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IROS
2007
IEEE
152views Robotics» more  IROS 2007»
14 years 5 months ago
Characterizing optimally fault-tolerant manipulators based on relative manipulability indices
— 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...
RSS
2007
134views Robotics» more  RSS 2007»
14 years 18 days ago
A Discrete Geometric Optimal Control Framework for Systems with Symmetries
— 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...
ICTAI
2000
IEEE
14 years 3 months ago
Constrained genetic algorithms and their applications in nonlinear constrained optimization
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...
Benjamin W. Wah, Yixin Chen
IOR
2008
82views more  IOR 2008»
13 years 11 months ago
Heavy-Traffic Optimality of a Stochastic Network Under Utility-Maximizing Resource Allocation
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...
Heng-Qing Ye, David D. Yao
DBPL
2005
Springer
135views Database» more  DBPL 2005»
14 years 4 months ago
Type-Based Optimization for Regular Patterns
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 ...
Michael Y. Levin, Benjamin C. Pierce