Research

Publications

JOURNAL PAPERS

  1. U.J. Aarsnes, B. Acikmese, A. Ambrus, and O. M. Aamo, “Robust controller design for automated kick handling in managed pressure drilling,” IFAC Journal of Process Control, vol. 47, pp. 46-57, Nov 2016.

  2. Dueri, Daniel, B. Acikmese, D. P. Scharf, and Harris, Matthew W., “Customized real- time interior-point methods for onboard powered descent guidance,” AIAA Journal of Guidance, Control, and Dynamics, in press (18 pages), submitted in May 2016.

  3. D. P. Scharf, D. Dueri, B. Acıkmese, J. Benito, and J. Casoliva, “Flight testing of real-time convex optimization based guidance algorithm G-FOLD - guidance for fuel optimal large divert,” AIAA Journal of Guidance, Control, and Dynamics, in press (17 pages), May 2016

  4. Demir, Nazli and Eren, Utku and B. Acikmese, “Decentralized probabilistic density control of mobile agent swarms with spatial and temporal safety constraints,” Autonomous Robots, vol. 39, no. 4, pp. 537–554, 2015.

  5. Dueri, Daniel, F. Leve, and B. Acikmese, “Minimum error dissipative power reduction control allocation via lexicographic convex optimization for momentum control systems,” IEEE Transactions on Control System Technology, vol. 24, no. 2, pp. 678–686, 2015.

  6. B. Acikmese, Demir, Nazlı, and Harris, Matthew, “Convex necessary and sufficient conditions for density safety constraints in markov chain synthesis,” IEEE Transactions on Automatic Control, vol. 60, no. 10, pp. 2813–2818, 2015.

  7. Eren, Utku and Dueri, Daniel and B. Acikmese, “Constrained reachability and controlla- bility sets for planetary precision landing via convex optimization,” AIAA Journal of Guidance, Control, and Dynamics, , 2015.

  8. B. Acikmese, M. Mandic, and J. L. Speyer, “Decentralized observers with consensus filters for distributed discrete-time linear systems,” Automatica, vol. 50, no. 4, pp. 1037–1052, 2014.

  9. B. Acikmese and D. S. Bayard, “Markov chain approach to probabilistic guidance for swarms of autonomous agents,” Asian Journal of Control, vol. 17, no. 4, pp. 1105–1124, 2015.

  10. Harris, Matthew W. and B. Acikmese, “Lossless convexification of non-convex optimal control problems for state constrained linear systems,” Automatica, vol. 50, no. 9, pp. 2304–2311, 2014.

  11. B. Acikmese, S. W. Sell, A. M. S. Martin, and J. J. Biesiadecki, “Mars science laboratory fly- away guidance, navigation, and control system design,” AIAA Journal of Spacecraft and Rockets, vol. 51, no. 4, pp. 1227–1236, 2014.

  12. Harris, Matthew W. and B. Acikmese, “Maximum divert for planetary landing using convex optimization,” Journal of Optimization Theory and Applications, vol. 162, no. 3, pp. 975–995, 2014.

  13. Harris, Matthew W. and B. Acikmese, “Minimum time rendezvous of multiple spacecraft using differential drag,” AIAA Journal of Guidance, Control, and Dynamics, vol. 37, no. 2, pp. 365– 373, 2014.

  14. J. M. Carson, D. S. Bayard, and B. Acikmese, “In-flight dynamical method to verify sample collection for small-body sample return mission,” Journal of Spacecraft and Rockets, vol. 50, no. 1, pp. 230–243, 2013.

  15. B. Acikmese, J.M.Carson,andL.Blackmore,“Lossless convexification of the soft landing optimal control problem with non-convex control bound and pointing constraints,” IEEE Transactions on Control Systems Technology, vol. 21, no. 6, pp. 2104–2113, 2013.

  16. Carson, John M., B. Acikmese, R. M. Murray, and D. G. MacMartin, “A robust model predictive control algorithm augmented with a reactive safety mode,” Automatica, vol. 49, no. 5, pp. 1251– 1260, 2013.

