Download and read online Quaternions and Rotation Sequences in PDF and EPUB Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the nineteenth century--a feat he celebrated by carving the founding equations into a stone bridge--mathematicians and engineers have been fascinated by these mathematical objects. Today, they are used in applications as various as describing the geometry of spacetime, guiding the Space Shuttle, and developing computer applications in virtual reality. In this book, J. B. Kuipers introduces quaternions for scientists and engineers who have not encountered them before and shows how they can be used in a variety of practical situations. The book is primarily an exposition of the quaternion, a 4-tuple, and its primary application in a rotation operator. But Kuipers also presents the more conventional and familiar 3 x 3 (9-element) matrix rotation operator. These parallel presentations allow the reader to judge which approaches are preferable for specific applications. The volume is divided into three main parts. The opening chapters present introductory material and establish the book's terminology and notation. The next part presents the mathematical properties of quaternions, including quaternion algebra and geometry. It includes more advanced special topics in spherical trigonometry, along with an introduction to quaternion calculus and perturbation theory, required in many situations involving dynamics and kinematics. In the final section, Kuipers discusses state-of-the-art applications. He presents a six degree-of-freedom electromagnetic position and orientation transducer and concludes by discussing the computer graphics necessary for the development of applications in virtual reality.
Download and read online Quaternions and Rotation Sequences in PDF and EPUB The book is an exposition of the quaternion, a 4-tuple, and its primary application in a rotation operator. But Kuipers also presents the more conventional and familiar 3 x 3 (9-element) matrix rotation operator. These parallel presentations allow the reader to judge which approaches are preferable for specific applications. The first part present introductory material and establish the book's terminology and notation. The next part presents the mathematical properties of quaternions, including quaternion algebra and geometry. It includes more advanced special topics in spherical trigonometry, along with an introduction to quaternion calculus and perturbation theory, required in many situations involving dynamics and kinematics. In the last part, Kuipers discusses state-of-the-art applications. He presents a six degree-of-freedom electromagnetic position and orientation transducer and concludes by discussing the computer graphics necessary for the development of applications in virtual reality.
Download and read online Quaternions and Rotation Sequences in PDF and EPUB
Download and read online Visualizing Quaternions in PDF and EPUB Introduced 160 years ago as an attempt to generalize complex numbers to higher dimensions, quaternions are now recognized as one of the most important concepts in modern computer graphics. They offer a powerful way to represent rotations and compared to rotation matrices they use less memory, compose faster, and are naturally suited for efficient interpolation of rotations. Despite this, many practitioners have avoided quaternions because of the mathematics used to understand them, hoping that some day a more intuitive description will be available. The wait is over. Andrew Hanson's new book is a fresh perspective on quaternions. The first part of the book focuses on visualizing quaternions to provide the intuition necessary to use them, and includes many illustrative examples to motivate why they are important—a beautiful introduction to those wanting to explore quaternions unencumbered by their mathematical aspects. The second part covers the all-important advanced applications, including quaternion curves, surfaces, and volumes. Finally, for those wanting the full story of the mathematics behind quaternions, there is a gentle introduction to their four-dimensional nature and to Clifford Algebras, the all-encompassing framework for vectors and quaternions. * Richly illustrated introduction for the developer, scientist, engineer, or student in computer graphics, visualization, or entertainment computing. * Covers both non-mathematical and mathematical approaches to quaternions. * Companion website with an assortment of quaternion utilities and sample code, data sets for the book's illustrations, and Mathematica notebooks with essential algebraic utilities.
Download and read online Quaternions for Computer Graphics in PDF and EPUB 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.
Download and read online Principles of GNSS Inertial and Multisensor Integrated Navigation Systems Second Edition in PDF and EPUB This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies .. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.
Download and read online Rigid Body Dynamics for Beginners in PDF and EPUB Has anyone experienced difficulty and confusion in understanding what the Euler angles, quaternions, and direction cosine matrices are, and furthermore, about the relationships among them? This book is for those who had struggled to figure out what all the aforementioned concepts are, and also provides a practical example that could be easily followed with MATLAB. In addition, some surface of linear motions will also be touched so that in the end, a set of equations of motion that describe the motion of a rigid body in three-dimensional space could be constructed. Following step by step, the reader will be gradually immersed into the joy of learning and applying basic attitude dynamics. The book will be good for those who are already familiar in the field by helping them reorganize the concepts and knowledge they have learned before.
