Sensor networks and distributed CSP: communication, computation and complexity

We introduce SensorDCSP, a naturally distributed benchmark based on a real-world application that arises in the context of networked distributed systems. In order to study the performance of Distributed CSP (DisCSP) algorithms in a truly distributed setting, we use a discrete-event network simulator, which allows us to model the impact of different network traffic conditions on the performance of the algorithms. We consider two complete DisCSP algorithms: asynchronous backtracking (ABT) and asynchronous weak commitment search (AWC), and perform performance comparison for these algorithms on both satisfiable and unsatisfiable instances of SensorDCSP. We found that random delays (due to network traffic or in some cases actively introduced by the agents) combined with a dynamic decentralized restart strategy can improve the performance of DisCSP algorithms. In addition, we introduce GSensorDCSP, a plain-embedded version of SensorDCSP that is closely related to various real-life dynamic tracking systems. We perform both analytical and empirical study of this benchmark domain. In particular, this benchmark allows us to study the attractiveness of solution repairing for solving a sequence of DisCSPs that represent the dynamic tracking of a set of moving objects.This work was supported in part by AFOSR (F49620-01-1-0076, Intelligent Information Systems Institute and MURI F49620-01-1-0361), CICYT (TIC2001-1577-C03-03 and TIC2003-00950), DARPA (F30602-00-2- 0530), an NSF CAREER award (IIS-9734128), and an Alfred P. Sloan Research Fellowship. The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of the US Government

The Mechanics of Embodiment: A Dialogue on Embodiment and Computational Modeling

Embodied theories are increasingly challenging traditional views of cognition by arguing that conceptual representations that constitute our knowledge are grounded in sensory and motor experiences, and processed at this sensorimotor level, rather than being represented and processed abstractly in an amodal conceptual system. Given the established empirical foundation, and the relatively underspecified theories to date, many researchers are extremely interested in embodied cognition but are clamouring for more mechanistic implementations. What is needed at this stage is a push toward explicit computational models that implement sensory-motor grounding as intrinsic to cognitive processes. In this article, six authors from varying backgrounds and approaches address issues concerning the construction of embodied computational models, and illustrate what they view as the critical current and next steps toward mechanistic theories of embodiment. The first part has the form of a dialogue between two fictional characters: Ernest, the �experimenter�, and Mary, the �computational modeller�. The dialogue consists of an interactive sequence of questions, requests for clarification, challenges, and (tentative) answers, and touches the most important aspects of grounded theories that should inform computational modeling and, conversely, the impact that computational modeling could have on embodied theories. The second part of the article discusses the most important open challenges for embodied computational modelling

M[pi]log, Macromodeling via parametric identification of logic gates

This paper addresses the development of computational models of digital integrated circuit input and output buffers via the identification of nonlinear parametric models. The obtained models run in standard circuit simulation environments, offer improved accuracy and good numerical efficiency, and do not disclose information on the structure of the modeled devices. The paper reviews the basics of the parametric identification approach and illustrates its most recent extensions to handle temperature and supply voltage variations as well as power supply ports and tristate devices

Preparation and characterization of self assembled polymer nanocomposites

Polymerní nanokompozity na bázi polyhedrálních oligomerních silsesquioxanů (POSS) představují slibnou oblast výzkumu, která potenciálně může využít samouspořádávní při navrhování nových materiálů. Tato diplomová práce popisuje postup přípravy oktafenyl-POSS/PS, oktafenyl-POSS/PMMA a oktamethyl-POSS/PS systémů a charakterizaci jejich termomechanických vlastností v pevné fázi a reologických vlastností v roztoku. Získané výsledky jsou diskutovány s přihlédnutím k teoriím zabývajících se stavem disperze nanočástic.Polymer nanocomposites based on polyhedral oligomeric silsesquioxanes (POSS) are promising field which could potentially utilize self-assembly approach in designing new materials. In this thesis, a preparation protocol of octaphenyl-POSS/PS, octamethyl-POSS/PMMA and octamethyl-POSS/PS systems was described and thermomechanic properties in solid state and rheological properties in solution were investigated. The obtained results are discussed with focus on nanoparticles dispersion state theories.

A general-purpose approach to computer-aided dynamic analysis of a flexible helicopter

A general purpose mathematical formulation is described for dynamic analysis of a helicopter consisting of flexible and/or rigid bodies that undergo large translations and rotations. Rigid body and elastic sets of generalized coordinates are used. The rigid body coordinates define the location and the orientation of a body coordinate frame (global frame) with respect to an inertial frame. The elastic coordinates are introduced using a finite element approach in order to model flexible components. The compatibility conditions between two adjacent elements in a flexible body are imposed using a Boolean matrix, whereas the compatibility conditions between two adjacent bodies are imposed using the Lagrange multiplier approach. Since the form of the constraint equations depends upon the type of kinematic joint and involves only the generalized coordinates of the two participating elements, then a library of constraint elements can be developed to impose the kinematic constraint in an automated fashion. For the body constraints, the Lagrange multipliers yield the reaction forces and torques of the bodies at the joints. The virtual work approach is used to derive the equations of motion, which are a system of differential and algebraic equations that are highly nonlinear. The formulation presented is general and is compared with hard-wired formulations commonly used in helicopter analysis

Constrained tGAP for generalisation between scales: the case of Dutch topographic data

This article presents the results of integrating large- and medium-scale data into a unified data structure. This structure can be used as a single non-redundant representation for the input data, which can be queried at any arbitrary scale between the source scales. The solution is based on the constrained topological Generalized Area Partition (tGAP), which stores the results of a generalization process applied to the large-scale dataset, and is controlled by the objects of the medium-scale dataset, which act as constraints on the large-scale objects. The result contains the accurate geometry of the large-scale objects enriched with the generalization knowledge of the medium-scale data, stored as references in the constraint tGAP structure. The advantage of this constrained approach over the original tGAP is the higher quality of the aggregated maps. The idea was implemented with real topographic datasets from The Netherlands for the large- (1:1000) and medium-scale (1:10,000) data. The approach is expected to be equally valid for any categorical map and for other scales as well

A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)

This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based tracking controller for each individual vehicle to follow a reference trajectory while satisfying various constraints (kinematics and dynamics, collision avoidance, \textit{etc.}). The reference trajectory of a vehicle is computed from its leader's trajectory, based on a pre-defined formation tree. We use logic rules to organize the collision avoidance behaviors of member vehicles. Moreover, we propose a methodology to safely reconfigure the formation on-the-fly. The proposed framework has been validated using high-fidelity simulations.Comment: Extended version of the conference paper submission on ICARCV'1