using mo r ¥ f with r li dj and f

... structure of sparse signals and creation of model-based reconstruction algorithms [29–35] These algorithms utilize the structure of the transformed sparse signal (e.g., wavelet-tree structure) ... OMP-PKS+RS But as Figure indicated, the car’s body in the top row was less smooth and the edge was more blurred Similar examples could be found in Figures 10 and 11 Furthermore, DCS-SOMP failed to reconstruction ... lexicographic ordering, respectively (a) Girl, (b) Jelly Beans, (c) Airplane (F- 16), and (d) Mandrill Figure The ensemble of compressed measurement vector and measurement matrix Figure The reconstruction...

Ngày tải lên: 21/06/2014, 17:20

... structure of sparse signals and creation of model-based reconstruction algorithms [29–35] These algorithms utilize the structure of the transformed sparse signal (e.g., wavelet-tree structure) ... OMP-PKS+RS But as Figure indicated, the car’s body in the top row was less smooth and the edge was more blurred Similar examples could be found in Figures 10 and 11 Furthermore, DCS-SOMP failed to reconstruction ... lexicographic ordering, respectively (a) Girl, (b) Jelly Beans, (c) Airplane (F- 16), and (d) Mandrill Figure The ensemble of compressed measurement vector and measurement matrix Figure The reconstruction...

Ngày tải lên: 21/06/2014, 19:20

... ′ ′ ′ (fR R ν + gµν ✷fR − ∇µ∇ν fR − f gµν ) − Tµν = K ′ ′ ′ (2.30) fR R ν + gµν ✷fR − ∇µ ∇ν fR − f gµν = KTµν 43 Đây phương trình Einstein cho trường hợp tổng quát với Lagrangian L = f (R) *Nhận ... xét: Từ phương trình Einstein cho Lagrangian L = f (R) tổng quát: ′ ′ ′ fR R ν + gµν ✷fR − ∇µ ∇ν fR − f gµν = KTµν Để đơn giản, ta đặt f ′ (R) = F , F R ν − f (R) gµν − ∇µ ∇ν F + gµν F = KTµν (2.31) ... R2 ) − 12H R ˙ 6H + 12λRH = R2 − 12λRH (2.53) 49 Chia hai vế cho R2 kết hợp với (2.48) ta được: ˙ ˙ ˙ R R R R R ( − H ) + 12λ( − H ) = R − 12λH R 12 R 12 R R ˙ R − 6H = R ˙ R R = R 12H (2.54)...

Ngày tải lên: 10/09/2015, 11:49

... c: ^R m = 2K^g m n (1.34) Thay (3).Rii, ^#11 vo (1.34) ta c: i L {r) = Ke L { r ) = kre L { r ) dL{ dr e~ L ^ dL (r) = krdr -er L ^ = kr + c L (r) = ln(kr C) L (r ) = ln(kr c ) (1.3 Thay (3) -R2 2, ... dr + r d + r sin 6d (^1L (r) - 1) + (1.33) R 3 = [e^tynr) - 1) + ]sin Vỡ V tr l ng nht v ng hng nờn ta cú R M N t l vi metric ... chng minh c: r + pn^Aa r^ r^Aa ( V^^Aa + V^T^Aa) - Y^Y a v )Aa) (1.6) = (-a, + = Vi: (1-7) R% v = -r^ + r/ ^r^ + r/ W -r^ ra,: Gi l tensor cong Riemann *Mt s tớnh cht ca tensor cong Riemann: Tớnh...

Ngày tải lên: 10/09/2015, 13:30

... anatomical marks 258 P Perré, F Huber Figure Summary of the experimental protocol: the sample, prepared as specified in Figure 1, are observed with an optical microscope in reflected light, at first with ... age of 19 years, and mm for the cambial age of 24 years, in spruce) These two trees came from a forest near Nancy, belonging to ENGREF The disk of Douglas r tree comprised 25 rings The present ... were mounted on a horizontal rotary sanding machine In order to prevent drying of the green wood, polishing was performed under water in the present study devoted to shrinkage Polishing was pursued...

Ngày tải lên: 07/08/2014, 16:20

Ngày tải lên: 17/03/2014, 14:31

... provide free and reduced breakfast and lunch programs Now it’s time for us to advocate for improved indoor air quality and policies and programs to better serve our school children with asthma If we ... Central to this effort is the recognition that families, uncertain of housing, struggling with poverty (84 percent of the children attending PS 140 are eligible for the Federal free lunch program) ... Impaired” category of IDEA, if it adversely affects a child’s educational performance or interferes with learning Schools are also required to remove “disability barriers” under Section 504 of the...

Ngày tải lên: 23/03/2014, 23:20

Ngày tải lên: 31/03/2014, 15:36

Ngày tải lên: 31/03/2014, 15:56

... ) of the PDE Df Log f + U singular part transformation : u = (46) f linking their difference to a finite number of linear differential operators Df (f like family) acting on the logarithm of functions ... September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag Violations are liable for prosecution under the German Copyright Law Springer-Verlag Berlin ... explicit algebraic transform of the mKdV field The inverse of a Miura transformation is not a Miura transformation but a B¨cklund a transformation 7.2 Integrable equations with a third order Lax...

