Steve Young. Cambridge University Engineering Dept. Trumpington Street, Cambridge. England CB2 1PZ [email protected]. Abstract. Automatic continuous ...
"!#!$&%'(( *),+- .#/# 01 2+43
57698;:=@?BADCFE GIHKJ#LNMPORQTSVUWXNOZYVUM\[]OZ^`_a*XNSbOcXNUUMPOcXNSedUfT^g h MPi1J f1OZXNSb^PjVXk;^lMPUU ^9mBGIHKJ#LNMPORQTSVU a*XNSbnRHKXLBU.JeO^lOZS;H^lUQ7g d¢U[PfNOZ^PUt^P1U(fNMljbSbMlU[l[²^P1HK^³1Hb[ LBUUXeJeHVQTUbmb^PNU ncOZJeOZ^lHK^POcjbX1[jb iNMPMlUX;^JejTQTUncnZOcXNS^PU9\NXNOR¦;iNU[ HbMPU>[]^POcnZn¢UYzORQTUX;^g h NUf[PU ^jViT^^PNUL1Hb[POc#M\HKJeUIjbMl jbM^lNU"[]^lH^lOc[]^PORHbn*HKfN£ fNMljVHV\¥^Pj¥[Pf© jbX1[POR[`^\[³jK ¼OZXHbMP VjY#\1HbOZXj>EMloFmP=oFm"'Po
Xj>KG ; N KY ! z:' >(Z(>KX+ ,Z0* ,MK : @zCRZ>8X6/%+02+ ]*! zCRZ {9 :R;8S&RZ%':@X? b 0:,;(Hd>e4,^SJ 0M1 {9:RZ=,;(2,M!7`a QACB>DFE&;g^A$g ~$jMj>E>ltj>E>D2+ m$nUn;DFmiDFB>FMl$D>~"K/.":'5,
N ; Kk#J1 : () 8K yd RZ5 :XIK ! 9%+@X_]R)>8K+WJ#T% {9: /K : @9D'E G| g $ ACKY% *"{91 K^. :5, 0 N 0 K7-X: $RZ: 0 ,Z0%XK
!
' ) ' ) * ]
-XwrC%'*" 5XK$bRZ,)1 :eK/@" K"b :',)%' kK$yyC: ()021">Y$K":' "@ ; Jz #st%+%+@" :' "@/!9hl$jwhDFDFkj>BMMnaDFm X¡¢F!#&:'{6 RZ @"5'^c " ? YRZ,Z (a8K/#J:{^6"RZ @ 5'K"WC 5 :' "@/K ! :'()'!kWC,;() {9:F(2 % 7%F_PzCR)%'6":'6" () ,£_]RZ%{i- . :RZ,Zb:F():H_]%R ()1 OP- oFm$Hg $ ACK 0 N 'YK ! d>8KJcWC,Z,Z kK4:' "@Q3 ,ZR>!Q V-+()RZ*"0>()* R) "5zCRZ%6 :6 ,;? ()T¥ 0b./ @" 0, ¦-+()%+0M1 :,;2()L 0OP: 5* :5dj>EMloFmP=oFm"'Po
Xj>K N #K ! u u %'_Pb0%+@ 5^0M1 " ¨+*",_]%'RCO:'RZ5 yC§ %+0:'* 6"6/* R;:(>R;! 8#JSJ% RZ ()> _ +* d%Y* ,7R;YX-X >./eV 0M1340%5 () %' k!`a QG | g©G'h gd$;DF}=on;E ~"j>j>EMlvj>E>D2m"nU]naDFmª«|Cl$oFpp]jMm"Xj>¬
DFB]l$j®[npp]j m$n }Kk. :5', N ; K$z:'R) ,>K !
@ ]KPyvyC:' ()0M1 >Y$KPzJ# %+%+@ : @/K: @ -X¦rC%'*" 5X! u ">? z:',Z,=b0%+@"Rb,Z 5' s_]%R¦OP:'R)5'y %+0:6 *" :'R;8Q30%5' " (2 % /!v`a A B>D'Ed"}=oFmoFm ko
j9hPj>EMl+mDFpDM'¯DFB>FMl$D>~"K+.":'5,
K zC :' ",Z6/%'RZ%9d K/K Td* "5':R;8K ! - :'RZ:0 :'R>K£Tv%+0M"K£: @t-t1+*"@ : . *"RM!zCRZ%' +*" 0 :'() %' GK N ; K ! u j>o+Fn%'m" '@"M,Z!J{9SJ () :'1/0MK&eJ@ () %KkRMd!f+A _]%l$RZDF@/mK"DFcdp]D2'IK n;EM oFph£!&l$c j>DFu B>`)¯X! ªhl$jI M
j>m/]naoFp 3 0M1 :RZ@",Z%' kKbuV #tSJu :F(2{9:' kK:' "@ u zC :*/! u `a Y,Z? ()%'K+_P- zCD'EdG)m/|DFm'¬ ~"DFXjMmoFm"'ko
j A B>D'E>jMM2nm"'K/. :5', 0
N 00 K/zC1" :@ ."1 :+KG ; ! : ,M!/-X{9 ?U() @#&%YF:RZ :' "042Mnm"'K 2L N
YK !
