The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often lead...
The purpose of this study is to identify the leading causes of slope instability along a local highway in Anhui, People’s Republic of China. As part of the east expansion project, the mountain range will be excavated to create a two-way, nearly...
Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introdu...
Slope failures along road cuts and highways, occurring due to heavy rainfalls or earthquakes, pose significant threats to people, vehicles, and emergency plans. In the present study, a methodology to assess the stability of rock slopes at a regional...
Host rock deformation associated with sill emplacement is used to constrain magma transfer and storage within the upper crust. In contrast to classic models suggesting that the host rock above mafic sills is dominated by elastic bending, recent studi...
This research presents a comprehensive nonlinear quasi-static seismic assessment of an unreinforced rubble masonry building, Bytown Museum in Ottawa, Canada, using discontinuum-based analyses. In the proposed modeling approach, non-uniform geometrica...
In this work, attention is mainly focused on those properties of water which are essentially changed in the physiological temperature range of warm-blooded organisms. Studying in detail the half-width of the diffusion peak in the quasi-elastic incohe...
Different from traditional redundant manipulators, the redundant manipulators used in the surgical environment require the end effector (EE) to have high pose (position and orientation) accuracy to ensure the smooth progress of the operation. When an...
This paper presents a dual-quaternion (DQ) framework for the rigid-kinematic modeling and validation of rigid hexagonal Kresling origami robots executing a prescribed FOLD–TWIST–FOLD motion. Triangular panels are modeled as rigid bodies,...
It is well known that the methods actually used to track thoraco-abdominal volume displacement have several limitations. This review evaluates the clinical usefulness of measuring chest wall kinematics by optoelectronic plethysmography [OEP]. OEP pro...
Humanoid manipulators with kinematic redundancy offer enhanced dexterity and adaptability to complex environments. Solving their inverse kinematics (IK) is fundamental to trajectory tracking, motion planning, and real-time control. Conventional Jacob...
The shear strength of unsaturated soils exhibits significant nonlinearity, while previous studies often simplified it with linear strength models. The objective of this paper is to investigate the distinctions in the stability of three-dimensional (3...
This study investigated the application of Covariant Hamiltonian Optimization for Motion Planning (CHOMP) in the MATLAB programming environment to an industrially relevant Universal Robots UR5e six-DOF manipulator. The parameters were set to be equal...
This work assesses the seismic stability of tunnel faces advanced in heterogeneous and anisotropic soils based on the plastic limit theorem. A discretized kinematic velocity field respecting the normal flow rule is generated via a point-to-point disc...
Accelerometer-based inclinometers have dominated kinematic measurements in previous field studies, while the use of inertial measurement units that additionally include gyroscopes is rapidly increasing. Recent laboratory studies suggest that these tw...
The seismic assessment of historical masonry bell towers is of significant interest, particularly in Italy, due to their widespread presence and inherent vulnerability given by their slenderness. According to technical codes and standard practice, th...
In this paper, we propose an optimized differential evolution algorithm based on kinematic limitations and structural complexity constraints to solve the trajectory tracking problem for a mobile manipulator robot. The traditional method mainly involv...
Seatbelts are critical components of vehicle safety, continuously evolving through technological advancements and regulatory updates. Traditionally designed to secure occupants during collisions, seatbelt innovations, such as retractors, pretensioner...
Offshore high-pressure gas pipelines comprise critical infrastructure that often cross seismic regions for hundreds of kilometers. The intersection of such pipelines with seismic fault zones is frequently inevitable due to high costs or technical con...
In the Ferret Valley (NW Italy), anthropic activities coexist close to the Grandes Jorasses massif’s glaciological complex. In the past, break-off events have caused damage to people and infrastructure. These events concerned two specific sectors: th...
Background: Wrist–forearm orthoses used during self-feeding may alter scapular and shoulder mechanics and increase proximal load, but this has not been quantified. Methods: Seventeen right-hand-dominant young adults performed a spoon-feeding ta...
The 3D point clouds obtained from the low-cost, remote, and precise SfM (Structure from Motion) technique allow the extraction and acquisition of discontinuities and their characteristics both manually, with the compass and virtual ruler of the Cloud...
In this paper we consider two situations. In the first, all kinematic chains are elastic, while the second situation is characterized by one rigid kinematic chain, with the rest of them being elastic. In addition, the kinematic joints are considered...
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple de-coupled steps t...
Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the ki...
Background: Ancient depictions of Pankration techniques have traditionally been interpreted through qualitative comparison with modern combat sports, without systematic biomechanical evaluation. The present study examines whether postural configurati...
