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检索条件"主题词=Automatic Programming"

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Towards a Real-Time Bayesian Imitation System for a Humanoid Robot

Towards a Real-Time Bayesian Imitation System for a Humanoid...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Aaron P. Shon Joshua J. Storz Rajesh P. N. Rao Department of Computer Science and Engineering University of Washington Seattle WA USA

Imitation learning, or programming by demonstration (PbD), holds the promise of allowing robots to acquire skills from humans with domain-specific knowledge, who nonetheless are inexperienced at programming robots. We have prototyped a real-time, closed-loop system for teaching a humanoid robot to interact with objects in its environment. The system uses nonparametric Bayesian inference to determine an optimal action given a configuration of objects in the world and a desired future configuration. We describe our prototype implementation, show imitation of simple motor acts on a humanoid robot, and discuss extensions to the system

关键词： Real time systems Bayesian methods Humanoid robots Humans Hidden Markov models Prototypes Computer architecture automatic programming Robot programming Encoding

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SUPERB support for irregular scientific computations

SUPERB support for irregular scientific computations

引用

Scalable High Performance Computing Conference

作者： P. Brezany M. Gerndt V. Sipkova H.P. Zima Department of Statistics and Computer Science University of Technology Vienna Vienna Austria Zentralinstitut fuer Angewandte Mathematik Forschungszentrum Juelich GmbH Germany

Runtime support for parallelization of scientific programs is needed when some information important for decisions in this process cannot be accurately derived at compile time. This paper describes a project which integrates runtime parallelization with the advanced compile-time parallelization techniques of SUPERB. Besides the description of implementation techniques, language constructs are proposed, providing means for the specification of irregular computations. SUPERB is an interactive SIMD/MIMD parallelizing system for the Suprenum, iPSC/860 and Genesis-P machines. The implementation of the runtime parallelization is based on the Parti procedures developed at ICASE NASA.< >

关键词： Runtime Statistics Computer science NASA Storage automation automatic programming Parallel programming Performance analysis Concurrent computing Distributed computing

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Distributed applications construction environment

Distributed applications construction environment

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IEEE Workshop on Future Trends of Distributed Computing Systems

作者： C.S. Yang S.S.B. Shi A.Y.M. Liu Institute of Computer and Information Engineering National Sun Yat-Sen University Kaohsiung Taiwan Distributed Computing Services IBM Austin USA

OSF DCE (Distributed Computing Environment) offers a programming environment that facilitates users to implement clients and servers residing on different workstation. However, developing a DCE client and server application is not an easy task. DCE offers hundreds of APIs and users will easily get confused with what they need in order to accomplish their mission. This paper presents a design of a Client/Server program construction environment. With this environment users can implement their applications in traditional sequential language. Our system will automatically translate the sequential program into client and server programs. A working prototype has been implemented.

关键词： Network servers Distributed control Application software Workstations Distributed computing programming environments Computer networks automatic programming Power system interconnection Parallel programming

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The automatic generation of programs for classification problems with grammatical swarm

The automatic generation of programs for classification prob...

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Congress on Evolutionary Computation

作者： M. O'Neill A. Brabazon C. Adley Biocomputing and Developmental Systems Group University of Limerick Ireland University College Dublin Ireland University of Limerick Ireland

This case study examines the application of grammatical swarm to classification problems, and illustrates the particle swarm algorithms' ability to specify the construction of programs. Each individual particle represents choices of program construction rules, where these rules are specified using a Backus-Naur Form grammar. Two problem instances are tackled, the first a mushroom classification problem, the second a bioinformatics problem that involves the detection of eukaryotic DNA promoter sequences. For the first problem we generate solutions that take the form of conditional statements in a C-like language subset, and for the second problem we generate simple regular expressions. The results demonstrate that it is simple regular expressions. The results demonstrate that it is possible to generate programs using the grammatical swarm technique with a performance similar to the grammatical evolution evolutionary automatic programming approach.

关键词： Particle swarm optimization automatic programming Educational institutions DNA Sequences Insects Birds Marine animals Robustness Control systems

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Learning movement sequences from demonstration

Learning movement sequences from demonstration

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IEEE International Conference on Development and Learning, ICDL

作者： R. Amit M. Matari Computer Science Department University of Southern California Los Angeles CA USA

Presents a control and learning architecture for humanoid robots designed for acquiring movement skills in the context of imitation learning. Multiple levels of movement abstraction occur across the hierarchical structure of the architecture, finally leading to the representation of movement sequences within a probabilistic framework. As its substrate, the framework uses the notion of visuo-motor primitives, modules capable of recognizing as well as executing similar movements. This notion is heavily motivated by the neuroscience evidence for motor primitives and mirror neurons. Experimental results from an implementation of the architecture are presented involving learning and representation of demonstrated movement sequences from synthetic as well as real human movement data.

