An instrumented glove for grasp specification in virtual-reality-based point-and-direct telerobotics
Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. ...
Shape encoding: a biologically inspired method of transforming boundary images into ensembles of shape-related features
A biologically inspired method to encode the shape of enclosed image regions is presented. Shape encoding units, called “shape cells”, are algebraic filters which receive two-dimensional (2-D) reconstructed image boundaries as input ...
Enhanced high-level Petri nets with multiple colors for knowledge verification/validation of rule-based expert systems
Exploring the properties of rule-based expert systems through Petri net models has received a lot of attention. Traditional Petri nets provide a straightforward but inadequate method for knowledge verification/validation of rule-based expert systems. We ...
A parallel computing engine for a class of time critical processes
This paper focuses on the efficient parallel implementation of systems of numerically intensive nature over loosely coupled multiprocessor architectures. These analytical models are of significant importance to many real-time systems that have to meet ...
Fuzzy clustering with partial supervision
Presented here is a problem of fuzzy clustering with partial supervision, i.e., unsupervised learning completed in the presence of some labeled patterns. The classification information is incorporated additively as a part of an objective function ...
Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation
In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. ...
Neural adaptive regulation of unknown nonlinear dynamical systems
With this paper we extend our previous work on the subject, by including the case where the number of control inputs is different from the number of states which is frequently faced in control engineering problems. Uniform ultimate boundedness of the ...
Edge detection in untextured and textured images-a common computational framework
In this paper, a unified computational framework is presented for facilitating edge detection both in untextured as well as textured two-dimensional (2-D) images. The framework is based on a complete set of difference operators which are easily ...
A structural and relational approach to handwritten word recognition
In this paper, we present a new off-line word recognition system that is able to recognize unconstrained handwritten words using grey-scale images. This is based on structural and relational information in the handwritten word. We use Gabor filters to ...
Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions
A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effecters is proposed. The method can generate the trajectories of the multiple arms in a distributed manner based on a concept of a ...
Noise injection into inputs in sparsely connected Hopfield and winner-take-all neural networks
In this paper, we show that noise injection into inputs in unsupervised learning neural networks does not improve their performance as it does in supervised learning neural networks. Specifically, we show that training noise degrades the classification ...
A novel multiseed nonhierarchical data clustering technique
Clustering techniques such as K-means and Forgy as well as their improved version ISODATA group data around one seed point for each cluster, It is well known that these methods do not work well if the shape of the cluster is elongated or nonconvex. We ...
Multimode-oriented polynomial transformation-based defuzzification strategy and parameter learning procedure
In an earlier paper (1996), we proposed a set of generalized defuzzification strategies which can be characterized as single-mode-oriented strategies. A single-mode-oriented defuzzification strategy, although useful in many research projects and real ...
A comparative design and tuning for conventional fuzzy control
A new methodology is introduced for designing and tuning the scaling gains of the conventional fuzzy logic controller (FLC) based on its well-tuned linear counterpart. The conventional FLC with a linear rule base is very similar to its linear ...
