Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

Model of Competencies for Decomposition of Human Behavior: Application to Control System of Robots

Humans and machines have shared the same physical space for many years. To share the same space, we want the robots to behave like human beings. This will facilitate their social integration, their interaction with humans and create an intelligent behavior. To achieve this goal, we need to understand how human behavior is generated, analyze tasks running our nerves and how they relate to them. Then and only then can we implement these mechanisms in robotic beings. In this study, we propose a model of competencies based on human neuroregulator system for analysis and decomposition of behavior into functional modules. Using this model allow separate and locate the tasks to be implemented in a robot that displays human-like behavior. As an example, we show the application of model to the autonomous movement behavior on unfamiliar environments and its implementation in various simulated and real robots with different physical configurations and physical devices of different nature. The main result of this study has been to build a model of competencies that is being used to build robotic systems capable of displaying behaviors similar to humans and consider the specific characteristics of robots.

A Computational Model of the Belief System Under the Scope of Social Communication

This paper presents an approach to the belief system based on a computational framework in three levels: first, the logic level with the definition of binary local rules, second, the arithmetic level with the definition of recursive functions and finally the behavioural level with the definition of a recursive construction pattern. Social communication is achieved when different beliefs are expressed, modified, propagated and shared through social nets. This approach is useful to mimic the belief system because the defined functions provide different ways to process the same incoming information as well as a means to propagate it. Our model also provides a means to cross different beliefs so, any incoming information can be processed many times by the same or different functions as it occurs is social nets.

A Belief System's Organization Based on a Computational Model of the Dynamic Context: First Approximation

In this article we present a model of organization of a belief system based on a set of binary recursive functions that characterize the dynamic context that modifies the beliefs. The initial beliefs are modeled by a set of two-bit words that grow, update, and generate other beliefs as the different experiences of the dynamic context appear. Reason is presented as an emergent effect of the experience on the beliefs. The system presents a layered structure that allows a functional organization of the belief system. Our approach seems suitable to model different ways of thinking and to apply to different realistic scenarios such as ideologies.

The Future of Model Germany: Challenges to the Corporatist System of Business Labor Relations. CES Germany & Europe Working Papers, No. 07.4, 12 December 1996

Germany's economic and social system faces immense economic, social, and political demands. These may be encapsulated in challenges like "new management concepts and labor policies," "deregulation of the infrastructure sector," "globalization," and "reunification." The paper analyzes these challenges and changes to the corporatist system of industrial relations--a cornerstone in .Model Germany's specific economic success and social consensus until now.

Integrated traffic simulation model - phase I. Volume 2: design of the TRAF system (TOS). Final report.

Federal Highway Administration, Washington, D.C.

Cost evaluation for nine Federal Motor Vehicle Safety Standards: Task VIII - FMVSS 301, fuel system integrity - determination of the model year when manufacturers made changes to meet Standard's 1976 requirements. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Braking system performance of selected 1978 model year trucks and multi-purpose vehicles. Final report.

Mode of access: Internet.

Traffic safety demonstration program modeling system. Volume III: citizens band radio model. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Development of a streaming-fiber oil spill control system : stage II : modifications to large-scale model /

Includes bibliographical references.

Model framework for management control over automated information system /

Mode of access: Internet.

A probabilistic model for a specialized information retrieval system /

Thesis (M. S.)--University of Illinois at Urbana-Champaign.

Speech Display Simulation System for a Comparative Study of Some Visual Speech Displays.

Includes bibliographic references (216).

A two compartmental model of the respiratory system /

"UIUCDCS-R-73-616"

Laboratory tests of hydraulic model of filling and emptying system for the MacArthur Lock, St. Marys River, Sault Ste. Marie, Michigan; final report.

Mode of access: Internet.