[1] Inverse solutions of the Richards equation, either for evaluating soil hydraulic parameters from experimental data or for optimizing irrigation parameters, require considerable numerical effort. We present an alternative methodology based on self-organizing maps (SOM) which was further developed in order to include multiple input-output (MIO) relationships. The resulting SOM-MIO network app...

Despite the voluminous publications on robot dynamics and control, the literature to date is based solely on the serial link manipulators. Little attention has been given to the alternative manipulator design based on the concept of in-parallel actuated mechanism, which is characterized by its excellent rigidity, high strength-to-moving-weight ratio, and relatively simple inverse kinematics. Th...

Insect wings usually are flexible and deform significantly under the combined inertial and aerodynamic load. To study the effect of wing flexibility on both lift and thrust production in forward flight, a two-dimensional numerical simulation is employed to compute the fluid–structure interaction of an elastic wing section translating in an inclined stroke plane while pitching around its leading...

This paper deals with kinematics, dynamics and power consumption analyses of a six-legged robot generating turning motions to follow a circular path. Direct and inverse kinematics analysis has been carried out for each leg in order to develop an overall kinematics model of the six-legged robot. It aims to estimate energyoptimal feet forces and joint torques of the sixlegged robot, which are nec...

The paper using the inverse kinematics theory of the parallel mechanism , studied the movable needs of the transplanting robot,deduced the inverse kinematics formula of transplanting robot.Considered the demand of the “fetch and plant”operations,made an important research on the two trajectory planning methods of the moving platform: quintic and septic polynomial motion laws, acquired their var...

An object-oriented modeling structure as utilized by Modelica is well suitable for the simulation of the dynamic behavior of parallel kinematic structures. Especially application of the simulation system DYMOLA based on this language enables an easy dynamics simulation of parallel kinematics up to creation of inverse models in the purpose of control. Based on the inverted simulation of closed l...

Any device that moves by actuating several multi-segmented legs must solve fundamental problems in mechanics and control regardless of whether that device is made out of living tissue or metal. With this in mind, we believe that advances can be made both in the design of legged robots and in understanding how legged animals locomote by working on these issues in tandem. This basic philosophy ha...

In this paper we propose a method to include skull inhomogeneities in the EEG forward/inverse calculation by parcellating the skull based on a combination of skull anatomy and thickness. We show that it is enough to determine a few skull parameters (4 6) in the inverse search to capture the skull inhomogeneities if we also include the thickness. The validity of the linear relation between skull...

A control model of a designed mechanical model of the hand using Screw theory is presented. Forward and inverse kinematics of a finger, which is an open-chain manipulator with four degrees of freedom (DoF), is discussed. Forward kinematics are solved using the transformations in form of exponential of twist between the adjacent link frames to obtain the configuration of the fingertip frame T re...

In order to enhance dexterity of a robot hand, it is said that the robot should be designed to have a redundant number of degrees-of-freedom(DOF). However, in redundant robotic systems, the inverse kinematics from task-description space to joint space becomes ill-posed. Therefore the problem of determination of joint motions becomes difficult. In order to avoid this ill-posedness, many methods ...