The momentum equation in the kinematic wave model is a power-law equation with two parameters. These parameters, which relate the discharge to the flow area, are commonly derived using Manning’s equation. In general, the values of these parameters depend on the flow depth except for some special cross sections. In this paper, improved estimates of the kinematic wave parameters for circular chan...

The internal space for a molecule, atom, or other n-body system can be conveniently parameterised by 3n − 9 kinematic angles and three kinematic invariants. For a fixed set of kinematic invariants, the kinematic angles parameterise a subspace, called a kinematic orbit, of the n-body internal space. Building on an earlier analysis of the threeand four-body problems, we derive the form of these k...

In recent years, there is an increasing interest in developing geometric algorithms for kinematic computations. The aim of this paper is to present the notion of projective convexity as a key element for a new framework for kinematic geometry, that allows for the development of more elegant and efficient algorithms for geometric computations with kinematic applications. The resulting framework,...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

We present a general method to intuitively create a wide range of locomotion controllers for 3D legged characters. The key of our approach is the assumption that efficient locomotion can exploit the natural vibration modes of the body, where these modes are related to morphological parameters such as the shape, size, mass, and joint stiffness. The vibration modes are computed for a mechanical m...

In this paper, a systematic methodology for enumeration of the kinematic structures of parallel manipulators is presented. Parallel manipulators are classified into planar, spherical, and spatial mechanisms. The classification is followed by an enumeration of the kinematic structures according to the degrees of freedom and connectivity listing. In particular, a class of parallel manipulators wi...

As a foundation for Klein’s fundamental idea about the connection of geometry and its motion group and the unified description of all Cayley-Klein geometries, a method of group transitions including contractions as well as analytical continuations of the groups is developed. The generators and Casimir operators of an arbitrary Cayley-Klein group are obtained from those of the classical orthogon...

Reasoning about kinematics is an important aspect of common sens e physics. In earlier work, we have developed the place vocabulary theory of qualitative kinematics in mechanisms, a formal theory for representin g the kinematic behavior of two-dimensional mechanisms . The computation of a place vocabulary is very complex because it takes into accoun t the details of object shapes . In this pape...

We present a measurement of the fractions F0 and F+ of longitudinally polarized and righthandedW bosons in top-quark decays using data collected with the CDF II detector. The data set used in the analysis corresponds to an integrated luminosity of approximately 955 pb. We select tt̄ candidate events with one lepton, at least four jets, and missing transverse energy. Our helicity measurement uses...