Nonlinear suboptimal and adaptive pectoral fin control of autonomous underwater vehicle

Autonomous underwater vehicles (AUVs) are used for numerous applications in the deep sea, such as hydrographic survey, sea bed mining and oceanographic mapping, etc. Presently, significant amount of effort, is being made in developing biorobotic AUVs (BAUVs) with biologically inspired control surfaces. However, the dynamics of AUVs and BAUVs are highly nonlinear and the hydrodynamic coefficients are not precisely known. As such the development of nonlinear and adaptive control systems is of considerable importance; We consider the suboptimal dive plane control of AUVs using the state-dependent Riccati equation (SDRE) technique. This method provides effective means of designing nonlinear control systems for minimum as well as nonminimum phase AUV models. Moreover, hard control constraints are included in the design process; We also attempt to design adaptive control systems for BAUVs using biologically-inspired pectoral-like fins. The fins are assumed to be oscillating harmonically with a combined linear (sway) and angular (yaw) motion. The bias (mean) angle of the angular motion of the fin is used as a control input. Using discrete-time state variable representation of the BAUV, adaptive sampled-data control systems for the trajectory control are derived using state feedback as well as output feedback. We develop direct as well as indirect adaptive control systems for BAUVs. The advantage of the indirect adaptive law lies in its applicability to minimum as well as nonminimum phase systems. Simulation results are presented to evaluate the performance of each control system

AICPA Committee Handbook Showing All Member History for All Years In Which Electronic Records Have Been Maintained

https://egrove.olemiss.edu/aicpa_comm/1216/thumbnail.jp

Square dancing: the official magazine of the Sets in Order American Square Dance Society.

Published monthly for and by Square Dancers and for the general enjoyment of all

Reordering Rule Makes OBDD Proof Systems Stronger

Atserias, Kolaitis, and Vardi showed that the proof system of Ordered Binary Decision Diagrams with conjunction and weakening, OBDD(^, weakening), simulates CP^* (Cutting Planes with unary coefficients). We show that OBDD(^, weakening) can give exponentially shorter proofs than dag-like cutting planes. This is proved by showing that the Clique-Coloring tautologies have polynomial size proofs in the OBDD(^, weakening) system. The reordering rule allows changing the variable order for OBDDs. We show that OBDD(^, weakening, reordering) is strictly stronger than OBDD(^, weakening). This is proved using the Clique-Coloring tautologies, and by transforming tautologies using coded permutations and orification. We also give CNF formulas which have polynomial size OBDD(^) proofs but require superpolynomial (actually, quasipolynomial size) resolution proofs, and thus we partially resolve an open question proposed by Groote and Zantema. Applying dag-like and tree-like lifting techniques to the mentioned results, we completely analyze which of the systems among CP^*, OBDD(^), OBDD(^, reordering), OBDD(^, weakening) and OBDD(^, weakening, reordering) polynomially simulate each other. For dag-like proof systems, some of our separations are quasipolynomial and some are exponential; for tree-like systems, all of our separations are exponential

American Square Dance Vol. 35, No. 8 (Aug. 1980)

Monthly square dance magazine that began publication in 1945

Interdisciplinary Film & Digital Media 2015 APR Self-Study & Documents

UNM Interdisciplinary Film & Digital Media APR self-study report, review team report, response to review report, and initial action plan for Spring 2015, fulfilling requirements of the Higher Learning Commission. IFDM was absorbed by the Cinematic Arts Department following this review

Timing-Driven Macro Placement

Placement is an important step in the process of finding physical layouts for electronic computer chips. The basic task during placement is to arrange the building blocks of the chip, the circuits, disjointly within a given chip area. Furthermore, such positions should result in short circuit interconnections which can be routed easily and which ensure all signals arrive in time. This dissertation mostly focuses on macros, the largest circuits on a chip. In order to optimize timing characteristics during macro placement, we propose a new optimistic timing model based on geometric distance constraints. This model can be computed and evaluated efficiently in order to predict timing traits accurately in practice. Packing rectangles disjointly remains strongly NP-hard under slack maximization in our timing model. Despite of this we develop an exact, linear time algorithm for special cases. The proposed timing model is incorporated into BonnMacro, the macro placement component of the BonnTools physical design optimization suite developed at the Research Institute for Discrete Mathematics. Using efficient formulations as mixed-integer programs we can legalize macros locally while optimizing timing. This results in the first timing-aware macro placement tool. In addition, we provide multiple enhancements for the partitioning-based standard circuit placement algorithm BonnPlace. We find a model of partitioning as minimum-cost flow problem that is provably as small as possible using which we can avoid running time intensive instances. Moreover we propose the new global placement flow Self-Stabilizing BonnPlace. This approach combines BonnPlace with a force-directed placement framework. It provides the flexibility to optimize the two involved objectives, routability and timing, directly during placement. The performance of our placement tools is confirmed on a large variety of academic benchmarks as well as real-world designs provided by our industrial partner IBM. We reduce running time of partitioning significantly and demonstrate that Self-Stabilizing BonnPlace finds easily routable placements for challenging designs – even when simultaneously optimizing timing objectives. BonnMacro and Self-Stabilizing BonnPlace can be combined to the first timing-driven mixed-size placement flow. This combination often finds placements with competitive timing traits and even outperforms solutions that have been determined manually by experienced designers

Survey on Instruction Selection: An Extensive and Modern Literature Review

Instruction selection is one of three optimisation problems involved in the code generator backend of a compiler. The instruction selector is responsible of transforming an input program from its target-independent representation into a target-specific form by making best use of the available machine instructions. Hence instruction selection is a crucial part of efficient code generation. Despite on-going research since the late 1960s, the last, comprehensive survey on the field was written more than 30 years ago. As new approaches and techniques have appeared since its publication, this brings forth a need for a new, up-to-date review of the current body of literature. This report addresses that need by performing an extensive review and categorisation of existing research. The report therefore supersedes and extends the previous surveys, and also attempts to identify where future research should be directed.Comment: Major changes: - Merged simulation chapter with macro expansion chapter - Addressed misunderstandings of several approaches - Completely rewrote many parts of the chapters; strengthened the discussion of many approaches - Revised the drawing of all trees and graphs to put the root at the top instead of at the bottom - Added appendix for listing the approaches in a table See doc for more inf