• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.9-16
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• 2004

This paper deals with the development of computational schemes for the dynamic analysis of flexible and nonlinear multibody systems. Different from the existing method, this paper introduces the quaternion algebra to develop the equation of the conservation of energy. Simultaneously, Rodrigues parameters are used to express the finite rotation for the proposed scheme. The proposed energy scheme is derived such that it provides unconditionally stable conditions for the nonlinear problems. Several examples of dynamic systems are presented which illustrate the efficiency and accuracy of the developed energy schemes.

• Bulletin of the Korean Mathematical Society
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• v.54 no.2
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• pp.583-592
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• 2017

The paper gives the regularity of dual quaternionic functions and the dual Cauchy-Riemann system in dual quaternions. Also, the paper researches the polar representation and properties of a dual quaternionic function and their regular quaternionic functions.

• East Asian mathematical journal
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• v.29 no.3
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• pp.293-302
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• 2013

We research properties of ternary numbers and hyperholomorphic functions with values in $\mathbb{C}$(2). We represent reduced quaternion numbers and obtain some propertries in dual reduced quaternion systems in view of Clifford analysis. Moreover, we obtain Cauchy theorems with respect to dual reduced quaternions.

• Proceedings of the Korea Multimedia Society Conference
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• 2002.05c
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• pp.474-478
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• 2002

본 논문에서는 광학식 모션 캡쳐를 이용하여 얻은 한국인의 발레 동작에 대한 모션 캡쳐 데이터를 사용하여 다른 모션으로 변형함으로써 새로운 형태의 동작을 생성하거나 원래 데이터의 에러가 생긴 경우에 보정이 쉽게 수정 가능하도록 하였다. 즉, 모션 캡쳐 데이터의 구조는 다양한 포맷들로 되어 있는 스켈레톤 구조로서 관절의 각도나 위치에 대해 변형을 가하기 힘들다. 그러므로 모션 수정에 관련된 기술을 이용하여 선택된 조인트(joint), 엔드이펙터(end effecter), 마커(marker)들을 보여주고, 오일러(Euler Angles), 쿼터니언(Quaternions), 지수 맵(Exponential Map) 보간이 가능하여 실시간에서도 재생 되도록 구현하였다.

• Journal of the Chungcheong Mathematical Society
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• v.36 no.4
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• pp.255-265
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• 2023

The purpose of this article is to construct a unital 8 dimensional hypercomplex number system H^*₈ that is neither alternative nor commutative unlike the octonions by means of the unital 4 dimensional, commutative, and nonassociative hypercomplex number system H^*. We also establish some algebraic properties related to H^*₈ and compare to those of octonions.

• Nonlinear Functional Analysis and Applications
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• v.29 no.3
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• pp.913-927
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• 2024

In this paper, we represent regular functions on ternary theory in the view of quaternion. By expressing quaternions using ternary number theory, a new form of regular function, called E-regular, is defined. From the defined regular function, we investigate the properties of the appropriate hyper-conjugate harmonic functions and corresponding Cauchy-Riemann equations by pseudo-complex forms.

• Journal for History of Mathematics
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• v.15 no.3
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• pp.17-24
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• 2002

It will be described the discovery of fundamental algebras such as complex numbers and the quaternions. Cardano(1539) was the first to introduce special types of complex numbers such as 5$\pm$$\sqrt{-15}$. Girald called the number a$\pm$$\sqrt{-b}$ solutions impossible. The term imaginary numbers was introduced by Descartes(1629) in “Discours la methode, La geometrie.” Euler knew the geometrical representation of complex numbers by points in a plane. Geometrical definitions of the addition and multiplication of complex numbers conceiving as directed line segments in a plane were given by Gauss in 1831. The expression “complex numbers” seems to be Gauss. Hamilton(1843) defined the complex numbers as paire of real numbers subject to conventional rules of addition and multiplication. Cauchy(1874) interpreted the complex numbers as residue classes of polynomials in R[x] modulo $x^2$＋1. Sophus Lie(1880) introduced commutators [a, b] by the way expressing infinitesimal transformation as differential operations. In this paper, it will be studied general quaternion algebras to finding of algebraic structure in Algebras.

• Journal for History of Mathematics
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• v.26 no.4
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• pp.259-275
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• 2013

It has been proposed since modern times that we need to consult the history of mathematics in teaching mathematics, and some modifications of this principle were made recently by Lakatos, Freudenthal, and Brousseau. It may be necessary to have a direction which we consult when modifying the history of mathematics for students. In this article, we analyse the elements of the cognitive interest in Hamilton's discovery of the quaternions and in the history of discovery of imaginary numbers, and we investigate the effects of these elements on attention of the students of nowadays. These works may give a direction to the historic-genetic principle in teaching mathematics.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.300-314
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• 2017

This paper examines finite rotation angle (FRA) applications for spacecraft attitude control. The coordinate transformation matrix and the attitude kinematics represented by FRAs are introduced. The interpolation techniques for the angular orientations are thoroughly investigated using the FRAs and the results are compared to those using traditional methods. The paper proposes trajectory description techniques by using extremely smooth polynomial functions of time, which can describe point-to-point attitude maneuvers in a realizable and accurate manner with the help of unique FRA features. In addition, new controller design techniques using the FRAs are developed by combining the proposed interpolation techniques with a model predictive control framework. The proposed techniques are validated through their attitude control applications for an aggressive point-to-point maneuver. Conclusively, the FRAs provide much more flexibility than quaternions and Euler angles when describing kinematics, generating trajectories, and designing attitude controllers for spacecraft.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.865-872
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• 2008

Spacecraft attitude estimation using the nonlinear unscented filter is addressed to fully utilize capabilities of the unscented transformation. To release significant computational load, an efficient technique is proposed by reasonably removing correlation between random variables. This modification introduces considerable reduction of sigma points and computational burden in matrix square-root calculation for most nonlinear systems. Unscented filter technique makes use of a set of sample points to predict mean and covariance. The general QUEST(QUaternion ESTimator) algorithm preserves explicitly the quaternion normalization, whereas extended Kalman filter(EKF) implicitly obeys the constraint. For spacecraft attitude estimation based on quaternion, an approach to computing quaternion means from sampled quaternions with guarantee of the quaternion norm constraint is introduced applying a constrained optimization technique. Finally, the performance of the new approach is demonstrated using a star tracker and rate-gyro measurements.