Generalised quaternion methods in conformal geometry

A new approach to Penrose's twistor algebra is given. It is based on the use of a generalised quaternion algebra for the translation of statements in projective five-space into equivalent statements in twistor (conformal spinor) space. The formalism leads toSO(4, 2)-covariant formulations of the Pauli-Kofink and Fierz relations among Dirac bilinears, and generalisations of these relations.

Consistent quaternion interpolation for objective finite element approximation of geometrically exact beam

We explore an isoparametric interpolation of total quaternion for geometrically consistent, strain-objective and path-independent finite element solutions of the geometrically exact beam. This interpolation is a variant of the broader class known as slerp. The equivalence between the proposed interpolation and that of relative rotation is shown without any recourse to local bijection between quaternions and rotations. We show that, for a two-noded beam element, the use of relative rotation is not mandatory for attaining consistency cum objectivity and an appropriate interpolation of total rotation variables is sufficient. The interpolation of total quaternion, which is computationally more efficient than the one based on local rotations, converts nodal rotation vectors to quaternions and interpolates them in a manner consistent with the character of the rotation manifold. This interpolation, unlike the additive interpolation of total rotation, corresponds to a geodesic on the rotation manifold. For beam elements with more than two nodes, however, a consistent extension of the proposed quaternion interpolation is difficult. Alternatively, a quaternion-based procedure involving interpolation of relative rotations is proposed for such higher order elements. We also briefly discuss a strategy for the removal of possible singularity in the interpolation of quaternions, proposed in [I. Romero, The interpolation of rotations and its application to finite element models of geometrically exact rods, Comput. Mech. 34 (2004) 121–133]. The strain-objectivity and path-independence of solutions are justified theoretically and then demonstrated through numerical experiments. This study, being focused only on the interpolation of rotations, uses a standard finite element discretization, as adopted by Simo and Vu-Quoc [J.C. Simo, L. Vu-Quoc, A three-dimensional finite rod model part II: computational aspects, Comput. Methods Appl. Mech. Engrg. 58 (1986) 79–116]. The rotation update is achieved via quaternion multiplication followed by the extraction of the rotation vector. Nodal rotations are stored in terms of rotation vectors and no secondary storages are required.

Attitude estimation using moment invariants

The problem of estimating the three-dimensional rotational parameters of a rigid body from its monocular image data has been considered using the method of moment invariants. Second- and third-order moment invariants are used to construct the feature vector for the scale and orientation independent identification of the camera view axis direction in the body-fixed reference frame. The camera rotation angle about the view axis is derived from second-order central moments. The relative attitude of the rigid body is then expressed in terms of quaternion parameters to model the outputs of a video sensor in attitude control simulations. Experimental results and simulation outputs are presented using the mathematical model of a spacecraft.

Minimal crystallizations of 3-manifolds

We have introduced the weight of a group which has a presentation with number of relations is at most the number of generators. We have shown that the number of facets of any contracted pseudotriangulation of a connected closed 3-manifold M is at least the weight of the fundamental group of M. This lower bound is sharp for the 3-manifolds RP3, L(3, 1), L(5, 2), S-1 x S-1 x S-1, S-2 x S-1, S-2 (x) under bar S-1 and S-3/Q(8), where Q(8) is the quaternion group. Moreover, there is a unique such facet minimal pseudotriangulation in each of these seven cases. We have also constructed contracted pseudotriangulations of L(kq - 1, q) with 4(q + k - 1) facets for q >= 3, k >= 2 and L(kq + 1, q) with 4(q + k) facets for q >= 4, k >= 1. By a recent result of Swartz, our pseudotriangulations of L(kg + 1, q) are facet minimal when kg + 1 are even. In 1979, Gagliardi found presentations of the fundamental group of a manifold M in terms of a contracted pseudotriangulation of M. Our construction is the converse of this, namely, given a presentation of the fundamental group of a 3-manifold M, we construct a contracted pseudotriangulation of M. So, our construction of a contracted pseudotriangulation of a 3-manifold M is based on a presentation of the fundamental group of M and it is computer-free.

L-infinity norms of holomorphic modular forms in the case of compact quotient

We prove a sub-convex estimate for the sup-norm of L-2-normalized holomorphic modular forms of weight k on the upper half plane, with respect to the unit group of a quaternion division algebra over Q. More precisely we show that when the L-2 norm of an eigenfunction f is one, parallel to f parallel to(infinity) <<(epsilon) k(1/2-1/33+epsilon) for any epsilon > 0 and for all k sufficiently large.