The Distinguished Dissertation series is published on behalf of the Conference of Professors and Heads of Computing and the British Computer Society, who annually select the best British PhD dissertations in computer science for publication. The dissertations are selected on behalf of the CPHC by a panel of eight academics. Each dissertation chosen makes a noteworthy contribution to the subject and reaches a high standard of exposition, placing all results clearly in the context of computer science as a whole. In this way computer scientists with significantly different interests are able to grasp the essentials - or even find a means of entry - to an unfamiliar research topic. Theorem Proving with the Real Numbers discusses the formal development of classical mathematics using a computer. It combines traditional lines of research in theorem proving and computer algebra and shows the usefulness of real numbers in verification.

Theorem Proving with the Real Numbers

On an epq model for deteriorating items under permissible delay in payments

In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented.

Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation

The optimal ordering policy of the EOQ model under trade credit depending on the ordering quantity from the DCF approach

A novel computation method of the 3D weld pool surface from specular reflection of laser beams is presented in this paper. The mathematical model for the three-dimensional surface measurement technique has been developed. The structured pattern of a laser is projected on the weld pool in a molten state and the reflection observed using a CCD camera. These reflected patterns can be tracked using image processing techniques including optical flow and moving point tracking. A simulation model has been developed implementing these techniques. The movement of the reflected laser during the welding process is indicative of the change in state of the weld pool. The surface slope field is calculated from the law of reflection and is used to compute the 3D surface of the weld pool. The measurement technique is tested on objects with a priori knowledge of geometry having a specular surface to test the effectiveness of the measurement technique.

http://iopscience.iop.org/article/10.1088/0957-0233/15/2/012/pdf

Donald E. Richmond

Papers

Calculus with analytic geometry

An Elementary Proof of a Theorem in Calculus