Temporal Surface Reconstruction

This thesis investigates the problem of estimating the three-dimensional structure of a scene from a sequence of images. Structure information is recovered from images continuously using shading, motion or other visual mechanisms. A Kalman filter represents structure in a dense depth map. With each new image, the filter first updates the current depth map by a minimum variance estimate that best fits the new image data and the previous estimate. Then the structure estimate is predicted for the next time step by a transformation that accounts for relative camera motion. Experimental evaluation shows the significant improvement in quality and computation time that can be achieved using this technique.

Reliable Interconnection Networks for Parallel Computers

This technical report describes a new protocol, the Unique Token Protocol, for reliable message communication. This protocol eliminates the need for end-to-end acknowledgments and minimizes the communication effort when no dynamic errors occur. Various properties of end-to-end protocols are presented. The unique token protocol solves the associated problems. It eliminates source buffering by maintaining in the network at least two copies of a message. A token is used to decide if a message was delivered to the destination exactly once. This technical report also presents a possible implementation of the protocol in a worm-hole routed, 3-D mesh network.

A Parallel Crossbar Routing Chip for a Shared Memory Multiprocessor

This thesis describes the design and implementation of an integrated circuit and associated packaging to be used as the building block for the data routing network of a large scale shared memory multiprocessor system. A general purpose multiprocessor depends on high-bandwidth, low-latency communications between computing elements. This thesis describes the design and construction of RN1, a novel self-routing, enhanced crossbar switch as a CMOS VLSI chip. This chip provides the basic building block for a scalable pipelined routing network with byte-wide data channels. A series of RN1 chips can be cascaded with no additional internal network components to form a multistage fault-tolerant routing switch. The chip is designed to operate at clock frequencies up to 100Mhz using Hewlett-Packard's HP34 $1.2\\mu$ process. This aggressive performance goal demands that special attention be paid to optimization of the logic architecture and circuit design.

Multiple Mode Vibration Suppression in Controlled Flexible Systems

Prior research has led to the development of input command shapers that can reduce residual vibration in single- or multiple-mode flexible systems. We present a method for the development of multiple-mode shapers which are simpler to implement and produce smaller response delays than previous designs. An MIT / NASA experimental flexible structure, MACE, is employed as a test article for the validation of the new shaping method. We examine the results of tests conducted on simulations of MACE. The new shapers are shown to be effective in suppressing multiple-mode vibration, even in the presence of mild kinematic and dynamic non-linearities.

MIT Scheme Reference Manual

MIT Scheme is an implementation of the Scheme programming language that runs on many popular workstations. The MIT Scheme Reference Manual describes the special forms, procedures, and datatypes provided by the implementation for use by application programmers.

Basis Reduction Algorithms and Subset Sum Problems

This thesis investigates a new approach to lattice basis reduction suggested by M. Seysen. Seysen's algorithm attempts to globally reduce a lattice basis, whereas the Lenstra, Lenstra, Lovasz (LLL) family of reduction algorithms concentrates on local reductions. We show that Seysen's algorithm is well suited for reducing certain classes of lattice bases, and often requires much less time in practice than the LLL algorithm. We also demonstrate how Seysen's algorithm for basis reduction may be applied to subset sum problems. Seysen's technique, used in combination with the LLL algorithm, and other heuristics, enables us to solve a much larger class of subset sum problems than was previously possible.

The Early Detection of Motion Boundaries

This thesis shows how to detect boundaries on the basis of motion information alone. The detection is performed in two stages: (i) the local estimation of motion discontinuities and of the visual flowsfield; (ii) the extraction of complete boundaries belonging to differently moving objects. For the first stage, three new methods are presented: the "Bimodality Tests,'' the "Bi-distribution Test,'' and the "Dynamic Occlusion Method.'' The second stage consists of applying the "Structural Saliency Method,'' by Sha'ashua and Ullman to extract complete and unique boundaries from the output of the first stage. The developed methods can successfully segment complex motion sequences.

