Showing papers on "Kinematics published in 2006"
TL;DR: A new method is introduced for synthesizing kinematic relationships for a general class of continuous backbone, or continuum, robots that enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates.
Abstract: We introduce a new method for synthesizing kinematic relationships for a general class of continuous backbone, or continuum , robots. The resulting kinematics enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates. This novel approach, which carefully considers physical manipulator constraints, avoids artifacts of simplifying assumptions associated with previous approaches, such as the need to fit the resulting solutions to the physical robot. It is applicable to a wide class of existing continuum robots and models extension, as well as bending, of individual sections. In addition, this approach produces correct results for orientation, in contrast to some previously published approaches. Results of real-time implementations on two types of spatial multisection continuum manipulators are reported.
780 citations
TL;DR: The results of this study support the clinically based intuition that people who are at increased risk of falling walk slower to improve their stability, even at the cost of increased variability.
576 citations
TL;DR: A residual elimination algorithm is introduced to compute pelvis and low back kinematic trajectories that ensure consistency between whole-body dynamics and measured ground reactions and a computed muscle control algorithm is used to vary muscle excitations to track experimental joint kinematics within a forward dynamic simulation.
534 citations
19 Dec 2006
TL;DR: A nine degree-of-freedom (DOF) model of the human arm kinematics is presented and used to develop, test, and optimize the kinematic structure of an human arm interfacing exoskeleton, which can interact with an unprecedented portion of the natural limb workspace.
Abstract: This paper introduces a novel kinematic design paradigm for ergonomic human machine interaction. Goals for optimal design are formulated generically and applied to the mechanical design of an upper-arm exoskeleton. A nine degree-of-freedom (DOF) model of the human arm kinematics is presented and used to develop, test, and optimize the kinematic structure of an human arm interfacing exoskeleton. The resulting device can interact with an unprecedented portion of the natural limb workspace, including motions in the shoulder-girdle, shoulder, elbow, and the wrist. The exoskeleton does not require alignment to the human joint axes, yet is able to actuate each DOF of our redundant limb unambiguously and without reaching into singularities. The device is comfortable to wear and does not create residual forces if misalignments exist. Implemented in a rehabilitation robot, the design features of the exoskeleton could enable longer lasting training sessions, training of fully natural tasks such as activities of daily living and shorter dress-on and dress-off times. Results from inter-subject experiments with a prototype are presented, that verify usability over the entire workspace of the human arm, including shoulder and shoulder girdle
326 citations
TL;DR: It is shown that the robot endeffector is able to converge to a desired trajectory with the uncertain kinematics and dynamics parameters being updated online by parameter update laws.
Abstract: It has been almost two decades since the first globally tracking convergent adaptive controllers were derived for robot with dynamic uncertainties. However, the problem of concurrent adaptation to both kinematic and dynamic uncertainties has never been systematically solved. This is the subject of this paper. We derive a new adaptive Jacobian controller for trajectory tracking of robot with uncertain kinematics and dynamics. It is shown that the robot endeffector is able to converge to a desired trajectory with the uncertain kinematics and dynamics parameters being updated online by parameter update laws. The algorithm requires only to measure the end-effector position, besides the robot's joint angles and joint velocities. The proposed controller can also be extended to adaptive visual tracking control with uncertain camera parameters, taking into consideration the uncertainties of the nonlinear robot kinematics and dynamics. Experimental results are presented to illustrate the performance of the proposed controllers. In the experiments, we demonstrate that the robot's shadow can be used to control the robot.
284 citations
TL;DR: Specific joint forces and moments were related to measures of shoulder pathology, which may indicate a need to reduce the overall force required to propel a wheelchair in order to preserve upper limb integrity.
261 citations
TL;DR: The proposed technique provides a solution to fusing the data of gyroscopes and accelerometers that yields stable and drift-free estimates of segment orientation and is portable, easily mountable, and can be used for long term monitoring without hindrance to natural activities.
