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(3) automatic adjustment of the multipro-  where c(k) =[i k ,j k ], such that the distance
                              cessing program at run time that reflects the
                                                                                     K
                              actual number of CPUs available presently.           .  X           2
                                                                          d(A, B) ==   (a i(k) − b j(k) )
                              For instance, a DO loop with 100 itera-
                                                                                    k=1
                              tions is automatically scheduled as 2 blocks
                              with 50 iterations on a two-processor sys-  is minimum. The optimization must take
                              tem, as 10 blocks with 10 iterations on a  place under the following conditions:
                              ten-processor system, and as one block on a  1. monotonic condition
                              single-processor machine. This enables one  i(k) ≥ i(k − 1) and j(k) ≥ j(k − 1)
                              to run multiprocessor programs on single-  2. boundary conditions
                              processor computers.                   i(1) = k(1) = 1
                                                                     i(K) = M
                              dynamic simulation  See direct dynamics.  j(K) = N
                                                                     3. non-skip condition i(k)−i(k−1) ≤ 1 and
                                                                     j(k) − j(k − 1) ≤ 1
                              dynamic stability  a measure of a power  4. efficiency condition
                              system to return to a pre-disturbance steady-  |i(k) − j(k)| <Q
                              state condition following a disturbance.  The solution of this problem can be ob-
                                                                     tained by Belmann’s dynamic programming.
                              dynamic system  See static system.     The algorithm that produces the optimal tem-
                                                                     plate alignment is referred to as dynamical
                              dynamic time division multiple access  time warping (DTW).
                              (D-TDMA)    time division multiple access
                              scheme in which the channels are assigned  dynamic time warping (DTW)  a recog-
                              dynamically. See also time division multiple  nition technique based on nonlinear time
                              access.                                alignment of unknown utterances with ref-
                                                                     erence templates.
                              dynamic time warping   in problems of
                                                                     dynamical    linear    nonstationary
                              temporal pattern recognition, each exemplar
                                                                     continuous-time finite-dimensional sys-
                              can be regarded as a sequence of vectors.
                                                                     tem      a system described by the linear
                              The process of pattern matching requires to
                                                                     ordinary differential state-equation
                              carry out an optimal alignment of the vectors
                              composing the sequences so as to minimize     0
                                                                           x (t) = A(t)x(t) + B(t)u(t)
                              a proper distance. For example, in automatic
                              speech recognition, the problem of isolated
                                                                     and the linear algebraic output equation
                              word recognition requires producing an op-
                              timal alignment between the incoming word    y(t) = C(t)x(t) + D(t)u(t)
                              to be classified and a reference template. Let
                                                                     where
                                                                                         n
                                        A = [a 1 ,..., a M ]                      x(t) ∈ R
                                        B = [b 1 ,..., b N ]
                                                                     is the state vector,
                                                               p
                              be two sequences of vectors (a i , b i ∈ R )               m
                                                                                  u(t) ∈ R
                              that must be aligned optimally. Formally, de-
                              termining the optimal alignment consists of
                                                                     is the input vector,
                              finding a warping function
                                                                                  y(t) ∈ R q
                                         C = c 1 ,...,c K


                              c 
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