We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various wellknown forward algorithms differ only by their joint inertia matrix inversion strategies. This new scheme leads to a unified abstraction of state-of-the-art forward dynami...

The Natural Evolution Strategies (NES) family of search algorithms have been shown to be efficient black-box optimizers, but the most powerful version xNES does not scale to problems with more than a few hundred dimensions. And the scalable variant, SNES, potentially ignores important correlations between parameters. This paper introduces Block Diagonal NES (BD-NES), a variant of NES which uses...

We present in this paper a new method to determine the k largest singular values and their corresponding singular vectors for real rectangular matrices A ∈ Rn×m. Our approach is based on using a block version of the Power Method to compute an k-block SV D decomposition: Ak = UkΣkV T k , where Σk is a diagonal matrix with the k largest non-negative, monotonically decreasing diagonal σ1 ≥ σ2 · · ...

In this paper a numerical method based on least-squares approximation is proposed for elliptic interface problems in two dimensions, where the interface is smooth. The underlying method is spectral element method. In the least-squares formulation a functional is minimized as defined in (4.1). The jump in the solution and its normal derivative across the interface are enforced (in an appropriate...

Dantzig-Wolfe decomposition is well-known to provide strong dual bounds for specially structured mixed integer programs (MIPs) in practice. However, the method is not implemented in any state-of-the-art MIP solver: it needs tailoring to the particular problem; the decomposition must be determined from the typical bordered block-diagonal matrix structure; the resulting column generation subprobl...

Algebras generated by strictly positive matrices are described up to similarity, including the commutative, simple, and semisimple cases. We provide sufficient conditions for some block diagonal matrix algebras be a set of nonnegative similarity. Also we find all realizable dimensions two semi-commuting matrices. The last result provides solution problem posed M. Kandi?, K. Šivic (2017) [13].

This paper addresses a target detection problem in radar imaging for which the covariance matrix of unknown Gaussian clutter has block diagonal structure. This block diagonal structure is the consequence of a target lying along a boundary between two statistically independent clutter regions. Here, we design adaptive detection algorithms using both the generalized likelihood ratio (GLR) and the...