A pseudo-inverse-Jacobian scheme to control deformations of a exible load while attaining contact force goals with an external environment is discussed in this paper. The exible load is manipulated by two arms. A kinematic description of the exible load is obtained from a lumped-parameter model. Coordinated motion of the arms is achieved through kinematic redundancy resolution at the diierentia...

This research examines the utilisation of part-time lecturers in the further education (FE) sector and considers the impact that has on the quality of service delivery. The research has used qualitative and quantitative methods in a longitudinal study of a sample of 42 sessional lecturers drawn from colleges within the East Midlands. The article explores changes within the sector providing a li...

Transcription factor binding sites (TFBS) can appear in di erent combinations on di erent promoters. The order of TFBSs in promoters varies, and relative distances of TFBSs in various promoters di er. Promoter is undoubtedly extremely complex. A general and exible multi-motif model is proposed for promoter motif analysis based on dynamic programming. In the model, motifs are described with weig...

Recent interest in virtual machines has been due mainly to the need to distribute executable content over the World Wide Web, where security and standardization are the key concerns. To ful l the potential of distributed network computing virtual machines must be built into the OS kernel where speed and exibility are of the essence. Mite is a virtual machine designed to allow optimising compile...

Maintenance of large, portable software systems often leads to requirements which cannot be solved by the traditional make tool. Abstract naming schemes for les and programs, as they are used by preprocessors in actual make tools, are fundamental for a more general solution. But, as shown in this paper, a preprocessor is not powerful enough for all requirements. Some kind of \database" with the...

The weighted orthogonal Procrustes problem an important class of data matching problems in multivariate data analysis is reconsidered in this paper It is shown that a steepest descent ow on the manifold of orthogonal matrices can naturally be formulated This formulation has two important implications that the constrained regression problem can be solved as an initial value problem by any availa...

In this paper we present some results of our systematic studies of ne-grained parallel versions of the island model of genetic algorithms and of variants of the neighborhood model (also called diiusion model) on the massively parallel computer MasPar MP1 with 16k processing elements. These parallel genetic algorithms have been applied to a range of diierent problems (e.g. traveling salesperson,...

In this article, I detail and evaluate the negotiations I had to broker to conduct ethnographic research on marketplace vendors and trade in the upland borderlands of northern Vietnam. Working with the analogy of the numerous 'lines' I was constrained by, had to manoeuvre around, and at times crossed over, I begin with a discussion of the 'official lines' or state regulations imposed upon my re...