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The paper intends to present an ornament, less used in decoration because of the practical difficulties in manufacturing, either manually or in the industrial system. In the paper are presented the elements related to the design (geometry) of the cable mouldings, both for constant and variable pitch type and also the kinematics of generating these ornaments. Finally the working schemes of processing these ornaments in the wood industrial system are presented, the ornaments being used to decorate pieces of furniture. The cable moulding type decoration gives to furniture and building products a certain dynamism and vigor, wherefore remains permanently in the attention of designers in construction and furniture fields and also of the interior designers.

The geometry and kinematics of unconventional engine mechanism FIK1 are described in the paper. Transformation of the piston linear movement to rotational movement is done by a swinging board, a baseboard and a crankshaft. The paper describes the trajectory and acceleration of an observed point on the swinging board in all three planes as well as the kinematics of the piston movement. The principle of the unconventional mechanism FIK1 is protected by patents No. 283742 and No. 283743. A mathematical model of the mechanism and some significant results are presented.

In recent years, with the rapid development of computer vision technology, image-based human body research has become an important task, such as pedestrian target detection, trajectory tracking, posture estimation and behaviour recognition. The centre of mass is one of the important characteristics that can reflect the phenomenon of pedestrian movement. This paper first introduces the biped robot model in robotics, starting from forward and inverse kinematics, to find the mapping relationship between the position of each joint and the pose of the end effector. Then, corresponding to the skeleton model of the human joint points, the characteristics of the bone posture and joint angle are determined. The moment of inertia factor is introduced, and the motion superposition of different joint points is considered to establish a pedestrian motion centroid model. By calculating the equivalent dynamic centroid, the pedestrian kinematics law can be explored and the pedestrian movement mechanism can be more deeply recognized.

Execution of spiral-turned ornaments with constant pitch represents the movement of the tool on the helical trajectories (main trajectory) along a cylinder during manufacturing process. The processing tool has the profile shape of the helical winding (generated trajectory) on the cutting knives. The main and the generated trajectories are the basic elements in processing of spiral-turned ornaments with constant pitch. If the generated trajectory is materialized on the cutting knives of the tools (profiled router milling tools), the main trajectory must be kinematic generated by combining the movements performed by the tool and the workpiece. Generating the main trajectory means to combine the linear and angular movements, correlated with parameters as function of geometrical characteristics of the spiral-turned ornament: wrapping angle and winding pitch (axial pitch). This paper aims to present the links and parametric correlations between the working tool and the workpiece according to the geometric characteristics that must result to ensure the aesthetics of the ornament. The correlation of parameters results also in obtaining the desired quality of machined surfaces. All these require the development of correlation between kinematics and parameters of the machine tools that process such ornaments.

Continuum manipulators have been widely adopted for single-port laparoscopy (SPL). A novel continuum manipulator with uniform notches which has two degrees of freedom (DOFs) is presented in this paper. The arrangement of flexible beams makes it own a higher load capacity. Its kinematic model is coupled with the mechanical model. The comprehensive elliptic integral solution (CEIS) is more practical in the actual deformation of the flexible beams. Based on that method, kinematics modeling is established from the driven space to the Cartesian space. The friction coefficient is an important factor which can affect the kinematic modeling. Therefore, an experimental platform is established to obtain the friction coefficient. The kinematic modeling is verified through the prototype. Experimental results show that the model has high precision.

This paper describes the position estimation of mobile robot by sensing caster wheel motion. A mathematical model is developed to determine the position of mobile robot by sensing the angular velocity and heading angle of the caster wheel. Using the established equations, simulations were carried out using MATLAB version 8.6 to observe and verify the position coordinates of mobile robot and in turn obtain its trajectory. The simulation results show that the angular velocity of caster wheel and heading angle calculated from the sensor output readings with the help of inverse kinematics equations matches well with that of actual values given as input for simulation. Simulation result of tracking rectangular trajectory implies that the path traced by the mobile robot can also be determined from the sensor output readings. This concept can be implemented on a real mobile robot for estimation of its position.

This paper describes the position estimation of mobile robot by sensing caster wheel motion. A mathematical model is developed to determine the position of mobile robot by sensing the angular velocity and heading angle of the caster wheel. Using the established equations, simulations were carried out using MATLAB version 8.6 to observe and verify the position coordinates of mobile robot and in turn obtain its trajectory. The simulation results show that the angular velocity of caster wheel and heading angle calculated from the sensor output readings with the help of inverse kinematics equations matches well with that of actual values given as input for simulation. Simulation result of tracking rectangular trajectory implies that the path traced by the mobile robot can also be determined from the sensor output readings. This concept can be implemented on a real mobile robot for estimation of its position.