  17. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. Bayard, and F. Y. Hadaegh, “Swarm- keeping strategies for spacecraft under J2 and atmospheric drag perturbations,” Journal of Guidance, Control, and Dynamics, vol. 35, no. 5, pp. 1492–1506, 2012.

  18. L. Blackmore, B. A ̧cıkme ̧se, and J. M. Carson, “Lossless convexification of control constraints for a class of nonlinear optimal control problems,” Systems & Control Letters, vol. 61, no. 8, pp. 863–870, 2012.

  19. B. Acikmese and L. Blackmore, “Lossless convexification of a class of optimal control problems with non-convex control constraints,” Automatica, vol. 47, no. 2, pp. 341–347, 2011.

  20. B. Acikmese and M. Corless, “Observers for systems with nonlinearities satisfying incremental quadratic constraints,” Automatica, vol. 47, no. 7, pp. 1339–1348, 2011.

  21. B. Acikmese, Carson, John M., and D. S. Bayard, “A robust model predictive control algo- rithm for incrementally conic uncertain/nonlinear systems,” International Journal of Robust and Nonlinear Control, vol. 21, no. 5, pp. 563–590, 2011.

  22. L. Blackmore, B. Acikmese, and D. P. Scharf, “Minimum-landing-error powered-descent guidance for Mars landing using convex optimization,” Journal of guidance, control, and dynamics, vol. 33, no. 4, pp. 1161–1171, 2010.

  23. B. Acikmese and M. Corless, “Stability analysis with quadratic lyapunov functions: Some nec- essary and sufficient multiplier conditions,” Systems & control letters, vol. 57, no. 1, pp. 78–94, 2008.

  24. B. Acikmese, F. Y. Hadaegh, D. P. Scharf, and S. R. Ploen, “Formulation and analysis of stability for spacecraft formations,” IET Control Theory & Applications, vol. 1, no. 2, pp. 461–474, 2007.

  25. B. Acikmese and S. R. Ploen, “Convex programming approach to powered descent guidance for Mars landing,” Journal of Guidance, Control, and Dynamics, vol. 30, no. 5, pp. 1353–1366, 2007.

  26. B. Acikmese and M. Corless, “Robust tracking and disturbance rejection of bounded rate signals for uncertain/nonlinear systems,” International Journal of Control, vol. 76, no. 11, pp. 1129– 1141, 2003.

  27. B. Acikmese and M. Corless, “Robust output tracking for uncertain/nonlinear systems subject to almost constant disturbances,” Automatica, vol. 38, no. 11, pp. 1919–1926, 2002.

BOOK CHAPTERS

  1. M. Pavone, B. Acikmese, and I. Nesnas. Spacecraft Autonomy Challenges for Next Generation Space Missions. Eric Feron (Ed.), Advances in Control System Technology for Aerospace Applications, Lecture Notes in Control and Information Sciences (LNCIS), pp. 1–48, Springer-Verlag.

  2. F. Y. Hadaegh, A. Johnson, D. S. Bayard, B. Acikmese, S.J. Chung, and R. Mehra. New Guidance, Navigation, and Control Technologies for Formation Flying Spacecraft and Plane- tary Landing. Eric Feron (Ed.), Advances in Control System Technology for Aerospace Ap- plications, Lecture Notes in Control and Information Sciences (LNCIS), pp. 49–80, ,Springer- Verlag.

  3. F. Y. Hadaegh, B. Acikmese, D. S. Bayard, G. Singh, M. Mandic, S.-J. Chung, and D. Morgan. Guidance and Control of Formation Flying Spacecraft: From Two to Thousands. Festschrift honoring John L. Junkins, Tech Science Press, pages 327-371, 2012.

  4. F. Y. Hadaegh, G. Singh, B. Acikmese, D. P. Scharf, and M. Mandic. Guidance and control of formation flying spacecraft. The path to autonomous robots. Springer-Verlag, NewYork, October, 2008.

