Given their inherent expense, space missions must utilize available resources efficiently. Allocating resources to a single mission or scientific instrument is in itself a challenging task, and this complexity becomes magnified as fleets of satellites and networks of groundstations and antennas are managed as resource pools. Techniques which perform well for generating schedules for unit capaci...

This paper deals with programming-bydemonstration of robot manipulators, where a robot program is created automatically from human demonstrations despite morphological differences in the hand/arm structure. To find a correspondence between observed human motions and desired robot hand motions, we represent the task in hand state space. The hand state definition is perception-invariant and valid...

In this paper we are concerned with reproducing kernel Hilbert spaces HK of functions from an input space into a Hilbert space Y, an environment appropriate for multi-task learning. The reproducing kernel K associated to HK has its values as operators on Y. Our primary goal here is to derive conditions which ensure that the kernel K is universal. This means that on every compact subset of the i...

Devoted to multi-task learning and structured output learning, operator-valued kernels provide a flexible tool to build vector-valued functions in the context of Reproducing Kernel Hilbert Spaces. To scale up these methods, we extend the celebrated Random Fourier Feature methodology to get an approximation of operatorvalued kernels. We propose a general principle for Operator-valued Random Four...

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator+s Jacobian, those based on the local optimization of objective functions in the null space of...

In this paper we propose a force position control scheme in a DOF task space which is a generalization of the parallel control scheme in a DOF task space The con troller consists of a PD action on the position loop a PI action on the force loop together with gravity com pensation and feedforward of the desired contact force Kinestatic ltering is not used in the scheme Euler pa rameters are adop...

The observation that the activity of multiple muscles can be well approximated by a few linear synergies is viewed by some as a sign that such low-dimensional modules constitute a key component of the neural control system. Here, we argue that the usefulness of muscle synergies as a control principle should be evaluated in terms of errors produced not only in muscle space, but also in task spac...