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Parallel Inverse Kinematics for Multithreaded Architectures

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Five-bar linkage

In kinematics, a five-bar linkage is a mechanism with two degrees of freedom that is constructed from five links that are connected together in a closed chain. All links are connected to each other by five joints in series forming a loop. One of the links is the ground or base. This configuration is also called a pantograph, however, it is not to be confused with the parallelogram-copying linkage pantograph. The linkage can be a one-degree-of-freedom mechanism if two gears are attached to two links and are meshed together, forming a geared five-bar mechanism.

Concurrency (computer science)

In computer science, concurrency is the ability of different parts or units of a program, algorithm, or problem to be executed out-of-order or in partial order, without affecting the outcome. This allows for parallel execution of the concurrent units, which can significantly improve overall speed of the execution in multi-processor and multi-core systems. In more technical terms, concurrency refers to the decomposability of a program, algorithm, or problem into order-independent or partially-ordered components or units of computation.

Algorithmic skeleton

In computing, algorithmic skeletons, or parallelism patterns, are a high-level parallel programming model for parallel and distributed computing. Algorithmic skeletons take advantage of common programming patterns to hide the complexity of parallel and distributed applications. Starting from a basic set of patterns (skeletons), more complex patterns can be built by combining the basic ones.

Watt's linkage

In kinematics, Watt's linkage (also known as the parallel linkage) is a type of mechanical linkage invented by James Watt in which the central moving point of the linkage is constrained to travel on a nearly straight line. It was described in Watt's patent specification of 1784 for the Watt steam engine. Today it is used in automobile suspensions, allowing the axle of a vehicle to travel vertically while preventing sideways motion. Watt's linkage consists of three bars bolted together in a chain.

Thread (computing)

In computer science, a thread of execution is the smallest sequence of programmed instructions that can be managed independently by a scheduler, which is typically a part of the operating system. The implementation of threads and processes differs between operating systems. In Modern Operating Systems, Tanenbaum shows that many distinct models of process organization are possible. In many cases, a thread is a component of a process.

Framebuffer

A framebuffer (frame buffer, or sometimes framestore) is a portion of random-access memory (RAM) containing a bitmap that drives a video display. It is a memory buffer containing data representing all the pixels in a complete video frame. Modern video cards contain framebuffer circuitry in their cores. This circuitry converts an in-memory bitmap into a video signal that can be displayed on a computer monitor. In computing, a screen buffer is a part of computer memory used by a computer application for the representation of the content to be shown on the computer display.

Temporal multithreading

Temporal multithreading is one of the two main forms of multithreading that can be implemented on computer processor hardware, the other being simultaneous multithreading. The distinguishing difference between the two forms is the maximum number of concurrent threads that can execute in any given pipeline stage in a given cycle. In temporal multithreading the number is one, while in simultaneous multithreading the number is greater than one. Some authors use the term super-threading synonymously.

Uncertainty quantification

Uncertainty quantification (UQ) is the science of quantitative characterization and estimation of uncertainties in both computational and real world applications. It tries to determine how likely certain outcomes are if some aspects of the system are not exactly known. An example would be to predict the acceleration of a human body in a head-on crash with another car: even if the speed was exactly known, small differences in the manufacturing of individual cars, how tightly every bolt has been tightened, etc.

Sensitivity analysis

Sensitivity analysis is the study of how the uncertainty in the output of a mathematical model or system (numerical or otherwise) can be divided and allocated to different sources of uncertainty in its inputs. A related practice is uncertainty analysis, which has a greater focus on uncertainty quantification and propagation of uncertainty; ideally, uncertainty and sensitivity analysis should be run in tandem.

Kepler's laws of planetary motion

In astronomy, Kepler's laws of planetary motion, published by Johannes Kepler between 1609 and 1619, describe the orbits of planets around the Sun. The laws modified the heliocentric theory of Nicolaus Copernicus, replacing its circular orbits and epicycles with elliptical trajectories, and explaining how planetary velocities vary. The three laws state that: The orbit of a planet is an ellipse with the Sun at one of the two foci. A line segment joining a planet and the Sun sweeps out equal areas during equal intervals of time.