In this paper results are presented on the problem of regulating nonlinear systems by output feedback, using Lyapunov-based techniques. In all the cases considered here, we ask that the part of the state which is not measured enter linearly in the equations. Sucient conditions for the global stabilization of the observed states via dynamic output feedback are obtained, assuming that such stabil...

This paper focuses on the stabilization of port-controlled Hamiltonian systems employing possibly time-varying controllers. At first we refer to the generalized canonical transformation which preserves the structure of Hamiltonian systems and the passivity property that physical systems innately possess. Next we show a general stabilization strategy for port-controlled Hamiltonian systems based...

Stabilization of gaze is a major functional prerequisite for robots exploring the environment. The main reason for a \steady-image" requirement, is to prevent the robot's own motion to compromise its \visual functions". In this paper we present an arti cial system, the LIRA robot head, capable of controlling its cameras/eyes to stabilize gaze. The system features a stabilization mechanism relyi...

Spinal rigid instrumentations have been used to fuse and stabilize spinal segments as a surgical treatment for various spinal disorders to date. This technology provides immediate stability after surgery until the natural fusion mass develops. At present, rigid fixation is the current gold standard in surgical treatment of chronic back pain spinal disorders. However, such systems have several d...

In conventional electronic video stabilization, the stabilized frame is obtained by cropping the input frame to cancel camera shake. While a small cropping size results in strong stabilization, it does not provide us satisfactory results from the viewpoint of image quality, because it narrows the angle of view. By fusing several frames, we can effectively expand the area of input frames, and ac...

We consider multiagent systems situated in unpredictable environments. Agents viewed as abductive logic programs with abducibles being literals the agent could sense or receive from other agents, must cooperate to provide answers to users as they may not have the knowledge or the capabilities to sense relevant changes in their environment. As their surroundings may change unpredictably, agents ...

the present work is aimed to find a new and efficient type of antioxidants for polypropylene. hence, effects of 3,3-bis(4-hydroxy-2-methyl-5-propan-2-ylphenyl)-2-benzofuran-1-one, generally known as thymolphthalein, on thermo-oxidative stability of polypropylene in solid and melt states were evaluated and compared with those of songnox 1010, an efficient commercially used antioxidant for the po...