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IEEE International Conference on Robotics and Automation (ICRA)

作者： Geoffrey Hollinger Athanasios Kehagias Sanjiv Singh The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA Division of Mathematics Department of Math. Phys. and Computer Science s Faculty of Engineering Aristotle University of Thessaloniki Thessaloniki Greece

In this paper, we describe a method for coordinating multiple robots in a pursuit-evasion domain. We examine the problem of multiple robotic pursuers attempting to locate a non-adversarial mobile evader in an indoor environment. Unlike many other approaches to this problem, our method seeks to minimize expected time of capture rather than guaranteeing capture. This allows us to examine the performance of our algorithm in complex and cluttered environments where guaranteed capture is difficult or impossible with limited pursuers. We present a probabilistic formulation of the problem, discretize the environment, and define cost heuristics for use in planning. We then propose a scalable algorithm using an entropy cost heuristic that searches possible movement paths to determine coordination strategies for the robotic pursuers. We present simulated results describing the performance of our algorithm against state of the art alternatives in a complex office environment. Our algorithm successfully reduces capture time with limited pursuers in an environment beyond the scope of many other approaches.

关键词： Robot kinematics Robotics and automation Costs Robot sensing systems Mobile robots Indoor environments Entropy Humans Game theory Environmental economics

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On MIDO Space-Time Block Codes

On MIDO Space-Time Block Codes

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IEEE International Symposium on Information Theory

作者： Camilla Hollanti Kalle Ranto Lab of Discrete Math. for Inf. Tech. Turku Centre for Computer Science Turku Finland Laboratory of Discrete Mathematics for Information Technology Turku Center for Computer Science Turku Finland Department of Mathematics University of Turku Finland

ISBN: (纸本)9781424413973

In this paper, the need for the construction of multiple input-double output (MIDO) space-time block codes (STBCs) is discussed, concentrating on the case of four transmitters for simplicity. Above the trivial method, i.e. switching off the extra layers in the usual multiple input-multiple output (MIMO) setting, two smarter yet simple MIDO construction methods are proposed. The use of these general methods is then demonstrated by building explicit, sphere decodable codes using two different cyclic division algebras (CDAs). We verify by computer simulations that the newly proposed methods perform extremely well as opposed to the trivial construction.

关键词： Block codes Algebra MIMO Decoding Delay Quaternions Diversity methods computer science math.matics Transmitters

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Convergence properties of preconditioned hermitian and skew-hermitian splitting methods for non-hermitian positive semidefinite matrices

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math.matics of Computation 2007年第257期76卷 287-298页

作者： Bai, Zhong-Zhi Golub, Gene H. Li, Chi-Kwong Department of Mathematics Fudan University Shanghai 200433 China State Key Laboratory of Scientific Acad. of Math. and Syst. Sci. Chinese Acad. of Sci. Beijing 100080 P.O. BOX 2719 China Scientific Computing and Computational Mathematics Program Department of Computer Science Stanford University Stanford CA 94305-9025 United States Department of Mathematics College of William and Mary Williamsburg VA 23187-8795 P.O. Box 8795 United States

For the non-Hermitian and positive semidefinite systems of linear equations, we derive necessary and sufficient conditiorrs for guaranteeing the unconditional convergence of the preconditioned Hermitian and skew-Hermitian splitting iteration methods. We then apply these results to block tridiagonal linear systems in order to obtain convergence conditions for the corresponding block variants of the preconditioned Hermitian and skew-Hermitian splitting iteration methods. © 2006 American math.matical Society.

关键词： Convergence Hermitian and skew-Hermitian splitting Non-Hermitian matrix Positive semidefinite matrix Splitting iteration method

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Service Matching in Online Community for Mutual Assisted Living

Service Matching in Online Community for Mutual Assisted Liv...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Hong Sun Vincenzo De Florio Ning Gui Chris Blondia Interdisciplinary institute for BroadBand Technology Ghent-Ledeberg Belgium Department of Mathematics and Computer Science Performance Analysis of Telecommunication Systems group Antwerp Belgium Dept. of Math. & Comput. Sci. Performance Anal. of Telecommun. Syst. Group Antwerp

Elder people are becoming a predominant aspect of our societies. As such, solutions both efficacious and cost-effective need to be sought. Our previous study suggests that mutual assisted living community, where dwellers make contributions to the community. Thus community resources could be fully utilized and requested services would be provided in a prompt way. We used service oriented architecture (SOA) to orchestrate the available resources inside the community; and we organize the services into different forms such as formal ones (carried out by professionals, etc), informal ones (assisted by relatives, volunteers, .etc) and even as group activities. We expect such a community could help not only efficiently utilizing the social resources in maintaining the independent living of the elderly people, but also helping these people maintain their connections to the society and bring them entertainment, so that the quality of their living standard may be improved at the same time. This paper continues the track of the previous studies on building mutual assistance communities. Service matching algorithms are developed providing flexible choices on both requested services content and the organization forms of the services.

