Visual Feedback Control Based on H^|^infin; Control Theory

Abstract

This paper proposes a robust control scheme for the robotic visual feedback control. The visual feedback control system is regarded as the motion control system based on the image information obtained from the camera mounted on the robot end-point. Two ways of visual feedback control shame, namely position-based and feature-based have been proposed. The feature-based scheme uses the object image feature directly without computing the object 3D position and orientation. In this paper the plant is represented in state space with the state being the object features, which is linearized around the desired state to obtain a linear time-invariant system. The modeling error due to the linearization is regarded as a multiplicative plant perturbation. The robustly stabilizing controller is obtained by solving the effectiveness of the proposed method.

Structural analysis of the putative regulatory region of the rat gene encoding poly(ADP‐ribose) polymerase

“…The sequences upstream. of the first ATG in the rat and the human PARP gene [9] were compared but no overall homology was found. However, both regions contain GC-rich boxes (CCGCCCC) which are putative Spl binding sites, known to be essential for the activity of many other promoters [29,30] (Fig.…”

“…It also contains many CpG dinucleotides, which are putative methylarion sites and are often involved in the tissuespecific regulation of gene expression [3 1,32J. In the human gene, Ggura et al [9] identified a 14 nucleotide region located 171 bp upstream of the first ATG which contains 10 transcription starts. This 14 nucleotide region, with only one substitution, is also found in the rat DNA downstream of the GC boxes (Fig.…”

“…The human 43 kbp gene has been isolated and consists of 23 exons [6] located in the q42 region of chromosome 1 [7,8]. The promoter of the human gene shows structural similarities to that of the DNA polymerase p gene [9]. Both of these genes are involved in DNA repair, but the synthesis of DNA polymerase B is induced by DNA damage [IO] while that of the PARP gene is not [I 13.…”

“…Both of these genes are involved in DNA repair, but the synthesis of DNA polymerase B is induced by DNA damage [IO] while that of the PARP gene is not [I 13. The putative functional features of the human PARP promoter consist of 2 Spl binding sites separated by a 26 nucleotide palindromic sequence [9] and 3 AP-2 recognition sequences [12]. As in many housekeeping genes [13], both the DNA polymerase /3 gene [ 141 and the PARP gene lack typical TATA and CCAAT sequence elements [9,12].…”

“…The putative functional features of the human PARP promoter consist of 2 Spl binding sites separated by a 26 nucleotide palindromic sequence [9] and 3 AP-2 recognition sequences [12]. As in many housekeeping genes [13], both the DNA polymerase /3 gene [ 141 and the PARP gene lack typical TATA and CCAAT sequence elements [9,12]. Yokoyama et al demonstrated that the human PARP gene promoter is inducible by CAMP and phorbol esters [12].…”