This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop loco-manipulation controller, enabling various couplings arm and mobile base movements, particularly their purely decoupled motions. proposed method based on weighted whole-body Cartesian impedance where decoupling motions can be achieved by solving l...

Abstract The meshing technique represents the capability to discretize domain of interest, fit real physical continuum in best possible way. most used approach is finite-element method (FEM), a numerical solve partial differential equations. To overcome classical issues presented by FEM, other models are investigated. goal allow problem be discretized elements represented arbitrary polygons, wh...

A new formulation for the channel capacity problem is derived by using the duality theory of convex programming. The simple nature of this dual representation is suitable for computational purposes. The results are derived in a unified way by formulating the channel capacity problem as a special case of a general class of concave programming problems involving a generalized information measure ...

We derive minimal conditions on a symmetry group of a linearly elastic material that implies its isotropy. A natural setting for the formulation and analysis is provided by the group representation theory where the necessary and sufficient conditions for isotropy are expressed in terms of the irreducibility of certain group representations. We illustrate the abstract results by (re)deriving sev...

Wc describe a hybrid system to model context formulation and resulting expectations created by a listener while attending to tonal music. The model is hybrid in that we use modular sub-networks to simulate the distinct yet mutually influential schemas involved in constructing expectations for sequential events and the temporal cyclical grid that creates metrical support for these expectations. ...

We describe a unified formulation and algorithm to find an extremely sparse representation for Calcium image sequences in terms of cell locations, cell shapes, spike timings and impulse responses. Solution of a single optimization problem yields cell segmentations and activity estimates that are on par with the state of the art, without the need for heuristic preor postprocessing. Experiments o...

The formation of holograms is interpreted as the consequence of the bilinearity of the ambiguity function. Reconstruction can then be regarded as the manipulation of the ambiguity function. Specifically, we show that in the case of in-line holography, the reconstruction can be regarded as phase tomography. In this way we provide a unified picture for the formulation of both noninterferometric a...