Motion planning is a fundamental problem in robotics that has motivated research since more than three decades ago. A large variety of algorithms have been proposed to compute feasible motions of multi-body systems in constrained workspaces. In recent years, some of these algorithms have surpassed the frontiers of robotics, finding applications in other domains such as industrial manufacturing,...

We study collections of identical, connected modules which may relocate relative to each other; such a collection is called a modular metamorphic system (see [CPE], [MKK], [PEC], [RV], [YMK]). While such a system must always remain connected, it is possible for such a system to reconfigure its shape through successive motions of individual modules, either by rotation and sliding (e.g., [MKK]) o...

This paper presents a practical motion planner for humanoids and animated human gures. Modeling human motions as a sum of rigid body and cyclic motions, we identify body postures that represent the rigid-body part of typical motion patterns. This leads to a model of the con guration space that consists of a multi-layered grid, each layer corresponding to a single posture. A global search throug...

Pneumatic actuators convert pneumatic energy into mechanical motion. This motion can be linear or rotary. Linear motion is feasible with pneumatic cylinders (e. g. single-acting cylinder, double-acting cylinder, rodless cylinder) and pneumatic artificial muscles (PAMs). Pneumatic artificial muscle is the newest and most promising type of pneumatic actuators. PAM is a membrane that expands radia...

Pitching mode is more crucial than heaving in assessing floating offshore wind turbine (FOWT) motion characteristics, especially the operation of SPAR substructure. The aim this paper to develop an experimental method for improving substructure minimize unnecessary pitch motion. Toward end, three vertical plate configurations based on novel are being developed, known as 3VP, 4VP, and 5VP models...

One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion pla...

We prove Feasible Disjunction Property for modal propositional logics K, K4, K4Grz, GL, T, S4, and S4Grz, by a uniform and simple proof based on modular modal sequent proof systems. We derive Feasible Interpolation Theorem for all the logics. Our results are weaker than Hrubeš’ obtained in [9].

The estimation of parametric global motion has had a significant attention during the last two decades, but despite the great efforts invested, there are still open issues. One of the most important ones is related to the ability to recover large deformation between images in the presence of illumination changes while kipping accurate estimates. Illumination changes in color images are another ...

Background Assessment of myocardial perfusion plays an important role in the evaluation of coronary artery and ischemic heart disease [1,2]. Scan acceleration methods such as k-t PCA [3] have proven invaluable for increasing coverage and have facilitated 3D perfusion imaging [4]. However, the sensitivity to respiratory motion for high acceleration factors remains challenging [4]. Especially in ...

Numerous different implementations for H.264/AVC variable block size motion estimation have been proposed in the recent years to make this computationally challenging task more feasible for mobile devices with video encoding support. The variable block size motion estimation problem defined by the standard is complex and multidimensional, offering a wide variety of possibilities for efficient i...