mathematical simulation of flow toward drains is an important and indispensable stage in drainage design and management. many related models have been developed, but most of them simulate the saturated flow toward drains without a due consideration of the unsaturated zone. in this study, the two dimensional differential equation governing saturated and unsaturated flow in porous media is numeri...

Recent research uncovers that goal directed sensorimotor behaviour is governed by negative feedback of positional error, and by feedforward through inverse modelling of the limb’s dynamics. Thereby, forward models seem to provide the kinematic state of the limb. The question addressed in the paper is, how the neural network representing the inverse model can be trained. Because in this case an ...

We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...

This note describes an interferometric reformulation of linear wave-based inverse problems, such as inverse source and inverse Born scattering. Instead of fitting data directly, we propose to match cross-correlations and other quadratic data combinations that generalize cross-correlations. This modification exhibits surprising robustness to modeling uncertainties of a kinematic nature. Three op...

Robot calibration is a widely studied area for which a variety of solutions have been generated. Most of the methods proposed address the calibration problem by establishing a model structure followed by indirect, often ill-conditioned numeric parameter identification. This paper introduces a new inverse static kinematic calibration technique based on genetic programming, which is used to estab...

This paper documents the research towards the development of a system based on Artificial Neural Networks to predict muscle force patterns of an athlete during cycling. Two independent inverse problems must be solved for the force estimation: evaluation of the kinematic model and evaluation of the forces distribution along the limb. By solving repeatedly the two inverse problems for different s...