In this paper, we examine a point-to-point motion task of flexible manipulator with macro fiber composite (MFC) and then propose new feedforward control method to suppress driving energy residual vibration simultaneously. For this, use an MFC attached one side the that has revolute joint as actuator. We attempt express angle in technique by combining cycloidal polynomial functions. On other han...

This study investigates the effects of the number of interpolation points on the prediction accuracy of segment angle trajectory during lifting. Ten participants performed various lifting tasks while a motion tracking system recorded their movements. Two-point through ten-point equal time-spaced segment angles extracted from major segment trajectory data captured by the motion tracking system w...

Multiple target tracking (MTT) is a well-studied technique in the eld of radar technology, which associates anonymized measurements with the appropriate object trajectories. This technique, however, suffers from combinatorial explosion, since each new measurement may potentially be associated with any of the existing tracks. Consequently, the complexity of existing MTT algorithms grows exponent...

A simple direct method is applied to solve the problem of optimal trajectory generation for serial manipulators under electro-mechanical constraints. The goal is to increase the robot productivity by using its electric motors outside of their continuous operating range. This is possible only if dynamics of actuators is considered and inherent constraints are included. For this purpose, a genera...

A new technique is proposed for clustering and similarity retrieval of video motion clips based on spatio-temporal object trajectories. The trajectories are treated as motion time series and represented either by least squares or Chebyshev polynomial approximations. Trajectory clustering is then carried out to discover patterns of similar object motion behaviour. The coefficients of the basis f...

In this paper we address the problem of topic classification of speech data. Our concern in this paper is the situation in which there is no speech or phoneme recognizer available for the domain of the speech data. In this situation the only inputs for training the system are audio speech files labeled according to the topics of interest. The process that we follow in developing the topic class...

We propose a recursive algorithm for clustering trajectories lying in multiple moving hyperplanes. Starting from a given or random initial condition, we use normalized gradient descent to update the coefficients of a time varying polynomial whose degree is the number of hyperplanes and whose derivatives at a trajectory give an estimate of the vector normal to the hyperplane containing that traj...

This work focuses on an adaptive guidance algorithm for planetary landing that updates the trajectory to the surface by means of a minimum fuel optimal control problem solving. A semi-analytical approach is proposed. The trajectory is expressed in a polynomial form of minimum order to satisfy a set of boundary constraints derived from initial and final states and attitude requirements. By impos...

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must nd a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider th...

In this paper, we study polynomial-time interior-point algorithms in view of information geometry. Information geometry is a differential geometric framework which has been successfully applied to statistics, learning theory, signal processing etc. We consider information geometric structure for conic linear programs introduced by self-concordant barrier functions, and develop a precise iterati...