Abstract: A new method of estimating lower limbs orientations using a combination of accelerometers and gyroscopes is presented. The model is based on estimating the accelerations of ankle and knee joints by placing virtual sensors at the centers of rotation. The proposed technique considers human locomotion and biomechanical constraints, and provides a solution to fusing the data of gyroscopes and accelerometers that yields stable and drift-free estimates of segment orientation. The method was validated by measuring lower limb motions of eight subjects, walking at three different speeds, and comparing the results with a reference motion measurement system. The results are very close to those of the reference system presenting very small errors (Shank: rms=1.0, Thigh: rms=1.6/spl deg/) and excellent correlation coefficients (Shank: r=0.999, Thigh: r=0.998). Technically, the proposed ambulatory system is portable, easily mountable, and can be used for long term monitoring without hindrance to natural activities. Finally, a gait analysis tool was designed to visualize the motion data as synthetic skeletons performing the same actions as the subjects.
230 citations
TL;DR: A new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynamics is derived and the results are extended to include redundant robots and adaptation to actuator parameters.
Abstract: Most research so far on robot trajectory control has assumed that the kinematics of the robot is known exactly. However, when a robot picks up tools of uncertain lengths, orientations, or gripping points, the overall kinematics becomes uncertain and changes according to different tasks. Recently, we derived a new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynamics. This note extends the results to include redundant robots and adaptation to actuator parameters. Experimental results are presented to illustrate the performance of the proposed controller.
225 citations
TL;DR: The biomechanics of changing direction while walking has been largely neglected despite its obvious relevancy to functional mobility and will provide insights driving design, therapy and intervention to increase functional navigation in amputees, the elderly and individuals with neuromuscular pathologies.
216 citations
TL;DR: In this article, a method for recovering the kinematic properties of a galaxy simultaneously with its stellar content from integrated light spectra is presented. But the method is limited to the case where the velocity distribution of the underlying stars is unknown, and the reconstruction of the stellar age distribution, the age-metallicity relation and the line-of-sight velocity distribution are all non-parametric.
Abstract: We introduce STECKMAP (STEllar Content and Kinematics via Maximum A Posteriori likelihood), a method for recovering the kinematic properties of a galaxy simultaneously with its stellar content from integrated light spectra. It is an extension of STECMAP (presented recently by Ocvirk et al.) to the general case where the velocity distribution of the underlying stars is also unknown. The reconstructions of the stellar age distribution, the age‐metallicity relation and the line-of-sight velocity distribution (LOSVD) are all non-parametric, i.e. no specific shape is assumed. The only a priori conditions that we use are positivity and the requirement that the solution is smooth enough. The smoothness parameter can be set by generalized cross-validation according to the level of noise in the data in order to avoid overinterpretation. We use single stellar populations (SSPs) from P´-HR (R = 10 000, λ = 4 000‐6 800 A, from Le Borgne et al.) to test the method through realistic simulations. Non-Gaussianities in LOSVDs are reliably recovered with signal-to-noise ratio (SNR) as low as 20 per 0.2 A pixel. It turns out that the recovery of the stellar content is not degraded by the simultaneous recovery of the kinematic distribution, so that the resolution in age and error estimates given in Ocvirk et al. remain appropriate when used with STECKMAP. We also explore the case of age-dependent kinematics (i.e. when each stellar component has its own LOSVD). We separate the bulge and disc components of an idealized simplified spiral galaxy in integrated light from high-quality pseudo-data (SNR = 100 per pixel, R = 10 000), and constrain the kinematics (mean projected velocity, projected velocity dispersion) and age of both components. Ke yw ords: methods: data analysis ‐ methods: statistical ‐ techniques: spectroscopic ‐ galaxies: abundances ‐ galaxies: kinematics and dynamics ‐ galaxies: stellar content.
212 citations
Book•
30 Apr 2006
TL;DR: Methods for kinematic tracking of the human body in video are reviewed, focusing on tracking and motion synthesis; future material will cover activity representation and motion generation.
