Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-e ector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective space associated with it. In consequenc...

Glossary Diffeomorphism A smooth (technically differentiable) mapping, such as a spatial transformation, that has a smooth inverse. Jacobian (tensor/matrix and determinant) The matrix of all first-order partial derivatives of a mapping, or the determinant thereof, at a given point. The Jacobian determinant encodes the factor by which the mapping expands or shrinks space. Considering every point...

Extending previous work with Lattanzio and Mascia on the scalar (in fluid-dynamical variables) Hamer model for a radiative gas, we show nonlinear orbital asymptotic stability of smallamplitude shock profiles of general systems of coupled hyperbolic–eliptic equations of the type modeling a radiative gas, that is, systems of conservation laws coupled with an elliptic equation for the radiation fl...

submitted to the Annual Conference of ASTRO (2014): Automated Tool for Determining Pulmonary Nodule Elasticity to Distinguish Malignant Nodules Purpose: To develop and validate an automated method of determining pulmonary nodule (PN) elasticity against a manual contouring method, and preliminarily assess its ability to distinguish malignant tissue by comparing the elasticities of malignant PNs ...

Algorithms for planning quasistatic attitude maneuvers based on the Jacobian of the forward kinematic mapping of fully-reversed (FR) sequences of rotations are proposed in this paper. An FR sequence of rotations is a series of finite rotations that consists of initial rotations about the axes of a body-fixed coordinate frame and subsequent rotations that undo these initial rotations. Unlike the...

We consider Abel maps for regular smoothing of nodal curves with values in the Esteves compactified Jacobian. In general, these are just rational, and an interesting question is to find explicit resolution. translate this problem into combinatorial by means tropical toric geometry. show that solution gives rise resolution map. able use technique construct study all degree one. Finally, we write...

Let g and n be nonnegative integers A = ( a 0 , … ) sequence of + 1 summing up to d . M ? the moduli space -pointed stable curves genus J ? ? Esteves' universal Jacobian, where is genus- polarization degree We give an explicit resolution Abel map ? : ? taking pointed curve X p O ? ? i The blowup giving rise inspired by tropical analogue (in category generalized cone complexes). As application, ...