A fundamental matrix estimation based on matching points is a critical problem in epipolar geometry. In this paper, a global fundamental matrix estimation method based on inlier updating is proposed. Firstly, the coplanar constraint was incorporated into the solution of the fundamental matrix to reduce the number of parameters to be solved. Subsequ...
Machine end-effector kinematic analysis is critical to optimizing transporting components where inertial forces are the main loads. While displacements may be measured with relatively high accuracy in transportation equipment motors, the inertial forces in the transported components are seldom optimized. This is especially relevant in electronic co...
The paper represents numerical and experimental investigations on a 5-DOF piezoelectric robot that can provide rotary and planar motions of the payload. The design of the robot is based on a single piezoelectric ring and a triangular-shaped passive layer made from stainless steel. Six semispherical contacts of alumina oxide were used as contact poi...
A novel five degrees of freedom (5-DOF) piezoelectric actuator is proposed and analyzed in this paper. The actuator can provide unlimited self-motion in the plane and angular positioning of the spherical payload. The actuator is composed of a cylindrical bronze frame and a piezo ceramic ring glued on top of the cylinder. The cylinder has three cut-...
This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the proposed method and to determine the control param...
Copepod nauplii are larval crustaceans with important ecological functions. Due to their small size, they experience an environment of low Reynolds number within their aquatic habitat. Here we provide a mathematical model of a swimming copepod nauplius with two legs moving in a plane. This model allows for both rotation and two-dimensional displace...
The increased demand for compact, intelligent and multi-functional products is met by miniaturizing components like sensors, actuators and processors. Therefore, the manufacturing systems must adapt, which draws attention to the subject of microfactories. This research investigates a modular array of digital electromagnetic actuators based on the L...
Published in Mathematical Models and Computer Simulations
On horizontal nondeformable ground, we consider the movement of a road train consisting of a biaxial tractor car and triaxial semitrailer treated as solid bodies. Based on the Lagrange’s equations of the second kind, we develop a nonlinear mathematical model of its plane motion, using the position of the fifth-wheel coupling and rotating angles of ...
In this paper, we propose a computational model of visual attention for stereoscopic video. Low-level visual features including color, luminance, texture and depth are used to calculate feature contrast for spatial saliency of stereoscopic video frames. Besides, the proposed model adopts motion features to compute the temporal saliency. Here, we ex...
Published in International Journal of Control, Automation and Systems
Simplified epipolar geometry is proposed in this paper to accelerate monocular visual odometry for ground vehicles. The vehicles on roads or indoors exhibit planar motion locally, and such prior has been effectively utilized to speed up monocular visual odometry. However, we observed that the previous planar motion models frequently failed because ...
