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This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% of the initial conditions and it has a specific resistance of only 0.0725(−).
The statistics provided by the United Nations Economic Commission (ECE) and the International Federation of Robotics (IFR) supply us with an up-to-date insight into the world robot market. This joint report tells us a great deal about the technological evolution of industrial robots since their introduction at the end of the 1960s. We know that real prices have declined, and the performance of robots is continuously improving. Robots are now in use in a wide range of applications in countries worldwide.
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
Logic programming can be given a foundation in sequent calculus by viewing computation as the process of building a cut-free sequent proof bottom-up. The first accounts of logic programming as proof search were given in classical and intuitionistic logic. Given that linear logic allows richer sequents and richer dynamics in the rewriting of sequents during proof search, it was inevitable that linear logic would be used to design new and more expressive logic programming languages. We overview how linear logic has been used to design such new languages and describe briefly some applications and implementation issues for them.
Introduction
It is now commonplace to recognize the important role of logic in the foundations of computer science. When a major new advance is made in our understanding of logic, we can thus expect to see that advance ripple into many areas of computer science. Such rippling has been observed during the years since the introduction of linear logic by Girard in 1987. Since linear logic embraces computational themes directly in its design, it often allows direct and declarative approaches to computational and resource sensitive specifications. Linear logic also provides new insights into the many computational systems based on classical and intuitionistic logics since it refines and extends these logics.
There are two broad approaches by which logic, via the theory of proofs, is used to describe computation. One approach is the proof reduction paradigm, which can be seen as a foundation for functional programming. Here, programs are viewed as natural deduction or sequent calculus proofs and computation is modeled using proof normalization.
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
This volume is published in honour of the Azores summer school on Linear Logic and Computer Science held August 30 – Sept. 7, 2000 in St. Miguel, Azores. It can be considered as the third in a series, following a volume dedicated to the Cornell Linear Logic workshop of 1993 published as vol. 222 in the LMSLNS series of Cambridge University Press, and volumes dedicated to the Tokyo meeting of 1996 published as vol. 227(1–2) and 294(3) of Theoretical Computer Science. The summer school was attended by students and researchers from the different sites of the EU Training and Mobility of Researchers project “Linear Logic in Computer Science” (ERBFMRX-CT-97-0170, 1998 – 2002). The Organizing Committee consisted of: V. Michele Abrusci (University of Rome), Nuno Barreiro (University of Lisbon), and Jose Luiz Fiadeiro (University of Lisbon). The school included a series of tutorials, together with thematic sessions covering applications and new directions.
The main purpose of this book is twofold: to give a detailed overview of some well-established developments of Linear Logic under the guise of four tutorials, and to present some of the more recent advances and new directions in the subject through refereed contributions and invited papers. This book does not pretend to exhaustively cover the field of Linear Logic. In the spirit of the TMR “Linear” network, of which the Azores summer school was the climax, we decided to pay particular attention in this volume to the connections of Linear Logic with Computer Science.
We thank the authors of the various contributions for their wideranging and accessible presentations.
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
To attack the problem of “computing with the additives”, we introduce a notion of sliced proof-net for the polarized fragment of linear logic. We prove that this notion yields computational objects, sequentializable in the absence of cuts. We then show how the injectivity property of denotational semantics guarantees the “canonicity” of sliced proof-nets, and prove injectivity for the fragment of polarized linear logic corresponding to the simply typed λ-calculus with pairing.
Introduction
The question of equality of proofs is an important one in the “proofsas-programs” paradigm. Traditional syntaxes (sequent calculus, natural deduction, …) distinguish proofs which are clearly the same as computational processes. On the other hand, denotational semantics identifies “too many” proofs (two different stages of the same computation are always identified). The seek of an object sticking as much as possible to the computational nature of proofs led to the introduction of a new syntax for logic: proof-nets, a graph-theoretic presentation which gives a more geometric account of proofs (see). This discovery was achieved by a sharp (syntactical and semantical) analysis of the cut-elimination procedure.
Any person with a little knowledge of the multiplicative framework of linear logic (LL), has no doubt that proof-nets are the canonical representation of proofs. But as soon as one moves from such a fragment, the notion of proof-net appears “less pure”. A reasonable solution for the multiplicative and exponential fragment of LL (with quantifiers) does exist (combining and, like in).
A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method.
The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.
