History
W. R. Hamilton introduced quaternions in 1843 and by 1873 W. K. Clifford obtained a broad generalization of these numbers that he called biquaternions, which is an example of what is now called a Clifford algebra. At the turn of the 20th century, Aleksandr Kotelnikov and E. Study developed dual vectors and dual quaternions for use in the study of mechanics.
In 1891 Eduard Study realized that this associative algebra was ideal for describing the group of motions of three-dimensional space. He further developed the idea in Geometrie der Dynamen in 1901. B. L. van der Waerden called the structure "Study biquaternions", one of three eight-dimensional algebras referred to as biquaternions.
Read more about this topic: Dual Quaternion
Famous quotes containing the word history:
“He wrote in prison, not a History of the World, like Raleigh, but an American book which I think will live longer than that. I do not know of such words, uttered under such circumstances, and so copiously withal, in Roman or English or any history.”
—Henry David Thoreau (1817–1862)
“In every election in American history both parties have their clichés. The party that has the clichés that ring true wins.”
—Newt Gingrich (b. 1943)
“The basic idea which runs right through modern history and modern liberalism is that the public has got to be marginalized. The general public are viewed as no more than ignorant and meddlesome outsiders, a bewildered herd.”
—Noam Chomsky (b. 1928)