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6 Efficient and Precise Grasp Planning for Real World Objects
With the development of .exible and highly integrated dexterous grip** devices (e.g. fig.6.1) the research results on grasp and manipulation...
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Synchronization in Complex Networks
The study of complex systems pervades all of science, from cell biology to ecology, from computer science to meteorology. A paradigm of a complex...
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Data Traffic, Topology and Congestion
We consider the interaction between the topology of a network and the tra.c carried along its channels. The binding elements between the topology and...
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4 Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads
Compliant pads greatly contribute to increase the robustness and the stability of grasps of robot hands, because of their conformability to the...
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9 On Observing Contact States in Overconstrained Manipulation
Estimation of contact state is important to any multi-point interaction that involves frictional stick/slip phenomena. In particular, when there are...
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Nonlinear Instabilities in TCP-RED
With the growing size and popularity of the Internet, congestion control has emerged as an important problem. Poor management of congestion can...
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On Dynamics of Transport Protocols Over Wide-Area Internet Connections
The Transport Control Protocol (TCP) is widely deployed over the Internet for reliably transporting data [27], and it accounts for a significant...
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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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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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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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Modeling TCP/RED: a Dynamical Approach
Today’s Internet applications, such as World Wide Web, file transfer, Usenet news, and remote login, are delivered via Transmission Control Protocol...
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Dynamics of Congestion Control
One reason for the success of TCP and its widespread usage in the Internet is its ability to control network congestion. A TCP source uses implicit...
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Statistical Properties of Chaos in Communication Networks
The behavior of communication networks, like the Internet is complex in many ways. This complexity may have many origins, including the topology of...
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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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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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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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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...