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Polar decomposition
In mathematics, the polar decomposition of a square real or complex matrix is a factorization of the form , where is a unitary matrix and is a positive semi-definite Hermitian matrix ( is an orthogonal matrix and is a positive semi-definite symmetric matrix in the real case), both square and of the same size. Intuitively, if a real matrix is interpreted as a linear transformation of -dimensional space , the polar decomposition separates it into a rotation or reflection of , and a scaling of the space along a set of orthogonal axes.
Quaternions and spatial rotation
Unit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
William Kingdon Clifford
William Kingdon Clifford (4 May 1845 - 3 March 1879) was an English mathematician and philosopher. Building on the work of Hermann Grassmann, he introduced what is now termed geometric algebra, a special case of the Clifford algebra named in his honour. The operations of geometric algebra have the effect of mirroring, rotating, translating, and mapping the geometric objects that are being modelled to new positions. Clifford algebras in general and geometric algebra in particular have been of ever increasing importance to mathematical physics, geometry, and computing.
Three-dimensional space
In geometry, a three-dimensional space (3D space, 3-space or, rarely, tri-dimensional space) is a mathematical space in which three values (coordinates) are required to determine the position of a point. Most commonly, it is the three-dimensional Euclidean space, the Euclidean n-space of dimension n=3 that models physical space. More general three-dimensional spaces are called 3-manifolds. Technically, a tuple of n numbers can be understood as the Cartesian coordinates of a location in a n-dimensional Euclidean space.
One-parameter group
In mathematics, a one-parameter group or one-parameter subgroup usually means a continuous group homomorphism from the real line (as an additive group) to some other topological group . If is injective then , the image, will be a subgroup of that is isomorphic to as an additive group. One-parameter groups were introduced by Sophus Lie in 1893 to define infinitesimal transformations. According to Lie, an infinitesimal transformation is an infinitely small transformation of the one-parameter group that it generates.
Hurwitz quaternion
In mathematics, a Hurwitz quaternion (or Hurwitz integer) is a quaternion whose components are either all integers or all half-integers (halves of odd integers; a mixture of integers and half-integers is excluded). The set of all Hurwitz quaternions is That is, either a, b, c, d are all integers, or they are all half-integers. H is closed under quaternion multiplication and addition, which makes it a subring of the ring of all quaternions H. Hurwitz quaternions were introduced by .
Split-complex number
In algebra, a split complex number (or hyperbolic number, also perplex number, double number) is based on a hyperbolic unit j satisfying A split-complex number has two real number components x and y, and is written The conjugate of z is Since the product of a number z with its conjugate is an isotropic quadratic form. The collection D of all split complex numbers for x,y \in \R forms an algebra over the field of real numbers. Two split-complex numbers w and z have a product wz that satisfies This composition of N over the algebra product makes (D, +, ×, *) a composition algebra.
Biquaternion
In abstract algebra, the biquaternions are the numbers w + x i + y j + z k, where w, x, y, and z are complex numbers, or variants thereof, and the elements of {1, i, j, k} multiply as in the quaternion group and commute with their coefficients. There are three types of biquaternions corresponding to complex numbers and the variations thereof: Biquaternions when the coefficients are complex numbers. Split-biquaternions when the coefficients are split-complex numbers. Dual quaternions when the coefficients are dual numbers.
Covering group
In mathematics, a covering group of a topological group H is a covering space G of H such that G is a topological group and the covering map p : G → H is a continuous group homomorphism. The map p is called the covering homomorphism. A frequently occurring case is a double covering group, a topological double cover in which H has index 2 in G; examples include the spin groups, pin groups, and metaplectic groups.
Binary tetrahedral group
In mathematics, the binary tetrahedral group, denoted 2T or , is a certain nonabelian group of order 24. It is an extension of the tetrahedral group T or (2,3,3) of order 12 by a cyclic group of order 2, and is the of the tetrahedral group under the 2:1 covering homomorphism Spin(3) → SO(3) of the special orthogonal group by the spin group. It follows that the binary tetrahedral group is a discrete subgroup of Spin(3) of order 24. The complex reflection group named 3(24)3 by G.C.