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ADAM: A Decentralized Parallel Computer Architecture Featuring Fast Thread and Data Migration and a Uniform Hardware Abstraction
(2002-06-01)
The furious pace of Moore's Law is driving computer architecture into a realm where the the speed of light is the dominant factor in system latencies. The number of clock cycles to span a chip are increasing, while the ...
Understanding Subsystems in Biology through Dimensionality Reduction, Graph Partitioning and Analytical Modeling
(2003-02-05)
Biological systems exhibit rich and complex behavior through the orchestrated interplay of a large array of components. It is hypothesized that separable subsystems with some degree of functional autonomy exist; deciphering ...
Stereo-Based Head Pose Tracking Using Iterative Closest Point and Normal Flow Constraint
(2003-05-01)
In this text, we present two stereo-based head tracking techniques along with a fast 3D model acquisition system. The first tracking technique is a robust implementation of stereo-based head tracking designed for ...
Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks
(2003-05-30)
Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ...
Online Learning of Non-stationary Sequences
(2003-06-12)
We consider an online learning scenario in which the learner can make predictions on the basis of a fixed set of experts. The performance of each expert may change over time in a manner unknown to the learner. We formulate ...
Teaching an Old Robot New Tricks: Learning Novel Tasks via Interaction with People and Things
(2003-06-20)
As AI has begun to reach out beyond its symbolic, objectivist roots into the embodied, experientialist realm, many projects are exploring different aspects of creating machines which interact with and respond to the world ...
Compact Representations for Fast Nonrigid Registration of Medical Images
(2003-07-04)
We develop efficient techniques for the non-rigid registration of medical images by using representations that adapt to the anatomy found in such images. Images of anatomical structures typically have uniform intensity ...
Representation and Detection of Shapes in Images
(2003-08-08)
We present a set of techniques that can be used to represent and detect shapes in images. Our methods revolve around a particular shape representation based on the description of objects using triangulated polygons. This ...
Generative Temporal Planning with Complex Processes
(2004-05-18)
Autonomous vehicles are increasingly being used in mission-critical applications, and robust methods are needed for controlling these inherently unreliable and complex systems. This thesis advocates the use of model-based ...
Programmable Self-Assembly: Constructing Global Shape using Biologically-inspire
(2001-06-01)
In this thesis I present a language for instructing a sheet of identically-programmed, flexible, autonomous agents (``cells'') to assemble themselves into a predetermined global shape, using local interactions. The ...