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Journal articles on the topic '6DOF method'

Author: Grafiati

Published: 28 June 2021

Last updated: 29 July 2025

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1

Talley, Michael A., and Shahram Sarkani. "A New Simulation Method Providing Shock Mount Selection Assurance." Shock and Vibration 10, no. 4 (2003): 231–67. http://dx.doi.org/10.1155/2003/756142.

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This paper presents the development and assessment of a practical and efficient process for assessing and/or designing shock isolation systems. This process combines practical methods for determining relative displacements and accelerations (e.g. shock response spectrum analysis) with a new, efficient, easy to use, 6 degree of freedom (6DOF) simulation method known as Shock Isolation Mount Predictions & Loading Estimates (SIMPLE). SIMPLE is also a tool that can easily account for uncertainties in isolated systems and their environments. The implementation of 6DOF rigid body theory in SIMPL

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2

Eppenga, Roeland, Koert Kuhlmann, Theo Ruers, and Jasper Nijkamp. "Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders." International Journal of Computer Assisted Radiology and Surgery 15, no. 2 (2019): 369–77. http://dx.doi.org/10.1007/s11548-019-02088-9.

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Abstract Purpose Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso® System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether ac

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3

Jin, Chongchong, and Yeyao Chen. "Towards Quality Assessment for Arbitrary Translational 6DoF Video: Subjective Quality Database and Objective Assessment Metric." Entropy 27, no. 1 (2025): 44. https://doi.org/10.3390/e27010044.

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Arbitrary translational Six Degrees of Freedom (6DoF) video represents a transitional stage towards immersive terminal videos, allowing users to freely switch viewpoints for a 3D scene experience. However, the increased freedom of movement introduces new distortions that significantly impact human visual perception quality. Therefore, it is crucial to explore quality assessment (QA) to validate its application feasibility. In this study, we conduct subjective and objective QAs of arbitrary translational 6DoF videos. Subjectively, we establish an arbitrary translational 6DoF synthesized video q

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Manawadu, Mayura, and Soon-Yong Park. "6DoF Object Pose and Focal Length Estimation from Single RGB Images in Uncontrolled Environments." Sensors 24, no. 17 (2024): 5474. http://dx.doi.org/10.3390/s24175474.

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Accurate 6DoF (degrees of freedom) pose and focal length estimation are important in extended reality (XR) applications, enabling precise object alignment and projection scaling, thereby enhancing user experiences. This study focuses on improving 6DoF pose estimation using single RGB images of unknown camera metadata. Estimating the 6DoF pose and focal length from an uncontrolled RGB image, obtained from the internet, is challenging because it often lacks crucial metadata. Existing methods such as FocalPose and Focalpose++ have made progress in this domain but still face challenges due to the

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Wang, Huafeng, Haodu Zhang, Wanquan Liu, et al. "A novel 6DoF pose estimation method using transformer fusion." Pattern Recognition 162 (June 2025): 111413. https://doi.org/10.1016/j.patcog.2025.111413.

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Chen, Kai, Fuqiang Shen, Jun Zhou, and Xiaofeng Wu. "Simulation Platform for SINS/GPS Integrated Navigation System of Hypersonic Vehicles Based on Flight Mechanics." Sensors 20, no. 18 (2020): 5418. http://dx.doi.org/10.3390/s20185418.

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In this study, a simulation platform for an integrated navigation algorithm for hypersonic vehicles based on flight mechanics is designed. In addition, the generation method of inertial measurement unit data and satellite receiver data is introduced. First, the interface relationship between a high-precision six-degree-of-freedom (6DoF) model and the simulation platform in the launch-centered Earth-fixed frame is introduced. Three-axis theoretical specific force and angular velocity are output by the 6DoF model. Accelerometer and gyroscope error models are added, and integral processing of the

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Wang, Fupan, Xiaohang Tang, Yadong Wu, et al. "A Lightweight 6D Pose Estimation Network Based on Improved Atrous Spatial Pyramid Pooling." Electronics 13, no. 7 (2024): 1321. http://dx.doi.org/10.3390/electronics13071321.

