Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure

Network coding meets TCP

We propose a mechanism that incorporates network coding into TCP with only minor changes to the protocol stack, thereby allowing incremental deployment. In our scheme, the source transmits random linear combinations of packets currently in the congestion window. At the heart of our scheme is a new interpretation of ACKs - the sink acknowledges every degree of freedom (i.e., a linear combination that reveals one unit of new information) even if it does not reveal an original packet immediately. Such ACKs enable a TCP-like sliding-window approach to network coding. Our scheme has the nice property that packet losses are essentially masked from the congestion control algorithm. Our algorithm therefore reacts to packet drops in a smooth manner, resulting in a novel and effective approach for congestion control over networks involving lossy links such as wireless links. Our experiments show that our algorithm achieves higher throughput compared to TCP in the presence of lossy wireless links. We also establish the soundness and fairness properties of our algorithm.Comment: 9 pages, 9 figures, submitted to IEEE INFOCOM 200

Hierarchic Superposition Revisited

Many applications of automated deduction require reasoning in first-order logic modulo background theories, in particular some form of integer arithmetic. A major unsolved research challenge is to design theorem provers that are "reasonably complete" even in the presence of free function symbols ranging into a background theory sort. The hierarchic superposition calculus of Bachmair, Ganzinger, and Waldmann already supports such symbols, but, as we demonstrate, not optimally. This paper aims to rectify the situation by introducing a novel form of clause abstraction, a core component in the hierarchic superposition calculus for transforming clauses into a form needed for internal operation. We argue for the benefits of the resulting calculus and provide two new completeness results: one for the fragment where all background-sorted terms are ground and another one for a special case of linear (integer or rational) arithmetic as a background theory

Parameterized Construction of Program Representations for Sparse Dataflow Analyses

Data-flow analyses usually associate information with control flow regions. Informally, if these regions are too small, like a point between two consecutive statements, we call the analysis dense. On the other hand, if these regions include many such points, then we call it sparse. This paper presents a systematic method to build program representations that support sparse analyses. To pave the way to this framework we clarify the bibliography about well-known intermediate program representations. We show that our approach, up to parameter choice, subsumes many of these representations, such as the SSA, SSI and e-SSA forms. In particular, our algorithms are faster, simpler and more frugal than the previous techniques used to construct SSI - Static Single Information - form programs. We produce intermediate representations isomorphic to Choi et al.'s Sparse Evaluation Graphs (SEG) for the family of data-flow problems that can be partitioned per variables. However, contrary to SEGs, we can handle - sparsely - problems that are not in this family

On association in regression: the coefficient of determination revisited

Universal coefficients of determination are investigated which quantify the strength of the relation between a vector of dependent variables Y and a vector of independent covariates X. They are defined as measures of dependence between Y and X through theta(x), with theta(x) parameterizing the conditional distribution of Y given X=x. If theta(x) involves unknown coefficients gamma the definition is conditional on gamma, and in practice gamma, respectively the coefficient of determination has to be estimated. The estimates of quantities we propose generalize R^2 in classical linear regression and are also related to other definitions previously suggested. Our definitions apply to generalized regression models with arbitrary link functions as well as multivariate and nonparametric regression. The definition and use of the proposed coefficients of determination is illustrated for several regression problems with simulated and real data sets

Hierarchic Superposition Revisited

Many applications of automated deduction require reasoning in first-order logic modulo background theories, in particular some form of integer arithmetic. A major unsolved research challenge is to design theorem provers that are "reasonably complete" even in the presence of free function symbols ranging into a background theory sort. The hierarchic superposition calculus of Bachmair, Ganzinger, and Waldmann already supports such symbols, but, as we demonstrate, not optimally. This paper aims to rectify the situation by introducing a novel form of clause abstraction, a core component in the hierarchic superposition calculus for transforming clauses into a form needed for internal operation. We argue for the benefits of the resulting calculus and provide two new completeness results: one for the fragment where all background-sorted terms are ground and another one for a special case of linear (integer or rational) arithmetic as a background theory