This paper presents a class of Newton-type algori thms fo r the optimization of robot motions that take in to account the dynamics. Using techniques f rom the theory of L ie groups and Lie algebras, the equations of mot ion of a rigid multibody sys tem can be formulated in such a way that both the f irst and second derivatives of the dynamic equations with respect t o arbitrary jo in t variable...

All mechanical designs pass through a series of formal and informal redesign steps, involving the analysis of func-tionality, manufacturability, cost and other life-cycle factors. The speed and eecacy of these steps has a major innuence on the lead time of the product from conceptualization to launching. In this paper we propose a methodology for automatically generating redesign suggestions fo...

The modular learning method is essential for helping students reinforce their understanding and to enhance excellence. To demonstrate the actual impact of module on students' learning, it necessary evaluate impressions perceptions created module. This study aims determine how in second semester Introduc-tion Islamic Law (KPPI) course at Polytechnic Sultan Idris Shah perceive application constru...

the object of this paper to derive certain sucient condi-tions for close-to-convexity of certain analytic functions dened on theunit disk

We introduce and discuss the notion of naturally full func-tor. The definition is similar to the definition of separable functor: a naturally full functor is a functorial version of a full functor, while a separable functor is a functorial version of a faithful functor. We study general properties of naturally full functors. We also discuss when func-tors between module categories and between c...

Type 3 diabetes (T3D) accurately reflects that dementia, e.g., Alzheimer’s disease, represents insulin resistance and neurodegeneration in the brain. Similar retinal microvascular changes were observed chronic stressed individuals. Hence, we aimed to show stress relates T3D dementia signs retinopathy, ultimately comprising a Stress syndrome prototype reflecting risk for stroke. A stroke phenoty...

A Boolean function is said to be correlation immune if its output leaks no information about its input values Such functions have many applications in computer security practices including the construc tion of key stream generators from a set of shift registers Finding meth ods for easy construction of correlation immune functions has been an active research area since the introduction of the n...

The best known approach to program transformation is the unfold fold methodology of Burstall and Darlington a sim ple intuitive and expressive approach which serves as the basis of many automatic program transformation algorithms such as partial evaluation and deforestation Unfortu nately unfold fold does not preserve total correctness and requires maintaining a transformation history of the pr...

Recently, research on accelerated stochastic gradient descentmethods (e.g., SVRG) has made exciting progress (e.g., lin-ear convergence for strongly convex problems). However,the best-known methods (e.g., Katyusha) requires at leasttwo auxiliary variables and two momentum parameters. Inthis paper, we propose a fast stochastic variance reductiongradient (FSVRG) method...