Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 7 of 7 for “"dual quaternions"”.
-
Dual Quaternions for Gravity Recovery Missions
<p>A dual quaternion-based modeling, state estimation and control approach is introduced as a better alternative to the traditional methods which are currently utilized for gravity recovery missions. The proposed modeling and control approach was verified against and compared to the tangent bundle …
-
Vertical Take-Off and Landing Control via Dual-Quaternions and Sliding Mode
… Through representing rigid body motion with dual-quaternions, translation and rotation can be represented in a single compact form that is free of singularities and provides the shortest path interpolation compared to any other formulation. These rigid bodies will be shown to follow a desired …
-
Optimized Thruster Allocation Utilizing Dual Quaternions for the Asteroid Sample Return Mission (OSIRIS-REx)
… to the asteroid Bennu, with a focus on utilizing dual quaternion dynamics and a newly developed thruster allocation method. The dual quaternion based dynamics are chosen in order to demonstrate its feasibility in real-time applications. Contrary to typical plant dynamics, which decouple the …
-
Nonlinear Control for Dual Quaternion Systems
… <p>A novel mathematical system known as dual quaternions provide an efficient method for mathematically modeling rigid body transformations, expressing both rotation and translation. Dual quaternions can be viewed as a representation of the special Euclidean group <em>SE</em> (3). An …
-
Rigid Body Constrained Motion Optimization and Control on Lie Groups and Their Tangent Bundles
… special orthogonal group SO(3) and the space of quaternions H, are commonly used to represent attitude. When considering rigid body pose, that is spacecraft position and attitude, the special Euclidean group SE(3) and the space of dual quaternions DH are frequently utilized. All these groups are …
-
Formalizing Clifford algebras and related constructions in the Lean theorem prover
… to mathlib along the way. These topics include dual quaternions, tensor products, quadratic forms, alternating maps, and exponential operators. As well as summarizing the author’s key contributions and possible avenues for future development, the conclusions outline how other users of Lean are …