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Finding a pattern P[0...m-1] in a large body of text T[0...n-1], m≤n, is called pattern matching. One of its variation is parameterized string matching. Two strings are said to parameterized match, if one can be transformed into other via some bijective mapping. The parameterized matching has important applications in software maintenance and plagiarism detection. In this paper, we propose a new algorithm for multi-pattern parameterized string matching problem. This is an extension of quick multiple matching algorithm for exact string matching. Experimental results show that the new algorithm is very fast in practice.

Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates methods of resolved motion rate control (RMRC) that employ optimization criteria to resolve kinematic redundancies. In particular we focus on two established techniques, the pseudo inverse with explicit optimization and the extended Jacobian method. We prove that the extended Jacobian method includes pseudo-inverse methods as a special solution. In terms of computational complexity, however pseudo-inverse and extended Jacobian differ significantly in favor of pseudo-inverse methods. Employing numerical estimation techniques, we introduce a computationally efficient version of the extended Jacobian with performance comparable to the original version. Our results are illustrated in simulation studies with a multiple degree-of-freedom robot, and were tested on a 30 degree-of-freedom humanoid robot.