Lab Papers (GRASP)
Papers from 1992
Progress in spatial robot juggling, Alfred A. Rizzi and Daniel E. Koditschek
Distributed Real-Time Control of a Spatial Robot Juggler, Alfred A. Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek
Operating Interaction and Teleprogramming for Subsea Manipulation, Craig Sayers, Richard P. Paul, and Max Mintz
Polymorphic Rewriting Conserves Algebraic Confluence, Val Tannen and Jean H. Gallier
Simulation Of Mechanical Systems With Multiple Frictional Contacts, Yin-Tien Wang and R. Vijay Kumar
Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies, Louis Whitcomb, Daniel E. Koditschek, and Joao B. D. Cabrera
Papers from 1991
A Hand-Eye-Arm Coordinated System, Sanjay Agrawal, Ruzena Bajcsy, and R. Vijay Kumar
A Multiagent System for Intelligent Material Handling, Ruzena Bajcsy, Richard P. Paul, Xiaoping Yun, and R. Vijay Kumar
Constructive Logics Part I: A Tutorial on Proof Systems and Typed lambda-Calculi, Jean H. Gallier
Constructive Logics Part II: Linear Logic and Proof Nets, Jean H. Gallier
Unification Procedures in Automated Deduction Methods Based on Matings: A Survey, Jean H. Gallier
GRASP NEWS: Volume 7, Number 1, Faculty & Graduate Students
Some Applications of Natural Motor Control, Daniel E. Koditschek
The Control of Natural Motion in Mechanical Systems, Daniel E. Koditschek
Analysis of A Simplified Hopping Robot, Daniel E. Koditschek and Martin Buehler
Communicating Shared Resources: A Paradigm For Integrating Real-Time Specification And Implementation, Insup Lee, Susan B. Davidson, and Richard Gerber
Important Considerations in Force Control with Applications to Multi-Arm Manipulation, Eric Paljug, Thomas G. Sugar, R. Vijay Kumar, and Xiaoping Yun
The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds, Elon Rimon and Daniel E. Koditschek
Analysis and Simulation of Mechanical Systems with Multiple Frictional Contacts, Yin Tien Wang and R. Vijay Kumar
Dynamics of Rigid Bodies Undergoing Multiple Frictional Contacts, Yin-Tien Wang, R. Vijay Kumar, and Jacob Abel
Automatic assembly planning and control via potential functions, Louis L. Whitcomb and Daniel E. Koditschek
Comparative experiments with a new adaptive controller for robot arms, Louis L. Whitcomb, Alfred A. Rizzi, and Daniel E. Koditschek
RTC: Language Support For Real-Time Concurrency, Victor Wolfe, Susan B. Davidson, and Insup Lee
Robotics Research at the GRASP Laboratory, Xiaoping Yun and Helen Anderson
Control Of Multiple Arm Systems With Rolling Constraints, Xiaoping Yun, R. Vijay Kumar, Nilanjan Sarkar, and Eric Paljug
Papers from 1990
Real-Time Vision-Based Robot Localization, Sami Atiya and Greg Hager
Image Understanding at the GRASP Laboratory, Ruzena Bajcsy
Identification of Address Blocks Through Multiple Illuminations, Multiple Images and Multicolor Images, Ruzena Bajcsy, Helen Anderson, and Sang Wook Lee
From stable to chaotic juggling: theory, simulation, and experiments, Martin Buehler and Daniel E. Koditschek
A Family of Robot Control Strategies for Intermittent Dynamical Environments, Martin Buehler, Daniel E. Koditschek, and Peter J. Kindlmann
A Robotic Haptic System Architecture, Mario Campos and Ruzena Bajcsy
A Proof of Strong Normalization for the Theory of Constructions Using a Kripke-like Interpretation, Thierry Coquand and Jean H. Gallier
A Resource-Based Prioritized Bisimulation for Real-Time Systems, Richard Gerber and Insup Lee
CCSR: A Calculus for Communicating Shared Resources, Richard Gerber and Insup Lee
GRASP News, Volume 6, Number 1, Faculty & Graduate Students
Deciding Not to Decide Using Resource-Bounded Sensing, Greg Hager
Interval-Based Techniques for Sensor Data Fusion, Greg Hager
Computational Methods for Task-directed Sensor Data Fusion and Sensor Planning, Greg Hager and Max L. Mintz
Robust Multi-Sensor Fusion: A Decision-Theoretic Approach, Gerda Kamberova and Max L. Mintz
Globally stable closed loops imply autonomous behavior, Daniel E. Koditschek
How to Decide from the First View Where to Look Next, Jasna Maver and Ruzena Bajcsy
Statistical Decision Theory for Sensor Fusion, Raymond McKendall
Non-Monotonic Decision Rules for Sensor Fusion, Raymond McKendall and Max L. Mintz
Sensor-Fusion with Statistical Decision Theory: A Prospectus of Research in the GRASP Lab, Raymond McKendall and Max L. Mintz
A Kinematic Model of the Human Spine and Torso, Gary Monheit and Norman I. Badler
TRACS: The Hardware and Software Architecture of a New Two Robotic Arm Coordination System, Eric Paljug, Xiaoping Yun, and Filip Fuma
Exact robot navigation in geometrically complicated but topologically simple spaces, Elon Rimon and Daniel E. Koditschek
Exploration of Surfaces for Robot Mobility, Pramath R. Sinha and Ruzena Bajcsy
Robotic Exploration of Surfaces to Measure Mechanical Properties, Pramath R. Sinha and Ruzena Bajcsy
How Does a Robot Know Where to Step? Measuring the Hardness and Roughness of Surfaces, Pramath R. Sinha, Ruzena Bajcsy, and Richard P. Paul
