A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid links, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system at hand are written. Then, using the DeNOC matrices associated with the velocity constraints of...

In this paper, we present a mixed-integer linear programming (MILP) formulation of piecewise, polyhedral relaxation (PPR) multilinear term using its convex-hull representation. Based on the PPR’s solution, also MILP whose solutions are feasible for nonconvex, equations. We then computational results showing effectiveness proposed formulations standard benchmark nonlinear programs (NLPs) with te...

Recursive filters are commonly used in scale space construction for their efficiency and simple implementation. However these filters have an initialisation problem which either produces unusable results near the image boundaries or requires costly approximate solutions such as extending the boundary manually. In this paper, we describe a method for the recursive filtering of reflectively exten...

This paper presents an intertemporal model of growing awareness. It provides a framework for analyzing problems with long time horizons in the presence awareness and unawareness. The generalizes both standard event-tree from Karni Vierø (2017) Axioms representation are provided along recursive formulation utility. allows tractable consistent analysis To illustrate relevance dynamic decision mak...

The finite-difference time-domain (FDTD) method based on the iterated Crank–Nicolson (ICN) scheme is extended to a frequency-dependent version. Drude model used express metal dispersion, which incorporated into formulation with trapezoidal recursive convolution technique. validity of present convolutional perfectly matched layers discussed through analysis metal-insulator-metal plasmonic wavegu...

It is always desirable to look for more efficient algorithms for the realization of the discrete cosine transform (DCT). In this paper, we generalize a formulation for converting a lcngth-2" DCT into n groups of equations, then apply a novel technique for its implementation. The sizes of the groups are 2", for m = 11-1, .._., 0. While their structures are extremely regular. Tlie realization can...

We study the limiting distribution of the degree of a given node in a scaled attachment random recursive tree, a generalized random recursive tree, which is introduced by Devroye et. al (2011). In a scaled attachment random recursive tree, every node $i$ is attached to the node labeled $lfloor iX_i floor$ where $X_0$, $ldots$ , $X_n$ is a sequence of i.i.d. random variables, with support in [0,...

This paper presents a novel approach to tackle the problem of optimal neutral wire grounding in bipolar DC networks including asymmetric loading, which naturally involves mixed-integer nonlinear programming (MINLP) and is challenging solve. MINLP model transformed into recursive quadratic (MIQ) by linearizing hyperbolic relation between voltage powers constant power terminals. A algorithm imple...