The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
Kamal Gupta - One of the best experts on this subject based on the ideXlab platform.
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the kinematic roadmap a motion planning based global approach for inverse Kinematics of redundant robots
International Conference on Robotics and Automation, 1999Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:This paper proposes a novel and global approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. Given an initial configuration of the robot, the problem is to find a reachable configuration that corresponds to a desired position and orientation of the end-effector. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the connected component of the free configuration space of the manipulator in a finite graph like structure. The point-to-point inverse Kinematics problem is then solved using this roadmap. We provide completeness results for our algorithm. Our implementation of SEARCH is an efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-DOF manipulator have been extremely successful.
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a motion planning based approach for inverse Kinematics of redundant robots the kinematic roadmap
Expert Systems With Applications, 1998Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:Abstract We propose a new approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints related to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph-like structure. The standard formulation of inverse Kinematics problem is then solved using this roadmap. Our current implementation, based on Ariadne's Clew Algorithm, is composed of two sub-algorithms: EXPLORE, an appealingly simple algorithm that builds the kinematic roadmap by placing landmarks in the configuration space; and SEARCH, a local planner, that uses this roadmap to reach the desired end-effector configuration. Our implementation of SEARCH is an extremely efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-dof manipulator have been extremely successful.
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a motion planning based approach for inverse Kinematics of redundant robots the kinematic roadmap
International Conference on Robotics and Automation, 1997Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:We propose a new approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph like structure. The standard formulation of inverse Kinematics problem is then solved using this roadmap. Our current implementation, based on Ariadne's clew algorithm, is composed of two sub-algorithms: EXPLORE, a simple algorithm that builds the kinematic roadmap by placing landmarks in the configuration space; and SEARCH, a local planner that uses this roadmap to reach the desired end-effector configuration. Our implementation of SEARCH is an extremely efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-DOF manipulator have been extremely successful.
A Cortesi - One of the best experts on this subject based on the ideXlab platform.
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unravelling the origins of s0 galaxies using maximum likelihood analysis of planetary nebulae Kinematics
Monthly Notices of the Royal Astronomical Society, 2011Co-Authors: A Cortesi, M R Merrifield, M Arnaboldi, Ortwin Gerhard, Inma Martinezvalpuesta, Kanak Saha, L Coccato, Steven P Bamford, N R NapolitanoAbstract:To investigate the origins of S0 galaxies, we present a new method of analysing their stellar Kinematics from discrete tracers such as planetary nebulae. This method involves binning the data in the radial direction so as to extract the most general possible non-parametric kinematic profiles, and using a maximum-likelihood fit within each bin in order to make full use of the information in the discrete kinematic tracers. Both disc and spheroid kinematic components are fitted, with a two-dimensional decomposition of imaging data used to attribute to each tracer a probability of membership in the separate components. Likelihood clipping also allows us to identify objects whose properties are not consistent with the adopted model, rendering the technique robust against contaminants and able to identify additional kinematic features. The method is first tested on an N-body simulated galaxy to assess possible sources of systematic error associated with the structural and kinematic decomposition, which are found to be small. It is then applied to the S0 system NGC 1023, for which a planetary nebula catalogue has already been released and analysed by Noordermer et al. The correct inclusion of the spheroidal component allows us to show that, contrary to previous claims, the stellar Kinematics of this galaxy are indistinguishable from those of a normal spiral galaxy, indicating that it may have evolved directly from such a system via gas stripping or secular evolution. The method also successfully identifies a population of outliers whose Kinematics are different from those of the main galaxy; these objects can be identified with a stellar stream associated with the companion galaxy NGC 1023A.
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unravelling the origins of s0 galaxies using maximum likelihood analysis of planetary nebulae Kinematics
arXiv: Astrophysics of Galaxies, 2011Co-Authors: A Cortesi, M R Merrifield, M Arnaboldi, Ortwin Gerhard, Inma Martinezvalpuesta, Kanak Saha, L Coccato, Steven P Bamford, N R NapolitanoAbstract:To investigate the origins of S0 galaxies, we present a new method of analyzing their stellar Kinematics from discrete tracers such as planetary nebulae. This method involves binning the data in the radial direction so as to extract the most general possible non-parametric kinematic profiles, and using a maximum likelihood fit within each bin in order to make full use of the information in the discrete kinematic tracers. Both disk and spheroid kinematic components are fitted, with a two-dimensional decomposition of imaging data used to attribute to each tracer a probability of membership in the separate components. Likelihood clipping also allows us to identify objects whose properties are not consistent with the adopted model, rendering the technique robust against contaminants and able to identify additional kinematic features. The method is first tested on an N-body simulated galaxy to assess possible sources of systematic error associated with the structural and kinematic decomposition, which are found to be small. It is then applied to the S0 system NGC~1023, for which a planetary nebula catalogue has already been released and analyzed by (Noordermeer et al., 2008). The correct inclusion of the spheroidal component allows us to show that, contrary to previous claims, the stellar Kinematics of this galaxy are indistinguishable from those of a normal spiral galaxy, indicating that it may have evolved directly from such a system via gas stripping or secular evolution. The method also successfully identifies a population of outliers whose Kinematics are different from those of the main galaxy; these objects can be identified with a stellar stream associated with the companion galaxy NGC~1023A.
Juanmanuel Ahuactzin - One of the best experts on this subject based on the ideXlab platform.
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the kinematic roadmap a motion planning based global approach for inverse Kinematics of redundant robots
International Conference on Robotics and Automation, 1999Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:This paper proposes a novel and global approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. Given an initial configuration of the robot, the problem is to find a reachable configuration that corresponds to a desired position and orientation of the end-effector. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the connected component of the free configuration space of the manipulator in a finite graph like structure. The point-to-point inverse Kinematics problem is then solved using this roadmap. We provide completeness results for our algorithm. Our implementation of SEARCH is an efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-DOF manipulator have been extremely successful.
