In order to control cable-driven parallel robots (CDPRs), it is necessary keep all cable tensions within (positive) known limits during motion. For CDPRs having more cables than end-effector degrees of freedom, a feasible force distribution should be computed beforehand. This paper aims at evaluating how tension error in one affects the overall other cables, by focusing on planar overconstraine...

BACKGROUND Liver surgery can be difficult because there are few external landmarks defining hepatic anatomy and because the liver has significant vascularity. Although preoperative tomographic imaging (computed tomography or magnetic resonance imaging) provides essential anatomical information for operative planning, at present it cannot be used actively for precise localization during surgery....

Besides the contacts between the feet and the ground, in some cases motion of humanoids may require additional contacts with environment. When spatial distribution of contacts is needed in order to perform planned motion, decision where the next contact will be established may be of fundamental importance. To ensure that planned motion will be feasible and dynamically balanced, all contacts wit...

This paper proposes an interactive search approach, termed INTERACT, which couples sampling-based motion planning with action planning in order to effectively solve the combined taskand motion-planning problem. INTERACT is geared toward scenarios involving a mobile robot operating in a fully-known environment consisting of static and movable objects. INTERACT makes it possible to specify a task...

Using real-time 3D-speckle-tracking in the clinical course of Tako-Tsubo turned out as a quick and feasible tool for recognition and follow-up of wall motion abnormalities.

Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or an accurate motion model. Abrupt motion is not subject to motion continuity and smoothness. To assuage this, we deem tracking as an optimisation problem and propose a novel abrupt motion tracker that based on swarm intelligence the SwaTrack. Unlike existing swarm-based fil...

We present an original approach for non parametric motion analysis in image sequences. It relies on the statistical modeling of distributions of local motion-related measurements computed over image sequences. Contrary to previously proposed methods, the use of temporal multiscale Gibbs models allows us to handle in a unified statistical framework both spatial and temporal aspects of motion con...

Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths, with respect to different quality measures such as path length, clearance, smoothness or energy, is often notoriously low. This problem is accentuated in the case of non-holonomic sampling-based motion planning, in which the space of feasible motion traje...

REAL-TIME MOTION TRANSITION BY EXAMPLE Cameron Egbert Department of Computer Science Master of Science Motion transitioning is a common task in real-time applications such as games. While most character motions can be created a priori using motion capture or hand animation, transitions between these motions must be created by an animation system at runtime. Because of this requirement, it is of...

This paper presents a method for the planning and execution of compliant motions within the scope of a two-phase fine-motion planner for the performance of planar assembly tasks with robots. Algorithms are provided to find a nominal solution path in both free and contact configuration space which is feasible in spite of the uncertainties affecting the task. Compliant-motion commands based on th...