We present an algorithm to compute all factorizations into linear factors of univariate polynomials over the split quaternions, provided such a factorization exists. Failure of the algorithm is equivalent to non-factorizability for which we present also geometric interpretations in terms of rulings on the quadric of non-invertible split quaternions. However, suitable real polynomial multiples of split quaternion polynomials can still be factorized and we describe how to find these real polynomials. Split quaternion polynomials describe rational motions in the hyperbolic plane. Factorization with linear factors corresponds to the decomposition of the rational motion into hyperbolic rotations. Since multiplication with a real polynomial does not change the motion, this decomposition is always possible. Some of our ideas can be transferred to the factorization theory of motion polynomials. These are polynomials over the dual quaternions with real norm polynomial and they describe rational motions in Euclidean kinematics. We transfer techniques developed for split quaternions to compute new factorizations of certain dual quaternion polynomials.
We investigate factorizability of a quadratic split quaternion polynomial. In addition to inequality conditions for existence of such factorization, we provide lucid geometric interpretations in the projective space over the split quaternions.
In this paper we investigate factorizations of polynomials over the ring of dual quaternions into linear factors. While earlier results assume that the norm polynomial is real ("motion polynomials"), we only require the absence of real polynomial factors in the primal part and factorizability of the norm polynomial over the dual numbers into monic quadratic factors. This obviously necessary condition is also sufficient for existence of factorizations. We present an algorithm to compute factorizations of these polynomials and use it for new constructions of mechanisms which cannot be obtained b…
We discuss existence of factorizations with linear factors for (left) polynomials over certain associative real involutive algebras, most notably over Clifford algebras. Because of their relevance to kinematics and mechanism science, we put particular emphasis on factorization results for quaternion, dual quaternion and split quaternion polynomials. A general algorithm ensures existence of a factorization for generic polynomials over division rings but we also consider factorizations for non-division rings. We explain the current state of the art, present some new results and provide examples …
We propose a geometric explanation for the observation that generic quadratic polynomials over split quaternions may have up to six different factorizations while generic polynomials over Hamiltonian quaternions only have two. Split quaternion polynomials of degree two are related to the coupler motion of "four-bar linkages" with equal opposite sides in universal hyperbolic geometry. A factorization corresponds to a leg of the four-bar linkage and during the motion the legs intersect in points of a conic whose focal points are the fixed revolute joints. The number of factorizations is related …
We consider bivariate polynomials over the skew field of quaternions, where the indeterminates commute with all coefficients and with each other. We analyze existence of univariate factorizations, that is, factorizations with univariate linear factors. A necessary condition for existence of univariate factorizations is factorization of the norm polynomial into a product of univariate polynomials. This condition is, however, not sufficient. Our central result states that univariate factorizations exist after multiplication with a suitable univariate real polynomial as long as the necessary fact…
We consider polynomials of bi-degree $(n,1)$ over the skew field of quaternions where the indeterminates commute with each other and with all coefficients. Polynomials of this type do not generally admit factorizations. We recall a necessary and sufficient condition for existence of a factorization with univariate linear factors that has originally been stated by Skopenkov and Krasauskas. Such a factorization is, in general, non-unique by known factorization results for univariate quaternionic polynomials. We unveil existence of bivariate polynomials with non-unique factorizations that cannot …
It is known that polynomials over quaternions may have spherical zeros and isolated left and right zeros. These zeros along with appropriately defined multiplicities form the zero structure of a polynomial. In this paper, we equivalently describe the zero structure of a polynomial in terms of its left and right spherical divisors as well as in terms of left and right indecomposable divisors. Several algorithms are proposed to find left/right zeros and left/right spherical divisors of a quaternion polynomial, to construct a polynomial with prescribed zero structure and more generally, to constr…
Unlike the Hamilton quaternion algebra, the split-quaternions contain nontrivial zero divisors. In general speaking, it is hard to find the solutions of equations in algebras containing zero divisor. In this paper, we manage to derive explicit formulas for computing the roots of $x^{2}+bx+c=0$ in split quaternion algebra.
The theory of the column-row determinants has been considered for matrices over a non-split quaternion algebra. In this paper the concepts of column-row determinants are extending to a split quaternion algebra. New definitions of the column and row immanants (permanents) for matrices over a non-split quaternion algebra are introduced, and their basic properties are investigated. The key theorem about the column and row immanants of a Hermitian matrix over a split quaternion algebra is proved. Based on this theorem an immanant of a Hermitian matrix over a split quaternion algebra is introduced.
The question of whether a split tensor product of quaternion algebras with involution over a field of characteristic two can be expressed as a tensor product of split quaternion algebras with involution, is shown to have an affirmative answer.
In noncommutative and nondivision algebra, left spectrum of matrices are less known and is not easy to handle. Split quaternion algebra is a noncommutative and nondivision algebra. In this paper, by the formulas of solving the equations $ax=b$ and $ax^2+bx+c=0$ over split quaternions, we make an attempt to understand the left spectrum of a split quaternion matrix of order 2.
