Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

A multi-tier semantics for Hop

Hop is a multi-tier programming language where the behavior of interacting servers and clients are expressed by a single program. Hop adheres to the standard web programming style where servers elaborate HTML pages containing JavaScript code. This JavaScript code responds locally to user’s interactions but also (following the so-called Ajax style) requests services from remote servers. These services bring back new HTML fragments containing additional JavaScript code replacing or modifying the state of the client. This paper presents a continuation-based denotational semantics for a sequential subset of Hop. Though restricted to a single server and a single client, this semantics takes into account the key feature of Hop namely that the server elaborates client code to be run in the client’s browser. This new client-code dynamically requests services from the server which, again, elaborate new client code to be run in the client’s browser. This semantics details the programming model advocated by Hop and provides a sound basis for future studies such as security of web applications and web continuations.     

A scalable organization for distributed directories

Although directory-based cache-coherence protocols are the best choice when designing chip multiprocessors with tens of cores on-chip, the memory overhead introduced by the directory structure may not scale gracefully with the number of cores. Many approaches aimed at improving the scalability of directories have been proposed. However, they do not bring perfect scalability and usually reduce the directory memory overhead by compressing coherence information, which in turn results in extra unnecessary coherence messages and, therefore, wasted energy and some performance degradation. In this work, we present a distributed directory organization based on duplicate tags for tiled CMP architectures whose size is independent on the number of tiles of the system up to a certain number of tiles. We demonstrate that this number of tiles corresponds to the number of sets in the private caches. Additionally, we show that the area overhead of the proposed directory structure is 0.56% with respect to the on-chip data caches. Moreover, the proposed directory structure keeps the same information than a non-scalable full-map directory. Finally, we propose a mechanism that takes advantage of this directory organization to remove the network traffic caused by replacements. This mechanism reduces total traffic by 15% for a 16-core configuration compared to a traditional directory-based protocol.     

Exploiting address compression and heterogeneous interconnects for efficient message management in tiled CMPs

High performance processor designs have evolved toward architectures that integrate multiple processing cores on the same chip. As the number of cores inside a Chip MultiProcessor (CMP) increases, the interconnection network will have significant impact on both overall performance and energy consumption as previous studies have shown. Moreover, wires used in such interconnect can be designed with varying latency, bandwidth and power characteristics. In this work, we show how messages can be efficiently managed in tiled CMP, from the point of view of both performance and energy, by combining both address compression with a heterogeneous interconnect. In particular, our proposal is based on applying an address compression scheme that dynamically compresses the addresses within coherence messages allowing for a significant area slack. The arising area is exploited for wire latency improvement by using a heterogeneous interconnection network comprised of a small set of very-low-latency wires for critical short-messages in addition to baseline wires. Detailed simulations of a 16-core CMP show that our proposal obtains average improvements of 10% in execution time and 38% in the energy-delay² product of the interconnect. Additionally, the sensitivity analysis shows that our proposal performs well when either OoO cores or caches with higher latencies are considered.     

Evidential reasoning using extended fuzzy Dempster–Shafer theory for handling various facets of information deficiency

This work investigates the problem of combining deficient evidence for the purpose of quality assessment. The main focus of the work is modeling vagueness, ambiguity, and local nonspecificity in information within a unified approach. We introduce an extended fuzzy Dempster–Shafer scheme based on the simultaneous use of fuzzy interval‐grade and interval‐valued belief degree (IGIB). The latter facilitates modeling of uncertainties in terms of local ignorance associated with expert knowledge, whereas the former allows for handling the lack of information on belief degree assignments. Also, generalized fuzzy sets can be readily transformed into the proposed fuzzy IGIB structure. The reasoning for quality assessment is performed by solving nonlinear optimization problems on fuzzy Dempster–Shafer paradigm for the fuzzy IGIB structure. The application of the proposed inference method is investigated by designing a reasoning scheme for water quality monitoring and validated through the experimental data available for different sampling points in a water distribution network. © 2011 Wiley Periodicals, Inc.     