]8]]
' ) 8] ] ] ' ) * ]]]
]
] ]
]]]
]
] *
] * ]
] *
' ) ] ]8]]
]
#
' )
:' ,M!$:0>()%'R)@w-X{9 ?U4 @w#J%Y':'RZ : 0}=o]naDFmA BDFE>jMM2n]m ¯>;jM}w¾U½G2A ¿À ¢+¢+¢FK7b YRMK #&K ! @ - %'*":+K : @¦34O Y$K @" KCzJ#it%+%+@" : @kK : @¤-Xr %* "5+! DFE>j>2Mnm"'K$.":'5, 0
N; K/zC1 %+ f$K ! © {9{KH u "@ RZ%*/K: @ÁVL #&%'1" /! yC%+0: RZ:0>(=%RZ{9: ? :F(2 %: ¤ Q-X./0M1t30%'5 () % #J%{9./ ,Z:'() 5=_U%'R9-+8X,Z(){9:F(2 0 -X./:'R7yC:RZ :'6" (a8!V`a A BDFEF¡ ]lQgdm"m$koFp ~$jMj>E>ljMFj>oFB>EMl ¯'%}RZ'~$IK DF 2n] }! KC. :5',O ; N ; K %1 ,^Td%'."+ ",Hcd YRZ,Z (a8KSJ: () ? {9
]8]]
]
0
?UOx:*XY':' : @#C?ºT OP'!2Mnm"'K
N YK ! :' "@QzJ# %+%+@ :' "@/!(Z,)(),Z R7 %' °_]%Rt-X./:'R u @":'. ():F(2 % i%F_#&%' (2 +*"%'*",b ? ,Z (a8wML Td @ @ B ~$j>jME>l=oFmwoFm"'Po
Xj>K
N 0 YK 0 ! + ,:' "@ O©d*"{9>8RM! -X./:'R u @ :.X(2:F() % \cd,Z 5 [y#J%{b6 5' :@ £RZ: ,;_]%RZ{9:'() %' : @°SJ:8,Z :' i()1 %+@",M!»`a xA B>D'E G| g $ A KkY%' * {9 'K$.":'5, ; N ; K/b>()R)%' (>IK 0 ! : ,C:' "@9zJ#t%+%+@" : @k!$j>EMloFmP¦oFmk 'Po
Xj>K 0
N YK ! : ,>!4RZ: ,;_U%'RZ{9:'() % ¦- {9%+%F()1" 5_]%R- .$:R&: @=WC YX ? RZDFE'¡&IC B>DFZ~"j>j>EM l FK. :5', ; N Kk341"%+@ ,MK R)0'K ! OP 1"%+%+@-X()%+021":',Z? [()yV 0b£ :RZ'%: %',;_]*"%
:RZ{9,C:':'() " %'@^ ysu b@ :5'.X: ():':'+ () %',M!/ ?U@"RZ Y u @":'. ():'() %' t_]%ROyd#&-X3!t`a sA B>DFE¦GZm/w|DFm'¬ gE>DF">]naEM ~$j>jME>lxoFm n'moFp[ACB>DFE>jMMMnm Kw`º,Z():' +6"* ]Kw*"RZ'>8K ! u 8XR;Y% ]K : @#C?ºT\OP'!=-X()RZ*"0>()* RZ: C¬DFB ]l$j9®=np]pj>m"n"}K$.":'5F, N K/z:'RZ ,MK ! u OV?º6 :,Z@Vt%RZ@V ML WCR)RZ%'R=j>EMloFmP=oFm"'Po
Xj>GK N K W YRZ{9: :' "@zJ#V %+%+@ :' "@/!z%,;()RZ %R&zCRZ%6 :6 (º8b0%+@ ? ° 5XKX#&%' ³$@" 04WC,;() {9:F(2 % 9: @w-X8X,;(){#J%{^6" ":F(2 % /!k`a [A B>D'EF¡ ! ~"j>j>EMl¤h BoFm"FEMB>n ~/]naDFm°DFB>FMl$D>~"K/S&:' () {9%RZ'K u ,Z0* ,>! z%',;()?UzCRZ%+0,Z,) "5-+8X,;(2{©()%[r @34@"* 0@tt%RZ@ WCRZRZ%R3:F(2, L 340%5' " ,ZR*X(2. *X(y %'() 5 WCRZRZ%R3@ * 0>(2 % 3&4yWC3 !`a ÁA B>D'EG2IJI&Ig DFB>FMl$D>~"K&. :5',
