This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial par...

This article describes the design, modeling and identification of the main hydrodynamic parameters of an underwater glider vehicle is presented. The equations describing the dynamics of the vehicle is obtained from the Euler-Lagrange method. The main hydrodynamic parameters were obtained considering the geometry of the vehicle and its operating characteristics. Finally, simulation open loop sys...

A new family of orientation parameters derived from the Euler parameters is presented. They are found by a general stereographic projection of the Euler parameter constraint surface, a four-dimensional unit sphere, onto a three-dimensional hyperplane. The resulting set of three stereographic parameters have a low degree polynomial non-linearity in the corresponding kinematic equations and direc...

The main purpose of this paper is to derive various Matiyasevich-Miki-Gessel type convolution identities for Bernoulli and Genocchi polynomials and numbers by applying some Euler type identities with two parameters.

This paper presents an algorithm for estimating the dynamics parameters of an N degrees-of-freedom robotic manipulator. In our previous work [SI it was shown that the Newton-Euler model model which is nonlinear in the dynamic parameters can be transformed into an equivalent modif ied model which is linear in dynamic parameters. To introduce our identification algorithm, we cast this modif ied N...

In this paper we analyze numerical optimization procedures in the context of level set based image segmentation. The Chan-Vese functional for image segmentation is a general and popular variational model. Given the corresponding Euler-Lagrange equation to the ChanVese functional the region based segmentation is usually done by solving a differential equation as an initial value problem. While m...

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...