To reduce the complexity of a video encoder, we introduce a new approach to global motion compensation related to the conventional hybrid DPCM-transform method in which the motion compensation is performed outside the feedback loop as shown in Fig. I. Within this framework, many specific implementations are possible, and we study a few of them here. While the basic idea is conceptually similar ...

This paper presents a framework for motion planning with dynamics as hybrid search over the continuous space of feasible motions and the discrete space of a low-dimensional workspace decomposition. Each step of the hybrid search consists of expanding a frontier of regions in the discrete space using cost heuristics as guide followed by sampling-based motion planning to expand a tree of feasible...

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

An approach to resolve the kinematic redundancy and to control the motion/force of redundant manipulators is presented. By defining a proper metric in joint space, minimal parametrization of motion and force controlled subspaces as well as the null motion component is realized. With this formulation, control of both motion~orce and internal motion of redundant manipulator can be achieved via a ...

A new motion-compensated frame interpolation scheme for low bitrate video based on the ITU-T H.263/H.263+ standard is investigated in this research. The proposed scheme works solely on the decoded bitstream with a blockbased approach to achieve interpolation results. It is composed of two main modules: the background/foreground segmentation module and the hybrid motion compensated frame interpo...

This paper presents a hybrid automata approach for modeling and analyzing the robotic motion planning and control. Robotic systems acquire data from perceptive sensors and respond to the perceptions through decision and control process. The hybrid perceptive framework is built based on continuous and discrete perceptive references. The robot can plan and modifying the original path through swit...

A new hybrid dynamic controller synthesis methodology for the successful convergence of force-controlled assembly tasks with friction is presented. Hybrid dynamic modeling has been shown to be a very effective strategy to incorporate both the continuous-time and discrete-event natures of an assembly task. Previously, hybrid dynamic controllers have used velocity control. This paper develops a h...

This paper investigates the seismic response control of a nonlinear benchmark building with a new re-centering variable friction device (RVFD). The RVFD consists of three parts: (i) a friction generation unit, (ii) a piezoelectric actuator, and (iii) shape memory alloy wires. The friction unit and piezoelectric actuator compose the first subcomponent of the hybrid device that is a variable fric...

Ionic conductivity involving ion transport in polymer electrolytes has been a major focus of polymer battery research, and an important concept in understanding the mechanisms of ionic transport in polymers is the issue of the coupling between ion motion and the relaxation of the polymer segmental chain. This means that, in typical polymer electrolytes, ion transport is strongly coupled to the ...