CONFERENCE PAPERS

  1. Y. Mao, M. Szmuk, and B. Acikmese, "Successive convexi cation of non-convex optimal control problems and its convergence properties," in Conference on Decision and Control (CDC), IEEE, to appear, 2016

  2. S. Rakovic, W. S. Levine, and B. Acikmese, "Continuously generalized model predictive control," in Conference on Decision and Control (CDC), IEEE, to appear, 2016

  3. J. Liu, M. El Chamie, T. Basar, and B. Acikmese, "The discrete-time Alta ni model of opinion dynamics with communication delays and quantization," in Conference on Decision and Control (CDC), IEEE, to appear, 2016

  4. M. El Chamie, J. Liu, T. Basar, and B. Acikmese, "Distributed averaging with quantized communication over dynamic graphs," in Conference on Decision and Control (CDC), IEEE, to appear, 2016

  5. R. Zhang, Y. Yu, M. El Chamie, B. Acıkmese, and D. Ballard, “Decision-making poli- cies for heterogeneous autonomous multi-agent systems with safety constraints,” International Joint Conference on Artificial Intelligence (IJCAI-16), AIAA, 2016.

  6. D. Dueri, S. Rakovic, and B. Acikmese, "Consistently improving approximations for constrained controllability and reachability," to appear in European Control Conference, July 2016.

  7. M. El Chamie, Yue Yu, and B. Acikmese, "Convex synthesis of randomized policies for controlled Markov chains with density safety upper bound constraints," to appear in American Control Conference, Boston, MA, 2016.

  8. M. El Chamie and B. Acikmese, "Convex synthesis of optimal policies for Markov decision processes with sequentially-observed transitions," to appear in American Control Conferemce, Boston, MA, 2016.

  9. M. El Chamie and B. Acikmese, "Robust Metropolis-Hastings algorithm for safe reversible Markov chains," to appear in American Control Conference, Boston, MA, 2016.

  10. S.V. Rakovic, W.S. Levine, and B. Acikmese, "Discretely generalized Model Predictive Control Synthesis," to appear in American Control Conference, Boston, MA, 2016.

  11. S.V. Rakovic, W.S. Levine, and B. Acikmese, "Elastic tube Model Predictive Control," to appear in American Control Conferemce, Boston, MA, 2016.

  12. M. Szmuk, B. Acikmese, and A. Berning, “A convex formulation for the minimum fuel powered-descent guidance problem with drag, nonlinear state constraints, and free final time,” in AIAA Scitech Conference, 2016, San Diego, CA, 2016

  13. N. Demir and B. Acikmese, “Probabilistic density control for swarm of decentralized on-off agents with safety constraints,” in American Control Conference, 2015, 2015.

  14. U. Eren, B. Acikmese, and D. P. Scharf, “A mixed integer convex programming approach to constrained attitude guidance,” in European Control Conference, 2015, 2015.

  15. S. Zhang, B. Acikmese, S. Swei, and D. Prabhu, “Convex programming approach to real- time trajectory optimization for mars aerocapture,” in IEEE Aerospace Conference, 2015.

  16. D. P. Scharf, S. R. Ploen, and B. Acikmese, “Interpolation-enhanced powered descent guidance for onboard nominal, off-nominal, and multi-X scenarios,” AIAA Scitech Conference, 2015.

  17. N. Trawny, J. Benito, B. Tweddle, C. F. Bergh, G. Khanoyan, G. M. Vaughan, J. X. Zheng, C. Y. Villalpando, Y. Cheng, D. P. Scharf, C. D. Fisher, P. M. Sulzen, J. F. Montgomery, A. E. Johnson, M. Aung, M. W. Regehr, Daniel Dueri, B. Acikmese, D. Masten, T. O’Neal, and S. Nietfeld, “Flight testing of terrain-relative navigation and large-divert guidance on a VTVL rocket,” in Proc. AIAA SPACE 2015 Conference and Exposition, (Pasadena, CA), Aug. 2015.

  18. Harris, Matthew W., B. Acikmese, and E. van Oort, “LMI based control of stick-slip oscillations in drilling,” in ASME 2014 Dynamic Systems and Control Conference, American Society of Mechanical Engineers, 2014. ​

  19. Dueri, Daniel and Zhang, Jing and B. Acikmese, “Automated custom code generation for embedded, real-time second order cone programming,” IFAC World Congress, 2014.

  20. Demir, Nazlı, B. Acikmese, and Pehlivanturk, Can, “Density control for decentralized au- tonomous agents with conflict avoidance,” IFAC World Congress, South Africa, 2014.

