planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The effect of the relativistic spin rotation, conditioned by the setting of the spin in the rest frame of a particle and by the noncommutativity of the Lorentz transformations along noncolinear directions, is discussed. In connection with this, the Thomas precession of the spin polarization vector at the motion of a particle along a curvilinear trajectory is considered. The transformations of t...

The task of simultaneously tracking the threedimensional positions of both hands in a human-robot interaction scenario imposes significant challenges on the tracking application. In this diploma thesis, I focus on the problem of occlusion handling using particle filters. I show how disparity information can be used to improve the stability of the tracked trajectory in three-dimensional space. I...

The generic Bohmian trajectories are calculated for an isolated particle in an approximate energy eigenstate, for an arbitrary one-dimensional potential well. It is shown, that the necessary and sufficient condition for there to be a negligible probability of the trajectory deviating significantly from the classical trajectory at any stage in the motion is, that the state be a narrowly localise...

Autonomous robots operating in dynamic environments must maintain beliefs over a hypothesis space that is rich enough to represent the activities of interest at different scales. This is important both in order to accommodate the availability of evidence at varying degrees of coarseness, such as when interpreting and assimilating natural instructions, but also in order to make subsequent reacti...

Introduction: Magnetic particle imaging (MPI) is a new quantitative tomographic imaging method for measuring the spatial distribution of super-paramagnetic iron-oxide nanoparticles (SPIOs) in real-time [1, 2, 3, 4]. MPI takes advantage of the nonlinear magnetization behavior of the SPIOs. Spatial encoding is achieved by moving a field-free point (FFP) through the field of interest. For moving t...

In this paper, we describe a new trajectory correction technique for high energy linear accelerators. Current correction techniques force the beam trajectory to follow misalignments of the Beam Position Monitors (BPMs). Since the particle bunch has a finite energy spread and particles with different energies are deflected differently, this causes “chromatic” dilution of the transveise beam emit...

Based on the modified Landau-Lifshitz-Gilbert equation for an arbitrary Stoner particle under an external magnetic field and a spin-polarized electric current, differential equations for the optimal reversal trajectory, along which the magnetization reversal is the fastest one among all possible reversal routes, are obtained. We show that this is a Euler-Lagrange problem with constrains. The Eu...