Download and read online Motor Vehicle Dynamics Modeling and Simulation in PDF and EPUB The book starts with an historical overview of road vehicles. The first part deals with the forces exchanged between the vehicle and the road and the vehicle and the air with the aim of supplying the physical facts and the relevant mathematical models about the forces which dominate the dynamics of the vehicle. The second part deals with the dynamic behaviour of the vehicle in normal driving conditions with some extensions towards conditions encountered in high-speed racing driving. Contents:Short Historical Notes on Motor VehiclesForces Acting between Road and WheelRoad Vehicle AerodynamicsLongitudinal DynamicsHandling of a Rigid VehicleMotor Vehicle on Elastic SuspensionsRoad Accidents Readership: Mechanical engineers. keywords:Motor Vehicle Dynamics;Motor Vehicle Handling;Motor Vehicle Comfort;Motor Vehicle Stability;Motor Vehicle Simulation;Motor Vehicle Aerodynamics;Motor Vehicle Suspensions;Tires;Road Accients;Vehicle-Driver Interaction “… the author provides an interesting and comprehensive treatment of a very complicated subject … it would be a good addition to the bookshelf of any engineer with an interest in vehicle dynamics or general automotive technology.” Applied Mechanics Reviews
Download and read online 3D User Interfaces in PDF and EPUB Here’s what three pioneers in computer graphics and human-computer interaction have to say about this book: “What a tour de force—everything one would want—comprehensive, encyclopedic, and authoritative.” —Jim Foley “At last, a book on this important, emerging area. It will be an indispensable reference for the practitioner, researcher, and student interested in 3D user interfaces.” —Andy van Dam “Finally, the book we need to bridge the dream of 3D graphics with the user-centered reality of interface design. A thoughtful and practical guide for researchers and product developers. Thorough review, great examples.” —Ben Shneiderman As 3D technology becomes available for a wide range of applications, its successful deployment will require well-designed user interfaces (UIs). Specifically, software and hardware developers will need to understand the interaction principles and techniques peculiar to a 3D environment. This understanding, of course, builds on usability experience with 2D UIs. But it also involves new and unique challenges and opportunities. Discussing all relevant aspects of interaction, enhanced by instructive examples and guidelines, 3D User Interfaces comprises a single source for the latest theory and practice of 3D UIs. Many people already have seen 3D UIs in computer-aided design, radiation therapy, surgical simulation, data visualization, and virtual-reality entertainment. The next generation of computer games, mobile devices, and desktop applications also will feature 3D interaction. The authors of this book, each at the forefront of research and development in the young and dynamic field of 3D UIs, show how to produce usable 3D applications that deliver on their enormous promise. Coverage includes: The psychology and human factors of various 3D interaction tasks Different approaches for evaluating 3D UIs Results from empirical studies of 3D interaction techniques Principles for choosing appropriate input and output devices for 3D systems Details and tips on implementing common 3D interaction techniques Guidelines for selecting the most effective interaction techniques for common 3D tasks Case studies of 3D UIs in real-world applications To help you keep pace with this fast-evolving field, the book’s Web site, www.3dui.org, will offer information and links to the latest 3D UI research and applications.
Download and read online The Geometry of the Octonions in PDF and EPUB There are precisely two further generalizations of the real and complex numbers, namely, the quaternions and the octonions. The quaternions naturally describe rotations in three dimensions, and in fact, all symmetry groups are based on one of these four number systems. This book provides an elementary introduction to the properties of the octonions, with emphasis on their geometric structure. Elementary applications covered include the rotation groups and their spacetime generalization, the Lorentz group, as well as the eigenvalue problem for Hermitian matrices. In addition, more sophisticated applications include the exceptional Lie groups, octonionic projective spaces, and applications to particle physics including the remarkable fact that classical supersymmetry only exists in particular spacetime dimensions.
