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Quaternions
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. Hamilton defined a quaternion as the quotient of two '' directed lines'' in a three-dimensional space, or, equivalently, as the quotient of two vectors. Multiplication of quaternions is noncommutative. Quaternions are generally represented in the form :a + b\ \mathbf i + c\ \mathbf j +d\ \mathbf k where , and are real numbers; and , and are the ''basic quaternions''. Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, and crystallographic texture analysis. They can be used alongside other methods of rotation, such as Euler angles and rotation matrices, or as an alternative to them, d ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Quaternions And Spatial Rotation
Unit quaternions, known as ''versors'', provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, Presented at SIGGRAPH '85. computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis. When used to represent rotation, unit quaternions are also called rotation quaternions as they represent the 3D rotation group. When used to represent an orientation (rotation relative to a reference coordinate system), they are called orientation quaternions or attitude quaternions. A spatial rotation around a fixed point of \theta radians about a unit axis (X,Y,Z) that denotes the ''Euler axis'' is given by the quaternion (C, X \, S, Y \, S, Z \, S), where C = \cos(\ ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
William Rowan Hamilton
Sir William Rowan Hamilton Doctor of Law, LL.D, Doctor of Civil Law, DCL, Royal Irish Academy, MRIA, Royal Astronomical Society#Fellow, FRAS (3/4 August 1805 – 2 September 1865) was an Irish mathematician, astronomer, and physicist. He was the Andrews Professor of Astronomy at Trinity College Dublin, and Royal Astronomer of Ireland, living at Dunsink Observatory. Hamilton's scientific career included the study of geometrical optics, ideas from Fourier analysis, and his work on quaternions which made him one of the founders of modern linear algebra. He made major contributions in optics, classical mechanics and abstract algebra. His work was fundamental to modern theoretical physics, particularly his reformulation of Newtonian mechanics, now called Hamiltonian mechanics. It is now central both to electromagnetism and to quantum mechanics. Early life Hamilton was the fourth of nine children born to Sarah Hutton (1780–1817) and Archibald Hamilton (1778–1819),Bruno (2003) who ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler Angles
The Euler angles are three angles introduced by Leonhard Euler to describe the Orientation (geometry), 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 (linear algebra), 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 #Conventions by extrinsic rotations, extrinsic (rotations about the axes ''xyz'' of t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Frobenius Theorem (real Division Algebras)
In mathematics, more specifically in abstract algebra, the Frobenius theorem, proved by Ferdinand Georg Frobenius in 1877, characterizes the finite-dimensional associative division algebras over the real numbers. According to the theorem, every such algebra is isomorphic to one of the following: * (the real numbers) * (the complex numbers) * (the quaternions). These algebras have real dimension , and , respectively. Of these three algebras, and are commutative, but is not. Proof The main ingredients for the following proof are the Cayley–Hamilton theorem and the fundamental theorem of algebra. Introducing some notation * Let be the division algebra in question. * Let be the dimension of . * We identify the real multiples of with . * When we write for an element of , we tacitly assume that is contained in . * We can consider as a finite-dimensional -vector space. Any element of defines an endomorphism of by left-multiplication, we identify with that endomorphism ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Rotation Matrix
In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix :R = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end rotates points in the plane counterclockwise through an angle with respect to the positive axis about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates , it should be written as a column vector, and multiplied by the matrix : : R\mathbf = \begin \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end \begin x \\ y \end = \begin x\cos\theta-y\sin\theta \\ x\sin\theta+y\cos\theta \end. If and are the endpoint coordinates of a vector, where is cosine and is sine, then the above equations become the trigonometric summation angle formulae. Indeed, a rotation matrix can be seen as the trigonometric summation angle formulae in matrix form. One w ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Composition Algebra
In mathematics, a composition algebra over a field is a not necessarily associative algebra over together with a nondegenerate quadratic form that satisfies :N(xy) = N(x)N(y) for all and in . A composition algebra includes an involution called a conjugation: x \mapsto x^*. The quadratic form N(x) = x x^* is called the norm of the algebra. A composition algebra (''A'', ∗, ''N'') is either a division algebra or a split algebra, depending on the existence of a non-zero ''v'' in ''A'' such that ''N''(''v'') = 0, called a null vector. When ''x'' is ''not'' a null vector, the multiplicative inverse of ''x'' is When there is a non-zero null vector, ''N'' is an isotropic quadratic form, and "the algebra splits". Structure theorem Every unital composition algebra over a field can be obtained by repeated application of the Cayley–Dickson construction starting from (if the characteristic of is different from ) or a 2-dimensional composition subalgebra (if ). The poss ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Clifford Algebra
