Gabriella Casalino

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We study the problem of detecting and localizing objects in still, gray-scale images making use of the part-based representation provided by non-negative matrix factorizations. Non-negative matrix factoriza-tion represents an emerging example of subspace methods which is able to extract interpretable parts from a set of template image objects and then to(More)
Nonnegative matrix factorizations (NMF) have recently assumed an important role in several fields, such as pattern recognition, automated image exploitation, data clustering and so on. They represent a peculiar tool adopted to obtain a reduced representation of multivariate data by using additive components only, in order to learn parts-based(More)
A new integrated approach to the global control problem of the locomotion of non-holonomic robots was developed, motivated by several observations of the functional and performance requirements. Its main features are: • The organization of the global motion into elementary modalities together with a properly designed event-driven feedback enables to(More)
Redundancy and concurrency in motor control are basic problems for multi-joint, multi-limb robots. The viscous-electric properties of pseudo-muscular actuators provide an organising factor because they define equilibrium postures that influence body movements as 'postural attractors'. The authors report the state of advancement of a pseudo-muscular actuator(More)
last figure shows the robot trajectory, and marks with a circle all the switches of the control locations. The following graphs, represent the system variables along time. 0 5 10 15 20 25 0 2 4 6 0 5 10 15 20 25-0.2 0 0.2 0 5 10 15 20 25-1 0 1 0 5 10 15 20 25 0 1 2 c (rad/m) θ (rad) v (m/s) state t (s) t (s) t (s) t (s) A new integrated approach to the(More)
seen that these modifications do not change the results of Theorem 2.4, provided that the condition on the update law is satisfied for all Li and yi. The class of systems considered is fairly general, and a closer examination of the results reveals that what is essential is that when we apply an input to the system, we can observe a corresponding output,(More)