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a motion planning based approach for inverse Kinematics of redundant robots the kinematic roadmap
Expert Systems With Applications, 1998Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:Abstract We propose a new approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints related to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph-like structure. The standard formulation of inverse Kinematics problem is then solved using this roadmap. Our current implementation, based on Ariadne's Clew Algorithm, is composed of two sub-algorithms: EXPLORE, an appealingly simple algorithm that builds the kinematic roadmap by placing landmarks in the configuration space; and SEARCH, a local planner, that uses this roadmap to reach the desired end-effector configuration. Our implementation of SEARCH is an extremely efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-dof manipulator have been extremely successful.
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a motion planning based approach for inverse Kinematics of redundant robots the kinematic roadmap
International Conference on Robotics and Automation, 1997Co-Authors: Juanmanuel Ahuactzin, Kamal GuptaAbstract:We propose a new approach to solving the point-to-point inverse Kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph like structure. The standard formulation of inverse Kinematics problem is then solved using this roadmap. Our current implementation, based on Ariadne's clew algorithm, is composed of two sub-algorithms: EXPLORE, a simple algorithm that builds the kinematic roadmap by placing landmarks in the configuration space; and SEARCH, a local planner that uses this roadmap to reach the desired end-effector configuration. Our implementation of SEARCH is an extremely efficient closed form solution, albeit local, to inverse Kinematics that exploits the serial kinematic structure of serial manipulator arms. Initial experiments with a 7-DOF manipulator have been extremely successful.
N R Napolitano - One of the best experts on this subject based on the ideXlab platform.
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unravelling the origins of s0 galaxies using maximum likelihood analysis of planetary nebulae Kinematics
Monthly Notices of the Royal Astronomical Society, 2011Co-Authors: A Cortesi, M R Merrifield, M Arnaboldi, Ortwin Gerhard, Inma Martinezvalpuesta, Kanak Saha, L Coccato, Steven P Bamford, N R NapolitanoAbstract:To investigate the origins of S0 galaxies, we present a new method of analysing their stellar Kinematics from discrete tracers such as planetary nebulae. This method involves binning the data in the radial direction so as to extract the most general possible non-parametric kinematic profiles, and using a maximum-likelihood fit within each bin in order to make full use of the information in the discrete kinematic tracers. Both disc and spheroid kinematic components are fitted, with a two-dimensional decomposition of imaging data used to attribute to each tracer a probability of membership in the separate components. Likelihood clipping also allows us to identify objects whose properties are not consistent with the adopted model, rendering the technique robust against contaminants and able to identify additional kinematic features. The method is first tested on an N-body simulated galaxy to assess possible sources of systematic error associated with the structural and kinematic decomposition, which are found to be small. It is then applied to the S0 system NGC 1023, for which a planetary nebula catalogue has already been released and analysed by Noordermer et al. The correct inclusion of the spheroidal component allows us to show that, contrary to previous claims, the stellar Kinematics of this galaxy are indistinguishable from those of a normal spiral galaxy, indicating that it may have evolved directly from such a system via gas stripping or secular evolution. The method also successfully identifies a population of outliers whose Kinematics are different from those of the main galaxy; these objects can be identified with a stellar stream associated with the companion galaxy NGC 1023A.
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unravelling the origins of s0 galaxies using maximum likelihood analysis of planetary nebulae Kinematics
arXiv: Astrophysics of Galaxies, 2011Co-Authors: A Cortesi, M R Merrifield, M Arnaboldi, Ortwin Gerhard, Inma Martinezvalpuesta, Kanak Saha, L Coccato, Steven P Bamford, N R NapolitanoAbstract:To investigate the origins of S0 galaxies, we present a new method of analyzing their stellar Kinematics from discrete tracers such as planetary nebulae. This method involves binning the data in the radial direction so as to extract the most general possible non-parametric kinematic profiles, and using a maximum likelihood fit within each bin in order to make full use of the information in the discrete kinematic tracers. Both disk and spheroid kinematic components are fitted, with a two-dimensional decomposition of imaging data used to attribute to each tracer a probability of membership in the separate components. Likelihood clipping also allows us to identify objects whose properties are not consistent with the adopted model, rendering the technique robust against contaminants and able to identify additional kinematic features. The method is first tested on an N-body simulated galaxy to assess possible sources of systematic error associated with the structural and kinematic decomposition, which are found to be small. It is then applied to the S0 system NGC~1023, for which a planetary nebula catalogue has already been released and analyzed by (Noordermeer et al., 2008). The correct inclusion of the spheroidal component allows us to show that, contrary to previous claims, the stellar Kinematics of this galaxy are indistinguishable from those of a normal spiral galaxy, indicating that it may have evolved directly from such a system via gas stripping or secular evolution. The method also successfully identifies a population of outliers whose Kinematics are different from those of the main galaxy; these objects can be identified with a stellar stream associated with the companion galaxy NGC~1023A.
Hideyuki Koga - One of the best experts on this subject based on the ideXlab platform.
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hip and ankle Kinematics in noncontact anterior cruciate ligament injury situations video analysis using model based image matching
American Journal of Sports Medicine, 2018Co-Authors: Hideyuki Koga, Atsuo Nakamae, Yosuke Shima, Roald Bahr, Tron KrosshaugAbstract:Background:Detailed kinematic descriptions of real anterior cruciate ligament (ACL) injury situations are limited to the knee only.Purpose:To describe hip and ankle Kinematics as well as foot posit...