Optoelectronic motion capture systems provide objective and high-resolution measurements of upper limb kinematics. The hand-to-mouth movement is closely related to motor development in children. The “Rab Hand-to-Mouth protocol” (BTS Bioen...
There are limited parallel robots applicable to three-axis grinding machines due to the restricted reachable workspace originating from multiple kinematic chains with spatial kinematic joints. The parallel robot will gain significant potential in the...
The rock slope stability assessment can be performed by means of deterministic and probabilistic approaches. As the deterministic analysis needs only representative values (generally, the mean value) for each physical and geo-mechanical parameter inv...
Predicting others’ actions is an essential part of acting in the social world. Action kinematics have been proposed to be a cue about others’ intentions. It is still an open question as to whether adults can use kinematic information in naturalistic...
Optical systems for unmanned aerial vehicle (UAV) detection and tracking are predominantly deployed on stationary platforms, which limits operational mobility and increases the vulnerability of fixed installations under adverse operating conditions....
Biomimetic robotic fish is a new type of underwater robot with many superior characteristics such as high movement speed, high motion efficiency, high energy efficiency, and so on. However, the traditional kinematic model for biomimetic robotic fish...
This article presents an analysis of the driveline operation of a high-mobility Jelcz 442.32 wheeled vehicle, which uses rigid drive axles connected to drive shafts with two universal joints (another name for the Cardan joints) due to the occurrence...
Because they are safe and easy to use, collaborative robots are revolutionizing many sectors, including industry, medicine, and agriculture. Controlling their dynamics, movements, and postures are key points in this evolution. Inverse kinematics is t...
Despite its limitations, 2D kinematical analysis remains a simple and valid alternative for swimming analysis. This analysis is limited by the length of the field of view, and the reconstruction errors are proportional to the calibrated area. A possi...
The aim was to determine the relationship between kinematic parameters of boar spermatozoa and fertility rates of sow, as well as to assess the effect of sperm clusters on the fertility capacity of the ejaculate. Semen samples were collected from 11...
The absolute positioning accuracy of a robot is an important specification that determines its performance, but it is affected by several error sources. Typical calibration methods only consider kinematic errors and neglect complex non-kinematic erro...
An analysis of the kinematics of a flapping membrane wing using experimental kinematic data is presented. This motion capture technique tracks the positon of the retroreflective marker(s) placed on the left wing of a 1.3-m-wingspan ornithopter. The t...
Inertial sensors (IS) enable the kinematic analysis of human motion with fewer logistical limitations than the silver standard optoelectronic motion capture (MOCAP) system. However, there are no data on the validity of IS for perturbation training an...
Traditional RRT* methods can produce geometrically reachable but kinematically difficult-to-track paths when vehicle maneuverability constraints are not enforced during tree construction. To address this limitation, a kinematic-constraint-frontloaded...
Background: Adolescent idiopathic scoliosis (AIS) alters postural control and movement coordination. This study investigated the dynamic biomechanical effects of Schroth therapy on AIS kinematics. Methods: Twelve young individuals with AIS completed...
Robotic manipulation of a bulky object is challenging due to the limited kinematics and payload of the manipulator. In this study, a robot realizes the manipulation of general-shaped bulky objects utilizing the contact with the environment. We propos...
As the first in-orbit formation satellites equipped with a Laser Ranging Interferometer (LRI) instrument, Gravity Recovery and Climate Experiment Follow-on (GRACE-FO) satellites are designed to evaluate the effective ability of the new LRI ranging sy...
Conventional control of robotic manipulators requires prior knowledge of their kinematic structure. Model-learning controllers have the advantage of being able to control robots without requiring a complete kinematic model and work well in less struc...
The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, p...
Although the solution of inverse kinematics for a serial redundant manipulator has been widely researched, many algorithms still seem limited in dealing with complex geometries, including multi-finger anthropomorphic hands. In this paper, the inverse...
The seismic behavior of pile-supported structures is influenced by complex interactions between inertial force and kinematic force mainly drawn by soil properties and superstructure characteristics. This study aims to investigate the combined effects...
Venous blood sampling is a common procedure in medical diagnosis and treatment. However, the stationary manual blood sampling method in current use not only requires human resources but also is inconvenient for elderly persons and patients with limit...
In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in som...
Mixed Reality (MR) teleoperation offers an intuitive interface for Human-Robot Collaboration (HRC), yet it often faces the “Embodiment Gap”—a physical and kinematic mismatch between human operators and robotic platforms. Existing MR...
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