CS 6780: Advanced Machine Learning (Due: 10/09/20)

Assignment #1

Instructor: Jaime Arcos-Legarda Ph.D. Name: Juan Sebastian Arango, Netid:

Problem 1: Mapping ( points)

 
CθCφ CθSφ Sθ
 −Sφ Sφ 0
−CφSθ −SφSθ Cθ
A B
P =A
B R P

Problem 2: Operator ( points)

 
Cφ Sφ 0
Rz (φ) = −Sφ Cφ 0
0 0 1
 
Cθ 0 Sθ
Ry (θ) =  0 1 0
−Sθ 0 Cθ
  
Cφ Sφ 0 Cθ0 Sθ
Rz (φ)Ry (θ) = −Sφ Cφ 0  0 1 0
0 0 1 −Sθ0 Cθ
 
CφCθ Sφ CφSθ
Rz y(φ, θ) = −SφCθ Cφ −SφSθ
−Sθ 0 Cθ

Problem 3: Transformation ( points)

(a)
 
1 0 0 1
B
0 Cθ −Sθ 2
A T = 0
 
Sθ Cθ 3
0 0 0 1
 
1 0 0 −1
A
0 Cθ Sθ −2
B T = 0 −Sθ Cθ −3
 

0 0 0 1

(b)
A B
P =A
B T P

1 0 0 1
   
√ √ 4
2 2
A
0 2√ √2
−2 5
∗ 
P=
0 − 22 2
2
−3 6
0 0 0 1 1

1
Juan Sebastian Arango – Assignment #1 2


3
A
 5.778 
P= 
−2.2928
1

Problem 4: Transformation ( points)

(a)
Pruebas de Matriz de rotación:

RRT = RT R = I
√ √  √  √  √ √ 
2 2 2 1 2 2 2
2 0
√ 2 2 −
√2
−√12 2 −
√2
1
−√21 2 0
√ 2
 −1 2 1  2 − 2 = 0 2 − 2   −1 2 1  =I
0

 2 2√ 2  √ 2 2  √ 2 2  2 2√ 2 
−1 −1 −1 −1
2 − 22 2 2
2 1
2
1
2 2
2 1
2
1
2 2 − 22 2

det(R) = 1
√ √ 
2 2
2 0
√ 2
 −1 2 1 )
det( 2 2√ 2 
=1
−1 −1
2 − 22 2

(b) q
β = Atan2 ( r3 21 + r3 23 , r33 )
r23 r11
α = Atan2 ( , )
Sβ Sβ
r32 r31
γ = Atan2 ( ,− )
Sβ Sβ

Figure 1

   
β 63.4
α =  45 
γ 144.73

(c)
r32 − r23
E1 = = −0.353554
4E4
Juan Sebastian Arango – Assignment #1 3

r13 − r31
E2 = = 0.353554
4E4
r21 − r12
E3 = = −0.146447
4E4
1√
E4 = 1 + r11 + r22 + r33 = 0.853353
2