Download and read online Understanding Augmented Reality in PDF and EPUB Understanding Augmented Reality addresses the elements that are required to create augmented reality experiences. The technology that supports augmented reality will come and go, evolve and change. The underlying principles for creating exciting, useful augmented reality experiences are timeless. Augmented reality designed from a purely technological perspective will lead to an AR experience that is novel and fun for one-time consumption - but is no more than a toy. Imagine a filmmaking book that discussed cameras and special effects software, but ignored cinematography and storytelling! In order to create compelling augmented reality experiences that stand the test of time and cause the participant in the AR experience to focus on the content of the experience - rather than the technology - one must consider how to maximally exploit the affordances of the medium. Understanding Augmented Reality addresses core conceptual issues regarding the medium of augmented reality as well as the technology required to support compelling augmented reality. By addressing AR as a medium at the conceptual level in addition to the technological level, the reader will learn to conceive of AR applications that are not limited by today’s technology. At the same time, ample examples are provided that show what is possible with current technology. Explore the different techniques, technologies and approaches used in developing AR applications Learn from the author's deep experience in virtual reality and augmented reality applications to succeed right off the bat, and avoid many of the traps that catch new developers and users of augmented reality experiences Some AR examples can be experienced from within the book using downloadable software
Download and read online The Ever Changing Sky in PDF and EPUB Provides descriptions of every kind of atmospheric and astronomical phenomena, including rainbows, sundogs, meteor showers, and eclipses.
Download and read online Turtle Geometry in PDF and EPUB Turtle Geometry presents an innovative program of mathematical discovery that demonstrates how the effective use of personal computers can profoundly change the nature of a student's contact with mathematics. Using this book and a few simple computer programs, students can explore the properties of space by following an imaginary turtle across the screen.The concept of turtle geometry grew out of the Logo Group at MIT. Directed by Seymour Papert, author of Mindstorms, this group has done extensive work with preschool children, high school students and university undergraduates. Harold Abelson is an associate professor in the Department of Electrical Engineering and Computer Science at MIT. Andrea diSessa is an associate professor in the Graduate School of Education, University of California, Berkeley.
Download and read online Virtual Society in PDF and EPUB Almost all aspects of social, cultural, economic and political life stand to be affected by the new electronic technologies. Virtual Society? is one vision of the consequential impact of these technologies. But to what extent and in what ways are the Internet and other electronic technologies really changing our lives? To what extent are we moving to a 'virtual society'? This collection provides a comprehensive set of detailed empirical studies of the genesis and use of these new technologies, ranging widely across application areas: from cyber-cafes to new media; email and organizational memory: to surveillance-capable technologies in the workplace; virtual reality to CCTV in high-rise housing; stock exchange addicts to student study networks. It offers a unique perspective - analytic scepticism - for making sense of some surprisingly counterintuitive results, and for developing a refreshingly critical view of many taken-for-granted assumptions about the impact of the Internet on social relations and institutions. Each chapter presents a high quality exemplar of its own disciplinary perspective, addressed to a general social science audience. The diversity of disciplinary perspectives is brought to bear in a central message laid out in the opening discussion of the 'Five Rules of Virtuality', that with due reflexive caution and ironic sensitivity, general messages can be drawn from the observations of particular substantive contexts. In particular, claims that we are moving to a 'virtual society' need to be tempered by a reassessment of connections between what counts as 'real' and 'virtual'. This book will appeal to students and researchers in a very wide range of disciplines, both within and beyond the social sciences and management, and to all practitioners struggling with the realities of the new virtual technologies
Download and read online Kalman Filter for Beginners in PDF and EPUB Dwarfs your fear towards complicated mathematical derivations and proofs. Experience Kalman filter with hands-on examples to grasp the essence. A book long awaited by anyone who could not dare to put their first step into Kalman filter. The author presents Kalman filter and other useful filters without complicated mathematical derivation and proof but with hands-on examples in MATLAB that will guide you step-by-step. The book starts with recursive filter and basics of Kalman filter, and gradually expands to application for nonlinear systems through extended and unscented Kalman filters. Also, some topics on frequency analysis including complementary filter are covered. Each chapter is balanced with theoretical background for absolute beginners and practical MATLAB examples to experience the principles explained. Once grabbing the book, you will notice it is not fearful but even enjoyable to learn Kalman filter.