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A Subsumptive, Hierarchical, and Distributed Vision-Based Architecture for Smart Robotics

G.N. DeSouza, A.C. Kak
2004 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
The architecture has also been applied to mobile robot navigation and can easily be extended to tasks such as "assembly-on-the-fly."  ...  Index Terms-Assembly-on-the-fly, automation, computer vision, distributed architectures, robotics, vision-based architecture, visual servoing.  ...  DOF pose of the end-effector.  ... 
doi:10.1109/tsmcb.2004.831768 pmid:15503495 fatcat:5scgsqnfvbcqxjuufochihq32e

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarmane, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Suuji Kajita (+1 others)
2016 Autonomous Robots  
Notice that : (i) it is not possible to put two feet on a same rung (ii) closed grippers do not grab firmly the rungs (iii) each foot can be freely positioned on each rung: the right foot is rotated to  ...  The latter builds additional intermediary tasks accounting for geometric uncertainties and specific grasps procedures to be realized by our multi-objective model-based QP controller.  ...  is posed.  ... 
doi:10.1007/s10514-016-9546-4 fatcat:fbxmleoytbgr7eynvyzs2lt4uy

Hierarchical frameworks for efficient prehensile rearrangement with a robotic manipulator

Athanasios Krontiris
Unlabeled rearrangement problems with a robotic manipulator are decomposed into a sequence of subproblems, each one of which can be viewed as a "pebble motion on a graph" problem.  ...  The labeled case, however, is not easily decomposed to a "pebble motion on a graph" problem instances.  ...  For the same reason the computation time is three orders of magnitude more than the non-monotone methods, Fig.5.15 middle. plRS on average had to move 6 objects on an intermediate pose before returns a  ... 
doi:10.7282/t3mg7smr fatcat:4lh6zqmebje7dff6kpqxszmyzi

The Allure of Technology: How France and California Promoted Electric Vehicles to Reduce Urban Air Pollution

David Calef, Robert Goble
2005 Social Science Research Network  
However, in spite of the differences, both California and France have been unable to put a substantial number of EVs on the road.  ...  Our comparison offers some broad lessons about how policy developments within a culture influence both the development of technology and the impact of humans on the environment.  ...  In 1988, the new car fleet fuel economy was 28.8 miles per gallon (mpg) and in 2000 it was 28.1 mpg (EPA, 2000) .  ... 
doi:10.2139/ssrn.650041 fatcat:hzwm5xqhhfaj7j2om6dtfm6w5q

Review of lattice results concerning low energy particle physics [article]

Sinya Aoki, Yasumichi Aoki, Claude Bernard, Tom Blum, Gilberto Colangelo, Michele Della Morte, Stephan Dürr, Aida X. El Khadra, Hidenori Fukaya, Roger Horsley, Andreas Jüttner, Takeshi Kaneko (+13 others)
2014 arXiv   pre-print
More specifically, we report on the determination of the light-quark masses, the form factor f+(0), arising in semileptonic K -> pi transition at zero momentum transfer, as well as the decay constant ratio  ...  Therefore, for this review, we focus on D- and B-meson decay constants, form factors, and mixing parameters, since these are most relevant for the determination of CKM matrix elements and the global CKM  ...  This situation is changing fast.  ... 
arXiv:1310.8555v4 fatcat:rbx4vontbnazljwjg766sgkewi

A Journey from Improper Gaussian Signaling to Asymmetric Signaling

Sidrah Javed, Osama Amin, Basem Shihada, Mohamed-Slim Alouini
2020 IEEE Communications Surveys and Tutorials  
As such, the theory of impropriety has vast applications in medicine, geology, acoustics, optics, image and pattern recognition, computer vision, and other numerous research fields with our main focus on  ...  The significant performance gains marked by various applications in numerous disciplines helped as a precursor to put forward this extensive survey. 6 C.  ...  Extension to 3-cell SISO-IBC new IA strategy based on IGS and MUD revealed 1.5 DoF (1 by IGS + 0.5 by MUD) whereas higher cells required symbol extensions to achieve proportional DoFs [206] . E.  ... 
doi:10.1109/comst.2020.2989626 fatcat:zyno7ku6n5eqnp6rrcopczb4qu

Methodological improvement of 3D fluoroscopic analysis for the robust quantification of 3D kinematics of human joints presented by Luca Tersi

Supervisor Angelo, Cappello, Rita Stagni, Fantozzi, Mario Reviewers, Cesarelli, D Vasilios Baltzopoulos, Angelo Coordinator, Cappello
To solve this problem, two different approaches 3 4 Abstract were followed: to increase the optimal pose convergence basin, the local approach used sequential alignments of the 6 degrees of freedom in  ...  The effect of each criticality was quantified, and verified with an in-vivo preliminary study on the elbow joint.  ...  This means to define a coding system for the 6 DOFs (chromosome) representing the pose.  ... 