关键词： Communities Ontologies Web services Organizations Service oriented architecture OWL Organizing

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On embedding triconnected cubic graphs on point sets

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Electronic Notes in Discrete math.matics 2007年第SPEC. ISS.期29卷 531-538页

作者： García, Alfredo Hurtado, Ferran Huemer, Clemens Tejel, Javier Valtr, Pavel Departamento de Métodos Estadísticos Facultad de Ciencias Universidad de Zaragoza 50009-Zaragoza Pedro Cerbuna 12 Spain Dept. Matematica Aplicada II. Universitat Politecnica de Catalunya. Jordi Girona 1-3. 08034 Barcelon Spain Dept. Matematica Aplicada II. Universitat Politecnica de Catalunya. Jordi Girona 1-3. 08034 Barcelon Spain Departamento de Métodos Estadísticos Facultad de Ciencias Universidad de Zaragoza 50009-Zaragoza Pedro Cerbuna 12 Spain Dept. of Applied Math. Institute for Theoretical Computer Science (ITI) Charles University 118 00 Praha 1 Malostranské nám. 25 Czech Republic

We show that for a given set S of 2n points in general position in the plane, there is a cubic 3-connected crossing-free geometric graph on the vertex set S if and only if the interior of the convex hull of S contains at least n - 1 points of S. We also give similar results for sets of odd cardinality. Analogous partial results are given if the 3-connected crossing-free geometric graph is not required to be cubic. © 2007.

关键词： 3-connected graphs cubic graphs embeddings in the plane geometric graphs

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Web Services Interfaces and Open Standards Integration into the European UNICORE 6 Grid Middleware

Web Services Interfaces and Open Standards Integration into ...

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International Workshop on Enterprise Distributed Object Computing, EDOCW

作者： M. Riedel B. Schuller D. Mallmann R. Menday A. Streit B. Tweddell M. Shahbaz Memon A. Shiraz Memon B. Demuth T. Lippert D. Snelling S. van den Berghe V. Li M. Drescher A. Geiger G. Ohme A. Vanni C. Cacciari S. Lanzarini P. Malfetti K. Benedyczak P. Bala R. Ratering A. Lukichev Central Institute for Applied Mathematics John von Neumann Institute of Computing Forschungszentrum Julich Julich Germany John von Neumann Inst. for Comput. Forschungszentrum Julich Central Inst. for Appl. Math. Julich Fujitsu Laboratories Limited Hayes UK Solutions for Research T-Systems Corporation Wessling Germany High Performance Computing Department CINECA Bologna Italy Faculty of Mathematics and Computer Science Torun Nicolaus Copernicus University Torun Poland Software and Solutions Group Intel Corporation Bruhl Germany

The UNICORE grid system provides a seamless, secure and intuitive access to distributed grid resources. In recent years, UNICORE 5 is used as a well-tested grid middleware system in production grids (e.g. DEISA, D-Grid) and at many supercomputer centers world-wide. Beyond this production usage, UNICORE serves as a solid basis in many European and International research projects and business scenarios from T-Systems, Philips Research, Intel, Fujitsu and others. To foster ongoing developments in multiple projects, UNICORE is open source under BSD license at SourceForge. More recently, the new Web services-based UNICORE 6 has become available that is based on open standards such as the Web services addressing (WS-A) and the Web services resource framework (WS-RF) and thus conforms to the open grid services architecture (OGSA) of the open grid forum (OGF). In this paper we present the evolution from production UNICORE 5 to the open standards-based UNICORE 6 and its various Web services-based interfaces. It describes the interface integration of emerging open standards such as OGSA-BES and OGSA-RUS and thus provides an overview of UNICORE 6.

关键词： Web services Middleware Service oriented architecture Space technology math.matics Grid computing High performance computing Supercomputers Production facilities Paramagnetic resonance

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Metacomputing revisited: Alternative paradigms for distributed resource sharing

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ICCS 2006: 6th International Conference on Computational science

作者： Sunderam, Vaidy Department of Math. and Computer Science Emory University Atlanta GA 30322 United States

