An Optical Survey of the Position Error Contours of Unidentified High Energy Gamma-Ray Sources at Galactic Latitude b >|20| degrees

We present the most recent results of an optical survey of the position error contours ("error boxes") of unidentified high energy gamma-ray sources.Comment: 1 figure, 3 tables, to be published in Astronomical Journa

A Computational Model for Legged Locomotion

One of the central issues in the control of articulated limbs is the specification of dynamically feasible trajectories. We present a total energy method which treats the manipulator as a perturbed Hamiltonian system. A harmonic potential field is employed which precludes the existence of local minima. In addition, for a dynamically compensated mechanism, the phase space structure of a manipulator "copies" the critical point structure of the harmonic potential. This result is used in conjunction with harmonic potentials to generate and control repetitive motion plans for a manipulator. In addition, control derived from harmonic potential fields result in bounded-torque controllers and produces compliant, collision-free kinodynamic behavior. The energy-referenced control scheme is applied to a bipedal walking gait. We conclude the chapter with a brief discussion of a recent neurophysiological model that postulates a role for the basal ganglia as a potential-based motor planning mechanis..

Computational motor control and human factors: Modeling movements in real and possible environments

Contains fulltext : 63088.pdf (publisher's version ) (Closed access)An aim of human factors research is to have models that allow for the advance design of user-friendly environments. This is still a distant dream because existing models are not yet sufficiently sophisticated. Models in the domain of motor control are a case in point, but recent developments in computational motor control suggest that the gap between the current state of modeling in this area and the desired state is shrinking. To illustrate this point, we review principles of motor control research that any model of motor control must accommodate. Then we describe a model that captures many of the capacities of actors in the everyday world, including the capacity to reach for objects in different ways depending on factors such as the ease with which different joints can rotate, the required speed of movement, and whether obstacles are present. The model relies on the ideas that goal postures are internally specified before movements are generated, that tasks are defined with flexibly ordered constraint hierarchies, and that movements can be shaped according to task demands. Actual or potential applications of this research include designing and testing possible environments where motor components play a key role