We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...

In this paper, a joint data (features) and channel (bias) estimation framework for robust speech recognition is described. A trellis encoded vector quantizer is used as a pre-processor to estimate the channel bias using blind maximum likelihood sequence estimation. Sequential constraint in the feature vector sequence is explored and used in two ways, namely, a) the selection of the quantized si...

We propose a novel shape and appearance based spatiotemporal constraint and combine it with a level set based deformable model, which can be used for Left Ventricle segmentation in 4D gated cardiac SPECT, particularly in the presence of perfusion defects. The model incorporates appearance in addition to shape information into a soft-tohard probabilistic constraint, and utilizes spatiotemporal r...

Joint errors are inevitable in robot manipulation. These uncertainties propagate to give rise to translational and orientational errors in the position and orientation of the robot end-effector. The displacement of the active vision head mounted on the robot endeffector produces distortion of the projected object on the image. Upon active visual inspection, the observed dimension of a mechanica...

Many sensorimotor neurons in the CNS encode global parameters of limb movement and posture rather than specific muscle or joint parameters. Our investigations of spinocerebellar activity have demonstrated that these second-order spinal neurons also may encode proprioceptive information in a limb-based rather than joint-based reference frame. However, our finding that each foot position was dete...

The interpretation of joint kinematics data in terms of displacements is a product of the type of movement, the measurement technique and the underlying model of the joint implemented in optimization procedures. Kinematic constraints reducing the number of degrees of freedom (DOFs) are expected to compensate for measurement errors and noise, thus, increasing the reproducibility of joint angles....

In this paper, we introduce our algorithms for simulating humanoid robots, in particular the parallel linear-time forward dynamics algorithm and constraint-based contact model. Using a small humanoid robot as an example, we also demonstrate that our simulator provides results qualitatively similar to experiments even with high-gain joint servo model, which can be simulated without precise joint...