In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints. A kinematic diagram is a schematic of the mechanical system that shows the kinematic chain. The modern use of kinematic chains includes analysis of Linkages (mechanical), compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems. == Mobility formula == The degrees of freedom, or mobility, of a kinematic chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. This frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. This means the degree-of-freedom of this system is M = 6(N − 1), where N = n + 1 is the number of moving bodies plus the fixed body. Joints that connect bodies impose constraints. Specifically, hinges and sliders each impose five constraints and therefore remove five degrees of freedom. It is convenient to define the number of constraints c that a joint imposes in terms of the joint's freedom f, where c = 6 − f. In the case of a hinge or slider, which are one-degree-of-freedom joints, have f = 1 and therefore c = 6 − 1 = 5. The result in general where d {\displaystyle d} is the degrees of freedom for the mobility of a kinematic chain formed from n moving links and j joints each with freedom fi, i = 1, 2, …, j, is given by M = d n − ∑ i = 1 j ( d − f i ) = d ( N − 1 − j ) + ∑ i = 1 j f i {\displaystyle M=dn-\sum _{i=1}^{j}(d-f_{i})=d(N-1-j)+\sum _{i=1}^{j}f_{i}} Where N is the total number of links and includes the fixed link. Spacial linkages used d = 6 {\displaystyle d=6} and planar linkages use d = 3 {\displaystyle d=3} . This result is known as the Chebychev–Grübler–Kutzbach criterion. == Analysis of kinematic chains == The constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom. The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the kinematic equations, [ T ] = [ Z 1 ] [ X 1 ] [ Z 2 ] [ X 2 ] ⋯ [ X n − 1 ] [ Z n ] , {\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\cdots [X_{n-1}][Z_{n}],\!} where [T] is the transformation locating the end-link—notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain. Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: Its topology: a serial chain, a parallel manipulator, a tree structure, or a graph. Its geometrical form: how are neighbouring joints spatially connected to each other? Explanation Two or more rigid bodies in space are collectively called a rigid body system. We can hinder the motion of these independent rigid bodies with kinematic constraints. Kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. == Synthesis of kinematic chains == The constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory. Ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the 1950s. His use of the newly developed computer to solve Freudenstein's equation became the prototype of computer-aided design systems. This work has been generalized to the synthesis of spherical and spatial mechanisms.
Digistar
Digistar is the first computer graphics-based planetarium projection and content system. It was designed by Evans & Sutherland and released in 1983. The technology originally focused on accurate and high quality display of stars, including for the first time showing stars from points of view other than Earth's surface, travelling through the stars, and accurately showing celestial bodies from different times in the past and future. Beginning with the Digistar 3 the system now projects full-dome video. == Projector == Unlike modern full-dome systems, which use LCD, DLP, SXRD, or laser projection technology, the Digistar projection system was designed for projecting bright pinpoints of light representing stars. This was accomplished using a calligraphic display, a form of vector graphics, rather than raster graphics. The heart of the Digistar projector is a large cathode-ray tube (CRT). A phosphor plate is mounted atop the tube, and light is then dispersed by a large lens with a 160 degree field of view to cover the planetarium dome. The original lens bore the inscription: "August 1979 mfg. by Lincoln Optical Corp., L.A., CA for Evans and Sutherland Computer Corp., SLC, UT, Digital planetarium CRT projection lens, 43mm, f2.8, 160 degree field of view". The coordinates of the stars and wire-frame models to be displayed by the projector were stored in computer RAM in a display list. The display would read each set of coordinates in turn and drive the CRT's electron beam directly to those coordinates. If the electron beam was enabled while being moved a line would be painted on the phosphor plate. Otherwise, the electron beam would be enabled once at its destination and a star would be painted. Once all coordinates in the display list had been processed, the display would repeat from the top of the display list. Thus, the shorter the display list the more frequently the electron beam would refresh the charge on a given point on the phosphor plate, making the projection of the points brighter. In this way, the stars projected by Digistar were substantially brighter than could be achieved using a raster display, which has to touch every point on the phosphor plate before repeating. Likewise, the calligraphic