Planning and Teaching Compliant Motion Strategies

This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its environment. The programming system is referred to as high level because the user is spared of many robot-level details, such as the specification of conditional tests, motion termination conditions, and compliance parameters. Instead, the user specifies task-level information, including a geometric model of the robot and its environment. The user may also have to specify some suggested motions. There are two main system components. The first component is an interactive teaching system which accepts motion commands from a user and attempts to build a compliant motion strategy using the specified motions as building blocks. The second component is an autonomous compliant motion planner, which is intended to spare the user from dealing with "simple" problems. The planner simplifies the representation of the environment by decomposing the configuration space of the robot into a finite state space, whose states are vertices, edges, faces, and combinations thereof. States are inked to each other by arcs, which represent reliable compliant motions. Using best first search, states are expanded until a strategy is found from the start state to a global state. This component represents one of the first implemented compliant motion planners. The programming system has been implemented on a Symbolics 3600 computer, and tested on several examples. One of the resulting compliant motion strategies was successfully executed on an IBM 7565 robot manipulator.

Instabilities in two-dimensional flower and chain clusters of bubbles

M.A. Fortes et al., Instabilities in two-dimensional flower and chain clusters of bubbles, Colloids and Surfaces A: Physicochemical and Engineering Aspects Volume 309, Issues 1-3, 1 November 2007, Pages 64-70 A Collection of Papers Presented at the 6th Eufoam Conference, Potsdam, Germany, 2-6 July, 2006

Rozproszone algorytmy aproksymacyjne dla grafów dyskowych

Wydział Matematyki i Informatyki: Zakład Matematyki Dyskretnej

Mieszanie stanów magnetycznych w skończonych układach spinowych opisywanych modelem Heisenberga

Wydział Fizyki: Zakład Fizyki Komputerowej

On the Performance of Polynomial-time CLIQUE Approximation Algorithms on Very Large Graphs

The performance of a randomized version of the subgraph-exclusion algorithm (called Ramsey) for CLIQUE by Boppana and Halldorsson is studied on very large graphs. We compare the performance of this algorithm with the performance of two common heuristic algorithms, the greedy heuristic and a version of simulated annealing. These algorithms are tested on graphs with up to 10,000 vertices on a workstation and graphs as large as 70,000 vertices on a Connection Machine. Our implementations establish the ability to run clique approximation algorithms on very large graphs. We test our implementations on a variety of different graphs. Our conclusions indicate that on randomly generated graphs minor changes to the distribution can cause dramatic changes in the performance of the heuristic algorithms. The Ramsey algorithm, while not as good as the others for the most common distributions, seems more robust and provides a more even overall performance. In general, and especially on deterministically generated graphs, a combination of simulated annealing with either the Ramsey algorithm or the greedy heuristic seems to perform best. This combined algorithm works particularly well on large Keller and Hamming graphs and has a competitive overall performance on the DIMACS benchmark graphs.

Small-World Internet Topologies: Possible Causes and Implications on Scalability of End-System Multicast

Recent work has shown the prevalence of small-world phenomena [28] in many networks. Small-world graphs exhibit a high degree of clustering, yet have typically short path lengths between arbitrary vertices. Internet AS-level graphs have been shown to exhibit small-world behaviors [9]. In this paper, we show that both Internet AS-level and router-level graphs exhibit small-world behavior. We attribute such behavior to two possible causes–namely the high variability of vertex degree distributions (which were found to follow approximately a power law [15]) and the preference of vertices to have local connections. We show that both factors contribute with different relative degrees to the small-world behavior of AS-level and router-level topologies. Our findings underscore the inefficacy of the Barabasi-Albert model [6] in explaining the growth process of the Internet, and provide a basis for more promising approaches to the development of Internet topology generators. We present such a generator and show the resemblance of the synthetic graphs it generates to real Internet AS-level and router-level graphs. Using these graphs, we have examined how small-world behaviors affect the scalability of end-system multicast. Our findings indicate that lower variability of vertex degree and stronger preference for local connectivity in small-world graphs results in slower network neighborhood expansion, and in longer average path length between two arbitrary vertices, which in turn results in better scaling of end system multicast.

Exact Geosedics and Shortest Paths on Polyhedral Surface

We present two algorithms for computing distances along a non-convex polyhedral surface. The first algorithm computes exact minimal-geodesic distances and the second algorithm combines these distances to compute exact shortest-path distances along the surface. Both algorithms have been extended to compute the exact minimalgeodesic paths and shortest paths. These algorithms have been implemented and validated on surfaces for which the correct solutions are known, in order to verify the accuracy and to measure the run-time performance, which is cubic or less for each algorithm. The exact-distance computations carried out by these algorithms are feasible for large-scale surfaces containing tens of thousands of vertices, and are a necessary component of near-isometric surface flattening methods that accurately transform curved manifolds into flat representations.

Orientational Harmonic Model for Illusory Boundary Formation in Biological Vision

An extension to the Boundary Contour System model is proposed to account for boundary completion through vertices with arbitrary numbers of orientations, in a manner consistent with psychophysical observartions, by way of harmonic resonance in a neural architecture.

