In this report, we discuss adaptive control of a space robot system with an attitude controlled base on which the robot is attached. We at first derive the system kinematic and dynamic equations based on Lagrangian dynamics and linear momentum conservation law. Using the dynamic model developed, we discuss the problem of linear parameterization in t m s of dynamic parameters, and have found tha...

In this paper, we propose a novel approach for intensity based atlas construction from a population of anatomical images, that estimates not only a template representative image but also a common optimal parameterization of the anatomical variations evident in the population. First, we introduce a discrete parameterization of large diffeomorphic deformations based on a finite set of control poi...

In this paper, adaptive control of free-floating space manipulators is considered. The dynamics based on the momentum conservation law for the free-floating space manipulator has non-linear parameterization properties. Therefore, the adaptive control based on a linear parameterization model cannot be used in this dynamics. In this paper, the dynamics of the free-floating space manipulator syste...

A single-column model run under the weak temperature gradient 8 approximation, a parameterization of large-scale dynamics appro9 priate for the tropical atmosphere, is shown to have multiple stable 10 equilibria. Under conditions permitting persistent deep convection, 11 the model has a statistically steady state in which such convection 12 occurs, as well as an extremely dry state in which con...

This paper is concerned with constructing an optimal controller in the coherent quantum Linear Quadratic Gaussian problem. A coherent quantum controller is itself a quantum system and is required to be physically realizable. The use of coherent control avoids the need for classical measurements, which inherently entail the loss of quantum information. Physical realizability corresponds to the e...

This paper is devoted to proposing an approximate numerical algorithm based on the use of state parameterization technique in order find solution optimal control problem (OCP). An explicit formula for new shifted wavelet (NSW) functions constructed. A that expresses first-order derivative NSW terms their original established. The development our suggested algorithms begins with extraction a ope...

The development of new mission concepts requires efficient methodologies to analyze, design, and simulate the concepts before implementation. New mission concepts are increasingly considering the use of ion thrusters for fuel-efficient navigation in deep space. This paper presents parallel, evolutionary computing methods to design trajectories of spacecraft propelled by ion thrusters and assess...

This paper studies a class of real-rational matrix bilateral Diophantine equations (BDE) arising in numerous control problems. A necessary and sufficient solvability condition is derived in terms of state-space realizations of rational matrices involved in the equation. This condition is given in terms of a constrained matrix Sylvester equation and is numerically tractable. An explicit state-sp...

This paper studies higher-order processes with the capability of parameterization (or abstraction), which has been proven to be an effective measure of lifting the mere process-passing in expressiveness. We contribute to the understanding of two kinds of parameterization: nameparameterization and process-parameterization, particularly in a secondorder setting (no currying of parameterization). ...

In this paper, we propose the parameterization of all robust stabilizing simple multi-period repetitive controllers with the specified input-output characteristic. Recently, Yamada et al. proposed the parameterization of all robust stabilizing simple multi-period repetitive controllers for the plant with uncertainty such that the controller works as a robust stabilizing multi-period repetitive ...