23 research outputs found

    Network Constructors: A Model for Programmable Matter

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    DescribeX: A Framework for Exploring and Querying XML Web Collections

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    This thesis introduces DescribeX, a powerful framework that is capable of describing arbitrarily complex XML summaries of web collections, providing support for more efficient evaluation of XPath workloads. DescribeX permits the declarative description of document structure using all axes and language constructs in XPath, and generalizes many of the XML indexing and summarization approaches in the literature. DescribeX supports the construction of heterogeneous summaries where different document elements sharing a common structure can be declaratively defined and refined by means of path regular expressions on axes, or axis path regular expression (AxPREs). DescribeX can significantly help in the understanding of both the structure of complex, heterogeneous XML collections and the behaviour of XPath queries evaluated on them. Experimental results demonstrate the scalability of DescribeX summary refinements and stabilizations (the key enablers for tailoring summaries) with multi-gigabyte web collections. A comparative study suggests that using a DescribeX summary created from a given workload can produce query evaluation times orders of magnitude better than using existing summaries. DescribeX's light-weight approach of combining summaries with a file-at-a-time XPath processor can be a very competitive alternative, in terms of performance, to conventional fully-fledged XML query engines that provide DB-like functionality such as security, transaction processing, and native storage.Comment: PhD thesis, University of Toronto, 2008, 163 page

    Parameter Synthesis for Markov Models

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    Markov chain analysis is a key technique in reliability engineering. A practical obstacle is that all probabilities in Markov models need to be known. However, system quantities such as failure rates or packet loss ratios, etc. are often not---or only partially---known. This motivates considering parametric models with transitions labeled with functions over parameters. Whereas traditional Markov chain analysis evaluates a reliability metric for a single, fixed set of probabilities, analysing parametric Markov models focuses on synthesising parameter values that establish a given reliability or performance specification φ\varphi. Examples are: what component failure rates ensure the probability of a system breakdown to be below 0.00000001?, or which failure rates maximise reliability? This paper presents various analysis algorithms for parametric Markov chains and Markov decision processes. We focus on three problems: (a) do all parameter values within a given region satisfy φ\varphi?, (b) which regions satisfy φ\varphi and which ones do not?, and (c) an approximate version of (b) focusing on covering a large fraction of all possible parameter values. We give a detailed account of the various algorithms, present a software tool realising these techniques, and report on an extensive experimental evaluation on benchmarks that span a wide range of applications.Comment: 38 page

    Oblivious Network Optimization and Security Modeling in Sustainable Smart Grids and Cities

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    Today\u27s interconnected world requires an inexpensive, fast, and reliable way of transferring information. There exists an increasingly important need for intelligent and adaptable routing of network flows. In the last few years, many researchers have worked toward developing versatile solutions to the problem of routing network flows in unpredictable circumstances. These attempts have evolved into a rich literature in the area of oblivious network design which typically route the network flows via a routing scheme that makes use of a spanning tree or a set of trees of the graph representation of the network. In the first chapter, we provide an introduction to network design. This introductory chapter has been designed to clarify the importance and position of oblivious routing problems in the context of network design as well as its containing field of research. Part I of this dissertation discusses the fundamental role of linked hierarchical data structures in providing the mathematical tools needed to construct rigorous versatile routing schemes and applies hierarchical routing tools to the process of constructing versatile routing schemes. Part II of this dissertation applies the routing tools generated in Part I to address real-world network optimization problems in the area of electrical power networks, clusters of micrograms, and content-centric networks. There is an increasing concern regarding the security and privacy of both physical and communication layers of smart interactive customer-driven power networks, better known as smart grids. Part III of this dissertation utilizes an advanced interdisciplinary approach to address existing security and privacy issues, proposing legitimate countermeasures for each of them from the standpoint of both computing and electrical engineering. The proposed methods are theoretically proven by mathematical tools and illustrated by real-world examples

    Heegaard Floer homology and integer surgeries on links

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    Let L be a link in an integral homology three-sphere. We give a description of the Heegaard Floer homology of integral surgeries on L in terms of some data associated to L, which we call a complete system of hyperboxes for L. Roughly, a complete systems of hyperboxes consists of chain complexes for (some versions of) the link Floer homology of L and all its sublinks, together with several chain maps between these complexes. Further, we introduce a way of presenting closed four-manifolds with b_2^+ > 1 by four-colored framed links in the three-sphere. Given a link presentation of this kind for a four-manifold X, we then describe the Ozsvath-Szabo mixed invariants of X in terms of a complete system of hyperboxes for the link. Finally, we explain how a grid diagram produces a particular complete system of hyperboxes for the corresponding link.Comment: 231 pages, 54 figures; major revision: we now work with one U variable for each w basepoint, rather than one per link component; we also added Section 4, with an overview of the main resul

    Monotone Precision and Recall Measures for Comparing Executions and Specifications of Dynamic Systems

