Gerald Cook

Bio: Gerald Cook is an academic researcher from George Mason University. The author has contributed to research in topics: Control theory & Optimal control. The author has an hindex of 13, co-authored 78 publications receiving 1079 citations. Previous affiliations of Gerald Cook include Vanderbilt University & United States Air Force Academy.

Microsaccades and the Velocity-Amplitude Relationship for Saccadic Eye Movements

Abstract: The maximum velocities of microsaccades (flicks) are an increasing function of amplitude of movement. Measured velocities fall on the extrapolation of the curve of maximum velocity versus amplitude for voluntary saccades and involuntary corrective saccades. Hence all these movements are produced by a common physiological system, or the characteristics of the movements are determined by a single dynamically limiting element.

The human eye-movement mechanism. Experiments, modeling, and model testing.

Abstract: A model for the human eye-positioning mechanism is presented. The derivation of the model is outlined briefly. Experiments for obtaining actual eye-movement behavior are described. Model simulations and comparisons of these results with experimental results are presented. The comparisons support the validity of the model. The physical basis of the model adds meaning to the model and insight into the operation of the actual system.

Mobile Robots: Navigation, Control and Remote Sensing

Abstract: mobile robots. navigation, control and remote sensing mobile robots navigation control and remote sensing mobile robots navigation control and remote sensing mobile robots navigation control and remote sensing mobile robots navigation control and remote sensing remote navigation of a mobile robot in an rfid-augmented mobile robots navigation control and remote sensing full multi-robot system for real-time sensing and monitoring mobile robots download.e-bookshelf mobile robot navigation using active vision design and implementation of a mobile agricultural robot remote control of on-line mobile robots over ip networks chapter 1 mobile robots for polar remote sensing mobile robot navigation and control: a case study mit 3d-camera based navigation of a mobile robot in an mobile robot navigationtechniques: asurvey ijraset autonomous mobile robot research at louisiana state control architecture for mobile robot teleoperation target tracking control of mobile robot based on intelligent mobile robot motion control in unstructured mobile robots as remote sensors for spatial point process autonomous navigation and teleoperation in robots using computer vision for mobile robot navigation uni-stuttgart control of mobile robots through wireless sensor networks robotic navigation and mapping with radar robotic gx developer operating manual browserfame anfis approach for navigation of mobile robots polaris outlaw 50 repair manual ebook | browserfame wireless sensor-driven intelligent navigation method for syllabus for ece 450: introduction to robotics section 001 ece624 schedule of topics george mason university mobile robots with in -situ and remote sensors for real mobile robot navigation in narrow aisles with ultrasonic sensor-based intelligent mobile robot navigation in development of fieldbus architecture for teleoperation and a new vision for smart objects and the internet of things design and implementation of a control system for a networked robots: flying robot navigation using a sensor net inter-row robot navigation using 1d ranging sensors an architecture for distributed environment sensing with the mysteries of udolpho; and, a sicilian romance by ann dual-robot navigation system for real-time

Controlled Markov processes and viscosity solutions

Abstract: This book is intended as an introduction to optimal stochastic control for continuous time Markov processes and to the theory of viscosity solutions. The authors approach stochastic control problems by the method of dynamic programming. The text provides an introduction to dynamic programming for deterministic optimal control problems, as well as to the corresponding theory of viscosity solutions. A new Chapter X gives an introduction to the role of stochastic optimal control in portfolio optimization and in pricing derivatives in incomplete markets. Chapter VI of the First Edition has been completely rewritten, to emphasize the relationships between logarithmic transformations and risk sensitivity. A new Chapter XI gives a concise introduction to two-controller, zero-sum differential games. Also covered are controlled Markov diffusions and viscosity solutions of Hamilton-Jacobi-Bellman equations. The authors have tried, through illustrative examples and selective material, to connect stochastic control theory with other mathematical areas (e.g. large deviations theory) and with applications to engineering, physics, management, and finance. In this Second Edition, new material on applications to mathematical finance has been added. Concise introductions to risk-sensitive control theory, nonlinear H-infinity control and differential games are also included.

Kalman Filtering for Spacecraft Attitude Estimation

Abstract: HIS report reviews the methods of Kalman filtering in attitude estimation and their development over the last two decades. This review is not intended to be complete but is limited to algorithms suitable for spacecraft equipped with three-axis gyros as well as attitude sensors. These are the systems to which we feel that Kalman filtering is most ap- plicable. The Kalman filter uses a dynamical model for the time development of the system and a model of the sensor measurements to obtain the most accurate estimate possible of the system state using a linear estimator based on present and past measurements. It is, thus, ideally suited to both ground-based and on-board attitude determination. However, the applicability of the Kalman filtering technique rests on the availability of an accurate dynamical model. The dynamic equations for the spacecraft attitude pose many difficulties in the filter modeling. In particular, the external torques and the distribution of momentum internally due to the use of rotating or rastering instruments lead to significant uncertainties in the modeling. For autonomous spacecraft the use of inertial reference units as a model replacement permits the circumvention of these problems. In this representation the angular velocity of the spacecraft is obtained from the gyro data. The kinematic equations are used to obtain the attitude state and this is augmented by means of additional state-vector components for the gyro biases. Thus, gyro data are not treated as observations and the gyro noise appears as state noise rather than as observation noise. It is theoretically possible that a spacecraft is three-axis stabilized with such rigidity that the time development of the system can be described accurately without gyro information, or that it is one-axis stabilized so that only a single gyro is needed to provide information on the time history of the system. The modification of the algorithms presented here in order to apply to those cases is slight. However, this is of little practical importance because a control system capable of such

The role of fixational eye movements in visual perception

Abstract: Our eyes continually move even while we fix our gaze on an object. Although these fixational eye movements have a magnitude that should make them visible to us, we are unaware of them. If fixational eye movements are counteracted, our visual perception fades completely as a result of neural adaptation. So, our visual system has a built-in paradox — we must fix our gaze to inspect the minute details of our world, but if we were to fixate perfectly, the entire world would fade from view. Owing to their role in counteracting adaptation, fixational eye movements have been studied to elucidate how the brain makes our environment visible. Moreover, because we are not aware of these eye movements, they have been studied to understand the underpinnings of visual awareness. Recent studies of fixational eye movements have focused on determining how visible perception is encoded by neurons in various visual areas of the brain.

The main sequence, a tool for studying human eye movements

Abstract: The astronomical term “main sequence” has been applied to the relationships between duration, peak velocity, and magnitude of human saccades over a thousandfold range of magnitude. Infrared photodiodes aimed at the iris-sclera border and a digital computer were used in experiments to derive the main sequence curves. In the pulse width modulation model, the duration of the controller signal pulse determines saccadic amplitude and peak velocity. The high-frequency burst of the oculomotoneurons needs to be only one-half the duration of the saccade, because of the “apparent inertia” of the eyeball.