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Obviously Synchronizable Series Expressions: Part II: Overview of the Theory and Implementation
(1988-03-01)
The benefits of programming in a functional style are well known. In particular, algorithms that are expressed as compositions of functions operating on series/vectors/streams of data elements are much easier to ...
A Standard Architecture for Controlling Robots
(1988-07-01)
This paper describes a fully implemented computational architecture that controls the Utah-MIT dextrous hand and other complex robots. Robots like the Utah-MIT hand are characterized by large numbers of actuators and ...
Relaxing the Brightness Constancy Assumption in Computing Optical Flow
(1987-06-01)
Optical flow is the apparent (or perceived) motion of image brightness patterns arising from relative motion of objects and observer. Estimation of the optical flow requires the application of two kinds of constraint: ...
Utilizing Dynamic Stability to Orient Parts
(1988-02-01)
The intent of this research is to study the dynamic behavior of a solid body resting on a moving surface. Results of the study are then used to propose methods for controlling the orientation of parts in preparation ...
Synapses That Compute Motion
(1987-06-01)
Biophysics of computation is a new field that attempts to characterize the role in information processing of the several biophysical mechanisms in neurons, synapses, and membranes that have been uncovered in recent ...
Knowledge Base Integration: What Can We Learn from Database Integration Research?
(1988-01-01)
This paper examines the issues and the solutions that have been studied in database (DB) integration research and tries to draw lessons from them for knowledge base (KB) integration.
A Lifetime-based Garbage Collector for LISP Systems on General-Purpose Computers
(1988-02-01)
Garbage collector performance in LISP systems on custom hardware has been substantially improved by the adoption of lifetime-based garbage collection techniques. To date, however, successful lifetime-based garbage ...
Residual Vibration Reduction in Computer Controlled Machines
(1989-02-01)
Control of machines that exhibit flexibility becomes important when designers attempt to push the state of the art with faster, lighter machines. Three steps are necessary for the control of a flexible planet. First, ...
Contact Sensors for Dexterous Robotic Hands
(1986-06-01)
This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand ...
Control of Vibration in Mechanical Systems Using Shaped Reference Inputs
(1988-01-01)
Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the ...