A new 2-D planar motion system for precision machining operations is investigated. Characteristics of the 2-D planar motor system are studied to gain better understanding of its capabilities, limitations and interactions with machining processes. The planar motor system is applied to an end milling process, where experimental data on cutting force and surface finish are in agreement with simula...

This paper deals with the problem of determining motion and structure for a planar surface and the error estimation. Since the motion of a planar patch is a degenerate case for linear algorithms (algorithms that consist of solving mainly linear equations and give closed-form solution) for general surfaces, the motion of such a planar surface should be considered separately. First, a new algorit...

In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot’s way from a start to a goal position. We make the observation that we can decouple the computations of the robot motions and the obstacle movements, and present a probabilistically complete algorithm, something which to date has not been achieve...

The motion of a driven planar pendulum with vertically periodically oscillating point of suspension and under the action of an additional constant torque is investigated. We study the influence of the torque strength on the transition to chaotic motions of the pendulum using Melnikov's analysis.

This paper presents a new method for the estimation of non-planar rotations, i.e. rotations around axis parallel to the image plane, in the context of video compression applications. This method is based on a non planar rotation model which assumes that the moving object as a planar surface. The proposed block-based motion estimation approach is performed between consecutive or non-consecutive ...

We present an algorithm which segments and matches the regions and then estimates non-iteratively 9D motion and structure of a moving piecewise planar textured surface from two perspective views. The algoriihm has two major steps. The first step is coarse. Here, the local planar nature of the surface is used t o obtain polynomial expressions for image plane displacements of features. Using regi...

The artist Patrick Hughes has ingeniously painted rows of stacked Brillo boxes in Forced into Reverse Perspective. The geometry is in reverse perspective, predicting only one type of illusory motion for each planar surface for moving viewers. He "broke" these surfaces into objects by painting the boxes in three types of perspective (planar, forced, and reverse). Our experiments confirmed that h...

In this paper we extend the work of Black and Yacoob [5] on tracking and recognition of human facial expressions to the problem of tracking and recognizing the articulated motion of human limbs. We make the assumption that a person can be represented by a set of connected planar patches: the cardboard person model illustrated in Figure 1. In the case of faces, Black and Yacoob [5] showed that a...

An inchworm-like robot is a mobile robot that imitates the locomotion pattern of a natural inchworm. Inchworm or snake like robots can crawl or move in highly constrained environment such as maintenance conduit for buildings and factories, and human intestines and blood vessels. In this paper, the development a planar inchworm robot based on the basic inchworm motion is presented. The motion is...

In this paper we present a motion based segmentation algorithm to automatically detect multiple planes from sparse optical ¤ow information. An optimal estimate for planar motion in the presence of additive Gaussian noise is £rst proposed, including directional uncertainty of the measurements (thus coping with the aperture problem) and a multi-frame (n > 2) setting (adding overall robustness). I...