— In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optim...
Rodney G. Roberts, Hyun Geun Yu, Anthony A. Maciej...
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...
This paper presents a problem-independent framework that uni es various mechanisms for solving discrete constrained nonlinear programming (NLP) problems whose functions are not ne...
We study a stochastic network that consists of a set of servers processing multiple classes of jobs. Each class of jobs requires a concurrent occupancy of several servers while be...
Pattern matching mechanisms based on regular expressions feature in a number of recent languages for processing XML. The flexibility of these mechanisms demands novel approaches ...