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design and evaluation of a rapid programming system for service robots 16

Design and evaluation of a rapid programming system for serv...

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acm/IEEE International conference on Human-Robot Interaction (HRI)

作者： Justin Huang Tessa Lau Maya Cakmak Computer Science & Engineering University of Washington Seattle WA Savioke Inc. Santa Clara CA

ISBN: (纸本)9781467383707

This paper introduces CustomPrograms, a rapid programming system for mobile service robots. With CustomPrograms, roboticists can quickly create new behaviors and try unexplored use cases for commercialization. In our system, the robot has a set of primitive capabilities, such as navigating to a location or interacting with users on a touch screen. Users can then compose these primitives with general-purpose programming language constructs like variables, loops, conditionals, and functions. The programming language is wrapped in a graphical interface. This allows inexperienced or novice programmers to benefit from the system as well. We describe the design and implementation of CustomPrograms on a Savioke Relay robot in detail. Based on interviews conducted with Savioke roboticists, designers, and business people, we learned of several potential new use cases for the robot. We characterize our system's ability to fulfill these use cases. Additionally, we conducted a user study of the interface with Savioke employees and outside programmers. We found that experienced programmers could learn to use the interface and create 3 real-world programs during the 90 minute study. Inexperienced programmers were less likely to create complex programs correctly. We provide an analysis of the errors made during the study, and highlight the most common pieces of feedback we received. Two case studies show how the system was used internally at Savioke and at a major trade show.

关键词： programming profession Relays Computer languages Visualization Service robots

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Lightweight, Generative Variant Exploration for High-Performance Graphics Applications 2015

Lightweight, Generative Variant Exploration for High-Perform...

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14th acm sigplan International conference on Generative-programming - Concepts and Experiences (GPCE) co-located with SPLASH conference

作者： Selgrad, Kai Lier, Alexander Koeferl, Franz Stamminger, Marc Lohmann, Daniel Kastner, Christian Friedrich Alexander Univ Erlangen Nurnberg Erlangen Germany

ISBN: (纸本)9781450336871

Rendering performance is an everlasting goal of computer graphics and significant driver for advances in both, hardware architecture and algorithms. Thereby, it has become possible to apply advanced computer graphics technology even in low-cost embedded appliances, such as car instruments. Yet, to come up with an efficient implementation, developers have to put enormous efforts into hardware/problem-specific tailoring, fine-tuning, and domain exploration, which requires profound expert knowledge. If a good solution has been found, there is a high probability that it does not work as well with other architectures or even the next hardware generation. Generative DSL-based approaches could mitigate these efforts and provide for an efficient exploration of algorithmic variants and hardware-specific tuning ideas. However, in vertically organized industries, such as automotive, suppliers are reluctant to introduce these techniques as they fear loss of control, high introduction costs, and additional constraints imposed by the OEM with respect to software and tool-chain certification. Moreover, suppliers do not want to share their generic solutions with the OEM, but only concrete instances. To this end, we propose a light-weight and incremental approach for meta programming of graphics applications. Our approach relies on an existing formulation of C-like languages that is amenable to meta programming, which we extend to become a lightweight language to combine algorithmic features. Our method provides a concise notation for meta programs and generates easily sharable output in the appropriate C-style target language.

关键词： exploratory programming general purpose code generation prototyping ray tracing

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Proceedings of the acm sigplan International conference on Functional programming, ICFP

Proceedings of the ACM SIGPLAN International Conference on F...

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20th acm sigplan International conference on Functional programming, ICFP 2015

ISBN: (纸本)9781450336697

The proceedings contain 35 papers. The topics discussed include: functional pearl: a SQL to C compiler in 500 lines of code;an optimizing compiler for a purely functional web-application language;bounded refinement types;applicative bidirectional programming with lenses;hygienic resugaring of compositional desugaring;XQuery and static typing: tackling the problem of backward axes;noninterference for free;algebras and coalgebras in the light affine lambda calculus;structures for structural recursion;denotational cost semantics for functional languages with inductive types;analyzing the complexity of functional programs: higher-order meets first-order;functional programming and hardware design: still interesting after all these years;and pilsner: a compositionally verified compiler for a higher-order imperative language.

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Tracing vs. Partial Evaluation Comparing Meta-Compilation Approaches for Self-Optimizing Interpreters 2015

Tracing vs. Partial Evaluation Comparing Meta-Compilation Ap...

