This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which...

The technique of singularization was developped by C. Kraaikamp during the nineties, in connection with his work on dynamical systems related to continued fraction algorithms and their diophantine approximation properties. We generalize this technique from one into two dimensions. We apply the method to the the two dimensional Brun’s algorithm. We discuss, how this technique, and related ones, ...

An improvement of a new technique for modelling cracks in the nite element framework is presented. A standard displacement-based approximation is enriched near a crack by incorporating both discontinuous elds and the near tip asymptotic elds through a partition of unity method. A methodology that constructs the enriched approximation from the interaction of the crack geometry with the mesh is d...

Digital micro-holography technique, a combination of digital holography with microscopy, can be used to measure and analyse the micro-structure and status information of samples when the digital hologram registered is reconstructed numerically by some numerical methods based on the principle of scalar diffraction or coherent image. By summarizing the development of digital micro-holography, Fre...

A polygonal approximation technique using reverse polygonization is presented in this paper. This method rectifies the reverse polygonization in previous publications since it captures an efficient approximation independent to all initial points of curves. previous algorithms do not account for this, the algorithm presented in this article is more accurate than previous, specially when specifie...

Most computer systems contain one or more system resources whose usage is controlled on the basis of workload priorities. Unfortunately, the exact analysis of queueing network models incorporating priority scheduling disciplines is usually infeasible. The MVA Priority Approximation has been proposed as a comparatively inexpensive, and yet reasonably accurate, approximation technique for queuein...

Approximating integer linear programs by solving a relaxation to a linear program (LP) and afterwards reconstructing an integer solution from the fractional one is a standard technique in a non-distributed scenario. Surprisingly, the method has not often been applied for distributed algorithms. In this paper, we show that LP relaxation is a powerful technique also to obtain fast distributed app...

We provide a simple and novel algorithmic design technique, for which we call itera-tive partial rounding, that gives a tight rounding-based approximation for vertex cover withhard capacities (VC-HC). In particular, we obtain an f -approximation for VC-HC on hy-pergraphs, improving over a previous results of Cheung et al (SODA 2014) to the tightextent. This also closes the g...

In this paper, we propose 0.935-approximation algorithm for MAX 2SAT. The approximation ratio is better than the previously known result by Zwick, which is equal to 0.93109. The algorithm solves the SDP relaxation problem proposed by Goemans and Williamson for the first time. We do not use the ‘rotation’ technique proposed by Feige and Goemans. We improve the approximation ratio by using hyperp...

In this paper we present an efficient technique for piecewise cubic Bézier approximation of digitized curve. An adaptive breakpoint detection method divides a digital curve into a number of segments and each segment is approximated by a cubic Bézier curve so that the approximation error is minimized. Initial approximated Bézier control points for each of the segments are obtained by interpolati...