technology allowed Digistar to have a darker black-level than full-dome projectors, since the portions of the phosphor plate representing dark sky were never hit by the electron beam. As it is only one tube, with no pixelated color filter screen, the Digistar projector is monochromatic. The Digistar projects a bright, phosphorescent green, though many (including both visitors and planetarians) report they cannot distinguish between this green and white. Additionally, unlike a raster display, the calligraphic display is not discretized into pixels, so the displayed stars were a more realistic single spot of light, without the blocky or ropy artifacts that are hard to avoid with raster graphics. Due to the use of vector graphics, as opposed to raster imaging, the Digistar does not have the resolution issues that many full-dome systems have. Thanks to this, and the brightness of the CRT, only one projector is needed to project on the entire dome, whereas most full-dome systems require up to six raster projectors, depending on dome size. The projector in the original Digistar was housed in a square pyramid-shaped sheathing. When powered on, the four sides at the tip of the pyramid would recede into the housing, exposing the lens and appearing as a cut-off pyramid. As Digistar II was being developed, many planetaria were sold Digistar LEA projectors. The LEA, called Digistar 1.5 by many users, was effectively a prototype of the D2 projector, compatible with Digistar and upgradable to Digistar II. There are no significant differences in performance between the LEA and the true D2. == History == Digistar was the brainchild of Stephen McAllister and Brent Watson, both of whom were long-time amateur astronomers and computer graphics engineers. In 1977, E&S had been consulting with Johnson Space Center regarding training simulators for astronauts. McAllister had been writing proof-of-concept software for this consultation and in summer 1977 entered the data for 400 bright stars and wrote the software to display them. Steve and Brent both originally saw the system's purpose as celestial navigation training. Brent, who had until recently worked at Hansen planetarium, asked his planetarium coworkers what they thought of a potential digital planetarium system, and then Steve and Brent both targeted the system toward planetaria. The primary goal of the planetarium system was to use computer graphics to overcome the limitation of traditional star ball technology that only allowed display of star fields from the point of view of Earth's surface. By using computer graphics the stars could be displayed from viewpoints in space, including simulating the appearance of space flight. Likewise, planets and moons within the Solar System could be displayed accurately for any time in history, from any point of view. The system used the location of real stars from the Yale Bright Star Catalogue, as well as random stars. A laboratory prototype of Digistar was used to generate the star fields and tactical displays in the 1982 science fiction film Star Trek II: The Wrath of Khan. Filming was done directly from the Digistar display in the lab. ILM projected the effort would take two weeks, but in fact it took from late November 1981 until mid-February 1982. The last shot recorded was what became the first entirely computer generated feature film sequence. It was the opening scene of the film, a rotating forward translation through a star field that lasted 3.5 minutes. It was recorded in one take, at a rate of one frame every 3.5 seconds, taking four hours for the shoot. The Digistar team members are credited in the film. After prototyping in labs at Evans and Sutherland the team repeatedly used Salt Lake City's Hansen planetarium to beta test the system at the planetarium at night. The Digistar team performed one week of shows at the planetarium as a fund raiser to benefit the planetarium. The company also later gave the planetarium an improved prototype Digistar to replace "Jake", the planetarium's aging Spitz planetarium projector. The first customer installation was to the newly constructed Universe Planetarium at the Science Museum of Virginia in 1983, the largest planetarium dome in the world at the time, for $595,000. By September 1986 there were four installed Digistars. Even at this point the long-term success of the product was very much in doubt, but as of 2019 Digistar has an installed base of over 550 planetaria. === Versions === Digistar (1983) Digistar II (1995) Digistar 3 (2002) Digistar 4 (2010?) Digistar 5 (2012) Digistar 6 (2016) Digistar 7 (2021) == Hardware == Digistar was driven by a VAX-11/780 minicomputer, with custom graphics hardware related to the E&S Picture System 2. Later versions of Digistar 1 used a DEC MicroVAX 2, driving a custom version of a PS/300. The original Digistar and Digistar 2 had a physical control panel that was used for running the star shows. This control panel was approximately 3' x 4' and contained a keyboard, a 6 DOF joystick, and a large array of back-lit buttons. One button that was used for moving