Message-Driven Processor Architecture: Verson 11

The Message-Driven Processor is a node of a large-scale multiprocessor being developed by the Concurrent VLSI Architecture Group. It is intended to support fine-grained, message passing, parallel computation. It contains several novel architectural features, such as a low-latency network interface, extensive type-checking hardware, and on-chip memory that can be used as an associative lookup table. This document is a programmer's guide to the MDP. It describes the processor's register architecture, instruction set, and the data types supported by the processor. It also details the MDP's message sending and exception handling facilities.

An Operating Environment for the Jellybean Machine

The Jellybean Machine is a scalable MIMD concurrent processor consisting of special purpose RISC processors loosely coupled into a low latency network. I have developed an operating system to provide the supportive environment required to efficiently coordinate the collective power of the distributed processing elements. The system services are developed in detail, and may be of interest to other designers of fine grain, distributed memory processing networks.

Curved Inertia Frames: Visual Attention and Perceptual Organization Using Convexity and Symmetry

In this paper we present an approach to perceptual organization and attention based on Curved Inertia Frames (C.I.F.), a novel definition of "curved axis of inertia'' tolerant to noisy and spurious data. The definition is useful because it can find frames that correspond to large, smooth, convex, symmetric and central parts. It is novel because it is global and can detect curved axes. We discuss briefly the relation to human perception, the recognition of non-rigid objects, shape description, and extensions to finding "features", inside/outside relations, and long- smooth ridges in arbitrary surfaces.

Perceptual Organization, Figure-Ground, Attention and Saliency

Notions of figure-ground, inside-outside are difficult to define in a computational sense, yet seem intuitively meaningful. We propose that "figure" is an attention-directed region of visual information processing, and has a non-discrete boundary. Associated with "figure" is a coordinate frame and a "frame curve" which helps initiate the shape recognition process by selecting and grouping convex image chunks for later matching- to-model. We show that human perception is biased to see chunks outside the frame as more salient than those inside. Specific tasks, however, can reverse this bias. Near/far, top/bottom and expansion/contraction also behave similarly.

Line Kinematics for Whole-Arm Manipulation

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).

Multi-Scale Vector-Ridge-Detection for Perceptual Organization Without Edges

We present a novel ridge detector that finds ridges on vector fields. It is designed to automatically find the right scale of a ridge even in the presence of noise, multiple steps and narrow valleys. One of the key features of such ridge detector is that it has a zero response at discontinuities. The ridge detector can be applied to scalar and vector quantities such as color. We also present a parallel perceptual organization scheme based on such ridge detector that works without edges; in addition to perceptual groups, the scheme computes potential focus of attention points at which to direct future processing. The relation to human perception and several theoretical findings supporting the scheme are presented. We also show results of a Connection Machine implementation of the scheme for perceptual organization (without edges) using color.

MIT SchMUSE: Class-Based Remote Delegation in a Capricious Distributed Environment

MIT SchMUSE (pronounced "shmooz") is a concurrent, distributed, delegation-based object-oriented interactive environment with persistent storage. It is designed to run in a "capricious" network environment, where servers can migrate from site to site and can regularly become unavailable. Our design introduces a new form of unique identifiers called "globally unique tickets" that provide globally unique time/space stamps for objects and classes without being location specific. Object location is achieved by a distributed hierarchical lazy lookup mechanism that we call "realm resolution." We also introduce a novel mechanism called "message deferral" for enhanced reliability in the face of remote delegation. We conclude with a comparison to related work and a projection of future work on MIT SchMUSE.

A Binocular, Foveated Active Vision System

This report documents the design and implementation of a binocular, foveated active vision system as part of the Cog project at the MIT Artificial Intelligence Laboratory. The active vision system features a three degree of freedom mechanical platform that supports four color cameras, a motion control system, and a parallel network of digital signal processors for image processing. To demonstrate the capabilities of the system, we present results from four sample visual-motor tasks.

Internet Fish

I have invented "Internet Fish," a novel class of resource-discovery tools designed to help users extract useful information from the Internet. Internet Fish (IFish) are semi-autonomous, persistent information brokers; users deploy individual IFish to gather and refine information related to a particular topic. An IFish will initiate research, continue to discover new sources of information, and keep tabs on new developments in that topic. As part of the information-gathering process the user interacts with his IFish to find out what it has learned, answer questions it has posed, and make suggestions for guidance. Internet Fish differ from other Internet resource discovery systems in that they are persistent, personal and dynamic. As part of the information-gathering process IFish conduct extended, long-term conversations with users as they explore. They incorporate deep structural knowledge of the organization and services of the net, and are also capable of on-the-fly reconfiguration, modification and expansion. Human users may dynamically change the IFish in response to changes in the environment, or IFish may initiate such changes itself. IFish maintain internal state, including models of its own structure, behavior, information environment and its user; these models permit an IFish to perform meta-level reasoning about its own structure. To facilitate rapid assembly of particular IFish I have created the Internet Fish Construction Kit. This system provides enabling technology for the entire class of Internet Fish tools; it facilitates both creation of new IFish as well as additions of new capabilities to existing ones. The Construction Kit includes a collection of encapsulated heuristic knowledge modules that may be combined in mix-and-match fashion to create a particular IFish; interfaces to new services written with the Construction Kit may be immediately added to "live" IFish. Using the Construction Kit I have created a demonstration IFish specialized for finding World-Wide Web documents related to a given group of documents. This "Finder" IFish includes heuristics that describe how to interact with the Web in general, explain how to take advantage of various public indexes and classification schemes, and provide a method for discovering similarity relationships among documents.

Mid-Level Vision and Recognition of Non-Rigid Objects

We address mid-level vision for the recognition of non-rigid objects. We align model and image using frame curves - which are object or "figure/ground" skeletons. Frame curves are computed, without discontinuities, using Curved Inertia Frames, a provably global scheme implemented on the Connection Machine, based on: non-cartisean networks; a definition of curved axis of inertia; and a ridge detector. I present evidence against frame alignment in human perception. This suggests: frame curves have a role in figure/ground segregation and in fuzzy boundaries; their outside/near/top/ incoming regions are more salient; and that perception begins by setting a reference frame (prior to early vision), and proceeds by processing convex structures.

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.

Qualitative Analysis of MOS Circuits

With the push towards sub-micron technology, transistor models have become increasingly complex. The number of components in integrated circuits has forced designer's efforts and skills towards higher levels of design. This has created a gap between design expertise and the performance demands increasingly imposed by the technology. To alleviate this problem, software tools must be developed that provide the designer with expert advice on circuit performance and design. This requires a theory that links the intuitions of an expert circuit analyst with the corresponding principles of formal theory (i.e. algebra, calculus, feedback analysis, network theory, and electrodynamics), and that makes each underlying assumption explicit.