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— Previous homography-based visual servo controllers have been developed using an error system that contains a singularity resulting from the representation of the rotation matrix. For some aerospace applications such as visual servo control of satellites or air vehicles, the singularity introduced by the rotation representation may be restrictive. To(More)
—In this paper, an adaptive homography-based visual servo tracking controller is developed for the camera-in-hand problem using a quaternion formulation to represent rotation tracking error. The desired trajectory in the tracking problem is encoded by a sequence of images (e.g., a video sequence), and Lyapunov methods are employed to facilitate the control(More)
—We extend the computation and information sharing capabilities of networked robotics by proposing a cloud robotic architecture. The cloud robotics architecture leverages the combination of a virtual ad-hoc cloud formed by machine-to-machine (M2M) communications among participating robots, and an infrastructure cloud enabled by machine-to-cloud (M2C)(More)
—Modeling and compensation for friction effects has been a topic of considerable mainstream interest in motion control research. This interest is spawned from the fact that modeling nonlinear friction effects is a theoretically challenging problem, and compensating for the effects of friction in a controller has practical ramifications. If the friction(More)
A metal-polymer composite with unusual properties, " evaluation of two commercial force sensors for applications in biome-chanics and motor control, " presented at the Int. Evaluation of a sensor for low interface pressure applications, " Med. contact area, force, and pressure for bioengineering applications: Using Fuji film and Tekscan systems, " Med. the(More)
Recently, the question has been heavily discussed whether burst assembly in edge nodes of Optical Burst Switching (OBS) networks reduces self-similarity of traffic [1-4]. Our performance evaluation by analysis and simulation shows that in most cases self-similarity remains unchanged. 1.Introduction In the design of next generation IP networks a major(More)