the viewpoint forward in space was labeled "Boldly Go". Later iterations of Digistar replaced the physical control panel with a common graphical user interface. Digistar 3 was the first Digistar system to offer full-dome video in 2002, using six projectors. Digistar 4 was able to cover the dome using only two projectors. == System limitations == Though technologically advanced in its day, and the closest system to true full-dome video at the time of its release, the original Digistar and Digistar 2 are limited to only projecting dots and lines—meaning only wireframe models can be projected. To compensate for this, the projector is capable of defocusing specific models, blurring lines and dots together. An example of this is in the Digistar 2's built-in Milky Way model. The model is a circle of parallel lines that, when defocused, appear as the continuous band of the Milky Way across the sky. On more complex models, especially three-dimensional ones, brightness and details may be lost in this process, so it is not useful in all situations. The Digistar and Digistar 2 also suffer focus limitations. Because they use a single lens to cover the entire dome, it is difficult to gain perfect focus across the dome. Coupled with this, stars greater than a certain brightness are "multihit" points, meaning the projector draws two dots at the given position to accommodate the brightness of the star. Errors in the projector can lead the second dot to be slightly out-of-place with the first one. These two issues together, along with other issues that can occur within the projector's focus system, give the stars a blobby look. Some p
AlphaTensor
AlphaTensor is an artificial intelligence system developed by DeepMind for discovering efficient matrix multiplication algorithms using reinforcement learning. Introduced in 2022, the system was based on AlphaZero and formulated the search for matrix multiplication algorithms as a single-player game called TensorGame. AlphaTensor was designed to search for new ways to multiply matrices with fewer scalar multiplication operations. Matrix multiplication is a fundamental operation in linear algebra, numerical analysis, scientific computing, computer graphics, and machine learning. The system discovered thousands of matrix multiplication algorithms, including algorithms that rediscovered known human-designed methods and others that improved on previously known results for particular matrix sizes and mathematical settings. == Background == Matrix multiplication is one of the basic operations in numerical computing. The standard algorithm for multiplying two square matrices has cubic time complexity, while faster algorithms such as the Strassen algorithm reduce the number of multiplication operations by using more complex algebraic decompositions. Finding optimal matrix multiplication algorithms can be difficult because it involves searching through a large space of possible tensor decompositions. AlphaTensor approached this problem by representing algorithm discovery as TensorGame, in which each move corresponds to an operation that reduces a tensor representing matrix multiplication. The goal of the game is to find a low-rank decomposition of the matrix multiplication tensor, corresponding to an efficient multiplication algorithm. == Development == AlphaTensor was developed by DeepMind and described in a paper published in Nature in October 2022. The system built on the reinforcement-learning approach used in AlphaZero, which had previously been applied to games such as Go, chess, and shogi. Unlike those games, TensorGame involved a very large search space, requiring changes to the AlphaZero-style search method and neural network architecture. DeepMind released source code and discovered algorithms associated with the publication through a public GitHub repository. == Results == AlphaTensor discovered matrix multiplication algorithms over both standard arithmetic and finite fields. One widely reported result was a method for multiplying 4 × 4 matrices over the field with two elements using 47 multiplication operations, improving on the 49 operations required by applying Strassen's algorithm recursively in that setting. The system also found algorithms optimized for particular computer hardware, including algorithms designed for graphics processing units and Tensor Processing Units. DeepMind stated that some of the hardware-specific algorithms improved practical execution time compared with commonly used algorithms on the tested hardware. == Significance == AlphaTensor was described as an example of using machine learning not only to apply existing algorithms, but to assist in discovering new ones. The work was connected to broader research in algorithm discovery, automated machine learning, program synthesis, and computational complexity theory, especially the open problem of determining the optimal complexity of matrix multiplication. AlphaTensor later became part of a broader group of Google DeepMind systems for algorithm and mathematical discovery, alongside systems such as AlphaDev and AlphaEvolve.
