The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot’s actuation capabilities. This means, when possible, to minimize joint torques or to propel as much as admissible when required. For this reason we define two new 6-dimensional bounded polytopes that we name Actuationconsistent Wrench Polytope (AWP) and Feasible Wrench Po...

The problem of determining an optimal feasible trajectory, for a fixed wing flying vehicle moving in a dynamical threedimensional space, is addressed in this paper, and an analytical solution is proposed. With explicitly considering the boundary conditions and kinematic constraints as well as by satisfying the collision avoidance criterions, trajectories are described in terms of three paramete...

The variable block size(VBS) motion estimation technique allows for larger blocks to be used when smaller blocks yield little gain, saving bit rates especially for areas containing more complex motion. However, the employment of the VBS motion estimation technique introduces a new optimization issue for the motion compensated transform coding, because an increase in bit rate allocation is neces...

Abstract: The selections of the bandwidth and kernel function of a kernel estimator are of great importance in practice. This is not different in the context of spot volatility kernel estimators. In this work, a feasible method of bandwidth and kernel selection is proposed, under some mild conditions on the volatility process, which not only cover classical Brownian motion driven dynamics but a...

Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization problem with non-linear equality constraints which can be solved by general non-linear optimization techniques. In this paper, we present a novel custom opt...

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

Erratum Unfortunately, the original version of this article [1] contained an error. The additional file contained citation errors. The link to the correct additional file can be found below. Additional file 1: Part 1: dependency of image noise properties on frame length. Part 2: individual motion components for the two example patients in Fig. 3. A, et al. Motion correction in simultaneous PET/...

Background Dobutamine stress magnetic resonance (DSMR-wall motion) has been established as a valuable tool for the detection of inducible wall motion abnormalities. Additional perfusion imaging during DSMR (DSMR-perfusion) was shown to improve sensitivity for the detection of myocardial ischemia. Current experience is based on 1.5T only, mainly due to insufficient image quality of steady state ...

Nanopore sequencing promises long read-lengths and single-molecule resolution, but the stochastic motion of the DNA molecule inside the pore is, as of this writing, a barrier to high accuracy reads. We develop a method of statistical inference that explicitly accounts for this error, and demonstrate that high accuracy (>99%) sequence inference is feasible even under highly diffusive motion by u...