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It is difficult for lightweight neural networks to produce accurate 6DoF pose estimation effects due to their accuracy being affected by scale changes. To solve this problem, we propose a method with good performance and robustness based on previous research. The enhanced PVNet-based method uses depth-wise convolution to build a lightweight network. In addition, coordinate attention and atrous spatial pyramid pooling are used to ensure accuracy and robustness. This method effectively reduces the network size and computational complexity and is a lightweight 6DoF pose estimation method based on

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Yu, Zhaolong, Yugao Shen, Jørgen Amdahl, and Marilena Greco. "Implementation of Linear Potential-Flow Theory in the 6DOF Coupled Simulation of Ship Collision and Grounding Accidents." Journal of Ship Research 60, no. 03 (2016): 119–14. http://dx.doi.org/10.5957/jsr.2016.60.3.119.

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Ship collisions and groundings are highly nonlinear and transient, coupled dynamic processes involving large structural deformations and fluid structure interactions. It has long been difficult to include all effects in one simulation. By taking advantage of the user-defined load subroutine and the user common variable, this article implements a model of hydrodynamic loads based on linear potential-flow theory into the nonlinear finite element code LS-DYNA, facilitating a fully coupled six degrees of freedom (6DOF) dynamic simulation of ship collision and grounding accidents. Potential-flow th

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AGUIAR, LILIANA, CARLOS ANDRADE, MARCO BRANCO, RITA SANTOS-ROCHA, FILOMENA VIEIRA, and ANTÓNIO VELOSO. "GLOBAL OPTIMIZATION METHOD APPLIED TO THE KINEMATICS OF GAIT IN PREGNANT WOMEN." Journal of Mechanics in Medicine and Biology 16, no. 06 (2016): 1650084. http://dx.doi.org/10.1142/s0219519416500846.

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Morphological changes are associated to pregnancy, such as weight gain and increased volume of the trunk. The soft tissue artifact can also increase with these characteristics and affect the real joint kinematics. The main objective of this study was to understand the effect of using three different constraining sets in the lower limb joints, in the amount of soft tissue artifact (STA) of pregnant women, in order to obtain the most appropriated joint set to be used in gait and in this population. The ankle, knee and hip joints were modeled respectively with the following characteristics: (1) U

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10

Wu, Yan, Li Hui Cheng, Guo Feng Fan, and Cai Dong Wang. "Inverse Kinematics Solution and Optimization of 6DOF Handling Robot." Applied Mechanics and Materials 635-637 (September 2014): 1355–59. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.1355.

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The kinematics equation of the handling robot with six free degrees has multiple sets inverse solution, and the robot system only can choose one optimized solutions to drive the robot to work. The kinematics model of the robot is established by D-H method, and the inverse solution is derived by an algebraic method. The best flexibility principle was introduced to determine a set of optimal solutions from 8 sets of feasible solutions. The correctness of robot inverse solution method is verified through a set of calculation examples.

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Ito, Tadashi, Hiroo Yoneyama, Yuto Akiyama, Tomonori Hagiwara, and Shunsuke Ezawa. "Sensing Algorithm to Estimate Slight Displacement and Posture Change of Target from Monocular Images." Sensors 23, no. 2 (2023): 851. http://dx.doi.org/10.3390/s23020851.

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Various types of displacement sensors, which measure position changes of object, have been developed depending on the type and shape of the object under measurement, measurement range of the amount of displacement, required accuracy, and application. We are developing a new type of displacement sensor that is image-based, capable of measuring changes in 6DOF (3D position and orientation) of an object simultaneously, and is compact and low-cost. This displacement sensor measures the 6DOF of an object using images obtained by a monocular vision system. To confirm the usefulness of the proposed m

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Khalaf, S. Gaeid, F. Nashee Asaad, A. Ahmed Ibrahim, and H. Dekheel Mohammed. "Robot control and kinematic analysis with 6DoF manipulator using direct kinematic method." Bulletin of Electrical Engineering and Informatics 10, no. 1 (2021): 70–78. https://doi.org/10.11591/eei.v10i1.2482.

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The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along t

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13

Domae, Yukiyasu. "6DoF Graspability Evaluation on a Single Depth Map." Journal of Robotics and Mechatronics 37, no. 2 (2025): 367–73. https://doi.org/10.20965/jrm.2025.p0367.