Designing adaptive learning itineraries using features modelling and swarm intelligence

In this paper, Bayesian network (BN) and ant colony optimization (ACO) techniques are combined in order to find the best path through a graph representing all available itineraries to acquire a professional competence. The combination of these methods allows us to design a dynamic learning path, useful in a rapidly changing world. One of the most important advances in this work, apart from the variable amount of pheromones, is the automatic processing of the learning graph. This processing is carried out by the learning management system and helps towards understanding the learning process as a competence-oriented itinerary instead of a stand-alone course. The amount of pheromones is calculated by taking into account the results acquired in the last completed course in relation to the minimum score required and by feeding this into the learning tree in order to obtain a relative impact on the path taken by the student. A BN is used to predict the probability of success, by taking historical data and student profiles into account. Usually, these profiles are defined beforehand; however, in our approach, some characteristics of these profiles, such as the level of knowledge, are classified automatically through supervised and/or unsupervised learning. By using ACO and BN, a fitness function, responsible for automatically selecting the next course in the learning graph, is defined. This is done by generating a path which maximizes the probability of each user??s success on the course. Therefore, the path can change in order to adapt itself to learners?? preferences and needs, by taking into account the pedagogical weight of each learning unit and the social behaviour of the system.     

Algorithms to Separate $\{0,\frac{1}{2}\}$ -Chvátal-Gomory Cuts

Chvátal-Gomory cuts are among the most well-known classes of cutting planes for general integer linear programs (ILPs). In case the constraint multipliers are either 0 or , such cuts are known as -cuts. It has been proven by Caprara and Fischetti (Math. Program. 74:221–235, 1996) that separation of -cuts is -hard. In this paper, we study ways to separate -cuts effectively in practice. We propose a range of preprocessing rules to reduce the size of the separation problem. The core of the preprocessing builds a Gaussian elimination-like procedure. To separate the most violated -cut, we formulate the (reduced) problem as integer linear program. Some simple heuristic separation routines complete the algorithmic framework. Computational experiments on benchmark instances show that the combination of preprocessing with exact and/or heuristic separation is a very vital idea to generate strong generic cutting planes for integer linear programs and to reduce the overall computation times of state-of-the-art ILP-solvers.     

Realistic real-time sound re-synthesis and processing for interactive virtual worlds

We present new GPU-based techniques for implementing linear digital filters for real-time audio processing. Our solution for recursive filters is the first presented in the literature. We demonstrate the relevance of these algorithms to computer graphics by synthesizing realistic sounds of colliding objects made of different materials, such as glass, plastic, and wood, in real time. The synthesized sounds can be parameterized by the object materials, velocities, and collision angles. Despite its flexibility, our approach uses very little memory, since it essentially requires a set of coefficients representing the impulse response of each material sound. Such features make our approach an attractive alternative to traditional CPU-based techniques that use playback of pre-recorded sounds.     

An haptic-based immersive environment for shape analysis and modelling

Currently, the design of aesthetic products is a process that requires a set of activities where digital models and physical mockups play a key role. Typically, these are modified (and built) several times before reaching the desired design, increasing the development time and, consequently, the final product cost. In this paper, we present an innovative design environment for computer-aided design (CAD) surface analysis. Our system relies on a direct visuo-haptic display system, which enables users to visualize models using a stereoscopic view, and allows the evaluation of sectional curves using touch. Profile curves are rendered using an haptic device that deforms a plastic strip, thanks to a set of actuators, to reproduce the curvature of the shape co-located with the virtual model. By touching the strip, users are able to evaluate shape characteristics, such as curvature or discontinuities (rendered using sound), and to assess the surface quality. We believe that future computer-aided systems (CAS)/CAD systems based on our approach will contribute in improving the design process at industrial level. Moreover, these will allow companies to reduce the product development time by reducing the number of physical mockups necessary for the product design evaluation and by increasing the quality of the final product, allowing a wider exploration and comparative evaluation of alternatives in the given time.     

Calculation of the stability ratio of suspensions using Emulsion Stability Simulations

According to Emulsion Stability Simulations (ESS), the flocculation of two non-deformable drops in the primary minimum of the interaction potential, necessarily leads to their coalescence. This property is used here for the evaluation of the stability ratio (W) of solid particles, interacting with the same inter-particle potential as the one of non-deformable droplets. Two different methodologies are used. The first one consists on the repeated evaluation of the coalescence time between two particles. The second one consists on the estimation of the time required for a decrease in the number of aggregates of the dispersion equal to n₀/2 (where n₀ is the initial number of aggregates). The results of the simulations are contrasted with the stability ratio of an anionic latex suspension subject to several ionic strengths (400-1000 mM). The first methodology is far more efficient for the evaluation of W although it misses the development of the aggregates and their growth. Absolute coagulation rates (kf) can also be obtained using one N-particle simulation for the calculation of the fast flocculation rate , and several two-particle simulations for the evaluation of W. This combined procedure is also more efficient than the N-particle evaluation of .