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Inserting safe memory reuse commands into ML-like programs 03

Proceedings of the 10th international conference on Static analysis

作者： Oukseh Lee Hongseok Yang Kwangkeun Yi Dept. of Computer Science Research on Program Analysis System Korea Advanced Institute of Science and Technology

ISBN: (纸本)9783540403258

We present a static analysis that estimates reusable memory cells and a source-level transformation that adds explicit memory-reuse commands into the program text. For benchmark ML programs, our analysis and transformation achieves the memory reuse ratio from 5.2% to 91.3%. The small-ratio cases are for programs that have too prevalent sharings among memory cells. For other cases, our experimental results are encouraging in terms of accuracy and cost. Major features of our analysis are: (1) poly-variant analysis of functions by parameterization for the argument heap cells; (2) use of multiset formulas in expressing the sharings and partitionings of heap cells; (3) deallocations conditioned by dynamic flags that are passed as extra arguments to functions; (4) individual heap cell as the granularity of explicit memory-free. Our analysis and transformation is fully automatic.

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Fuzzy-neuro predictive control, tuned by genetic algorithms, applied to a fermentation process

Fuzzy-neuro predictive control, tuned by genetic algorithms,...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： J.A. Fabro L.V.R. Arruda Automation and Advanced Control Systems Labratory-LASCA Graduate Program on Electrical Engineering and Applied Computer Science-CPGEI Federal Centre of Technological Education of Paraná Curitiba Parana Brazil

This paper proposes the development of a fuzzy predictive control. Genetic algorithms (GA's) are used to automatically tune the controller. A recurrent neural network is used to identify the process, and then provides predictions about the process behavior, based on control actions applied to the system. These predictions are used by the fuzzy controller, in order to accomplish a better control of an alcoholic fermentation process from chemical industry. This problem has been chosen due to its non-linearity and large accommodation time, that make it hard to control by standard controllers. Comparison of performance is made with non-predictive approaches(PID and Fuzzy-PD), and also with another predictive approach, GPC(Generalized Predictive Control).

关键词： Predictive control Genetic algorithms Control systems Fuzzy control Alcoholism Recurrent neural networks Nonlinear control systems Artificial intelligence Biomass Control system synthesis

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Humanoid arm motion planning using stereo vision and RRT search

Humanoid arm motion planning using stereo vision and RRT sea...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S. Kagami J. Kuffner K. Nishiwaki K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Agency Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Japan School of Computer Science Carnegie Mellon University USA Department of Mechano-Informatics School of Information Science and Technology University of Tokyo Japan

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and on-line consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (rapidly exploring random trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

关键词： Stereo vision Humanoid robots Motion planning Humans Technology planning Robot sensing systems Orbital robotics Kinematics computer science Information science

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Vision-based 2.5D terrain modeling for humanoid locomotion

Vision-based 2.5D terrain modeling for humanoid locomotion

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Kagami K. Nishiwaki J.J. Kuffner K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Corporation Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan Department of Mechano-lnformatics School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan School of Computer Science Carnegie Mellon University Pittsburgh PA USA

We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.

关键词： Robot kinematics Legged locomotion Humanoid robots Mobile robots Robot vision systems Intelligent robots Foot Stereo vision Cameras Robot sensing systems

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Sink insertion for mesh improvement

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International Journal of Foundations of computer science 2002年第2期13卷 223-242页

作者： Edelsbrunner, Herbert Guoy, Damrong Department of Computer Science Duke University Durham NC 27708 United States Raindrop Geomagic Research Triangle Park NC 27709 United States Center for Simulation of Advanced Rockets Computational Science and Engineering Program University of Illinois at Urbana-Champaign Urbana IL 61801 United States

We propose sink insertion as a new technique to improve the mesh quality of Delaunay triangulations. We compare it with the conventional circumcenter insertion technique under three scheduling regimes: incremental, in blocks, and in parallel. Justification for sink insertion is given in terms of mesh quality, numerical robustness, running time, and ease of parallelization. © 2002 World Scientific Publishing Company.

关键词： Delaunay triangulations dynamic data structures experimentation Mesh generation mesh quality parallel meshing

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Use of molecular beacons to study mixing and hybridization in microfluidic devices

Use of molecular beacons to study mixing and hybridization i...

