A recently developed spatial operator algebra for manipu lator modeling, control, and trajectory design is dis cussed. The elements of this are linear operators whose domain range spaces consist forces, moments, velocities, accelerations. effect these equivalent to a recursion along the span manipulator. Inversion can be efficiently obtained via techniques recursive filtering smoothing. provides high- level framework describing dynamic kinematic behavior manipulator control algorithms....

The inverse and forward dynamics problems for multilink serial manipulators are solved by using recursive techniques from linear filtering smoothing theory. pivotal step is to cast the system kinematics as a two-point boundary-value problem. Solution of this problem leads similar equations Kalman Bryson-Frazier fixed time-interval smoothing. solutions prescribe an inward recursion compute sequence constraint moments forces followed outward determine corresponding angular accelerations. An...

A diagonal equation for robot dynamics is developed by combining mass matrix factorization results with classical Lagrangian mechanics. Diagonalization implies that at each fixed time instant the joint decoupled from all of other equations. The involves two important variables: a vector total rotational rates and corresponding working moments. nonlinear Coriolis term depends on angles rates. are related to relative joint-angle linear spatial operator. rate given k reflects velocity about...

The dynamics and kinematics of manipulators that have fewer actuators than degrees freedom are studied. These underactuated arise in a number important applications such as free-flying space robots, hyperredundant manipulators, with structural flexibility, etc. In the analysis decomposed into component active passive arms. This decomposition allows techniques previously developed for regular (fully actuated) to be applied systems. Spatial operator identities used develop closed-form...

A reconstruction technique, based on the 2-D truncated singular value decomposition, is first proposed to enhance spatial resolution of radiometer earth observation measurements. The technique very computer time effective when kernel a tensor product. key issue regarding selection truncation parameter addressed by statistically generalized cross-validation approach. Experiments undertaken data set consisting both simulated and actual special sensor microwave imager measurements show...

Summary Generalized cross validation is a popular approach to determining the regularization parameter in Tikhonov regularization. The chosen by minimizing an expression, which easy evaluate for small‐scale problems, but prohibitively expensive compute large‐scale ones. This paper describes novel method, based on Gauss‐type quadrature, upper and lower bounds desired expression. These are used determine problems. Computed examples illustrate performance of proposed method demonstrate its...

A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described this paper. The lightweight, compact 6 dof master-slave system precise to better than 10 microns can cover workspace greater 400 cubic centimeters. Current capabilities of the include manual position control with augmented shared modes automatic robot. Simulated force feedback on master device has been implemented plans are integrate reflection from slave end effector...

This paper uses spatial operators to develop new spatially recursive dynamics algorithms for flexible multibody systems. The operator description of the is identical that rigid Assumed-mode models are used deformation each individual body. based on two factorizations system mass matrix. first (Newton-Euler) factorization matrix leads inverse dynamics, evaluation, and composite-body forward second (innovations) matrix, an expression a articulated-body algorithm. primary focus serial chains,...

Approximations of matrix-valued functions the form $W^Tf(A)W$, where $A \in {\mathbb R}^{m\times m}$ is symmetric, $W\in{\mathbb k}$, with $m$ large and $ k\ll m$, has orthonormal columns, $f$ a function, can be computed by applying few steps symmetric block Lanczos method to $A$ initial block-vector k}$. Golub Meurant have shown that approximants obtained in this manner may considered Gauss quadrature rules associated measure. This paper generalizes anti-Gauss rules, introduced Laurie for...

This paper advances two linear operator factorizations of the manipulator mass matrix. Embedded in are many techniques that regarded as very efficient computational solutions to inverse and forward dynamics problems. The provide a high-level architectural understanding matrix its inverse, which is not visible detailed algorithms. They also lead an approach development computer programs or organisation complexity robot dynamics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML"...

We propose a regularization method to solve nonlinear ill-posed problem connected inversion of data gathered by ground conductivity meter.

Whether or not one can detect relict signatures of the past imprinted in current landscapes is a question utmost theoretical and practical relevance for meandering tidal channels, owing to their influence on morphodynamic evolution landscapes, critically fragile environment, especially face expected climatic changes. Unravelling sedimentary patterns ancient channels an expensive process that usually requires high resolution sediment coring. Here we use novel inversion multi-frequency...