  21. Dueri, Daniel, B. Acikmese, and F. Leve, “Reaction wheel dissipative power reduction control allocation via lexicographic optimization,” AIAA Space 2014 Conference and Exposition, 2014.

  22. F. Davoodi and B. Acikmese, “Rearm: Re-entry hopper space-craft system on Mars,” AIAA Space 2014 Conference and Exposition, 2014 .

  23. B. Acikmese and D. S. Bayard, “Probabilistic swarm guidance for collaborative autonomous agents,” in American Control Conference (ACC), 2014, pp. 477–482, IEEE, 2014.

  24. Demir, Nazli, B. Acikmese, and Harris, Matthew W, “Convex optimization formulation of density upper bound constraints in markov chain synthesis,” in American Control Conference (ACC), 2014, pp. 483–488, IEEE, 2014.

  25. Dueri, Daniel, B. Acikmese, M. Baldwin, and R. S. Erwin, “Finite-horizon controllability and reachability for deterministic and stochastic linear control systems with convex constraints,” in American Control Conference (ACC), 2014, pp. 5016–5023, IEEE, 2014.

  26. D. P. Scharf, B. Acikmese, M. W. Regehr, G. M. Vaughan, J. Benito, H. Ansari, M. Aung, A. Johnson, J. Casoliva, S. Mohan, and D. Dueri, “Adapt demonstrations of onboard large- divert guidance with a VTVL rocket,” in Aerospace Conference, 2014 IEEE, pp. 1–18, IEEE, 2014.

  27. B. Acikmese, M. Aung, J. Casoliva, S. Mohan, A. Johnson, D. Scharf, D. Masten, J. Scotkin, A. Wolf, and M. W. Regehr, “Flight testing of trajectories computed by g-fold: Fuel optimal large divert guidance algorithm for planetary landing,” AAS/AIAA spaceflight mechanics meeting, 2013.

  28. Harris, Matthew W and B. Acikmese, “Lossless convexification for a class of optimal control problems with linear state constraints,” in Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pp. 7113–7118, IEEE, 2013.

  29. Harris, Matthew W and B. Acikmese, “Minimum time rendezvous using differential drag,” AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, USA, 2013.

  30. B. Acikmese, “Application of lexicographic goal programming with convex optimization in control systems,” AIAA Guidance, Navigation and Control Conference, 2013.

  31. Harris, Matthew W, Berning, Andrew, and B. Acikmese, “Rendezvous using differential drag and feedback control,” AIAA Guidance, Navigation and Control Conference, 2013.

  32. Harris, Matthew W and B. Acikmese, “Lossless convexification for a class of optimal con- trol problems with quadratic state constraints,” in American Control Conference (ACC), 2013, pp. 3415–3420, IEEE, 2013.

  33. M. Mandic, B. Acikmese, D. S. Bayard, and L. Blackmore, “Analysis of the touch-and-go surface sampling concept for comet sample return missions,” Advances in the Astronautical Sciences, vol. 144, pp. 841–855, 2012.

  34. D. P. Scharf, B. Acikmesee, and G. Chen, “Near-term pinpoint landing with an msl cruise/edl rebuild,” LPI Contributions, Concepts and Approaches for Mars Exploration, Houston, TX, vol. 1679, p. 4161, 2012.

  35. B. Acikmese and D. S. Bayard, “A Markov chain approach to probabilistic swarm guidance,” in American Control Conference (ACC), 2012, pp. 6300–6307, IEEE, 2012.

  36. A. Wolf, B. Acikmese, J. Casoliva, J. Benito, and Y. Cheng, “End to end architecture and associ- ated technologies for safe and accurate landing with increased payload mass,” LPI Contributions, Concepts and Approaches for Mars Exploration, Houston, TX, vol. 1679, p. 4082, 2012.

  37. B. Acikmese, J. Casoliva, J. M. Carson, and L. Blackmore, “G-FOLD: A real-time implementable fuel optimal large divert guidance algorithm for planetary pinpoint landing,” LPI Contributions, Concepts and Approaches for Mars Exploration, Houston, TX, vol. 1679, p. 4193, 2012.

