Clifford algebra of three dimensional geometry

Computer graphics applications require efficient tools to model geometric objects. The traditional approach based on compute-intensive matrix calculations is error-prone due to a lack of integration between geometric reasoning and matrix-based algorithms. Clifford algebra offers a solution to these issues since it permits specification of geometry at a coordinate-free level. The best way to exploit the symbolic computing power of geometric (Clifford) algebra is supporting its data types and operators directly in hardware. This paper outlines the architecture of S-CliffoSor (Sliced Clifford coprocessor), a parallelizable embedded coprocessor that executes native Clifford algebra operations. S-CliffoSor is a sliced coprocessor that can be replicated for parallel execution of concurrent Clifford operations. A single slice has been designed, implemented and tested on the Celoxica Inc. RC1000 board. The experimental results show the potential to achieve a 3times speedup for Clifford sums and 4times speedup for Clifford products compared to against the analogous operations in the software library generator GAIGEN.

In this paper a method for mechanical theorem proving in geometries is proposed. We first discuss how to describe geometric objects and geometric relations in 2D and/or 3D Euclidean space with Clifford algebraic expression. Then we present some rules to simplify Clifford algebraic polynomials to the so-called final Clifford algebraic polynomials. The key step for proving the theorems is to check if a Clifford algebraic expression can be simplified to zero. With the help of introducing coordinates, we can prove mechanically most of the geometric theorems about lines, conics, planes and so on in plane and/or solid geometry. The proofs produced by machine with our method are readable and geometrically interpretable. Finally, some interesting examples are given.

Preface Contributors Part I. Algebra and Geometry Point Groups and Space Groups in Geometric Algebra (D. Hestenes) The Inner Products of Geometric Algebra (L. Dorst) Unification of Grassmann's Progressive and Regressive Products using the Principle of Duality (S. Blake) From Unoriented Subspaces to Blade Operators (T.A. Bouma) Automated Theorem Proving in the Homogeneous Model with Clifford Bracket Algebra (H. Li) Rotations in n Dimensions as Spherical Vectors (W.E. Baylis/S. Hadi) Geometric and Algebraic Canonical Forms (N. Gordon) Functions of Clifford Numbers or Square Matrices (J. Snygg) Compound Matrices and Pfaffians: A Representation of Geometric Algebra (U. Prells/M.I. Friswell/S.D. Garvey) Analysis Using Abstract Vector Variables (F. Sommen) A Multivector Data Structure for Differential Forms and Equations (J.A. Chard/V. Shapiro) Jet Bundles and the Formal Theory of Partial Differential Equations (R. Baker/C. Doran) Imaginary Eigenvalues and Complex Eigenvectors Explained by Real Geometry (E.M.S. Hitzer) Symbolic Processing of Clifford Numbers in C++ (J.P. Fletcher) Clifford Numbers and their Inverses Calculated using the Matrix Representation (J.P. Fletcher) A Toy Vector Field Based on Geometric Algebra (A. Rockwood/S. Binderwala) Quadratic Transformations in the Projective Plane (G. Georgiev) Annihilators of Principal Ideals in the Grassmann Algebra (C. Koc/S. Esin) Part II. Applications to Physics Homogeneous Rigid Body Mechanics with Elastic Coupling (D. Hestenes/E.D. Fasse) Analysis of One and Two Particle Quantum Systems using Geometric Algebra (R. Parker/C. Doran) Interaction and Entanglement in the Multiparticle Spacetime Algebra (T.F. Havel/C.J.L. Doran) Laws of Reflection from Two or More Plane Mirrors in Succession (M. Derome) Exact Kinetic Energy Operators for Polyatomic Molecules (J. Pesonen) Geometry of Quantum Computing by Hamiltonian Dynamics of Spin Ensembles (T. Schulte-Herbruggen/K. Huper/U. Helmke/S.J. Glaser) Is the Brain a 'Clifford Algebra Quantum Computer'? (V. Labunets/E. Rundblad/J. Astola) A Hestenes Spacetime Algebra Approach to Light Polarization (Q.M. Sugon/D. McNamara) Quaternions, Clifford Algebra and Symmetry Groups (P.R. Girard) Part III. Computer Vision and Robotics A Generic Framework for Image Geometry (J.J. Koenderink) Color Edge Detection Using Rotors (E. Bayro-Corrochano/S. Flores) Numerical Evaluation of Versors with Clifford Algebra (C.B.U. Perwass/G. Sommer) The Role of Clifford Algebra in Structure-Preserving Transformations for Second-Order Systems (S.D. Garvey/M.I. Friswell/U. Prells) Applications of Algebra of Incidence in Visually Guided Robotics (E. Bayro-Corrochano/P. Lounesto/L.R. Lozano) Monocular Pose Estimation of Kinematic Chains (B. Rosenhahn/O. Granert/G. Sommer) Stabilization of 3D Pose Estimation (W. Neddermeyer/M. Schnell/W. Winkler/A. Lilienthal) Inferring Dynamical Information from 3D Position Data using Geometric Algebra (H. Udugama/G.S. Sajeewa/J. Lasenby) Clifford Algebra Space Singularities of Inline Planar Platforms (M.A. Baswell/R. Ablamowicz/J.N. Anderson) Part IV. Signal Processing and Other Applications Fast Quantum Fourier--Heisenberg--Weyl Transforms (V. Labunets/E. Rundblad/J. Astola) The Structure Multivector (M. Felsberg/G. Sommer) The Application of Clifford Algebra to Calculations of Multicomponent Chemical Composition (J.P. Fletcher) An Algorithm to Solve the Inverse IFS-Problem (E. Hocevar) Fast Quantum n-D Fourier and Radon Transforms (V. Labunets/E. Rundblad/J. Astola)

The necessary appearance of Clifford algebras in the quantum description of fermions has prompted us to re-examine the fundamental role played by the quaternion Clifford algebra, C 0,2. This algebra is essentially the geometric algebra describing the rotational properties of space. Hidden within this algebra are symplectic structures with Heisenberg algebras at their core. This algebra also enables us to define a Poisson algebra of all homogeneous quadratic polynomials on a two-dimensional sub-space, \(\mathbb{F}^{a}\) of the Euclidean three-space. This enables us to construct a Poisson Clifford algebra, ℍ F , of a finite dimensional phase space which will carry the dynamics. The quantum dynamics appears as a realisation of ℍ F in terms of a Clifford algebra consisting of Hermitian operators.

The computational simulation of the interaction between blood flow and arterial wall motion during a cardiac cycle is complicated and requires high quality information of the vessel wall motion in space and time. In this study, a set of cross-sectional ultrasound images was acquired using an electrocardiogram-gated kilohertz visualization mode, which provides 1000 frame images per second, by an ultrasound imaging system (Vevo 770, VisualSonics, Canada) with a probe of 40-MHz central frequency (RMV 704). The three dimensional (3D) geometry of carotid artery bifurcation was reconstructed at systolic and diastolic phases during a cardiac cycle using the cross-sectional ultrasound images, and a block meshing method was applied to the reconstructed 3D geometry. Then, an appropriate hexahedral mesh was constructed for the computational simulation. The 3D geometry measured by high-frequency ultrasound imaging provides high temporal and spatial information on the vessel wall motion during a cardiac cycle, which is important for accurate computational simulation of hemodynamics in the bifurcation area of the carotid artery. The fluid-structure interaction simulation of blood flow in the carotid artery bifurcation during a cardiac cycle is in progress using the meshes of 3D geometry of vessel wall. [Work supported by NIPA-2013-H0401-13-1007 and 2013R1A1A2043478.]

Geometric or Clifford Algebra (CA) is a powerful mathematical tool that is attracting a growing attention in many research fields such as computer graphics, computer vision, robotics and medical imaging for its natural and intuitive way to represent geometric objects and their transformations. This paper introduces the architecture of CliffordCoreDuo, an embedded dual-core coprocessor that offers direct hardware support to four-dimensional (4D) Clifford algebra operations. A prototype implementation on an FPGA board is detailed. Experimental results show a 1.6x average speedup of CliffordCoreDuo in comparison with the baseline mono-core architecture. A potential cycle speedup of about 40x over Gaigen 2, a geometric algebra software library generator for general-purpose processors, is also demonstrated.

Representations of geometric (Clifford) algebras with real square matrices are reviewed by providing the general theorem as well as examples of lowest dimensions. New definitions for isometry and norm are proposed. Direct and indirect isometries are identified respectively with automorphisms and antiautomorphisms of the geometric algebra, while the norm of every element is defined as the $n^\textit{th}$-root of the absolute value of the determinant of its matrix representation of order $n$. It is deduced in which geometric algebras direct isometries are inner automorphisms (similarity transformations of matrices). Indirect isometries need reversion too. Finally, the most common isometries are reviewed in order to write them in this way.

Clifford geometric algebras of multivectors are treated in detail. These algebras are built over a graded space and exhibit a grading or multivector structure. The careful study of the endomorphisms of this space makes it clear that opposite Clifford algebras have to be used for obtaining all endomorphisms. Based on these mathematics, we give a fully Clifford algebraic account on generating functionals, which is thereby geometric. The field operators are shown to be Clifford and opposite Clifford maps. This picture, relying on geometry, does not need positivity in principle. Furthermore, we propose a transition from operator dynamics to generating functionals, which is based on the algebraic techniques. As a calculational benefit, this transition is considerably short compared to standard ones. The transition is not injective (unique) and depends additionally on the choice of an ordering. We obtain a direct and constructive connection between orderings and the explicit form of the functional Hamiltonian. These orderings depend on the propagator of the theory and thus on the ground state. This is invisible in path integral formulations. The method is demonstrated within two examples, a nonlinear spinor field theory and spinor QED. Antisymmetrized and normal-ordered functional equations are derived in both cases.

