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<dc:title xml:lang="pl"><![CDATA[Dual quaternions for the kinematic description of a fish-like propulsion system]]></dc:title>
<dc:creator><![CDATA[Kitowski, Zygmunt]]></dc:creator>
<dc:creator><![CDATA[Piskur, Paweł]]></dc:creator>
<dc:creator><![CDATA[Orłowski, Mateusz]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[quaternions]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[dual quaternions]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[artificial fish]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[underwater vehicle]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[undulating propulsion system]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[This study discusses the use of quaternions and dual quaternions in the description of artificial fish kinematics. The investigation offered here illustrates quaternion and dual quaternion algebra, as well as its implementation in the software chosen. When it comes to numerical stability, quaternions are better than matrices because a normalised quaternion always shows the correct rotation, while a matrix more easily loses its orthogonality due to rounding errors and oversizing.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[Although quaternions are more compact than rotation matrices, using quaternions does not always provide less numerical computation and the amount of memory needed. In this paper, an algebraic form of quaternion representation is provided which is less memory-demanding than the matrix representation. All the functions that were used to prepare this work are presented, and they can be employed to conduct more research on how well quaternions work in a specific assignment.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Kitowski, Zygmunt - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Piskur, Paweł - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Hożyń , Stanisław - ed.]]></dc:contributor>
<dc:date><![CDATA[2023]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86579/AMCS_2023_33_2_1.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101581/edition/86579/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86579]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 33, number 2 (2023)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=128]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101581]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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