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Robot-based picking of diverse objects remains one of the critical challenges in the field of robotic automation research. In the automation of vision-based picking, methods based on large-scale pre-training or object shape models have been proposed. However, in many real industrial settings, it is often difficult to prepare the necessary pre-trained models or object shape models. One approach that does not require pre-training or object shape models is fast graspability evaluation (FGE). FGE efficiently detects grasp positions by convolving depth images with a cross-sectional model of the rob

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14

Xi, Ke, and Chao Yan. "CFD Transonic Trajectory Predictions of Three-Store Ripple Release Using Chimera Method." Applied Mechanics and Materials 513-517 (February 2014): 4490–93. http://dx.doi.org/10.4028/www.scientific.net/amm.513-517.4490.

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The complicated unsteady flows with moving boundary were simulated numerically by coupling solving unsteady compressible Navier-Stokes equations and 6DOF rigid-body dynamics equations. The Chimera grid technology was used to handle the relative motion. The three-store ripple release of the wing-store configuration was simulated using this method. The computational results are in good agreement with data from other literature, showing that the method used has a strong applicability to complex multi-body separation problem.

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15

Lv, Kefeng, Yongsheng Zhang, Ying Yu, Zhenchao Zhang, and Lei Li. "Visual Localization and Target Perception Based on Panoptic Segmentation." Remote Sensing 14, no. 16 (2022): 3983. http://dx.doi.org/10.3390/rs14163983.

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Visual localization is a core part of many computer vision and geospatial perception applications; however, the ever-changing time phase and environment present challenges. Moreover, the ever-enriching spatial data types and sensors create new conditions for visual localization. Based on the prior 3D model and the location sensor, the current study proposes a visual localization method using semantic information. This method integrates panoptic segmentation and the matching network to refine the sensor’s position and orientation and complete the target perception. First, the panoptic segmentat

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16

Jiang, Yifan, Xiang Huang, and Shuanggao Li. "An on-line compensation method of a metrology-integrated robot system for high-precision assembly." Industrial Robot: An International Journal 43, no. 6 (2016): 647–56. http://dx.doi.org/10.1108/ir-03-2016-0091.

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Purpose The purpose of this paper is to propose an on-line iterative compensation method combining with a feed-forward compensation method to enhance the assembly accuracy of a metrology-integrated robot system (MIRS). Design/methodology/approach By the integration of a six degrees of freedom (6DoF) measurement system (T-Mac), the robot’ movement can be tracked with real-time measurement. With the on-line measured data, the proposed iterative compensation for absolute positioning and the feed-forward compensation for relative linear motion are integrated into the assembly process to improve th

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17

Elango, P., and R. Mohan. "Trajectory optimisation of six degree of freedom aircraft using differential flatness." Aeronautical Journal 122, no. 1257 (2018): 1788–810. http://dx.doi.org/10.1017/aer.2018.99.

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ABSTRACTThe flatness of a six-degree-of-freedom (6DoF) aircraft model with conventional control surfaces – aileron, flap, rudder and elevator, along with thrust vectoring ability is established in this work. Trajectory optimisation of an aircraft can be cast as an inverse problem where the solution for control inputs that yield desired trajectories for certain states is sought. The solution to the inverse problems for certain systems is made tractable when they exhibit differential flatness. Flatness-based trajectory optimisation has a significant advantage over an equivalent collocation-based

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18

Gaeid, Khalaf S., Asaad F. Nashee, Ibrahim A. Ahmed, and Mohammed H. Dekheel. "Robot control and kinematic analysis with 6DoF manipulator using direct kinematic method." Bulletin of Electrical Engineering and Informatics 10, no. 1 (2021): 70–78. http://dx.doi.org/10.11591/eei.v10i1.2482.

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The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along t

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19

Wu, Tiecheng, Wanzhen Luo, Dapeng Jiang, Rui Deng, and Shuo Huang. "Numerical Study on Wave-Ice Interaction in the Marginal Ice Zone." Journal of Marine Science and Engineering 9, no. 1 (2020): 4. http://dx.doi.org/10.3390/jmse9010004.

