This paper presents a methodology for computationally efficient, direct trajectory generation using sampling with the minimum time cost function, where only the initial and final positions and velocities of the trajectory are specified. The approach is based on a randomized A∗ algorithm called Sampling-BasedModel Predictive Optimization (SBMPO) that exclusively samples in the input space and in...

Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

This paper describes a system that can build appearance models of animals automatically from a video sequence of the relevant animal with no explicit supervisory information. The video sequence need not have any form of special background. Animals are modeled as a 2D kinematic chain of rectangular segments, where the number of segments and the topology of the chain are unknown. The system detec...

The paper deals with the problems of kinematic and dynamic modelling, simulation and experimental test of the planar two-link manipulator with the electrohydraulic control. The kinematic model was constructed on the basis of the kinematic relations and the dynamic model by means of bond graphs. On the test stand the dynamic characterisation and identification of the model mechanism was carried ...

This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterit...

A structured model reference adaptive control law has been developed for vision based spacecraft rendezvous and docking problem. A highly accurate relative motion of chaser spacecraft can be estimated by processing the reliable high bandwidth measurements of newly developed VISNAV sensor through a nonlinear geometric estimation process. The adaptive control law formulation is based upon the Lya...

the direct sulfation of three high purity iranian limestones and one precipitated calcium carbonate from different sources, containing more than 97 % caco3, were studied in a specially designed fixed bed reactor under atmospheric pressure, in the presence of excess co2 to prevent decomposition of caco3. experiments were carried out over a range of particle sizes from 1.6-2.5  mm at four tempera...

In 7 experiments, undergraduates judged the force exerted by a videotaped standing puller, a computer-generated (stick-figure) puller, or a computer-generated inverted pendulum. Single and stepwise multiple regression analyses determined the kinematic variables exploited by the participants. Results show that (a) judgments correlated highly with force and improved with feedback; (b) judgments c...

A structured model reference adaptive control law has been developed for vision based spacecraft rendezvous and docking problem. A highly accurate relative motion of chaser spacecraft can be estimated by processing the reliable high bandwidth measurements of newly developed VISNAV sensor through a nonlinear geometric estimation process. The adaptive control law formulation is based upon the Lya...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....