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Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures
Jorge Pomares,Carlos Alberto Jara,Javier Pérez,Fernando Torres 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidanceof any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint spacebased on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approachallows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors showexperimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.
Intermedia Synchronization Protocol for Continuous Media Using MPEG-4 in Mobile Distributed Systems
( Eduardo Lopez Dominguez ),( Saul E. Pomares Hernandez ),( Pilar Gomez Gil ),( Jorge De La Calleja ),( Antonio Benitez ),( Antonio Marin-hernandez ) 한국인터넷정보학회 2012 KSII Transactions on Internet and Information Syst Vol.6 No.6
The preservation of temporal dependencies among a group of processes that exchange continuous media at runtime is a key issue for emerging mobile distributed systems (MDS), such as monitoring of biosignals and interactive multiuser games. Although several works are oriented to satisfy temporal dependencies, most of them are not suitable for MDSs. In general, an MDS is characterized by the absence of global references (e.g. shared memory and wall clock), host mobility, limited processing and storage capabilities in mobile hosts, and limited bandwidth on wireless communication channels. This paper proposes an asymmetric synchronization protocol to be used at runtime in an MDS without using a common reference. One main aspect of our synchronization protocol is that it translates temporal constraints to causal dependencies of the continuous media data as seen by the mobile hosts. We simulate the protocol by considering a cellular network environment and by using MPEG-4 encoders. The simulation results show that our protocol is effective in reducing the synchronization error. In addition, the protocol is efficient in terms of processing and storage costs at the mobile devices, as well as in the overhead attached per message across the wired and wireless channels.