基于LMI全方位移动机器人H_∞鲁棒控制

针对机器人控制领域中一类多输入多输出(MIMO)高阶线性时不变系统,根据模型自身的结构特点,给出了基于线性矩阵不等式(LMI)的通过局部反馈H∞控制实现整个系统对不确定扰动具有鲁棒性的充分条件及相关推论,并在此基础上提出了一种解决该类型系统H∞控制问题的新算法。通过对一完整约束移动机器人系统的局部输出反馈H∞控制仿真,说明了此算法具有良好的控制效果和实用性。

Type-omega DPLs

Type-omega DPLs (Denotational Proof Languages) are languages for proof presentation and search that offer strong soundness guarantees. LCF-type systems such as HOL offer similar guarantees, but their soundness relies heavily on static type systems. By contrast, DPLs ensure soundness dynamically, through their evaluation semantics; no type system is necessary. This is possible owing to a novel two-tier syntax that separates deductions from computations, and to the abstraction of assumption bases, which is factored into the semantics of the language and allows for sound evaluation. Every type-omega DPL properly contains a type-alpha DPL, which can be used to present proofs in a lucid and detailed form, exclusively in terms of primitive inference rules. Derived inference rules are expressed as user-defined methods, which are "proof recipes" that take arguments and dynamically perform appropriate deductions. Methods arise naturally via parametric abstraction over type-alpha proofs. In that light, the evaluation of a method call can be viewed as a computation that carries out a type-alpha deduction. The type-alpha proof "unwound" by such a method call is called the "certificate" of the call. Certificates can be checked by exceptionally simple type-alpha interpreters, and thus they are useful whenever we wish to minimize our trusted base. Methods are statically closed over lexical environments, but dynamically scoped over assumption bases. They can take other methods as arguments, they can iterate, and they can branch conditionally. These capabilities, in tandem with the bifurcated syntax of type-omega DPLs and their dynamic assumption-base semantics, allow the user to define methods in a style that is disciplined enough to ensure soundness yet fluid enough to permit succinct and perspicuous expression of arbitrarily sophisticated derived inference rules. We demonstrate every major feature of type-omega DPLs by defining and studying NDL-omega, a higher-order, lexically scoped, call-by-value type-omega DPL for classical zero-order natural deduction---a simple choice that allows us to focus on type-omega syntax and semantics rather than on the subtleties of the underlying logic. We start by illustrating how type-alpha DPLs naturally lead to type-omega DPLs by way of abstraction; present the formal syntax and semantics of NDL-omega; prove several results about it, including soundness; give numerous examples of methods; point out connections to the lambda-phi calculus, a very general framework for type-omega DPLs; introduce a notion of computational and deductive cost; define several instrumented interpreters for computing such costs and for generating certificates; explore the use of type-omega DPLs as general programming languages; show that DPLs do not have to be type-less by formulating a static Hindley-Milner polymorphic type system for NDL-omega; discuss some idiosyncrasies of type-omega DPLs such as the potential divergence of proof checking; and compare type-omega DPLs to other approaches to proof presentation and discovery. Finally, a complete implementation of NDL-omega in SML-NJ is given for users who want to run the examples and experiment with the language.

Simplifying transformations for type-alpha certificates

This paper presents an algorithm for simplifying NDL deductions. An array of simplifying transformations are rigorously defined. They are shown to be terminating, and to respect the formal semantis of the language. We also show that the transformations never increase the size or complexity of a deduction---in the worst case, they produce deductions of the same size and complexity as the original. We present several examples of proofs containing various types of "detours", and explain how our procedure eliminates them, resulting in smaller and cleaner deductions. All of the given transformations are fully implemented in SML-NJ. The complete code listing is presented, along with explanatory comments. Finally, although the transformations given here are defined for NDL, we point out that they can be applied to any type-alpha DPL that satisfies a few simple conditions.

Assimilation of New Information by a Natural Language Understanding System

This work describes a program, called TOPLE, which uses a procedural model of the world to understand simple declarative sentences. It accepts sentences in a modified predicate calculus symbolism, and uses plausible reasoning to visualize scenes, resolve ambiguous pronoun and noun phrase references, explain events, and make conditional predications. Because it does plausible deduction, with tentative conclusions, it must contain a formalism for describing its reasons for its conclusions and what the alternatives are. When an inconsistency is detected in its world model, it uses its recorded information to resolve it, one way or another. It uses simulation techniques to make deductions about creatures motivation and behavior, assuming they are goal-directed beings like itself.

