PILOT: A Step Toward Man-Computer Symbiosis

PILOT is a programming system constructed in LISP. It is designed to facilitate the development of programs by easing the familiar sequence: write some code, run the program, make some changes, write some more code, run the program again, etc. As a program becomes more complex, making these changes becomes harder and harder because the implications of changes are harder to anticipate. In the PILOT system, the computer plays an active role in this evolutionary process by providing the means whereby changes can be effected immediately, and in ways that seem natural to the user. The user of PILOT feels that he is giving advice, or making suggestions, to the computer about the operation of his programs, and that the system then performs the work necessary. The PILOT system is thus an interface between the user and his program, monitoring both in the requests of the user and operation of his program. The user may easily modify the PILOT system itself by giving it advice about its own operation. This allows him to develop his own language and to shift gradually onto PILOT the burden of performing routine but increasingly complicated tasks. In this way, he can concentrate on the conceptual difficulties in the original problem, rather than on the niggling tasks of editing, rewriting, or adding to his programs. Two detailed examples are presented. PILOT is a first step toward computer systems that will help man to formulate problems in the same way they now help him to solve them. Experience with it supports the claim that such "symbiotic systems" allow the programmer to attack and solve more difficult problems.

Memory Hierarchy Hardware-Software Co-design in Embedded Systems

The memory hierarchy is the main bottleneck in modern computer systems as the gap between the speed of the processor and the memory continues to grow larger. The situation in embedded systems is even worse. The memory hierarchy consumes a large amount of chip area and energy, which are precious resources in embedded systems. Moreover, embedded systems have multiple design objectives such as performance, energy consumption, and area, etc. Customizing the memory hierarchy for specific applications is a very important way to take full advantage of limited resources to maximize the performance. However, the traditional custom memory hierarchy design methodologies are phase-ordered. They separate the application optimization from the memory hierarchy architecture design, which tend to result in local-optimal solutions. In traditional Hardware-Software co-design methodologies, much of the work has focused on utilizing reconfigurable logic to partition the computation. However, utilizing reconfigurable logic to perform the memory hierarchy design is seldom addressed. In this paper, we propose a new framework for designing memory hierarchy for embedded systems. The framework will take advantage of the flexible reconfigurable logic to customize the memory hierarchy for specific applications. It combines the application optimization and memory hierarchy design together to obtain a global-optimal solution. Using the framework, we performed a case study to design a new software-controlled instruction memory that showed promising potential.

Foundations of Actor Semantics

The actor message-passing model of concurrent computation has inspired new ideas in the areas of knowledge-based systems, programming languages and their semantics, and computer systems architecture. The model itself grew out of computer languages such as Planner, Smalltalk, and Simula, and out of the use of continuations to interpret imperative constructs within A-calculus. The mathematical content of the model has been developed by Carl Hewitt, Irene Greif, Henry Baker, and Giuseppe Attardi. This thesis extends and unifies their work through the following observations. The ordering laws postulated by Hewitt and Baker can be proved using a notion of global time. The most general ordering laws are in fact equivalent to an axiom of realizability in global time. Independence results suggest that some notion of global time is essential to any model of concurrent computation. Since nondeterministic concurrency is more fundamental than deterministic sequential computation, there may be no need to take fixed points in the underlying domain of a power domain. Power domains built from incomplete domains can solve the problem of providing a fixed point semantics for a class of nondeterministic programming languages in which a fair merge can be written. The event diagrams of Greif's behavioral semantics, augmented by Baker's pending events, form an incomplete domain. Its power domain is the semantic domain in which programs written in actor-based languages are assigned meanings. This denotational semantics is compatible with behavioral semantics. The locality laws postulated by Hewitt and Baker may be proved for the semantics of an actor-based language. Altering the semantics slightly can falsify the locality laws. The locality laws thus constrain what counts as an actor semantics.

Natural Language Input for a Computer Problem Solving System

The STUDENT problem solving system, programmed in LISP, accepts as input a comfortable but restricted subset of English which can express a wide variety of algebra story problems. STUDENT finds the solution to a large class of these problems. STUDENT can utilize a store of global information not specific to any one problem, and may make assumptions about the interpretation of ambiguities in the wording of the problem being solved. If it uses such information or makes any assumptions, STUDENT communicates this fact to the user. The thesis includes a summary of other English language questions-answering systems. All these systems, and STUDENT, are evaluated according to four standard criteria. The linguistic analysis in STUDENT is a first approximation to the analytic portion of a semantic theory of discourse outlined in the thesis. STUDENT finds the set of kernel sentences which are the base of the input discourse, and transforms this sequence of kernel sentences into a set of simultaneous equations which form the semantic base of the STUDENT system. STUDENT then tries to solve this set of equations for the values of requested unknowns. If it is successful it gives the answers in English. If not, STUDENT asks the user for more information, and indicates the nature of the desired information. The STUDENT system is a first step toward natural language communication with computers. Further work on the semantic theory proposed should result in much more sophisticated systems.

