Pi: A Parallel Architecture Interface for Multi-Model Execution

This thesis defines Pi, a parallel architecture interface that separates model and machine issues, allowing them to be addressed independently. This provides greater flexibility for both the model and machine builder. Pi addresses a set of common parallel model requirements including low latency communication, fast task switching, low cost synchronization, efficient storage management, the ability to exploit locality, and efficient support for sequential code. Since Pi provides generic parallel operations, it can efficiently support many parallel programming models including hybrids of existing models. Pi also forms a basis of comparison for architectural components.

Heterogeneous Multi-Robot Cooperation

This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.

Improving Multi-class Text Classification with Naive Bayes

There are numerous text documents available in electronic form. More and more are becoming available every day. Such documents represent a massive amount of information that is easily accessible. Seeking value in this huge collection requires organization; much of the work of organizing documents can be automated through text classification. The accuracy and our understanding of such systems greatly influences their usefulness. In this paper, we seek 1) to advance the understanding of commonly used text classification techniques, and 2) through that understanding, improve the tools that are available for text classification. We begin by clarifying the assumptions made in the derivation of Naive Bayes, noting basic properties and proposing ways for its extension and improvement. Next, we investigate the quality of Naive Bayes parameter estimates and their impact on classification. Our analysis leads to a theorem which gives an explanation for the improvements that can be found in multiclass classification with Naive Bayes using Error-Correcting Output Codes. We use experimental evidence on two commonly-used data sets to exhibit an application of the theorem. Finally, we show fundamental flaws in a commonly-used feature selection algorithm and develop a statistics-based framework for text feature selection. Greater understanding of Naive Bayes and the properties of text allows us to make better use of it in text classification.

A Multi-scale Model for Copper Dishing in Chemical-Mechanical Polishing

The present success in the manufacture of multi-layer interconnects in ultra-large-scale integration is largely due to the acceptable planarization capabilities of the chemical-mechanical polishing (CMP) process. In the past decade, copper has emerged as the preferred interconnect material. The greatest challenge in Cu CMP at present is the control of wafer surface non-uniformity at various scales. As the size of a wafer has increased to 300 mm, the wafer-level non-uniformity has assumed critical importance. Moreover, the pattern geometry in each die has become quite complex due to a wide range of feature sizes and multi-level structures. Therefore, it is important to develop a non-uniformity model that integrates wafer-, die- and feature-level variations into a unified, multi-scale dielectric erosion and Cu dishing model. In this paper, a systematic way of characterizing and modeling dishing in the single-step Cu CMP process is presented. The possible causes of dishing at each scale are identified in terms of several geometric and process parameters. The feature-scale pressure calculation based on the step-height at each polishing stage is introduced. The dishing model is based on pad elastic deformation and the evolving pattern geometry, and is integrated with the wafer- and die-level variations. Experimental and analytical means of determining the model parameters are outlined and the model is validated by polishing experiments on patterned wafers. Finally, practical approaches for minimizing Cu dishing are suggested.

A Multi-scale Model for Copper Dishing in Chemical-Mechanical Polishing

The present success in the manufacture of multi-layer interconnects in ultra-large-scale integration is largely due to the acceptable planarization capabilities of the chemical-mechanical polishing (CMP) process. In the past decade, copper has emerged as the preferred interconnect material. The greatest challenge in Cu CMP at present is the control of wafer surface non-uniformity at various scales. As the size of a wafer has increased to 300 mm, the wafer-level non-uniformity has assumed critical importance. Moreover, the pattern geometry in each die has become quite complex due to a wide range of feature sizes and multi-level structures. Therefore, it is important to develop a non-uniformity model that integrates wafer-, die- and feature-level variations into a unified, multi-scale dielectric erosion and Cu dishing model. In this paper, a systematic way of characterizing and modeling dishing in the single-step Cu CMP process is presented. The possible causes of dishing at each scale are identified in terms of several geometric and process parameters. The feature-scale pressure calculation based on the step-height at each polishing stage is introduced. The dishing model is based on pad elastic deformation and the evolving pattern geometry, and is integrated with the wafer- and die-level variations. Experimental and analytical means of determining the model parameters are outlined and the model is validated by polishing experiments on patterned wafers. Finally, practical approaches for minimizing Cu dishing are suggested.

Multi-isotopic and compositional exploration of factors controlling nitrate pollution

In Catalonia, according to the nitrate directive (91/676/EU), nine areas have been declared as vulnerable to nitrate pollution from agricultural sources (Decret 283/1998 and Decret 479/2004). Five of these areas have been studied coupling hydro chemical data with a multi-isotopic approach (Vitòria et al. 2005, Otero et al. 2007, Puig et al. 2007), in an ongoing research project looking for an integrated application of classical hydrochemistry data, with a comprehensive isotopic characterisation (δ15N and δ18O of dissolved nitrate, δ34S and δ18O of dissolved sulphate, δ13C of dissolved inorganic carbon, and δD and δ18O of water). Within this general frame, the contribution presented explores compositional ways of: (i) distinguish agrochemicals and manure N pollution, (ii) quantify natural attenuation of nitrate (denitrification), and identify possible controlling factors. To achieve this two-fold goal, the following techniques have been used. Separate biplots of each suite of data show that each studied region has a distinct δ34S and pH signatures, but they are homogeneous with regard to NO3- related variables. Also, the geochemical variables were projected onto the compositional directions associated with the possible denitrification reactions in each region. The resulting balances can be plot together with some isotopes, to assess their likelihood of occurrence

