This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task dire...

We present the experience gained from implementing a new decision procedure for both graded and probabilistic modal logic. While our approach uses standard tableaux for propositional connectives, modal rules are given by linear constraints on the arguments of operators. The implementation uses binary decision diagrams for propositional connectives and a linear programming library for the modal ...

The design of machine learning systems often requires trading off different objectives, for example, prediction error and energy consumption deep neural networks (DNNs). Typically, no single performs well in all objectives; therefore, finding Pareto-optimal designs is interest. search involves evaluating an iterative process, the measurements are used to evaluate acquisition function that guide...

We present a proposal on how to develop nonmonotonic reasoning based on the modal logic S4. As a consequence of our results we show how to present the well known semantics of answer sets, under a restricted fragment of modal formulas, using this approach. Moreover, by considering the full set of modal formulas we obtain an interesting generalization of answer sets with modal connectives. We sho...

Cross-modal hashing is designed to facilitate fast search across domains. In this work, we present a cross-modal hashing approach, called quantized correlation hashing (QCH), which takes into consideration the quantization loss over domains and the relation between domains. Unlike previous approaches that separate the optimization of the quantizer independent of maximization of domain correlati...

Multi-modal test execution allows execution of the same test against various layers and components of a software system. This paper presents a method that effectively encodes one-to-many test definition and test execution relationship of multi-modal functional tests without creating large test maintenance overhead. Our approach extends the Fit table specification structure by multi-modal fixtur...

Abstract: This paper deals with stability of discrete-time nonlinear Lur’e-type systems. Through the singular perturbations technique, the original system is reduced to a block-diagonal form with slow and fast decoupled modes. Stability conditions of the two-time-scale decoupled model based on Borne-Gentina practical stability criterion and the use of matrices in the Benrejeb arrow form are dev...