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acm sigplan International conference on Object-Oriented programming, Systems, languages, and Applications (OOPSLA)

作者： Marr, Stefan Ducasse, Stephane INRIA Lille France

ISBN: (纸本)9781450336895

Tracing and partial evaluation have been proposed as meta-compilation techniques for interpreters to make just-in-time compilation language-independent. They promise that programs executing on simple interpreters can reach performance of the same order of magnitude as if they would be executed on state-of-the-art virtual machines with highly optimizing just-in-time compilers built for a specific language. Tracing and partial evaluation approach this metacompilation from two ends of a spectrum, resulting in different sets of tradeoffs. This study investigates both approaches in the context of self-optimizing interpreters, a technique for building fast abstract-syntax-tree interpreters. Based on RPython for tracing and Truffle for partial evaluation, we assess the two approaches by comparing the impact of various optimizations on the performance of an interpreter for SOM, an object-oriented dynamically-typed language. The goal is to determine whether either approach yields clear performance or engineering benefits. We find that tracing and partial evaluation both reach roughly the same level of performance. SOM based on meta-tracing is on average 3 x slower than Java, while SOM based on partial evaluation is on average 2 : 3 x slower than Java. With respect to the engineering, tracing has however significant benefits, because it requires language implementers to apply fewer optimizations to reach the same level of performance.

关键词： languages Performance language implementation just-in-time compilation meta-tracing partial evaluation comparison case study self-optimizing interpreters

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Workshop preview of the 2015 workshop on reactive and event-based languages & systems (REBLS 2015)

Workshop preview of the 2015 workshop on reactive and event-...

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acm sigplan International conference on Systems, programming, languages and Applications: Software for Humanity, SPLASH 2015

作者： Salvaneschi, Guido De Meuter, Wolfgang Eugster, Patrick Ziarek, Lukasz Technische Universität Darmstadt Germany Vrije Universiteit Brussel Belgium Purdue University United States State University of New York United States

ISBN: (纸本)9781450337229

Reactive programming and event-based programming are two closely related programming styles that are becoming ever more important with the advent of advanced HCI technology and the ever increasing requirement for applications to run on the web or on collaborating mobile devices. A number of publications about middleware and language design - so-called reactive and event-based languages and systems - have already seen the light, but the field still raises several questions. For example, the interaction with mainstream language concepts is poorly understood, implementation technology is in its infancy and modularity mechanisms are almost totally lacking. Moreover, large applications are still to be developed and patterns and tools for developing reactive applications is an area that is vastly unexplored. This workshop gathers researchers in reactive and event-based languages and systems. The goal of the workshop is to exchange new technical research results and to define better the field by coming up with taxonomies and overviews of the existing work.

关键词： Object oriented programming

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Vectorization of Apply to Reduce Interpretation Overhead of R 2015

Vectorization of Apply to Reduce Interpretation Overhead of ...

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acm sigplan International conference on Object-Oriented programming, Systems, languages, and Applications (OOPSLA)

作者： Wang, Haichuan Padua, David Wu, Peng Univ Illinois Urbana IL 61801 USA Huawei R&D USA Santa Clara CA USA

ISBN: (纸本)9781450336895

R is a popular dynamic language designed for statistical computing. Despite R's huge user base, the inefficiency in R's language implementation becomes a major pain-point in everyday use as well as an obstacle to apply R to solve large scale analytics problems. The two most common approaches to improve the performance of dynamic languages are: implementing more efficient interpretation strategies and extending the interpreter with Just-In-Time (JIT) compiler. However, both approaches require significant changes to the interpreter, and complicate the adoption by development teams as a result. This paper presents a new approach to improve execution efficiency of R programs by vectorizing the widely used Apply class of operations. Apply accepts two parameters: a function and a collection of input data elements. The standard implementation of Apply iteratively invokes the input function with each element in the data collection. Our approach combines data transformation and function vectorization to convert the looping-over-data execution of the standard Apply into a single invocation of a vectorized function that contains a sequence of vector operations over the input data. This conversion can significantly speed-up the execution of Apply operations in R by reducing the number of interpretation steps. We implemented the vectorization transformation as an R package. To enable the optimization, all that is needed is to invoke the package, and the user can use a normal R interpreter without any changes. The evaluation shows that the proposed method delivers significant performance improvements for a collection of data analysis algorithm benchmarks. This is achieved without any native code generation and using only a single-thread of execution.

关键词： language Transformation Performance Dynamic language R Vectorization

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The shepard tone and higher-order multi-rate synchronous data-flow programming in SIG 3

The shepard tone and higher-order multi-rate synchronous dat...

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3rd acm sigplan International Workshop on Functional Art, Music, Modelling and design, FARM 2015

作者： Tranćon Y Widemann, Baltasar Lepper, Markus Ilmenau University of Technology Ilmenau DE Germany Semantics GmbH Berlin DE Germany

ISBN: (纸本)9781450338066

The total functional real-time data-flow programming language SIG features a core layer with elegant denotational semantics, in terms of Mealy stream transducers and coiterative causal stream functions, that is convenient for domain experts in the primary application domains, such as scientific modeling and digital music and event arts. The core suffices for the implementation of many basic signal processing components. For the expression of more sophisticated computations, a second layer of SIG provides additional features, namely higher-order functional programming and multi-rate synchronicity, reducible by transformational semantics to the core layer. Here we describe the design of the upper layer of SIG and demonstrate its usage with the Shepard Tone, a well-known sound synthesis problem and model of psycho-acoustically paradoxical perception of relative musical pitch.

