Abstract not found

mathematically by defining an objective function, a measure of performance for any possi-ble movement. The unique trajectory which yields the best performance is determined using dynamic optimization the-ory. In the work presented here, the objective function is the square of the magnitude of jerk (rate

If we are eventually to understand the capability of higher organisms for perceptual recognition, generalization, recall, and thinking, we must first have answers to three fundamental questions: 1. How is information about the physical world sensed, or detected, by the biological system? 2. In what form is information stored, or remembered? 3. How does information contained in storage, or in memory, influence recognition and behavior? The first of these questions is in the

A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose

Markov chain Monte Carlo methods for Bayesian computation have until recently been restricted to problems where the joint distribution of all variables has a density with respect to some xed standard underlying measure. They have therefore not been available for application to Bayesian model

, new logic optimization and verification algorithms, ASTG (asynchronous signal transition graph) manipulation, and synthesis for PGA’s (programmable gate arrays). The second part contains a tutorial example illustrating the design process using SIS.

This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief

covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than

Recent empirical and case study evidence documents a strong association between the adoption of computers and increased use of college educated or non-production workers. With few exceptions, the conceptual link explaining how computer technology complements skilled labor or substitutes

is that eye movement data reflect moment-to-moment cognitive processes in the various tasks examined. Theoretical and practical considerations concerning the use of eye movement data are also discussed. Many studies using eye movements to investigate cognitive processes have appeared over the past 20 years