Most methods for the recognition of shape classes from 3D datasets focus on classifying clean, often manually generated models. However, 3D shapes obtained through acquisition techniques such as Structure-from-Motion or LIDAR scanning are noisy, clutter and holes. In that case global shape features—still dominating the 3D shape class recognition literature—are less appropriate. Inspired by 2D m...

Abstrad-Many design problems, e.g. in control theory, amount to tuning a parameter vector c so as to guarantee that specifications are met for all feasible values of some unknown perturbation vector p. A new prototype algorithm for solving this guaranteed-tuning problem is proposed, and its convergence properties are established. It applies when the design specifications translate into a finite...

Contractor algebra is a numerical tool based on interval analysis which makes it possible to solve many nonlinear problems arising in robotics, such as identification, path planning or robust control. This paper presents the new notion of separators which is a pair of complementary contractors and presents the corresponding algebra. Using the separator algebra inside a paver will allow us to ge...

Aerospace, die, and mold industries utilize parts with sculptured surfaces, which are machined on five-axis computer numerical controlled machine tools. Accurate path tracking for contouring is not always possible along the desired space curves due to the loss of joint coordination during the five-axis motion. This two-part paper presents modeling and robust control of contouring errors for fiv...

A saturating actuator can cause stability and performance issues such as windup for a feedback control system designed on linear methods. Anti-windup techniques can be used to preserve the linear behavior in the presence of saturation. Specifically, a local feedback around the saturating actuator via a compensator H can be used. The loop transmission Ln(s) around the actuator has been shown to ...