Efficient local unfolding with ancestor stacks

The most successful unfolding rules used nowadays in the partial evaluation of logic programs are based on well quasi orders (wqo) applied over (covering) ancestors, i.e., a subsequence of the atoms selected during a derivation. Ancestor (sub)sequences are used to increase the specialization power of unfolding while still guaranteeing termination and also to reduce the number of atoms for which the wqo has to be checked. Unfortunately, maintaining the structure of the ancestor relation during unfolding introduces significant overhead. We propose an efficient, practical local unfolding rule based on the notion of covering ancestors which can be used in combination with a wqo and allows a stack-based implementation without losing any opportunities for specialization. Using our technique, certain non-leftmost unfoldings are allowed as long as local unfolding is performed, i.e., we cover depth-first strategies. To deal with practical programs, we propose assertion-based techniques which allow our approach to treat programs that include (Prolog) built-ins and external predicates in a very extensible manner, for the case of leftmost unfolding. Finally, we report on our mplementation of these techniques embedded in a practical partial evaluator, which shows that our techniques, in addition to dealing with practical programs, are also significantly more efficient in time and somewhat more efficient in memory than traditional tree-based implementations. To appear in Theory and Practice of Logic Programming (TPLP).

Local burning velocity in a Bunsen jet flame

A PIV-based system has been set-up for the simultaneous measurement of the local burning velocity of premixed flames and the flame stretch due to the flame front curvature and the incoming flow strain rate. For moderately short jet flames, these measurements allow an indirect determination of the Markstein length, according to Clavin and Joulin (C–J) theory. For tall flames, the flame curvature becomes relatively large in a region around the tip where the C–J theory breaks down. However, our experiments confirm the appearance of a new linear relation between burning velocity and curvature at the flame tip. This relation defines a new proportionality factor which is probably associated to the evolution from rounded tips to slender tips when the jet velocity is increased.

Mixed Elements in the Boundary Theory

The development of (static and dynamics)programs with constant and linear elements has shown good behaviour. It seems so natural to combine both advantages so that the results will not be affected by local distortions. This paper will be dedicated to presenting the reserch of mixed elements and the way to solve the over-determination that appears in some cases. Although all the study has been done with the potential theory, its application to elastic problems is straightforward.

State Convergence Theory Applied to a Delayed Teleoperation System

State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentantally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable.