Quaternion and biquaternion representations of proper and improper transformations in non-cartesian reference systems

Katrusiak A & Le HQ
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Katrusiak, A., & Le, H. Q. (2024). Quaternion and biquaternion representations of proper and improper transformations in non-cartesian reference systems. Symmetry, 16(10), 1366 (16 pp.). https://doi.org/10.3390/sym16101366