Modeling and simulation of a Stewart platform type parallel structure robot

The kinematics and dynamics of a Stewart Platform type parallel structure robot (NASA's Dynamic Docking Test System) were modeled using the method of kinematic influence coefficients (KIC) and isomorphic transformations of system dependence from one set of generalized coordinates to another. By specifying the end-effector (platform) time trajectory, the required generalized input forces which would theoretically yield the desired motion were determined. It was found that the relationship between the platform motion and the actuators motion was nonlinear. In addition, the contribution to the total generalized forces, required at the actuators, from the acceleration related terms were found to be more significant than the velocity related terms. Hence, the curve representing the total required actuator force generally resembled the curve for the acceleration related force. Another observation revealed that the acceleration related effective inertia matrix I sub dd had the tendency to decouple, with the elements on the main diagonal of I sub dd being larger than the off-diagonal elements, while the velocity related inertia power array P sub ddd did not show such tendency. This tendency results in the acceleration related force curve of a given actuator resembling the acceleration profile of that particular actuator. Furthermore, it was indicated that the effective inertia matrix for the legs is more decoupled than that for the platform. These observations provide essential information for further research to develop an effective control strategy for real-time control of the Dynamic Docking Test System

Computability in constructive type theory

We give a formalised and machine-checked account of computability theory in the Calculus of Inductive Constructions (CIC), the constructive type theory underlying the Coq proof assistant. We first develop synthetic computability theory, pioneered by Richman, Bridges, and Bauer, where one treats all functions as computable, eliminating the need for a model of computation. We assume a novel parametric axiom for synthetic computability and give proofs of results like Rice’s theorem, the Myhill isomorphism theorem, and the existence of Post’s simple and hypersimple predicates relying on no other axioms such as Markov’s principle or choice axioms. As a second step, we introduce models of computation. We give a concise overview of definitions of various standard models and contribute machine-checked simulation proofs, posing a non-trivial engineering effort. We identify a notion of synthetic undecidability relative to a fixed halting problem, allowing axiom-free machine-checked proofs of undecidability. We contribute such undecidability proofs for the historical foundational problems of computability theory which require the identification of invariants left out in the literature and now form the basis of the Coq Library of Undecidability Proofs. We then identify the weak call-by-value λ-calculus L as sweet spot for programming in a model of computation. We introduce a certifying extraction framework and analyse an axiom stating that every function of type ℕ → ℕ is L-computable.Wir behandeln eine formalisierte und maschinengeprüfte Betrachtung von Berechenbarkeitstheorie im Calculus of Inductive Constructions (CIC), der konstruktiven Typtheorie die dem Beweisassistenten Coq zugrunde liegt. Wir entwickeln erst synthetische Berechenbarkeitstheorie, vorbereitet durch die Arbeit von Richman, Bridges und Bauer, wobei alle Funktionen als berechenbar behandelt werden, ohne Notwendigkeit eines Berechnungsmodells. Wir nehmen ein neues, parametrisches Axiom für synthetische Berechenbarkeit an und beweisen Resultate wie das Theorem von Rice, das Isomorphismus Theorem von Myhill und die Existenz von Post’s simplen und hypersimplen Prädikaten ohne Annahme von anderen Axiomen wie Markov’s Prinzip oder Auswahlaxiomen. Als zweiten Schritt führen wir Berechnungsmodelle ein. Wir geben einen kompakten Überblick über die Definition von verschiedenen Berechnungsmodellen und erklären maschinengeprüfte Simulationsbeweise zwischen diesen Modellen, welche einen hohen Konstruktionsaufwand beinhalten. Wir identifizieren einen Begriff von synthetischer Unentscheidbarkeit relativ zu einem fixierten Halteproblem welcher axiomenfreie maschinengeprüfte Unentscheidbarkeitsbeweise erlaubt. Wir erklären solche Beweise für die historisch grundlegenden Probleme der Berechenbarkeitstheorie, die das Identifizieren von Invarianten die normalerweise in der Literatur ausgelassen werden benötigen und nun die Basis der Coq Library of Undecidability Proofs bilden. Wir identifizieren dann den call-by-value λ-Kalkül L als sweet spot für die Programmierung in einem Berechnungsmodell. Wir führen ein zertifizierendes Extraktionsframework ein und analysieren ein Axiom welches postuliert dass jede Funktion vom Typ N→N L-berechenbar ist

A Survey of Word Reordering in Statistical Machine Translation: Computational Models and Language Phenomena

Word reordering is one of the most difficult aspects of statistical machine translation (SMT), and an important factor of its quality and efficiency. Despite the vast amount of research published to date, the interest of the community in this problem has not decreased, and no single method appears to be strongly dominant across language pairs. Instead, the choice of the optimal approach for a new translation task still seems to be mostly driven by empirical trials. To orientate the reader in this vast and complex research area, we present a comprehensive survey of word reordering viewed as a statistical modeling challenge and as a natural language phenomenon. The survey describes in detail how word reordering is modeled within different string-based and tree-based SMT frameworks and as a stand-alone task, including systematic overviews of the literature in advanced reordering modeling. We then question why some approaches are more successful than others in different language pairs. We argue that, besides measuring the amount of reordering, it is important to understand which kinds of reordering occur in a given language pair. To this end, we conduct a qualitative analysis of word reordering phenomena in a diverse sample of language pairs, based on a large collection of linguistic knowledge. Empirical results in the SMT literature are shown to support the hypothesis that a few linguistic facts can be very useful to anticipate the reordering characteristics of a language pair and to select the SMT framework that best suits them.Comment: 44 pages, to appear in Computational Linguistic

Probabilistic parsing

Postprin

Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the mono- or twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV