In this paper the contr ol of exible joint manipulators is studie d in detail A composite contr ol algorithm is pro posed for the exible joint robots which consists of two main parts Fast contr ol uf which guar antees that the fast dynamics remains asymptotically stable and the corre sponding integral manifold remains invariant Slow control us itself consists of a robust PID designed based on t...

The present paper is intended to present a robust multiplicative video watermarking scheme. In this regard, the video signal is segmented into 3-D blocks like cubes, and then, the 3-D wavelet transform is applied to each block. The low frequency components of the wavelet coefficients are then used for data embedding to make the process robust against both malicious and unintentional attacks. Th...

We developed a robust control policy design method in high-dimensional state space by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques from the optimal control policy compared to a hand-tuned PD servo controller. Results also show that the simulated biped robot can suc...

Robust supplier selection problem, in a scenario-based approach has been proposed, when the demand and exchange rates are subject to uncertainties. First, a deterministic multi-objective mixed integer linear programming is developed; then, the robust counterpart of the proposed mixed integer linear programming is presented using the recent extension in robust optimization theory. We discuss dec...

In line with developing the best practise in robotics(BRICS), this project implements one of the most advanced approaches to increase robust autonomy for mobile manipulators. Using the newly announced research platform youBot as an example, a robust controller with a protection layer against joint and wheel failures was developed. The protection layer consists of a set of algorithms implemented...

In this paper, we develop robust estimation for the mean and covariance jointly for the regression model of longitudinal data within the framework of generalized estimating equations (GEE). The proposed approach integrates the robust method and joint mean–covariance regression modeling. Robust generalized estimating equations using bounded scores and leverage-based weights are employed for the ...

Cluster-weighted modeling (CWM) is a mixture approach to modeling the joint probability of data coming from a heterogeneous population. Under Gaussian assumptions, we investigate statistical properties of CWM from both theoretical and numerical points of view; in particular, we show that Gaussian CWM includes mixtures of distributions and mixtures of regressions as special cases. Further, we in...

In this paper, we demonstrate that multiscale Bayesian image segmentation can be enhanced by improving both contextual modeling and statistical texture characterization. Firstly, we show a joint multi-context and multiscale approach to achieve more robust contextual modeling by using multiple context models. Secondly, we study statistical texture characterization using wavelet-domain Hidden Mar...

in the last two decades due to globalization of supply chain, enormous changes occurred in chains. leaders in this field, always facing new risks and disorders that should prepare themselves to deal with them. in the recent years, sanctions as one of the most serious risks have damaged the supply chains. however, in the research related to global supply chains, modeling of disruption has been n...

A novel memory-based particle filter is proposed to achieve robust visual tracking of a target’s pose even with large variations in target’s position and rotation, i.e. large appearance changes. The memorybased particle filter (M-PF) is a recent extension of the particle filter, and incorporates a memory-based mechanism to predict prior distribution using past memory of target state sequence; i...