Engineering applications of noncommutative harmonic analysis chirikjian gregory s kyatkin alex ander b
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Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. Numerical algorithms for spatial registration of line fiducials from cross-sectional images. Applied and Numerical Harmonic Analysis. Self-assembly Planning of a Shape by Regular Modular Robots. Proceedings of the 18th International Conference on Information Fusion: Fusion 2015. In contrast, the theoretical physics community usually uses Euler angles and spherical coordinates to parameterize rigid-body motions. Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities.

An operational calculus for the Euclidean motion group with applications in robotics and polymer science. A methodology for determining mechanical properties of macromolecules from ensemble motion data. Nonholonomic Modeling of Needle Steering. Mechanics of interactions of helices in proteins. Measure-theoretic decompositions of motion spaces. Applied and Numerical Harmonic Analysis. Efficient method for computing the forward kinematics of binary manipulators.

In this paper we apply techniques from noncommutative harmonic analysis to the development of fast algorithms for the computation of convolution integrals on motion groups. The comparison of two workspace-density-driven inverse kinematics methods for hyper redundant manipulators. Journal of Fourier Analysis and Applications. Applied and Numerical Harmonic Analysis. Error propagation on the Euclidean group with applications to manipulator kinematics.

A Jacobian-based algorithm for planning attitude maneuvers using forward and reverse rotations. Kinematically Optimal Hyper-Redundant Manipulator Configurations. Journal of Computing and Information Science in Engineering. Tomographic reconstruction of band-limited hermite expansions. The discrete two-dimensional chain of n steps is first discussed, and by the use of moving axes an equation relating characteristic functions of the end-point distribution for successive values of n is obtained. Analysis of the conformational dependence of mass-metric tensor determinants in serial polymers with constraints.

Manifolds and Riemannian Metrics References Index. There is good coverage of classical Fourier analysis on the circle and the line, but the emphasis is on harmonic analysis on groups, and much of the book applies this to particular Lie groups and motion groups of physics. Robustness analysis of kinematic covariance propagation in serial manipulators. Workspace density and inverse kinematics for planar serial revolute manipulators. Applied and Numerical Harmonic Analysis. Pose analysis of alpha-carbons in proteins. Cross-Validation of Data Compatibility between Small Angle X-ray Scattering and Cryo-Electron Microscopy.

Inverse kinematics of active rotation ball joint manipulators using workspaces density functions. Deblurring of class-averaged images in single-particle electron microscopy. We show two applications of the framework: one in the context of diffusion-weighted magnetic resonance imaging and one in the context of object detection. Test group of animals was treated with diazepam. Hyper-redundant manipulator dynamics: A continuum approximation.

Journal of Biomolecular Structure and Dynamics. Simple components for a reconfigurable modular robotic system. Torsional random-walk statistics on lattices using convolution on crystallographic motion groups. Forming a bridge between pure mathematics and the challenges of modern engineering, this updated and expanded volume offers a concrete, accessible treatment that places the general theory in the context of specific groups. Properties of space groupspreferred by proteins in the Protein Data Bank. Kinematics meets crystallography: The concept of a motion space. Acta Crystallographica Section D: Biological Crystallography.

Almost-uniform sampling of rotations for conformational searches in Robotics and Structural Biology. In robot kinematics, the screw-parameter description of a finite rigid-body motion is well known. An assembly automation approach to alignment of noncircular projections in electron microscopy. Editorial: Special issue on robotics techniques applied to computational biology. Equilibrium Conformations of Concentric-Tube Continuum Robots. Journal of Molecular Graphics and Modelling. Springer Tracts in Advanced Robotics.

Towards cyclic fabrication systems for modular robotics and rapid manufacturing. Stochastic processes on lie groups. Matrix Functions and Decompositions E. Symmetrical rigid body parameterization for biomolecular structures. Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review.