A Narrowing-based Instantiation Rule for Rewriting-based Fold/Unfold Transformations

In this paper we show how to transfer some developments done in the field of functionallogic programming (FLP) to a pure functional setting (FP). More exactly, we propose a complete fold/unfold based transformation system for optimizing lazy functional programs. Our main contribution is the definition of a safe instantiation rule which is used to enable effective unfolding steps based on rewriting. Since instantiation has been traditionally considered problematic in FP, we take advantage of previous experiences in the more general setting of FLP where instantiation is naturally embedded into an unfolding rule based on narrowing. Inspired by the so called needed narrowing strategy, our instantiation rule inherits the best properties of this refinement of narrowing. Our proposal optimizes previous approaches (that require more transformation effort) defined in the specialized literature of pure FP by anticipating bindings on unifiers used to instantiate a given program rule and by generating redexes at different positions on instantiated rules in order to enable subsequent unfolding steps. As a consequence, our correct/complete technique avoids redundant rules and preserves the natural structure of programs.     

Dynamic Simulation of Multi-Body Systems on Internet Using CORBA,Java and XML

In this paper a prototype of a computer program for multi-bodysimulation based on the use of CORBA, Java and XML is presented. Thisprototype makes use of a recursive dynamic formalism which outperformsmany implementations based on global formulations. The prototypepresented has been implemented using distributed Object OrientedProgramming techniques. The definition of the multi-body system is donethrough a data file defined using XML (eXtendible Markup Language). Thisprototype implements a `simulation service' on a network of computers,following a client-server scheme. This `simulation service' can operatein two different ways: offering a remote simulation on the server, orproviding a Java compiled code for local simulation on the client. Thepaper describes the practical implementation of such a service. The useof recursive functions and OOP permits the implementation of ageneral-purpose simulation code, which is compact, clear, clean,re-usable and easy to maintain. Once this Java code is compiled, it isstored in less than 125 Kbytes (including the numerical integrators).The Java programming language is used in order to assure compatibilitybetween different platforms. Finally, practical examples which make useof this approach are shown.     

Stochastic stabilization of differential systems with general decay rate

Some sufficient conditions concerning stability of solutions of stochastic differential evolution equations with general decay rate are first proved. Then, these results are interpreted as suitable stabilization ones for deterministic and stochastic systems. Also, they permit us to construct appropriate linear stabilizers in some particular situations.     

Comparing Parallel Functional Languages: Programming and Performance

This paper presents a practical evaluation and comparison of three state-of-the-art parallel functional languages. The evaluation is based on implementations of three typical symbolic computation programs, with performance measured on a Beowulf-class parallel architecture.We assess three mature parallel functional languages: PMLS, a system for implicitly parallel execution of ML programs; GPH, a mainly implicit parallel extension of Haskell; and Eden, a more explicit parallel extension of Haskell designed for both distributed and parallel execution. While all three languages employ a completely implicit approach to communication, each language takes a different approach to specifying and controlling parallelism, ranging from explicit identification of processes as language constructs (Eden) through annotation of potential parallelism (GPH) to automatic detection of parallel skeletons in sequential code (PMLS).We present detailed performance measurements of all three systems on a widely available parallel architecture: a Beowulf cluster of low-cost commodity workstations. We use three representative symbolic applications: a matrix multiplication algorithm, an exact linear system solver, and a simple ray-tracer. Our results show how moderate speedups can be achieved with little or no changes to the sequential code, and that parallel performance can be significantly improved even within our high-level model of parallel functional programming by controlling key aspects of the program such as load distribution and thread granularity.     

