This paper deals with the design of control schemes for a robot manipulator in contact with a compliant surface. A passivity-based approach is adopted in the task space, where the control law contains a nonlinear model-based term and a linear term obtained as the sum of a position action and a force action. The force control action dominates the position control action along the constrained tas...

The problem of designing the regularization term and regularization parameter for linear regression models is discussed. Previously, we derived an approximation to the generalization error called the subspace information criterion (SIC), which is an unbiased estimator of the generalization error with finite samples under certain conditions. In this paper, we apply SIC to regularization learning...

The problem of locating centers for radial basis functions in neural networks is discussed. The proposed approach allows us to apply the results from the theory of optimum experimental designs. In typical cases we are able to compose optimal centers’ locations from the known univariate experiment designs.

The reliability and robustness of image-based visual servoing systems have recently received a growing interest. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations to control the 6 dof of an industrial robot manipulator (Mitsubishi PA-10) is proposed. Its control law has...

This paper presents an analysis of the allocation of agenda-setting (or bargaining) power in organizations with overlapping generations of players. Such powers are typically institutionalized within an organization’s structure, and, given the focus of this paper, we identify the former with the latter. Our analysis concerns organizations (such as the US Senate) in which the number of periods ea...

Optimization/control problems with change of filtartions have been studied in various context of mathematical finance. This paper studies optimal stopping problems for general diffusion processes with an uncertain time horizon and under different filtrations. Corresponding value functions are first compared and related explicitly to their counterparts without the time uncertainty. To further an...

Abstract: To avoid the singularities of an image-based visual control of an industrial robot (Mitsubishi PA-10), a simple and efficient control law which combines the information of two cameras in a cooperative way has been developed and tested. One of this cameras is rigidly mounted on the robot end-effector (eye-in-hand configuration) and the other one observes the robot within its workspace ...

The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

A new automatic speech segmentation procedure, called the \Blind" speech segmentation, is presented. This procedure allows a speech sample to be segmented into sub-word units without the knowledge of any linguistic information (such as, orthographic or phonetic transcription). Hence, this procedure involves nding the optimal number of sub-word segments in the given speech sample, before locatin...