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Development of a Model and Simulation Framework for a Modular Robotic LegYoungsma, Katiegrace 13 June 2012 (has links)
"As research in the field of mobile robotics continues to advance, legged robots in different forms and shapes find a variety of applications on rough terrain where wheeled robots fail to operate in practice. For this reason, a modular legged robot platform is being developed at WPI. This research focuses on developing a mathematical model and then building a simulation to verify the model for a single leg for this platform. The robot platform is modular in the sense that leg modules can be removed and added to predetermined ports on the robot chassis. The modularity of a legged robot is a significant advancement in mobile robotics technology as it enables a single robot to take on different body configurations depending on circumstances and environment to achieve its goals. It also poses a challenge in terms of overall design as it requires autonomous operation of the leg. The goal for this research is to in part fulfill the need for a mathematical model for an autonomous leg. This research investigates the development of a kinematic and dynamic model for the leg, a step trajectory for walking, a simulation of the system to verify the dynamic model, and various functions and scripts to identify shortcomings within the model. This research uses Mathworks Matlab and Wolfram Mathematica to develop the mathematical model, and Matlab Simulink SimMechanics and Matlab functions to build a simulation. Both the mathematical model and simulation follow the classic design of other legged robots, utilizing Lagrangian dynamics, the Jacobian, and simulation tools. The result is a project that is unique in that it drives a robot leg almost independently with very limited communication to a central controller."
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Standardização e modularização dos cilindros hidráulicos das quinadorasReis, João Pedro Rodrigues Pereira dos January 2010 (has links)
Estágio realizado na Empresa ADIRA, S.A. e orientado pelo Eng.º Tiago Faro / Tese de mestrado integrado. Engenharia Mecãnica. Faculdade de Engenharia. Universidade do Porto. 2010
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Rapid hardware implementations of classical modular multiplicationJohnson, Scott Andrew 08 March 1995 (has links)
Modular multiplication is a mathematical operation fundamental to the RSA cryptosystern,
a public-key cryptosystem with many applications in privacy, security, and authenticity.
However, cryptosecurity requires that the numbers involved be extremely large,
typically ranging from 512-1024 bits in length. Calculations on numbers of this magnitude
are cumbersome and lengthy; this limits the speed of RSA.
This thesis examines the problem of speeding up modular multiplication of large numbers
in hardware, using the classical (add-and-shift) multiplication algorithm. The problem is
broken down, and it is shown that the primary computational bottleneck occurs in the
modular reduction step performed on each cycle. This reduction consists of an integer
division step, a broadcast step, and a multiplication step.
Various methods of speeding up these steps are examined, both for the special case of
radix-2 multipliers (those shifting a single bit at a time) and the general case of radix-2r
multipliers (those shifting r bits on every cycle.) The impacts of these techniques, both on
cycle time and on chip area, are discussed. The scalability of these systems is examined,
and several implementations of modular multiplication found in the literature are analyzed.
Most significantly, the technique of pipelining of modular multipliers is examined. It is
shown that it is possible to pipeline the modular reduction sequence, effectively eliminating
the cycle time's dependence on either the size of the modulus, or on the size of the radius.
Furthermore, a technique for constructing such multipliers is given. It is demonstrated that
this technique is scalable with respect to time, and that pipelining eliminates many of the
disadvantages inherent in previous high-radix implementations. It is also demonstrated that
such multipliers have an area requirement which is linear with respect to both radix and
modulus size. / Graduation date: 1995
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Analysis of Another Left Shift Binary GCD AlgorithmChen, Yan-heng 14 July 2009 (has links)
In general, to compute the modular inverse is very important in information security, many encrypt/decrypt and signature algorithms always need to use it. In 2007, Liu, Horng, and Liu proposed a variation on Euclidean algorithm, which can calculate the modular inverses as simple as calculate GCDs. This paper analyzes another type of left-shift binary GCD algorithm, which is suitable for the variation and that needs the fewer bit-operations than LSBGCD, which is analyzed by Shallit, and Sorenson.
