SICStus MT - A Multithreaded Execution Environment for SICStus Prolog

The development of intelligent software agents and other complex applications which continuously interact with their environments has been one of the reasons why explicit concurrency has become a necessity in a modern Prolog system today. Such applications need to perform several tasks which may be very different with respect to how they are implemented in Prolog. Performing these tasks simultaneously is very tedious without language support. This paper describes the design, implementation and evaluation of a prototype multithreaded execution environment for SICStus Prolog. The threads are dynamically managed using a small and compact set of Prolog primitives implemented in a portable way, requiring almost no support from the underlying operating system

Mobile Location Indexing Based On Synthetic Moving Objects

Today, the number of researches based on the data they move known as mobile objects indexing came out from the traditional static one. There are some indexing approaches to handle the complicated moving positions. One of the suitable ideas is pre-ordering these objects before building index structure. In this paper, a structure, a presorted-nearest index tree algorithm is proposed that allowed maintaining, updating, and range querying mobile objects within the desired period. Besides, it gives the advantage of an index structure to easy data access and fast query along with the retrieving nearest locations from a location point in the index structure. A synthetic mobile position dataset is also proposed for performance evaluation so that it is free from location privacy and confidentiality. The detail experimental results are discussed together with the performance evaluation of KDtree-based index structure. Both approaches are similarly efficient in range searching. However, the proposed approach is especially much more save time for the nearest neighbor search within a range than KD tree-based calculation

Scaling Robot Motion Planning to Multi-core Processors and the Cloud

Imagine a world in which robots safely interoperate with humans, gracefully and efficiently accomplishing everyday tasks. The robot's motions for these tasks, constrained by the design of the robot and task at hand, must avoid collisions with obstacles. Unfortunately, planning a constrained obstacle-free motion for a robot is computationally complex---often resulting in slow computation of inefficient motions. The methods in this dissertation speed up this motion plan computation with new algorithms and data structures that leverage readily available parallel processing, whether that processing power is on the robot or in the cloud, enabling robots to operate safer, more gracefully, and with improved efficiency. The contributions of this dissertation that enable faster motion planning are novel parallel lock-free algorithms, fast and concurrent nearest neighbor searching data structures, cache-aware operation, and split robot-cloud computation. Parallel lock-free algorithms avoid contention over shared data structures, resulting in empirical speedup proportional to the number of CPU cores working on the problem. Fast nearest neighbor data structures speed up searching in SO(3) and SE(3) metric spaces, which are needed for rigid body motion planning. Concurrent nearest neighbor data structures improve searching performance on metric spaces common to robot motion planning problems, while providing asymptotic wait-free concurrent operation. Cache-aware operation avoids long memory access times, allowing the algorithm to exhibit superlinear speedup. Split robot-cloud computation enables robots with low-power CPUs to react to changing environments by having the robot compute reactive paths in real-time from a set of motion plan options generated in a computationally intensive cloud-based algorithm. We demonstrate the scalability and effectiveness of our contributions in solving motion planning problems both in simulation and on physical robots of varying design and complexity. Problems include finding a solution to a complex motion planning problem, pre-computing motion plans that converge towards the optimal, and reactive interaction with dynamic environments. Robots include 2D holonomic robots, 3D rigid-body robots, a self-driving 1/10 scale car, articulated robot arms with and without mobile bases, and a small humanoid robot.Doctor of Philosoph

Indexing for efficient main memory processing

Ph.DDOCTOR OF PHILOSOPH

Indexing Techniques for Image and Video Databases: an approach based on Animate Vision Paradigm

[ITALIANO]In questo lavoro di tesi vengono presentate e discusse delle innovative tecniche di indicizzazione per database video e di immagini basate sul paradigma della “Animate Vision” (Visione Animata). Da un lato, sarà mostrato come utilizzando, quali algoritmi di analisi di una data immagine, alcuni meccanismi di visione biologica, come i movimenti saccadici e le fissazioni dell'occhio umano, sia possibile ottenere un query processing in database di immagini più efficace ed efficiente. In particolare, verranno discussi, la metodologia grazie alla quale risulta possibile generare due sequenze di fissazioni, a partire rispettivamente, da un'immagine di query I_q ed una di test I_t del data set, e, come confrontare tali sequenze al fine di determinare una possibile misura della similarità (consistenza) tra le due immagini. Contemporaneamente, verrà discusso come tale approccio unito a tecniche classiche di clustering possa essere usato per scoprire le associazioni semantiche nascoste tra immagini, in termini di categorie, che, di contro, permettono un'automatica pre-classificazione (indicizzazione) delle immagini e possono essere usate per guidare e migliorare il processo di query. Saranno presentati, infine, dei risultati preliminari e l'approccio proposto sarà confrontato con le più recenti tecniche per il recupero di immagini descritte in letteratura. Dall'altro lato, sarà mostrato come utilizzando la precedente rappresentazione “foveata” di un'immagine, risulti possibile partizionare un video in shot. Più precisamente, il metodo per il rilevamento dei cambiamenti di shot si baserà sulla computazione, in ogni istante di tempo, della misura di consistenza tra le sequenze di fissazioni generate da un osservatore ideale che guarda il video. Lo schema proposto permette l'individuazione, attraverso l'utilizzo di un'unica tecnica anziché di più metodi dedicati, sia delle transizioni brusche sia di quelle graduali. Vengono infine mostrati i risultati ottenuti su varie tipologie di video e, come questi, validano l'approccio proposto. / [INGLESE]In this dissertation some novel indexing techniques for video and image database based on “Animate Vision” Paradigm are presented and discussed. From one hand, it will be shown how, by embedding within image inspection algorithms active mechanisms of biological vision such as saccadic eye movements and fixations, a more effective query processing in image database can be achieved. In particular, it will be discussed the way to generate two fixation sequences from a query image I_q and a test image I_t of the data set, respectively, and how to compare the two sequences in order to compute a possible similarity (consistency) measure between the two images. Meanwhile, it will be shown how the approach can be used with classical clustering techniques to discover and represent the hidden semantic associations among images, in terms of categories, which, in turn, allow an automatic pre-classification (indexing), and can be used to drive and improve the query processing. Eventually, preliminary results will be presented and the proposed approach compared with the most recent techniques for image retrieval described in the literature. From the other one, it will be discussed how by taking advantage of such foveated representation of an image, it is possible to partitioning of a video into shots. More precisely, the shot-change detection method will be based on the computation, at each time instant, of the consistency measure of the fixation sequences generated by an ideal observer looking at the video. The proposed scheme aims at detecting both abrupt and gradual transitions between shots using a single technique, rather than a set of dedicated methods. Results on videos of various content types are reported and validate the proposed approach