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Shaping Inputs to Reduce Vibration in Flexible Space Structures
(1992-06-01)
Future NASA plans to launch large space strucutres solicit the need for effective vibration control schemes which can solve the unique problems associated with unwanted residual vibration in flexible spacecraft. In ...
Equivalence and Reduction of Hidden Markov Models
(1993-01-01)
This report studies when and why two Hidden Markov Models (HMMs) may represent the same stochastic process. HMMs are characterized in terms of equivalence classes whose elements represent identical stochastic processes. ...
Recognizing 3-D Objects Using 2-D Images
(1993-04-01)
We discuss a strategy for visual recognition by forming groups of salient image features, and then using these groups to index into a data base to find all of the matching groups of model features. We discuss the most ...
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 ...
Automatic Qualitative Analysis of Ordinary Differential Equations Using Piecewise Linear Approximations
(1988-03-01)
This paper explores automating the qualitative analysis of physical systems. It describes a program, called PLR, that takes parameterized ordinary differential equations as input and produces a qualitative description of ...
Combining Associational and Causal Reasoning to Solve Interpretation and Planning Problems
(1988-08-01)
This report describes a paradigm for combining associational and causal reasoning to achieve efficient and robust problem-solving behavior. The Generate, Test and Debug (GTD) paradigm generates initial hypotheses using ...
Theories of Comparative Analysis
(1988-05-01)
Comparative analysis is the problem of predicting how a system will react to perturbations in its parameters, and why. For example, comparative analysis could be asked to explain why the period of an oscillating ...
Three-Dimensional Recognition of Solid Objects from a Two-Dimensional Image
(1988-10-01)
This thesis addresses the problem of recognizing solid objects in the three-dimensional world, using two-dimensional shape information extracted from a single image. Objects can be partly occluded and can occur in ...