Program Improvement by Automatic Redistribution of Intermediate Results

Introducing function sharing into designs allows eliminating costly structure by adapting existing structure to perform its function. This can eliminate many inefficiencies of reusing general componentssin specific contexts. "Redistribution of intermediate results'' focuses on instances where adaptation requires only addition/deletion of data flow and unused code removal. I show that this approach unifies and extends several well-known optimization classes. The system performs search and screening by deriving, using a novel explanation-based generalization technique, operational filtering predicates from input teleological information. The key advantage is to focus the system's effort on optimizations that are easier to prove safe.

Model Selection for Solving Kinematics Problems

There has been much interest in the area of model-based reasoning within the Artificial Intelligence community, particularly in its application to diagnosis and troubleshooting. The core issue in this thesis, simply put, is, model-based reasoning is fine, but whence the model? Where do the models come from? How do we know we have the right models? What does the right model mean anyway? Our work has three major components. The first component deals with how we determine whether a piece of information is relevant to solving a problem. We have three ways of determining relevance: derivational, situational and an order-of-magnitude reasoning process. The second component deals with the defining and building of models for solving problems. We identify these models, determine what we need to know about them, and importantly, determine when they are appropriate. Currently, the system has a collection of four basic models and two hybrid models. This collection of models has been successfully tested on a set of fifteen simple kinematics problems. The third major component of our work deals with how the models are selected.

The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.

Automated Acquisition of Evolving Informal Descriptions

The Listener is an automated system that unintrusively performs knowledge acquisition from informal input. The Listener develops a coherent internal representation of a description from an initial set of disorganized, imprecise, incomplete, ambiguous, and possibly inconsistent statements. The Listener can produce a summary document from its internal representation to facilitate communication, review, and validation. A special purpose Listener, called the Requirements Apprentice (RA), has been implemented in the software requirements acquisition domain. Unlike most other requirements analysis tools, which start from a formal description language, the focus of the RA is on the transition between informal and formal specifications.

Vision, Instruction, and Action

This thesis describes Sonja, a system which uses instructions in the course of visually-guided activity. The thesis explores an integration of research in vision, activity, and natural language pragmatics. Sonja's visual system demonstrates the use of several intermediate visual processes, particularly visual search and routines, previously proposed on psychophysical grounds. The computations Sonja performs are compatible with the constraints imposed by neuroscientifically plausible hardware. Although Sonja can operate autonomously, it can also make flexible use of instructions provided by a human advisor. The system grounds its understanding of these instructions in perception and action.

Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of animal locomotion. In this report we focus on the control of biped locomotion, the use of terrain footholds, running at high speed, biped gymnastics, symmetry in running, and the mechanical design of articulated legs.

Computational Structure of GPSG Models: Revised Generalized Phrase Structure Grammar

The primary goal of this report is to demonstrate how considerations from computational complexity theory can inform grammatical theorizing. To this end, generalized phrase structure grammar (GPSG) linguistic theory is revised so that its power more closely matches the limited ability of an ideal speaker--hearer: GPSG Recognition is EXP-POLY time hard, while Revised GPSG Recognition is NP-complete. A second goal is to provide a theoretical framework within which to better understand the wide range of existing GPSG models, embodied in formal definitions as well as in implemented computer programs. A grammar for English and an informal explanation of the GPSG/RGPSG syntactic features are included in appendices.

Using Special-Purpose Computing to Examine Chaotic Behavior in Nonlinear Mappings

Studying chaotic behavior in nonlinear systems requires numerous computations in order to simulate the behavior of such systems. The Standard Map Machine was designed and implemented as a special computer for performing these intensive computations with high-speed and high-precision. Its impressive performance is due to its simple architecture specialized to the numerical computations required of nonlinear systems. This report discusses the design and implementation of the Standard Map Machine and its use in the study of nonlinear mappings; in particular, the study of the standard map.