ISBN: (纸本)3540343792

Conventional distributed computing paradigms such as PVM and MPI(CH) have had mixed success when translated to computing environments that span multiple administrative and ownership domains. We analyze fundamental issues in distributed resource sharing particularly from the viewpoint of different forms of heterogeneity - i.e. not just in the computing platforms, but also in storage, network characteristics, availability, access protocols, robustness, and dynamicity. We argue that effective multidomain resource sharing in the face of such variability is critically dependent upon minimizing global state between providers, and between providers and clients. The H2O framework has made one step in this direction, by decoupling provider concerns from client requirements, and enabling clients to (re)configure resources as required. H2O is based on a "pluggable" software architecture to enable flexible and reconfigurable distributed computing. A key feature is the provisioning of customization capabilities that permit clients to tailor provider resources as appropriate to the given application, without compromising control or security. Through the use of uploadable "pluglets", users can exploit specialized features of the underlying resource, application libraries, or optimized message passing subsystems on demand. The next generation of this framework takes the second step, to virtualize and homogenize resource aggregates at the client side, thereby further reducing the degree of coupling between providers, and between providers and clients. The system also supports dynamic environment preconditioning to automate many of the tasks required in multidomain resource sharing. The architecture and design philosophies of these software frameworks, their implementation, recent experiences, and planned enhancements are described, in the context of new paradigms and directions for metacomputing. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Distributed computer systems

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Computation of the normal forms for general M-DOF systems using multiple time scales. Part II: Non-autonomous systems

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Communications in Nonlinear science and Numerical Simulation 2006年第1期11卷 45-81页

作者： Zhu, Songhui Yu, Pei Department of Applied Mathematics Faculty of Sciences The University of Western Ontario London Ont. N6A 5B7 Canada Department of Math./Computer Science Benedict College Columbia SC 29204 United States

A perturbation technique has been developed in Part I to consider the computation of the normal forms for general multiple-degree-of-freedom autonomous systems. In this paper, the perturbation approach is extended to study general non-autonomous systems and is focused on systems with external forcing. With the aid of multiple time scales, efficient recursive algorithms are developed for systematically computing the normal forms. General solutions are obtained for solving ordered perturbation equations. In particular, the following cases are considered in detail: the non-resonance, internal resonances (including general resonance, resonant case involving 1:1 primary resonance, and combination of resonant case with non-resonance), and external resonances (including general resonance, and combination of internal resonance and external resonance). User-friendly Maple programs have been coded which can be "automatically" executed on various computer systems. Examples are given to demonstrate the computational efficiency of the method and the convenience of using computer algebra systems. © 2004 Elsevier B.V. All rights reserved.

关键词： Degrees of freedom (mechanics)

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The effectiveness of Lloyd-type methods for the k-means problem

The effectiveness of Lloyd-type methods for the k-means prob...

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47th Annual IEEE Symposium on Foundations of computer science, FOCS 2006

作者： Ostrovsky, Rafail Rabani, Yuval Schulman, Leonard J. Swamy, Chaitanya Computer Science Department UCLA Computer Science Department Technion - Israel Institute of Technology Haifa 32000 Israel Caltech Pasadena CA 91125 Center for the Math. of Information Caltech Pasadena CA 91125

ISBN: (纸本)0769527205

We investigate variants of Lloyd's heuristic for clustering high dimensional data in an attempt to explain its popularity (a half century after its introduction) among practitioners, and in order to suggest improvements in its application. We propose and justify a clusterability criterion for data sets. We present variants of Lloyd's heuristic that quickly lead to provably near-optimal clustering solutions when applied to well-clusterable instances. This is the first performance guarantee for a variant of Lloyd's heuristic. The provision of a guarantee on output quality does not come at the expense of speed: some of our algorithms are candidates for being faster in practice than currently used variants of Lloyd's method. In addition, our other algorithms are faster on well-clusterable instances than recently proposed approximation algorithms, while maintaining similar guarantees on clustering quality. Our main algorithmic contribution is a novel probabilistic seeding process for the starting configuration of a Lloyd-type iteration. © 2006 IEEE.

关键词： Heuristic algorithms

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Learning to impersonate 06

Learning to impersonate

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ICML 2006: 23rd International Conference on Machine Learning

作者： Naor, Moni Rothblum, Guy N. Department of Computer Science and Applied Math Weizmann Institute of Science Rehovot 76100 Israel Computer Science and Artificial Intelligence Laboratory MIT Cambridge MA 02139 United States

ISBN: (纸本)1595933832

Consider Alice and Bob, who have some shared secret which helps Alice to identify Bob-impersonators, and Eve, who does not know their secret. Eve wants to impersonate Bob and "fool" Alice. If Eve is computationally unbounded, how long does she need to observe Bob before she can impersonate him? What is a good strategy for Eve? If (cryptographic) one-way functions exist, an efficient Eve cannot impersonate even very simple Bobs, but if they do not exist, can Eve learn to impersonate any efficient Bob? We formalize these questions in a new computational learning model, which we believe captures a wide variety of natural learning tasks, and tightly bound the number of observations Eve makes in terms of the secret's entropy. We then show that if one-way functions do not exist, then an efficient Eve can learn to impersonate any efficient Bob nearly as well as an unbounded Eve. For the full version of this work see (Naor & Rothblum, 2006).

关键词： Learning systems

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