Abstract: We review methods for kinematic tracking of the human body in video. The review is part of a projected book that is intended to cross-fertilize ideas about motion representation between the animation and computer vision communities. The review confines itself to the earlier stages of motion, focusing on tracking and motion synthesis; future material will cover activity representation and motion generation.
TL;DR: Methods for analyzing the mechanisms of injuries in sports from video sequences of injury situations are limited to a simple visual inspection, which has shown poor accuracy.
Abstract: Background: Methods for analyzing the mechanisms of injuries in sports from video sequences of injury situations are so far limited to a simple visual inspection, which has shown poor accuracy.
Purpose: To investigate whether a new model-based image-matching technique could successfully be applied to estimate kinematic characteristics of three typical anterior cruciate ligament (ACL) injury situations.
Methods: A four-camera basketballvideo, a three-camera European team handball video and a single-camera downhill skiing video were imported into the program Poser® 4, where a skeleton model and a model of the surroundings were matched to the background image frame by frame. When the match was considered satisfactory, joint angles as well as velocity and acceleration of the center of mass were calculated using Matlab®.
Results: In the basketball and handball matchings, the skeleton and surrounding models were successfully matched to the background through all frames in all camera angles. Detailed time courses for joint kinematics and ground reaction force were obtained, while less information could be acquired from the single-view skiing accident.
Conclusion: The model-based image matching technique can be used to extract kinematic characteristics from videotapes of actual ACL injuries, and may provide valuable information on the mechanisms for ACL injuries in sports.
TL;DR: The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics and is implemented by a two-stage control architecture such that intervehicle communication is not required.
Abstract: In this paper, an approach to control the motion of a platoon of autonomous vehicles is presented. The proposed technique is based on the definition of suitable task functions that are handled in the framework of singularity-robust task-priority inverse kinematics. The algorithm is implemented by a two-stage control architecture such that intervehicle communication is not required. The effectiveness of the approach is investigated by means of numerical simulation case studies
TL;DR: The results show that cable sag can have a significant effect on both the inverse kinematics and stiffness of such manipulators.
Abstract: This paper addresses the static analysis of cable-driven robotic manipulators with non-negligible cable mass. An approach to computing the static displacement of a homogeneous elastic cable is presented. The resulting cable-displacement expression is used to solve the inverse kinematics of general cable-driven robotic manipulators. In addition, the sag-induced stiffness of the cables is derived. Finally, two sample robotic manipulators with dimensions and system parameters similar to a large scale cable-driven manipulator currently under development are analyzed. The results show that cable sag can have a significant effect on both the inverse kinematics and stiffness of such manipulators.
TL;DR: The multiplicity of possible hovering kinematics shows that the means by which Manduca sexta actually maintains position and orientation may have considerable freedom and therefore may be influenced by many other factors beyond the physical and aerodynamic requirements of hovering flight.
Abstract: The inverse problem of hovering flight, that is, the range of wing movements appropriate for sustained flight at a fixed position and orientation, was examined by developing a simulation of the hawkmoth Manduca sexta. Inverse problems arise when one is seeking the parameters that are required to achieve a specified model outcome. In contrast, forward problems explore the outcomes given a specified set of input parameters. The simulation was coupled to a microgenetic algorithm that found specific sequences of wing and body motions, encoded by ten independent kinematic parameters, capable of generating the fixed body position and orientation characteristic of hovering flight. Additionally, we explored the consequences of restricting the number of free kinematic parameters and used this information to assess the importance to flight control of individual parameters and various combinations of them. Output from the simulated moth was compared to kinematic recordings of hovering flight in real hawkmoths; the real and simulated moths performed similarly with respect to their range of variation in position and orientation. The simulated moth also used average wingbeat kinematics (amplitude, stroke plane orientation, etc) similar to those of the real moths. However, many different subsets of the available kinematic were sufficient for hovering flight and available kinematic data from real moths does not include sufficient detail to assess which, if any, of these was consistent with the real moth. This general result, the multiplicity of possible hovering kinematics, shows that the means by which Manduca sexta actually maintains position and orientation may have considerable freedom and therefore may be influenced by many other factors beyond the physical and aerodynamic requirements of hovering flight.
