Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we developed an inverse kinematic mapping &ugh ...

Robotic hands differ in kinematics, dynamics, programming, control and sensing frameworks. Borrowing the terminology from software engineering, there is a need for middleware solutions to control the robotic hands independently from their specific structure, and focusing only on the task. Results in neuroscience concerning the synergistic organization of the human hand, are the theoretical foun...

We have added a dynamic bio-mechanical mapping layer that contains a model of the human vocal tract with tongue muscle activations as input and tract geometry as output to a real time gesture controlled voice synthesizer system used for musical performance and speech research. Using this mapping layer, we conducted user studies comparing controlling the model muscle activations using a 2D set o...

We prove that the mapping class group of a compact surface with a nite number of punctures and non-empty boundary is order automatic. More precisely, the group is right-orderable, has an automatic structure as described by Mosher, and there exists a nite state automaton that decides, given the Mosher normal forms of two elements of the group, which of them represents the larger element of the g...

The Simultaneous Localization and Mapping (SLAM) technique has been used for autonomous navigation of mobile systems; now, its applications have been extended to 3D data acquisition of indoor environments. In order to reconstruct 3D scenes of indoor space, the kinematic 3D laser scanning system, developed herein, carries three laser range finders (LRFs): one is mounted horizontally for system-p...

Face-to-face interaction is characterised by head gestures that vary greatly in form and function. We present on-going exploratory work in characterising the form of these gestures. In particular, we define a kinematic annotation scheme and compute various agreement measures among two trained annotators. Gesture type mismatches among annotators are compared against kinematic characteristics of ...

Abstract. We study the initial-boundary value problem of the Navier-Stokes equations for incompressible fluids in a general domain in R with compact and smooth boundary, subject to the kinematic and vorticity boundary conditions on the non-flat boundary. We observe that, under the nonhomogeneous boundary conditions, the pressure p can be still recovered by solving the Neumann problem for the Po...