An eye-in-hand system visually tracking objects can fail when the manipulator encounters a kinematic singularity or a joint limit. A solution to this problem is presented in which objects are visually tracked while the manipulator simultaneously avoids kinematic singularities and manipulator joint limits by moving in directions along which the tracking task space is unconstrained or redundant. ...

In this paper an Extended Kalman Filter (EKF) is used in order to estimate the real state of a humanoid robot (HRP-2 robot in our case study) using the combination of the information coming from the encoders (kinematics) and from the Inertial Measurement Unit (IMU). The integration of the kinematic information into the Kalman filtering process allows a good estimation of the attitude and reduce...

The aim of the article is the kinematic and geometric design of a flapping wing UAV, in order to develop an Unmanned Aerial Vehicle, capable of executing reconnaissance and video-surveillance missions. To define the characteristic dimensions of the vehicle a biological study was initially carried out, analyzing, for example, the weight-wingspan ratio for the correct kinematics of the flight. On...

dehbid mylonite nappes associated with the tutak gneiss dome as the zagros hinterland involved-basement window in the zagros orogenic belt has significant components of dextral sense of shear along the mylonite nappes and are related to the high proportion of simple shear relative to pure shear deformation. kinematic vorticity analysis (wk) was made in order to determination of relative amounts...

Background: Deficits in upper body movement have received little attention during gait in cerebral palsy (CP) children with crouch gait pattern (CGP).Objective: Purpose of this research is to describe the correlation of trunk movement with the excessive knee flexion and ankle kinematic in CP children with CGP.Methods: Gait analysis data from 57 limbs of diplegic CP children with CGP and 26 limb...

We present a novel control design procedure for the passivity-based stabilization of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilization. The procedure is illustrated in four case studies of path following coordination for...

In view of their physics goals, future neutrino factories from muon decay aim at an overall flux precision of O(1%) or better. We analytically study the QED radiative corrections to the neutrino differential distributions from muon decay. Kinematic uncertainties due to the divergence of the muon beam are considered as well. The resulting corrections to the neutrino flux turn out to be of order ...

Radio Frequency IDentification (RFID) technology promises to revolutionize the way we track items and assets, but in RFID systems, missreading is a common phenomenon and it poses an enormous challenge to RFID data management, so accurate data cleaning becomes an essential task for the successful deployment of systems. In this paper, we present the design and development of a RFID data cleaning ...

This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation ...