This paper describes a general approach to the kinematics modeling of all-terrain rovers traversing uneven terrain. The model is derived for full six degree of freedom motion enabling movements in x, y, z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individua...

This paper studies the problem of revising beliefs using uncertain evidence in a framework where beliefs are represented by a belief function. We introduce two new Jeffrey’s rules for the revision based on two forms of belief kinematics, an evidence-theoretic counterpart of probability kinematics. Furthermore, we provide two distance measures for belief functions and show that the two belief ki...

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Dedicated ionization chamber was built and installed to measure the energy loss of very heavy nuclei at 2.7 MeV/u produced in fusion reactions in inverse kinematics (beam of Pb). After going through the ionization chamber, products of reactions on C, O targets are implanted in a Si detector. Their identification through their alpha decay chain is ambiguous when their half-life is short. After c...

An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M logM ), with respect to the number of joint coordinatesM , and works using...

Determining the internal kinematics of a galaxy from planetary nebulae (PN) is usually a two step process in which the candidate PN are first identified in a target galaxy and then, in a follow up run, spectra are obtained. We have implemented a new technique in which two dispersed images at the wavelength of the [O III] emission line at 5007Å are combined to yield positions, magnitudes and vel...

We introduce a vision based, markerless upper body pose tracking approach that first tracks the 3D movements of extremities, including head and hands. Then based on the knowledge of upper body model, these extremity movements are used to predict the whole upper body motion as an inverse kinematics problem. The experimental validation showed the promise of applying this approach in several smart...

, I≤k (n, t) = I (n, t) ∩ 2 ( [n] ≤k ) . After the maximal families in I (n, t) [13] and in Ik (n, t) [1, 9] are known we study now maximal families in I≤k (n, t). We present a conjecture about the maximal cardinalities and prove it in several cases. More generally cardinalities are replaced by weights and asymptotic estimates are given. Analogous investigations are made for I (n, t) ∩ C(n, s),...

The hierarchical control decomposition provided by inverse kinematics is seldom used in the field of Computer Animation. In this chapter we first review the properties and limitations of inverse kinematics compared to other techniques dedicated to the motion control of complex articulated figures. Then, beyond the sole pseudo-inverse solution, we examine the homogeneous solution allowing the pa...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....