We present a novel, lossy compression method for human motion data that exploits both temporal and spatial coherence. We first build a compact skeleton pose model from a single motion using Principal Geodesic Analysis(PGA). The key idea is to perform compression by only storing the model parameters along with the end-joints and root joint trajectories in the output data. The input data are reco...

I n this work, we consider a class of robotic manipulators generally termed “hyper-redundant”. Spec<fically, we seek to examine some 0.f the kinematic properties of ‘%ontinuum” hyper-redundant robots. Unlike the case with rigidlink’robots, there is n o commonly accepted formula ,for describing continuum robot kinematics. Although these manipulators are continuously flexible, they are actuated w...

This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile veh...

In this paper, a manipulability analysis of a new parallel-type rolling mill, named ‘‘paramill,’’ in its conceptual design stage is investigated. The paramill considered uses two Stewart platforms (SPs) in opposite directions for the generation of 6 degree-offreedom motions of individual work-rolls. The objective of this new approach is to pursue an integrated control of the strip thickness, st...

The purpose of this paper is to explain how to compute the function Í2 which interpolates values of a function of one variable fix) at n distinct points x, ik) < x2 < ■ • • < *n_i < x„, and which, whenever ll/v 'H^ is bounded and the value of the bound is unknown, provides the smallest possible value of Bix) in the error bound \fix) Í2(x)l < B(*)ll/(fc)lloo

Most models of speech planning and production incorporate a selection mechanism, whereby units are activated in parallel and chosen for execution sequentially. The lowest level units which can be selected are assumed to be segments, i.e. consonants and vowels. The features or articulatory gestures affiliated with segments are presumed to be automatically selected as a consequence of segmental s...

Introduction When studying the function of the human foot, foot pressure measurements offer some insight into the biomechanics of the growing foot [1] and models have been proposed to measure the foot kinematics especially of children [2]. Aside from ankle kinematics however [3], little is known about differences in foot motion between children and adults. This ongoing study therefore examines ...

The Sagnac time delay and the corresponding Sagnac phase shift, for relativistic matter and electromagnetic beams counter-propagating in a rotating interferometer, are deduced on the ground of relativistic kinematics. This purely kinematical approach allows to explain the ”universality” of the effect, namely the fact that the Sagnac time difference does not depend on the physical nature of the ...

Manipulation depends on the thumb's ability to produce well-directed forces of sufficient magnitude. We currently lack a model of the thumb that can realistically predict thumbtip forces in 3D, and the coordination patterns that produce them (Valero-Cuevas, et al., 2003). This may be because the assumed model structure is not able to reproduce functional outputs, and/or because the search for a...

We’ll start out by defining the Hodge star operator as a map from ∧k(R) to ∧n−k(R). Here ∧k(R) denotes the vector space of alternating k-tensors on R. Later on, we will extend this definition to alternating tensors on a finite dimensional vector space that is equipped with an inner product. Let I = (i1, ..., ik) be some increasing multi-index of length k. That is i1 < i2 < i3 < .... Let J = (j1...