By
Richard Blute, Department of Mathematics and Statistics University of Ottawa,
Philip Scott, Department of Mathematics and Statistics University of Ottawa
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
This paper presents an introduction to category theory with an emphasis on those aspects relevant to the analysis of the model theory of linear logic. With this in mind, we focus on the basic definitions of category theory and categorical logic.
An analysis of cartesian and cartesian closed categories and their relation to intuitionistic logic is followed by a consideration of symmetric monoidal closed, linearly distributive and *-autonomous categories and their relation to multiplicative linear logic. We examine nonsymmetric monoidal categories, and consider them as models of noncommutative linear logic. We introduce traced monoidal categories, and discuss their relation to the geometry of interaction. The necessary aspects of the theory of monads is introduced in order to describe the categorical modelling of the exponentials. We conclude by briefly describing the notion of full completeness, a strong form of categorical completeness, which originated in the categorical model theory of linear logic.
No knowledge of category theory is assumed, but we do assume knowledge of linear logic sequent calculus and the standard models of linear logic, and modest familiarity with typed lambda calculus.
Introduction
Category theory arose as an organizing framework for expressing the naturality of certain constructions in algebraic topology. Its subsequent applicability, both as a language for simply expressing complex relationships between mathematical structures and as a mathematical theory in its own right, is remarkable. Categorical principles have been put to good use in virtually every branch of mathematics, in most cases leading to profound new understandings.
Roughly a category is an abstraction of the principle that the morphisms between objects of interest are just as important as the objects themselves.
A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.
In this paper two well known and two new methods, and corresponding algorithms, of trajectory planning with a constrained end-effector path tracking error are presented and compared. They are: an exact path following method, the Taylor's algorithm of following a straight line with prescribed accuracy, a local optimization method, and a method of local trajectory shortening. It appears that the last two methods provide path following with a prescribed accuracy while keeping a planned trajectory as short as possible. Presented algorithms can extend robot programming languages with a tool of trajectory planning.
Edited by
Thomas Ehrhard, Institut de Mathématiques de Luminy, Marseille,Jean-Yves Girard, Institut de Mathématiques de Luminy, Marseille,Paul Ruet, Institut de Mathématiques de Luminy, Marseille,Philip Scott, University of Ottawa
Given a subset $S$ of an abelian group $G$ and an integer $k\geq 1$, the $k$-deck of $S$ is the function that assigns to every $T\subseteq G$ with at most $k$ elements the number of elements $g\in G$ with $g+T\subseteq S$. The reconstruction problem for an abelian group $G$ asks for the minimal value of $k$ such that every subset $S$ of $G$ is determined, up to translation, by its $k$-deck. This minimal value is the set-reconstruction number$r_{\rm set}(G)$ of $G$; the corresponding value for multisets is the reconstruction number$r(G)$.
Previous work had given bounds for the set-reconstruction number of cyclic groups: Alon, Caro, Krasikov and Roditty [1] showed that $r_{\rm set}({\mathbb{Z}}_n)<\log_2n$ and Radcliffe and Scott [15] that $r_{\rm set}({\mathbb{Z}}_n)<9\frac{\ln n}{\ln\ln n}$. We give a precise evaluation of $r(G)$ for all abelian groups $G$ and deduce that $r_{\rm set}({\mathbb{Z}}_n)\leq 6$.
Let $G$ be a finite graph with maximum degree at most $d$. Then, for every partition of $V(G)$ into classes of size $3d-1$, there exists a proper colouring of $G$ with $3d-1$ colours in which each class receives all $3d-1$ colours.
Let $F\,{=}\,\{H_1,\ldots,H_k\}$ be a family of graphs. A graph $G$ is called totally$F$-decomposable if for every linear combination of the form $\alpha_1 e(H_1) \,{+}\,{\cdots}\,{+}\,\alpha_k e(H_k) \,{=}\, e(G)$ where each $\alpha_i$ is a nonnegative integer, there is a colouring of the edges of $G$ with $\alpha_1\,{+}\,{\cdots}\,{+}\,\alpha_k$ colours such that exactly $\alpha_i$ colour classes induce each a copy of $H_i$, for $i\,{=}\,1,\ldots,k$. We prove that if $F$ is any fixed nontrivial family of trees then $\log n/n$ is a sharp threshold function for the property that the random graph $G(n,p)$ is totally $F$-decomposable. In particular, if $H$ is a tree with more than one edge, then $\log n/n$ is a sharp threshold function for the property that $G(n,p)$ contains $\lfloor e(G)/e(H) \rfloor$ edge-disjoint copies of $H$.