In this paper we develop a framework for integrating real-Time software modules that comprise a reconfigurable multi-sensor based system. Our framework is based on the proposed concept of a global database of state in...
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Animals have been engineered by evolution to adapt and survive in a dynamic environment. We are studying the neural control mechanisms of the American lobster and applying the resultant neurophysiological models to ro...
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A queueing network that is served by a single server in a cyclic order is analyzed in this paper. Customers arrive at the queues from outside the network according to independent Poisson processes. Upon completion of ...
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A new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint. For the stance phase a nonlinear controller is derived that ...
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A new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint. For the stance phase a nonlinear controller is derived that maintains the balance of the robot and periodically accelerates the center of mass vertically. For large enough oscillations the robot can slide or take off. If flight is achieved, the drift caused by non-zero angular momentum can typically be cancelled by rotating the actuated joint an integral number of times, and the robot can land in the same configuration in which it took off. This is due to the holonomy of a single rotation of the actuated joint. Results of simulations are presented in which the robot achieves both sliding and hopping gaits.< >
A mathematical framework for the solution of statistical inference problems on a class of random sets is proposed. It is based on a new definition of expected pattern. The least-mean-difference estimator (restoration ...
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A mathematical framework for the solution of statistical inference problems on a class of random sets is proposed. It is based on a new definition of expected pattern. The least-mean-difference estimator (restoration filter) is proved, under certain conditions, to be equivalent to the minimization of the measure of size (area) of the set-difference between the original pattern and the expected pattern of the estimated (restored) pattern. Consequently, it is proved that, under certain conditions, if the estimator (restoration filter) is unbiased, then it is the least mean difference estimator (restoration filter).< >
An approach to the control of a robot manipulator in grasping a simple moving target with constant speed is presented. A layered neural network architecture-based controller has been developed. It can automatically le...
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An approach to the control of a robot manipulator in grasping a simple moving target with constant speed is presented. A layered neural network architecture-based controller has been developed. It can automatically learn visual motor coordination for the fast reaching movements required in grasping a moving target. A learning scheme known as two-phase learning is described for teaching the skill to the controller. Learning in the controller is achieved through a sequence of trial movements without the presence of a 'teacher'. Visual feedback showing the action of the controller is used to adapt it so as to reduce the error between the target and the robot's gripper.< >
The authors present a technique to analyze the forces and dynamics of a class of mechanical systems, called fingerlike systems, which may be viewed as an extension of simple robots to include networks for force/displa...
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The authors present a technique to analyze the forces and dynamics of a class of mechanical systems, called fingerlike systems, which may be viewed as an extension of simple robots to include networks for force/displacement generation and transmission. Fingerlike mechanical system can be described using a graph-theoretic approach to force and displacement generation and transmission. Branches consist of actuators, cables, springs, and other building blocks. Upon specification of the connectivity graph and branch behaviors, a symbolic mathematics program can generate the affine maps from actuator control variables to mechanical system torques and forces. This process systematizes and simplifies the determination of biological and robotic mechanical dynamics.< >
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