One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a practical development platform for robotics in general and for subsumption-based control architectures in particular. Next, we summarize original ideas on subsumption architecture implementation for a six-legged robot, as presented by its inventor Rodney Brooks in 1980s. A comparison is then made to a more recent example of a hexapod control architecture based on subsumption. The merits of both systems are analyzed and a new subsumption architecture layout is formulated as a response. We conclude with some remarks regarding the development of this project as a hint at new potentials for intelligent robot design, opened by a recent development in embedded controller market

Komure Family: Dean Komure (Middle)

Dean Komure grew up, knowing in his heart, that if his word was good, he would always have something. That would be the pride of being a Japanese American. Dean learned this from his parents and it is what he has passed on to his children…https://scholarlycommons.pacific.edu/ss-ja/1004/thumbnail.jp

Characterizations of the set of integer points in an integral bisubmodular polyhedron

In this note, we provide two characterizations of the set of integer points in an integral bisubmodular polyhedron. Our characterizations do not require the assumption that a given set satisfies the hole-freeness, i.e., the set of integer points in its convex hull coincides with the original set. One is a natural multiset generalization of the exchange axiom of a delta-matroid, and the other comes from the notion of the tangent cone of an integral bisubmodular polyhedron.Comment: 9 page

A tractable class of binary VCSPs via M-convex intersection

A binary VCSP is a general framework for the minimization problem of a function represented as the sum of unary and binary cost functions. An important line of VCSP research is to investigate what functions can be solved in polynomial time. Cooper and \v{Z}ivn\'{y} classified the tractability of binary VCSP instances according to the concept of "triangle," and showed that the only interesting tractable case is the one induced by the joint winner property (JWP). Recently, Iwamasa, Murota, and \v{Z}ivn\'{y} made a link between VCSP and discrete convex analysis, showing that a function satisfying the JWP can be transformed into a function represented as the sum of two quadratic M-convex functions, which can be minimized in polynomial time via an M-convex intersection algorithm if the value oracle of each M-convex function is given. In this paper, we give an algorithmic answer to a natural question: What binary finite-valued CSP instances can be represented as the sum of two quadratic M-convex functions and can be solved in polynomial time via an M-convex intersection algorithm? We solve this problem by devising a polynomial-time algorithm for obtaining a concrete form of the representation in the representable case. Our result presents a larger tractable class of binary finite-valued CSPs, which properly contains the JWP class.Comment: Full version of a STACS'18 pape

Reconstructing Phylogenetic Tree From Multipartite Quartet System

A phylogenetic tree is a graphical representation of an evolutionary history in a set of taxa in which the leaves correspond to taxa and the non-leaves correspond to speciations. One of important problems in phylogenetic analysis is to assemble a global phylogenetic tree from smaller pieces of phylogenetic trees, particularly, quartet trees. Quartet Compatibility is to decide whether there is a phylogenetic tree inducing a given collection of quartet trees, and to construct such a phylogenetic tree if it exists. It is known that Quartet Compatibility is NP-hard but there are only a few results known for polynomial-time solvable subclasses. In this paper, we introduce two novel classes of quartet systems, called complete multipartite quartet system and full multipartite quartet system, and present polynomial time algorithms for Quartet Compatibility for these systems. We also see that complete/full multipartite quartet systems naturally arise from a limited situation of block-restricted measurement