A High-Level Programming Language for Modelling the Earth

Computational models based on the solution of partial differential equations (PDEs) play a key role in Earth systems simulations. The software implementing these models depends on the discretisation method, data structures and the computer architecture. For this reason, it is difficult for scientists to implement new models without strong software engineering skills. In this paper, we present a computational modeling language (escript) based on the object-oriented scripting language (Python). This language, is designed to implement PDE-based models with a high degree of abstraction from the underlying discretization techniques and their implementation. The main components of escript are the Data class objects which handle data with a spatial distribution and the linearPDE class which define linear PDEs to be solved in each step of a time integration or non-linear iteration scheme. As an example we will discuss the solution of the Lame equation and the implementation of a quasi-static model for crustal fault systems

Improved Collision-Detection Method for Robotic Manipulator

An improved method has been devised for the computational prediction of a collision between (1) a robotic manipulator and (2) another part of the robot or an external object in the vicinity of the robot. The method is intended to be used to test commanded manipulator trajectories in advance so that execution of the commands can be stopped before damage is done. The method involves utilization of both (1) mathematical models of the robot and its environment constructed manually prior to operation and (2) similar models constructed automatically from sensory data acquired during operation. The representation of objects in this method is simpler and more efficient (with respect to both computation time and computer memory), relative to the representations used in most prior methods. The present method was developed especially for use on a robotic land vehicle (rover) equipped with a manipulator arm and a vision system that includes stereoscopic electronic cameras. In this method, objects are represented and collisions detected by use of a previously developed technique known in the art as the method of oriented bounding boxes (OBBs). As the name of this technique indicates, an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs), as in the example of Figure 1. Unlike prior methods, the OBB/OBP method does not require any divisions or transcendental functions; this feature leads to greater robustness and numerical accuracy. The OBB/OBP method was selected for incorporation into the present method because it offers the best compromise between accuracy on the one hand and computational efficiency (and thus computational speed) on the other hand

Implementing imperfect information in fuzzy databases

Information in real-world applications is often vague, imprecise and uncertain. Ignoring the inherent imperfect nature of real-world will undoubtedly introduce some deformation of human perception of real-world and may eliminate several substantial information, which may be very useful in several data-intensive applications. In database context, several fuzzy database models have been proposed. In these works, fuzziness is introduced at different levels. Common to all these proposals is the support of fuzziness at the attribute level. This paper proposes first a rich set of data types devoted to model the different kinds of imperfect information. The paper then proposes a formal approach to implement these data types. The proposed approach was implemented within a relational object database model but it is generic enough to be incorporated into other database models.ou