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Multiple Mode Vibration Suppression in Controlled Flexible Systems
(1991-05-01)
Prior research has led to the development of input command shapers that can reduce residual vibration in single- or multiple-mode flexible systems. We present a method for the development of multiple-mode shapers which ...
MIT Scheme Reference Manual
(1991-01-01)
MIT Scheme is an implementation of the Scheme programming language that runs on many popular workstations. The MIT Scheme Reference Manual describes the special forms, procedures, and datatypes provided by the ...
Image Chunking: Defining Spatial Building Blocks for Scene Analysis
(1987-08-01)
Rapid judgments about the properties and spatial relations of objects are the crux of visually guided interaction with the world. Vision begins, however, with essentially pointwise representations of the scene, such ...
Planning and Teaching Compliant Motion Strategies
(1987-01-01)
This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...
ARLO: Another Representation Language Offer
(1986-10-01)
This paper describes ARLO, a representation language loosely modelled after Greiner and Lenant's RLL-1. ARLO is a structure-based representation language for describing structure-based representation languages, including ...
Automated Program Recognition
(1987-02-01)
The key to understanding a program is recognizing familiar algorithmic fragments and data structures in it. Automating this recognition process will make it easier to perform many tasks which require program understanding, ...
TYPICAL: A Knowledge Representation System for Automated Discovery and Inference
(1987-08-01)
TYPICAL is a package for describing and making automatic inferences about a broad class of SCHEME predicate functions. These functions, called types following popular usage, delineate classes of primitive SCHEME ...
Error Detection and Recovery for Robot Motion Planning with Uncertainty
(1987-07-01)
Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has ...
The Synthesis of Stable Force-Closure Grasps
(1986-07-01)
This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of ...
Learning by Failing to Explain
(1986-05-01)
Explanation-based Generalization requires that the learner obtain an explanation of why a precedent exemplifies a concept. It is, therefore, useless if the system fails to find this explanation. However, it is not ...