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Dexterous manipulation with a highly redundant movement system is one of the hallmarks of human motor skills. From numerous behav-ioral studies, there is strong evidence that humans employ compliant task space control, i.e. they focus control only on task variables while keeping redundant degrees-of-freedom as compliant as possible. This strategy is robust(More)
Here we characterize the nutrient content in the outflow of the Green Lake 5 rock glacier, located in the Green Lakes Valley of the Colorado Front Range. Dissolved organic carbon (DOC) was present in all samples with a mean concentration of 0·85 mg L − − − − −1. A one-way analysis of variance test shows no statistical difference in DOC amounts among surface(More)
High-precision maneuvers at high angles-of-attack are not properly addressed by even the most advanced aircraft control systems. Here we present our control design procedure and indoor experimental results with a small fixed-wing autonomous glider which is capable of executing an aggressive high angle-of-attack maneuver in order to land on a perch. We first(More)
Understanding the principles of motor coordination with redundant degrees of freedom still remains a challenging problem, particularly for new research in highly redundant robots like humanoids. Even after more than a decade of research, task space control with redundacy resolution still remains an incompletely understood theoretical topic, and also lacks a(More)
Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gauss' principle of least constraint. This method allows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel(More)
Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly decelerate to land on a perch. Stall is typically associated with a loss of control authority, and it is tempting to attribute this(More)
M any electronic systems must be tuned through the variation of reactance of one or more circuit elements. In these applications it is often desirable to perform this tuning under electronic rather than manual control. Tuning varactor diodes, which are pn junction devices that act as voltage controlled variable capacitors, can perform this function, and are(More)
Human pilots have the extraordinary ability to remotely maneuver small Unmanned Aerial Vehicles (UAVs) far outside the flight envelope of conventional autopilots. Given the tremendous thrust-to-weight ratio available on these small machines [1, 2], linear control approaches have recently produced impressive demonstrations that come close to matching this(More)