This paper presents an approach for applying a dual quaternion hand– eye calibration algorithm on an endoscopic surgery robot. Special focus is on robustness, since the error of position and orientation data provided by the robot can be large depending on the movement actually executed. Another inherent problem to all hand–eye calibration methods is that non–parallel rotation axes must be used;...

We present an efficient implementation of the multi-shift QR algorithm for computing the eigenvalues of a unitary matrix. The algorithm can perform QR iterations of arbitrary degree, it is conceptually simple, and it is backward stable.

a nonstandard finite difference (nsfd) scheme has been constructed and analyzed for a mathematical model that describes lotka–volterra food web model. this new discrete system has the same stability properties as the continuous model and,on the whole, it preservesthe same local asymptotic stability properties. linearized stability theory and schur–cohn criteria are used for local asymptoticstab...

We investigate the numerical stability of Cauchy evolution of linearized gravitational theory in a 3-dimensional bounded domain. Criteria of robust stability are proposed, developed into a testbed and used to study various evolution-boundary algorithms. We consider a standard explicit finite difference code which solves the unconstrained linearized Einstein equations in the 3 + 1 formulation an...

In this paper, new delay-independent asymptotic and exponential stability conditions of linear discrete delay systems based on the LyapunovKrasovskii method have been derived. A numerical example has been developed so as to show applicability of the derived results.

Article history: Received 1 August 2013 Received in revised form 7 January 2014 Accepted 10 January 2014 Available online 16 January 2014

We study topological dynamics on unshielded planar continua with weak expanding properties at cycles for which we prove that the absence of wandering continua implies backward stability. Then we deduce from this that a polynomial f with a locally connected Julia set is backward stable outside any neighborhood of its attracting and neutral cycles. For a conformal measure μ this easily implies th...

A new backward stable, structure preserving method of complexity O(n) is presented for computing the stable invariant subspace of a real Hamiltonian matrix and the stabilizing solution of the continuous-time algebraic Riccati equation. The new method is based on the relationship between the invariant subspaces of the Hamiltonian matrix H and the extended matrix [ 0 H H 0 ] and makes use of the ...

We show that instanton bundles of rank r ≤ 2n − 1, defined as the cohomology of certain linear monads, on an n-dimensional projective variety with cyclic Picard group are semistable in the sense of MumfordTakemoto. Furthermore, we show that rank r ≤ n linear bundles with nonzero first Chern class over such varieties are stable. We also show that these bounds are sharp. 2000 MSC: 14J60; 14F05

This paper presents some limit theorems for certain functionals of moving averages of semimartingales plus noise, which are observed at high frequency. Our method generalizes the pre-averaging approach (see [13],[11]) and provides consistent estimates for various characteristics of general semimartingales. Furthermore, we prove the associated multidimensional (stable) central limit theorems. As...