Polymorphic Rewriting Conserves Algebraic Strong Normalization, Val Tannen and Jean H. Gallier
Robot control in a message passing environment: theoretical questions and preliminary experiments, Louis L. Whitcomb and Daniel E. Koditschek
Control Software of Robot Compliant Wrist System, Yangsheng Xu
Coordination of Two-Arm Pushing, Xiaoping Yun
TRACS: An Experimental Multiagent Robotic System, Xiaoping Yun, Eric Paljug, and Ruzena Bajcsy
Papers from 1989
Control Framework for Hand - Arm Coordination, Sanjay Agrawal
Active Perception and Exploratory Robotics, Ruzena Bajcsy
Scene Segmentation in the Framework of Active Perception, Ruzena Bajcsy, Alok Gupta, and Helen Anderson
Research on Symbolic Inference in Computational Vision, Ruzena Bajcsy, Alok Gupta, and Max Mintz
Assembly via Disassembly: A Case in Machine Perpetual Development, Ruzena K. Bajcsy and Constantine J. Tsikos
Machine Systems for Exploration and Manipulation: A Conceptual Framework and Method of Evaluation, Ruzena Bajcsy, Susan Lederman, and Roberta L. Klatzky
Computational Aspects of Color Constancy, Ruzena Bajcsy, Sang Wook Lee, and Aleš Leonardis
Image Segmentation with Detection of Highlights and Inter-Reflections Using Color, Ruzena Bajcsy, Sang Wook Lee, and Aleš Leonardis
A new distributed real-time controller for robotics applications, Martin Buehler, Louis L. Whitcomb, F. Levin, and Daniel E. Koditschek
Active Vision with Multiresolution Wavelets, Howard Choset, Ruzena Bajcsy, and Helen Anderson
A New Approach to Laboratory Motor Control: MMCS The Modular Motor Control System, Peter I. Corke
Fast Image Segmentation, Peter I. Corke and Helen I. Anderson
Video Rate Visual Servoing for Robots, Peter I. Corke and Richard P. Paul
A Real-Time Display for Tactile Images, Filip Fuma and John Bradley
On Girard's "Candidats De Reductibilité", Jean H. Gallier
Complete Sets of Transformations for General E-Unification, Jean H. Gallier and Wayne Snyder
Communicating Shared Resources: A Model for Distributed Real-Time Systems, Richard Gerber and Insup Lee
Part Description and Segmentation Using Contour, Surface and Volumetric Primitives, Alok Gupta
Quantitative and Qualitative Measures for the Evaluation of the Superquadric Models, Alok Gupta, Luca Bogoni, and Ruzena Bajcsy
A General Device Driver for Ultrix or Leave the Driver to /dev/bus, Gaylord Holder
Control of Randomly Sampled Robotic Systems, Hiroaki Kobayashi, Xiaoping Yun, and Richard P. Paul
Autonomous Mobile Robots Controlled by Navigation Functions, Daniel E. Koditschek
Exploration of Unknown Mechanical Assemblies through Manipulation, R. Vijay Kumar, Xiaoping Yun, and Ruzena Bajcsy
The Korean Causative: A TAG Analysis, Young-Suk Lee
Software Tools for Dynamic and Kinematic Modeling of Human Emotion, Ernest M. Otani
The construction of analytic diffeomorphisms for exact robot navigation on star worlds, Elon Rimon and Daniel E. Koditschek
Higher Order Unification Revisited: Complete Sets of Transformations, Wayne Snyder and Jean H. Gallier
Polymorphic Rewriting Conserves Algebraic Strong Normalization and Confluence, Val Tannen and Jean H. Gallier
Image Wavelet Decomposition and Applications, Nicolas Treil, Stephane Mallat, and Ruzena Bajcsy
Estimation of Textured Surface Inclination by Parallel Local Spectral Analysis, M. R. Turner, Ruzena Bajcsy, and G. L. Gerstein
Receptive Fields for the Determination of Textured Surface Inclination, M. R. Turner, Marcos Salganicoff, G. L. Gerstein, and Ruzena Bajcsy
Language Constructs for Distributed Real-Time Consistency, Victor Wolfe, Susan Davidson, and Insup Lee
A Two-Arm Exploratory System for Identifying Moving and Removable Parts, Xiaoping Yan, Robert King, Insup Lee, and R. Vijay Kumar
Real Time Inverse Kinematics with Joint Limits and Spatial Constraints, Jianmin Zhao and Norman I. Badler
Papers from 1988
GRASP Lab Camera Systems and Their Effects on Algorithms, Helen L. Anderson
Adaptive Image Segmentation, Helen L. Anderson, Ruzena Bajcsy, and Max Mintz
Task-Oriented Computer Animation of Human Figures, Norman I. Badler
Slice Display for Human Models Constructed with Spheres, Norman I. Badler, Barry B. Hunter Jr., and Cary Phillips
Constraint-Based Temporal Planning, Norman I. Badler, S. Kushnier, and Jugal Kalita
Active Perception, Ruzena Bajcsy
Second Interim Technical Report for Advanced Research in Range Image Interpretation for Automated Mail Handling, Ruzena K. Bajcsy, Kwangyoen Wohn, Franc Solina, Alok Gupta, Pramath Sinha, and Constantine J. Tsikos
Evaluation of Registration of PET Images with CT Images, Ruzena Bajcsy, Martin Reivich, and Stane Kovacic
Segmentation versus object representation - are they separable?, Ruzena Bajcsy, Franc Solina, and Alok Gupta
Exploratory Procedure for Computer Vision, Ruzena Bajcsy, K. Wong, and S. W. Lee
Analysis of a simplified hopping robot, Martin Buehler and Daniel E. Koditschek