Homepage of Hans de Nivelle

Homepage of the institute for computer science.


Since October 2017, I am visiting professor at the School of Engineering and Digital Sciences of Nazarbayev University in Nur-Sultan, where I teach Programming Languages, Data Structures, Formal Language Theory, and Compiler Construction.


My research interests are automated theorem proving, verification, proof theory, and programming language design.

Committee Memberships


I organized TABLEAUX and FroCoS in Wroclaw during 21-24 September 2015.

Current Homepage

My current homepage is

Quaternion Finder

Build your own Quaternion Finder! Thanks to Tomasz Wierzicki for the typesetting.

The cube can also be used for finding (the rotations of) transformations between different coordinate systems as follows:

  1. Align the cube with coordinate system C1.
  2. Find the position of (1;0,0,0) on the cube.
  3. Align the cube with coordinate system C2.
  4. The quaternion can be read off from the place where (1;0,0,0) was found in Step 2.


What quaternion represents the eye coordinates of a pilot, relative to the coordinate system of his plane? Assume that you are the pilot. Airplane coordinates have X pointing forward, Y to the right, Z down. In this orientation, (1;0,0,0) is at the bottom of the cube to the right. In your eye coordinates, X will be to the right, Y will be upwards, Z will be pointing behind you. If you align the cube, bottom right now contains the quaternion (1;-1,-1,1).