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In this paper, we try to find an efficient and accurate dynamic model for a robot with spatial compliant links using the screw theory. After making some reasonable assumptions for the system, we introduce the Ding-Holzer method for system simplification. Instead of looking at the beam at rest, we consider the spatial forces and deflections of a moving elastic arm. We focus our study on the dynamic modelling problems of a compliant arm with six dimensional forces and deformations at the tip.
The minimum-time path-following problem for non-redundant manipulator has already been analyzed and a number of efficient solution algorithms have been proposed. These algorithms can be applied also to redundant manipulators if the path is assigned in the joint space. If the path is assigned in the task space instead, how to exploit kinematic redundancy to reduce the execution time is still an open problem. In this paper it is proposed to follow a heuristic approach to choose between different solutions to the inverse kinematics problem that underlies the minimum-time path-following control problem. The aim is to obtain a joint-space path which configures the manipulator so as to improve acceleration/deceleration capabilities of the end-effector. This is obtained by penalizing the motion of joints with higher inertia-to-torque ratios. Numerical results are presented for an “easy-to-understand” three degree-of-freedom planar manipulator involved in two-dimensional paths.
This paper is concerned with a stability theory of motion governed by Lagrange's equation for a pair of multi-degrees of freedom robot fingers with hemi-spherical finger ends grasping a rigid object under rolling contact constraints. When a pair of dual two d.o.f. fingers is used and motion of the overall fingers-object system is confined to a plane, it is shown that the total degree of freedom of the fingers-object system is redundant for realization of stable grasping though there arise four algebraic constraints. To resolve the redundancy problem without introducing any other extra and artificial performance index, a concept of stability of motion starting from a higher dimensional manifold to a lower-dimensional manifold, expressing a set of states of stable grasp with prescribed contact force, is introduced and thereby it is proved in a rigorous way that stable grasp in a dynamic sense is realized by a sensory feedback constructed by means of measurement data of finger joint angles and the rotational angle of the object. Further, it is shown that there exists an additional sensory feedback that realizes not only stable grasp but also orientation control of the object concurrently. Results of computer simulation based on Baumgarte's method are presented, which show the effectiveness of the proposed concept and analysis.
This volume contains the basics of Zermelo-Fraenkel axiomatic set theory. It is situated between two opposite poles: On one hand there are elementary texts that familiarize the reader with the vocabulary of set theory and build set-theoretic tools for use in courses in analysis, topology, or algebra – but do not get into metamathematical issues. On the other hand are those texts that explore issues of current research interest, developing and applying tools (constructibility, absoluteness, forcing, etc.) that are aimed to analyze the inability of the axioms to settle certain set-theoretic questions.
Much of this volume just “does set theory”, thoroughly developing the theory of ordinals and cardinals along with their arithmetic, incorporating a careful discussion of diagonalization and a thorough exposition of induction and inductive (recursive) definitions. Thus it serves well those who simply want tools to apply to other branches of mathematics or mathematical sciences in general (e.g., theoretical computer science), but alsowant to find out about some of the subtler results of modern set theory.
Moreover, a fair amount is included towards preparing the advanced reader to read the research literature. For example, we pay two visits to Gödel's constructible universe, the second of which concludes with a proof of the relative consistency of the axiom of choice and of the generalized continuum hypothesis with ZF. As such a program requires, I also include a thorough discussion of formal interpretations and absoluteness. The lectures conclude with a short but detailed study of Cohen forcing and a proof of the non-provability in ZF of the continuum hypothesis.
In Chapter VI, among other things, we studied the WO sets and learnt how to measure their length with the help of ordinal numbers. A consequence of the axiom of choice was (Theorem VI.5.50) that every set can be well-ordered and therefore every set can be assigned a length.
In the present chapter we turn to another aspect of set size, namely its number of elements, or cardinality. It will turn out that for finite sets length and cardinality are measured by the same (finite) ordinal; thus, in particular, finite sets have a unique length. As was already remarked, the situation with infinite sets is much less clean intuitively, and several WO sets of differing lengths can have the same number of elements (e.g., ω, ω + 1, ω + 2, etc).
The following section will formalize the notions of “finite” and “infinite” sets. Intuitively, a set is finite if the process of removing its elements, one at a time, will terminate; it is infinite otherwise.
Thus for finite sets the process implicitly assigns the numbers 1, 2, 3,… to the first, second, third, … removed items. Since the process terminates, there will be a natural number assigned to the last removed item. Evidently this number equals the cardinality, or number of elements, of the set.
In the infinite case it is not clear a priori how to assign a “number” that denotes the cardinality of the set. Thus the issue is temporarily postponed, and one first worries about whether or not two infinite sets have the same number of elements.
The method of forcing was invented by Cohen (1963) towards the construction of non-standard models of ZFC, so that “new axioms” could be proved consistent with the standard ones. Our retelling of the basics of forcing found in this chapter is indebted primarily to the user-friendly account found in Shoenfield (1971). The influence of the expositions in Burgess (1978), Jech (1978b), and Kunen (1980) should also be evident.
