We present a calibration procedure to determine the kinematic parameters of an active stereo system in a robot-centric frame of reference. Our goal was to obtain a solution of sufficient accuracy that the kinematic model information can be used to estimate scene structure given the measured motion/position of the eye and target object’s image location. We formulate our problem using canonical c...

The Water Erosion Prediction Project (WEPP) model is a process-based, continuous-simulation, watershed hydrology and erosion model. It is an important tool for water erosion simulation owing to its unique functionality in representing diverse landuse and management conditions. Its applicability is limited to relatively small watersheds since its current version does not simulate flow in permane...

In this paper we present a new algehrwic analysis of the closure equation obtained for arbitrary single loop spatial kinematic chains, which allows us to design an eficient interval method for solving their inverse kinematics. The solution of a kinematic equation can be factored into a solution of both its rotational and its translational components. We have obtained general and simple expressi...

in the current study, the effects of interactions of the moving loads and the attached mass-spring-damper systems of the composite plates on the resulting dynamic responses are investigated comprehensively, for the first time, using the classical plate theory. the solution of the coupled governing system of equations is accomplished through tracing the spatial variations using a navier-type sol...

This paper presents improved solution methods for kinematic wave traffic problems with concave flow-density relations. As explained in part I of this work, the solution of a kinematic wave problem is a set of continuum least-cost paths in space-time. The least cost to reach a point is the vehicle number. The idea here consists in overlaying a dense but discrete network with appropriate costs in...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

This paper proposes a new closed-form solution for identifying the kinematic parameters of an active binocular head having four revolute joints and two prismatic joints by using three-dimensional (3-D) point (position) measurements of a calibration point. Since this binocular head is composed of off-the-shelf components, its kinematic parameters are unknown. Therefore, we can not directly apply...