Based on a nonlinear hybrid dynamic systems approach a new paradigm for goal-oriented dynamic cooperation of multiple robots is investigated within the RoboCup scenario. The time dependent hybrid state of the whole system consists of discrete (roles, actions) and continuous (position, orientation, velocity) state variables of all mobile robots and objects involved. The evolution in time of the ...

To display different image/video sources on different display systems, video format conversion techniques are needed. In this study, a new approach to video format conversion using bidirectional motion estimation and hybrid error concealment is proposed. In the proposed approach, both the spatial information and the temporal information within an image sequence are employed. In particular, the ...

A Marching-Walking Hybrid Induces Step Length Adaptation and Transfers to 1 Natural Walking 2 3 Abbreviated Title: Marching-Walking Hybrid Adaptation and Transfer 4 5 Andrew W. Long, James M. Finley, Amy J. Bastian 6 7 Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD 21205 8 Motion Analysis Laboratory, Kennedy Krieger Institute, Baltimore, MD, 21205 9 Division of Bi...

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity...

A sampling-based approach to planning, control and verification inspired by robotics motion planning algorithms such as rapidly exploring random trees (RRTs) and probabilistic roadmaps (PRMs) is surveyed. With the focus on RRTs, how to adapt them to solve standard non-linear control problems is demonstrated. RRTs are extended to purely discrete spaces (replacing distance metrics with cost-to-go...

This paper presents a hybrid method for synthesizing natural animation of facial expression with data from motion capture. The captured expression was transferred from the space of source performance to that of a 3D target face using an accurate mapping process in order to realize the reuse of motion data. The transferred animation was then applied to synthesize the expression of the target mod...

The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is develo...

We have investigated the feasibility of the hybrid-type method of lattice Boltzmann and Brownian dynamics as a simulation technique for a magnetic particle suspension. To do so, we have addressed aggregation phenomena in thermodynamic equilibrium and have compared the present results with those of Monte Carlo method and the previous lattice Boltzmann method based on fluctuation hydrodynamics (F...

The integration of visual and inertial sensors for human motion tracking has attracted significant attention recently, due to its robust performance and wide potential application. This paper introduces a real-time hybrid solution to articulated 3D arm motion tracking for home-based rehabilitation by combining visual and inertial sensors. Data fusion is a key issue in this hybrid system and two...