In outline, the method goes like this: Suppose we want to show that ZFC (sometimes ZF or an even weaker subtheory) is consistent with some weird new axiom, “NA”. Working in the metatheory, one starts with a CTM, M, for ZFC. This is the ground model. One then judiciously chooses a PO set, 〈P, <, 1〉, in M – where we find it convenient to restrict attention to PO sets that have a maximum element (let us call the latter “1”) – and, using the PO set, one constructs a so-called generic set G. Circumstances normally have G obey G ∉ M. The “judicious” aspect of the choice of the PO set will entail that the generic extension, M[G], of the CTM M not only contains G as an element but is a CTM itself that satisfies NA as well (i.e., ⊨M[G] ZFC+NA). Thus, one has a proof in the metatheory that if ZFC is consistent (i.e., if a CTM for ZFC exists), then so is ZFC + NA.
We have said above that “〈P,<, 1〉 ∈ M”. By absoluteness of pair (see Section VI.8), the quoted statement is equivalent to “P ∈ M and<∈ M and 1 ∈ M”.
This prerequisite chapter – what some authors call a “Chapter 0” – is an abridged version of Chapter I of volume 1 of my Lectures in Logic and Set Theory. It is offered here just in case that volume Mathematical Logic is not readily accessible.
Simply put, logic is about proofs or deductions. From the point of view of the user of the subject – whose best interests we attempt to serve in this chapter – logic ought to be just a toolbox which one can employ to prove theorems, for example, in set theory, algebra, topology, theoretical computer science, etc.
The volume at hand is about an important specimen of a mathematical theory, or logical theory, namely, axiomatic set theory. Another significant example, which we do not study here, is arithmetic. Roughly speaking, a mathematical theory consists on one hand of assumptions that are specific to the subject matter – the so-called axioms – and on the other hand a toolbox of logical rules. One usually performs either of the following two activities with a mathematical theory: One may choose to work within the theory, that is, employ the tools and the axioms for the sole purpose of proving theorems. Or one can take the entire theory as an object of study and study it “from the outside” as it were, in order to pose and attempt to answer questions about the power of the theory (e.g., “does the theory have as theorems all the ‘true’ statements about the subject matter?”), its reliability (meaning whether it is free from contradictions or not), how its reliability is affected if you add new assumptions (axioms), etc.
This volume is an introduction to formal (axiomatic) set theory. Putting first things first, we are attempting in this chapter to gain an intuitive understanding of the “real” universe of sets and the process of set creation (that is, what we think is going on in the metatheory). After all, we must have some idea of what it is that we are called upon to codify and formally describe before we embark upon doing it.
Set theory, using as primitives the notions of set (as a synonym for “collection”), atom (i.e., an object that is not subdivisible, not a collection), and the relation belongs to (∈), has sufficient expressive power to serve as the foundation of all mathematics. Mathematicians use notation and results from set theory in their everyday practice. We call the sets that mathematicians use the “real sets” of our mathematical intuition.
The exposition style in this chapter, true to the attribute “naïve”, will be rather leisurely to the extent that we will forget, on occasion, that our “Chapter 0” (Chapter I) is present.
The “Real Sets”
Naïvely, or informally, set theory is the study of collections of “mathematical objects”.
Informal Description (Mathematical Objects). Set theory is only interested in mathematical objects. As far as set theory is concerned, such objects
are either
atomic – let us understand by this term an object that is not a collection of other objects – such as a number or a point on a Euclidean line, or
Analysis and design of Information Systems (ISs) is the process of eliciting the system's requirements and transforming them into a model that can be used to develop ISs. Analysis and design of Agent-Oriented Information Systems (AOISs) relates to the very same process using the multi-agent paradigm. A comprehensive and rigorous methodology for developing multi-agent systems is lacking (Elammari & Lalonde, 1999; Odell et al., 2000). Most existing multi-agent systems were developed in an ad-hoc manner, and systems developers paid little attention to requirements specification and the analysis process (Treur, 1999a).
The paper has two goals: (a) to provide an overview and (b) to discuss challenges and future research of the field. To address the first goal, we review different methodologies that are suitable for analysing and designing AOIS. This is done by examining, for each methodology, its suitability in supporting the early phases of the software engineering process (specifically analysis and design) as well as its capabilities for modelling agent-oriented systems. To address the second goal, we analyse the limitations of existing approaches, identify critical issues and point to what we think are possible future directions.
In this paper, we provide a review of concepts and developments in operating procedure synthesis (OPS), starting from its early development through to its current state. Operating procedure synthesis is a problem in which a set of equipment manipulations and their orderings must be generated to take the process from an initial state to a goal state. While there has been ongoing research for about 30 years in this area, only a few systems have been reported to be industrially deployed. The approach taken in this paper is, first, to describe the problem in general terms; second, to discuss previous work in this area; and, finally, to present ideas and directions for future work.
UKMAS has now been running for six years, in 1996 and 1997 under the heading of FoMAS (Foundations of Multi-Agent Systems) both organised by Michael Luck at Warwick University and then subsequently in its current incarnation, UKMAS, first by Michael Fisher at Manchester Metropolitan University then by Chris Preist at Hewlett Packard Laboratories, Bristol and finally by Mark d'Inverno at St Catherine's College, Oxford in 2000. After the success of the workshop last year at St Catherine's in providing an excellent opportunity for academics and industrialists to come together to discuss current work and directions in the multi-agent systems field, it was decided by the steering committee to use St Catherine's once again as the venue for UKMAS 2001. The workshop was sponsored by the Engineering and Physical Sciences Research Council and by AgentLink, the European Commission's IST-funded Network of Excellence for Agent-Based Computing.