OS Support for Portable Bulk Synchronous Parallel Programs

Predictability -- the ability to foretell that an implementation will not violate a set of specified reliability and timeliness requirements -- is a crucial, highly desirable property of responsive embedded systems. This paper overviews a development methodology for responsive systems, which enhances predictability by eliminating potential hazards resulting from physically-unsound specifications. The backbone of our methodology is the Time-constrained Reactive Automaton (TRA) formalism, which adopts a fundamental notion of space and time that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Using the TRA model, unrealistic systems – possessing properties such as clairvoyance, caprice, infinite capacity, or perfect timing -- cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle of responsive systems -- not to mention the elimination of potential hazards that would have gone, otherwise, unnoticed. The TRA model is presented to system developers through the Cleopatra programming language. Cleopatra features a C-like imperative syntax for the description of computation, which makes it easier to incorporate in applications already using C. It is event-driven, and thus appropriate for embedded process control applications. It is object-oriented and compositional, thus advocating modularity and reusability. Cleopatra is semantically sound; its objects can be transformed, mechanically and unambiguously, into formal TRA automata for verification purposes, which can be pursued using model-checking or theorem proving techniques. Since 1989, an ancestor of Cleopatra has been in use as a specification and simulation language for embedded time-critical robotic processes.

Contour Generator Points for Threshold Selection and a Novel Photo-Consistency Measure for Space Carving

Space carving has emerged as a powerful method for multiview scene reconstruction. Although a wide variety of methods have been proposed, the quality of the reconstruction remains highly-dependent on the photometric consistency measure, and the threshold used to carve away voxels. In this paper, we present a novel photo-consistency measure that is motivated by a multiset variant of the chamfer distance. The new measure is robust to high amounts of within-view color variance and also takes into account the projection angles of back-projected pixels. Another critical issue in space carving is the selection of the photo-consistency threshold used to determine what surface voxels are kept or carved away. In this paper, a reliable threshold selection technique is proposed that examines the photo-consistency values at contour generator points. Contour generators are points that lie on both the surface of the object and the visual hull. To determine the threshold, a percentile ranking of the photo-consistency values of these generator points is used. This improved technique is applicable to a wide variety of photo-consistency measures, including the new measure presented in this paper. Also presented in this paper is a method to choose between photo-consistency measures, and voxel array resolutions prior to carving using receiver operating characteristic (ROC) curves.

Communicable Memory and Lazy Barriers for Bulk Synchronous Parallelism in BSPk

Communication and synchronization stand as the dual bottlenecks in the performance of parallel systems, and especially those that attempt to alleviate the programming burden by incurring overhead in these two domains. We formulate the notions of communicable memory and lazy barriers to help achieve efficient communication and synchronization. These concepts are developed in the context of BSPk, a toolkit library for programming networks of workstations|and other distributed memory architectures in general|based on the Bulk Synchronous Parallel (BSP) model. BSPk emphasizes efficiency in communication by minimizing local memory-to-memory copying, and in barrier synchronization by not forcing a process to wait unless it needs remote data. Both the message passing (MP) and distributed shared memory (DSM) programming styles are supported in BSPk. MP helps processes efficiently exchange short-lived unnamed data values, when the identity of either the sender or receiver is known to the other party. By contrast, DSM supports communication between processes that may be mutually anonymous, so long as they can agree on variable names in which to store shared temporary or long-lived data.

Gismo: A Generator of Internet Streaming Media Objects and Workloads

This paper presents a tool called Gismo (Generator of Internet Streaming Media Objects and workloads). Gismo enables the specification of a number of streaming media access characteristics, including object popularity, temporal correlation of request, seasonal access patterns, user session durations, user interactivity times, and variable bit-rate (VBR) self-similarity and marginal distributions. The embodiment of these characteristics in Gismo enables the generation of realistic and scalable request streams for use in the benchmarking and comparative evaluation of Internet streaming media delivery techniques. To demonstrate the usefulness of Gismo, we present a case study that shows the importance of various workload characteristics in determining the effectiveness of proxy caching and server patching techniques in reducing bandwidth requirements.