01 Dec 2006
TL;DR: This work has shown that a general transformation between two joints requires four parameters, known as the Denavit-Hartenberg (DH) parameters, which have become the standard for describing robot kinematics.
Abstract: Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling of manipulators namely, Cartesian space and Quaternion space. The transformation between two Cartesian coordinate systems can be decomposed into a rotation and a translation. There are many ways to represent rotation, including the following: Euler angles, Gibbs vector, Cayley-Klein parameters, Pauli spin matrices, axis and angle, orthonormal matrices, and Hamilton 's quaternions. Of these representations, homogenous transformations based on 4x4 real matrices (orthonormal matrices) have been used most often in robotics. Denavit & Hartenberg (1955) showed that a general transformation between two joints requires four parameters. These parameters known as the Denavit-Hartenberg (DH) parameters have become the standard for describing robot kinematics. Although quaternions constitute an elegant representation for rotation, they have not been used as much as homogenous transformations by the robotics community. Dual quaternion can present rotation and translation in a compact form of transformation vector, simultaneously. While the orientation of a body is represented nine elements in homogenous transformations, the dual quaternions reduce the number of elements to four. It offers considerable advantage in terms of computational robustness and storage efficiency for dealing with the kinematics of robot chains (Funda et al., 1990). The robot kinematics can be divided into forward kinematics and inverse kinematics. Forward kinematics problem is straightforward and there is no complexity deriving the equations. Hence, there is always a forward kinematics solution of a manipulator. Inverse kinematics is a much more difficult problem than forward kinematics. The solution of the inverse kinematics problem is computationally expansive and generally takes a very long time in the real time control of manipulators. Singularities and nonlinearities that make the
TL;DR: GPS results can be confirmed by accelerometer data and can shed light on problems such as Karman vortex vibrations, earthquake-induced oscillations and quasi-static deformations of most slender engineering structures, and may prove very useful in view of recent trends for displacement deformation-based antiseismic design.
TL;DR: By examining the variability in limb trajectories and correlations of kinematic variables throughout movement for vision and no vision conditions, the contribution of visual feedback in the planning and control of movement can be determined.
TL;DR: This study provides an accurate, inexpensive and simple method to measure the kinematics of movements similar to rising from a chair using low-pass filtering of the accelerometer signal.
TL;DR: It is argued that these benefits derive from binocular disparity processing linked to changes in relative hand–target distance, and that this depth information is independently used to regulate the progress of the approaching hand and to guide the digits to the (pre-selected) contact points on the object, thereby ensuring that the grip is securely applied.
Abstract: Theoretical considerations suggest that binocular information should provide advantages, compared to monocular viewing, for the planning and execution of natural reaching and grasping actions, but empirical support for this is quite equivocal. We have examined these predictions on a simple prehension task in which normal subjects reached, grasped and lifted isolated cylindrical household objects (two sizes, four locations) in a well-lit environment, using binocular vision or with one eye occluded. Various kinematic measures reflecting the programming and on-line control of the movements were quantified, in combination with analyses of different types of error occurring in the velocity, spatial path and grip aperture profiles of each trial. There was little consistent effect of viewing condition on the early phase of the reach, up to and including the peak deceleration, but all other aspects of performance were superior under binocular control. Subjects adopted a cautious approach when binocular information was unavailable: they extended the end phase of the reach and pre-shaped their hand with a wider grip aperture further away from the object. Despite these precautions, initial grip application was poorly coordinated with target contact and was inaccurately scaled to the objects’ dimensions, with the subsequent post-contact phase of the grasp significantly more prolonged, error-prone and variable compared to binocular performance. These effects were obtained in two separate experiments in which the participants’ performed the task under randomized or more predictable (blocked) viewing conditions. Our data suggest that binocular vision offers particular advantages for controlling the terminal reach and the grasp. We argue that these benefits derive from binocular disparity processing linked to changes in relative hand–target distance, and that this depth information is independently used to regulate the progress of the approaching hand and to guide the digits to the (pre-selected) contact points on the object, thereby ensuring that the grip is securely applied.