Partial disjoint path for multi-layer protection in GMPLS networks

In this paper, different recovery methods applied at different network layers and time scales are used in order to enhance the network reliability. Each layer deploys its own fault management methods. However, current recovery methods are applied to only a specific layer. New protection schemes, based on the proposed partial disjoint path algorithm, are defined in order to avoid protection duplications in a multi-layer scenario. The new protection schemes also encompass shared segment backup computation and shared risk link group identification. A complete set of experiments proves the efficiency of the proposed methods in relation with previous ones, in terms of resources used to protect the network, the failure recovery time and the request rejection ratio

Enhanced multi-layer protection in multi-service GMPLS networks

This paper focuses on QoS routing with protection in an MPLS network over an optical layer. In this multi-layer scenario each layer deploys its own fault management methods. A partially protected optical layer is proposed and the rest of the network is protected at the MPLS layer. New protection schemes that avoid protection duplications are proposed. Moreover, this paper also introduces a new traffic classification based on the level of reliability. The failure impact is evaluated in terms of recovery time depending on the traffic class. The proposed schemes also include a novel variation of minimum interference routing and shared segment backup computation. A complete set of experiments proves that the proposed schemes are more efficient as compared to the previous ones, in terms of resources used to protect the network, failure impact and the request rejection ratio

Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems

WAIS Seminar:Secure Multi-Party Computation for the Masses

Speaker(s): Prof. David Evans Organiser: Dr Tim Chown Time: 22/05/2014 10:45-11:45 Location: B53/4025 Abstract Secure multi-party computation enables two (or more) participants to reliably compute a function that depends on both of their inputs, without revealing those inputs to the other party or needing to trust any other party. It could enable two people who meet at a conference to learn who they known in common without revealing any of their other contacts, or allow a pharmaceutical company to determine the correct dosage of a medication based on a patient’s genome without compromising the privacy of the patient. A general solution to this problem has been known since Yao's pioneering work in the 1980s, but only recently has it become conceivable to use this approach in practice. Over the past few years, my research group has worked towards making secure computation practical for real applications. In this talk, I'll provide a brief introduction to secure computation protocols, describe the techniques we have developed to design scalable and efficient protocols, and share some recent results on improving efficiency and how secure computing applications are developed.

Redes multi-niveles de derechos humanos y defensa de los pueblos indígenas colombianos en escenarios “internacionalizados”

Este artículo busca analizar uno de los múltiples aspectos de la dimensión internacional de las movilizaciones indígenas: la forma como los procesos reivindicativos de las organizaciones indígenas colombianas se insertan en la dinámica global del lobbying internacional de las redes de derechos humanos ante Naciones Unidas. Para ello, nos centraremos en el análisis de la lógica de funcionamiento de los circuitos de derechos humanos en un universo social específico: el medio asociativo francés. Esto nos permitirá llevar a cabo la reconstrucción de algunos perfiles sociales de militantes y juristas que hacen las veces de intermediarios entre organizaciones colombianas y ONG europeas.-----This article seeks to analyze one of the multiple aspects of the international dimension of indigenous congregations: how the claim processes of the Colombian indigenous organizations fit into the global dynamics of international lobbying by human rights networks before the United Nations. For this purpose we shall focus our argument around analyzing the rationale of the way human rights circuits work in a specific social universe: the French associative media. This will allow us to undertake the reconstruction of some of the social profiles of militants and lawyers who act as intermediaries between Colombian organizations and European NGO's.

Sistemas de creencias ambientales : un análisis multi-muestra de estructuras factoriales.

resumen literal de la revista

FACSIMI : Fomento de Aprendizajes Cooperativos con Soporte Informático para la Multi-Interculturalidad.

El objetivo del proyecto es utilizar recursos informáticos para realizar experiencias que complementen, amplíen y enriquezcan las usuales del centro. Está destinado a todos los alumnos, pero se prioriza para los de altas capacidades, alumnos con necesidades educativas especiales asociadas a déficit psíquico y alumnos con necesidad de compensación educativa. Otros objetivos son favorecer la comunicación mediante el uso de elementos verbales, visuales, plásticos sonoros y gestuales; desarrollar la autonomía de los alumnos mediante la iniciación al uso de instrumentos tecnológicos de uso cotidiano; desarrollar la creatividad a partir de las posibilidades estéticas que ofrecen los medios tecnológicos; potenciar la colaboración y la planificación en grupo y el trabajo en equipo; identificar y plantear interrogantes a partir de la experiencia diaria utilizando recursos materiales y colaboraciones de personas del entorno escolar; ampliar la competencia curricular; buscar nuevas soluciones artísticas, científicas y técnicas; y mostrar actitudes de respeto, tolerancia y aceptación positiva de la diversidad. En cuanto a la metodología, las actividades son distintas según el tipo de alumnos a los que se dirigen. Se realiza el Rincón del ordenador en Educación Infantil, Internet para alumnos con altas capacidades, Acercamiento a otras culturas mediante Internet, y Uso de la informática en logopedia. En cuanto a los materiales, se elabora un archivo de las actividades realizadas por el alumnado.

Speaking extra : a resource book of multi-level skills activities.

Este recurso para el profesor se organiza en dieciocho unidades con temas de interés general, cada una de ellas lleva tres actividades para cada uno de los niveles: elemental, intermedio y avanzado. Estas actividades pueden utilizarse como material didáctico adicional y está destinado a jóvenes mayores de dieciséis años y adultos para practicar distintos tipos de conversación: de negociación, persuasión, expresión de la opinión y petición de información.