This paper presents a wavelet-based algorithm to attenuate spatially correlated noise represented by a fractional Brownian motion. It generalizes the usual independence assumption by making the spatial relationship depend not only on the variance, but also on a long-memory parameter associated with the decay of autocorrelations. Wiener filtering in the wavelet domain obtains estimates of gray l...

This paper presents mathematical conditions and algorithm for a whole arm manipulation planning with switching contact modes. The motion planning for such a system should consider changing the dynamics and kinematics according to contact modes. We show the conditions about kinematic and dynamics aspects to be satisfied for the motion planning. The conditions give the restriction of feasible con...

This paper addresses modeling and global motion planning issues for an autonomous wheeled mobile robot moving on an uneven three-dimensional (3-D) terrain. We focus particularly on the issue of dealing with dynamic and wheel/ground interaction constraints. A key feature of our approach is that it incorporates appropriate physical models to cope with the task dynamics in the motion planning para...

This work addresses the optimal control of multibody systems being actuated with control forces in order to find a dynamically feasible minimum-energy trajectory of the system. The optimal control problem and its constraints are integrated in a discrete version of the equation of motion allowing the minimization of system energy with respect to a discrete state and control trajectory. The work ...

BACKGROUND Objective, quantitative, segmental noninvasive/bedside measurement of cardiac motion is highly desirable in cardiovascular medicine, but current technology suffers from significant drawbacks, such as subjectivity of conventional echocardiographic reading, angle dependence of tissue Doppler measurements, radiation exposure by computer tomography, and infrastructure requirements in MRI...

Recently, high-frame-rate ultrasound has been extensively studied for measurement of tissue dynamics, such as pulsations of the carotid artery and heart. Motion estimators are very important for such measurements of tissue dynamics. In high-frame-rate ultrasound, the tissue displacement between frames becomes very small owing to the high temporal resolution. Under such conditions, the speckle t...

Cycle-to-cycle variations in respiratory motion can cause significant geometric and dosimetric errors in the administration of lung cancer radiation therapy. A common limitation of the current strategies for motion management is that they assume a constant, reproducible respiratory cycle. In this work, we investigate the feasibility of using rapid MRI for providing long-term imaging of the thor...

Abstract. Radar interferometry has progressed very much in the last two decades. It is now a powerful remote sensing techniques to monitor ground motion. The technique undergone an important development terms of processing and data analysis algorithms. This been accompanied by increase Synthetic Aperture (SAR) acquisition capability spaceborne sensors. A step forward was launch Copernicus Senti...