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The effect of waves on ice sheet is critical in the marginal ice zone (MIZ). Waves break large sea ice into small pieces and cause them to collide with each other. Simultaneously, the interaction between sea ice and waves attenuates these waves. In this study, a numerical research is conducted based on a computational fluid dynamics (CFD) method to investigate the response of single ice floe to wave action. The obtained results demonstrate that the sea ice has a violent six degree of freedom (6DoF) motion in waves. Ice floes with different sizes, thicknesses, and shapes exhibit different 6DoF

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20

Viejo, Diego, and Miguel Cazorla. "A robust and fast method for 6DoF motion estimation from generalized 3D data." Autonomous Robots 36, no. 4 (2013): 295–308. http://dx.doi.org/10.1007/s10514-013-9354-z.

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21

Li, Shutong, Ahmad Ghasemi, Wenfang Xie, and Yanbin Gao. "An Enhanced IBVS Controller of a 6DOF Manipulator Using Hybrid PD-SMC Method." International Journal of Control, Automation and Systems 16, no. 2 (2018): 844–55. http://dx.doi.org/10.1007/s12555-016-0720-4.

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22

Zheng, Yan, Zhicheng Zhou, and Hai Huang. "A multi-frequency MIMO control method for the 6DOF micro-vibration exciting system." Acta Astronautica 170 (May 2020): 552–69. http://dx.doi.org/10.1016/j.actaastro.2020.02.033.

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23

Farouk, Mohamed, Karim Kriaa, and Mohamed Elgamal. "CFD Simulation of a Submersible Passive Rotor at a Pipe Outlet under Time-Varying Water Jet Flux." Water 14, no. 18 (2022): 2822. http://dx.doi.org/10.3390/w14182822.

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During the past two decades, passive rotors have been proposed and introduced to be used in a number of different water sector applications. One of these applications is the use of a passive rotor at the outlets of pipe outfalls to enhance mixing. The main objective of this study is to develop a CFD computational workflow to numerically examine the feasibility of using a passive rotor downstream of the outlet of pipe outfalls to improve the mixing properties of the near flow field. The numerical simulation for a pipe outlet with a passive rotor is a numerical challenge because of the nonlinear

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24

Liu, Huikai, Gaorui Liu, Yue Zhang, et al. "A 3D Keypoints Voting Network for 6DoF Pose Estimation in Indoor Scene." Machines 9, no. 10 (2021): 230. http://dx.doi.org/10.3390/machines9100230.

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This paper addresses the problem of instance-level 6DoF pose estimation from a single RGBD image in an indoor scene. Many recent works have shown that a two-stage network, which first detects the keypoints and then regresses the keypoints for 6d pose estimation, achieves remarkable performance. However, the previous methods concern little about channel-wise attention and the keypoints are not selected by comprehensive use of RGBD information, which limits the performance of the network. To enhance RGB feature representation ability, a modular Split-Attention block that enables attention across

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Kamata, Ryoya, Ryosuke Tamura, Satoshi Niitsu, Hiroshi Kawaharada, and Hiroyuki Hiraoka. "Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly." International Journal of Automation Technology 8, no. 3 (2014): 452–59. http://dx.doi.org/10.20965/ijat.2014.p0452.

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This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes

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Jensen, Mathias Laustsen, Rasoul Mahshid, Greta D’Angelo, et al. "Toolpath Strategies for 5DOF and 6DOF Extrusion-Based Additive Manufacturing." Applied Sciences 9, no. 19 (2019): 4168. http://dx.doi.org/10.3390/app9194168.

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This paper introduces two new deposition-strategies for five degrees of freedom (5DOF) and 6DOF extrusion-based additive manufacturing (AM), called the tool path projection- and parent-child-approach, respectively. The tool path projection method can be automated, and allows for the generation of concentric shells layers, which remedy geometrical deviations (known as the stair-case effect) that are typically seen in 3DOF AM processes that potentially require secondary post treatment by machining or grinding of the final part. In the parent-child approach, the designer specifies the manufacturi

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Chu, Jilong, Min Gu, Jiang Lu, and Peijie Zhang. "A Prediction Method and Model Experiments on Surf-Riding and Broaching in Stern-Quartering Waves." Journal of Marine Science and Engineering 12, no. 9 (2024): 1538. http://dx.doi.org/10.3390/jmse12091538.