N 0 K -X: ():9SJ:RZ6":'RZ:XYK ! zC0[RM!¦SJ#&RZ%
e4:,Z /,;K?º6 y:,Zb@ X ?º:d5'zCRZ: >{ ()RZ:XDFZ~"j>j>EMl+K . :5,
N ; KkSJRZ /K ! KwzJ# t%+%+@" :' "@/K9 W YRZ{9:' " /K9:' "@°b z£%Y>8!±41 #JcTd?ºT:' 4 / j>EMl¤h BoFm"FEMB>n ~/]naDFm°DFB>FMl$D>~"K/S&:' () {9%RZ'K b 5' :'+ ,MK:' "@V» {^6":' ]!"RZ%{ TDFZ~"j>j>EMl + 'K .":'5, 0
N 0 K SJRZ /KG ! Td% {9,k:' "@^E>loFm=oFm"'ko
jMK 2L
N #K ! 3%'1" 0"K:' "@< ,;(2 @ %R;_a! u bd8X ":'{9 0: ; [y-+8X,Zb() 5{ :' :u + . ,M. KR)%':3¸ 021Q()% #&%' (2 +*"%'*",w-X./0M1¤2L340%5 () %' k!G2IJI&I h"B>oFm$ ~"j>j>EMloFmPgPFnaD¦A B>D'EMj>2Mnm"'IK N IK ! u ,Z-^ :34 %eJ B>1"oF:'p&1"|RZ:'DF{9}:~" $ ];! on;DFcm" "K# _ 58X L 54yd >eKI%F_$ OP ! :R:* ,;? 0N 0 3 J S : + > , ! & # ' % : ; R ) ( 0 * ' : ) ( ' % = < + % @ " 5 4 e ) ( 1 J # % ) ( TjME>lj>E>D2m"nU]naDFmitDFBM' 2 +l$* D>%~"* K ,;u ?a-+RZ()@":'() Td%'*",Z'IK ! SJ :'0M+6 *"RZ x: @\- rC%* "5+! u -X _?ºOP:RZ 5zCRZ@ 0>() Y #&DF DFE^gd}=j>BMn;EMoFYK
;0
N ; K ! SJ%* R) :RZ@kK$-wb*".$% (>K": @¦#V3 ,M!&EMl+m$n MPjM&¬DFB®tDF+j>pp n]m ¦ACl$DFmPDFp]D2naE>oFp A BDFE>jMM
j>nm 0 T gd$;DF}=on;E ~"j>j>EMl dj>EMDM'm$nU]naDFm"![zC1 bv(21 ,Z ,MK #&:'{6 R) @"5'wc " ? YRZ,Z (a8K '! -Xr %* "5+! u #J%{9. :RZ ,Z%' =%'_CW fX:'0>(d:' "@ u .". RZ%
f+? 0 Td {9w:Fd(2 %+u 0Mw: 5'% RZ@ ()1 {9,_]%Rdb0%+@ 57: @[£RZ:' " "59OP%+%,Z 8=#&%'*". @ T(Z?U3,Z% : 0bd8X ":'{9 0,M!`a sA B>DFE[I B>D>~$j>oFm |DFmF¬^DFm ~"j>j>EMl¦|DF}} m$naE>o]naDFmtoFmPhkj>E>l+mPDFp]D2¯'K.":'5, N
0 KkSJ* @" :'./,;(K"T*" 5:'RZ8K ! 1":'R)@ ,Z% /KSJ {9,>Kd: @Á# b %RZ %+!T @"@ X? u R;() 0* :'()%'R 00 7¬DFBt ]l$j®=n]ppj>m"n] }K . :5F,
N Kkz£:RZ ,MK ! 5[: @¤z°:8X %RM! b>()0>(2 % %F_zC1 % % %'5 0:' C$:'()* RZ, 0; - #J% () +* %* ,- ./021=* 2L ,) "5wd* R):' £>(aeJ%RZ+,M!¦|DF}~"$;jMB ~"j>j>EMl oFm=oFm ko
jMK
N 0 K ! u T ()% H: @ bQSJRZ%
e4 /! £RZ:' " "5() 0'K-X{9: () 0: @s#J% %+0:'() %' ":' db./ @" X? 0 , 2 wL OP:' "5'*":'5d
