Publishing Linked Data - There is no One-Size-Fits-All Formula

Publishing Linked Data is a process that involves several design decisions and technologies. Although some initial guidelines have been already provided by Linked Data publishers, these are still far from covering all the steps that are necessary (from data source selection to publication) or giving enough details about all these steps, technologies, intermediate products, etc. Furthermore, given the variety of data sources from which Linked Data can be generated, we believe that it is possible to have a single and uni�ed method for publishing Linked Data, but we should rely on di�erent techniques, technologies and tools for particular datasets of a given domain. In this paper we present a general method for publishing Linked Data and the application of the method to cover di�erent sources from di�erent domains.

A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates

We present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordinates. A geometric interpretation of the resulting expression is provided, as well as its agreement with other less-compact but better-known formulas. To the best of our knowledge, this simpler formula does not appear anywhere in the literature. We hope by providing this more compact expression to alleviate the common pressure to reluctantly resort to alternative representations in various computational applications simply as a means to avoid the complexity of differential analysis in exponential coordinates.