Dual quaternions for the kinematic description of a fish-like propulsion system

• Autorzy: Kitowski Zygmunt , Piskur Paweł , Orłowski Mateusz

Identyfikatory

DOI

10.34768/amcs-2023-0013

• Języki publikacji: EN

Abstrakty

EN

This study discusses the use of quaternions and dual quaternions in the description of artificial fish kinematics. The investigation offered here illustrates quaternion and dual quaternion algebra, as well as its implementation in the software chosen. When it comes to numerical stability, quaternions are better than matrices because a normalised quaternion always shows the correct rotation, while a matrix more easily loses its orthogonality due to rounding errors and oversizing. Although quaternions are more compact than rotation matrices, using quaternions does not always provide less numerical computation and the amount of memory needed. In this paper, an algebraic form of quaternion representation is provided which is less memory-demanding than the matrix representation. All the functions that were used to prepare this work are presented, and they can be employed to conduct more research on how well quaternions work in a specific assignment.

Słowa kluczowe

EN

dual quaternion; artificial fish; underwater vehicle; undulating propulsion system

PL

kwaternion dualny; sztuczna ryba; pojazd podwodny; układ napędowy

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2023
• Tom: Vol. 33, no. 2
• Strony: 171--181
• Opis fizyczny: Bibliogr. 30 poz., rys., tab., wykr.

Twórcy

autor

Kitowski Zygmunt

• Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Śmidowicza 69, 81-127 Gdynia, Poland

autor

Piskur Paweł

• Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Śmidowicza 69, 81-127 Gdynia, Poland

autor

Orłowski Mateusz

• Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Śmidowicza 69, 81-127 Gdynia, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)