A System for Representing and Using Real-World Knowledge

This report describes a knowledge-base system in which the information is stored in a network of small parallel processing elements ??de and link units ??ich are controlled by an external serial computer. This network is similar to the semantic network system of Quillian, but is much more tightly controlled. Such a network can perform certain critical deductions and searches very quickly; it avoids many of the problems of current systems, which must use complex heuristics to limit and guided their searches. It is argued (with examples) that the key operation in a knowledge-base system is the intersection of large explicit and semi-explicit sets. The parallel network system does this in a small, essentially constant number of cycles; a serial machine takes time proportional to the size of the sets, except in special cases.

The Definition and Implementation of a Computer Programming Language Based on Constraints

The constraint paradigm is a model of computation in which values are deduced whenever possible, under the limitation that deductions be local in a certain sense. One may visualize a constraint 'program' as a network of devices connected by wires. Data values may flow along the wires, and computation is performed by the devices. A device computes using only locally available information (with a few exceptions), and places newly derived values on other, locally attached wires. In this way computed values are propagated. An advantage of the constraint paradigm (not unique to it) is that a single relationship can be used in more than one direction. The connections to a device are not labelled as inputs and outputs; a device will compute with whatever values are available, and produce as many new values as it can. General theorem provers are capable of such behavior, but tend to suffer from combinatorial explosion; it is not usually useful to derive all the possible consequences of a set of hypotheses. The constraint paradigm places a certain kind of limitation on the deduction process. The limitations imposed by the constraint paradigm are not the only one possible. It is argued, however, that they are restrictive enough to forestall combinatorial explosion in many interesting computational situations, yet permissive enough to allow useful computations in practical situations. Moreover, the paradigm is intuitive: It is easy to visualize the computational effects of these particular limitations, and the paradigm is a natural way of expressing programs for certain applications, in particular relationships arising in computer-aided design. A number of implementations of constraint-based programming languages are presented. A progression of ever more powerful languages is described, complete implementations are presented and design difficulties and alternatives are discussed. The goal approached, though not quite reached, is a complete programming system which will implicitly support the constraint paradigm to the same extent that LISP, say, supports automatic storage management.

Theoretical and spatial limits to the value of rural environmental benefits: Evidence from the forestry sector

The valuation of environmental benefits has been well researched in the forestry sector. This is not generally the case in the agriculture sector although schemes to compensate farmers for provision of officially defined environmental benefits are already in place throughout the European Union. This paper draws on empirical findings from forestry and deductions from economic theory to challenge the notion of the universality of such benefits. Empirical findings from forestry suggest recreational use value is location specific rather than widely spread. Household utility theory predicts zero willingness to pay to maintain the status quo level of a previously unpaid for environmental benefit (when provision is not perceived as under risk) but a positive willingness to pay for an increase. Thus, non use values cannot be attributed to the major part of existing commercial forestry area but to spatially restricted schemes such as additional afforestation or preservation of ancient natural woodlands.

Organization specific predictors of job satisfaction: findings from a Canadian multi-site quality of work life cross-sectional survey

Background: Organizational features can affect how staff view their quality of work life. Determining staff perceptions about quality of work life is an important consideration for employers interested in improving employee job satisfaction. The purpose of this study was to identify organization specific predictors of job satisfaction within a health care system that consisted of six independent health care organizations.

Methods: 5,486 full, part and causal time (non-physician) staff on active payroll within six organizations (2 community hospitals, 1 community hospital/long-term care facility, 1 long-term care facility, 1 tertiary care/community health centre, and 1 visiting nursing agency) located in five communities in Central West Ontario, Canada were asked to complete a 65-item quality of work life survey. The self-administered questionnaires collected staff perceptions of: co-worker and supervisor support; teamwork and communication; job demands and decision authority; organization characteristics; patient/resident care; compensation and benefits; staff training and development; and impressions of the organization. Socio-demographic data were also collected.

Results: Depending on the organization, between 15 and 30 (of the 40 potential predictor) variables were found to be statistically associated with job satisfaction (univariate analyses). Logistic regression analyses identified the best predictors of job satisfaction and these are presented for each of the six organizations and for all organizations combined.

Conclusions: The findings indicate that job satisfaction is a multidimensional construct and although there appear to be some commonalities across organizations, some predictors of job satisfaction appear to be organization and context specific.

