Physical Sciences and Mathematics Commons^™

Model Predictive Linear Control With Successive Linearization, Jesse Robert Friedbaum

Theses and Dissertations

Robots have been a revolutionizing force in manufacturing in the 20th and 21st century but have proven too dangerous around humans to be used in many other fields including medicine. We describe a new control algorithm for robots developed by the Brigham Young University Robotics and Dynamics and Robotics Laboratory that has shown potential to make robots less dangerous to humans and suitable to work in more applications. We analyze the computational complexity of this algorithm and find that it could be a feasible control for even the most complicated robots. We also show conditions for a system which guarantee …

Model Predictive Linear Control With Successive Linearization, Jesse Robert Friedbaum

Theses and Dissertations

Robots have been a revolutionizing force in manufacturing in the 20th and 21st century but have proven too dangerous around humans to be used in many other fields including medicine. We describe a new control algorithm for robots developed by the Brigham Young University Robotics and Dynamics and Robotics Laboratory that has shown potential to make robots less dangerous to humans and suitable to work in more applications. We analyze the computational complexity of this algorithm and find that it could be a feasible control for even the most complicated robots. We also show conditions for a system which guarantee …

Exact Sampling And Prefix Distributions, Sebastian Oberhoff

Theses and Dissertations

This thesis explores some new means to generate random numbers without incurring any numerical

inaccuracies along the way. In the context of continuous distributions this leads to the discussion of

prex distributions { discrete distributions that fully capture a continuous distribution by describing

their initial digits. These are rst studied graphically, then analytically, which also leads to a general

examination of the behavior of the distribution of trailing digits of continuous distributions. Finally,

some slightly novel, related results from the theory of computation are presented.