相关论文: Modified Gibbs's representation of rotation matrix
M\"obius transformations of the extended complex plane are at the crossroads of many interesting topics, e.g., they form a group under composition, are the simplest form of rational function, and are a path to Lie theory. Quaternionic…
Cayley rational forms for rotations are given as explicit spin matrix polynomials for any j. The results are compared to the Curtright-Fairlie-Zachos matrix polynomials for rotations represented as exponentials.
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…
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…
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…
In this work we represent the $1/2$ Spin particles with complex quaternions using a transformation to 2x2 matrices in order to obtain the Pauli matrices. With this representation we determine the states, rotation operators and the total…
It is known that the groups of Euclidean rotations in dimension 3 (isometries of $S^2$), general Lorentz transformations in dimension 4 (Hyperbolic isometries in dimension 3), and screw motions in dimension 3 can be represented by the…
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…
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…
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…
The fundamental properties of biquaternions (complexified quaternions) are presented including several different representations, some of them new, and definitions of fundamental operations such as the scalar and vector parts, conjugates,…
We present a new polar representation of quaternions inspired by the Cayley-Dickson representation. In this new polar representation, a quaternion is represented by a pair of complex numbers as in the Cayley-Dickson form, but here these two…
It is known that quaternions represent rotations in 3D Euclidean and Minkowski spaces. However, product by a quaternion gives rotation in two independent planes at once and to obtain single-plane rotations one has to apply by half-angle…
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…
In this paper, we present some applications of quaternions and octonions. We present the real matrix representations for complex octonions and some of their properties which can be used in computations where these elements are involved.…
Baxter permutations are known to be in bijection with a wide number of combinatorial objects. Previously, it was shown that each of these objects had a natural involution which was carried equivariantly by the known bijections, and the…
In the past, Kepler painstakingly derived laws of planetary motion using difficult to understand and hard to follow techniques. In 1843 William Hamilton created and described the quaternions, which extend the complex numbers and can easily…
A specific form of the inertial law is presented by which we can have some deeper insight into the essence of mass and inertia. In this modified theory, there is no need to keep the concept of absolute space and Newton's third law as…
Within the framework of the theory of quaternion column-row determinants and using determinantal representations of the Moore-Penrose inverse previously obtained by the author, we get explicit determinantal representation formulas of…
Multidimensional contractions of irreducible representations of Cayley--Klein orthogonal algebras in Gel'fand--Zetlin basis are considered. Contracted over different parameters, algebras can turn out to be isomorphic. In this case method of…