Linear Dynamidly Varying (LDV) control is a technique for getting a natural (nonlinear, possibly chaotic) trajectory and a perturbed trajectory asymptotically synchroni7ed given an initial condition offset. Probably the best illustrative example, which motivates this paper, is tracking the natural (possibly quasi-periodic) molion of a Tkojan asteroid near the IA point of Jupiter with a spacecra...

This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all un...

The development of the asymmetry between horizontal and vertical eye tracking was investigated longitudinally at 5, 7, and 9 months of age. The target moved either on a 2D circular trajectory or on a vertical or horizontal 1D sinusoidal trajectory. Saccades, smooth pursuit, and head movements were measured. Vertical tracking was found to be inferior to horizontal tracking at all age levels. The...

the aim is to build a controller such that y ( t ) tracks any prescribed reference trajectory y,(t). To avoid ambiguities in the sequel, we call (1) the input-state (IS) system (i.e. without a defined output), (2) the tracking output, and (1)(2) the input-output (Io) system. When the IO system is minimum phase, the tracking problem is easily solved (at least locally) by IO linearization (see e....

In practice, the robot motion is specified according to physical constraints, such as limited torque input. Thus, the computation of the desired trajectory is constrained to attain the physical limit of actuator saturations. See, e.g., (Pfeiffer & Johanni, 1987), for a review of trajectory planning algorithms considering the robot model parameters and torque saturation. Besides, trajectories ca...

Software release development process, that we refer to as “release trajectory”, involves development activities that are usually sorted in different categories, such as incorporating new features, improving software, or fixing bugs, and associated to “issues”. Release trajectory management is a difficult and crucial task. Managers must be aware of every aspect of the development process for man...

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as t...

The multi-target tracking problem is challenging when there exist occlusions, tracking failures of the detector and severe interferences between detections. In this paper, we propose a novel detection based tracking method that links detections into tracklets and further forms long trajectories. Unlike many previous hierarchical frameworks which split the data association into two separate opti...