Untangling unstructured programs

A method is presented for converting unstructured program schemas to strictly equivalent structured form. The predicates of the original schema are left intact with structuring being achieved by the duplication of he original decision vertices without the introduction of compound predicate expressions, or where possible by function duplication alone. It is shown that structured schemas must have at least as many decision vertices as the original unstructured schema, and must have more when the original schema contains branches out of decision constructs. The structuring method allows the complete avoidance of function duplication, but only at the expense of decision vertex duplication. It is shown that structured schemas have greater space-time requirements in general than their equivalent optimal unstructured counterparts and at best have the same requirements.

PenPC: A two-step approach to estimate the skeletons of high-dimensional directed acyclic graphs.

Estimation of the skeleton of a directed acyclic graph (DAG) is of great importance for understanding the underlying DAG and causal effects can be assessed from the skeleton when the DAG is not identifiable. We propose a novel method named PenPC to estimate the skeleton of a high-dimensional DAG by a two-step approach. We first estimate the nonzero entries of a concentration matrix using penalized regression, and then fix the difference between the concentration matrix and the skeleton by evaluating a set of conditional independence hypotheses. For high-dimensional problems where the number of vertices p is in polynomial or exponential scale of sample size n, we study the asymptotic property of PenPC on two types of graphs: traditional random graphs where all the vertices have the same expected number of neighbors, and scale-free graphs where a few vertices may have a large number of neighbors. As illustrated by extensive simulations and applications on gene expression data of cancer patients, PenPC has higher sensitivity and specificity than the state-of-the-art method, the PC-stable algorithm.

Spin three gauge theory revisited

We study the problem of consistent interactions for spin-3 gauge fields in flat spacetime of arbitrary dimension 3$">n>3. Under the sole assumptions of Poincaré and parity invariance, local and perturbative deformation of the free theory, we determine all nontrivial consistent deformations of the abelian gauge algebra and classify the corresponding deformations of the quadratic action, at first order in the deformation parameter. We prove that all such vertices are cubic, contain a total of either three or five derivatives and are uniquely characterized by a rank-three constant tensor (an internal algebra structure constant). The covariant cubic vertex containing three derivatives is the vertex discovered by Berends, Burgers and van Dam, which however leads to inconsistencies at second order in the deformation parameter. In dimensions 4$">n>4 and for a completely antisymmetric structure constant tensor, another covariant cubic vertex exists, which contains five derivatives and passes the consistency test where the previous vertex failed. © SISSA 2006.

Measurement of the cross section and angular correlations for associated production of a Z boson with b hadrons in pp collisions at √s = 7 TeV

A study of proton-proton collisions in which two b hadrons are produced in association with a Z boson is reported. The collisions were recorded at a centre-of-mass energy of 7TeV with the CMS detector at the LHC, for an integrated luminosity of 5:2 fb-1. The b hadrons are identified by means of displaced secondary vertices, without the use of reconstructed jets, permitting the study of b-hadron pair production at small angular separation. Differential cross sections are presented as a function of the angular separation of the b hadrons and the Z boson. In addition, inclusive measurements are presented. For both the inclusive and differential studies, different ranges of Z boson momentum are considered, and each measurement is compared to the predictions from different event generators at leading-order and next-to-leading-order accuracy. Copyright CERN.

Exact colorations of graphs and digraphs

A coloration is an exact regular coloration if whenever two vertices are colored the same they have identically colored neighborhoods. For example, if one of the two vertices that are colored the same is connected to three yellow vertices, two white and red, then the other vertex is as well. Exact regular colorations have been discussed informally in the social network literature. However they have been part of the mathematical literature for some time, though in a different format. We explore this concept in terms of social networks and illustrate some important results taken from the mathematical literature. In addition we show how the concept can be extended to ecological and perfect colorations, and discuss how the CATREGE algorithm can be extended to find the maximal exact regular coloration of a graph.

Parallel optimisation algorithms for multilevel mesh partitioning

Three parallel optimisation algorithms, for use in the context of multilevel graph partitioning of unstructured meshes, are described. The first, interface optimisation, reduces the computation to a set of independent optimisation problems in interface regions. The next, alternating optimisation, is a restriction of this technique in which mesh entities are only allowed to migrate between subdomains in one direction. The third treats the gain as a potential field and uses the concept of relative gain for selecting appropriate vertices to migrate. The results are compared and seen to produce very high global quality partitions, very rapidly. The results are also compared with another partitioning tool and shown to be of higher quality although taking longer to compute.

A multilevel algorithm for force-directed graph drawing

We describe a heuristic method for drawing graphs which uses a multilevel technique combined with a force-directed placement algorithm. The multilevel process groups vertices to form clusters, uses the clusters to define a new graph and is repeated until the graph size falls below some threshold. The coarsest graph is then given an initial layout and the layout is successively refined on all the graphs starting with the coarsest and ending with the original. In this way the multilevel algorithm both accelerates and gives a more global quality to the force- directed placement. The algorithm can compute both 2 & 3 dimensional layouts and we demonstrate it on a number of examples ranging from 500 to 225,000 vertices. It is also very fast and can compute a 2D layout of a sparse graph in around 30 seconds for a 10,000 vertex graph to around 10 minutes for the largest graph. This is an order of magnitude faster than recent implementations of force-directed placement algorithms.