Rotations, Quaternions, and Double Groups

Author: Simon L. Altmann

Publisher: Courier Corporation

ISBN: 0486317730

Category: Mathematics

Page: 336

View: 7523


This self-contained text presents a consistent description of the geometric and quaternionic treatment of rotation operators, employing methods that lead to a rigorous formulation and offering complete solutions to many illustrative problems. Geared toward upper-level undergraduates and graduate students, the book begins with chapters covering the fundamentals of symmetries, matrices, and groups, and it presents a primer on rotations and rotation matrices. Subsequent chapters explore rotations and angular momentum, tensor bases, the bilinear transformation, projective representations, and the geometry, topology, and algebra of rotations. Some familiarity with the basics of group theory is assumed, but the text assists students in developing the requisite mathematical tools as necessary.

Multisensor Attitude Estimation

Fundamental Concepts and Applications

Author: Hassen Fourati,Djamel Eddine Chouaib Belkhiat

Publisher: CRC Press

ISBN: 1315351757

Category: Technology & Engineering

Page: 580

View: 1763


There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.

Quaternions for Computer Graphics

Author: John Vince

Publisher: Springer Science & Business Media

ISBN: 9780857297600

Category: Computers

Page: 140

View: 2802


Sir William Rowan Hamilton was a genius, and will be remembered for his significant contributions to physics and mathematics. The Hamiltonian, which is used in quantum physics to describe the total energy of a system, would have been a major achievement for anyone, but Hamilton also invented quaternions, which paved the way for modern vector analysis. Quaternions are one of the most documented inventions in the history of mathematics, and this book is about their invention, and how they are used to rotate vectors about an arbitrary axis. Apart from introducing the reader to the features of quaternions and their associated algebra, the book provides valuable historical facts that bring the subject alive. Quaternions for Computer Graphics introduces the reader to quaternion algebra by describing concepts of sets, groups, fields and rings. It also includes chapters on imaginary quantities, complex numbers and the complex plane, which are essential to understanding quaternions. The book contains many illustrations and worked examples, which make it essential reading for students, academics, researchers and professional practitioners.

CRC Concise Encyclopedia of Mathematics, Second Edition

Author: Eric W. Weisstein

Publisher: CRC Press

ISBN: 1420035223

Category: Mathematics

Page: 3252

View: 6647


Upon publication, the first edition of the CRC Concise Encyclopedia of Mathematics received overwhelming accolades for its unparalleled scope, readability, and utility. It soon took its place among the top selling books in the history of Chapman & Hall/CRC, and its popularity continues unabated. Yet also unabated has been the dedication of author Eric Weisstein to collecting, cataloging, and referencing mathematical facts, formulas, and definitions. He has now updated most of the original entries and expanded the Encyclopedia to include 1000 additional pages of illustrated entries. The accessibility of the Encyclopedia along with its broad coverage and economical price make it attractive to the widest possible range of readers and certainly a must for libraries, from the secondary to the professional and research levels. For mathematical definitions, formulas, figures, tabulations, and references, this is simply the most impressive compendium available.

The philosophy of mathematics and natural laws

another Copernican revolution

Author: Noel Curran

Publisher: Ashgate Publishing

ISBN: 9781859726549

Category: Law

Page: 208

View: 3748


This title is a sequel to Dr Noel Curran's first book The Logical Universe: The Real Universe (published by Ashgate under the Avebury imprint, 1994). The philosophy of mathematics in this book is based on ideas of Sir William Rowan Hamilton on the ordinal character of numbers, the real numbers, the measure numbers, scalar numbers and the extension to vectors. The final extension is to Hamilton's quaternions. This algebra is interpreted as the mathematics of spin. This led to a a new theory of time and space which is Euclidian. The motion of spin is absolute, no frame of reference is required. If time is assumed to have a beginning it would be asymmetric with an arrow. This concept is applied to the laws of nature, which are symmetrical.This is another Copernican Revolution in three aspects: absolute time is restored, time has an arrow - is asymmetric, and thirdly the theory is based on the motion of spin which is absolute and more fundamental than the motion of translation. This opens the way to the final unification of physics.


a handbook of concepts

Author: Peter William Atkins

Publisher: Oxford University Press

ISBN: 9780198555728

Category: Philosophy

Page: 434

View: 7101


Quanta provides a non-mathematical and highly visual account of the concepts of quantum mechanics. Entries--ordered alphabetically--range in length from one paragraph to several pages, and each describes the physical significance of a topic with simplicity and precision.