This paper presents a robust adaptive control scheme of an underactuated manipulator. The proposed control schemes are a joint position-to-position (PTP) control scheme and a Cartesian end-point control scheme trackin...
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This paper presents a robust adaptive control scheme of an underactuated manipulator. The proposed control schemes are a joint position-to-position (PTP) control scheme and a Cartesian end-point control scheme tracking a continuous path in Cartesian space. The proposed joint and Cartesian controllers are verified by experimental results for an actual three-link SCARA robot manipulator with a passive joint. In this robot experiment, the third joint of this robot is passive.
This paper presents a highly efficient numerical approach for modeling electromagnetically large resonators with cylindrical symmetry, based on the algorithm proposed in [4], using preconditioned Arnoldi technique and...
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This paper presents a highly efficient numerical approach for modeling electromagnetically large resonators with cylindrical symmetry, based on the algorithm proposed in [4], using preconditioned Arnoldi technique and FDFD method. It applies new techniques to overcome the two main difficulties of the former approach: the errors due to numerical dispersion and long solution time. The first problem is solved by proposing a new low-cost procedure for correcting the FD operators. The second - by applying a novel efficient parallelization scheme. The paper presents numerical results validating the correction procedure and showing very good performance of the solver in parallel systems.
The problem of finding the values of A/sub q/(n,d)-the maximum size of a code of length n and minimum distance d over an alphabet of q elements-is considered. When q/spl les/M<2q, all parameters for which A/sub q/(...
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The problem of finding the values of A/sub q/(n,d)-the maximum size of a code of length n and minimum distance d over an alphabet of q elements-is considered. When q/spl les/M<2q, all parameters for which A/sub q/(n,d)=M are determined. Methods for obtaining upper and lower bounds on A/sub 4/(n,d) are discussed.
We present a new image sequence segmentation method which combines both spatial and temporal information in a multiresolution framework. A region growing technique in a multiresolution scheme outputs an over-segmented...
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ISBN:
(纸本)0780362977
We present a new image sequence segmentation method which combines both spatial and temporal information in a multiresolution framework. A region growing technique in a multiresolution scheme outputs an over-segmented partition of the image scene. Pure temporal information is collected for each region using a feature extraction/feature tracking technique. Motion information is further processed in a pyramidal robust motion estimation scheme, in order to calculate more complex motion parameters for each region. Regions obtained from the first step are clustered according to their motion models. This ensures that rigid objects with luminance discontinuities can be segmented correctly. The method has been successfully tested in real imagery and typical examples are presented.
Motion estimation is widely used in video coding schemes in order to reduce the inherent temporal redundancy among the frames of a video stream. In particular, low and very low bit rate video coding schemes need sophi...
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We consider the problem of computing minimum congestion, fault-tolerant, redundant assignments of messages to faulty parallel delivery channels. In particular, we are given a set M of faulty channels, each having an i...
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In this work we study the problem of counting the number of mobile hosts in mobile networks. Mobile networks aim to provide continuous network connectivity to users regardless of their location. Host mobility introduc...
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In this paper we present a Web-based, database oriented CSCW system to support information dispersal between different Local Government authorities (Region, Prefecture and Municipalities) and the citizens. The system ...
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In this paper we present a Web-based, database oriented CSCW system to support information dispersal between different Local Government authorities (Region, Prefecture and Municipalities) and the citizens. The system is implemented around the `shared workspace' notion, a group of directories and files controlled by the users of the workspace. Intranet and Extranet technologies are exploited to enable asynchronous and synchronous co-operation, manipulation of information from heterogeneous sources, security and easy administration, providing in parallel advanced communication facilities. We propose an innovative approach for the development of shared workspaces over WWW, based on state-of-the-art software platforms, integrating WWW and database technologies. The whole system was developed under a project funded by the Greek General Secretariat of Research and technology and aims in the efficient distribution and management of information between and within different types of local authorities (Municipalities, Prefectures).
Testing of N/spl times/N Non-Restoring Cellular Array Dividers (NRCAD) with respect to path delay faults, is studied in this paper. Design modifications are proposed and a path selection method is suggested. We prove ...
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Testing of N/spl times/N Non-Restoring Cellular Array Dividers (NRCAD) with respect to path delay faults, is studied in this paper. Design modifications are proposed and a path selection method is suggested. We prove that the selected paths are Single Path Propagating Hazard Free Robustly Testable (SPP-HFRT) and that by measuring their delays the delay along any other path of the divider can be easily calculated. The number of selected paths is impressively small compared to all paths of the divider. The delay overhead of the modified design for all values of N is negligible, while the hardware overhead is small too. This is the first easily testable, with respect to path delay faults, NRCAD design in the open literature.
In the age of information overload intelligent agents have proven themselves as a very useful tool for discovering information of interest on the Web. The information seeking process may be either static, by utilizing...
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In the age of information overload intelligent agents have proven themselves as a very useful tool for discovering information of interest on the Web. The information seeking process may be either static, by utilizing existing search engines or using collaborative techniques, or dynamic, by actively browsing the Web. In the second case, agents need to evaluate encountered hyperlinks and choose the promising ones for continuing their autonomous navigation. In this paper we describe a new learning method for identifying interesting links in autonomous information discovery and we present the preliminary results from applying the new method into difficult query domains.
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