PL/Perl
PL/Perl (Procedural Language/Perl) is a procedural language supported by the PostgreSQL RDBMS. PL/Perl, as an imperative programming language, allows more control than the relational algebra of SQL. Programs created in the PL/Perl language are called functions and can use most of the features that the Perl programming language provides, including common flow control structures and syntax that has incorporated regular expressions directly. These functions can be evaluated as part of a SQL statement, or in response to a trigger or rule. The design goals of PL/Perl were to create a loadable procedural language that: can be used to create functions and trigger procedures, adds control structures to the SQL language, can perform complex computations, can be defined to be either trusted or untrusted by the server, is easy to use. PL/Perl is one of many "PL" languages available for PostgreSQL PL/pgSQL PL/Java, plPHP, PL/Python, PL/R, PL/Ruby, PL/sh, and PL/Tcl.
International Philosophical Bibliography
The International Philosophical Bibliography (IPB), also known in French as Répertoire bibliographique de la philosophie (RBP), is a bibliographic database covering publications on the history of philosophy and continental philosophy. The database comprises records of publications in over 30 languages. Annually, about 12,000 records are added. The indexes include, among other elements, over 84,000 names of authors, editors, translators, reviewers, and collaborators, as well as more than 3,000 commentaries on philosophical works, making it the world's most complete index in Philosophy. Since 1934, the IPB has been developed by the Higher Institute of Philosophy at the University of Louvain (UCLouvain), first in Leuven and since 1978 in Louvain-la-Neuve. The online version was launched by Peeters Publishers in 1997 and continues to be updated quarterly.
Structural similarity index measure
The structural similarity index measure (SSIM) is a method for predicting the perceived quality of digital television and cinematic pictures, as well as other kinds of digital images and videos. It is also used for measuring the similarity between two images. The SSIM index is a full reference metric; in other words, the measurement or prediction of image quality is based on an initial uncompressed or distortion-free image as reference. SSIM is a perception-based model that considers image degradation as perceived change in structural information, while also incorporating important perceptual phenomena, including both luminance masking and contrast masking terms. This distinguishes from other techniques such as mean squared error (MSE) or peak signal-to-noise ratio (PSNR) that instead estimate absolute errors. Structural information is the idea that the pixels have strong inter-dependencies especially when they are spatially close. These dependencies carry important information about the structure of the objects in the visual scene. Luminance masking is a phenomenon whereby image distortions (in this context) tend to be less visible in bright regions, while contrast masking is a phenomenon whereby distortions become less visible where there is significant activity or "texture" in the image. == History == The predecessor of SSIM was called Universal Quality Index (UQI), or Wang–Bovik index, which was developed by Zhou Wang and Alan Bovik in 2001. This evolved, through their collaboration with Hamid Sheikh and Eero Simoncelli, into the current version of SSIM, which was published in April 2004 in the IEEE Transactions on Image Processing. In addition to defining the SSIM quality index, the paper provides a general context for developing and evaluating perceptual quality measures, including connections to human visual neurobiology and perception, and direct validation of the index against human subject ratings. The basic model was developed in the Laboratory for Image and Video Engineering (LIVE) at The University of Texas at Austin and further developed jointly with the Laboratory for Computational Vision (LCV) at New York University. Further variants of