Singularity analysis, Hadamard products, and tree recurrences

We present a toolbox for extracting asymptotic information on the coefficients of combinatorial generating functions. This toolbox notably includes a treatment of the effect of Hadamard products on singularities in the context of the complex Tauberian technique known as singularity analysis. As a consequence, it becomes possible to unify the analysis of a number of divide-and-conquer algorithms, or equivalently random tree models, including several classical methods for sorting, searching, and dynamically managing equivalence relationsComment: 47 pages. Submitted for publicatio

Status of the differential transformation method

Further to a recent controversy on whether the differential transformation method (DTM) for solving a differential equation is purely and solely the traditional Taylor series method, it is emphasized that the DTM is currently used, often only, as a technique for (analytically) calculating the power series of the solution (in terms of the initial value parameters). Sometimes, a piecewise analytic continuation process is implemented either in a numerical routine (e.g., within a shooting method) or in a semi-analytical procedure (e.g., to solve a boundary value problem). Emphasized also is the fact that, at the time of its invention, the currently-used basic ingredients of the DTM (that transform a differential equation into a difference equation of same order that is iteratively solvable) were already known for a long time by the "traditional"-Taylor-method users (notably in the elaboration of software packages --numerical routines-- for automatically solving ordinary differential equations). At now, the defenders of the DTM still ignore the, though much better developed, studies of the "traditional"-Taylor-method users who, in turn, seem to ignore similarly the existence of the DTM. The DTM has been given an apparent strong formalization (set on the same footing as the Fourier, Laplace or Mellin transformations). Though often used trivially, it is easily attainable and easily adaptable to different kinds of differentiation procedures. That has made it very attractive. Hence applications to various problems of the Taylor method, and more generally of the power series method (including noninteger powers) has been sketched. It seems that its potential has not been exploited as it could be. After a discussion on the reasons of the "misunderstandings" which have caused the controversy, the preceding topics are concretely illustrated.Comment: To appear in Applied Mathematics and Computation, 29 pages, references and further considerations adde

Parameterized Uniform Complexity in Numerics: from Smooth to Analytic, from NP-hard to Polytime

The synthesis of classical Computational Complexity Theory with Recursive Analysis provides a quantitative foundation to reliable numerics. Here the operators of maximization, integration, and solving ordinary differential equations are known to map (even high-order differentiable) polynomial-time computable functions to instances which are `hard' for classical complexity classes NP, #P, and CH; but, restricted to analytic functions, map polynomial-time computable ones to polynomial-time computable ones -- non-uniformly! We investigate the uniform parameterized complexity of the above operators in the setting of Weihrauch's TTE and its second-order extension due to Kawamura&Cook (2010). That is, we explore which (both continuous and discrete, first and second order) information and parameters on some given f is sufficient to obtain similar data on Max(f) and int(f); and within what running time, in terms of these parameters and the guaranteed output precision 2^(-n). It turns out that Gevrey's hierarchy of functions climbing from analytic to smooth corresponds to the computational complexity of maximization growing from polytime to NP-hard. Proof techniques involve mainly the Theory of (discrete) Computation, Hard Analysis, and Information-Based Complexity

Farming Differentiation in the Rural-urban Interface of the Middle Mountains, Nepal: Application of Analytic Hierarchy Process (AHP)Modeling

This article investigates the dominant factors of farming differentiation in the rural-urban interface of the densely populated Kathmandu Valley, using the Analytic Hierarchy Process (AHP) modeling. The rural-urban interface in the Kathmandu Valley is an important vegetable production pocket which supplies a large amount of the vegetables in the city core. While subsistence farming in the rural area is characterized by a system which integrates livestock and forestry with agriculture, the intensification in the urban fringe is characterized by triple crop rotations and market-oriented intensive vegetable production. Seven factors which were supposed to cause farming variation in the interface were incorporated in the AHP framework and then subjected to the farmers’ judgment in distinctly delineated three farming zones. These factors played crucial yet differing roles in different farming zones. Inaccessibility and use of local resources; higher yield and accessibility and agro-ecological consideration and quality production are the key impacting factors of subsistence, commercial inorganic and smallholder organic farming respectively. The quantification of such factors of farming differentiation through AHP is an important piece of information that will contribute in modeling farming in the rural-urban interface of developing countries which are characterized by a high diversity of farming practices and are undergoing a rapid change in the land use pattern

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with Rigid Body Dynamics, these derivatives are difficult to derive analytically and to implement efficiently. To overcome this issue, we extend the modelling tool `RobCoGen' to be compatible with Automatic Differentiation. Additionally, we propose how to automatically obtain the derivatives and generate highly efficient source code. We highlight the flexibility and performance of the approach in two application examples. First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model. Second, we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly moving obstacle in a go-to task by fast, dynamic replanning