关键词： Modeling languages

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Certified Symbolic Management of Financial Multi-party Contracts 2015

Certified Symbolic Management of Financial Multi-party Contr...

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20th acm sigplan International conference on Functional programming (ICFP)

作者： Bahr, Patrick Berthold, Jost Elsman, Martin Univ Copenhagen DIKU Dept Comp Sci Copenhagen Denmark Commonwealth Bank Australia Sydney NSW Australia

ISBN: (纸本)9781450336697

Domain-specific languages (DSLs) for complex financial contracts are in practical use in many banks and financial institutions today. Given the level of automation and pervasiveness of software in the sector, the financial domain is immensely sensitive to software bugs. At the same time, there is an increasing need to analyse (and report on) the interaction between multiple parties. In this paper, we present a multi-party contract language that rigorously relegates any artefacts of simulation and computation from its core, which leads to favourable algebraic properties, and therefore allows for formalising domain-specific analyses and transformations using a proof assistant. At the centre of our formalisation is a simple denotational semantics independent of any stochastic aspects. Based on this semantics, we devise certified contract analyses and transformations. In particular, we give a type system, with an accompanying type inference procedure, that statically ensures that contracts follow the principle of causality. Moreover, we devise a reduction semantics that allows us to evolve contracts over time, in accordance with the denotational semantics. From the verified Coq definitions, we automatically extract a Haskell implementation of an embedded contract DSL along with the formally verified contract management functionality. This approach opens a road map towards more reliable contract management software, including the possibility of analysing contracts based on symbolic instead of numeric methods.

关键词： languages Verification Domain-Specific language Financial Contracts Coq Haskell Certified Code Type System Semantics

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A Hardware design language for Timing-Sensitive Information-Flow Security 15

A Hardware Design Language for Timing-Sensitive Information-...

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20th International conference on Architectural Support for programming languages and Operating Systems (ASPLOS)

作者： Zhang, Danfeng Wang, Yao Suh, G. Edward Myers, Andrew C. Cornell Univ Ithaca NY 14853 USA

ISBN: (纸本)9781450328357

Information security can be compromised by leakage via low-level hardware features. One recently prominent example is cache probing attacks, which rely on timing channels created by caches. We introduce a hardware design language, SecVerilog, which makes it possible to statically analyze information flow at the hardware level. With SecVerilog, systems can be built with verifiable control of timing channels and other information channels. SecVerilog is Verilog, extended with expressive type annotations that enable precise reasoning about information flow. It also comes with rigorous formal assurance: we prove that SecVerilog enforces timing-sensitive noninterference and thus ensures secure information flow. By building a secure MIPS processor and its caches, we demonstrate that SecVerilog makes it possible to build complex hardware designs with verified security, yet with low overhead in time, space, and HW designer effort.

关键词： Timing channels hardware description language information flow control dependent types

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Cross-Layer Memory Management for Managed language Applications 2015

Cross-Layer Memory Management for Managed Language Applicati...

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acm sigplan International conference on Object-Oriented programming, Systems, languages, and Applications (OOPSLA)

作者： Jantz, Michael R. Robinson, Forrest J. Kulkarni, Prasad A. Doshi, Kshitij A. Univ Tennessee Knoxville TN 37996 USA Univ Kansas Lawrence KS 66045 USA Intel Corp Santa Clara CA 95051 USA

ISBN: (纸本)9781450336895

Performance and energy efficiency in memory have become critically important for a wide range of computing domains. However, it is difficult to control and optimize memory power and performance because these effects depend upon activity across multiple layers of the vertical execution stack. To address this challenge, we construct a novel and collaborative framework that employs object placement, cross-layer communication, and page-level management to effectively distribute application objects in the DRAM hardware to achieve desired power/performance goals. In this work, we describe the design and implementation of our framework, which is the first to integrate automatic object profiling and analysis at the application layer with fine-grained management of memory hardware resources in the operating system. We demonstrate the utility of our framework by employing it to more effectively control memory power consumption. We design a custom memory-intensive workload to show the potential of our approach. Next, we develop sampling and profiling-based analyses and modify the code generator in the HotSpot VM to understand object usage patterns and automatically determine and control the placement of hot and cold objects in a partitioned VM heap. This information is communicated to the operating system, which uses it to map the logical application pages to the appropriate DRAM ranks according to user-defined provisioning goals. We evaluate our framework and find that it achieves our test goal of significant DRAM energy savings across a variety of workloads, without any source code modifications or recompilations.

关键词： design Experimentation Performance Cross-layer Power Efficiency DRAM HotSpot

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