A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique...
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A complete dynamic model of mobile vehicles moving on nonplanar surfaces under nonholonomic and dynamic constraints is presented. The kinematic control of such systems is examined, and the invariant manifold technique is introduced for steering a nonholonomic mobile vehicle to an invariant manifold which is relatively locally-locally controllable. A closed-loop control strategy based on the invariant manifold technique is formulated and applied to the control of nonholonomic vehicles. Tracking control of such vehicles is demonstrated with both holonomic and nonholonomic reference trajectories.< >
A combined neural network and rule-based approach is suggested as a general framework for pattern recognition. This approach enables unsupervised and supervised learning, respectively, while providing probability esti...
ISBN:
(纸本)9781558602229
A combined neural network and rule-based approach is suggested as a general framework for pattern recognition. This approach enables unsupervised and supervised learning, respectively, while providing probability estimates for the output classes. The probability maps are utilized for higher level analysis such as a feedback for smoothing over the output label maps and the identification of unknown patterns (pattern "discovery"). The suggested approach is presented and demonstrated in the texture - analysis task. A correct classification rate in the 90 percentile is achieved for both unstructured and structured natural texture mosaics. The advantages of the probabilistic approach to pattern analysis are demonstrated.
The authors present a parallel algorithm for logic simulation of VLSI circuits. It is implemented on a network of transputers connected in a ring topology. The approach is based on partitioning a functionality matrix ...
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The authors present a parallel algorithm for logic simulation of VLSI circuits. It is implemented on a network of transputers connected in a ring topology. The approach is based on partitioning a functionality matrix representation of the circuit among the transputers and adopting a data flow technique for the solution. A significant aspect of the algorithm is that it overlaps computation with communication, thereby reducing the communication overhead. It also attempts even distribution of load in order to reduce processor idle time. The algorithm possesses the advantages of ease of implementation and ease of extension to incorporate additional parameters for simulation. Performance results of the algorithm are given.< >
We examine the tracking of 3-dimensional targets moving in a complex (e.g. highly textured) visual environment, which makes the application of methods relying on static segmentation and feature correspondence very pro...
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The authors present the design of a direct-drive parts and tooling gripper for use in robotic assembly operations. The gripper design incorporates three-dimensional force vector sensing and both force and position con...
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The authors present the design of a direct-drive parts and tooling gripper for use in robotic assembly operations. The gripper design incorporates three-dimensional force vector sensing and both force and position control with extremely-low-friction, direct linear drives. The authors discuss a state-variable approach to force control and the design technique required for a manipulator to achieve high-performance force control. They demonstrate that stiffness of the contact between the environment and the manipulator must be known and of an optimum range to provide good force control. To verify the techniques, a servo-controlled manipulator with compliant vector force sensing was developed. The manipulator features direct-drive, linear motors and a compliant, vector force sensor. Force resolution was optimized by eliminating friction sources. A compliant vector force sensor provides the known contact stiffness between the manipulator and the workpiece environment. Experimental results show that force sensor stiffness is a key element in force loop control design and that robust force control dynamics is comparable to robust position control loop dynamics.< >
A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis ...
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A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >
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