this paper describes a simple, physically-based conceptual model utilizing watershed drainage characteristics for rainfall-runoff simulation. this conceptual physiographic model is essentially based on the work of najafi (2003), which has led to a model compris-ing the main tributary subwatersheds and a single main channel subwatershed. the ki-nematic wave (kw) theory is used to describe flow o...

This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models. The structure of the robots can be serial, tree structure or containing closed loop...

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the exp...

In this paper, the extended kalman filter based direct kinematic method was proposed to calculate the real-time end-effector position in a Stewart platform. A noise analysis based on the data transmission is proposed firstly, in which the size order of time domain noises is concerned. Then non-linear kinematic model and numerical method for Stewart platform are presented respectively. Later, an...

The present work proposes a method for human gait and kinematic analysis. Gait analysis consists of the determination of hip, knee and ankle positions through video analysis. Gait kinematic for the thigh and knee is then generated from this data. Evaluations of the gait analysis method indicate an acceptable performance of 86.66% for hip and knee position estimati...