Análisis cinemático de robots antropomórficos con cuaterniones duales

[ES]Este documento presenta una teoría de análisis cinemático capaz de unificar posición/orientación describiendo el movimiento de la herramienta de un robot mediante un cuaternión dual que envuelve traslación y rotación. Se desarrolla la cinemática directa de dos robots, uno redundante y otro no redundante a fin de evaluar la validez del método en ambos casos. Por último, se comparan los resultados de dicha teoría con los resultados que ofrece la conocida teoría de las matrices de transformación homogéneas.

Automated sparse 3D point cloud generation of infrastructure using its distinctive visual features

The commercial far-range (>10 m) spatial data collection methods for acquiring infrastructure’s geometric data are not completely automated because of the necessary manual pre- and/or post-processing work. The required amount of human intervention and, in some cases, the high equipment costs associated with these methods impede their adoption by the majority of infrastructure mapping activities. This paper presents an automated stereo vision-based method, as an alternative and inexpensive solution, to producing a sparse Euclidean 3D point cloud of an infrastructure scene utilizing two video streams captured by a set of two calibrated cameras. In this process SURF features are automatically detected and matched between each pair of stereo video frames. 3D coordinates of the matched feature points are then calculated via triangulation. The detected SURF features in two successive video frames are automatically matched and the RANSAC algorithm is used to discard mismatches. The quaternion motion estimation method is then used along with bundle adjustment optimization to register successive point clouds. The method was tested on a database of infrastructure stereo video streams. The validity and statistical significance of the results were evaluated by comparing the spatial distance of randomly selected feature points with their corresponding tape measurements.

Cooperative attitude synchronization in satellite swarms: A consensus approach

The present paper considers the problem of autonomous synchronization of attitudes in a swarm of spacecraft. Building upon our recent results on consensus on manifolds, we model the spacecraft as particles on SO(3) and drive these particles to a common point in SO(3). Unlike the Euler angle or quaternion descriptions, this model suffers no singularities nor double-points. Our approach is fully cooperative and autonomous: we use no leader nor external reference. We present two types of control laws, in terms of applied control torques, that globally drive the swarm towards attitude synchronization: one that requires tree-like or all-to-all inter-satellite communication (most efficient) and one that works with nearly arbitrary communication (most robust).

便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

鄂尔多斯盆地三叠系延长组特低渗透储层分类评价

On the basis of the character of sedimentation and reservoir researching as well as diagenesis, using conventional and update testing measures, classificati-on and evaluation of the tesla low permeability reservoir in Ordos Basin is pr-esented. From Chang 8 to Chang 4+5 oil formations, four facies developed, includi-ng alluvial fan facies, delta facies, lake facies as well as density current. They were controlled by the northeastern, the southwest, the southern and the northwestern provenances. Distributary channel underwater and mouth bar of delta fr-ont are the main reservoirs. Detrital component has the different character in s-outh and in north. Sedimentary system in the northeastern part has more felds-par and less quartz. Sedimentary system in the southern part has more quartz and less feldspar. Because of sedimentation and diagenesis, the oil formations in region of interest formed the different features of pore array of the tesla l-ow permeability reservoirs. After researching, it is found that the active porosity and the main throat radius of Chang 4+5 are the highest, and they are positive correlation with per-meability. The exponent of flowing interval falls in the sortorder: Chang 8, Chang 4+5, Chang 6, Chang 7. Using clustering procedure and quaternion, the reservoirs of Yanchang for-mation in Ordos Basin are divided into five types. Ⅰ-good reservoirs and Ⅱ-appreciably good reservoirs occur in distributary channel and mouth bar. Ⅲ-poor reservoirs and Ⅳ-poorer reservoirs exist in natural levee, crevasse splay under-water and turbidity fan. It is forecasted that the oil area in Ⅰ-good reservoirs is about 4336.68 square kilometers, and the oil area in Ⅱ-appreciably good reservoirs is 28013.28 square kilometers or so, and the oil area in Ⅲ-poor rese-rvoirs is 28538.05 square kilometers more or less.

Automatic 3d free form shape matching using the graduated assignment algorithm.

Liu, Yonghuai. Automatic 3d free form shape matching using the graduated assignment algorithm. Pattern Recognition, vol. 38, no. 10, pp. 1615-1631, 2005.

A Biomechanical Model of Human Oculomotor Plant Kinematics Based Upon Geometric Algebra

A biomechanical model of the human oculomotor plant kinematics in 3-D as a function of muscle length changes is presented. It can represent a range of alternative interpretations of the data as a function of one parameter. The model is free from such deficits as singularities and the nesting of axes found in alternative formulations such as the spherical wrist (Paul, l98l). The equations of motion are defined on a quaternion based representation of eye rotations and are compact atnd computationally efficient.

Computations in Relative Algebraic K-Groups

Let G be finite group and K a number field or a p-adic field with ring of integers O_K. In the first part of the manuscript we present an algorithm that computes the relative algebraic K-group K_0(O_K[G],K) as an abstract abelian group. We solve the discrete logarithm problem, both in K_0(O_K[G],K) and the locally free class group cl(O_K[G]). All algorithms have been implemented in MAGMA for the case K = \IQ. In the second part of the manuscript we prove formulae for the torsion subgroup of K_0(\IZ[G],\IQ) for large classes of dihedral and quaternion groups.

