7,089 research outputs found
Action planning for graph transition systems
Graphs are suitable modeling formalisms for software and hardware systems involving aspects such as communication,
object orientation, concurrency, mobility and distribution. State spaces of such systems can be represented by graph transition systems, which are basically transition systems whose states and transitions represent graphs and graph morphisms. In this paper, we propose the modeling of graph transition systems in PDDL and the application of heuristic search planning for their analysis. We consider different heuristics and present experimental results
Introduction to the GiNaC Framework for Symbolic Computation within the C++ Programming Language
The traditional split-up into a low level language and a high level language
in the design of computer algebra systems may become obsolete with the advent
of more versatile computer languages. We describe GiNaC, a special-purpose
system that deliberately denies the need for such a distinction. It is entirely
written in C++ and the user can interact with it directly in that language. It
was designed to provide efficient handling of multivariate polynomials,
algebras and special functions that are needed for loop calculations in
theoretical quantum field theory. It also bears some potential to become a more
general purpose symbolic package
Hierarchical clustered register file organization for VLIW processors
Technology projections indicate that wire delays will become one of the biggest constraints in future microprocessor designs. To avoid long wire delays and therefore long cycle times, processor cores must be partitioned into components so that most of the communication is done locally. In this paper, we propose a novel register file organization for VLIW cores that combines clustering with a hierarchical register file organization. Functional units are organized in clusters, each one with a local first level register file. The local register files are connected to a global second level register file, which provides access to memory. All intercluster communications are done through the second level register file. This paper also proposes MIRS-HC, a novel modulo scheduling technique that simultaneously performs instruction scheduling, cluster selection, inserts communication operations, performs register allocation and spill insertion for the proposed organization. The results show that although more cycles are required to execute applications, the execution time is reduced due to a shorter cycle time. In addition, the combination of clustering and hierarchy provides a larger design exploration space that trades-off performance and technology requirements.Peer ReviewedPostprint (published version
Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system
An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control
An efficient memetic, permutation-based evolutionary algorithm for real-world train timetabling
Train timetabling is a difficult and very tightly constrained combinatorial
problem that deals with the construction of train schedules. We focus on the
particular problem of local reconstruction of the schedule following a small
perturbation, seeking minimisation of the total accumulated delay by adapting
times of departure and arrival for each train and allocation of resources
(tracks, routing nodes, etc.). We describe a permutation-based evolutionary
algorithm that relies on a semi-greedy heuristic to gradually reconstruct the
schedule by inserting trains one after the other following the permutation.
This algorithm can be hybridised with ILOG commercial MIP programming tool
CPLEX in a coarse-grained manner: the evolutionary part is used to quickly
obtain a good but suboptimal solution and this intermediate solution is refined
using CPLEX. Experimental results are presented on a large real-world case
involving more than one million variables and 2 million constraints. Results
are surprisingly good as the evolutionary algorithm, alone or hybridised,
produces excellent solutions much faster than CPLEX alone
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