Terrorismo

This thesis’ goal is to study the relationship between the Islamic State and Al-Qaeda, notably the hypotheses that the Islamic State derives from Al-Qaeda. The topic to be developed in the following pages is based in reliable sources so that we can obtain the most accurate possible conclusions. In preparation of this report, several quotes were used in order to present correct settings and make logical deductions based on documents. It aims to be a modest contribution to a reflection on the theme, which is addressed in a very general way. Concepts of terrorism and Islamic fundamentalism are addressed in the thesis. Al-Qaeda, the Islamic State and the response to terrorism are presented, with the aim of understanding the degree of complexity underlying the Islamic State.

Bank of Canada Records, 1958-1989

The Bank of Canada first introduced Canada Savings Bonds during the First and Second World Wars. At the time, they were known as War Savings Certificates and Victory Bonds and were used to fund the war effort. In 1946, Canada Savings Bonds were used as part of Canada’s Postwar Financing Program. At that time, the government also introduced the sale of bonds through payroll deduction. Canada Savings Bonds proved to be very popular, providing investors with a convenient, flexible and safe investment. Over time the bonds failed to remain competitive with other low-risk investment options, and the high cost of administering the program called into question its relevance. An independent report commissioned by the government in 2004 recommended that the bonds be phased out, however, the government decided to keep the program and make some revisions. As of 2012, Canada Savings Bonds are available exclusively through the payroll savings program, while Canada Premium Bonds (introduced in 1998) are available through financial institutions, dealers and by phone.

Letter to S.D. Woodruff from F. Lalor

Letter to S.D. Woodruff from F. Lalor regarding changes to the pay roll, Dec. 10, 1856.

Letter in reply to F. Lalor from S.D. Woodruff

Letter in reply to F. Lalor from S.D. Woodruff regarding the changes to the pay roll (2 page, handwritten), Dec. 10, 1856.

L’analogie juridique dans la Critique de la raison pure

La Critique de la raison pure est traversée de part en part par une analogie juridique dont l’étude peut enrichir la compréhension de l’œuvre. Il est ainsi question, dès la préface, d’une raison qui se juge elle-même devant son propre tribunal, ce qui constituera le point de départ de notre analyse. Or, ce tribunal très particulier doit se fonder sur une connaissance de soi approfondie de la raison. Cette entreprise est de fait réalisée au fil des développements de la Critique. Le rôle bien particulier joué à cet égard par les trois déductions présentes dans l’œuvre sera dûment examiné. On verra par ailleurs que la déduction doit elle-même être considérée plutôt comme procédure d’inspiration juridique que comme inférence, tout en conservant pourtant un statut de preuve philosophique. Les nombreuses allusions juridiques effectuées par Kant au fil de l’œuvre seront ainsi mises à profit dans le cadre de cette interprétation.

Further studies on the process of coastal upwelling along the south west coast of India - possible correlations with biological productivity

An attempt is made to study the possible relationship between the process of upwelling and zooplankton biomass in the shelf weters along the south west coast of India between Cape comorin and Ratnagiri based on oceanographic and Zooplankton data collected by the erstwhile FAO/UNDP Pelagic Fishery Project,Cochin between 1973 and 1978. Different factors such as the depth from which the bottom waters are induced upwards during the process of upwelling,the depth to which the bottom waters are drawn, vertical velocity of upwelling and the resultant zooplankton productivity were considered while arriving at the deductions. Except for nutrients and phytoplankton productivity, for which simultaneous data is lacking, all the major factors were taken into consideration before cocluding- xon positive/negative correlation.

Electrical Design: A Problem for Artificial Intelligence Research

This report outlines the problem of intelligent failure recovery in a problem-solver for electrical design. We want our problem solver to learn as much as it can from its mistakes. Thus we cast the engineering design process on terms of Problem Solving by Debugging Almost-Right Plans, a paradigm for automatic problem solving based on the belief that creation and removal of "bugs" is an unavoidable part of the process of solving a complex problem. The process of localization and removal of bugs called for by the PSBDARP theory requires an approach to engineering analysis in which every result has a justification which describes the exact set of assumptions it depends upon. We have developed a program based on Analysis by Propagation of Constraints which can explain the basis of its deductions. In addition to being useful to a PSBDARP designer, these justifications are used in Dependency-Directed Backtracking to limit the combinatorial search in the analysis routines. Although the research we will describe is explicitly about electrical circuits, we believe that similar principles and methods are employed by other kinds of engineers, including computer programmers.