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On the Sensitivity of the Hough Transform for Object Recognition
(1988-05-01)
A common method for finding an object's pose is the generalized Hough transform, which accumulates evidence for possible coordinate transformations in a parameter space and takes large clusters of similar transformations ...
Modeling Robot Flexibility for Endpoint Force Control
(1988-05-01)
Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of ...
The Performance of a Mechanical Design 'Compiler'
(1989-01-01)
A mechanical design "compiler" has been developed which, given an appropriate schematic, specifications, and utility function for a mechanical design, returns catalog numbers for an optimal implementation. The compiler ...
Numerical Evidence that the Motion of Pluto is Chaotic
(1988-04-01)
The Digital Orrery has been used to perform an integration of the motion of the outer planets for 845 million years. This integration indicates that the long-term motion of the planet Pluto is chaotic. Nearby trajectories ...
Syntactic Closures
(1988-06-01)
In this paper we describe {\\it syntactic closures}. Syntactic closures address the scoping problems that arise when writing macros. We discuss some issues raised by introducing syntactic closures into the macro ...
Certified Computation
(2001-04-30)
This paper introduces the notion of certified computation. A certified computation does not only produce a result r, but also a correctness certificate, which is a formal proof that r is correct. This can greatly enhance ...
Plan-view Trajectory Estimation with Dense Stereo Background Models
(2001-02-01)
In a known environment, objects may be tracked in multiple views using a set of back-ground models. Stereo-based models can be illumination-invariant, but often have undefined values which inevitably lead to foreground ...
MATHSCOPE Part I: A Proposal for a Mathematical Manipulation-Display System
(1963-11-01)
Mathscope: A compiler for two-dimensional mathematical picture syntax. Mathscope is a proposed program for displaying publication-quality mathematical expressions given symbolic (list-structure) representations of the ...
Exploration in Gradient-Based Reinforcement Learning
(2001-04-03)
Gradient-based policy search is an alternative to value-function-based methods for reinforcement learning in non-Markovian domains. One apparent drawback of policy search is its requirement that all actions be 'on-policy'; ...
Introduction to the Calculus of Knowledge
(1961-11-01)
This paper deals with the "Calculus of Knowledge", an extension of the propositional calculus in which one may reason about what other people know. Semantic and Syntactic systems are developed, certain theorems are proven, ...