We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method ...

This paper describes a scheme of adaptive advising students on how much time they should spend on traversing the course network. The scheme is based on the notion of critical path embodied in the network. While web-based online learning emphases student’s initiative in managing his own learning, experiences tell us that some students are always at the risk of being lost in the cyber campus. If ...

This paper presents an approach to extracting a path line oriented topological segmentation for periodic 2D timedependent vector fields. Topological methods aiming in capturing the asymptotic behavior of path lines rarely exist because path lines are usually only defined over a fixed time-interval, making statements about their asymptotic behavior impossible. For the data class of periodic vect...

A high speed word level finite field multiplier in F2m using redundant representation is proposed. For the class of fields that there exists a type I optimal normal basis, the new architecture has significantly higher speed compared to previously proposed architectures using either normal basis or redundant representation at the expense of moderately higher area complexity. One of the unique fe...

We consider the problem of dynamically allocating scarce resources to multiple projects in a project-oriented production system such as a naval shipyard. We formulate axioms governing the relationship between resource allocations and work progress of aggregate project activities, from which a model of project execution is derived. This model is more accurate than models which represent aggregat...

Forecasting Project Progress and Early Warning of Project Overruns with Probabilistic Methods. (December 2007) Byung Cheol Kim, B.S., Seoul National University; M.S., Seoul National University Chair of Advisory Committee: Dr. Kenneth F. Reinschmidt Forecasting is a critical component of project management. Project managers must be able to make reliable predictions about the final duration and c...

This paper presents a fault-tolerant algorithm for the QR factorization of general matrices. It relies on the communication-avoiding algorithm, and uses the structure of the reduction of each part of the computation to introduce redundancies that are sufficient to recover the state of a failed process. After a process has failed, its state can be recovered based on the data held by one process ...

In this paper, a unified sequential architecture for 8-point discrete cosine transform and its inverse is described. The architecture is based on rescheduled constant geometry algorithms, which are mapped onto a one-dimensional structure with the aid of vertical projection. The resulting modular architecture can be efficiently pipelined since arithmetic units are removed from the critical path....

One of the problems in future processors will be the resource conflicts caused by several load/store units competing to access the same cache bank. The traditional approach for handling this case is by introducing buffers combined with a cross-bar. This approach suffers from (i) the nondeterministic latency of a load/store and (ii) the extra latency caused by the cross-bar and the buffer manage...

Method for robust schedule preparation for domain of profit based cooperation is introduced in this paper. The method aims schedules, which are prepared and concluded step-by-step during the team formation phase. The method takes into account domain specifics, like incomplete information about the partners, and their various reputation and skill levels. The method is based on critical path disp...