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5 A Practical Audio Acquisition System Using a Robust GSC (RGSC)
In the preceding chapter, we have seen that data-dependent beamformers can be efficiently realized in GSC structures. However, GSCs, or more general...
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3 Optimum Linear Filtering
In this chapter, we introduce the concept of optimum linear filtering for multiple-input multiple-output (MIMO) digital systems for solving...
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2. Analysis of Switched and Impulsive Systems
The analysis will focus on the case where the switchings are governed by a finite state machine. This is because the common Lyapunov function method...
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8 Summary and Conclusions
Convenient human/machine interaction requires acoustic front-ends which allow seamless and hands-free audio communication. For suppressing...
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3. Stability of Linear Switched and Impulsive Systems
In the previous chapter, we have set up the basic framework for the stability analysis of switched and impulsive systems. The framework provides the...
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10. Future Research Directions and Potential Applications
Many interesting applications of switched and impulsive systems have been presented in the previous chapters. We shall conclude this book by...
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5 Grasp Synthesis from Example: Tuning the Example to a Task or Object
Many approaches to grasp synthesis do not scale well as the desired number of contacts is increased. In previous work [223], we have presented a...
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16 Design of 100G Capturing Robot
How much acceleration can a robot produce? Pursuing a robot with an extremely high response is a challenging matter. We have designed and developed...
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10 Tactile Flow and Haptic Discrimination of Softness
Haptic perception involves both cutaneous perception, through mechanoreceptors lying on the skin, and kinaesthetic perception mediated by the...
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14 Intrinsically Passive Control using Sampled Data System Passivity
In this chapter, which is a distilled version of [271], we present a novel way to approach the interconnection of a continuous and a discrete time...
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8 Semi-Autonomous Human-Robot Interaction for People with Disability
This chapter presents an innovative semi-autonomous human-robot interaction concept for people with disability and discusses a proof-of-concept...
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7 Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts
A fixture is a device which immobilizes a part through a maximal set of linearly independent contacts. While many techniques exist to determine an...
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3 Dynamic Proxies and Haptic Constraints
Haptic simulations strive to provide users with realistic renditions of virtual environments but often struggle to display convincing rigid...
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1 Rapid Collision Dynamics for Multiple Contacts with Friction
We examine the interaction of complex two-dimensional rigid bodies with friction. Given their idealized description, many different feasible...
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A Estimation of Signal-to-Interference-Plus-Noise Ratios (SINRs) Exploiting Non-stationarity
Our discussion about optimum data-dependent beamforming has shown that the second-order statistics of the sensor signals w.r.t. the desired signal...
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2 Space-Time Signals
In single-channel techniques for hands-free acoustic human/machine interfaces, we deal with waveforms which are functions of the continuous time. The...
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7. Scheduling of Switched Server Systems
In this chapter, we shall present an interesting and practical application of the stability results obtained in Chapter 2. Specifically, the...
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15 Effects of Grip** and Translational Forces on Teleoperation
For minimally invasive surgical teleoperation systems, it is often impractical to provide the same number of degrees of freedom (dof) for position...
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2 Does Torque Minimization Yield a Stable Human Grasp?
In this chapter, we present a study of the human grasp conducted with a mathematical formalism that has been developed in robotics during the last...
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7 Efficient Real-Time Realization of an Acoustic Human/Machine Front-End
In the previous chapters, we discussed options for data-dependent optimum beamforming for acoustic human/machine front-ends on cost-sensitive...