On the constraints violation in forward dynamics of multibody systems

It is known that the dynamic equations of motion for constrained mechanical multibody systems are frequently formulated using the Newton–Euler’s approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of partial differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. The classical solution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is offered. The basic idea of the described approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as a function of the Moore–Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. The described methodology is embedded in the standard method to solve the equations of motion based on the technique of Lagrange multipliers. Finally, the effectiveness of the described methodology is demonstrated through the dynamic modeling and simulation of different planar and spatial multibody systems. The outcomes in terms of constraints violation at the position and velocity levels, conservation of the total energy and computational efficiency are analyzed and compared with those obtained with the standard Lagrange multipliers method, the Baumgarte stabilization method, the augmented Lagrangian formulation, the index-1 augmented Lagrangian, and the coordinate partitioning method.     

A dynamic default revision mechanism for speculative computation

In this work a default revision mechanism is introduced into speculative computation to manage incomplete information. The default revision is supported by a method for the generation of default constraints based on Bayesian networks. The method enables the generation of an initial set of defaults which is used to produce the most likely scenarios during the computation, represented by active processes. As facts arrive, the Bayesian network is used to derive new defaults. The objective with such a new dynamic mechanism is to keep the active processes coherent with arrived facts. This is achieved by changing the initial set of default constraints during the reasoning process in speculative computation. A practical example in clinical decision support is described.     

Analyses and improvement of a broadcasting multiple blind signature scheme based on quantum GHZ entanglement

A broadcasting multiple blind signature scheme based on quantum GHZ entanglement has been presented recently. It is said that the scheme’s unconditional security is guaranteed by adopting quantum key preparation, quantum encryption algorithm and quantum entanglement. In this paper, we prove that each signatory can get the signed message just by an intercept–resend attack. Then, we show there still exist some participant attacks and external attacks. Specifically, we verify the message sender Alice can impersonate each signatory to sign the message at will, and so is the signature collector Charlie. Also, we demonstrate that the receiver Bob can forge the signature successfully, and with respect to the external attacks, the eavesdropper Eve can modify the signature at random. Besides, we discover Eve can change the signed message at random, and Eve can impersonate Alice as the message sender without being discovered. In particular, we propose an improved scheme based on the original one and show that it is secure against not only the attacks mentioned above but also some collusion attacks.     

Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on the sensor readings of an Ultra-short Baseline (USBL) acoustic array system and a Doppler Velocity Log (DVL). The proposed methodology is based on an equivalent linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Numerical results using Monte Carlo simulations and comparison to the Bayesian Cramér Rao Bound (BCRB) reveal that the performance of the proposed filter is tight to this theoretical estimation error lower bound. In comparison with other approaches, the present solution achieves the same level of performance of the Extended Kalman Filter (EKF), which does not offer GAS guarantees, and outperforms other classical filtering approaches designed in inertial coordinates instead of the body-fixed coordinate frame.     

Randomization can be a healer: consensus with dynamic omission failures

Wireless ad-hoc networks are being increasingly used in diverse contexts, ranging from casual meetings to disaster recovery operations. A promising approach is to model these networks as distributed systems prone to dynamic communication failures. This captures transitory disconnections in communication due to phenomena like interference and collisions, and permits an efficient use of the wireless broadcasting medium. This model, however, is bound by the impossibility result of Santoro and Widmayer, which states that, even with strong synchrony assumptions, there is no deterministic solution to any non-trivial form of agreement if n ? 1 or more messages can be lost per communication round in a system with n processes. In this paper we propose a novel way to circumvent this impossibility result by employing randomization. We present a consensus protocol that ensures safety in the presence of an unrestricted number of omission faults, and guarantees progress in rounds where such faults are bounded by ${f \,{\leq}\,\lceil \frac{n}{2} \rceil (n\,{-}\,k)\,{+}\,k\,{-}\,2}$ , where k is the number of processes required to decide, eventually assuring termination with probability 1.     