Nonlinear Performance Index (npi): A Tool for Manipulator Dynamics Improvement

The precise control of manipulators depends nonlinearly on the velocity of the motion as well as on manipulator configuration and commanded acceleration requiring complex control strategies. This paper presents a useful tool for identifying and quantifying nonlinear effects appearing during the motion of any manipulator, the Nonlinear Performance Index (npi). The npi takes into account not only the geometrical parameters defining the manipulator but also its structural dynamics through the use of inertial parameters like mass, inertia, centre of mass... The npi can be used in the design stage for analysing and reducing these undesirable nonlinear effects in any general motion or in the trajectory planning looking for paths along which more precise control is expected. The last part of the paper shows how this design optimisation and path planning has been applied to the Agribot, a fruit picking robot designed at the IAI.     

Stability of perturbed systems with time-varying delays

This paper gives easily verifiable sufficient conditions of robust asymptotic stability of linear time-delay systems subject to parametric unstructured or highly-structured perturbations. The criteria given in this paper are delay-independent or delay-dependent. The considered delay may be time-varying. An estimation of the transient behaviour of the studied systems is also provided (exponential rate of convergence).Scalar or vectorial inequalities involving Hurwitz matrices, matrix measures and norms constitute the mathematical foundations of the exposed results.     

Optimal joint positions and stiffness distribution for minimum mass frames with damping constraints

Optimal design of frames including cross-sectional dimensions (size parameters) and rigid joint positions between beams (configuration parameters) is treated in the paper. The optimal design corresponds to a minimal mass structure with constraints set on damping capacity of free vibration modes. The sensitivity analysis of distinct as well as multiple frequencies is performed analytically using a complex variable sensitivity method. The linking process of size and configuration variables is applied to generate different classes of optimal designs. The numerical algorithm is based on quadratic approximation of the objective function and linear approximation of active constraints. The examples are provided for 2, 12, and 124 beam frames.Presented at WCSMO-2, Zakopane, Poland, May 26–30, 1997     

Quattor: Tools and Techniques for the Configuration,Installation and Management of Large-Scale Grid Computing Fabrics

This paper describes the quattor tool suite, a new system for the installation, configuration, and management of operating systems and application software for computing fabrics. At present Unix derivatives such as Linux and Solaris are supported. Quattor is a powerful, portable and modular open source solution that has been shown to scale to thousands of computing nodes and offers a significant reduction in management costs for large computing fabrics. The quattor tool suite includes innovations compared to existing solutions which make it very useful for computing fabrics integrated into grid environments. Evaluations of the tool suite in current large scale computing environments are presented.     

Packet Video Broadcasting with General-Purpose Operating Systems in an Ethernet

Video transmission with general-purpose PCs poses a number of requirements that radically differ from those of high-end dedicated video servers. We analyze the scenario of an Ethernet local area network in which a number of PCs are transmitting video streams, while other TCP/IP applications are also running concurrently. Our findings show that since the operating system clock resolution cannot cope with the transmission timing requirements the following holds: if the video transmission is performed with exact timing accuracy to maintain a constant rate then CPU load grows to 100%, thus blocking the PC for other user applications; on the other hand, if transmission is performed in a bursty manner, i.e. with sleep system calls, then CPU load decreases dramatically but the increased burstiness of the video stream has a negative impact on network performance (for example, capture effect in the Ethernet). Furthermore, the impact of video transmission over the rest of TCP/IP applications running on the same network depends heavily on the packet size. We provide an integrated analysis of operating system and network parameters to achieve video broadcasting while preserving timing requirements and minimizing the impact on other applications.     

Outlier Detection and Data Cleaning in Multivariate Non-Normal Samples: The PAELLA Algorithm

A new method of outlier detection and data cleaning for both normal and non-normal multivariate data sets is proposed. It is based on an iterated local fit without a priori metric assumptions. We propose a new approach supported by finite mixture clustering which provides good results with large data sets. A multi-step structure, consisting of three phases, is developed. The importance of outlier detection in industrial modeling for open-loop control prediction is also described. The described algorithm gives good results both in simulations runs with artificial data sets and with experimental data sets recorded in a rubber factory. Finally, some discussion about this methodology is exposed.