A wide range of phenomena, natural as well as man-made, in physical, chemical and biological hydrology exhibit characteristics similar to those of kinematic waves. The question we ask is: can these phenomena be described using the theory of kinematic waves? Since the range of phenomena is wide, another question we ask is: how prevalent are kinematic waves? If they are widely pervasive, does tha...

This paper presents the design of a differentiable, kinematic control law that achieves global asymptotic tracking. In addition, we also illustrate how the proposed kinematic controller provides global exponential tracking provided the reference trajectory satisfies a mild persistency of excitation (PE) condition. We also illustrate how the proposed kinematic controller can be slightly modified...

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...

Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic mod...

BACKGROUND Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. METHODS Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kin...

Traditionally, in physics, space-times are described by (pseudo-)Riemann spaces, i.e., by smooth manifolds with a tensor metric field. However, in several physically interesting situations smoothness is violated: near the Big Bang, at the black holes, and on the microlevel, when we take into account quantum effects. In all these situations, what remains is causality – an ordering relation. To d...