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A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany
(1988-02-01)
We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance ...
Scheme86: A System for Interpreting Scheme
(1988-04-01)
Scheme86 is a computer system designed to interpret programs written in the Scheme dialect of Lisp. A specialized architecture, coupled with new techniques for optimizing register management in the interpreter, allows ...
Model-Based Robot Learning
(1988-04-01)
Models play an important role in learning from practice. Models of a controlled system can be used as learning operators to refine commands on the basis of performance errors. The examples used to demonstrate this ...
An Outlook on Truth Maintenance
(1980-08-01)
Truth maintenance systems have been used in several recent problem solving systems to record justifications for deduced assertions, to track down the assumptions which underlie contradictions when they arise, and to ...
EMACS Manual for ITS Users
(1981-10-01)
A reference manual for the extensible, customizable, self-documenting real-time display editor. This manual corresponds to EMACS version 162.
Microelectronics In Nerve Cells: Dendritic Morphology and Information Processing
(1981-10-01)
The electrical properties of the different anatomical types of retinal ganglion cells in the cat were calculated on the basis of passive cable theory from measurements made on histological material provided by Boycott ...
Abstraction, Inspection and Debugging in Programming
(1981-06-01)
We believe that software engineering has much to learn from other mature engineering disciplines, such as electrical engineering, and that the problem solving behaviors of engineers in different disciplines have many ...
Evidence Relating Subjective Contours and Interpretations Involving Occlusion
(1981-06-01)
Subjective contours, according to one theory, outline surfaces that are apparently interposed between the viewer and background (because of the disruption of background figures, sudden termination of lines, and other ...
Rotationally Symmetric Operators for Surface Interpolation
(1981-11-01)
The use of rotationally symmetric operators in vision is reviewed and conditions for rotational symmetry are derived for linear and quadratic forms in the first and second partial directional derivatives of a function ...
Dynamic Interactions Between Limb Segments During Planar Arm Movement
(1981-11-01)
Movement of multiple segment limbs requires generation of appropriate joint torques which include terms arising from dynamic interactions among the moving segments as well as from such external forces as gravity. The ...