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Extrinsic Rotations
The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of a rigid body with respect to a fixed coordinate system.Novi Commentarii academiae scientiarum Petropolitanae 20, 1776, pp. 189–207 (E478PDF/ref> They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general basis in 3-dimensional linear algebra. Alternative forms were later introduced by Peter Guthrie Tait and George H. Bryan intended for use in aeronautics and engineering. Chained rotations equivalence Euler angles can be defined by elemental geometry or by composition of rotations. The geometrical definition demonstrates that three composed ''elemental rotations'' (rotations about the axes of a coordinate system) are always sufficient to reach any target frame. The three elemental rotations may be extrinsic (rotations about the axes ''xyz'' of the original coordinate system, which is assumed to remain motionless), or intrinsic ( ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Psi (Greek)
Psi (uppercase , lowercase ; ''psi'' ) is the 23rd letter of the Greek alphabet and is associated with a numeric value of 700. In both Classical and Modern Greek, the letter indicates the combination (as in English word " lapse"). For Greek loanwords in Latin and modern languages with Latin alphabets, psi is usually transliterated as "ps". The letter's origin is uncertain. It may or may not derive from the Phoenician alphabet. There are several psi-like symbols such as 𐀂 (*28), 𐀚(*24) and 𐀩(*27) in the Linear B script, which suggests a pre-Phonecian origin of the character. It appears in the 7th century BC, expressing in the Eastern alphabets, but in the Western alphabets (the sound expressed by Χ in the Eastern alphabets). In writing, the early letter appears in an angular shape (). There were early graphical variants that omitted the stem ("chickenfoot-shaped psi" as: or ). The Western letter (expressing , later ) was adopted into the Old Italic alphab ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nutation
Nutation () is a rocking, swaying, or nodding motion in the axis of rotation of a largely axially symmetric object, such as a gyroscope, planet, or bullet in flight, or as an intended behaviour of a mechanism. In an appropriate reference frame it can be defined as a change in the second Euler angle. If it is not caused by forces external to the body, it is called ''free nutation'' or '' Euler nutation''. A ''pure nutation'' is a movement of a rotational axis such that the first Euler angle is constant. Therefore it can be seen that the circular red arrow in the diagram indicates the combined effects of precession and nutation, while nutation in the absence of precession would only change the tilt from vertical (second Euler angle). However, in spacecraft dynamics, precession (a change in the first Euler angle) is sometimes referred to as nutation. In a rigid body If a top is set at a tilt on a horizontal surface and spun rapidly, its rotational axis starts precessing about th ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Precession
Precession is a change in the orientation of the rotational axis of a rotating body. In an appropriate reference frame it can be defined as a change in the first Euler angle, whereas the third Euler angle defines the rotation itself. In other words, if the axis of rotation of a body is itself rotating about a second axis, that body is said to be precessing about the second axis. A motion in which the second Euler angle changes is called ''nutation''. In physics, there are two types of precession: torque-free and torque-induced. In astronomy, ''precession'' refers to any of several slow changes in an astronomical body's rotational or orbital parameters. An important example is the steady change in the orientation of the axis of rotation of the Earth, known as the precession of the equinoxes. Torque-free Torque-free precession implies that no external moment (torque) is applied to the body. In torque-free precession, the angular momentum is a constant, but the angular velocit ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Gimbal Lock
Gimbal lock is the loss of one degree of freedom in a three-dimensional, three-gimbal mechanism that occurs when the axes of two of the three gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate two-dimensional space. The term gimbal-''lock'' can be misleading in the sense that none of the individual gimbals are actually restrained. All three gimbals can still rotate freely about their respective axes of suspension. Nevertheless, because of the parallel orientation of two of the gimbals' axes there is no gimbal available to accommodate rotation about one axis, leaving the suspended object effectively locked (i.e. unable to rotate) around that axis. Gimbals A gimbal is a ring that is suspended so it can rotate about an axis. Gimbals are typically nested one within another to accommodate rotation about multiple axes. They appear in gyroscopes and in inertial measurement units to allow the inner gimbal's orientation to remain fix ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Radian
The radian, denoted by the symbol rad, is the unit of angle in the International System of Units (SI) and is the standard unit of angular measure used in many areas of mathematics. The unit was formerly an SI supplementary unit (before that category was abolished in 1995). The radian is defined in the SI as being a dimensionless unit, with 1 rad = 1. Its symbol is accordingly often omitted, especially in mathematical writing. Definition One radian is defined as the angle subtended from the center of a circle which intercepts an arc equal in length to the radius of the circle. More generally, the magnitude in radians of a subtended angle is equal to the ratio of the arc length to the radius of the circle; that is, \theta = \frac, where is the subtended angle in radians, is arc length, and is radius. A right angle is exactly \frac radians. The rotation angle (360°) corresponding to one complete revolution is the length of the circumference divided by the radius, which i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Modular Arithmetic
