The paper describes a novel multi-resolution registration method. It is fast, robust and offers high registration accuracy. The algorithm models deformations using an elastic spring mass system, which contains sparse masses interconnected by springs. The proposed method uses data intensity values to guide deformation with local constraints imposed by interaction of interconnecting springs. More...

The equations of planar motion of a mass attached to two anchored massless springs form a symmetric Hamiltonian system. The system has a single dimensionless parameter L, corresponding to the spacing between the anchors. For L > 1, there is a stable equilibrium at which the springs are in tension and lie on a line, but for L < 1, this equilibrium has both springs in compression, and is unstable...

Considered is the problem of optimal rejection of persistent exogenous disturbances in dynamic systems. A robust formulation is given for the case where the matrix coefficients are subjected to norm-bounded uncertainties; the solution technique based on the invariant ellipsoids concept is developed. The approach is exemplified through a well-known benchmark control problem for a mechanical two-...

Abstract: This paper provides new developments in the design of observers for nonlinear systems with unknown inputs. The proposed methods guarantee the error system stability and yield many additional degrees of freedom available to the designer. The algorithms for designing a nonlinear observer for nonlinear systems with unknown inputs is derived in detail. The proposed observers may be used f...

A recently proposed strategy for evaluating the string stability properties of longitudinal vehicle controllers used in Automated Highway Systems (AHS) is to consider the platoon as a mass-spring-damper system. This simpliied analysis framework results in linear closed-loop systems, yielding transfer functions which characterize the spacing error response of the platoon. These transfer function...

This article concerns the stability of a model for mass-spring systems with positive damping and negative stiffness. It is well known that when the coefficients are frozen in time the system is unstable. Here we find conditions on the variable coefficients to prove stability. In particular, we disprove the believe that if the eigenvalues of the system change slowly in time the system remains un...

In this paper, the architecture, processing errors analysis and optimization method of a dual-mass silicon micro-gyroscope are presented. The dual-mass silicon micro-gyroscope consists of two identical single mass gyroscopes and a lever mechanism. Driving decoupling springs and sensing decoupling springs are key components to achieve motion decoupling. The processing error analysis indicates th...

The spring-loaded inverted pendulum (SLIP) is a simple, passivelyelastic two-degree-of-freedom model for legged locomotion that describes the center-of-mass dynamics of many animal species and some legged robots. Conventionally, SLIP models employ a single support leg during stance and, while they can exhibit stable steady gaits when motions are confined to the sagittal plane, threedimensional ...

In this chapter, we propose a stable and efficient algorithm for animating cloth-like materials using mass-spring systems. An integration scheme derived from implicit integration allows us to obtain interactive realistic animation of any mass-spring network. We alleviate the need to solve a linear system through the use of a predictor-corrector approach: We first compute a rapid approximation o...