Solving the inverse kinematic-rate problem is an old and ever-present problem in robotics. Many methods of solution for this problem have been discussed over the past 30 years and, as computational speeds have improved, there has been greater expectation that this calculation will be performed online. This paper compares the merits of many of the methods already presented and describes a new ap...

The memory model used in the Real-Time Specification for Java (RTSJ) imposes strict assignment rules to or from memory areas preventing the creation of dangling pointers, and thus maintaining the pointer safety of Java. An implementation solution to ensure the checking of these rules before each assignment statement consists to use write barriers executing a stack-based algorithm. This paper pr...

Architecture modeling is practiced extensively in the software industry but there is little attention paid to the traceability, verifiability and completeness of architecture designs. Deficiencies in any of these three areas in an architecture model can be costly and risky to projects. The case study reported here failed because it was deficient in all areas. We study and propose the Architectu...

This study focuses on embedded realisation of adaptive vision algorithms, and illustrates the challenges using mixture of Gaussian (MoG) background subtraction. MoG is a frequently used adaptive vision kernel, for example, for surveillance applications. It involves massive computation and communication demands, which renders a software approach infeasible considering a 1 W power budget. To addr...

Conventionally, system anomaly detection has been based on setting thresholds and rules. Today, as systems have diversified and the targets of analysis have become increasingly numerous and complicated, the large number of parameters to monitor has made it impossible for analysts to grasp the relationships between them. In addition, resolving these issues with data analysis requires advanced ex...

because of fluctuation in leg tension, pitch motion is very effective fatigue and life safety of leg elements in tension leg structures (tlss). in this paper an exact solution for pitch vibration of a tls interacting with ocean wave is presented. the legs of tlp are considered as elastic springs. the flow is assumed to be irrotational and single-valued velocity potentials are defined. the effec...

this paper introduces an implicit scheme for a   continuous representation of nonexpansive mappings on a closed convex subset of a hilbert space with respect to a   sequence of invariant means defined on an appropriate space of bounded, continuous real valued functions of the semigroup.   the main result is to    prove the strong convergence of the proposed implicit scheme to the unique solutio...

A procedure for constructing solutions to the Riemann problem for gas dynamics with a general convex equation of state is given. Approximate procedures, involving a local parametrization of the equation of state, are introduced in order to calculate numerical fluxes in conservative finite difference schemes. This leads to difference schemes which are as accurate and almost as fast as the analog...

Autonomous systems must operate in dynamic, unpredictable environments in real time. The task of ying a plane is an example of an environment in which the agent must respond quickly to unexpected events while pursuing goals at di erent levels of complexity and granularity. We present a system, Air-Soar, that achieves intelligent control through fully symbolic reasoning in a hierarchy of simulta...