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We present Leon, a system for developing functional Scala programs annotated with contracts. Contracts in Leon can themselves refer to recursively defined functions. Leon aims to find counterexamples when functions do not meet the specifications, and proof ...
In this paper, a novel hierarchical multirate control scheme for nonlinear discrete-time systems is presented, consisting of a robust nonlinear model predictive controller (NMPC) and a multirate sliding mode disturbance compensator (MSMDC). The proposed MS ...
We present results of an experimental investigation of a new mechanism for extending the reach of an elastic rod injected into a horizontal cylindrical constraint, prior to the onset of helical buckling. This is accomplished through distributed, vertical v ...
In architectural design, surface shapes are commonly subject to geometric constraints imposed by material, fabrication or assembly. Rationalization algorithms can convert a freeform design into a form feasible for production, but often require design modif ...
We investigate the buckling and post-buckling behavior of an elastic rod injected into a horizontal, frictional, cylindrical constraint through experiments, numerical simulations, and scaling analyses. Particular emphasis is given to the onset of helical b ...
Using high level coordination primitives allows enhanced expressiveness of component-based frameworks to cope with the inherent complexity of present-day systems designs. Nonetheless, their distributed implementation raises multiple issues, regarding both ...
Task-parameterized models provide a representation of movement/behavior that can adapt to a set of task parameters describing the current situation encountered by the robot, such as location of objects or landmarks in its workspace. This paper gives an ove ...
We introduce an analysis framework for constructing optimal first-order primal-dual methods for the prototypical constrained convex optimization template. While this class of methods offers scalability advantages in obtaining numerical solutions, they have ...
Photorealistic images created using physical simulations of light have become a ubiquitous element of our everyday lives. The most successful techniques for producing such images replicate the key physical phenomena in a detailed software simulation, inclu ...
The massive amount of data recorded by dense electrode arrays which are routinely connected to Nyquist-sampling signal conditioning blocks introduces new design challenges for implantable and wireless biological signal acquisition. Five different architect ...