In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which must be appropriately handled by the controller to achieve satisfactory tracking results. We derive a mathematical model of the interconnected multi-body system using Kane’s equa...

Simple and symmetrical ultra low-voltage current mode analog circuits and autozeroing amplifiers are presented. The low-voltage analog circuits are based on low-voltage inverters resembling precharge digital logic. Ultra low-voltage analog circuits can be operated at supply voltages down to 250 mV with rail-to-rail input and output swing. The output current of the ultra low-voltage symmetrical ...

We introduce a constraint-based motion editing technique enforcing the intrinsic motion flow of a given motion pattern (e.g., golf swing). Its major characteristic is to operate in the motion Principal Coefficients (PCs) space instead of the pose PCs space. By construction, it is sufficient to constrain a single frame with Inverse Kinematics (e.g., the hitting position of the golf club head) to...

Cervical spondylotic myelopathy (CSM) is a degenerative process which may result in clinical signs and symptoms which require surgical intervention. Many treatment options have been proposed with various degrees of technical difficulty and technique sensitive benefits. We review laminoplasty as a motion-sparing posterior decompressive method. Current literature supports the use of laminoplasty ...

Measurements are presented of the speed at which six different rods could be swung by four male students. Three of the rods had the same mass but their swing-weight (i.e. moment of inertia) differed by large factors. The other three rods had the same swing-weight but different masses. Our primary objective was to quantify the effects of mass and swing-weight on swing speed. The result has a dir...

The relations among swing, stance and step durations for the fore and hind limbs were investigated. Registration of the swing and stance phases was performed by the opening and closing of an electrical circuit as the cat moved along the conductive pathway. In the walking animal, longer swing and shorter stance durations for hind limbs, in comparison with the fore limbs, were observed. However, ...

When walking (at moderate or fast speeds) or running, humans apply a burst hip torque to start leg swing and then again, at the end of the swing phase, to brake and reverse motion of their swing leg prior to heel-strike. The resulting rearward rotation of the swing leg, so called swingleg retraction, is also observed in animal gaits. Why is this retraction a common feature of many walking and r...

To quantify the energetic cost of maintaining lateral balance during human running, we provided external lateral stabilization (LS) while running with and without arm swing and measured changes in energetic cost and step width variability (indicator of lateral balance). We hypothesized that external LS would reduce energetic cost and step width variability of running (3.0 m/s), both with and wi...