Clifford Algebras

Author: Daniel Klawitter
Publisher: Springer
ISBN: 9783658076184
Release Date: 2014-10-29
Genre: Mathematics

After revising known representations of the group of Euclidean displacements Daniel Klawitter gives a comprehensive introduction into Clifford algebras. The Clifford algebra calculus is used to construct new models that allow descriptions of the group of projective transformations and inversions with respect to hyperquadrics. Afterwards, chain geometries over Clifford algebras and their subchain geometries are examined. The author applies this theory and the developed methods to the homogeneous Clifford algebra model corresponding to Euclidean geometry. Moreover, kinematic mappings for special Cayley-Klein geometries are developed. These mappings allow a description of existing kinematic mappings in a unifying framework.

Geometric Computing with Clifford Algebras

Author: Gerald Sommer
Publisher: Springer Science & Business Media
ISBN: 9783662046210
Release Date: 2013-06-29
Genre: Computers

This monograph-like anthology introduces the concepts and framework of Clifford algebra. It provides a rich source of examples of how to work with this formalism. Clifford or geometric algebra shows strong unifying aspects and turned out in the 1960s to be a most adequate formalism for describing different geometry-related algebraic systems as specializations of one "mother algebra" in various subfields of physics and engineering. Recent work shows that Clifford algebra provides a universal and powerful algebraic framework for an elegant and coherent representation of various problems occurring in computer science, signal processing, neural computing, image processing, pattern recognition, computer vision, and robotics.

Clifford Algebras

Author: Rafal Ablamowicz
Publisher: Springer Science & Business Media
ISBN: 9781461220442
Release Date: 2012-12-06
Genre: Mathematics

The invited papers in this volume provide a detailed examination of Clifford algebras and their significance to analysis, geometry, mathematical structures, physics, and applications in engineering. While the papers collected in this volume require that the reader possess a solid knowledge of appropriate background material, they lead to the most current research topics. With its wide range of topics, well-established contributors, and excellent references and index, this book will appeal to graduate students and researchers.

Applications of Geometric Algebra in Computer Science and Engineering

Author: Leo Dorst
Publisher: Springer Science & Business Media
ISBN: 9781461200895
Release Date: 2012-12-06
Genre: Mathematics

Geometric algebra has established itself as a powerful and valuable mathematical tool for solving problems in computer science, engineering, physics, and mathematics. The articles in this volume, written by experts in various fields, reflect an interdisciplinary approach to the subject, and highlight a range of techniques and applications. Relevant ideas are introduced in a self-contained manner and only a knowledge of linear algebra and calculus is assumed. Features and Topics: * The mathematical foundations of geometric algebra are explored * Applications in computational geometry include models of reflection and ray-tracing and a new and concise characterization of the crystallographic groups * Applications in engineering include robotics, image geometry, control-pose estimation, inverse kinematics and dynamics, control and visual navigation * Applications in physics include rigid-body dynamics, elasticity, and electromagnetism * Chapters dedicated to quantum information theory dealing with multi- particle entanglement, MRI, and relativistic generalizations Practitioners, professionals, and researchers working in computer science, engineering, physics, and mathematics will find a wide range of useful applications in this state-of-the-art survey and reference book. Additionally, advanced graduate students interested in geometric algebra will find the most current applications and methods discussed.

Combinatorial Image Analysis

Author: Reinhard Klette
Publisher: Springer Science & Business Media
ISBN: 9783540239420
Release Date: 2004-11-22
Genre: Computers

This volume presents the proceedings of the 10th International Workshop on Combinatorial Image Analysis, held December 1–3, 2004, in Auckland, New Zealand. Prior meetings took place in Paris (France, 1991), Ube (Japan, 1992), Washington DC (USA, 1994), Lyon (France, 1995), Hiroshima (Japan, 1997), Madras (India, 1999), Caen (France, 2000), Philadelphia (USA, 2001), and - lermo (Italy, 2003). For this workshop we received 86 submitted papers from 23 countries. Each paper was evaluated by at least two independent referees. We selected 55 papers for the conference. Three invited lectures by Vladimir Kovalevsky (Berlin), Akira Nakamura (Hiroshima), and Maurice Nivat (Paris) completed the program. Conference papers are presented in this volume under the following topical part titles: discrete tomography (3 papers), combinatorics and computational models (6), combinatorial algorithms (6), combinatorial mathematics (4), d- ital topology (7), digital geometry (7), approximation of digital sets by curves and surfaces (5), algebraic approaches (5), fuzzy image analysis (2), image s- mentation (6), and matching and recognition (7). These subjects are dealt with in the context of digital image analysis or computer vision.

21st Century Kinematics

Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 9781447145103
Release Date: 2012-08-04
Genre: Technology & Engineering

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

Geometric Design of Linkages

Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 1441978925
Release Date: 2010-11-11
Genre: Science

This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.

Computational Kinematics 95

Author: J.-P. Merlet
Publisher: Springer Science & Business Media
ISBN: 9789401103336
Release Date: 2012-12-06
Genre: Technology & Engineering

The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the nu merical type, but also of symbolic as well as geometric nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.

Mathematics Mechanization and Applications

Author: Xiao-Shan Gao
Publisher:
ISBN: 0127347607
Release Date: 2000
Genre: Computers

Mathematics Mechanization and Applications provides a uniform presentation of major developments, carried out mostly in Wu's extended Chinese group, on algorithms and software tools for mechanizing algebraic equations solving and geometric theorem proving together with their applications to problems in science and engineering. It is distinguished by its uniform presentation with all-Chinese contributors and a 40-page list of references. There are 20 chapters written by experienced researchers. The book is divided into four parts: polynomial system solving, automated geometric reasoning, algebraic computation, and implementations and applications. Each chapter is devoted to surveying and expounding the main results achieved from one selected subject. The book contains surveys for diverse applications of the theories and methods to real world problems, ranging from the analysis of robotics and mechanisms to nonlinear programming and chemical equilibrium computation. Part of the theoretical and practical work reviewed in the book has been either unpublished or published only in Chinese journals or even only in the Chinese language. This book therefore provides Western readers working in symbolic and algebraic computation, geometric reasoning and modeling, algorithmic mathematics, robotics, CAGD, and other relevant areas with an easily accessible source of references for what the Chinese researchers have been doing under the banner of mathematics mechanization. * Addresses the frontiers of research with original ideas and results * Includes sophisticated, successful applications to scientific and engineering problems * Covers polynomial system solving, geometric reasoning, computer algebra, and mathematical software * Is comprehensive and focused * Contains an extensive bibliography--of high reference value--particularly for western readers

AIM

Author:
Publisher:
ISBN: 0780367367
Release Date: 2001
Genre: Technology & Engineering


Computational Kinematics

Author: Andrés Kecskeméthy
Publisher: Springer Science & Business Media
ISBN: 9783642019470
Release Date: 2009-10-06
Genre: Technology & Engineering

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.