Precision of direction of arrival (DOA) estimation using novel three dimensional array geometries

Geometric algebra was introduced in the nineteenth century by the English mathematician William Kingdon Clifford (figure 2.1). Clifford appears to have been one of the small number of mathematicians at the time to be significantly influenced by Grassmann's work. Clifford introduced his geometric algebra by uniting the inner and outer products into a single geometric product. This is associative, like Grassmann's product, but has the crucial extra feature of being invertible , like Hamilton's quaternion algebra. Indeed, Clifford's original motivation was to unite Grassmann's and Hamilton's work into a single structure. In the mathematical literature one often sees this subject referred to as Clifford algebra . We have chosen to follow the example of David Hestenes, and many other modern researchers, by returning to Clifford's original choice of name – geometric algebra . One reason for this is that the first published definition of the geometric product was due to Grassmann, who introduced it in the second Ausdehnungslehre . It was Clifford, however, who realised the great potential of this product and who was responsible for advancing the subject. In this chapter we introduce the basics of geometric algebra in two and three dimensions in a way that is intended to appear natural and geometric, if somewhat informal. A more formal, axiomatic approach is delayed until chapter 4, where geometric algebra is defined in arbitrary dimensions.

Optical Mueller matrices in terms of geometric algebra

Geometric or Clifford algebra is an interesting paradigm for geometric modeling in fields as computer graphics, machine vision and robotics. In these areas the research effort is actually aimed at finding an efficient implementation of geometric algebra. The best way to exploit the symbolic computing power of geometric algebra is to support its data types and operators directly in hardware. However the natural representation of the algebra elements as variable-length objects causes some problems in the case of a hardware implementation. This paper proposes a 4D Clifford algebra in which the variable-length elements are mapped into fixed-length elements (quadruples). This choice leads to a simpler and more compact hardware implementation of 4D geometric algebra. The paper also presents the architecture of CliffArchy, a coprocessing core supporting the new fixed-length Clifford operands. A prototype implementation on a FPGA board is described.

Acquisition of 3D geometry, texture and optical material properties of real objects still consumes a considerable amount of time, and forces humans to dedicate their full attention to this process. We propose CultLab3D, an automatic modular 3D digitization pipeline, aiming for efficient mass digitization of 3D geometry, texture, and optical material properties. CultLab3D requires minimal human intervention and reduces processing time to a fraction of today's efforts for manual digitization. The final step in our digitization workflow involves the integration of the digital object into enduring 3D Cultural Heritage Collections together with the available semantic information related to the object. In addition, a software tool facilitates virtual, location-independent analysis and publication of the virtual surrogates of the objects, and encourages collaboration between scientists all around the world. The pipeline is designed in a modular fashion and allows for further extensions to incorporate newer technologies. For instance, by switching scanning heads, it is possible to acquire coarser or more refined 3D geometry.

We attach the degenerate signature (n,0,1) to the dual Grassmann algebra of projective space to obtain a real Clifford algebra which provides a powerful, efficient model for Euclidean geometry. We avoid problems with the degenerate metric by constructing an algebra isomorphism between the Grassmann algebra and its dual that yields non-metric meet and join operators. We focus on the cases of n=2 and n=3 in detail, enumerating the geometric products between k-blades and m-blades. We identify sandwich operators in the algebra that provide all Euclidean isometries, both direct and indirect. We locate the spin group, a double cover of the direct Euclidean group, inside the even subalgebra of the Clifford algebra, and provide a simple algorithm for calculating the logarithm of group elements. We conclude with an elementary account of Euclidean kinematics and rigid body motion within this framework.KeywordsIdeal PointEuclidean GeometryClifford AlgebraRigid Body MotionInertia TensorThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

With the widespread use of color images, the copyright protection of those images using watermarks is one of the latest research topics. The use of color images as watermarks has advantages over binary and irreplaceable grayscale images. Color images are intuitive, rich, and lively; they have large amounts of copyright protection information and more easily recognized by human vision. To improve the security of watermark information and embedding positions and improve the algorithm's robustness against various attacks, a Quaternion Fourier transform (QFT) based algorithm, based on Arnold transform and chaotic encryption, is proposed in this paper. Geometric algebra (GA) can deal with color images in vector form with each component of RGB handled individually. We used Quaternion, which is a sub-algebra of GA, and effectively handled color image processing by using Fourier transformation. After deriving the calculation process of the QFT with strong security by Arnold scrambling and chaotic encryption, this paper proposes a digital watermarking algorithm that resists geometric attacks by using color images as carriers. The robustness and quality of the proposed watermarking algorithm is tested with different with many statistical measures. Experimental outcomes show that the proposed approach is the best to solve conflict problems between quality and robustness. Also, the proposed approach exhibits worthy robustness against many attacks, such as, conventional attacks, and geometrical attacks.