Ngày tải lên: 24/04/2014, 16:50

... Heidelberg Printed on acid-free paper 89/3141/Yu - PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE To Roshni and Krishna (RVP) To Lida, Rouzbeh and Avesta (FS) PREFACE PREFACE Preface This monograph ... for this: First, the effectiveness and reliability of force control depends on good models of the environment stiffness Second, for stability, servo rates much higher than for position control ... sensors While most commercial force sensors are supplied with appropriate filters, the delay introduced by the filters can also affect the accuracy and stability of force control schemes A large...

Ngày tải lên: 10/08/2014, 01:22

... linear dependence of the rows of J e and J c ) In practical applications, the singularities of the end-effector are too complicated to determine a priori Furthermore, the singularities of J c are ... analysis of redundant manipulators In the next section, we perform a review of existing methods for redundancy resolution We also study the performance of different redundancy resolution schemes from ... the research described in this monograph Future avenues for research in order to extend the current work are also suggested CHAPTER REDUNDANT MANIPULATORS: KINEMATIC ANALYSIS AND REDUN- Redundant...

Ngày tải lên: 10/08/2014, 01:22

... variable enters the buffer region Figure 2.8(b) shows the results for p=4 As we can see, in this case all joints stay far from their limits Figure 2.9 shows the third joint variable for different ... and, therefore, is entirely defined by its boundary surface Obviously on this boundary, some loss of mobility occurs Therefore the Jacobian matrix becomes rank deficient The boundary of the reachable ... when the number of joints increases) compared to the simple formulation of the inequality constrained approach Therefore, the inequality constrained approach is preferable for real-time implementations...

Ngày tải lên: 10/08/2014, 01:22

... for a given cylinder C i , the scalars b i and t i are known and fixed values 3.2.1.1 Review of Line Geometry and Dual Vectors A brief review of dual numbers, vectors, and their operations, relevant ... with p being the vector directed from O to an arbitrary point P of L ˆ Moreover, e and m are called the primal and dual parts of e 40 Collision Avoidance for a 7-DOF Redundant Manipulator Figure ... circular disks of the other cylinder • (3) Base-Base: One of the circular disks of one cylinder collides with a circular disk of another cylinder (A) CYLINDERS WITH NON-PARALLEL AND NON-INTERSECTING...

Ngày tải lên: 10/08/2014, 01:22

... dimensionally non-homogenous and needs different treatment for the 3dimensional vector representing the end-effector position from the 3 rotation matrix representing orientation Therefore, the main ... better performance because W v has small values far from a singular configuration Hence, variable weights not introduce errors on the main task, and grow appropriately near a singular configuration ... the matrix 8R The orientation error is calculated as follows [42]: e O = K sin , where K and are the axis and angle of rotation which transform the end-effector frame to the desired orientation...

Ngày tải lên: 10/08/2014, 01:22

... Contact Force and Compliant Motion Control follow a commanded force trajectory Therefore, Anderson and Spong [1] proposed a Hybrid Impedance Control (HIC) scheme, and Liu and Goldenberg [40] introduced ... guidelines for selecting force or compliant motion control for redundant manipulators Recent work has specifically concentrated on force o compliant motion control for redundant manipulators [69], ... class of nonlinear contact controllers is introduced in [69] Each controller consists of a nonlinear gain cascaded with a linear fixed-gain proportional-integral (PI) force controller and proportionalderivative...

Ngày tải lên: 10/08/2014, 01:22

... Therefore (4.2.25) 89 4.3 Schemes for Compliant and Force Control of Redundant Manipulators Desired Trajectory Environment Target Trajectory Actual Trajectory Figure 4.4 Surface cleaning using ... applied forces (torques), H(q) is the n n symmetric positive definite inertia matrix, h is the vector of centrifugal and Coriolis forces, f is the vector of frictional forces, and G is the vector of ... Motion Control forces (forces, torques) should be considered as screws represented in axis and ray coordinates Therefore, in general the concept of orthogonality of force and position controlled...

Ngày tải lên: 10/08/2014, 01:22

... C1 W Cart Ref Traj · ·· Xr Xr Forward Kinematics · ·· qr qr Redund-ancy Resolu- Control Scheme · ·· -tion Zr Zr e Fx W Arm & force sensor Fe z · Z Z Kinematic calculation Figure 4.14 General block ... ensures the tracking of the ACT trajectory The procedure is as follows: First, a Cartesian reference trajectory is defined for both the main and additional tasks: 105 4.3 Schemes for Compliant and ... subspaces with precise force measurements The control scheme ensures stability of the system with bounded force measurement errors Even in the case of imprecise force measurement, the errors in the...

Ngày tải lên: 10/08/2014, 01:22

... b) Force error (N) Figure 4.19 Adaptive Hybrid Impedance Control: Effect of imprecise force measurement 4.4 Conclusions In this chapter, the problem of compliant motion and force control for redundant ... consider the effects of imprecise force measurements It is obvious that error in force measurements directly affects the tracking performance in the force controlled subspaces of the main and additional ... expected The reason is that the controller in the force-controlled direction is based on force 115 4.3 Schemes for Compliant and Force Control of Redundant Manipulators measurements and any error in...

Ngày tải lên: 10/08/2014, 01:22