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At present, the International Maritime Organization (IMO) has issued interim guidelines for the direct stability assessment of surf-riding and broaching for the second-generation intact stability criteria. Accurately and efficiently predicting surf-riding and broaching remains a key problem to be solved for the direct stability assessment of surf-riding and broaching. Therefore, a six-degree-of-freedom(6DOF) coupled mathematical model is established in this paper. Firstly, the four-degree-of-freedom(4DOF) coupled equations of surge–sway–roll–yaw motions are built based on the traditional MMG m

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Hsu, Chih-Fan, Tse-Hou Hung, and Cheng-Hsin Hsu. "Optimizing Immersive Video Coding Configurations Using Deep Learning: A Case Study on TMIV." ACM Transactions on Multimedia Computing, Communications, and Applications 18, no. 1 (2022): 1–25. http://dx.doi.org/10.1145/3471191.

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Immersive video streaming technologies improve Virtual Reality (VR) user experience by providing users more intuitive ways to move in simulated worlds, e.g., with 6 Degree-of-Freedom (6DoF) interaction mode. A naive method to achieve 6DoF is deploying cameras at numerous different positions and orientations that may be required based on users’ movement, which unfortunately is expensive, tedious, and inefficient. A better solution for realizing 6DoF interactions is to synthesize target views on-the-fly from a limited number of source views. While such view synthesis is enabled by the recent Tes

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Zeng, Ji Guo, Jing Yu Liu, and Qiang Yu. "Design and Development of 6DOF Hydraulic Motion Platform for Vehicle Driving Simulator." Applied Mechanics and Materials 505-506 (January 2014): 315–18. http://dx.doi.org/10.4028/www.scientific.net/amm.505-506.315.

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The high-level driving simulators generally involve motion platform. This paper describes the design and development of a 6DOF hydraulic motion platform for vehicle driving simulator. Firstly, the structure and kinematic model of the platform are introduced. Then, the speed characteristics of the hydraulic cylinders by using different positive and negative voltage are studied. Because the cylinder startup time and hydraulic pump pressure will both affect the platform's final position, so a real-time platform control method according the sensor feedback is described. Finally, commonly used cont

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Puomio, Otto, Nils Meyer-Kahlen, and Tapio Lokki. "Locating Image Sources from Multiple Spatial Room Impulse Responses." Applied Sciences 11, no. 6 (2021): 2485. http://dx.doi.org/10.3390/app11062485.

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Measured spatial room impulse responses have been used to compare acoustic spaces. One way to analyze and render such responses is to apply parametric methods, yet those methods have been bound to single measurement locations. This paper introduces a method that locates image sources from spatial room impulse responses measured at multiple source and receiver positions. The method aligns the measurements to a common coordinate frame and groups stable direction-of-arrival estimates to find image source positions. The performance of the method is validated with three case studies—one small room

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Hussnain, Z., S. Oude Elberink, and G. Vosselman. "AN AUTOMATIC PROCEDURE FOR MOBILE LASER SCANNING PLATFORM 6DOF TRAJECTORY ADJUSTMENT." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-1 (September 26, 2018): 203–9. http://dx.doi.org/10.5194/isprs-archives-xlii-1-203-2018.

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<p><strong>Abstract.</strong> In this paper, a method is presented to improve the MLS platform’s trajectory for GNSS denied areas. The method comprises two major steps. The first step is based on a 2D image registration technique described in our previous publication. Internally, this registration technique first performs aerial to aerial image matching, this issues correspondences which enable to compute the 3D tie points by multiview triangulation. Similarly, it registers the rasterized Mobile Laser Scanning Point Cloud (MLSPC) patches with the multiple related aerial image

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Luo, Yi, Yan Shi, Qiang Chen, and Qi Li. "Analysis of Polynomial Interpolation Characteristics Based on 6DOF Manipulator Trajectory Planning." Journal of Computing and Electronic Information Management 14, no. 1 (2024): 36–46. http://dx.doi.org/10.54097/u9b3b0ay.

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Aiming at the problems of choosing and using polynomials of different times and mixed polynomials in the process of manipulator trajectory planning, such as difficulty, wide range of light and low accuracy, in this paper, the application of different polynomials in manipulator trajectory planning is systematically analyzed by using MATLAB Robot Toolbox simulation platform and Polynomial interpolation algorithm. Using a 6-dof robotic arm Puma560 as a simulation object, the effects of three-, five-, and seven-Polynomial interpolation on joint position and pose in joint space trajectory planning

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Jouir, Tasarinan, Reuben Strydom, Thomas M. Stace, and Mandyam V. Srinivasan. "Vision-only egomotion estimation in 6DOF using a sky compass." Robotica 36, no. 10 (2018): 1571–89. http://dx.doi.org/10.1017/s0263574718000577.

