This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterit...

The report presents an enclosing and enclosed ellipsoids based solid modeling technique for serial links of articulated robot manipulators. This modeling allows the collision detection for interactive robot motion planning in a graphical simulation environment or in a telerobotic simulator be performed efficiently and precisely. A systematic way of determining the kinematic transformation matri...

Storm water management models using the kinematic wave (KW) approach require the conversion of a natural watershed to its equivalent rectangular cascading plane. A KW cascading plane is specified by the plane’s area, width and slope. Without on-site calibration, there is no guidance how to translate the irregularity of the natural watershed into a rectangular shape that has equivalent hydrologi...

[Purpose] The purpose of this study was to ascertain the kinematic characteristics on a horizontal plane, including knee joint rotation, when walking with a tandem gait on a sine wave walkway. [Subjects and Methods] Eighteen healthy adults were enrolled as subjects in this study. They walked with a tandem gait on a sine wave walkway. A three-dimensional motion analysis system was used to record...

Traffic dynamics at a merging junction can be numerically solved with discrete conservation equationsand so-called supply-demand methods. In this paper, we first introduce a continuous multi-commoditykinematic wave model of merging traffic and then develop a new framework for constructing the solutionsto its Riemann problem with jump initial conditions. In the supply-demand spac...

Frequent lane-changes in highway merging, diverging, and weaving areas often can disrupt traffic flow and, even worse, lead to accidents. For balanced lane-changing areas, where different lanes share the same traffic conditions, based on the observation that a vehicle has to take two lanes during its lane-changing period, we consider its contribution to traffic density is doubled. That is, ther...