abstract in the present article, effective parameters of the buoyant jets have been evaluated in the stagnant ambient fluid. the jet parameters, geometry parameters and environmental parameters are investigated. using dimensional analysis, a set of dimensionless functions was obtained. to achieve the exact functions, a physical model was built in the hydraulic laboratory of shahid chamran unive...

We provide a method to determine the motion of a classical massive particle in a background geometry of 2-dimensional gravity theories, for which the Birkhoff theorem holds. In particular, we get the particle trajectory in a continuous class of 2-dimensional dilaton gravity theories that includes the Callan-Giddings-HarveyStrominger (CGHS) model, the Jackiw-Teitelboim (JT) model, and the d-dime...

We consider a Morse function f and a Morse-Smale gradient-like vector field X on a compact connected oriented 3-manifold M such that f has only one critical point of index 3. Based on Laudenbach’s ideas [1], we will show that the flow of X can be isotoped into one so that the trajectory spaces of the new flow provide a stratification for M . We will construct ”natural” tubular neighborhoods abo...

Symbolic Trajectory Evaluation (STE) is a formal verification technique for hardware. The current STE semantics is not faithful to the proving power of existing STE tools, which obscures the STE theory unnecessarily. In this paper, we present a new closure semantics for STE which does match the proving power of STE model-checkers, and makes STE easier to understand.

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

In this paper, we study the problem of efficiently finding similar movements in positional data streams, given a query trajectory. Our approach is based on a translation-, rotation-, and scale-invariant representation of movements. Nearneighbours given a query trajectory are then efficiently computed using dynamic time warping and locality sensitive hashing. Empirically, we show the efficiency ...

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajec-tory following, has been implemented and tested on an autonomous helicopter. Results from two ight experiments are presented. The trajectory tracking error is on the order of the...

The volumes of the surfaces of 3-dimensional Euclidean Space which are traced by a fixed point as a trajectory surface during 3-parametric motions are given by H. R. Müller [3], [4], [5] and W. Blaschke [1]. In this paper, the volumes of the trajectory surfaces of fixed points under 3-parametric homothetic motions are computed. Also, using a certain pseudo-Euclidean metric we generalized the we...

Teetool is a Python package which models and visualises motion patterns found in twoand threedimensional trajectory data. It models the trajectories as a Gaussian process and uses the mean and covariance of the trajectory data to produce a confidence region, an area (or volume) through which a given percentage of trajectories travel. The confidence region is useful in obtaining an understanding...

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot’s gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper i...