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SUMMARYA novel pure-vision egomotion estimation algorithm is presented, with extensions to Unmanned Aerial Systems (UAS) navigation through visual odometry. Our proposed method computes egomotion in two stages using panoramic images segmented into sky and ground regions. Rotations (in 3DOF) are estimated by using a customised algorithm to measure the motion of the sky image, which is affected only by the rotation of the aircraft, and not by its translation. The rotation estimate is then used to derotate the optic flow field generated by the ground, from which the translation of the aircraft (i

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Montagud, Mario, Cristian Hurtado, Juan Antonio De Rus, and Sergi Fernández. "Subtitling 3D VR Content with Limited 6DoF: Presentation Modes and Guiding Methods." Applied Sciences 11, no. 16 (2021): 7472. http://dx.doi.org/10.3390/app11167472.

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All multimedia services must be accessible. Accessibility for multimedia content is typically provided by means of access services, of which subtitling is likely the most widespread approach. To date, numerous recommendations and solutions for subtitling classical 2D audiovisual services have been proposed. Similarly, recent efforts have been devoted to devising adequate subtitling solutions for VR360 video content. This paper, for the first time, extends the existing approaches to address the challenges remaining for efficiently subtitling 3D Virtual Reality (VR) content by exploring two key

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Li, Wei, Xiao Liang, Jianguo Lin, et al. "Numerical Simulation of Ship Oil Spill in Arctic Icy Waters." Applied Sciences 10, no. 4 (2020): 1394. http://dx.doi.org/10.3390/app10041394.

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This paper presents a three-dimensional numerical simulation model of an oil spill for application in emergency treatment methods under icy water conditions. The combined effects of wind, wave, current and ice implemented in our model correspond to Arctic Ocean conditions. A discrete element method combined with an overset grid was adopted to track the trajectory movements of oil film with medium-density ice floes and simulate the flow field of moving ice of large displacement in six degrees of freedom (6DOF). The probability of oil spill area extensions were estimated by a response surface me

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Liu, Qiang, Yu Han, Min Hao Liu, and Shang Fei Tian. "Implementation of Dynamic Simulation System on Six DOF Industrial Robot." Applied Mechanics and Materials 373-375 (August 2013): 206–12. http://dx.doi.org/10.4028/www.scientific.net/amm.373-375.206.

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A dynamic simulation system whose model objects were industrial robot was designed. An advanced and quickly inverse kinematic algorithm was used to solve inverse kinematic equation for 6DOF industrial robot, the time of solve was improved. The method of trajectory planning was developed. The vision simulation for industrial robot was completed by Creator and Vega software. Simulation result shows that the requirement of kinematic control has been achieved and provides an intuitive and convenient tool for research of the kinematic control algorithm for industrial robot.

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Hsu, Cheng-Hsing, Jun-Liang Chen, Shan-Chi Yuan, and Kuang-Yuan Kung. "CFD Simulations on the Rotor Dynamics of a Horizontal Axis Wind Turbine Activated from Stationary." Applied Mechanics 2, no. 1 (2021): 147–58. http://dx.doi.org/10.3390/applmech2010009.

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The adaptive dynamic mesh, user-defined functions, and six degrees of freedom (6DOF) solver provided in ANSYS FLUENT 14 are engaged to simulate the activating processes of the rotor of the Grumman WS33 wind system. The rotor is activated from stationary to steady operation driven by a steady or periodic wind flow and its kinematic properties and power generation during the activating processes. The angular velocity and angular acceleration are calculated directly by the post-processed real-time 6DOF solver without presuming a known rotating speed to the computational grid frame. The maximum an

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Kelechi Kingsley Igbokwe, James Eke, and Patrick Uche Okafor. "Development of model predictive controller in avoidance design of Unmanned Aerial Vehicle (UAV)." World Journal of Advanced Engineering Technology and Sciences 9, no. 1 (2023): 076–83. http://dx.doi.org/10.30574/wjaets.2023.9.1.0137.

