Three-Link Mechanism as a Model of a Person on a Swing

Journal of Computer and Systems Sciences International - We model movements of a person swinging on a swing. We consider a flat three-link hinged mechanism as the main mechanical model of the...     

On a nonlinear problem of a sequential control with a parameter

The problem of evasion of a group of moving points from a nonlinear controlled object, whose goal is consecutively approach these points in a prescribed order, is analyzed. The movement of each point is defined uniquely by a scalar parameter chosen at the initial time instant. The controlled object minimizes a certain cost function, and the group of the points, acting cooperatively, maximize this cost function by choosing the parameters. Necessary optimality conditions for parameters are obtained. A model problem of an evasion of moving points from a vehicle is solved.     

Splitting a configuration in a simplex

This paper presents a new method of partition, named-splitting, of a point set ind-dimensional space. Given a pointG in ad-dimensional simplexT, T(G;i) is the subsimplex spanned by G and the ith facet ofT. LetS be a set ofn points inT, and let be a sequence of nonnegative integers ₁, ..., n_d+1 satisfying _i=1 ^d+1 ₁=n The-splitter of (T, S) is a pointG inT such thatT(G;i) contains at least _i points ofS in its closure for everyi=1, 2, ...,d + 1. The associated dissection is the re-splitting.The existence of a-splitting is shown for any (T, S) and, and two efficient algorithms for finding such a splitting are given. One runs inO(d²n logn + d³n) time, and the other runs inO(n) time if the dimensiond can be considered as a constant. Applications of re-splitting to mesh generation, polygonal-tour generation, and a combinatorial assignment problem are given.     

Combining a monad and a comonad

We give a systematic treatment of distributivity for a monad and a comonad as arises in giving category theoretic accounts of operational and denotational semantics, and in giving an intensional denotational semantics. We do this axiomatically, in terms of a monad and a comonad in a 2-category, giving accounts of the Eilenberg–Moore and Kleisli constructions. We analyse the eight possible relationships, deducing that two pairs are isomorphic, but that the other pairs are all distinct. We develop those 2-categorical definitions necessary to support this analysis.     

Not a castaway but a stowaway

A portable keyboard that's no larger than my phone, that's theiGo Stowaway.     

Building a sonar map in a specular environment using a singlemobile sensor

The physical properties of acoustic sensors are exploited to obtain information about the environment for sonar map building. A theoretical formulation for interpreting the sensor databases on the physical principles of acoustic propagation and reflection is presented. A characterization of the sonar scan that allows the differentiation of planes, corners, and edges in a specular environment is described. A single sensor mounted on an autonomous vehicle in a laboratory verifies the technique. The implications for sonar map building and the limitations of differentiating elements with one sensor are discussed     

Motion control of a rotor with a cavity with a viscous fluid

A formulation and solution procedure of optimal control problems for perturbed relative uniform motion of a body with a cavity filled with a viscous incompressible fluid are proposed. In this paper, the case with a cylinder is considered; however, this approach is basically true for the a cavity of an arbitrary form. The formula for the angular velocity of perturbed motion depending on an external perturbing element is devised. After that, we have a possibility to set different optimal control problems and apply the formalism elaborated in the optimal control theory. Two illustrated problems are given.     

Transposing a matrix on a vector computer

There are many published algorithms for transposing a rectangular matrix in place, however none of these are suited to a vector processor. In this work we describe four methods and compare their speed and memory requirements to copying the matrix into workspace then back again in transposed order.     

Distributivity for a monad and a comonad

We give a systematic treatment of distributivity for a monad and a comonad as arises in incorporating category theoretic accounts of operational and denotational semantics, and in giving an intensional denotational semantics. We do this axiomatically, in terms of a monad and a comonad in a 2-category, giving accounts of the Eilenberg-Moore and Kleisli constructions. We analyse the eight possible relationships, deducing that two pairs are isomorphic, but that the other pairs are all distinct. We develop those 2-categorical definitions necessary to support this analysis.     

Controlling a camera in a virtual environment

image-based control or visual servoing approach. It consists of positioning a camera according to the information perceived in the image. This is thus a very intuitive approach of animation. To be able to react automatically to modifications of the environment, we also considered the introduction of constraints into the control. This approach is thus adapted to highly reactive contexts (virtual reality, video games). Numerous examples dealing with classic problems in animation are considered within this framework and presented in this paper. Published online: 19 July 2001     

Locating a tree in a phylogenetic network

Phylogenetic trees and networks are leaf-labelled graphs that are used to describe evolutionary histories of species. The Tree Containment problem asks whether a given phylogenetic tree is embedded in a given phylogenetic network. Given a phylogenetic network and a cluster of species, the Cluster Containment problem asks whether the given cluster is a cluster of some phylogenetic tree embedded in the network. Both problems are known to be NP-complete in general. In this article, we consider the restriction of these problems to several well-studied classes of phylogenetic networks. We show that Tree Containment is polynomial-time solvable for normal networks, for binary tree-child networks, and for level-k networks. On the other hand, we show that, even for tree-sibling, time-consistent, regular networks, both Tree Containment and Cluster Containment remain NP-complete.     

Linking a CYBER76 to a 3600

In mid-1973, the Division of Computing Research, CSIKO, took delivery of a Control Data CVBER76 computer, which acts as the primary processing power of the CSIRO computer network (CSIRONET), replacing the Control Data 3600. The 3600, running under the DAD operating system, has been retained as a ‘front-end’ to the CYBER76 and continues to support the following functions:

• 1 An interactive system allowing both editing and CYBER76 job submission
• 2 Input of job files centrally from 3600 input devices, remotely from CSIRONET devices, or from interactive console users, and output of results similarly
• 3 A permanent file (document) system, with tape archiving

This paper describes the linking of the CYBER76 to the 3600. Software for a CYBER76 PPU has been written and some changes to the 3600 and CYBER76 operating systems have been required.     

Synthesis of a stabilizing control for a wheeled robot following a curvilinear path

The synthesis control problem for the plane motion of a wheeled robot with constrained control resource is studied. The goal of the control is to bring the robot to an assigned curvilinear trajectory and to stabilize its motion along it. A new change of variable is suggested that reduces the problem of stabilizing robot’s motion to that of stabilizing the zero solution in the form that admits feedback linearization. A control law stabilizing robot’s motion along an arbitrary curvilinear target trajectory is synthesized. For a straight target path, the closed-loop system is shown to be asymptotically stable for any initial conditions except for the case where the initial direction of motion is perpendicular to the target path.     

仿真机与微机PCI接口的设计

本文介绍了仿真机与微机通讯的ＰＣＩ接口的设计,该接口可实现６．６ＭＢ／ｓ的数据传输,满足仿真用户实时数据通讯的要求。本文还简介了双端口存储器ＤＰＭ、ＤＰＭ／ＤＲ１１适配器、ＰＣＩ控制器Ｓ５９３３与ＤＲ１１适配器之间的接口。