The Metaflow architecture

The Metaflow architecture, a unified approach to maximizing the performance of superscalar microprocessors, is introduced. The Metaflow architecture exploits inherent instruction-level parallelism in conventional sequential programs by hardware means, without relying on optimizing compilers. It is based on a unified structure, the DRIS (deferred-scheduling, register-renaming instruction shelf), that manages out-of-order execution and most of the attendant problems. Coupling the DRIS with a speculative-execution mechanism that avoids conditional branch stalls results in performance limited only be inherent instruction-level parallelism and available execution resources. Although presented in the context of superscalar machines, the technique is equally applicable to a superpipelined implementation. Lightning, the first implementation of the Metaflow architecture, which executes the Sparc RISC instruction set is described     

Tracking and force control for a class of robotic manipulators

The increasing utilization of robotic manipulators in industrial tasks, such as assembly, forming or shaping of surfaces, and handling hazardous materials, depends greatly on available hybrid force and position control schemes. Since the robot and its environment are often subject to parameter uncertainties that cannot be neglected, it is necessary to design controllers that are robust with respect to these uncertainties. In addition, the dynamics of the robot are nonlinear, requiring consideration of nonlinear control concepts. Another aspect to be taken into account is the relative stiffness of the robot, the force sensor, and the manipulated surface. That is, the behavior of the system normal to the surface is relatively stiff, while that tangential to the surface is relatively free. Separation of the controller for these two directions is therefore indicated. We propose a controller design that accounts for this point of view and demonstrate its efficacy with respect to robustness and accuracy of position and force tracking by means of numerical simulations. The design is based on the control concept of Corless and Leitmann [l]. The example considered is a Manutecr3 robot with three degrees of freedom. In addition, we account for the dynamics of the actuator, which also possesses three degrees of freedom. The considered parameter uncertainties are friction moments in the links and friction between the end effector and the manipulated object, as well as nonlinear dynamics, which are difficult to characterize.Recommended by J. Skowronski     

Equivalence of models for polynomial learnability

In this paper we consider several variants of Valiant's learnability model that have appeared in the literature. We give conditions under which these models are equivalent in terms of the polynomially learnable concept classes they define. These equivalences allow comparisons of most of the existing theorems in Valiant-style learnability and show that several simplifying assumptions on polynomial learning algorithms can be made without loss of generality. We also give a useful reduction of learning problems to the problem of finding consistent hypotheses, and give comparisons and equivalences between Valiant's model and the prediction learning models of Haussler, Littlestone, and Warmuth (in “29th Annual IEEE Symposium on Foundations of Computer Science,” 1988).     

FMR and EXAFS modeling of heat-treated Fe-rich and Co-rich TM-M thin films

Ion-beam sputter-deposited alloy films of Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ and Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ were examined for their magnetic and structural properties. Films were characterized by ferromagnetic resonance, vibrating sample magnetometry, and extended X-ray absorption fine structure (EXAFS) analysis. Using atomic parameters deduced from EXAFS modeling and fitting procedures, magnetic properties were calculated with no adjustable parameters. Correlation between perpendicular FMR measurements and EXAFS first-shell modeling suggests a low-temperature formation of cobalt-borides in the Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ alloy. Annealed Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ samples did not display evidence of structural and/or magnetic instabilities until the onset of long-range crystallization near T/sub ann/=400 degrees C.<>     

Comparison of nutrient cycling in a surface-flow constructed wetland and in a facultative pond treating secondary effluent.

There is a growing interest in the possibilities offered by combinations of waste stabilisation ponds (WSP) and constructed wetlands (CW). The purpose of our study was to compare treatment performances and nutrient cycling in a surface-flow wetland (SFW) and in a WSP treating secondary effluent. In the period between 2000 and 2003, a pilot SFW and a pilot WSP were constructed at the outlet of the wastewater treatment plant and their performance monitored while both were active under the same conditions. The SFW was planted with Phragmites australis and Eichhornia crassipes, while in the WSP development of algae was spontaneous. Performance efficiency was monitored by means of evaluation of physical and chemical parameters in water, by measurement of plant productivity and by analysis of N and P contents in biomass. The SFW with macrophytes proved more efficient in decreasing the suspended solids (64.6%), settleable solids (91.8%), organic N (59.3%), total N (38%), COD (67.2%) and BOD5 (72.1%) than the WSP. The WSP with algae was more efficient in treatment of ammonia nitrogen (48.9%) and ortho-phosphate (43.9%). The results of this study provide data that are of help in optimising combinations of SFW and WSP.