We explain the orthogonal planes split (OPS) of quaternions based on the arbitrary choice of one or two linearly independent pure unit quaternions $f,g$. Next we systematically generalize the quaternionic Fourier transform (QFT) applied to quaternion fields to conform with the OPS determined by $f,g$, or by only one pure unit quaternion $f$, comment on their geometric meaning, and establish inverse transformations. Keywords: Clifford geometric algebra, quaternion geometry, quaternion Fourier transform, inverse Fourier transform, orthogonal planes split
We propose an algorithm for finding zero divisors in quaternion algebras over quadratic number fields, or equivalently, solving homogeneous quadratic equations in three variables over $\mathbb{Q}(\sqrt{d})$ where $d$ is a square-free integer. The algorithm is randomized and runs in polynomial time if one is allowed to call oracles for factoring integers.
In this paper, we find the roots of lightlike quaternions. By introducing the concept of the Moore-Penrose inverse in split quaternions, we solve the linear equations $axb=d$, $xa=bx$ and $xa=b\bar{x}$. Also we obtain necessary and sufficient conditions for two split quaternions to be similar or consimilar.
The two-sided quaternionic Fourier transformation (QFT) was introduced in \cite{Ell:1993} for the analysis of 2D linear time-invariant partial-differential systems. In further theoretical investigations \cite{10.1007/s00006-007-0037-8, EH:DirUP_QFT} a special split of quaternions was introduced, then called $\pm$split. In the current \change{chapter} we analyze this split further, interpret it geometrically as \change{an} \emph{orthogonal 2D planes split} (OPS), and generalize it to a freely steerable split of $\H$ into two orthogonal 2D analysis planes. The new general form of the OPS split a…
Motion Polynomials Admitting a Factorization with Linear Factors
Academy of Mathematics and Systems Science, Chinese Academy of Sciences（中国科学院数学与系统科学研究院）；University of Innsbruck（因斯布鲁克大学）；King Abdullah University of Science and Technology（阿卜杜拉国王科技大学）
We give examples of quaternion and octonion division algebras over a field $F$ of characteristic $2$ that split over a purely inseparable extension $E$ of $F$ of degree $\geq 4$ but that do not split over any subextension of $F$ inside $E$ of lower exponent, or, in the case of octonions, over any simple subextension of $F$ inside $E$. Thus, we get a negative answer to a question posed by Bernhard Mühlherr and Richard Weiss. We study this question in terms of the isotropy behaviour of the associated norm forms.
In this paper, we present some applications of quaternions and octonions. We present the real matrix representations for complex octonions and some of their properties which can be used in computations where these elements are involved. Moreover, we give a set of invertible elements in split quaternion algebras and in split octonion algebras.
A variety of universal similarity factorization equalities over real Clifford algebras ${\cal R}_{p,q}$ are established. On the basis of these equalities, real, complex and quaternion matrix representations of elements in ${\cal R}_{p,q}$ can be explicitly determined.
A split hypercomplex learning algorithm for the training of nonlinear finite impulse response adaptive filters for the processing of hypercomplex signals of any dimension is proposed. The derivation strictly takes into account the laws of hypercomplex algebra and hypercomplex calculus, some of which have been neglected in existing learning approaches (e.g. for quaternions). Already in the case of quaternions we can predict improvements in performance of hypercomplex processes. The convergence of the proposed algorithms is rigorously analyzed. Keywords: Quaternionic adaptive filtering, Hypercom…
We Classify the rational quadratic extensions K and the finite groups G for which the group ring R[G] of G over the ring R of integers of K has the property that the group of units of augmentation 1 of R[G] is hyperbolic. We also construct units in a non-split quaternion algebra over R.
Johann Radon Institute for Computational and Applied Mathematics Austrian Academy of Sciences (RICAM)（奥地利科学院约翰·拉东计算与应用数学研究所（RICAM））；University Innsbruck（因斯布鲁克大学）
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual quaternions. Low degree examples include the Bennett mechanisms and contain new types of overconstrained 6R-chains as sub-mechanisms.
In this paper we show that a split central simple algebra with quadratic pair which decomposes into a tensor product of quaternion algebras with involution and a quaternion algebra with quadratic pair is adjoint to a quadratic Pfister form. This result is new in characteristic two, otherwise it is equivalent to the Pfister Factor Conjecture proven in [3].
Obuda University（欧布达大学）；Austrian Academy of Sciences（奥地利科学院）；Johannes Kepler University Linz（约翰内斯·开普勒林茨大学）；University of Innsbruck（因斯布鲁克大学）
This article provides a gentle introduction for a general mathematical audience to the factorization theory of motion polynomials and its application in mechanism science. This theory connects in a rather unexpected way a seemingly abstract mathematical topic, the non-unique factorization of certain polynomials over the ring of dual quaternions, with engineering applications. Four years after its introduction, it is already clear how beneficial it has been to both fields.
The simple symplectic triple systems over the real numbers are classified up to isomorphism, and linear models of all of them are provided. Besides the split cases, one for each complex simple Lie algebra, there are two kinds of non-split real simple symplectic triple systems with classical enveloping algebra, called unitarian and quaternionic types, and five non-split real simple symplectic triple systems with exceptional enveloping algebra.
