Data and procedures and the values they amass, Higher-order functions to combine and mix and match, Objects with their local state, the message they pass, A property, a package, the control of point for a catch- In the Lambda Order they are all first-class. One thing to name them all, one things to define them, one thing to place them in environments and bind them, in the Lambda Order they are all first-class. Keywords: SCHEME, LISP, functional programming, computer languages.

Scheme86 is a computer system designed to interpret programs written in the Scheme dialect of Lisp. A specialized architecture, coupled with new techniques for optimizing register management in the interpreter, allows Scheme86 to execute interpreted Scheme at a speed comparable to that of compiled Lisp on conventional workstations.

We illustrate how the liberal use of high-order procedural abstractions and infinite streams helps us to express some of the vocabulary and methods of numerical analysis. We develop a software toolbox encapsulating the technique of Richardson extrapolation, and we apply these tools to the problems of numerical integration and differentiation. By separating the idea of Richardson extrapolation from its use in particular circumstances, we indicate how numerical programs can be written that exhibit the structure of the ideas from which they are formed.

We present a new iterative approach to solving neutral-particle transport problems. The scheme divides the transport solution into its particular and homogeneous or “source-free” components. The particular problem is solved directly, while the homogeneous problem is found iteratively. To organize the iterative inversion of the homogeneous components, we exploit the structures of the so called Case-modes that compose it. The asymptotic Case-modes, those that vary slowly in space and angle, are assigned to a diffusion solver. The remaining transient Case-modes, those with large spatial gradients, are assigned to a transport solver. The scheme iterates on the contribution from each solver until the particular plus homogeneous solution converges. The iterative method is implemented successfully in slab geometry with isotropic scattering and one energy group. The convergence rate of the method is only weakly dependent on the scattering ratio of the problem. Instead, the rate of convergence depends strongly on the material thickness of the slab, with thick slabs converging in few iterations. The transient solution is obtained by applying a One Cell Inversion scheme instead of a Source Iteration based scheme. Thus, the transient unknowns are calculated with little coordination between them. This independence among unknowns makes our scheme ideally suited for transport calculations on parallel architectures. The slab geometry iterative scheme is adapted to XY geometry. Unfortunately, this attempt to extend the slab geometry iterative scheme to multiple dimensions has not been successful. The exact filtering scheme needed to discriminate asymptotic and transient modes has not been obtained and attempts to approximate this filtering process resulted in a divergent iterative scheme. However, the development of this iterative scheme yield valuable analysis tools to understand the Case-mode structure of any spatial discretization under arbitrary material properties.

In the environment of wireless sensor network, while one node want to send a message to another node, the most natural way is used broadcasting to distribute the message to the whole network. In the other words, as long as one node sends messages to the other node, its neighbor nodes can also listen to these messages, and then receive them. The advantage of broadcast networks is that can efficiently distribute data to multiple receivers. However, it has some drawbacks. A sensor network may be deployed in hostile environment where there are malicious attacks. The malicious attacker can send false messages to his neighbor nodes, and then rely on these neighbor nodes to distribute over the network. So if there are not any schemes of the security authentication in the message when a node wants to use broadcast, everyone can impersonate the sender and broadcast false messages. We call this a packet injection attack. So security is a main challenge in broadcast network. In order to authenticate a broadcast message¡Ait would conform to two conditions. First, insure that the data is transmitted from the claimed source. Second, the messages are not be modified en route. TESLA has been proposed to provide such services for sensor networks¡Ait mainly use time synchronization and delay disclosure key to protect encryption key¡CHowever, this scheme still has some drawbacks, so we propose some schemes to modify TESLA in this paper, and we will show these schemes can achieve better performance than previous ones.

Legged robots are much difficult to design and control than wheeled robots. However, one of advantages of the legged robots is that they are move adaptable to rough terrains and the task of stepping over obstacles. The gait algorithm of a robot is an important job before components the configuration of the body and each leg. The main purpose of this thesis is to discuss leg failure in gait planning procedure for multi-legged robots with symmetric structures. The legs discussed herein are in the form of an articulated arm with three revolute joints. Various effects on motion characteristics due to different leg faults, such as robot¡¦s walking efficiency and stability are also investigated. On extreme conditions, the robot will cease to walk after a leg failure. In this work a scheme is proposed to transform the scrambled leg pattern to a better or even optimum configuration. This leg switching scheme can improve the stability of the robot when problematic legs are disconnected from the body.

This study proposed a numerical algorithm for estimating the angular misalignments between sensors of an ultra short baseline (USBL) positioning system. The algorithm is based on positioning a seabed transponder by moving a vessel along a predetermined straight-line path. Under the scheme of straight-line survey, mathematical representations of positioning error arising from heading, pitch, and roll misalignments were derived, respectively. The effect of each misalignment angle and how the differences can be used to calibrate each misalignment angle in turn are presented. A USBL calibration procedure that takes advantage of the geometry of position errors resulting from angular misalignments is then developed. During the USBL measurement, temporal and spatial variations of sound speed structure in water column are the major error sources. Therefore, this study used the sound speed profile together with a ray tracing method to correct observations of the USBL measurement. In addition, this study developed a method to compensate the effects of cross-track error on the estimation of alignment errors, and this makes the proposed algorithm applicable for using a vessel without dynamic positioning (DP) systems to collect USBL observations. The performance of the algorithm is evaluated through simulation and field experiment. The simulation and experimental results have demonstrated the effectiveness and robustness of the iterative scheme in finding alignment errors. The proposed algorithm yields a very rapid convergence of the solution series; usually the estimates obtained in the first iteration approximate to true values, and only a few iterations are necessary to achieve fairly accurate solutions.

Thesis (M. Hous. M.)--University of Hong Kong, 2001. / Includes bibliographical references.

Thesis (M. Sc.)--University of Hong Kong, 2001. / Includes bibliographical references.

a b s t r a c t In this paper, a hybrid method using active control and a High Order Differentiator (HOD) methodology is proposed to synchronize chaotic systems. Compared to some traditional active control methods, this new method can synchronize chaotic systems where only output states of the master system are available, i.e. the system is considered a black box. The HOD is used to estimate the derivative information of the master system followed by an active control methodology relying on HOD information. The Qi hyperchaotic system is used to verify the performance of this hybrid method. The proposed method is also compared to some traditional methods. Experimental results show that the proposed method has high synchronization precision and speed and is robust against uncertainties in the master system. The circus implements of the proposed synchronizing scheme are included in this paper. The simulation results show the feasibility of the proposed scheme.