The VITEWRITE Model of Handwriting Production

This article describes the VITEWRITE model for generating handwriting movements. The model consists of a sequential controller, or motor program, that interacts with a trajectory generator to move a hand with redundant degrees of freedom. The neural trajectory generator is the Vector Integration to Endpoint (VITE) model for synchronous variable-speed control of multijoint movements. VITE properties enable a simple control strategy to generate complex handwritten script if the hand model contains redundant degrees of freedom. The controller launches transient directional commands to independent hand synergies at times when the hand begins to move, or when a velocity peak in the outflow command to a given synergy occurs. The VITE model translates these temporally disjoint synergy commands into smooth curvilinear trajectories among temporally overlapping synergetic movements. Each synergy exhibits a unimodal velocity profile during any stroke, generates letters that are invariant under speed and size rescaling, and enables effortless connection of letter shapes into words. Speed and size rescaling are achieved by scalar GO and GRO signals that express computationally simple volitional commands. Psychophysical data such as the isochrony principle, asymmetric velocity profiles, and the two-thirds power law relating movement curvature and velocity arise as emergent properties of model interactions.

A Neural Pattern Generator that Exhibits Arousal-Dependant Human Gait Transitions

A neural pattern generator based upon a non-linear cooperative-competitive feedback neural network is presented. It can generate the two standard human gaits: the walk and the run. A scalar arousal or GO signal causes a bifurcation from one gait to the next. Although these two gaits are qualitatively different, they both have the same limb order and may exhibit oscillation frequencies that overlap. The model simulates the walk and the run via qualitatively different waveform shapes. The fraction of cycle that activity is above threshold distinguishes the two gaits, much as the duty cycles of the feet are longer in the walk than in the run.

Quadruped Gait Transitions from a Neural Pattern Generator with Arousal Modulated Interactions

A four-channel neural pattern generator is described in which both the frequency and the relative phase of oscillations are controlled by a scalar arousal or GO signal. The generator is used to simulate quadruped gaits; in particular, rapid transitions are simulated in the order - walk, trot, pace, and gallop - that occurs in the cat. Precise switching control is achieved by using an arousal dependent modulation of the model's inhibitory interactions. This modulation generates a different functional connectivity in a single network at different arousal levels.

A Neural Pattern Generator that Exhibits Frequency-Dependent In-Phase and Anti-Phase Oscillations

This article describes a. neural pattern generator based on a cooperative-competitive feedback neural network. The two-channel version of the generator supports both in-phase and anti-phase oscillations. A scalar arousal level controls both the oscillation phase and frequency. As arousal increases, oscillation frequency increases and bifurcations from in-phase to anti-phase, or anti-phase to in-phase oscillations can occur. Coupled versions of the model exhibit oscillatory patterns which correspond to the gaits used in locomotion and other oscillatory movements by various animals.

A Neural Network Model for Cursive Script Production

This article describes a neural network model, called the VITEWRITE model, for generating handwriting movements. The model consists of a sequential controller, or motor program, that interacts with a trajectory generator to move a. hand with redundant degrees of freedom. The neural trajectory generator is the Vector Integration to Endpoint (VITE) model for synchronous variable-speed control of multijoint movements. VITE properties enable a simple control strategy to generate complex handwritten script if the hand model contains redundant degrees of freedom. The proposed controller launches transient directional commands to independent hand synergies at times when the hand begins to move, or when a velocity peak in a given synergy is achieved. The VITE model translates these temporally disjoint synergy commands into smooth curvilinear trajectories among temporally overlapping synergetic movements. The separate "score" of onset times used in most prior models is hereby replaced by a self-scaling activity-released "motor program" that uses few memory resources, enables each synergy to exhibit a unimodal velocity profile during any stroke, generates letters that are invariant under speed and size rescaling, and enables effortless. connection of letter shapes into words. Speed and size rescaling are achieved by scalar GO and GRO signals that express computationally simple volitional commands. Psychophysical data concerning band movements, such as the isochrony principle, asymmetric velocity profiles, and the two-thirds power law relating movement curvature and velocity arise as emergent properties of model interactions.