  38. A. A. Wolf, J. Casoliva, J. B. Manrique, B. Acikmese, and S. Ploen, “Improving the landing precision of an msl-class vehicle,” in Aerospace Conference, 2012 IEEE, pp. 1–10, IEEE, 2012.

  39. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. S. Bayard, and F. Y. Hadaegh, “Dy- namics and control challenges of spacecraft swarms under the in influence of j2 gravity and atmospheric drag,” 4th International Symposium on Formation Flying Missions Technologies,, 2011

  40. J. M. Carson III, B. Acikmese, L. Blackmore, and A. A. Wolf, “Capabilities of convex powered- descent guidance algorithms for pinpoint and precision landing,” in Aerospace Conference, 2011 IEEE, pp. 1–8, IEEE, 2011.

  41. J. M. Carson, B. Acikmese, and L. Blackmore, “Lossless convexification of powered-descent guid- ance with non-convex thrust bound and pointing constraints,” in American Control Conference (ACC), 2011, pp. 2651–2656, IEEE, 2011.

  42. A. A. Wolf, B. Acikmese, Y. Cheng, J. Casoliva, J. M. Carson, and M. C. Ivanov, “Toward improved landing precision on Mars,” in Aerospace Conference, 2011 IEEE, pp. 1–8, IEEE, 2011.

  43. B. Acikmese and M. Mandic, “Decentralized observer with a consensus filter for distributed discrete-time linear systems,” in American Control Conference (ACC), 2011, pp. 4723–4730, IEEE, 2011.

  44. D. P. Scharf, B. Acikmese, S. R. Ploen, and F. Y. Hadaegh, “Three-dimensional reactive colli- sion avoidance with multiple colliding spacecraft for deep-space and earth-orbiting formations,” Proceedings of the Fourth International Conference on Spacecraft Formation Flying Missions and Technologies, 2011.

  45. M. Mandic, B. Acikmese, and J. Speyer, “Application of a decentralized observer with a consensus filter to distributed spacecraft systems,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Toronto, Ontario, Canada, 2010.

  46. B. Acikmese and L. Blackmore, “Lossless convexification of a class of non-convex optimal control problems for linear systems,” in American Control Conference (ACC), 2010, pp. 776–781, IEEE, 2010.

  47. B. Acikmese, D. P. Scharf, J. Carson, and F. Y. Hadaegh, “Distributed estimation for spacecraft formations over time-varying sensing topologies,” Proceedings of the 17th IFAC world congress, pp. 2123–2130, 2008.

  48. F. Y. Hadaegh, D. P. Scharf, A. C. Kuhnert, J. C. Kovalik, and B. Acikmese, “An integrated formation optical communication and estimation system for precision collaborative missions,” 3rd International Symposium on Formation Flying Missions Technologies, 2008.

  49. J. M. Carson, B. Acikmese, R. M. Murray, and D. G. MacMynowski, “A robust model predictive control algorithm with a reactive safety mode,” Proceedings of the IFAC World conference, 2008.

  50. J. Carson, B. Acikmese, R. M. Murray, and D. G. MacMynowski, “Robust model predictive control with a safety mode: Applied to small-body proximity operations,” Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2008.

  51. B. Acikmese, M. B. Quadrelli, and L. Phan, “A force control algorithm for small celestial body surface sampling,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Hilton Head, SC, USA, 2007.

  52. J. A. Keim, B. Acikmese, and J. F. Shields, “Spacecraft inertia estimation via constrained least squares,” in Aerospace Conference, 2006 IEEE, pp. 6–pp, IEEE, 2006.

  53. A. A. Wolf, J. Tooley, S. Ploen, M. Ivanov, B. Acikmese, and K. Gromov, “Performance trades for mars pinpoint landing,” in Aerospace Conference, 2006 IEEE, pp. 16–pp, IEEE, 2006.

  54. B. Acikmese and J. M. Carson III, “A nonlinear model predictive control algorithm with proven robustness and resolvability,” in American Control Conference, 2006, pp. 7–pp, IEEE, 2006.

