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

Kitowski Zygmunt, Piskur Paweł, Orłowski Mateusz

International Journal of Applied Mathematics and Computer Science

2023

Vol. 33, no. 2

171--181

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.

Directions of development of the autonomous unmanned underwater vehicles. a review

Orłowski Mateusz

Maritime Technical Journal

2022

nr 1 (224)

68--79

In the paper review of unmanned underwater vehicle (AUV) is presented. The description of main systems is depicted with focus on autonomous single vehicle as well as a swarm. As a con-sequence of development of AUV technology, research centers are focused on issues related to increasing the degree of their autonomy. Nowadays, mostly navigation and communication as well as high-efficient propeller systems are being developed. There are problems linking this issues. Their solutions includes development of new control laws containing algorithms to pre-vent collisions - for unmanned vehicles with elements of the underwater environment and for several underwater vehicles cooperating with each other in a swarm.