Cauchy-like Integral Theorems for Quaternion and Biquaternion Functions

It is well known that there is an integral theorem for quaternion-valued functions analogous to Cauchys Theorem for complex-valued functions, namely Fueters Theorem. The class of quaternionic functions for which this applies are generally referred to as regular functions, and these provide the most productive means of generalising the class of holomorphic complex functions. This paper derives a second integral theorem, also analogous to Cauchys Theorem, and which is believed to be quite distinct from that of Fueter, despite appearances. The paper takes the opportunity to present the basis of the derivation of both theorems, and also their extension to the associated classes of right-regular and conjugate regular functions. Both theorems can also be extended into the biquaternionic domain in which the four quaternion coordinates may be complex valued. This is of interest in physics as the Hermitian biquaternions have a natural norm which is Minkowskian and provide an elegant formalism for Lorentz transformations.Comment: 20 pages, 1 Figur

Rigid body trajectories in different 6D spaces

The objective of this paper is to show that the group SE(3) with an imposed Lie-Poisson structure can be used to determine the trajectory in a spatial frame of a rigid body in Euclidean space. Identical results for the trajectory are obtained in spherical and hyperbolic space by scaling the linear displacements appropriately, since the influence of the moments of inertia on the trajectories tend to zero as the scaling factor increases. The semi-direct product of the linear and rotational motions gives the trajectory from a body frame perspective. It is shown that this cannot be used to determine the trajectory in the spatial frame. The body frame trajectory is thus independent of the velocity coupling. In addition, it is shown that the analysis can be greatly simplified by aligning the axes of the spatial frame with the axis of symmetry which is unchanging for a natural system with no forces and rotation about an axis of symmetry

Defining the Pose of any 3D Rigid Object and an Associated Distance

The pose of a rigid object is usually regarded as a rigid transformation, described by a translation and a rotation. However, equating the pose space with the space of rigid transformations is in general abusive, as it does not account for objects with proper symmetries -- which are common among man-made objects.In this article, we define pose as a distinguishable static state of an object, and equate a pose with a set of rigid transformations. Based solely on geometric considerations, we propose a frame-invariant metric on the space of possible poses, valid for any physical rigid object, and requiring no arbitrary tuning. This distance can be evaluated efficiently using a representation of poses within an Euclidean space of at most 12 dimensions depending on the object's symmetries. This makes it possible to efficiently perform neighborhood queries such as radius searches or k-nearest neighbor searches within a large set of poses using off-the-shelf methods. Pose averaging considering this metric can similarly be performed easily, using a projection function from the Euclidean space onto the pose space. The practical value of those theoretical developments is illustrated with an application of pose estimation of instances of a 3D rigid object given an input depth map, via a Mean Shift procedure

Fractal Pyramid: A New Math Tool to Reorient and Accelerate a Spacecraft

An original mathematical instrument matching two different operational procedures aimed to change orientation and velocity of a spacecraft is suggested and described in detail. The tool’s basements, quaternion algebra with its square-root (pregeometric) image, and fractal surface are represented in a parenthetical but in a sufficient format, indicating their principle properties providing solution to the operational task. A supplementary notion of vector-quaternion version of relativity theory is introduced since the spacecraft-observer mechanical system appears congenitally relativistic. The new tool is shown to have a simple pregeometric image of a fractal pyramid whose tilt and distortion evoke needed changes in the spacecraft’s motion parameters, and the respective math procedures proved to be simplified compared with the traditionally used math methods

On well-defined kinematic metric functions

This paper presents both formal as well as practical well-definedness conditions for kinematic metric functions. To formulate these conditions, we introduce an intrinsic definition of a rigid body's configuration space. Based on this definition, the principle of objectivity is introduced to derive a formal condition for well-definedness of kinematic metric functions, as well as to gain physical insight into left, right and bi-invariances on the Lie group SE(3). We then relate the abstract notion of objectivity to the more intuitive notion of frame-invariance, and show that frame-invariance can be used as a practical condition for determining objective functions. Examples demonstrate the utility of objectivity and frame-invariance

Inverse Kinematics with Dual-Quaternions, Exponential-Maps, and Joint Limits

We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a straightforward and computationally efficient technique for representing kinematic transforms (i.e., position and translation). Dual-quaternions are capable of represent both translation and rotation in a unified state space variable with its own set of algebraic equations for concatenation and manipulation. Hence, an articulated structure can be represented by a set of dual-quaternion transforms, which we can manipulate using inverse kinematics (IK) to accomplish specific goals (e.g., moving end-effectors towards targets). We use the projected Gauss-Seidel iterative method to solve the IK problem with joint limits. Our approach is flexible and robust enough for use in interactive applications, such as games. We use numerical examples to demonstrate our approach, which performed successfully in all our test cases and produced pleasing visual results.Comment: arXiv admin note: substantial text overlap with arXiv:2211.0033