Interacting via the Heap in the Presence of Recursion

Almost all modern imperative programming languages include operations for dynamically manipulating the heap, for example by allocating and deallocating objects, and by updating reference fields. In the presence of recursive procedures and local variables the interactions of a program with the heap can become rather complex, as an unbounded number of objects can be allocated either on the call stack using local variables, or, anonymously, on the heap using reference fields. As such a static analysis is, in general, undecidable. In this paper we study the verification of recursive programs with unbounded allocation of objects, in a simple imperative language for heap manipulation. We present an improved semantics for this language, using an abstraction that is precise. For any program with a bounded visible heap, meaning that the number of objects reachable from variables at any point of execution is bounded, this abstraction is a finitary representation of its behaviour, even though an unbounded number of objects can appear in the state. As a consequence, for such programs model checking is decidable. Finally we introduce a specification language for temporal properties of the heap, and discuss model checking these properties against heap-manipulating programs.Comment: In Proceedings ICE 2012, arXiv:1212.345

Software systems for modeling articulated figures

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation

Jack: A Toolkit for Manipulating Articulated Figures

The problem of positioning and manipulating three dimensional articulated figures is often handled by ad hoc techniques which are cumbersome to use. In this paper, we describe a system which provides a consistent and flexible user interface to a complex representation for articulated figures in a 3D environment. Jack is a toolkit of routines for displaying and manipulating complex geometric figures, and it provides a method of interactively manipulating arbitrary homogeneous transformations with a mouse. These transformations may specify the position and orientation of figures within a scene or the joint transformations within the figures themselves. Jack combines this method of 3D input with a flexible and informative screen management facility to provide a user-friendly interface for manipulating three dimensional objects

Acoustophoresis in Variously Shaped Liquid Droplets

The ability to precisely trap, transport and manipulate micrometer-sized objects, including biological cells, DNA-coated microspheres and microorganisms, is very important in life science studies and biomedical applications. In this study, acoustic radiation force in an ultrasonic standing wave field is used for micro-objects manipulation, a technique termed as acoustophoresis. Free surfaces of liquid droplets are used as sound reflectors to confine sound waves inside the droplets. Two techniques were developed for precise control of droplet shapes: edge pinning and hydrophilic/hydrophobic interface pinning. For all tested droplet shapes, including circular, annular and rectangular, our experiments show that polymer micro particles can be manipulated by ultrasound and form into a variety of patterns, for example, concentric rings and radial lines in an annular droplet. The complexity of the pattern increases with increasing frequency, and the observations are in line with simulation results. The acoustic manipulation technique developed here has the potential to be integrated into a more complex on-chip microfluidic circuit. Especially because our method is well compatible with electrowetting technology, which is a powerful tool for manipulating droplets with free surfaces, the combination of the two methods can provide more versatile manipulation abilities and may bring a wealth of novel applications. In the end, we demonstrate for the first time that acoustophoresis can be used for manipulating Caenorhabditis elegans

Robotic manipulation of a rotating chain

This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in "rotational" equilibrium. The curve traced by the chain in a rotating plane -- its shape function -- can be determined by a simple force analysis, yet it possesses complex multi-solutions behavior typical of non-linear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a two-dimensional surface embedded in $\mathbb{R}^3$. Using that representation, we devise a manipulation strategy for transiting between different rotation modes in a stable and controlled manner. We demonstrate the strategy on a physical robotic arm manipulating a rotating chain. Finally, we discuss how the ideas developed here might find fruitful applications in the study of other flexible objects, such as elastic rods or concentric tubes.Comment: 12 pages, 9 figure

An Approach to Distance Estimation with Stereo Vision Using Address-Event-Representation

Image processing in digital computer systems usually considers the visual information as a sequence of frames. These frames are from cameras that capture reality for a short period of time. They are renewed and transmitted at a rate of 25-30 fps (typical real-time scenario). Digital video processing has to process each frame in order to obtain a result or detect a feature. In stereo vision, existing algorithms used for distance estimation use frames from two digital cameras and process them pixel by pixel to obtain similarities and differences from both frames; after that, depending on the scene and the features extracted, an estimate of the distance of the different objects of the scene is calculated. Spike-based processing is a relatively new approach that implements the processing by manipulating spikes one by one at the time they are transmitted, like a human brain. The mammal nervous system is able to solve much more complex problems, such as visual recognition by manipulating neuron spikes. The spike-based philosophy for visual information processing based on the neuro-inspired Address-Event-Representation (AER) is achieving nowadays very high performances. In this work we propose a two- DVS-retina system, composed of other elements in a chain, which allow us to obtain a distance estimation of the moving objects in a close environment. We will analyze each element of this chain and propose a Multi Hold&Fire algorithm that obtains the differences between both retinas.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0

Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary

The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.Comment: The video is available at goo.gl/mDSC4

Attention deployment during memorizing and executing complex instructions.

We investigated the mental rehearsal of complex action instructions by recording spontaneous eye movements of healthy adults as they looked at objects on a monitor. Participants heard consecutive instructions, each of the form "move [object] to [location]". Instructions were only to be executed after a go signal, by manipulating all objects successively with a mouse. Participants re-inspected previously mentioned objects already while listening to further instructions. This rehearsal behavior broke down after 4 instructions, coincident with participants' instruction span, as determined from subsequent execution accuracy. These results suggest that spontaneous eye movements while listening to instructions predict their successful execution