In 1960, R.E. Kalman published his famous paper describing a recursive solution to the discretedata linear filtering problem. Since that time, due in large part to advances in digital computing, the Kalman filter has been the subject of extensive…
Systems and Control Theory
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Choosing good problems is essential for being a good scientist. But what is a good problem, and how do you choose one? The subject is not usually discussed explicitly within our profession. Scientists are expected to be smart enough to figure it out…

Predicting the binding mode of flexible polypeptides to proteins is an important task that falls outside the domain of applicability of most small molecule and protein−protein docking tools. Here, we test the small molecule flexible ligand docking…

The dramatic growth in practical applications for machine learning over the last ten years has been accompanied by many important developments in the underlying algorithms and techniques. For example, Bayesian methods have grown from a specialist…

The objective of this case study was to obtain some firsthand information about the functional consequences of a cosmetic tongue split operation for speech and tongue motility. One male patient who had performed the operation on himself was…

Cloud Computing, the longheld dream of computing as a utility, has the potential to transform a large part of the IT industry, making software even more attractive as a service and shaping the way IT hardware is designed and purchased. Developers…

This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown…

The recent development of various methods of modulation such as PCM and PPM which exchange bandwidth for signaltonoise ratio has intensified the interest in a general theory of communication. A basis for such a theory is contained in the important…

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and…

This paper gives an overview of ROS, an open source robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating…

We summarize several recent results about hybrid automata. Our goal is to demonstrate that concepts from the theory of discrete concurrent systems can give insights into partly continuous systems, and that methods for the verification of…

The classical filtering and prediction problem is reexamined using the Bode Shannon representation of random processes and the state transition method of analysis of dynamic systems. New results are: (1) The formulation and methods of solution of…

A simple and efficient randomized algorithm is presented for solving singlequery path planning problems in highdimensional configuration spaces. The method works by incrementally building two rapidlyexploring random trees (RRTs) rooted at the…

Tomorrow's humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions are critical design factors. We report here our recent efforts into these issues, materialized into a…

Abstract Increasingly, for many application areas, it is becoming important to include elements of nonlinearity and non Gaussianity in order to model accurately the underlying dynamics of a physical system. Moreover, it is typically crucial to…

Systems as diverse as genetic networks or the world wide web are best described as networks with complex topology. A common property of many large networks is that the vertex connectivities follow a scalefree powerlaw distribution. This feature is…

Gaussian processes (GPs) are natural generalisations of multivariate Gaussian random variables to infinite (countably or continuous) index sets. GPs have been applied in a large number of fields to a diverse range of ends, and very many deep…

Artificial intelligence research has foundered on the issue of representation. When intelligence is approached in an incremental manner, with strict reliance on interfacing to the real world through perception and action, reliance on representation…

In this book the authors reduce a wide variety of problems arising in system and control theory to a handful of convex and quasiconvex optimization problems that involve linear matrix inequalities. These optimization problems can be solved using…

We propose timed (finite) automata to model the behavior of realtime systems over time. Our definition provides a simple, and yet powerful, way to annotate statetransition graphs with timing constraints using finitely many realvalued clocks. A…
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