TL;DR: It is shown that the performance for three conditions involving two different nominal postures and two different sensory conditions (laser/no laser) can be classified by examining the clustering of data in an orientation- sensitivity parameter plane associated with the map.
Abstract: Given the number of joints and muscles in the human body, there are typically an infinite number of ways to perform the same action, a feature of directed movements known as equifinality (Bernstein, The coordination and regulation of movements, Oxford, Pergamon, 1967). Here we present a new type of performance analysis based on the idea of a body-goal variability mapping. We show how this mapping arises naturally from the idea of a goal function that theoretically defines a task and, in the presence of equifinality, determines the set of all possible task solution strategies, the goal equivalent manifold (GEM). The approach also yields estimates of the sensitivity of goal-level errors to body-level perturbations, and we derive a general formula expressing the relationship between the two. We apply these ideas to the analysis of redundant kinematic data from subjects performing an aiming task carried out with and without a laser pointer. It is shown that in order to characterize performance one must consider two factors in addition to the body variability: first, the degree of alignment between body variability and the GEM; and second, the sensitivity parameters that control the degree to which goal-relevant body variability is amplified at the target. Both of these factors can be computed using the estimated body-goal mapping. We show that the performance for three conditions involving two different nominal postures and two different sensory conditions (laser/no laser) can be classified by examining the clustering of data in an orientation- sensitivity parameter plane associated with the map.
TL;DR: The complexity of torso movement dynamics required at least 5 embedded dimensions, which suggests that stability components of lumbar lordosis may be empirically measurable in addition to global stability of trunk dynamics, and nonlinear dynamic systems analyses were successfully applied to empirically measured data.
Abstract: Study design Nonlinear systems analyses of trunk kinematics were performed to estimate control of dynamic stability during repetitive flexion and extension movements. Objective Determine whether movement pace and movement direction of dynamic trunk flexion and extension influence control of local dynamic stability. Summary of background data Spinal stability has been previously characterized in static, but not in dynamic movements. Biomechanical models make inferences about static spinal stability, but existing analyses provide limited insight into stability of dynamic movement. Stability during dynamic movements can be estimated from Lyapunov analyses of empirical data. Methods There were 20 healthy subjects who performed repetitive trunk flexion and extension movements at 20 and 40 cycles per minute. Maximum Lyapunov exponents describing the expansion of the kinematic state-space were calculated from the measured trunk kinematics to estimate stability of the dynamic system. Results The complexity of torso movement dynamics required at least 5 embedded dimensions, which suggests that stability components of lumbar lordosis may be empirically measurable in addition to global stability of trunk dynamics. Repeated trajectories from fast paced movements diverged more quickly than slower movement, indicating that local dynamic stability is limited in fast movements. Movements in the midsagittal plane showed higher multidimensional kinematic divergence than asymmetric movements. Conclusion Nonlinear dynamic systems analyses were successfully applied to empirically measured data, which were used to characterize the neuromuscular control of stability during repetitive dynamic trunk movements. Movement pace and movement direction influenced the control of spinal stability. These stability assessment techniques are recommended for improved workplace design and the clinical assessment of spinal stability in patients with low back pain.
TL;DR: Results suggest that trunk linear and rotational velocities, degree of trunk tilt, time from stride foot contact to ball release, and ball velocity represented potential control parameters and, therefore, constraints on overarm throwing acquisition.