In mathematics, modular arithmetic is a system of arithmetic for integers, where numbers "wrap around" when reaching a certain value, called the modulus. The modern approach to modular arithmetic was developed by Carl Friedrich Gauss in his book ''Disquisitiones Arithmeticae'', published in 1801. A familiar use of modular arithmetic is in the 12-hour clock, in which the day is divided into two 12-hour periods. If the time is 7:00 now, then 8 hours later it will be 3:00. Simple addition would result in , but clocks "wrap around" every 12 hours. Because the hour number starts over at zero when it reaches 12, this is arithmetic ''modulo'' 12. In terms of the definition below, 15 is ''congruent'' to 3 modulo 12, so "15:00" on a 24-hour clock is displayed "3:00" on a 12-hour clock. Congruence Given an integer , called a modulus, two integers and are said to be congruent modulo , if is a divisor of their difference (that is, if there is an integer such that ). Congruence modulo ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Interval (mathematics)
In mathematics, a (real) interval is a set of real numbers that contains all real numbers lying between any two numbers of the set. For example, the set of numbers satisfying is an interval which contains , , and all numbers in between. Other examples of intervals are the set of numbers such that , the set of all real numbers \R, the set of nonnegative real numbers, the set of positive real numbers, the empty set, and any singleton (set of one element). Real intervals play an important role in the theory of integration, because they are the simplest sets whose "length" (or "measure" or "size") is easy to define. The concept of measure can then be extended to more complicated sets of real numbers, leading to the Borel measure and eventually to the Lebesgue measure. Intervals are central to interval arithmetic, a general numerical computing technique that automatically provides guaranteed enclosures for arbitrary formulas, even in the presence of uncertainties, mathematic ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Right-hand Rule
In mathematics and physics, the right-hand rule is a common mnemonic for understanding orientation of axes in three-dimensional space. It is also a convenient method for quickly finding the direction of a cross-product of 2 vectors. Most of the various left-hand and right-hand rules arise from the fact that the three axes of three-dimensional space have two possible orientations. One can see this by holding one's hands outward and together, palms up, with the thumbs out-stretched to the right and left, and the fingers making a curling motion from straight outward to pointing upward. (Note the picture to right is not an illustration of this.) The curling motion of the fingers represents a movement from the first (''x'' axis) to the second (''y'' axis); the third (''z'' axis) can point along either thumb. Left-hand and right-hand rules arise when dealing with coordinate axes. The rule can be used to find the direction of the magnetic field, rotation, spirals, electromagnetic field ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Orientation (mathematics)
In mathematics, orientability is a property of some topological spaces such as real vector spaces, Euclidean spaces, surfaces, and more generally manifolds that allows a consistent definition of "clockwise" and "counterclockwise". A space is orientable if such a consistent definition exists. In this case, there are two possible definitions, and a choice between them is an orientation of the space. Real vector spaces, Euclidean spaces, and spheres are orientable. A space is non-orientable if "clockwise" is changed into "counterclockwise" after running through some loops in it, and coming back to the starting point. This means that a geometric shape, such as , that moves continuously along such a loop is changed into its own mirror image . A Möbius strip is an example of a non-orientable space. Various equivalent formulations of orientability can be given, depending on the desired application and level of generality. Formulations applicable to general topological manifolds o ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Line Of Nodes
An orbital node is either of the two points where an orbit intersects a plane of reference to which it is inclined. A non-inclined orbit, which is contained in the reference plane, has no nodes. Planes of reference Common planes of reference include the following: * For a geocentric orbit, Earth's equatorial plane. In this case, non-inclined orbits are called ''equatorial''. * For a heliocentric orbit, the ecliptic or invariable plane. In this case, non-inclined orbits are called ''ecliptic''. * For an orbit outside the Solar System, the plane through the primary perpendicular to a line through the observer and the primary (called the ''plane of the sky''). Node distinction If a reference direction from one side of the plane of reference to the other is defined, the two nodes can be distinguished. For geocentric and heliocentric orbits, the ascending node (or north node) is where the orbiting object moves north through the plane of reference, and the descending node (or ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