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    The behavioural comparison of systems is an important concern of software engineering research. For example, the areas of specification discovery and specification mining are concerned with measuring the consistency between a collection of execution traces and a program specification. This problem is also tackled in process mining with the help of measures that describe the quality of a process specification automatically discovered from execution logs. Though various measures have been proposed, it was recently demonstrated that they neither fulfil essential properties, such as monotonicity, nor can they handle infinite behaviour. In this paper, we address this research problem by introducing a new framework for the definition of behavioural quotients. We proof that corresponding quotients guarantee desired properties that existing measures have failed to support. We demonstrate the application of the quotients for capturing precision and recall measures between a collection of recorded executions and a system specification. We use a prototypical implementation of these measures to contrast their monotonic assessment with measures that have been defined in prior research

    Author index for volumes 101–200

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    Macaulay inverse systems and Cartan-Kahler theorem

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    During the last months or so we had the opportunity to read two papers trying to relate the study of Macaulay (1916) inverse systems with the so-called Riquier (1910)-Janet (1920) initial conditions for the integration of linear analytic systems of partial differential equations. One paper has been written by F. Piras (1998) and the other by U. Oberst (2013), both papers being written in a rather algebraic style though using quite different techniques. It is however evident that the respective authors, though knowing the computational works of C. done during the first half of the last century in a way not intrinsic at all, are not familiar with the formal theory of systems of ordinary or partial differential equations developped by D.C. Spencer (1912-2001) and coworkers around 1965 in an intrinsic way, in particular with its application to the study of differential modules in the framework of algebraic analysis. As a byproduct, the first purpose of this paper is to establish a close link between the work done by F. S. Macaulay (1862-1937) on inverse systems in 1916 and the well-known Cartan-K{\"a}hler theorem (1934). The second purpose is also to extend the work of Macaulay to the study of arbitrary linear systems with variable coefficients. The reader will notice how powerful and elegant is the use of the Spencer operator acting on sections in this general framework. However, we point out the fact that the literature on differential modules mostly only refers to a complex analytic structure on manifolds while the Spencer sequences have been created in order to study any kind of structure on manifolds defined by a Lie pseudogroup of transformations, not just only complex analytic ones. Many tricky explicit examples illustrate the paper, including the ones provided by the two authors quoted but in a quite different framework

    Advanced human inspired walking strategies for humanoid robots

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    Cette thèse traite du problème de la locomotion des robots humanoïdes dans le contexte du projet européen KoroiBot. En s'inspirant de l'être humain, l'objectif de ce projet est l'amélioration des capacités des robots humanoïdes à se mouvoir de façon dynamique et polyvalente. Le coeur de l'approche scientifique repose sur l'utilisation du controle optimal, à la fois pour l'identification des couts optimisés par l'être humain et pour leur mise en oeuvre sur les robots des partenaires roboticiens. Cette thèse s'illustre donc par une collaboration à la fois avec des mathématiciens du contrôle et des spécialistes de la modélisation des primitives motrices. Les contributions majeures de cette thèse reposent donc sur la conception de nouveaux algorithmes temps-réel de contrôle pour la locomotion des robots humanoïdes avec nos collégues de l'université d'Heidelberg et leur intégration sur le robot HRP-2. Deux contrôleurs seront présentés, le premier permettant la locomotion multi-contacts avec une connaissance a priori des futures positions des contacts. Le deuxième étant une extension d'un travail réalisé sur de la marche sur sol plat améliorant les performances et ajoutant des fonctionnalitées au précédent algorithme. En collaborant avec des spécialistes du mouvement humain nous avons implementé un contrôleur innovant permettant de suivre des trajectoires cycliques du centre de masse. Nous présenterons aussi un contrôleur corps-complet utilisant, pour le haut du corps, des primitives de mouvements extraites du mouvement humain et pour le bas du corps, un générateur de marche. Les résultats de cette thèse ont été intégrés dans la suite logicielle "Stack-of-Tasks" du LAAS-CNRS.This thesis covers the topic of humanoid robot locomotion in the frame of the European project KoroiBot. The goal of this project is to enhance the ability of humanoid robots to walk in a dynamic and versatile fashion as humans do. Research and innovation studies in KoroiBot rely on optimal control methods both for the identification of cost functions used by human being and for their implementations on robots owned by roboticist partners. Hence, this thesis includes fruitful collaborations with both control mathematicians and experts in motion primitive modeling. The main contributions of this PhD thesis lies in the design of new real time controllers for humanoid robot locomotion with our partners from the University of Heidelberg and their integration on the HRP-2 robot. Two controllers will be shown, one allowing multi-contact locomotion with a prior knowledge of the future contacts. And the second is an extension of a previous work improving performance and providing additional functionalities. In a collaboration with experts in human motion we designed an innovating controller for tracking cyclic trajectories of the center of mass. We also show a whole body controller using upper body movement primitives extracted from human behavior and lower body movement computed by a walking pattern generator. The results of this thesis have been integrated into the LAAS-CNRS "Stack-of-Tasks" software suit
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