It is known that for a certain class of single index models (SIMs) [Formula: see text], support recovery is impossible when X ~ 𝒩(0, 𝕀 p×p ) and a model complexity adjusted sample size is below a critical threshold. Recently, optimal algorithms based on Sliced Inverse Regression (SIR) were suggested. These algorithms work provably under the assumption that the design X comes from an i.i.d. Gaus...

In this paper, two inverse-kinematic solutions with singularity robustness for a fully parallel robot manipulator are proposed. First, two inverse-kinematic solutions are presented based on the damped leastsquares method, where the first solution (OSVC) is derived using a velocity constraint, and the other (OSFC) uses a force constraint. It can be shown that both solutions are special cases of ...

This is a introduction to the Jacobian transpose method, the pseudoinverse method, and the damped least squares methods for inverse kinematics (IK). The mathematical foundations of these methods are presented, with an analysis based on the singular value decomposition.

A QR-decomposition based algorithm is presented for unbiased, equation error adaptive IIR filtering. The algorithm is based on casting the adaptive IIR filtering in a mixed Least Squares Total Least Squares (LS-TLS) framework. This formulation is shown to be equivalent to the minimization of the mean-square equation error subject to a unit norm constraint on the denominator parameter vector. An...

We present a simple approach for planning the motion of nonholonomic robots among obstacles. Existing methods lead to open-loop solutions which are either obtained in two stages, approximating a previously built holonomic path, or computationally intensive, being based on configuration space discretization. Our nonholonomic planner employs a direct projection strategy to modify on-line the outp...

Error-contaminated systems Ax ≈ b, for which A is ill-conditioned, are considered. Such systems may be solved using Tikhonov-like regularized total least squares (R-TLS) methods. Golub et al, 1999, presented a direct algorithm for the solution of the Lagrange multiplier formulation for the R-TLS problem. Here we present a parameter independent algorithm for the approximate R-TLS solution. The a...

A numerical inversion method known from the analysis of light scattering by colloidal dispersions is now applied to magnetization curves of ferrofluids. The distribution of magnetic particle sizes or dipole moments is determined without assuming that the distribution is unimodal or of a particular shape. The inversion method enforces positive number densities via a non-negative least squares pr...

Internal forces in the human body can be estimated from measured movements and external forces using inverse dynamic analysis. Here we present a general method of analysis which makes optimal use of all available data, and allows the use of inverse dynamic analysis in cases where external force data is incomplete. The method was evaluated for the analysis of running on a partially instrumented ...