the model have been developed in the Image and Visual Computing Laboratory at University of Waterloo and have been commercially marketed. SSIM subsequently found strong adoption in the image processing community and in the television and social media industries. The 2004 SSIM paper has been cited over 50,000 times according to Google Scholar, making it one of the highest cited papers in the image processing and video engineering fields. It was recognized with the IEEE Signal Processing Society Best Paper Award for 2009. It also received the IEEE Signal Processing Society Sustained Impact Award for 2016, indicative of a paper having an unusually high impact for at least 10 years following its publication. Because of its high adoption by the television industry, the authors of the original SSIM paper were each accorded a Primetime Engineering Emmy Award in 2015 by the Television Academy. == Algorithm == The SSIM index is calculated between two windows of pixel values x {\displaystyle x} and y {\displaystyle y} of common size, from corresponding locations in two images to be compared. These SSIM values can be aggregated across the full images by averaging or other variations. === Special-case formula === In one simple special case, further explained in the next section, the SSIM measure between x {\displaystyle x} and y {\displaystyle y} is: SSIM ( x , y ) = ( 2 μ x μ y + c 1 ) ( 2 σ x y + c 2 ) ( μ x 2 + μ y 2 + c 1 ) ( σ x 2 + σ y 2 + c 2 ) {\displaystyle {\hbox{SSIM}}(x,y)={\frac {(2\mu _{x}\mu _{y}+c_{1})(2\sigma _{xy}+c_{2})}{(\mu _{x}^{2}+\mu _{y}^{2}+c_{1})(\sigma _{x}^{2}+\sigma _{y}^{2}+c_{2})}}} with: μ x {\displaystyle \mu _{x}} the pixel sample mean of x {\displaystyle x} ; μ y {\displaystyle \mu _{y}} the pixel sample mean of y {\displaystyle y} ; σ x 2 {\displaystyle \sigma _{x}^{2}} the sample variance of x {\displaystyle x} ; σ y 2 {\displaystyle \sigma _{y}^{2}} the sample variance of y {\displaystyle y} ; σ x y {\displaystyle \sigma _{xy}} the sample covariance of x {\displaystyle x} and y {\displaystyle y} ; c 1 = ( k 1 L ) 2 {\displaystyle c_{1}=(k_{1}L)^{2}} , c 2 = ( k 2 L ) 2 {\displaystyle c_{2}=(k_{2}L)^{2}} two variables to stabilize the division with weak denominator; L {\displaystyle L} the dynamic range of the pixel-values (typically this is 2 # b i t s p e r p i x e l − 1 {\displaystyle 2^{\#bits\ per\ pixel}-1} ); k 1 = 0.01 {\displaystyle k_{1}=0.01} and k 2 = 0.03 {\displaystyle k_{2}=0.03} by default. === General formula and components === The SSIM formula is based on three comparison measurements between the samples of x {\displaystyle x} and y {\displaystyle y} : luminance ( l {\displaystyle l} ), contrast ( c {\displaystyle c} ), and structure ( s {\displaystyle s} ). The individual comparison functions are: l ( x , y ) = 2 μ x μ y + c 1 μ x 2 + μ y 2 + c 1 {\displaystyle l(x,y)={\frac {2\mu _{x}\mu _{y}+c_{1}}{\mu _{x}^{2}+\mu _{y}^{2}+c_{1}}}} c ( x , y ) = 2 σ x σ y + c 2 σ x 2 + σ y 2 + c 2 {\displaystyle c(x,y)={\frac {2\sigma _{x}\sigma _{y}+c_{2}}{\sigma _{x}^{2}+\sigma _{y}^{2}+c_{2}}}} s ( x , y ) = σ x y + c 3 σ x σ y + c 3 {\displaystyle s(x,y)={\frac {\sigma _{xy}+c_{3}}{\sigma _{x}\sigma _{y}+c_{3}}}} The SSIM for each block is then a weighted combination of those comparative measures: SSIM ( x , y ) = l ( x , y ) α ⋅ c ( x , y ) β ⋅ s ( x , y ) γ {\displaystyle {\text{SSIM}}(x,y)=l(x,y)^{\alpha }\cdot c(x,y)^{\beta }\cdot s(x,y)^{\gamma }} Choosing the third denominator stabilizing constant as: c 3 = c 2 / 2 {\displaystyle c_{3}=c_{2}/2} leads to a simplification when combining the c and s components with equal exponents ( β = γ {\displaystyle \beta =\gamma } ), as the numerator of c is then twice the denominator of s, leading to a cancellation leaving just a 2. Setting the weights (exponents) α , β , γ {\displaystyle \alpha ,\beta ,\gamma } to 1, the formula can then be reduced to the special case shown above. === Mathematical properties === SSIM satisfies the identity of indiscernibles, and symmetry properties, but not the triangle inequality or non-negativity, and thus is not a