作者:
Payeur, PUniv Ottawa
Sch Informat Technol & Engn Vis Imaging Video & Audio Res Lab Ottawa ON K1N 6N5 Canada
Autonomous robotic systems require a detailed model of space occupancy to be built from sensory information in order to navigate safely in their environment. Probabilistic occupancy models have been proposed that use ...
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ISBN:
(纸本)0780377834
Autonomous robotic systems require a detailed model of space occupancy to be built from sensory information in order to navigate safely in their environment. Probabilistic occupancy models have been proposed that use conditional probabilities evaluation to merge redundant measurements. These approaches provide meaningful representation of space but require important approximations to remain computationally tractable for high dimensionality, As a result, the strict definition of probability is denatured The present paper proposes an exploration of the fuzzy logic paradigm as a modeling tool for occupancy mapping in the context of work-space representation for robotic applications. A computationally tractable fuzzy logic inference engine is introduced that allows data fusion to construct a robot workspace representation in a more intuitive way while preserving desirable characteristics achieved by probabilistic modeling schemes.
In previous works, we introduced Stable Deterministic Residual Structures (SDRSs), Abstract Reduction Systems with an axiomatized residual relation which model orthogonal term and graph rewriting systems, and Determin...
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The VLSI implementation of arithmetic operations may be significantly improved by using non-conventional number representations and transforming intermediate results from one format to another format. For a target fun...
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The VLSI implementation of arithmetic operations may be significantly improved by using non-conventional number representations and transforming intermediate results from one format to another format. For a target function, the objective is to change the number representations of the input and output operands such that a minimum amount of logic circuitry is required to achieve a computation. Redundant arithmetic has received increasing interest in the past decade to reduce or eliminate carry propagation chains. The development of an analytical framework that expands the scope of functions that can be efficiently implemented using signed-binary representation is discussed in this paper. Implementation details are described that demonstrate the application of these results. Particular attention is placed on realizing the (a + b), -(a + b), (a - b), and -(a - b) functions in a complex /spl plusmn/1 multiplier serving as a pseudonoise code scrambler in wireless CDMA transceivers.
This paper proposes a structured graphical method which relates both functional and behavioral requirements and software specifications to a detailed software design and implementation of intelligent instruments. The ...
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This paper proposes a structured graphical method which relates both functional and behavioral requirements and software specifications to a detailed software design and implementation of intelligent instruments. The logic-based architecture is especially appropriate during the stage of conceptual design when modeling functional and behavioral specifications of digital instrumentation and control system are under consideration. The graphical representation of physical, functional and behavioral requirements is described through a multilayer hierarchical decomposition resulting from ontological analysis. As a consequence, the clear description of both goals and behavior for intelligent instruments within a single system that are based on first order logic axioms included in the ontology, allows one (with focussing on the teleological aspect of intelligent instruments) to enhance the model quality and to improve behavior reliability for intelligent instruments at run-time. The hierarchical decomposition (i) expresses semantic interrelations between the physical system and the behavioral items (ii) addresses incomplete or inconsistent requirements (iii) provides a structured framework that can serve as a basis for further extent. The system conceptualization is implemented in a new graphical tool resulting from the aggregation of object oriented software modules written in JAVA. The graphical tool is also referenced as Graphical CAPTool (GCAPTool).
In this paper, a new handshake methodology to enhance the performance of the asynchronous systems is proposed. The proposed handshake methodology has more flexibility to design an asymmetric asynchronous system. The p...
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ISBN:
(纸本)076951944X
In this paper, a new handshake methodology to enhance the performance of the asynchronous systems is proposed. The proposed handshake methodology has more flexibility to design an asymmetric asynchronous system. The proposed handshake methodology also has some advantages, like latch free, robust, high throughput, very short pre-charge time, less transistors, and more flexibility in asymmetry data path. A technique that combines a single-rail dynamic circuit with a dual-rail dynamic circuit was proposed and used to design in the data path. In the critical delay data paths, the dual-rail dynamic circuits were used to improve the operating speed. In others the single-rail dynamic circuits were used. It brings some advantages that reduce power consumption and die area while maintaining the calculation speed. Finally, an asynchronous array multiplier was designed and implemented by the new robust handshake methodology. Based on the TSMC 0.35 /spl mu/m CMOS technology, the simulation result of the maximum throughput is about 2.5 ns.
Adaptation is an important requirement for mobile applications due to the varying levels of resource availability that characterises mobile environments. However without proper control, multiple applications can each ...
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ISBN:
(纸本)0769516122
Adaptation is an important requirement for mobile applications due to the varying levels of resource availability that characterises mobile environments. However without proper control, multiple applications can each adapt independently in response to a range of different adaptive stimuli, causing conflicts or suboptimal performance. In this paper we present a policy driven approach for mobile adaptive systems that can overcome the aforementioned problems. Our system is based on a policy language derived from the Event Calculus logicprogramming formalism. Important characteristics of our policy language are the support for explicit expressions of time dependencies and the simple and user friendly syntax.
This paper develops the formal framework of ant programming with the goal of gaining a deeper understanding on ant colony optimization and, more in general, on the principles underlying the use of an iterated Monte Ca...
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We propose a methodology aimed at automating the software development of fast discrete transforms for N-body problems. The methodology starts with a representation of the transform matrix in compact form. Then, two tr...
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We propose a methodology aimed at automating the software development of fast discrete transforms for N-body problems. The methodology starts with a representation of the transform matrix in compact form. Then, two translation phases are applied. One translates matrix notation to an intermediate form. The other translates the intermediate form to compilable code for a target computing environment. The generated target code employs a library of pre-defined and optimized routines. We apply our methodology systematically to implement the three-dimensional fast multipole method. We demonstrate the efficiency of our code in a molecular dynamics simulation. (C) 2002 IMACS. Published by Elsevier Science B.V. All rights reserved.
We propose to use modal logic as a logic for coalgebras and discuss it in view of the work done on coalgebras as a semantics of object-oriented programming. Two approaches are taken: First, standard concepts of modal ...
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We propose to use modal logic as a logic for coalgebras and discuss it in view of the work done on coalgebras as a semantics of object-oriented programming. Two approaches are taken: First, standard concepts of modal logic are applied to coalgebras. For a certain kind of functor it is shown that the logic exactly captures the notion of bisimulation and a complete calculus is given. Examples of verifications of object properties are given. Second, we discuss the relationship of this approach with the coalgebraic logic of Moss (Coalgebraic logic, Ann. pure Appl. logic 96 (1999) 277-317.). (C) 2001 Elsevier Science B.V. All rights reserved.
This paper describes an implementation of narrowing, an essential component of implementations of modern functional logic languages. These implementations rely on narrowing, in particular on some optimal narrowing str...
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ISBN:
(纸本)158113388X
This paper describes an implementation of narrowing, an essential component of implementations of modern functional logic languages. These implementations rely on narrowing, in particular on some optimal narrowing strategies, to execute functional logic programs. We translate functional logic programs into imperative (Java) programs without an intermediate abstract machine. A central idea of our approach is the explicit representation and processing of narrowing computations as data objects. This enables the implementation of operationally complete strategies (i.e., without back-tracking) or techniques for search control (e.g., encapsulated search). Thanks to the use of an intermediate and portable representation of programs, our implementation is general enough to be treed as a common back end for a wide variety of functional logic languages.
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