A controller is developed to balance a two-dimensional walking robot. The equations of motion for the robot, modelled as a double pendulum with pivots at the hip and contact foot, are derived, linearized, and arranged in statespace form. A Linear Quadratic Regulator is developed for the linearized model; its performance simulated using both the linearized and the complete, nonlinear dynamics. T...

   In this study, linearized transport pore model (LTPM) is applied for modeling nanofiltration (NF) membrane separation process. This modeling approach is based on the modified extended Nernst-Planck equation enhanced by Debye-Huckel theory to take into account the variations of activity coefficient especially at high salt concentrations. Rejection of single-salt (NaCl) electrolyte is inve...

Executive Summary In this paper we consider conditions under which the estimation of a log-linearized Euler equation for consumption yields consistent estimates of preference parameters. When utility is isoelastic and a sample covering a long time period is available, consistent estimates are obtained from the log-linearized Euler equation when the innovations to the conditional variance of con...

This paper considers fast algorithms for operations on linearized polynomials. We propose a new multiplication algorithm for skew polynomials (a generalization of linearized polynomials) which has sub-quadratic complexity in the polynomial degree s, independent of the underlying field extension degree m. We show that our multiplication algorithm is faster than all known ones when s ≤ m. Using a...

This paper proposes a color decomposition method for a multi-primary display (MPD) using a 3-dimensional look-uptable (3D-LUT) in linearized LAB space. The proposed method decomposes the conventional three primary colors into multi-primary control values for a display device under the constraints of tristimulus matching. To reproduce images on an MPD, the color signals are estimated from a devi...

Diffusion layers are crucial components of symmetric ciphers. These components, along with suitable Sboxes, can make symmetric ciphers resistant against statistical attacks like linear and differential cryptanalysis. Conventional MDS diffusion layers, which are defined as matrices over finite fields, have been used in symmetric ciphers such as AES, Twofish and SNOW. In this paper, we study line...

The linearized Poisson-Boltzmann (PB) approximation is investigated for the classical problem of two infinite, uniformly charged planes in electrochemical equilibrium with an infinite monovalent salt reservoir. At the nonlinear level, we obtain an explicit expression of the associated electrostatic contribution to the semi-grand-canonical potential. The linearized osmotic-pressure difference be...

This paper studies the solution of quadratic eigenvalue problems by the quadratic residual iteration method. The focus is on applications arising from nite-element simulations in acoustics. One approach is the shift-invert Arnoldi method applied to the linearized problem. When more than one eigenvalue is wanted, it is advisable to use locking or de-ation of converged eigenvectors (or Schur vect...

This paper provides a duality gap convergence analysis for the standard ADMM as well as a linearized version of ADMM. It is shown that under appropriate conditions, both methods achieve linear convergence. However, the standard ADMM achieves a faster accelerated convergence rate than that of the linearized ADMM. A simple numerical example is used to illustrate the difference in convergence beha...

We consider the one-dimensional Wigner-Poisson system of plasma physics, linearized around a (spatially homogeneous) Lorentzian distribution and prove that the solution of the corresponding linearized problem decays to zero in time. We also give an explicit algebraic decay rate.