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This research was accomplished by employing already developed mathematical model of a 6DoF UAV in free space through the motion of the 6DoF aircraft (unmanned aerial vehicle) determined by coordinate systems which allow an aircraft’s position and orientation in space to be kept tracked. The discrete method of the model developed for simulation in Simulink was realized with a suitable transfer function. Then, an artificial neural network model predictive adaptive controller that can handle the nonlinearities associated with the UAV was developed based on state space technique and the model pred

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Nguyen, Van-Tu, Duc-Thanh Vu, Warn-Gyu Park, and Chul-Min Jung. "Navier–Stokes solver for water entry bodies with moving Chimera grid method in 6DOF motions." Computers & Fluids 140 (November 2016): 19–38. http://dx.doi.org/10.1016/j.compfluid.2016.09.005.

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Kim, Gu-Hyeon, Seunghyun Hwang, Soon-Hyun Lee, et al. "A Numerical Study on the Performance of the 66k DWT Bulk Carrier in Regular and Irregular Waves." Journal of Marine Science and Engineering 11, no. 10 (2023): 1913. http://dx.doi.org/10.3390/jmse11101913.

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Accurate resistance performance evaluation is essential to predict the minimum propulsion horsepower required for ships in real sea. Therefore, in this paper, the added resistance performance of K-Supramax in various wave conditions was calculated using CFD (Computational Fluid Dynamics). First, to compare the resistance performance according to the DOF (Degree of Freedom), the added resistance performance in the head regular wave was investigated and compared with the experiment. The 2DOF and 6DOF results in the head regular wave had no significant differences. Second, to compare the resistan

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Farah, Edris, and Shao Gang Liu. "3D Modeling and Closed-Form Inverse Kinematics Solution for 6dof Surgical Robot." Applied Mechanics and Materials 455 (November 2013): 533–38. http://dx.doi.org/10.4028/www.scientific.net/amm.455.533.

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Since robots began to inter the medical fields, more research efforts and more attention have been given to this kind of robots. In this paper six degrees of freedom surgical robot was studied. The Denavit-Hartenberg parameters of the robot have been computed and 3D model has been built by using open source robotics toolbox. The paper also discussed a closed form solution for the inverse kinematics problem by using inverse kinematic decoupling method.

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Yue, Jin, Guang Ren, Xiao Liang, Xiao Wei Qi, and Geng Tian Li. "Motion Modeling and Simulation of High-Speed Unmanned Surface Vehicle." Applied Mechanics and Materials 44-47 (December 2010): 1588–92. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.1588.

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According to the motion characteristic and the hydrodynamics of high-speed deep-V planings, forces and moments acted on a deep-V planing propelled by a contra-rotating propeller were analyzed, and on the basis of MMG modeling method, a real-time 6DOF mathematical motion model for the high-speed unmanned surface vehicle(USV) was built and the performance was simulated using the Matlab/Simulink software tool. Compared with the actual sea trial data, the results show that the proposed model can better reflect and simulate the maneuverability of the USV under ocean environment.

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Švejda, Martin, Martin Goubej, Arnold Jáger, Jan Reitinger, and Ondřej Severa. "Affordable Motion Tracking System for Intuitive Programming of Industrial Robots." Sensors 22, no. 13 (2022): 4962. http://dx.doi.org/10.3390/s22134962.

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The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper’s theoretical contribution. The motion tracking system is successfully deployed in a pilot application of r

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Xu, Lai Bin. "Longitudinal Dynamics Response of M-Wing Morphing Aircraft." Advanced Materials Research 538-541 (June 2012): 2627–30. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.2627.

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A simulation methodology suitable for morphing wing aircraft is presented, accounting for the changes in both inertial and aerodynamic properties. The aerodynamics was generated with vortex lattice method and solved concurrently with 6DOF nonlinear extended equations of motion. Due to the wing morphing, there are 4 additional forces and moments exhibiting in the extended equations of motion. The simulation mythology was applied to M-wing morphing aircraft, and the longitudinal dynamic response was analyzed with the wing morphing symmetrically. The results show that the additional forces and mo

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Lou, Hankun, Mengjie Xu, Xinrui Wang, Jialiang Li, and Xuefei Zhong. "4‐3: A Viewpoint Tracing Method Based on Inertial Measurement Unit in Augmented Reality." SID Symposium Digest of Technical Papers 56, S1 (2025): 32–35. https://doi.org/10.1002/sdtp.18716.