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International Conference on Microtechnologies in Medicine and Biology

作者： Chuanwu Xi M. Balberg J. Selby S. Boppart L. Raskin Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign Urbana-Champaign IL USA Department of Electrical and Computer Engineering Bioengineering Program Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign Urbana-Champaign IL USA

We present the use of molecular beacons as sensitive indicators in microfluidic bioMEM devices. A method has been developed to study mixing and hybridization of molecular beacons to target nucleic acids in real time in a microfluidic channel. This method allows quantification of DNA and RNA molecules in solution, i.e., without the prerequisite of an immobilization step necessary in most other hybridization formats. The detection limit for DNA was determined to be in the order of femtomoles. Our results suggest the feasibility of using molecular beacon hybridization in microfluidic devices for the detection of pathogenic bacteria in environmental and medical fluids.

关键词： Microfluidics DNA RNA Microorganisms Kinetic theory Probes Sequences Ultrafast optics Fabrication USA Councils

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Puzzles for Learning Model Checking, Model Checking for programming Puzzles, Puzzles for Testing Model Checkers

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Electronic Notes in Theoretical computer science 2001年 43卷 34-49页

作者： N.V. Shilov K. Yi Research On Program Analysis System (ROPAS) Department of Computer Science Korean Advanced Institute of Science and Technology (KAIST) Kusong-dong Yusong-gu 373-1 Taejon 305-701 Republic of Korea

Paper discusses some issues related to the utility of finite games for early formal methods teaching and for validation of automatic tools which implement formal methods. In particular, some experience with (1) undergraduate teaching model checking via finite games, (2) solving game-based constraints via model checking, (3) testing model checkers against game test suits is presented. Basic ideas are illustrated by a model checking based solution for a complicated puzzle how to identify a unique false coin among given ones balancing them limited times.

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Design of gyroscope-free navigation systems

Design of gyroscope-free navigation systems

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International Conference on Intelligent Transportation

作者： Chin-Woo Tan S. Park K. Mostov P. Varaiya Partners for Advanced Transit and Highways PATH Program University of California Berkeley USA Department of Electrical Engineering and Computer Science University of California Berkeley USA

We examine the feasibility of designing a gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body. The accelerometer output equation is derived to relate the linear and angular motions of a rigid body relative to a fixed inertial frame. A sufficient condition is given to determine if a configuration of accelerometers is feasible. If the condition is satisfied, the angular and linear motions can be computed separately using two decoupled equations of an input-output (I/O) dynamical system; a state equation for angular velocity and an output equation for linear acceleration. This simple computation scheme is derived from the corresponding dynamical system equations for a special cube configuration for which the angular acceleration is expressed as a linear combination of the accelerometer outputs.

关键词： Gyroscopes Accelerometers Equations Acceleration Inertial navigation Angular velocity Sufficient conditions Aircraft navigation Rotation measurement Automobiles

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GA-based kernel optimization for pattern recognition: theory for EHW application

GA-based kernel optimization for pattern recognition: theory...

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Congress on Evolutionary Computation

作者： M. Yasunaga T. Nakamura I. Yoshihara J.H. Kim Institute Information Science and Electrical University of Tsukuba Tsukuba Ibaraki Japan Doctoral Program of Engineering University of Tsukuba Tsukuba Ibaraki Japan Miyazaki University Miyazaki Japan The Center for Advanced Computer Studies University of Louisiana Lafayette LA USA

An extension of the kernel-based pattern recognition method using a genetic algorithm is proposed. The method is suited to evolvable pattern recognition hardware using FPGAs. In the conventional method one common kernel function is used in the superposition to make discrimination functions. In the extended method each region of the kernel function is optimized individually. For the kernel-region optimization we use a genetic algorithm to solve a large combinatorial problem almost impossible to solve using any brute-force search. A chromosome represents the kernel region in an n-dimensional pattern space, and each locus corresponds to one of the candidates (genes) for an edge length of the kernel region. We have applied the extended method to a sonar spectrum recognition problem and obtained a recognition accuracy of 83.9%, which is much higher than the 62.0% obtained using the conventional kernel-based method and is also better than 82.7% obtained using the nearest neighbor method and the 83.0% obtained using a neural network (backpropagation algorithm). We have analyzed the individually optimized kernel regions and shown that the GA process automatically extracts features in the patterns and embeds the features in the kernel regions.

关键词： Kernel Pattern recognition Genetic algorithms Hardware Field programmable gate arrays Optimization methods Biological cells Sonar applications Nearest neighbor searches Neural networks

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