A nonlinear adaptive framework for bounded-error tracking control of a class of non-minimum phase marine vehicles is presented. The control algorithm relies on a special set of tracking errors to achieve satisfactory tracking performance while guaranteeing stable internal dynamics. First, the design of a model-based nonlinear control law, guaranteeing asymptotic stability of the error dynamics,...

Trajectories are usually collected with physical sensors, which prone to errors and cause outliers in the data. We aim identify such via properties of tracked entity, that is, we consider its possibility visit combinations measurements. describe optimal algorithms compute maximum subsequences measurements consistent (simplified) physics models. Our results output-sensitive respect number k a tr...

Compared to the classical cryptography, lattice-based cryptography is more secure, flexible and simple, and it is believed to be secure against quantum computers. In this paper, an efficient signature scheme is proposed from the ring learning with errors (R-LWE), which avoids sampling from discrete Gaussians and has the characteristics of the much simpler description etc. Then, the scheme is im...

This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low-level position and/or velocity controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control algorithm for velocity/position controlled robot arms in contact with surfaces of unknown linear co...

|This paper addresses the problem of achieving exact dynamic hybrid force/position control with multidimensional manipulators possessing the low level position controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive hybrid force/position control algorithm for position controlled robot arms in contact with surf...

We study random instances of the weighted d-CNF satisfiability problem (WEIGHTED dSAT), a generic W[1]-complete problem. A random instance of the problem consists of a fixed parameter k and a random d-CNF formula F k,d generated as follows: for each subset of d variables and with probability p, a clause over the d variables is selected uniformly at random from among the 2 − 1 clauses that conta...