Abstract. We study the initial-boundary value problem of the Navier-Stokes equations for incompressible fluids in a domain in R with compact and smooth boundary, subject to the kinematic and Navier boundary conditions. We first reformulate the Navier boundary condition in terms of the vorticity, which is motivated by the Hodge theory on manifolds with boundary from the viewpoint of differential...

Objectives: The aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how Total Knee Replacement (TKR) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. Methods: Two-dimensional kinematic gait pattern of 10 participants were collected before and after the TKR surgery,...

the momentum equation in the kinematic wave model is a power-law equation with two parameters. these parameters, which relate the discharge to the flow area, are commonly derived using manning’s equation. in general, the values of these parameters depend on the flow depth except for some special cross sections. in this paper, improved estimates of the kinematic wave parameters for circular chan...

We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.

In this paper, we present an automatic approach for the kinematic calibration of the humanoid robot NAO. The kinematic calibration has a deep impact on the performance of a robot playing soccer, which is walking and kicking, and therefore it is a crucial step prior to a match. So far, the existing calibration methods are time-consuming and error-prone, since they rely on the assistance of human...

We present a calibration procedure to determine the kinematic parameters of an active stereo system in a robot-centric frame of reference. Our goal was to obtain a solution of sufficient accuracy that the kinematic model information can be used to estimate scene structure given the measured motion/position of the eye and target object’s image location. We formulate our problem using canonical c...

In this article, the stabilization problem is investigated for dynamic nonholonomic systems with unknown inertia parameters and disturbances. First, to facilitate control system design, the nonholonomic kinematic subsystem is transformed into a skewsymmetric form and the properties of the overall systems are discussed. Then, a robust adaptive controller is presented in which adaptive control te...

This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV) representation is adopted and a cascade control methodology is proposed for controlling both vehicle behaviours. In particular, for the control design, the use of...

The main focus of this paper is the motion planning problem for a deeply submerged rigid body. The equations of motion are formulated and presented by use of the framework of differential geometry and these equations incorporate external dissipative and restoring forces. We consider a kinematic reduction of the affine connection control system for the rigid body submerged in an ideal fluid, and...

This paper presents the motion planning for the redundant parallel kinematic mechanism using joint torque distribution that satisfies a path of the end-effector. The redundant parallel kinematic mechanism more numbers of actuator than numbers of degrees-of-freedom, and it has the advantage of bigger workspace than non-redundant parallel kinematic mechanism by eliminating singularities. The redu...