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Understanding and Modeling the Behavior of a Harmonic Drive Gear Transmission
(1992-05-01)
In my research, I have performed an extensive experimental investigation of harmonic-drive properties such as stiffness, friction, and kinematic error. From my experimental results, I have found that these properties ...
Robust and Efficient 3D Recognition by Alignment
(1992-09-01)
Alignment is a prevalent approach for recognizing 3D objects in 2D images. A major problem with current implementations is how to robustly handle errors that propagate from uncertainties in the locations of image ...
Minimizing Residual Vibrations in Flexible Systems
(1992-06-01)
Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space ...
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 ...
3D Object Recognition: Symmetry and Virtual Views
(1992-12-01)
Many 3D objects in the world around us are strongly constrained. For instance, not only cultural artifacts but also many natural objects are bilaterally symmetric. Thoretical arguments suggest and psychophysical ...
Limitations of Geometric Hashing in the Presence of Gaussian Noise
(1992-10-01)
This paper presents a detailed error analysis of geometric hashing for 2D object recogition. We analytically derive the probability of false positives and negatives as a function of the number of model and image, ...
Space Efficient 3D Model Indexing
(1992-02-01)
We show that we can optimally represent the set of 2D images produced by the point features of a rigid 3D model as two lines in two high-dimensional spaces. We then decribe a working recognition system in which we ...
Why Do We See Three-dimensional Objects?
(1992-06-01)
When we look at certain line-drawings, we see three-dimensional objects. The question is why; why not just see two-dimensional images? We theorize that we see objects rather than images because the objects we see are, ...
Recognizing 3D Ojbects of 2D Images: An Error Analysis
(1992-07-01)
Many object recognition systems use a small number of pairings of data and model features to compute the 3D transformation from a model coordinate frame into the sensor coordinate system. With perfect image data, these ...
A Global Approach to Parameter Estimation of Chaotic Dynamical Systems
(1992-12-01)
We present a novel approach to parameter estimation of systems with complicated dynamics, as well as evidence for the existence of a universal power law that enables us to quantify the dependence of global geometry ...