Gossamer Spacecraft: Recent Trends in Design, Analysis, Experimentation, and Control

Eric J. Ruggiero, Daniel J. Inman
2006 Journal of Spacecraft and Rockets  
Fast forward to 2001, as Salama and Jenkins** review recent de- velopments and trends in gossamer space structures.  ...  The isolator stiffness operates on the reduced mass of this system, which in the bounce Z direction is mp = (mg,my)/(mpg + mz).  ... 
doi:10.2514/1.8232 fatcat:wfs3kkrherdbfh2pmvufmcdph4

Alignment of the ATLAS Inner Detector in Run-2

Laura Franconi, Sigve Haug, Michele Weber, John Kenneth Anders, Armin Fehr, Hans Peter Beck, Antonio Ereditato, Meghranjana Chatterjee, Niklaus Lehmann, Antonio Miucci, Thomas Daniel Weston
The alignment determines detector geometry on both short and long timescales, where short timescales describe movements within an LHC fill.  ...  The Inner Detector alignment is based on the minimization of track-hit residuals in a sequence of hierarchical levels, from global mechanical assembly structures to local sensors.  ...  This operation does not require an explicit diagonalisation and can be used as preconditioning prior to fast solving, providing powerful control over solutions for an arbitrarily large number of DoFs.  ... 
doi:10.48350/155549 fatcat:rs7d7zmgsvcgvhpglfcqphwlt4

Parametric Blind Deconvolution for Confocal Laser Scanning Microscopy

Praveen Pankajakshan, Bo Zhang, Laure Blanc-Feraud, Zvi Kam, Jean-Christophe Olivo-Marin, Josiane Zerubia
2007 IEEE Engineering in Medicine and Biology Society. Conference Proceedings  
Although ubiquitous, there are uncertainties in the observation process.  ...  This problem is ill-posed, under-determined. To obtain a solution, it is necessary to insert some knowledge in the form of a priori and adopt a Bayesian approach.  ...  Since they assume contribution from only two of the central plane's neighboring slices, it is fast to compute (only 2N z number of 2D forward and inverse Fourier transforms), and knowledge of the full  ... 
doi:10.1109/iembs.2007.4353856 pmid:18003522 fatcat:jbss7wk6abhybli6bcuyyjgy3i

Data-driven design of expressive robot hands and hand gestures : applications for collaborative human-robot interaction

Sara Sheikholeslami
Finally, Study 3 implemented the most human-recognized human hand configurations on a 7-degree-of- freedom (DOF) robotic manipulator to investigate the efficacy of having human-inspired hand poses on a  ...  Fast and reliable communication between human workers and robotic assistants (RAs) is essential for successful collaboration between these agents.  ...  Ross Mead for spending countless hours reviewing and providing feedback on the thesis.  ... 
doi:10.14288/1.0344007 fatcat:xhgey7rdvrebpfg77sqqra4sv4

H.E.S.S. ICRC 2007 contributions [article]

The H.E.S.S. Collaboration
2007 arXiv   pre-print
The MAGIC project is supported by the German BMBF and MPG, the Italian INFN, the Spanish CICYT, the Swiss ETH and the Polish MNiI.  ...  Constraints have been derived on the velocity-weighted cross section of the DM particle in the framework of supersymmetric and Kaluza-Klein models.  ...  by means of a forward-folding maximum likelihood fit [12] .  ... 
arXiv:0710.4057v1 fatcat:nixgmmdsuneh7fazjqtxamdd2e

Cooperative and Interaction Control for Underwater Robotic Vehicles [article]

Shahab Heshmati-Alamdari, National Technological University Of Athens, National Technological University Of Athens
Consider a 6DoF actuated vehicle with i = 1...N thrusters.  ...  The effect of these uncertainties can be considered as disturbances on the system (3.5).  ...  The purpose of this decentralized control scheme is to navigate cooperatively the object from an initial position to a desired one, while satisfying various limitation such as: obstacles, joint limits,  ... 
doi:10.26240/heal.ntua.3077 fatcat:yggqfj4ppbfxfifat2uizzckvy

Haptic Steering Support for Driving Near the Vehicle's Handling Limits: Test-Track Case

Diomidis I. Katzourakis, Efstathios Velenis, Edward Holweg, Riender Happee
2014 IEEE transactions on intelligent transportation systems (Print)  
F r is derived from 6 DOF torques and forces from the tires.  ...  Ĝ was used to accommodate modelling errors and parameter uncertainty of G.  ...  Katzourakis was born at Chania on 1983, in the beautiful island of Crete in Greece. He graduated from lyceum on 2001 and was accepted at the University on the same year.  ... 
doi:10.1109/tits.2014.2318520 fatcat:cqrtzd7q3nc2bgwhbscbi35qxu

Virus Hunter

C.J. Peters
1997 Emerging Infectious Diseases  
One branch included all the isolates from Florence.  ...  We performed whole-genome sequencing (6) with 12 of the 17 isolates of the cross-border MDR TB cluster C8-LPMDR (7 from Florence, 2 from Milan, 2 from Lima, and 1 from Madrid).  ...  Limited information on timing and reason for changing drugs was available.  ... 
doi:10.3201/eid0303.970330 fatcat:vqeerodylbco3ayw5bhzi6lu6q
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