distance function. However, under certain conditions, SSIM may be converted to a normalized root MSE measure, which is a distance function. The square of such a function is not convex, but is locally convex and quasiconvex, making SSIM a feasible target for optimization. === Application of the formula === In order to evaluate the image quality, this formula is usually applied only on luma, although it may also be applied on color (e.g., RGB) values or chromatic (e.g. YCbCr) values. The resultant SSIM index is a decimal value between -1 and 1, where 1 indicates perfect similarity, 0 indicates no similarity, and -1 indicates perfect anti-correlation. For an image, it is typically calculated using a sliding Gaussian window of size 11×11 or a block window of size 8×8. The window can be displaced pixel-by-pixel on the image to create an SSIM quality map of the image. In the case of video quality assessment, the authors propose to use only a subgroup of the possible windows to reduce the complexity of the calculation. === Variants === ==== Multi-scale SSIM ==== A more advanced form of SSIM, called Multiscale SSIM (MS-SSIM) is conducted over multiple scales through a process of multiple stages of sub-sampling, reminiscent of multiscale processing in the early vision system. It has been shown to perform equally well or better than SSIM on different subjective image and video databases. ==== Multi-component SSIM ==== Three-component SSIM (3-SSIM) is a form of SSIM that takes into account the fact that the human eye can see differences more precisely on textured or edge regions than on smooth regions. The resulting metric is calculated as a weighted average of SSIM for three categories of regions: edges, textures, and smooth regions. The proposed weighting is 0.5 for edges, 0.25 for the textured and smooth regions. The authors mention that a 1/0/0 weighting (ignoring anything but edge distortions) leads to results that are closer to subjective ratings. This suggests that edge regions play a dominant role in image quality perception. The authors of 3-SSIM have also extended the model into four-component SSIM (4-SSIM). The edge types are further subdivided into preserved and changed edges by their distortion status. The proposed weighting is 0.25 for all four components. ==== Structural dissimilarity ==== Structural dissimilarity (DSSIM) may be derived from SSIM, though it does not constitute a distance function as the triangle inequality is not necessarily satisfied. DSSIM ( x , y ) = 1 − SSIM ( x , y ) 2 {\displaystyle {\hbox{DSSIM}}(x,y)={\frac {1-{\hbox{SSIM}}(x,y)}{2}}} ==== Video quality metrics and temporal variants ==== It is worth noting that the original vers
Block swap algorithms
In computer algorithms, block swap algorithms swap two regions of elements of an array. It is simple to swap two non-overlapping regions of an array of equal size. However, it is not as simple to swap two contiguous regions of an array of unequal sizes (algorithms that perform such swapping are called rotation algorithms). A few well-known algorithms can accomplish this: Bentley's juggling (also known as the dolphin algorithm), Gries-Mills rotation, triple reversal algorithm, conjoined triple reversal algorithm (also known as the trinity rotation) and Successive rotation. == Triple reversal algorithm == The triple reversal algorithm is the simplest to explain, using rotations. A rotation is an in-place reversal of array elements. This method swaps two elements of an array from outside in within a range. The rotation works for an even or odd number of array elements. The reversal algorithm uses three in-place rotations to accomplish an in-place block swap: Rotate region A Rotate region B Rotate region AB Where A and B are adjacent regions of an array that together form the region AB. Gries-Mills and reversal algorithms perform better than Bentley's juggling, because of their cache-friendly memory access pattern behavior. The triple reversal algorithm parallelizes well, because rotations can be split into sub-regions, which can be rotated independently of others.