The lower central and derived series of the braid groups of the projective plane

In this paper, we determine the lower central and derived series for the braid groups of the projective plane. We are motivated in part by the study of Fadell-Neuwirth short exact sequences, but the problem is interesting in its own right. The n-string braid groups B(n)(RP(2)) of the projective plane RP(2) were originally studied by Van Buskirk during the 1960s. and are of particular interest due to the fact that they have torsion. The group B(1)(RP(2)) (resp. B(2)(RP(2))) is isomorphic to the cyclic group Z(2) of order 2 (resp. the generalised quaternion group of order 16) and hence their lower central and derived series are known. If n > 2, we first prove that the lower central series of B(n)(RP(2)) is constant from the commutator subgroup onwards. We observe that Gamma(2)(B(3)(RP(2))) is isomorphic to (F(3) X Q(8)) X Z(3), where F(k) denotes the free group of rank k, and Q(8) denotes the quaternion group of order 8, and that Gamma(2)(B(4)(RP(2))) is an extension of an index 2 subgroup K of P(4)(RP(2)) by Z(2) circle plus Z(2). As for the derived series of B(n)(RP(2)), we show that for all n >= 5, it is constant from the derived subgroup onwards. The group B(n)(RP(2)) being finite and soluble for n <= 2, the critical cases are n = 3, 4. We are able to determine completely the derived series of B(3)(RP(2)). The subgroups (B(3)(RP(2)))((1)), (B(3)(RP(2)))((2)) and (B(3)(RP(2)))((3)) are isomorphic respectively to (F(3) x Q(8)) x Z(3), F(3) X Q(8) and F(9) X Z(2), and we compute the derived series quotients of these groups. From (B(3)(RP(2)))((4)) onwards, the derived series of B(3)(RP(2)), as well as its successive derived series quotients, coincide with those of F(9). We analyse the derived series of B(4)(RP(2)) and its quotients up to (B(4)(RP(2)))((4)), and we show that (B(4)(RP(2)))((4)) is a semi-direct product of F(129) by F(17). Finally, we give a presentation of Gamma(2)(B(n)(RP(2))). (C) 2011 Elsevier Inc. All rights reserved.

Classification of the virtually cyclic subgroups of the pure braid groups of the projective plane

We classify the ( finite and infinite) virtually cyclic subgroups of the pure braid groups P(n)(RP(2)) of the projective plane. The maximal finite subgroups of P(n)(RP(2)) are isomorphic to the quaternion group of order 8 if n = 3, and to Z(4) if n >= 4. Further, for all n >= 3, the following groups are, up to isomorphism, the infinite virtually cyclic subgroups of P(n)(RP(2)): Z, Z(2) x Z and the amalgamated product Z(4)*(Z2)Z(4).

Arithmetic fuchsian groups and space time block codes

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The QUEST for Brazilian space research

This paper describes how QUEST 1 (QUaternion ESTimator algorithm) influenced Brazilian space research activities. Indeed, we present a short survey paper on researches in attitude determination and propagation in Brazil arising from the influence of the author of QUEST. We show how Brazilian researchers started implementing QUEST, tasting it, and later deriving other applications based on it. Some Brazilian researchers worked out further investigations through direct interaction with the QUEST author, Dr. Malcolm Shuster, addressing attitude alignment and calibration problems. Further related researches show the influence of Dr. Shuster's work on Brazilian space research.

Identification of lattices from genus of compact surface

In this work we propose procedures for the identification of structure of group associate lattices from fundamental region F4g of regular tessellations {4g; 4g} in the Euclidian plane and hyperbolic plane, where g denote genus of compact surface. © 2006 SBrT.

Finiteness of hermitian levels of some algebras

We characterize the hermitian levels of quaternion and octonion algebras and of an 8-dimensional algebra D over the ground field F, constructed using a weak version of the Cayley-Dickson double process. It is shown that all values of the hermitian levels of quaternion algebras with the hat-involution also occur as hermitian levels of D. We give some limits to the levels of the algebra D over some ground field. © Soc. Paran. de Mat.

Spin stabilized satellite's attitude propagation with quaternions

This paper presents a study of a modeling scheme for the spin stabilized satellites attitude, entirely developed in terms of quaternion parametrization. The analysis includes numerical propagation of the rotational motion equation, considering the influence of the following torques: aerodynamic, gravity gradient, residual magnetic, eddy currents and the one due to the Lorentz force. Applications are developed considering the Brazilian Spin Stabilized Satellites SCD1 and SCD2, which are quite appropriated for verification and comparison of the theory with the real data generated and processed by the INPE's Satellite Control Center (SCC). The results show that for SCD1 and SCD2 the influence of the eddy current torque is bigger than the others ones, not only due to the orbit altitude, but also to other specific satellites characteristics. The influence of the torque due to Lorentz force is smaller than the others ones because of the dimension and the electrical charges of the SCD1 and SCD2. In all performed tests the errors remained within the dispersion range specified for the attitude determination system of INPE's SCC. The results show the feasibility of using the quaternion attitude parametrization for modeling the satellite dynamics of spin stabilized satellites.