Design and Evaluation of the Hamal Parallel Computer

Parallel shared-memory machines with hundreds or thousands of processor-memory nodes have been built; in the future we will see machines with millions or even billions of nodes. Associated with such large systems is a new set of design challenges. Many problems must be addressed by an architecture in order for it to be successful; of these, we focus on three in particular. First, a scalable memory system is required. Second, the network messaging protocol must be fault-tolerant. Third, the overheads of thread creation, thread management and synchronization must be extremely low. This thesis presents the complete system design for Hamal, a shared-memory architecture which addresses these concerns and is directly scalable to one million nodes. Virtual memory and distributed objects are implemented in a manner that requires neither inter-node synchronization nor the storage of globally coherent translations at each node. We develop a lightweight fault-tolerant messaging protocol that guarantees message delivery and idempotence across a discarding network. A number of hardware mechanisms provide efficient support for massive multithreading and fine-grained synchronization. Experiments are conducted in simulation, using a trace-driven network simulator to investigate the messaging protocol and a cycle-accurate simulator to evaluate the Hamal architecture. We determine implementation parameters for the messaging protocol which optimize performance. A discarding network is easier to design and can be clocked at a higher rate, and we find that with this protocol its performance can approach that of a non-discarding network. Our simulations of Hamal demonstrate the effectiveness of its thread management and synchronization primitives. In particular, we find register-based synchronization to be an extremely efficient mechanism which can be used to implement a software barrier with a latency of only 523 cycles on a 512 node machine.

Residual Vibration Reduction in Computer Controlled Machines

Control of machines that exhibit flexibility becomes important when designers attempt to push the state of the art with faster, lighter machines. Three steps are necessary for the control of a flexible planet. First, a good model of the plant must exist. Second, a good controller must be designed. Third, inputs to the controller must be constructed using knowledge of the system dynamic response. There is a great deal of literature pertaining to modeling and control but little dealing with the shaping of system inputs. Chapter 2 examines two input shaping techniques based on frequency domain analysis. The first involves the use of the first deriviate of a gaussian exponential as a driving function template. The second, acasual filtering, involves removal of energy from the driving functions at the resonant frequencies of the system. Chapter 3 presents a linear programming technique for generating vibration-reducing driving functions for systems. Chapter 4 extends the results of the previous chapter by developing a direct solution to the new class of driving functions. A detailed analysis of the new technique is presented from five different perspectives and several extensions are presented. Chapter 5 verifies the theories of the previous two chapters with hardware experiments. Because the new technique resembles common signal filtering, chapter 6 compares the new approach to eleven standard filters. The new technique will be shown to result in less residual vibrations, have better robustness to system parameter uncertainty, and require less computation than other currently used shaping techniques.

Coherent Behavior from Incoherent Knowledge Sources in the Automatic Synthesis of Numerical Computer Programs

A fundamental problem in artificial intelligence is obtaining coherent behavior in rule-based problem solving systems. A good quantitative measure of coherence is time behavior; a system that never, in retrospect, applied a rule needlessly is certainly coherent; a system suffering from combinatorial blowup is certainly behaving incoherently. This report describes a rule-based problem solving system for automatically writing and improving numerical computer programs from specifications. The specifications are in terms of "constraints" among inputs and outputs. The system has solved program synthesis problems involving systems of equations, determining that methods of successive approximation converge, transforming recursion to iteration, and manipulating power series (using differing organizations, control structures, and argument-passing techniques).

Computer System for Visual Recognition Using Active Knowledge

A system for visual recognition is described, with implications for the general problem of representation of knowledge to assist control. The immediate objective is a computer system that will recognize objects in a visual scene, specifically hammers. The computer receives an array of light intensities from a device like a television camera. It is to locate and identify the hammer if one is present. The computer must produce from the numerical "sensory data" a symbolic description that constitutes its perception of the scene. Of primary concern is the control of the recognition process. Control decisions should be guided by the partial results obtained on the scene. If a hammer handle is observed this should suggest that the handle is part of a hammer and advise where to look for the hammer head. The particular knowledge that a handle has been found combines with general knowledge about hammers to influence the recognition process. This use of knowledge to direct control is denoted here by the term "active knowledge". A descriptive formalism is presented for visual knowledge which identifies the relationships relevant to the active use of the knowledge. A control structure is provided which can apply knowledge organized in this fashion actively to the processing of a given scene.

Site Controller: A System for Computer-Aided Civil Engineering and Construction

A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that maintains design data and directs operations. The first two components are widely available; I built SITE CONTROLLER to complete the triangle and describe it here. SITE CONTROLLER assists civil engineers in the design, estimation, and construction of earthworks, including hazardous waste site remediation. The core of SITE CONTROLLER is a site modelling system that represents existing and prospective terrain shapes, roads, hydrology, etc. Around this core are analysis, simulation, and vehicle control tools. Integrating these modules into one program enables civil engineers and contractors to use a single interface and database throughout the life of a project.