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88
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IJ
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EF
ER
E
N
C
ES
[1]
R.
S
i
e
gw
a
rt
a
nd
I
.
N
ourba
khs
h,
In
t
r
oduc
t
i
on
t
o aut
onom
ous
m
obi
l
e
r
obot
s
,
T
h
e M
I
T
P
r
es
s
, 2
0
0
4
.
[2]
O
.
K
ha
t
i
b,
M
obi
l
e
m
a
ni
pul
a
t
i
on
:
t
he
ronot
i
c
a
s
s
i
s
t
a
nt
,
Robot
s
A
ut
o
n S
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s
t
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3,
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5
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as
, R
.R
u
s
s
e
l
l
, N
.K
i
r
can
s
k
i
,
A
.G
o
l
d
en
b
er
g
,
A
n ar
t
i
c
u
l
at
e
d
r
obot
i
c
s
c
anne
r
f
or
m
i
ne
de
t
e
c
t
i
on
-
a nov
e
l
appr
oac
h t
o
v
e
h
i
c
l
e
m
ount
e
d
s
y
s
t
e
m
s
,
In:
P
roc
e
e
d
i
ngs
of t
h
e
S
P
IE
c
onfe
re
n
c
e
,
O
rl
a
ndo,
F
l
ori
d
a
,
19
99,
p
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5
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G
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a
r
ci
a
, C
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A
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r
a
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m
a
r
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l
a
b
d
o
,
L
.M
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o
g
g
i
, F
. T
o
r
r
es
,
A
s
urve
y
on F
P
G
A
-
b
a
se
d
se
n
so
r
sy
st
e
m
s
:
t
ow
a
rds
i
nt
e
l
l
i
g
e
nt
a
nd re
c
onf
i
gura
bl
e
l
ow
pow
e
r s
e
ns
ors
for
c
om
put
e
r vi
s
i
on,
c
ont
rol
a
nd
s
i
gna
l
proc
e
s
s
i
n
g,
Se
ns
or
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ol
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r
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a
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C
a
s
t
a
n
ed
a
,
F
P
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A
i
m
pl
e
m
e
nt
a
t
i
on of h
i
ghe
r
de
gre
e
pol
y
nom
i
a
l
a
c
c
e
l
e
ra
t
i
on profi
l
e
s
for pe
a
k j
e
rk re
duc
t
i
on i
n s
e
rvom
ot
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f
a
F
P
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A
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bas
e
d m
ot
i
on
c
ont
r
ol
IC f
or
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ar
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l
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76
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u
t
h
u
r
am
al
i
n
g
am
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i
m
av
at
h
i
, E
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r
i
n
i
v
as
an
,
Ne
ur
al
ne
t
wor
k
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m
pl
e
m
e
n
t
at
i
on us
i
ng F
P
G
A
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s
s
ue
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Int
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J
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e
c
ha
t
roni
c
s
D
e
ve
l
opm
e
nt
T
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c
hni
que
s
for F
P
G
A
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ba
s
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d Cont
rol
a
nd S
i
m
ul
a
t
i
o
n
o
f
E
l
e
c
t
r
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m
ec
h
an
i
c
al
S
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b
al
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q
b
al
,
Mode
l
l
i
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c
om
put
e
d t
or
que
c
ont
r
ol
of
a 6 de
gr
e
e
of
f
r
e
e
dom
r
obot
i
c
ar
m
,
In:
Int
e
rna
t
i
ona
l
Confe
re
nc
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i
c
s
a
nd
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m
e
rgi
ng A
l
l
i
e
d T
e
c
hno
l
ogi
e
s
i
n E
ngi
ne
e
ri
n
g
(i
CRE
A
T
E
);
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l
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m
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b
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u
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y
a
n
a
l
y
s
is
f
o
r
m
obi
l
e
m
ani
pul
at
or
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,
In:
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E
E
i
nt
e
rn
a
t
i
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l
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onfe
re
n
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ut
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a
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l
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c
t
adap
t
i
v
e
c
ont
r
ol
al
gor
i
t
h
m
s
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t
he
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c
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fra
m
e
w
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x
t
e
r
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m
a
ni
pul
a
t
i
o
n us
i
ng d
y
na
m
i
c
vi
s
ua
l
s
e
rvo
i
ng
a
nd t
a
c
t
i
l
e
s
e
ns
ors
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i
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n
ag
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Si
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e
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i
m
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S
c
a
l
e
V
i
s
ual
S
e
r
v
oi
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s
t
e
m
f
or
a
H
i
gh Spe
e
d
SCA
R
A
T
y
p
e
R
obo
t
i
c
A
rm
,
IE
E
E
In
t
e
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t
i
on
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ua
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Se
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l
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f
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Q
ui
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k
R
e
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