Pedestrian crowds can very realistically be simulated with a social force model which describes the different influences affecting individual pedestrian motion by a few simple force terms. The model is able to reproduce the emergence of several empirically observed collective patterns of motion. These self-organization phenomena can be utilized for new flow optimization methods which are indisp...

In this paper we present a novel approach to force planning during multingered regrasping. Hybrid (discrete-continuous) system models are used for reference generation for the regrasping nger. An impedance control algorithm including a real-time applicable grasping force optimization method implements the regrasping task. Simulation results show the e ciency and simplicity of our approach to re...

Although point-to-point reaching motions have received a lot of attention, the way these movements are controlled remains incompletely resolved. Different controllers seem to be recruited depending on the task. Unconstrained reaching movements in space are strongly curved, in opposition to the widely accepted view of quasi-straightness. We argue that the curvature of the movement is due to envi...

We were engaged in research in various areas of robotic movement planning. The movement planning problems investigated were static movement problems (where the obstacles do not move), minimum distance path planning, compliant motion control (which involves planning without complete knowledge of the position of the robot) and related frictional movement problems, motion planning with independent...

in today's competitive market, quality has an important role in manufacturing system. the manufacturers attempt to maintain their production system in a proper condition to produce high quality products. one of the key factors to achieve this goal is maintenance policy. most studies on maintenance focused on machines and less attention has been paid to human resources as the most important...

Future military operations rely on increasingly complex joint and multinational environments. This calls for innovative concepts, doctrine, and technologies to support the emergence of new planning and execution systems that are more flexible, adaptive, interoperable, and responsive to a time-varying uncertain environment. The ability to conduct joint operations imposes shared information and i...