A recently developed Spatial Operator Algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms which compute the Operational Space mass matrix and the Operational Space coriolis/centrifugal and gravity terms of an n{link serial manipulator. These algorithms enable an O(n) recursive implementation of Operational Space Control.

This paper describes a recursive method for the LU factorization of sparse matrices. The recursive formulation of common linear algebra codes has been proven very successful in dense matrix computations. An extension of the recursive technique for sparse matrices is presented. Performance results given here show that the recursive approach may perform comparable to leading software packages for...

The integer word-length optimization known as range analysis (RA) of the fixed-point designs is a challenging problem in high level synthesis and optimization of linear-time-invariant (LTI) systems. The analysis has significant effects on the resource usage, accuracy and efficiency of the final implementation, as well as the optimization time. Conventional methods in recursive LTI systems suffe...

Abstract. In this work we investigate the construction of Carleson measures from families of multilinear integral operators applied to tuples of L∞ and BMO functions. We show that if the family Rt of multilinear operators possesses cancellation in each variable, then for BMO functions b1, . . . , bm, the measure |Rt(b1, . . . , bm)(x)|dxdt/t is Carleson. However, if the family of multilinear op...

A number of dynamic models in economics are formulated with forward-looking elements in the constraints – for example, models of risk-sharing with participation constraints and models of optimal policy. Here, standard dynamic programming does not apply. Recent contributions show how to reformulate these models by either rewriting the forward-looking constraints (promised utility approach) or by...

In this report we propose a new recursive matrix formulation of limited memory variable metric methods. This approach enables to approximate of both the Hessian matrix and its inverse and can be used for an arbitrary update from the Broyden class (and some other updates). The new recursive formulation requires approximately 4mn multiplications and additions for the direction determination, so i...

Several recent papers have proposed recursive Lagrangian-basedmethods for solving dynamic contracting problems. Thesemethods give rise to Bellman operators that incorporate either a dual inf-sup or a saddle point operation. We give conditions that ensure the Bellman operator implied by a dual recursive formulation is contractive. JEL codes: C61, C73, D82, E61.