This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulat...

In order to develop Vision-aided Inertial Navigation Systems (VINS) on mobile devices, such as cell phones and tablets, one needs to consider two important issues, both due to the commercial-grade underlying hardware: (i) The unknown and varying time offset between the camera and IMU clocks (ii) The rolling-shutter effect caused by CMOS sensors. Without appropriately modelling their effect and ...

The first-order gravity effects of Dirac wave functions are found from the inertial effects in the accelerated frames of reference. Derivations and discussions about Lense-Thirring effect and the gyrogravitational ratio for intrinsic spin are presented. We use coordinate transformations among reference frames to study and understand the Lense-Thirring effect of a scalar particle. For a Dirac pa...

Talk at the 1st Mediterranean Conference in Classical and Quantum Gravity, held in the Orthodox Academy of Crete in Kolymbari (Greece) from Monday, September 14th to Friday, September

against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (ins/radar). this filter involves the concept of residual-based adaptive estimation and adaptive fading kalman filter and tunes dynamically the fil...

obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge...

Biomechanical models used tor the evaluation ol spinal stress have mostly been static: they reveal the postural stress caused by gravity but ignore the in€rtial forces and torques induced by the accelerations of body segments and the load handled. In this study both static and dynamic models for del€rmining lumbosac-ral compression were used, and the resultS f rom different models wer€ compared...

Present contribution deals with the role of weak but finite electron inertia on the sheath formation condition. As reported earlier this becomes effective when the ions’ drift velocity exceeds the phase velocity of the acoustic wave fluctuations. Such situation has natural existence near the sheath edge. Keeping this in mind we have revisited the problem of usual Bohm sheath condition. Analytic...

in this paper, the effect of air relative humidity and capillary force on contact geometry of surfaces based on jkr model by atomic force microscopy was investigated in order to manipulate nano-particles. with transition from macro to nano-scale, the effect of surface forces becomes more significant in comparison with inertial force. because contact mechanics models are based on surface energy ...

It is a common understanding that the localization accuracy can be improved by indoor maps and inertial sensors. However, there is a lack of concrete and generic solutions that combine these two features together and practically demonstrate its validity. This article aims to provide such a solution based on the mainstream fingerprint-based indoor localization approach. First, we introduce the t...