Abstract: The purposes of this study were to: (a) examine differences within specific kinematic variables and ball velocity associated with developmental component levels of step and trunk action (Roberton & Halverson, 1984), and (b) if the differences in kinematic variables were significantly associated with the differences in component levels, determine potential kinematic constraints associated with skilled throwing acquisition. Results indicated stride length (69.3%) and time from stride foot contact to ball release (39.7%) provided substantial contributions to ball velocity (p < .001). All trunk kinematic measures increased significantly with increasing component levels (p < .001). Results suggest that trunk linear and rotational velocities, degree of trunk tilt, time from stride foot contact to ball release, and ball velocity represented potential control parameters and, therefore, constraints on overarm throwing acquisition.
TL;DR: A visual servo tracking controller for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem).
Abstract: A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. Experimental results are provided to demonstrate the control design.
TL;DR: In this article, the authors present some fundamentals in multibody dynamics, recursive algorithms and methods for dynamical analysis, in particular methods from linear system analysis and nonlinear dynamics approaches are discussed.
Abstract: Multibody dynamics is based on analytical mechanics and is applied to engineering systems such as a wide variety of machines and all kind of vehicles. Multibody dynamics depends on computational dynamics and is closely related to control design and vibration theory. Recent developments in multibody dynamics focus on elastic or flexible systems, respectively, contact and impact problems, and actively controlled systems. Some fundamentals in multibody dynamics, recursive algorithms and methods for dynamical analysis are presented. In particular, methods from linear system analysis and nonlinear dynamics approaches are discussed. Also, applications from vehicles, manufacturing science and molecular dynamics are shown.
TL;DR: In this paper, a 3-DOF translational parallel manipulator with fixed actuators is proposed, and the mobility of the manipulator is analyzed via screw theory and the inverse kinematic, forward kinematics and velocity analysis are performed and the singular and isotropic configurations are identified afterward.
Abstract: A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well. DOI: 10.1115/1.2198254
TL;DR: In this paper, the avian wing geometry of a seagull, merganser, teal, and owl extracted from noncontact surface measurements using a three-dimensional laser scanner is presented.
Abstract: The avian wing geometry of a seagull, merganser, teal, and owl extracted from noncontact surface measurements using a three-dimensional laser scanner is presented. The geometrical quantities, including the camber line and thickness distribution of the airfoil, wing planform, chord distribution, and twist distribution, are given in convenient analytical expressions. The avian wing kinematics is recovered from videos of a level-flying seagull, crane, and goose based on a two-jointed arm model in which three characteristic angles are expressed in the Fourier series as a function of time. Therefore, the flapping avian wing with the correct kinematics can be computationally generated for the aerodynamic study of flapping flight.
TL;DR: A 3D upper extremity kinematic model was developed to obtain joint angles of the trunk, shoulder and elbow using a Vicon motion analysis system and can accurately quantify UE arm motion, which may aid in the assessment and planning of stroke rehabilitation, and help to shorten recovery time.
TL;DR: In this article, the topological representations and characteristic analysis of variable kinematic joints have been studied in the context of a mechanism with variable topology, where the topology states of a joint can be expressed symbolically as the joint sequences, graphically the digraphs, and mathematically the matrices.
Abstract: There exist some mechanisms with variable topologies that have interesting applications, for examples, legged walking machines, mechanical push-button stopper locks, and various toys. A variable kinematic joint is a kinematic joint that is capable of topological variation in a mechanism with variable topology. This work aims at the topological representations and characteristic analysis of variable kinematic joints. During the operation process of a mechanism, the topology states of a variable kinematic joint can be expressed symbolically as the joint sequences, graphically the digraphs, and mathematically the matrices. With the applications of graph theory, it proves that the topological characteristics of variable kinematic joints appeared with the abilities of reversibility, continuity, variability of degrees of freedom, joint homonorphism, contractibility, and expansibility. Two examples are provided for illustrating how the proposed concepts can be used to analyze and synthesize the variable joints. The results of this work provide a logical foundation for the systematic structural synthesis regarding the kinematic joints and mechanisms with variable topologies.
TL;DR: Weidner et al. as discussed by the authors used photogrammetric, GPS and geophysical data to derive a constraint on the kinematics of the sagging process of the Talzuschub in Abhangigkeit von Niederschlagen.