When optimizing the performance of constrained robotic system, the motion trajectory plays a crucial role. In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system’s so-called flat output as a polynomial spline. Using basic properties of B-splines, sufficient conditio...

In this paper, we study the problem of mining a class of spatio-temporal patterns, called flock patterns, which represent a groups of moving objects close each other in a given time segment (Gudmundsson and van Kreveld, Proc. ACM GIS’06; Benkert, Gudmundsson, Hubner, Wolle, Computational Geometry, 41:11, 2008). Based on frequent-pattern mining approach, such as Apriori, Eclat, or LCM, we presen...

Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with time-optimal consideration is propos...

the topological index of a graph g is a numeric quantity related to g which is invariant underautomorphisms of g. the vertex pi polynomial is defined as piv (g)  euv nu (e)  nv (e).then omega polynomial (g,x) for counting qoc strips in g is defined as (g,x) =cm(g,c)xc with m(g,c) being the number of strips of length c. in this paper, a new infiniteclass of fullerenes is constructed. the ...

With the increased production and availability of large data sets comes the opportunity to glean valuable information about behaviors that would previously have been difficult to study formally. One such data set describes the trajectory of various objects, such as that generated by a GPS. Naturally, we often wish to compare these trajectories. To simplify this process, we seek an efficient yet...

This paper proposes an on-line trajectory modification scheme for biped robots to cope with uncertainty o] their environment. For stable locomotion, biped robots should have robust properties against various disturbances such as ground irregularity and external pushing or pulling .forces. Since such uneertainty is not known a priori, biped robots should have the ability to adapt to them on-line...

The multiplicity μ of a zero of a restriction of an analytic function P in Cn to a trajectory of a vector field ξ with analytic coefficients is equal to the sum of the Euler characteristics of Milnor fibers associated with a deformation of P . When P is a polynomial of degree p and ξ is a vector field with polynomial coefficients of degree q, this allows one to compute μ in purely algebraic ter...

The optimal barbell trajectory for snatch weightlifting has been achieved empirically by several researchers. They have studied the differences between the elite weightlifters’ movement patterns and suggested three optimal barbell trajectories (type A, B, and C). But they didn’t agree for introducing the best trajectory. One of the reasons is this idea that the selected criterion by researchers...

In this letter, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along polynomial trajectory in cluttered environments including various static obstacle models. Specifically, find that conditions between robots and obstacles could be transformed into set of inequalities, whose roots can efficiently solved by proposed solver. addition, test different...