Towards human motion capture from a camera mounted on a mobile robot

This article describes a multiple feature data fusion applied to a particle filter for marker-less human motion capture (HMC) by using a single camera devoted to an assistant mobile robot. Particle filters have proved to be well suited to this robotic context. Like numerous approaches, the principle relies on the projection of the model's silhouette of the tracked human limbs and appearance features located on the model surface, to validate the particles (associated configurations) which correspond to the best model-to-image fits. Our particle filter based HMC system is improved and extended in two ways. First, our estimation process is based on the so-called AUXILIARY scheme which has been surprisingly seldom exploited for tracking purpose. This scheme is shown to outperform conventional particle filters as it limits drastically the well-known burst in term of particles when considering high dimensional state-space. The second line of investigation concerns data fusion. Data fusion is considered both in the importance and measurement functions with some degree of adaptability depending on the current human posture and the environmental context encountered by the robot. Implementation and experiments on indoor sequences acquired by an assistant mobile robot highlight the relevance and versatility of our HMC system. Extensions are finally discussed.     

Efficient pebbling for list traversal synopses with application to program rollback

We show how to support efficient back traversal in a unidirectional list, using small memory and with essentially no slowdown in forward steps. Using O(lgn)$O(lgn)$ memory for a list of size n$n$, the i$i$’th back-step from the farthest point reached so far takes O(lgi)$O(lgi)$ time in the worst case, while the overhead per forward step is at most ?$?$ for arbitrary small constant ?>0$?>0$. An arbitrary sequence of forward and back steps is allowed. A full trade-off between memory usage and time per back-step is presented: k$k$ vs. kn^1/k$k{n}^{1/k}$ and vice versa. Our algorithms are based on a novel pebbling technique which moves pebbles on a virtual binary, or n^1/k$n^{1/k}$-ary, tree that can only be traversed in a pre-order fashion.     

<Emphasis Type="Italic">hp</Emphasis>-Version <Emphasis Type="Italic">a priori</Emphasis> Error Analysis of Interior Penalty Discontinuous Galerkin Finite Element Approximations to the Biharmonic Equation

We consider the symmetric formulation of the interior penalty discontinuous Galerkin finite element method for the numerical solution of the biharmonic equation with Dirichlet boundary conditions in a bounded polyhedral domain in . For a shape-regular family of meshes consisting of parallelepipeds, we derive hp-version a priori bounds on the global error measured in the L² norm and in broken Sobolev norms. Using these, we obtain hp-version bounds on the error in linear functionals of the solution. The bounds are optimal with respect to the mesh size h and suboptimal with respect to the degree of the piecewise polynomial approximation p. The theoretical results are confirmed by numerical experiments, and some practical applications in Poisson–Kirchhoff thin plate theory are presented.     

Safety implications of cultural and cognitive issues in nuclear power plant operation

This research project was designed to investigate cultural and cognitive issues related to the work of nuclear power plant operators during their time on the job in the control room and during simulator training (emergency situations), in order to show how these issues impact on plant safety. The modeling of the operators work deals with the use of operational procedures, the constant changes in the focus of attention and the dynamics of the conflicting activities. The paper focuses on the relationships between the courses of action of the different operators and the constraints imposed by their working environment. It shows that the safety implications of the control room operators' cognitive and cultural issues go far beyond the formal organizational constructs usually implied. Our findings indicate that the competence required for the operators are concerned with developing the possibility of constructing situation awareness, managing conflicts, gaps and time problems created by ongoing task procedures, and dealing with distractions, developing skills for collaborative work.     

A theoretical and empirical investigation of multi‐item on‐line auctions

In this paper we explore and analyze the structure of Internet auctions from an analytical and an empirical perspective. Such web‐based auctions are rapidly emerging as a mercantile process of choice in the electronic marketplace. We observe current Internet auctions for one‐time products, such as rapidly aging hardware, and analyze them within the framework of the existing auction theory. While traditional auction theory focuses on single‐item auctions, we observe that a majority of on‐line auctions are multi‐item auctions. A significant contribution of this work is the theoretical derivation of the structure of the winning bids in multi‐item progressive on‐line auctions. Additionally, for comparative purposes, we explore the structural characteristics of alternative multi‐item auction mechanisms proposed in the auction theory. We derive hypotheses based on our analytical results and compare two different types of auction mechanisms. We test the traditional auction theory assumption regarding the homogeneity of bidders and present the first ever empirically derived classification and performance‐comparison of on‐line bidders. We test our hypotheses using real‐world empirical data obtained by tracking a premier web‐based auction site. Statistical analysis of the data indicates that firms may gain by choosing alternative auction mechanisms. We also provide directions for further exploration of this emerging but important dimension of electronic commerce. This revised version was published online in July 2006 with corrections to the Cover Date.