/* An instance is a point (x, y) in the plane */ public class Point { /* The x and y coordinates of a point */ private double x; private double y; /* Constructor: a point (b, c) */ public Point(double b, double c) { x= b; y= c; } /* = a representatio
CS100J Prelim I, 25 Sept. 2007
CORNELL NETID _
NAME (PRINT LEGIBLY!)_ (last, first)
This 90-minute exam has 6 questions worth a total of 100 points. Spend a few minutes looking at all questions before beginning so that you can see what is expected
CS545Contents IV
Frequency Domain Representations
Laplace Transform Most important Laplace Transforms Transfer functions Block-Diagram Algebra Examples
Matlab/Simulink Introduction
How to get started The most relevant blocks and settings of Simulink S
CS545-Contents X
Lagrange's Method of Deriving Equations of Motion for Rigid Body Systems
Lagrange's Equation Generalized Coordinates Potential Energy Kinetic Energy Properties of the Dynamics Equations
Reading Assignment for Next Class
See http:/www-cl
CS545-Contents XI
Newton-Euler Method of Deriving Equations of Motion
Newton's Equation Euler's Equation The Newton-Euler Recursion Automatic Generation of Equations of Motion
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Newton's
CS545-Contents XII
Nonlinear Control
Joint space control
Decoupled control
PID control in joint space Compute torque control Inverse dynamics control
Centralized control
Operational space control
Reading Assignment for Next Class
See http:/www-clmc.usc.
CS545-Contents XIII
Trajectory Planning
Control Policies Desired Trajectories Optimization Methods Dynamical Systems
Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Learning Policies is the Goal of Learning Control
Policy:
u ( t ) =
CS545-Contents XIV
Interaction Control
Compliance Impedance Force control Hybrid control Impedance control
Sensors and Actuators Reading Assignment for Next Class
See http:/www-clmc.usc.edu/~cs545
Example
Example
Problems of Interaction Control
Equa
CS545Contents III
Basic Linear Control Theory
The plant The plant model Continuous vs. discrete systems The control policy Desired Trajectories Open Loop Control Feedback Control PID Control Negative Feedback Control Linear Systems Blockdiagrams
Reading
Precedences of operators
You know that multiplication * takes precedence over addition +, e.g. the expression 5 + 4 * 3 is evaluated as if it were parenthesized like this: 5 + (4 * 3). Mathematics has conventions for precedences of operators in order
Eclipse Tutorial
We show you how to install and use the IDE (Integrated Development Environment) Eclipse. Installation Process Before you install Eclipse (now version 3.2.2), make sure that you have already installed the Java 5 (or 1.5) platform, St
Return Statements
Execution of a return statement terminates execution of the method body and, hence, of the method call. The return statement in the body of a function differs from the return statement in a procedure or constructor. See below.
The
Method Headers
We summarize method headers, define the signature of a method, and discuss its use. This material is covered in more detail in the course text, Gries/Gries. A method declaration consists of a specification (as a comment), a method head
Declaring local variables where they belong, logically speaking
We discuss the placement of local variable declarations. Generally, the declarations should go where they belong, logically speaking, and this usually means placing them as close to their fir
Local variables
A local variable is a variable that is declared within a method body. The program you see has two different
local variables, both named temp.
The syntax of a local variable declaration is:
<type> <variable-name> ;
and it can be an initiali
Specifications of methods
You know what the first function mini does, because its specification, in the comment preceding it,
tells you. You don’t need the function body —which we show you now.
You have no idea what the second function does, because its s
Module 1 part 1. Structural versus algorithmic aspects of languages
Here are two major aspects of a progamming language: (1) the algorithmic or procedural aspect. (2) the structural or organizational aspect. You can make an analogy to a cookbook. Eac
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Home Instructions Module 1 Module 2 Concepts/defs
CS101J. Transition to OO programming. Spring 2008
DrJava
The Java programming env
Function calls
You have seen function calls since high school, like sqrt(25) abs(-7) cos(0) min(5, 7) / square root of 25. Its value is 5.0. / absolute value of -7. Its value is 7. / cosine of angle 0. It value is 1.0. / minimum of 5 and 7. Its value
CS545Contents VI
Control Theory II
Linear Stability Analysis Linearization of Nonlinear Systems Discretization See http:/www-clmc.usc.edu/~cs545
Reading Assignment for Next Class
Stability Analysis
Given the control system
x = f (x,u ) or x = Ax +Bu
Ho
Inference for Proportions
1
Large-Sample Hypothesis
Test for a Population
Proportion
The fundamental idea behind hypothesis
testing is:
We reject H0 if the observed sample is very
unlikely to occur if H0 is true.
Recall the General Properties
forThese
Sam
Concurrency 3
CS 2110 Fall 2016
Consistency
x = 1;
y = -1;
Thread 1
Thread 2
x = 2;
y = 3;
a = y > 0 ? x : 0;
System.out.println(a);
What is printed?
0, 1, and 2 can be
printed!
Consistency
Thread 1 on Core 1
Write 2 to x in local
cache
Write 3 to y in lo
1
ADTS, GRAMMARS,
PARSING, TREE
TRAVERSALS
Lecture 13
CS2110 Fall 2016
Pointers to material
2
Parse trees: text, section 23.36
Definition of Java Language, sometimes useful:
docs.oracle.com/javase/specs/jls/se8/html/inde
x.html
Grammar for most of Java, f
Race Conditions & Synchronization
Lecture 25 CS2110 Fall 2016
Recap
2
A race condition arises if two threads try
to read and write the same data
Might see the data in the middle of an
update in a inconsistent stare
A race condition: correctness depends on
1
Spanning Trees
Lecture 21
CS2110 Fall 2016
Spanning trees
2
What we do today:
Talk about modifying an existing algorithm
Calculating the shortest path in Dijkstras
algorithm
Minimum spanning trees
3 greedy algorithms (including Kruskal &
Prim)
Assignme
Fibonacci
(Leonardo Pisano)
1170-1240?
Statue in Pisa Italy
Fibonacci numbers
Golden Ratio,
recurrences
Lecture 23
CS2110 Fall 2016
Fibonacci function
2
fib(0) = 0
fib(1) = 1
fib(n) = fib(n-1) + fib(n-2) for n 2
0, 1, 1, 2, 3, 5, 8, 13, 21,
In his book i
Chapter 9
Hypothesis Testing
Using a Single Sample
Sharing prescription drugs with others can
be dangerous. Is this a common
occurrence among teens?
OR
How do we answers questions like these using sample
data?
The National Association of Colleges and
In t
Chapter 7
Sampling Variability and
Sampling Distributions
1
Chapter 7
Sampling Distributions
7.1What is a Sampling Distribution?
7.2Sample Proportions
7.3Sample Means
2
Section 7.1
What Is a Sampling Distribution?
Learning Objectives
After this section
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