  55. D. P. Scharf, B. Acikmese, S. R. Ploen, and F. Y. Hadaegh, “A direct solution for fuel-optimal reactive collision avoidance of collaborating spacecraft,” in American Control Conference, 2006, pp. 6–pp, IEEE, 2006.

  56. B. Acikmese, F. Y. Hadaegh, D. P. Scharf, and S. R. Ploen, “A formulation of stability for spacecraft formations,” in American Control Conference, 2006, pp. 7–pp, IEEE, 2006.

  57. S. Ploen, B. Acikmese, and A. Wolf, “A comparison of powered descent guidance laws for mars pinpoint landing,” AIAA Guidance, Navigation, and Control Conference, Keystone, CO, 2006.

  58. J. M. Carson and B. Acikmese, “A model predictive control technique with guaranteed resolv- ability and required thruster silent times for small-body proximity operations,” Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2006.

  59. B. Acikmese, D. P. Scharf, E. A. Murray, and F. Y. Hadaegh, “A convex guidance algorithm for formation reconfiguration,” Proceedings of the AIAA Guidance, Navigation, and Control Confer- ence and Exhibit, 2006.

  60. ​J. Shields, R. Bailey, B. Lytle, J. Schroeder, B. Lurie, B. Acikmese, G. Singh, J. Keim, and A. Ahmed, “System design, modeling, and tracking filter for bearings only analog camera,” in American Control Conference, 2005. Proceedings of the 2005, pp. 1981–1986, IEEE, 2005.

  61. B. Acikmese and S. R. Ploen, “A powered descent guidance algorithm for mars pinpoint landing,” Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2005.

  62. B. Acikmese and M. Corless, “Observers for systems with nonlinearities satisfying an incremental quadratic inequality,” in American Control Conference, 2005. Proceedings of the 2005, pp. 3622– 3629, IEEE, 2005.

  63. B. Acikmese, E. Mettler, and S. R. Ploen, “Attitude dynamics and control of solar sails with articulated vanes,” Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2005.

  64. S. R. Ploen, D. P. Scharf, F. Y. Hadaegh, and B. Acikmese, “Dynamics of earth orbiting formations,” Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004.

  65. E. Mettler, B. Acikmese, W. G. Breckenridge, and S. Tubbs, “Telescope formation at L2 for observing earth’s atmosphere,” Space 2004 Conference and Exhibit, San Diego, CA, USA, 2004.

  66. B. Acikkmese, E. Mettler, W. G. Breckenridge, and S. A. M. E. F. Tubbs, “L2 earth atmosphere observatory: Formation guidance, metrology and control synthesis,” AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Providence, RI, USA, 2004.

  67. M. W. Regehr, B. Acikmese, A. Ahmed, M. Aung, K. Clark, P. MacNeal, J. Shields, G. Singh, R. Bailey, C. Bushnell, et al., “The formation control testbed,” in Aerospace Conference, 2004, Proceedings, 2004 IEEE, vol. 1, IEEE, 2004.

  68. B. Acikmese and M. Corless, “Stability analysis with quadratic lyapunov functions: A necessary and sufficient multiplier condition,” Proc. of the Annual Allerton Conference on Communication Control and Computing, vol. 41, no. 3, pp. 1546–1555, 2003.

  69. B. Acikmese and M. Corless, “Constant output tracking and disturbance rejection for systems with lipschitz nonlinearities,” 15th IFAC World Conference, Barcelona, Spain, 2002.

  70. B. Acikmese and M. Corless, “Robust tracking and disturbance rejection for uncertain/nonlinear systems with pi controllers,” Proc. of the Annual Allerton Conference on Communication Control and Computing, vol. 39, no. 1, pp. 260–269, 2001.

  71. B. Acikmese and M. Corless, “Robust constant output tracking for uncertain/nonlinear systems with pi controllers,” in American Control Conference, 2001. Proceedings of the 2001, vol. 5, pp. 4026–4031, IEEE, 2001.

  72. H. U. Akay, A. Ecer, and B. Acikmese, “Variable time-stepping strategies for explicit and parallel solution of unsteady vlscol. ls and inviscid compressible flows,” Parallel Computational Fluid Dynamics’ 96: Algorithms and Results Using Advanced Computers, p. 328, 1996.