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The problem of finding the relative position and orientation between the reference frames of a link-mounted sensor and the link has been formulated as a kinematic equation of the form Hlx= Hxcin terms of homogeneous transformation matrices by Shiu and Ahmad (1987). In this article, normalized quaternions (Euler parameters) are used to transform the(More)
Abs t rac t The problem of finding the relative orientation between the reference frames of a link-mounted sensor and the link is formulated as a kinematic equation of the form A , A , = A,&, which has to be solved for the rotational transformation matrix A , given the transformations A , and Ab. This equation can be transformed to i ts equivalent form in(More)
The essential oil obtained by hydrodistillation from the aerial parts of Tunisian endemic Hypericum triquetrifolium Turra (Clusiaceae) was analyzed using GC and GC-MS. One hundred and nine compounds consisting of 92.2% of total detected constituents were identified. Sesquiterpene hydrocarbons were the main constituents (59.37%), Alpha-humulene,(More)
High-level vision systems that use range images require them to be segmented into clusters of pixels with a common geometric representation. This paper presents a new range image segmentation technique based on successive differentiation. Each time the image is differentiated, an edge detection process follows to locate the surface jump and fold(More)
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