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To address the insufficient immersion caused by the limited field of view (FOV) in existing mixed reality (MR) glasses, this paper proposes a collaborative interaction architecture combining augmented reality (AR) glasses with a cave screen display system. The system constructs dynamic 3D scenes through the Unity engine and achieves synchronous transmission of 6DoF pose data between AR glasses and the curved screen using TCP protocol. A closed‐loop mapping mechanism is established to correlate physical user movements with real‐time virtual scene updates, thereby extending the system FOV to 180

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Zheng, Feng, Zhang, and Li. "A Method for Simultaneously Measuring 6DOF Geometric Motion Errors of Linear and Rotary Axes Using Lasers." Sensors 19, no. 8 (2019): 1764. http://dx.doi.org/10.3390/s19081764.

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A novel method for simultaneously directly measuring six-degrees-of-freedom (6DOF) geometric motion errors of CNC machine tools was proposed, and a corresponding measurement system was developed. This method can not only be applied for measuring a linear axis, but also for a rotary axis. A single-mode fiber was used to separate the measuring unit from the laser source in order to ensure system thermal stability and measurement accuracy. The method has the advantages of high efficiency and good accuracy, and requires no complicated decoupling calculation. The positioning error of the linear axi

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Ricardo, Diogo, Júlia Teles, Maria Raquel Raposo, António Prieto Veloso, and Filipa João. "Test-Retest Reliability of a 6DoF Marker Set for Gait Analysis in Cerebral Palsy Children." Applied Sciences 11, no. 14 (2021): 6515. http://dx.doi.org/10.3390/app11146515.

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Background: Cerebral palsy (CP) is a complex pathology that describes a group of motor disorders with different presentations and functional levels. Three-dimensional gait analysis is widely used in the assessment of CP children to assist in clinical decision making. Thus, it is crucial to assess the repeatability of gait measurements to evaluate the progress of the rehabilitation process. The purpose of the study is to evaluate test-retest reliability of a six-degree-of-freedom (6DoF) marker set in key points of gait kinematics, kinetics, and time-distance parameters in children with CP. Meth

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Le-Thi-Thu, Thuy, and Luong Tran-Thi-Thu. "Kinematic Study of Non-Spherical Wrists in Industrial Robots." International Journal of Advanced Multidisciplinary Research and Studies 5, no. 2 (2025): 2268–73. https://doi.org/10.62225/2583049x.2025.5.2.4168.

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Serial 6DOF robots with non-spherical wrists are widely used in applications requiring high flexibility and large workspaces, such as painting and welding. A key challenge is the lack of analytical solutions for their inverse kinematics. This study investigates the kinematics of three common non-spherical wrists. Using their kinematic equations, the complete workspace of each wrist is analyzed. We propose the Generalized Reduced Gradient (GRG) numerical method to solve the inverse kinematics problem. Validation results demonstrate that the GRG method achieves high accuracy with minimal errors,

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Sun, Lu, Hussein Al Osman, and Jochen Lang. "An Augmented Reality Online Assistance Platform for Repair Tasks." ACM Transactions on Multimedia Computing, Communications, and Applications 17, no. 2 (2021): 1–23. http://dx.doi.org/10.1145/3429285.

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Our augmented reality online assistance platform enables an expert to specify 6DoF movements of a component and apply the geometrical and physical constraints in real-time. We track the real components on the expert’s side to monitor the operations of an expert. We leverage a remote rendering technique that we proposed previously to relieve the rendering burden of the augmented reality end devices. By conducting a user study, we show that the proposed method outperforms conventional instructional videos and sketches. The answers to the questionnaires show that the proposed method receives high

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Liu, Chenyi, Fei Chen, Lu Deng, et al. "6DOF pose estimation of a 3D rigid object based on edge-enhanced point pair features." Computational Visual Media 10, no. 1 (2023): 61–77. http://dx.doi.org/10.1007/s41095-022-0308-2.

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AbstractThe point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses on edge areas for efficient feature extraction for complex geometry. A pose hypothesis validation approach is proposed to resolve ambiguity due to symmetry by calculating the edge matching degree. We perform evaluations on two challenging datasets and one real-world collected dataset, demonstrating the superiority of our method for pose estimation for geometricall

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