In mathematics, a Clifford algebra is an algebra generated by a vector space with a quadratic form, and is a unital associative algebra. As -algebras, they generalize the real numbers, complex numbers, quaternions and several other hypercomplex number systems. The theory of Clifford algebras is intimately connected with the theory of quadratic forms and orthogonal transformations. Clifford algebras have important applications in a variety of fields including geometry, theoretical physics and digital image processing. They are named after the English mathematician William Kingdon Clifford. The most familiar Clifford algebras, the orthogonal Clifford algebras, are also referred to as (''pseudo-'')''Riemannian Clifford algebras'', as distinct from ''symplectic Clifford algebras''.see for ex. Introduction and basic properties A Clifford algebra is a unital associative algebra that contains and is generated by a vector space over a field , where is equipped with a qua ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Vector (geometry)
In mathematics, physics, and engineering, a Euclidean vector or simply a vector (sometimes called a geometric vector or spatial vector) is a geometric object that has magnitude (or length) and direction. Vectors can be added to other vectors according to vector algebra. A Euclidean vector is frequently represented by a '' directed line segment'', or graphically as an arrow connecting an ''initial point'' ''A'' with a ''terminal point'' ''B'', and denoted by \overrightarrow . A vector is what is needed to "carry" the point ''A'' to the point ''B''; the Latin word ''vector'' means "carrier". It was first used by 18th century astronomers investigating planetary revolution around the Sun. The magnitude of the vector is the distance between the two points, and the direction refers to the direction of displacement from ''A'' to ''B''. Many algebraic operations on real numbers such as addition, subtraction, multiplication, and negation have close analogues for vectors, operations whic ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Language Of Mathematics
The language of mathematics or mathematical language is an extension of the natural language (for example English) that is used in mathematics and in science for expressing results (scientific laws, theorems, proofs, logical deductions, etc) with concision, precision and unambiguity. Features The main features of the mathematical language are the following. * Use of common words with a derived meaning, generally more specific and more precise. For example, " or" means "one, the other or both", while, in common language, "both" is sometimes included and sometimes not. Also, a " line" is straight and has zero width. * Use of common words with a meaning that is completely different from their common meaning. For example, a mathematical ring is not related to any other meaning of "ring". Real numbers and imaginary numbers are two sorts of numbers, none being more real or more imaginary than the others. * Use of neologisms. For example polynomial, homomorphism. * Use of symbols as word ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Dimension (vector Space)
In mathematics, the dimension of a vector space ''V'' is the cardinality (i.e., the number of vectors) of a basis of ''V'' over its base field. p. 44, §2.36 It is sometimes called Hamel dimension (after Georg Hamel) or algebraic dimension to distinguish it from other types of dimension. For every vector space there exists a basis, and all bases of a vector space have equal cardinality; as a result, the dimension of a vector space is uniquely defined. We say V is if the dimension of V is finite, and if its dimension is infinite. The dimension of the vector space V over the field F can be written as \dim_F(V) or as : F read "dimension of V over F". When F can be inferred from context, \dim(V) is typically written. Examples The vector space \R^3 has \left\ as a standard basis, and therefore \dim_(\R^3) = 3. More generally, \dim_(\R^n) = n, and even more generally, \dim_(F^n) = n for any field F. The complex numbers \Complex are both a real and complex vector space; we have ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Associative Algebra
In mathematics, an associative algebra ''A'' is an algebraic structure with compatible operations of addition, multiplication (assumed to be associative), and a scalar multiplication by elements in some field ''K''. The addition and multiplication operations together give ''A'' the structure of a ring; the addition and scalar multiplication operations together give ''A'' the structure of a vector space over ''K''. In this article we will also use the term ''K''-algebra to mean an associative algebra over the field ''K''. A standard first example of a ''K''-algebra is a ring of square matrices over a field ''K'', with the usual matrix multiplication. A commutative algebra is an associative algebra that has a commutative multiplication, or, equivalently, an associative algebra that is also a commutative ring. In this article associative algebras are assumed to have a multiplicative identity, denoted 1; they are sometimes called unital associative algebras for clarification. I ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Cayley Q8 Quaternion Multiplication Graph
Cayley may refer to: __NOTOC__ People * Cayley (surname) * Cayley Illingworth (1759–1823), Anglican Archdeacon of Stow * Cayley Mercer (born 1994), Canadian women's ice hockey player Places * Cayley, Alberta, Canada, a hamlet * Mount Cayley, a volcano in southwestern British Columbia, Canada * Cayley Glacier, Graham Land, Antarctica * Cayley (crater), a lunar crater Other uses * Cayley baronets, a title in the Baronetage of England * Cayley computer algebra system, designed to solve mathematical problems, particularly in group theory See also * W. Cayley Hamilton (died 1891), Canadian barrister and politician * Caylee (name), given name * Cèilidh, traditional Scottish or Irish social gathering * Kaylee Kaylee (and its various spellings) is a given name, most often for females. The name is a modern English combination of the name elements Kay and Lee. It was a popular name in the United States in the latter part of the 20th century and the early ..., given name * Kaley (disa ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
