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NULLSPACE PRECONDITIONERS FOR SADDLE POINT SYSTEMS
"... Abstract. The nullspace method is a technique that has been used for many years to reduce a saddle point system to a smaller, easier to solve, symmetric positivedenite system. This method can be understood as a block factorization of the system. Here we explore the use of preconditioners based on ..."
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Abstract. The nullspace method is a technique that has been used for many years to reduce a saddle point system to a smaller, easier to solve, symmetric positivedenite system. This method can be understood as a block factorization of the system. Here we explore the use of preconditioners based
An Improved Toeplitz Algorithm for Polynomial Matrix NullSpace Computation
, 2009
"... In this paper we present an improved algorithm to compute the minimal nullspace basis of polynomial matrices, a problem which has many applications in control and systems theory. This algorithm takes advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial ma ..."
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Cited by 2 (0 self)
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In this paper we present an improved algorithm to compute the minimal nullspace basis of polynomial matrices, a problem which has many applications in control and systems theory. This algorithm takes advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial
BLOCK TOEPLITZ ALGORITHMS FOR POLYNOMIAL MATRIX NULLSPACE COMPUTATION
"... Abstract. In this paper we present a new algorithm to compute the minimal nullspace basis of polynomial matrices, a problem which has many applications in control theory. This algorithm takes advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial matrix. Th ..."
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Abstract. In this paper we present a new algorithm to compute the minimal nullspace basis of polynomial matrices, a problem which has many applications in control theory. This algorithm takes advantage of the block Toeplitz structure of the Sylvester matrix associated with the polynomial matrix
Linear System Solution by NullSpace Approximation and Projection (SNAP)
, 2006
"... Solutions of large sparse linear systems of equations are usually obtained iteratively by constructing a smaller dimensional subspace such as a Krylov subspace. The convergence of these methods is sometimes hampered by the presence of small eigenvalues, in which case some form of deflation can help ..."
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) in order to facilitate the direct use of methods such as implicitly restarted Arnoldi, or JacobiDavidson for the linear system solve. The proposed method, called “Solution by Nullspace Approximation and Projection” (SNAP), differs from other similar approaches in that it converts the nonhomogeneous
TaskSpace and NullSpace Control Design for RoboticAssisted Minimally Invasive Surgery
"... Abstract—This paper discusses the control design of roboticassisted minimally invasive surgery (MIS) with haptic feedback. The operational space control has a positionposition telemanipulation architecture with the phantom in the loop, enabling telepresence in freespace and contact. The null spa ..."
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Abstract—This paper discusses the control design of roboticassisted minimally invasive surgery (MIS) with haptic feedback. The operational space control has a positionposition telemanipulation architecture with the phantom in the loop, enabling telepresence in freespace and contact. The null
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning
The Viterbi algorithm
 Proceedings of the IEEE
, 1973
"... vol. 6, no. 8, pp. 211220, 1951. [7] J. L. Anderson and J. W..Ryon, “Electromagnetic radiation in accelerated systems, ” Phys. Rev., vol. 181, pp. 17651775, 1969. [8] C. V. Heer, “Resonant frequencies of an electromagnetic cavity in an accelerated system of reference, ” Phys. Reu., vol. 134, pp. A ..."
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Cited by 985 (3 self)
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vol. 6, no. 8, pp. 211220, 1951. [7] J. L. Anderson and J. W..Ryon, “Electromagnetic radiation in accelerated systems, ” Phys. Rev., vol. 181, pp. 17651775, 1969. [8] C. V. Heer, “Resonant frequencies of an electromagnetic cavity in an accelerated system of reference, ” Phys. Reu., vol. 134, pp. A799A804, 1964. [9] T. C. Mo, “Theory of electrodynamics in media in noninertial frames and applications, ” J. Math. Phys., vol. 11, pp. 25892610, 1970.
SNOPT: An SQP Algorithm For LargeScale Constrained Optimization
, 2002
"... Sequential quadratic programming (SQP) methods have proved highly effective for solving constrained optimization problems with smooth nonlinear functions in the objective and constraints. Here we consider problems with general inequality constraints (linear and nonlinear). We assume that first deriv ..."
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Cited by 582 (23 self)
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Sequential quadratic programming (SQP) methods have proved highly effective for solving constrained optimization problems with smooth nonlinear functions in the objective and constraints. Here we consider problems with general inequality constraints (linear and nonlinear). We assume that first derivatives are available, and that the constraint gradients are sparse. We discuss
Graphbased algorithms for Boolean function manipulation
 IEEE TRANSACTIONS ON COMPUTERS
, 1986
"... In this paper we present a new data structure for representing Boolean functions and an associated set of manipulation algorithms. Functions are represented by directed, acyclic graphs in a manner similar to the representations introduced by Lee [1] and Akers [2], but with further restrictions on th ..."
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Cited by 3499 (47 self)
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In this paper we present a new data structure for representing Boolean functions and an associated set of manipulation algorithms. Functions are represented by directed, acyclic graphs in a manner similar to the representations introduced by Lee [1] and Akers [2], but with further restrictions
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