Using mobile smart devices to provide urban location-based services (LBS) with sub-meter-level accuracy (around 0.5 m) is a major application field for future global navigation satellite system (GNSS) development. Real-time kinematic (RTK) positioning, which is a widely used GNSS-based positioning approach, can improve the accuracy from about 10-20 m (achieved by the standard positioning servic...

Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, s...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...

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...

In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track–soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an effective kinematics approximation with...

In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track–soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an effective kinematics approximation with...

This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians’ believe. Furthermore, it is proven that the “centripetal screw,” as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body’s dynamics can be geometrically expressed as a screw equation. The paper relies on a somew...

conclusions zebris movement analysis system is a highly reliable instrument for the measurement of gait parameters at different speeds in healthy athletes and those after acl reconstruction surgery. this implies its use in the assessment and treatment process of gait deficits in such a clinically important population. background reconstruction surgery is one of the treatment methods after an an...

time–area method is one of the most widely applied techniques of watershed routing, and can be potentially used as a distributed model. in this paper, a fundamental flaw in the arrangement of subareas in the original time-area histogram is identified for one-dimensional flow. this is conducted on the basis of comparing time-area hydrograph with that of the kinematic wave theorem. accordingly, a...

This paper presents an algorithm for modeling and tracking vehicles in video sequences within one integrated framework. Most of the solutions are based on sequential methods that make inference according to current information. In contrast, we propose a deferred logical inference method that makes a decision according to a sequence of observations, thus processing a spatio-temporal search on th...