INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

http://www.cds.caltech.edu/%7Emurray/books/MLS/pdf/mls94-complete.pdf

A Mathematical Introduction to Robotic Manipulation

An intelligent electronic appliance preferably includes a user interface, data input and/or output port, and an intelligent processor. A preferred embodiment comprises a set top box for interacting with broadband media streams, with an adaptive user interface, content-based media processing and/or media metadata processing, and telecommunications integration. An adaptive user interface models the user, by observation, feedback, and/or explicit input, and presents a user interface and/or executes functions based on the user model. A content-based media processing system analyzes media content, for example audio and video, to understand the content, for example to generate content-descriptive metadata. A media metadata processing system operates on locally or remotely generated metadata to process the media in accordance with the metadata, which may be, for example, an electronic program guide, MPEG 7 data, and/or automatically generated format. A set top box preferably includes digital trick play effects, and incorporated digital rights management features.

Intelligent electronic appliance system and method

An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation which may be efficiently processed to determine correspondence. Applications of the interface and system include a VCR, medical device, vehicle control system, audio device, environmental control system, securities trading terminal, and smart house. The system optionally includes an actuator for effecting the environment of operation, allowing closed-loop feedback operation and automated learning.

Ergonomic man-machine interface incorporating adaptive pattern recognition based control system

An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation that may be efficiently processed to determine correspondence. Applications of the interface and system include a video cassette recorder (VCR), medical device, vehicle control system, audio device, environmental control system, securities trading terminal, and smart house. The system optionally includes an actuator for effecting the environment of operation, allowing closed-loop feedback operation and automated learning.

Adaptive pattern recognition based control system and method

This paper develops a mathematical theory of super-resolution. Broadly speaking, superresolution is the problem of recovering the ne details of an object|the high end of its spectrum| from coarse scale information only|from samples at the low end of the spectrum. Suppose we have many point sources at unknown locations in [0; 1] and with unknown complex-valued amplitudes. We only observe Fourier samples of this object up until a frequency cut-o fc. We show that one can super-resolve these point sources with innite precision|i.e. recover the exact locations and amplitudes|by solving a simple convex optimization problem, which can essentially be reformulated as a semidenite program. This holds provided that the distance between sources is at least 2=fc. This result extends to higher dimensions and other models. In one dimension for instance, it is possible to recover a piecewise smooth function by resolving the discontinuity points with innite precision as well. We also show that the theory and methods are robust to noise. In particular, in the discrete setting we develop some theoretical results explaining how the accuracy of the super-resolved signal is expected to degrade when both the noise level and the super-resolution factor vary.

/pdf/towards-a-mathematical-theory-of-super-resolution-23m861muqo.pdf

Towards a Mathematical Theory of Super-resolution

An inequality is proved, bounding the growth rates of the volumes of iterates of smooth submanifolds in terms of the topological entropy. ForC
 x-smooth mappings this inequality implies the entropy conjecture, and, together with the opposite inequality, obtained by S. Newhouse, proves the coincidence of the growth rate of volumes and the topological entropy, as well as the upper semicontinuity of the entropy.

Volume growth and entropy

Consider a redundant manipulator whose hand is to trace a path in its workspace. A local control strategy that governs the manipulator is a law that assigns an infinitesimal change in the joint angles so that the hand will move infinitesimally in the direction designated by the path. Because of the redundancy, there can be many such control strategies. For some strategies it turns out that when the hand returns to its initial position, the joint angles do not always return to their initial values. To determine a priori whether a given local control strategy guarantees repeatability or not, it is necessary to deduce its global properties as well as its local properties. This is achieved by considering integral surfaces for a distribution in the joint space. This yields a necessary and sufficient condition, in terms of Lie brackets, for a control to be repeatable. >

Repeatability of redundant manipulators: mathematical solution of the problem

We prove that a bounded semialgebraic function can be (piecewise) reparametrized in such a way that all the derivatives up to a fixed orderk, with respect to new coordinates, are small, and the number of pieces is effectively bounded.

C k-resolution of semialgebraic mappings. Addendum toVolume growth and entropy

The geometry of critical and near-critical values of differentiable mappings

Preface.- Introduction and Content.- Entropy.- Multidimensional Variations.- Semialgebraic and Tame Sets.- Some Exterior Algebra.- Behavior of Variations under Polynomial Mappings.- Quantitative Transversality and Cuspidal Values for Polynomial Mappings.- Mappings of Finite Smoothness.- Some Applications and Related Topics.- Glossary.- References.

Yosef Yomdin

Papers

Volume growth and entropy

Repeatability of redundant manipulators: mathematical solution of the problem

C k-resolution of semialgebraic mappings. Addendum toVolume growth and entropy

The geometry of critical and near-critical values of differentiable mappings

Tame Geometry with Application in Smooth Analysis