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Feature modularity in mechanized reasoningDelaware, Benjamin James 15 January 2014 (has links)
Complex systems are naturally understood as combinations of their
distinguishing characteristics or \definit{features}. Distinct features
differentiate between variations of configurable systems and also
identify the novelties of extensions. The implementation of a
conceptual feature is often scattered throughout an artifact, forcing
designers to understand the entire artifact in order to reason about
the behavior of a single feature. It is particularly challenging to
independently develop novel extensions to complex systems as a
result.
This dissertation shows how to modularly reason about the
implementation of conceptual features in both the formalizations of
programming languages and object-oriented software product lines. In
both domains, modular verification of features can be leveraged to
reason about the behavior of artifacts in which they are included:
fully mechanized metatheory proofs for programming languages can be
synthesized from independently developed proofs, and programs built
from well-formed feature modules are guaranteed to be well-formed
without needing to be typechecked. Modular reasoning about individual
features can furthermore be used to efficiently reason about families
of languages and programs which share a common set of features. / text
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Modular housingDewhirst, John Steven, 1947- January 1972 (has links)
No description available.
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L-functions in Number TheoryZhang, Yichao 23 February 2011 (has links)
As a generalization of the Riemann zeta function, L-function has become one of the central objects in Number Theory. The theory of L-functions, which produces a large family of consequences and conjectures in a unified way, concerns their zeros and poles, functional equations, special values and the connections between objects in different fields. Although most generalizations are largely conjectural, there are many existing results that provide us the evidence.
In this thesis, we shall consider some L-functions and look into some problems mentioned above. More explicitly, for the L-functions associated to newforms of fixed square-free level, we will consider an average version of the fourth moments problem. The final bound is proven by considering definite rational quaternion algebras and divisor functions in them, generalizing Maass Correspondence Theorem and one of Duke's results and eventually applying the solution to Basis Problem.
We then consider the problem of expressing the central value at 1/2 of the Rankin-Selberg L-function associated to two newforms in terms of the Pertersson inner product, where one of the newforms is twisted by the derivative of some Eisenstein series.
Finally, we consider the Artin L-functions attached to irreducible $4$-dimensional $S_5$-Galois representations and deal with the modularity problem.
One sufficient condition on the modularity is given, which may help to find an affirmative example for
Strong Artin Conjecture in this case.
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L-functions in Number TheoryZhang, Yichao 23 February 2011 (has links)
As a generalization of the Riemann zeta function, L-function has become one of the central objects in Number Theory. The theory of L-functions, which produces a large family of consequences and conjectures in a unified way, concerns their zeros and poles, functional equations, special values and the connections between objects in different fields. Although most generalizations are largely conjectural, there are many existing results that provide us the evidence.
In this thesis, we shall consider some L-functions and look into some problems mentioned above. More explicitly, for the L-functions associated to newforms of fixed square-free level, we will consider an average version of the fourth moments problem. The final bound is proven by considering definite rational quaternion algebras and divisor functions in them, generalizing Maass Correspondence Theorem and one of Duke's results and eventually applying the solution to Basis Problem.
We then consider the problem of expressing the central value at 1/2 of the Rankin-Selberg L-function associated to two newforms in terms of the Pertersson inner product, where one of the newforms is twisted by the derivative of some Eisenstein series.
Finally, we consider the Artin L-functions attached to irreducible $4$-dimensional $S_5$-Galois representations and deal with the modularity problem.
One sufficient condition on the modularity is given, which may help to find an affirmative example for
Strong Artin Conjecture in this case.
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Residue arithmetic in digital computers /Debnath, Ramesh Chandra. January 1979 (has links) (PDF)
Thesis (Ph.D.) -- University of Adelaide, Dept. of Electrical Engineering, 1979. / Typescript (photocopy).
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Implementation of a module implementor for an activity based distributed system /Mayott, Stewart W. January 1988 (has links)
Thesis (M.S.)--Rochester Institute of Technology, 1988. / Typescript. Includes bibliographical references (leaves 75-77).
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