture that quaternions are a fundamental language for physics is reevaluated and shown to be essentially correct, provided one admits complex numbers in both classical and…
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…
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…
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…
The physical interpretation of cold dark matter perturbations is clarified by associating Bertschinger's Poisson gauge with a Eulerian/observer's frame of reference. We obtain such an association by using a Lagrangian approach to…
This paper provides global formulations of Lagrangian and Hamiltonian variational dynamics evolving on the product of an arbitrary number of two-spheres. Four types of Euler-Lagrange equations and Hamilton's equations are developed in a…
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,…