Straight-Line Single-Step Optimization of Manipulators with a Variable Cost-Weighting Matrix

1988 ◽  
Author(s):  
M. Sami Fadali ◽  
Ming Wei
2018 ◽  
Vol 28 (8) ◽  
pp. 1415-1450 ◽  
Author(s):  
MANFRED SCHMIDT-SCHAUß

We consider term rewriting under sharing in the form of compression by singleton tree grammars (STG), which is more general than the term dags. Algorithms for the subtasks of rewriting are analysed: finding a redex for rewriting by locating a position for a match, performing a rewrite step by constructing the compressed result and executing a sequence of rewrite steps. The first main result is that locating a match of a linear termsin another termtcan be performed in polynomial time ifs,tare both STG-compressed. This generalizes results on matching of STG-compressed terms, matching of straight-line-program-compressed strings with character-variables, where every variable occurs at most once, and on fully compressed matching of strings. Also, for the case wheresis directed-acyclic-graph (DAG)-compressed, it is shown that submatching can be performed in polynomial time. The general case of compressed submatching can be computed in non-deterministic polynomial time, and an algorithm is described that may be exponential in the worst case, its complexity isnO(k), wherekis the number of variables with double occurrences insandnis the size of the input. The second main result is that in case there is an oracle for the redex position, a sequence ofmparallel or single-step rewriting steps under STG-compression can be performed in polynomial time. This generalizes results on DAG-compressed rewriting sequences. Combining these results implies that for an STG-compressed term rewrite system with left-linear rules,mparallel or single-step term rewrite steps can be performed in polynomial time in the input sizenandm.


2012 ◽  
Vol 28 (6) ◽  
pp. 1186-1228 ◽  
Author(s):  
Alain Guay ◽  
Jean-François Lamarche

This paper proposes Pearson-type statistics based on implied probabilities to detect structural change. The class of generalized empirical likelihood estimators (see Smith 1997, The Economic Journal107, 503–519) assigns a set of implied probabilities to each observation such that moment conditions are satisfied. The proposed test statistics for structural change are based on the information content in these implied probabilities. We consider cases of structural change with unknown breakpoint that can occur in the parameters of interest or in the overidentifying restrictions used to estimate these parameters. We also propose a structural change test based on implied probabilities that is robust to weak identification or cases in which parameters are completely unidentified. The test statistics considered here have competitive size and power properties. Moreover, they are computed in a single step, which eliminates the need to compute the weighting matrix required for generalized method of moments estimation.


Author(s):  
D.R. Ensor ◽  
C.G. Jensen ◽  
J.A. Fillery ◽  
R.J.K. Baker

Because periodicity is a major indicator of structural organisation numerous methods have been devised to demonstrate periodicity masked by background “noise” in the electron microscope image (e.g. photographic image reinforcement, Markham et al, 1964; optical diffraction techniques, Horne, 1977; McIntosh,1974). Computer correlation analysis of a densitometer tracing provides another means of minimising "noise". The correlation process uncovers periodic information by cancelling random elements. The technique is easily executed, the results are readily interpreted and the computer removes tedium, lends accuracy and assists in impartiality.A scanning densitometer was adapted to allow computer control of the scan and to give direct computer storage of the data. A photographic transparency of the image to be scanned is mounted on a stage coupled directly to an accurate screw thread driven by a stepping motor. The stage is moved so that the fixed beam of the densitometer (which is directed normal to the transparency) traces a straight line along the structure of interest in the image.


Author(s):  
Joseph A. Zasadzinski

At low weight fractions, many surfactant and biological amphiphiles form dispersions of lamellar liquid crystalline liposomes in water. Amphiphile molecules tend to align themselves in parallel bilayers which are free to bend. Bilayers must form closed surfaces to separate hydrophobic and hydrophilic domains completely. Continuum theory of liquid crystals requires that the constant spacing of bilayer surfaces be maintained except at singularities of no more than line extent. Maxwell demonstrated that only two types of closed surfaces can satisfy this constraint: concentric spheres and Dupin cyclides. Dupin cyclides (Figure 1) are parallel closed surfaces which have a conjugate ellipse (r1) and hyperbola (r2) as singularities in the bilayer spacing. Any straight line drawn from a point on the ellipse to a point on the hyperbola is normal to every surface it intersects (broken lines in Figure 1). A simple example, and limiting case, is a family of concentric tori (Figure 1b).To distinguish between the allowable arrangements, freeze fracture TEM micrographs of representative biological (L-α phosphotidylcholine: L-α PC) and surfactant (sodium heptylnonyl benzenesulfonate: SHBS)liposomes are compared to mathematically derived sections of Dupin cyclides and concentric spheres.


Author(s):  
Norman L. Dockum ◽  
John G. Dockum

Ultrastructural characteristics of fractured human enamel and acid-etched enamel were compared using acetate replicas shadowed with platinum and palladium. Shadowed replications of acid-etched surfaces were also obtained by the same method.Enamel from human teeth has a rod structure within which there are crystals of hydroxyapatite contained within a structureless organic matrix composed of keratin. The rods which run at right angles from the dentino-enamel junction are considered to run in a straight line perpendicular to the perimeter of the enamel, however, in many areas these enamel rods overlap, interlacing and intertwining with one another.


2005 ◽  
Vol 173 (4S) ◽  
pp. 240-240
Author(s):  
Premal J. Desai ◽  
David A. Hadley ◽  
Lincoln J. Maynes ◽  
D. Duane Baldwin

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