Real time kinematics

There are numerous guidance systems available. Rehance on satellites alone can be inaccurate because of atmospherics or satelbte drift, so the most accurate systems use real-time kinematics (RTK) where the satelbte signals are triangulated with a fixed ground system, either on a building or on a tripod in the comer of the field. These can give accuracy to within 2 cm. 

Our new developments work on a model base. The human body can be modelled as a system of objects connected together by joints with one or more degrees of freedom. Tracking motion of human body can be formulated as the real-time visual tracking of kinematic chains. A kinematic object is a collection of objects connected by joints. With... 

In order to compare the kinematics of both tests, a normalized time was adopted in Figure 3c. Normalized time was calculated by dividing the actual real time by the total time length of each test. The vapour transfer test was much longer than the liquid transfer one due to the lower equilibration times associated with vapour transfer. 

One of the most exciting prospects which are likely to emerge during the next few years, is real time semi-kinematic (stop-and-go), and full kinematic (go) phase measurement. It has been demonstrated that both of these techniques are achievable in post processing mode. Indeed, standard software packages for this purpose are now available commercially. The main obstacles to real-time processing is the requirement for real-time detection and... 

As mentioned above, more efficient algorithms are needed to make real-time dynamic simulation a reality. This need is particularly great fw robotic systems with multiple chains and closed kinematic loops. Thus, a fundamental goal of this book is the development of better and more efficient algorithms for the dynamic simulation of multiple chain robotic systems. In particular, solutions to the Direct Dynamics problem fw simple closed-chain mechanisms are investigated. 

Although a single closed chain is a simple example of a closed-chain robotic mechanism, its real-time dynamic simulation is not trivial. The dynamics of the chain must be combined with the kinematic constraints which are imposed by the tip contact. In general, both the contact forces at the tip and the joint accelerations must be computed to completely solve the system. 

Y. T. l ai and D. E. Orin. A Strictly Caiveigent Real-Time Solution for Inverse Kinematics of Robot Manipulators. Journal of Robotic Systems, (4) 477-501,1987. 

On articulated vehicle modeling and SMC application, many researchers have revealed approaches. More analytically, in Ridley and Corke (2003), Lee and Yoo (2009), Nayl et al. (2012), kinematics model of articulated vehicle and error model between real and reference path are presented, and the path tracking simulation with model predictive control is applied, while in Petrov and Chakyrski (2009) the feedback controller based on Lyapunov approach is designed. The simulations in these literatures are non-real-time. The real-time feature is not verified. Moreover, in Korayem et al. (2012), the spatial cable robot path planning is presented, while in Aslam et al. (2014) the fuzzy SMC is used for path tracking of the four-wheel skid steer vehicle. Both the literatures have designed the controller of SMC. However, the models of the plants are distinct from the articulated vehicle. 

In this system, the accuracy of detecting the orientation of the marker is increased with a set of infrared markers and special cameras. Sequentially flashing lights are detected more easily than other marker modalities. The system with this motion-capture facility tracks and assesses kinematics and dynamic motion in real time so that it introduces exceptional spatial and temporal accuracy features. The Optotrak Certus motion-capture system... 

Abstract— A Real-Time, Inexpensive Gait Analysis System that cost less than RM3,000 (= USD982) is proposed in this paper. The proposed system consists of subsystems such as wireless wearable accelerometer system, Custom-made force platform, data acquisition system with real-time computer data logging capability. Kinematics and kinetics parameters of human locomotion were collected and analysed by the system. The results collected were compared against published normative human gait data. Data collection was performed on 20 healthy test subjects without any reported gait-deflciency. 

Real-time visual guidance and control of robot motion is an important and growing area in robotics and factory automation [1-6]. It is a challenging problem because of the complexity of the unknown environment to be encountered by the mobile robot. The environment complexity includes the variations of physical appearances of obstacles, their kinematic and dynamic behaviors, and the planned or unplanned perturbations of their motion. This is particularly true for the collision avoidance where the obstacles (may be other robots) in the environment are also moving at relatively high speed [4-6]. 

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