This article discusses the essential equivalence of second-order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained

This paper discusses the essential equivalence of second order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained

-area telecommunications network that is operating in close quarters. The technical steps toward making Myrinet a reality included the development of (1) robust, 25m communication channels with flow control, packet framing, and error control; (2) self-initializing, low-latency, cut-through switches; (3) host interfaces

1994]. What are the right scheduling algorithms for taking advantage of reduced clock-speed, especially in the presence of applications demanding ever more instructions-per-second? We consider several methods for varying the clock speed dynamically under control of the operating system, and examine

a two-dimensional Cartesian histogram gridas a world model. This world model is updated continuously with range data sampled by on-board range sensors. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle

) or decode-and-forward (DF) modes. For each protocol, we study the ergodic and outage capacity behavior (assuming Gaussian code books) under the AF and DF modes of relaying. We analyze the spatial diversity performance of the various protocols and find that full spatial diversity (second-order in this case

The human frontal cortex helps mediate working memory, a system that is used for temporary storage and manipulation of information and that is involved in many higher cognitive functions. Working memory includes two components: short-term storage (on the order of seconds) and executive processes

The CN2 algorithm induces an ordered list of classification rules from examples using entropy as its search heuristic. In this short paper, we describe two improvements to this algorithm. Firstly, we present the use of the Laplacian error estimate as an alternative evaluation function and secondly

, just enough to stay up to date. We show that with this simple mechanism, Trickle can scale to thousand-fold changes in network density, propagate new code in the order of seconds, and impose a maintenance cost on the order of a few sends an hour.

-channel interference of other users. Typical optimization problems of interest include the capacity problem—maximizing the sum information rate subject to a power constraint—or the power control problem—minimizing transmitted power such that a certain quality-of-service metric for each user is met. Neither