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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 $H$.
Let $C$ be a code of length $n$ over an alphabet of $q$ letters. A codeword $y$ is called a descendant of a set of $t$ codewords $\{x^1,\dots,x^t\}$ if $y_i \in \{x^1_i,\dots,x^t_i\}$ for all $i=1,\dots,n$. A code is said to have the Identifiable Parent Property of order $t$ if, for any word of length $n$ that is a descendant of at most $t$ codewords (parents), it is possible to identify at least one of them. Let $f_t(n,q)$ be the maximum possible cardinality of such a code. We prove that for any $t,n,q$, $(c_1(t)q)^{\frac{n}{s(t)}} < f_t(n,q) < c_2(t)q^{\lceil{\frac{n}{s(t)}}\rceil}$ where $s(t) = \lfloor(\frac{t}{2}+1)^2 \rfloor -1$ and $c_1(t),c_2(t)$ are some functions of $t$. We also show some bounds and constructions for $f_3(5,q)$, $f_3(6,q)$, and $f_t(n,q)$ when $n < s(t)$.
This note presents two results on real zeros of chromatic polynomials. The first result states that if $G$ is a graph containing a $q$-tree as a spanning subgraph, then the chromatic polynomial $P(G,\lambda)$ of $G$ has no non-integer zeros in the interval $(0,q)$. Sokal conjectured that for any graph $G$ and any real $\lambda>\Delta(G)$, $P(G,\lambda)>0$. Our second result confirms that it is true if $\Delta(G)\ge \lfloor n/3\rfloor -1$, where $n$ is the order of $G$.
Two infinite 0–1 sequences are called compatible when it is possible to cast out $0\,$s from both in such a way that they become complementary to each other. Answering a question of Peter Winkler, we show that if the two 0–1 sequences are random i.i.d. and independent from each other, with probability $p$ of $1\,$s, then if $p$ is sufficiently small they are compatible with positive probability. The question is equivalent to a certain dependent percolation with a power-law behaviour: the probability that the origin is blocked at distance $n$ but not closer decreases only polynomially fast and not, as usual, exponentially.
A signing of a graph $G=(V,E)$ is a function $s:E \rightarrow \{-1,1\}$. A signing defines a graph $\widehat{G}$, called a {\em 2-lift of $G$}, with vertex set $V(G)\times\{-1,1\}$. The vertices $(u,x)$ and $(v,y)$ are adjacent iff $(u,v) \in E(G)$, and $x \cdot y = s(u,v)$. The corresponding signed adjacency matrix$A_{G,s}$ is a symmetric $\{-1,0,1\}$-matrix, with $(A_{G,s})_{u,v} = s(u,v)$ if $(u,v) \in E$, and $0$ otherwise.
If one has to jump a stream and knows how wide it is, he will not jump. If he does not know how wide it is, he will jump, and six times out of ten he will make it.
Persian Proverb
INTRODUCTION
The unified modeling language (UML) is a standardized language for modeling software systems. Although small systems are easy for a single person or a small group to comprehend and develop, large systems are more difficult to design successfully, since there are often many people and entities controlling different aspects of the system and defining how they should work from their own professional specialty or prerogative. For example, a large company requesting a new piece of software might assign the job to a project manager who has a thorough understanding of the overall system requirements, whereas a software developer assigned to work on the system is likely to care more about the ways that individual portions of a system work on a detailed level and less about the practical requirements of users and management. Similarly, an end user of the system is likely to care about how the user interface is organized and that the software is built to facilitate ease of use for everyday users, rather than that a particular software component was designed exquisitely or that the project fulfills the stated requirements that its originator decided on.
We have now seen the basic tools we will use for the development process in creating mobile applications. The next step is to begin defining a methodology for building real applications and to show the implementation of the methodology in building these real applications.
Through the first four chapters, we discovered that, because of the condition of the mobile user and nature of the mobile application, the mobile application may interface with the user through a variety of devices and channels. In this chapter, we will take a closer look at the fundamentals of user interfaces to software applications, primarily mobile applications. We will focus on changing a paradigm shift in the application developer's thinking, moving him or her from thinking that an application will be used using a mouse, keyboard, and a monitor to thinking that an application may be used by a subset of any system input and output channel through which the user may receive stimuli from a system and respond to it. Finally, we will look at how to create user interfaces in layers so that we apply the principal of separation of concerns to orthogonal aspects of user interfaces. For demonstration purposes, we will use the XForms standard of W3C as an example for an XML-based tool designed to create the proper abstractions in user interface design.
Common sense is the collection of prejudices acquired by age eighteen.
Albert Einstein
All sects are different, because they come from men; morality is everywhere the same, because it comes from God!
Voltaire
INTRODUCTION
Proper testing and quality control of software has been said to be one of the most neglected areas of software development. Whereas this streamlining of testing and quality control can reduce the budget and the time frame for delivery of projects, the quality of the delivered product is ultimately sacrificed. Although lack of testing and quality control can be the cause of failure, or at least customer dissatisfaction, of many software products, it has been tolerated in the world of PC applications. This is mostly due to the tolerance that the users have to buggy software with stability and functionality issues. However, this tolerance does not exist in the world of mobile application development. Mobile devices are always looked upon, even if they are not, as embedded devices. To the users, there is no difference between a way a PDA, a cell phone, and a VCR should operate: The user interface must be simple and there is zero tolerance for problems relating to security, stability, performance, and all of those other things that these same users have built an immunity toward during the usage of PCs.
People demand freedom of speech as a compensation for the freedom of thought which they seldom use!
Søren Kierkegaard
INTRODUCTION
We have used the term active transactions in this text only for the lack of a better term that encapsulates the active participation of a computing system in interacting with the user. What we refer to as active transactions in this text includes all those behaviors exhibited by the system that are started autonomously by the application without the immediate and synchronous invocation of the software by the user. A subset of active transactions is often referred to as push-based technologies. Although the term “push” is better used in defining the implementation of the application, one part of the application could “poll” or “pull” and still exhibit active participation in interacting with the user.
What is important to note right away is that active transactions are not limited to push. Let us look at some examples of what we may mean by active transactions:
An active mobile application that collects end-of-day field results can scan through the records of a salesperson's visits and if he or she has failed to fill out a time sheet with the appropriate visits, the application locates the salesperson by contacting him or her at all pertinent contact points. For example, the application may call the salesperson on the phone and ask him or her to say how many hours were worked and where the work was performed. The salesperson may have simply forgotten to log his or her hours; this process would not only contact the salesperson but also give the salesperson the opportunity to provide the required information during the same session. […]