published_or_final_version / abstract / Physics / Master / Master of Philosophy

Thesis (M. Phil.)--University of Hong Kong, 2008. / Also available in print.

A complete solution to the inverse kinematics problem for a large class of practical manipulators, which includes manipulators with no closed form inverse kinematics equations, is presented in this thesis. A complete solution to the inverse kinematics problem of a manipulator is defined as a method for obtaining the required joint variable values to establish the desired endpoint position, endpoint orientation, and manipulator configuration; the only requirement being that the desired solution exists. For all manipulator geometries that satisfy a set of conditions (THEOREM I), an algorithm is presented that is theoretically guaranteed to always converge to the desired solution (if it exists). The algorithm is extensively tested on two complex 6 degree of freedom manipulators which have no known closed form inverse kinematics equations. It is shown that the algorithm can be used in real time manipulator control. Applications of the method to other 6 DOF manipulator geometries and to redundant manipulators are discussed. / Applied Science, Faculty of / Electrical and Computer Engineering, Department of / Graduate

Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mathematics, 1981. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND SCIENCE. / Bibliography: p. 135-138. / by James William Walker. / Ph.D.

An image is a two-dimensional representation of the three-dimensional world. Recovering the information which is lost in the process of image formation is one of the fundamental problems in Computer Vision. One approach to this problem involves generating and evaluating a succession of surface hypotheses, with the best hypothesis selected as the final estimate. The fitness of each hypothesis can be evaluated by comparing the reference images against synthetic images of the hypothesised surface rendered with the reference cameras. An infinite number of surfaces can recreate any set of reference images, so many approaches to the reconstruction problem recover the largest from this set of surfaces. In contrast, the approach we present here accommodates prior structural information about the scene, thereby reducing ambiguity and finding a reconstruction which reflects the requirements of the user. The user describes structural information by defining a set of primitives and relating them by parameterised transformations. The reconstruction problem then becomes one of estimating the parameter values that transform the primitives such that the hypothesised surface best recreates the reference images. Two appearance-based likelihoods which measure the hypothesised surface against the reference images are described. The first likelihood compares each reference image against an image synthesised from the same viewpoint by rendering a projection of a second image onto the surface. The second likelihood finds the ‘optimal’ surface texture given the hypothesised scene configuration. Not only does this process maximise photo-consistency with respect to all reference images, but it prohibits incorrect reconstructions by allowing the use of prior information about occlusion. The second likelihood is able to reconstruct scenes in cases where the first is biased. / http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1330993 / Thesis (Ph.D.) -- University of Adelaide, School of Computer Science, 2008

Thesis (Ph.D.) -- University of Adelaide, School of Computer Science, 2008. / "December, 2007" Bibliography: p. 181-185. Also available in print form.

E. Folke Bolinder. / "June 14, 1957." / Bibliography: p. 91-96. / Army Signal Corps Contract DA36-039-sc-64637. Dept. of the Army Task 3-99-06-108 and Project 3-99-00-100.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Earth and Planetary Science, 1980. / Microfiche copy available in Archives and Science. / Bibliography: leaves 67-74. / by Keiichiro Ikeda. / M.S.