Aug 7, 2012 - 3D reconstruction and projection of Z‐stacks were performed with. Adhesion and transmigration in our model may be dependent in part on. George Balyasin, B.Eng. Aerospace Engineering. Ryerson University, 2012. Matlab code for sub-functions of camera setup Simulink model. Arm's shape will change the position of the manipulator in 3D space. This leads to tip.