关键词： Neurons Humans Neuroscience Computer science Mirrors Robotics and automation Psychology Robots Animals automatic programming

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Automata theory for multi-agent systems implementation

Automata theory for multi-agent systems implementation

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International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： L. Naumov A. Shalyto Computer Science Department Saint Petersburg State lnstitute of Fine Mechanics and Optics Saint Petersburg Russia

We show that automata theory can be useful for engineering, developing and documenting multiagent systems. Algorithmization and programming principles for logic control are formulated, regarding algorithms and program... 详细信息

关键词： Automata Multiagent systems Logic programming automatic control automatic programming Object oriented programming Control systems Computer languages Hardware IEC standards

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Deinsum: practically I/O optimal multi-linear algebra 22

Deinsum: practically I/O optimal multi-linear algebra

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Proceedings of the International Conference on High Performance Computing, Networking, Storage and Analysis

作者： Alexandros Nikolaos Ziogas Grzegorz Kwasniewski Tal Ben-Nun Timo Schneider Torsten Hoefler ETH Zurich Zurich Switzerland NextSilicon Tel Aviv Israel

Multilinear algebra kernel performance on modern massively-parallel systems is determined mainly by data movement. However, deriving data movement-optimal distributed schedules for programs with many high-dimensional inputs is a notoriously hard problem. State-of-the-art libraries rely on heuristics and often fall back to suboptimal tensor folding and BLAS calls. We present Deinsum, an automated framework for distributed multilinear algebra computations expressed in Einstein notation, based on rigorous mathematical tools to address this problem. Our framework automatically derives data movement-optimal tiling and generates corresponding distributed schedules, further optimizing the performance of local computations by increasing their arithmetic intensity. To show the benefits of our approach, we test it on two important tensor kernel classes: Matricized Tensor Times Khatri-Rao Products and Tensor Times Matrix chains. We show performance results and scaling on the Piz Daint supercomputer, with up to 19x speedup over state-of-the-art solutions on 512 nodes.

关键词： performance analysis hardware acceleration distributed computing tensors linear algebra automatic programming

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Virtual robot teaching in the assembly work environment for multi-fingered robots

Virtual robot teaching in the assembly work environment for ...

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Proceedings of the Biannual World Automation Congress

作者： Haruhisa Kawasaki Tomohiro Furukawa Satoshi Ueki Tetsuya Mouri GIFU UNIVERSITY JAPAN

A virtual robot teaching system, consisting of human demonstration and motion-intention analysis in a virtual reality environment, is an advanced form of automatic programming for multi-fingered robots. We propose a new segmentation method to analyze human motion data. In this method, the human motion data consisting of contact points, grasped force, hand and object position, and the like are segmented into plural primitive motions and the type of task is analyzed based on the sequence of the primitive motions. A trial assembly task using a humanoid robot hand named Gifu Hand III is shown.

关键词： Robotic assembly Educational robots Education Motion analysis Robotics and automation Humans Virtual reality automatic programming Data analysis Humanoid robots

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Multidimensional and Multitopological TCAD with a Generic Scientific Simulation Environment

Multidimensional and Multitopological TCAD with a Generic Sc...

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IEEE International Caracas Conference on Devices, Circuits and Systems

作者： Rene Heinzl Michael Spevak Philipp Schwaha Tibor Grasser Institute for Microelectronics Christian Doppler Laboratory TCAD in Microelectronics USA Institute for Microelectronics Technical University of of Vienna Vienna Austria

A new approach for solving TCAD problems in a multidimensional and multitopological way based on a generic scientific simulation environment is presented. By embedding functional programming, the environment imposes no restrictions on geometry, topology, or discretization schemes. Therewith equations and even complete models can be implemented easily. The generic and functional programming paradigms and the applicability in the area of TCAD are presented

关键词： Multidimensional systems Circuit simulation Analytical models Computational modeling Scientific computing Finite element methods Libraries Microelectronics Transient analysis automatic programming

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Estimating Strength of Concrete Using a Grammatical Evolution

Estimating Strength of Concrete Using a Grammatical Evolutio...

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International Conference on Natural Computation (ICNC)

作者： Hsun-Hsin Hsu Li Chen Chang-Huan Kou Tai-Sheng Wang Sing-Han Chen Department of Civil Engineering and Engineering Informatics Chung Hua University Hsinchu Taiwan

ISBN: (纸本)9781424445424

The main purpose of this paper is to propose an incorporating a grammatical evolution (GE) into the genetic algorithm (GA), called GEGA, and apply it to estimate the compressive strength of high-performance concrete (HPC). The GE, an evolutionary programming type system, automatically discovers complex relationships between significant factors and the strength of HPC in a more transparent way to enhance our understanding of the mechanisms. A GA was used afterward with GE to optimize the appropriate function type and associated coefficients using over 1,000 examples for which experimental data were available. The results show that this novel model, GEGA, can obtain a highly nonlinear mathematical equation which outperforms than the traditional multiple regression analysis (RA) with lower estimating errors for predicting the compressive strength of HPC.

关键词： Concrete Civil engineering Genetic engineering Informatics Mathematical model Building materials Biological cells Genetic algorithms Regression analysis automatic programming

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