Unit quaternion is an ideal parameterization for joint rotations. However, due to the complexity of the geometry of S group, it’s hard to specify meaningful joint constraints with unit quaternion. In this paper, we have proposed an effective and accurate method to specify the rotation limits for joints parameterized with the unit quaternion. Joint constrains constructed with our method are adeq...

Studies on experts' understanding of the public have mainly focused on the views of scientists. We add to the literature on constructions of the public by analyzing the views of decision-makers, professional science communicators and scientists involved in 'space' communication on the public and public participation in policy. Findings show that contextual situations and roles determine the way...