In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...

The degrees of freedom (dof) regions are characterized for the multiple-input multipleoutput (MIMO) broadcast channel (BC), the interference channel (IC), and the cognitive radio channel (CRC) when there is perfect and no channel state information at the receivers and the transmitter(s) (CSIR and CSIT), respectively. For the K-user MIMO BC, the exact characterization of the dof region is obtain...

6‐DOF parallel robot always appears in the form of Stewart platform. It has been widely used in industry for the benefits such as strong structural stiffness, high movement accuracy and so on. Space docking technology makes higher requirements of motion accuracy and dynamic performance to the control method on 6‐DOF parallel robot. In this paper, a hydraulic 6‐DOF p...

This paper describes a new method for tracking of a human body in 3D motion by using constraints imposed on the body from the scene. An image-based approach for tracking exclusively uses a geometrical model of the human body. Since the model usually has a large number of degrees of freedom (DOF), a chance to be corrupted by noise increases during the tracking process, and the tracking may fall ...

We present a new algorithm to generate plausible motions for high-DOF human-like articulated figures in constrained environments with multiple obstacles. Our approach is general and makes no assumption about the articulated model or the environment. The algorithm combines hierarchical model decomposition with sample-based planning to efficiently compute a collision-free path in tight spaces. Fu...

This paper presents an effective semi-analytical approach for predicting lower-order dynamics of a five degrees-of-freedom (DOF) hybrid robot named TriMule, which is composed 3-DOF parallel mechanism plus 2-DOF A/C wrist. In this method, the governing equations motion limbs within are first formulated by finite element analysis (FEA) and then reduced to super-element models. followed exploiting...

This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the s...

This paper presents an active slip control system (ASCS) for a four-wheel drive electric vehicle (EV) using suspension of the vehicle. The integrated mechanism is designed combination fuzzy controller and nonlinear back-stepping to individual wheels with help In this research, presented implemented in two steps. first step, based on friction coefficient calculated from tire model, will generate...

A novel method is proposed for measuring the six degrees-of-freedom (DOF) geometric motion errors of a rotary axis based on polyhedral prism. An error-sensitive unit which consists prism and planar reflector, designed to carry out measurement all DOF errors, including angular positioning error, tilt error around Y axis, X radial along axes, axial Z axis. The mathematical model, installation bet...

This paper investigates the six degrees of freedom (6-DOF) flight dynamics and stability of the hawkmoth Manduca sexta using a multibody dynamics approach that encompasses the effects of the time varying inertia tensor of all the body segments including two wings. The quasi-steady translational and unsteady rotational aerodynamics of the flapping wings are modeled with the blade element theory ...