Fundamentals of Robotics : Analysis and Control

By R. Schilling. 2001

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Adaptive degraded document image binarization (2006, methodology): “Below follows a detailed step-by-step description of the post-processing algorithm that consists of a successive application of shrink and swell filtering [19].”
Neural network approximation of piecewise continuous functions: application to friction compensation (1997, background): “The dynamics of an n-link robot manipulator may be expressed in the Lagrange form [17], [35] τ = τd m + ) q F( + G(q) + q ) q (q, V + q ) q M( & & & & & & (2.”