5,795 research outputs found
Hybrid automata dicretising agents for formal modelling of robots
Some of the fundamental capabilities required by autonomous vehicles and systems for their intelligent decision making are: modelling of the environment and forming data abstractions for symbolic, logic based reasoning. The paper formulates a discrete agent framework that abstracts and controls a hybrid system that is a composition of hybrid automata modelled continuous individual processes. Theoretical foundations are laid down for a class of general model composition agents (MCAs) with an advanced subclass of rational physical agents (RPAs). We define MCAs as the most basic structures for the description of complex autonomous robotic systems. The RPAās have logic based decision making that is obtained by an extension of the hybrid systems concepts using a set of abstractions. The theory presented helps the creation of robots with reliable performance and safe operation in their environment. The paper emphasizes the abstraction aspects of the overall hybrid system that emerges from parallel composition of sets of RPAs and MCAs
Scather: programming with multi-party computation and MapReduce
We present a prototype of a distributed computational infrastructure, an associated high level programming language, and an underlying formal framework that allow multiple parties to leverage their own cloud-based computational resources (capable of supporting MapReduce [27] operations) in concert with multi-party computation (MPC) to execute statistical analysis algorithms that have privacy-preserving properties. Our architecture allows a data analyst unfamiliar with MPC to: (1) author an analysis algorithm that is agnostic with regard to data privacy policies, (2) to use an automated process to derive algorithm implementation variants that have different privacy and performance properties, and (3) to compile those implementation variants so that they can be deployed on an infrastructures that allows computations to take place locally within each participantās MapReduce cluster as well as across all the participantsā clusters using an MPC protocol. We describe implementation details of the architecture, discuss and demonstrate how the formal framework enables the exploration of tradeoffs between the efficiency and privacy properties of an analysis algorithm, and present two example applications that illustrate how such an infrastructure can be utilized in practice.This work was supported in part by NSF Grants: #1430145, #1414119, #1347522, and #1012798
Parallel machine architecture and compiler design facilities
The objective is to provide an integrated simulation environment for studying and evaluating various issues in designing parallel systems, including machine architectures, parallelizing compiler techniques, and parallel algorithms. The status of Delta project (which objective is to provide a facility to allow rapid prototyping of parallelized compilers that can target toward different machine architectures) is summarized. Included are the surveys of the program manipulation tools developed, the environmental software supporting Delta, and the compiler research projects in which Delta has played a role
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Collapsing towers of interpreters
Given a tower of interpreters, i.e., a sequence of multiple interpreters interpreting one another as input programs, we aim to collapse this tower into a compiler that removes all interpretive overhead and runs in a single pass. In the real world, a use case might be Python code executed by an x86 runtime, on a CPU emulated in a JavaScript VM, running on an ARM CPU. Collapsing such a tower can not only exponentially improve runtime performance, but also enable the use of base-language tools for interpreted programs, e.g., for analysis and verification. In this paper, we lay the foundations in an idealized but realistic setting.
We present a multi-level lambda calculus that features staging constructs and stage polymorphism: based on runtime parameters, an evaluator either executes source code (thereby acting as an interpreter) or generates code (thereby acting as a compiler). We identify stage polymorphism, a programming model from the domain of high-performance program generators, as the key mechanism to make such interpreters compose in a collapsible way.
We present Pink, a meta-circular Lisp-like evaluator on top of this calculus, and demonstrate that we can collapse arbitrarily many levels of self-interpretation, including levels with semantic modifications. We discuss several examples: compiling regular expressions through an interpreter to base code, building program transformers from modi ed interpreters, and others. We develop these ideas further to include reflection and reification, culminating in Purple, a reflective language inspired by Brown, Blond, and Black, which realizes a conceptually infinite tower, where every aspect of the semantics can change dynamically. Addressing an open challenge, we show how user programs can be compiled and recompiled under user-modified semantics.Parts of this research were supported by ERC grant 321217, NSF awards 1553471 and 1564207, and DOE award DE-SC0018050
DOLFIN: Automated Finite Element Computing
We describe here a library aimed at automating the solution of partial differential equations using the finite element method. By employing novel techniques for automated code generation, the library combines a high level of expressiveness with efficient computation. Finite element variational forms may be expressed in near mathematical notation, from which low-level code is automatically generated, compiled and seamlessly integrated with efficient implementations of
computational meshes and high-performance linear algebra. Easy-to-use object-oriented interfaces to the library are provided in the form of a C++ library and a Python module. This paper discusses the mathematical abstractions and methods used in the design of the library and its implementation. A number of examples are presented to demonstrate the use of the library in application code
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