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The dynamics of many systems are described by ordinary differential equations (ODE). Solving ODEs with standard methods (i.e. numerical integration) needs a high amount of computing time but only a small amount of storage memory. For some applications, e.g. short time weather forecast or real time robot control, long computation times are prohibitive. Is there a method which uses less computing time (but has drawbacks in other aspects, e.g. memory), so that the computation of ODEs gets faster? We will try to discuss this question for the assumption that the alternative computation method is a neural network which was trained on ODE dynamics and compare both methods using the same approximation error. This comparison is done with two different errors. First, we use the standard error that measures the difference between the approximation and the solution of the ODE which is hard to characterize. But in many cases, as for physics engines used in computer games, the shape of the approximation curve is important and not the exact values of the approximation. Therefore, we introduce a subjective error based on the Total Least Square Error (TLSE) which gives more consistent results. For the final performance comparison, we calculate the optimal resource usage for the neural network and evaluate it depending on the resolution of the interpolation points and the inter-point distance. Our conclusion gives a method to evaluate where neural nets are advantageous over numerical ODE integration and where this is not the case. Index Terms—ODE, neural nets, Euler method, approximation complexity, storage optimization.
The pathogenesis of nodular lymphocyte–predominant Hodgkin lymphoma (NLPHL) and its relationship to other lymphomas are largely unknown. This is partly because of the technical challenge of analyzing its rare neoplastic lymphocytic and histiocytic (L&H) cells, which are dispersed in an abundant nonneoplastic cellular microenvironment. We performed a genome-wide expression study of microdissected L&H lymphoma cells in comparison to normal and other malignant B cells that indicated a relationship of L&H cells to and/or that they originate from germinal center B cells at the transition to memory B cells. L&H cells show a surprisingly high similarity to the tumor cells of T cell–rich B cell lymphoma and classical Hodgkin lymphoma, a partial loss of their B cell phenotype, and deregulation of many apoptosis regulators and putative oncogenes. Importantly, L&H cells are characterized by constitutive nuclear factor {kappa}B activity and aberrant extracellular signal-regulated kinase signaling. Thus, these findings shed new light on the nature of L&H cells, reveal several novel pathogenetic mechanisms in NLPHL, and may help in differential diagnosis and lead to novel therapeutic strategies.
Driving can be dangerous. Humans become inattentive when performing a monotonous task like driving. Also the risk implied while multi-tasking, like using the cellular phone while driving, can break the concentration of the driver and increase the risk of accidents. Others factors like exhaustion, nervousness and excitement affect the performance of the driver and the response time. Consequently, car manufacturers have developed systems in the last decades which assist the driver under various circumstances. These systems are called driver assistance systems. Driver assistance systems are meant to support the task of driving, and the field of action varies from alerting the driver, with acoustical or optical warnings, to taking control of the car, such as keeping the vehicle in the traffic lane until the driver resumes control. For such a purpose, the vehicle is equipped with on-board sensors which allow the perception of the environment and/or the state of the vehicle. Cameras are sensors which extract useful information about the visual appearance of the environment. Additionally, a binocular system allows the extraction of 3D information. One of the main requirements for most camera-based driver assistance systems is the accurate knowledge of the motion of the vehicle. Some sources of information, like velocimeters and GPS, are of common use in vehicles today. Nevertheless, the resolution and accuracy usually achieved with these systems are not enough for many real-time applications. The computation of ego-motion from sequences of stereo images for the implementation of driving intelligent systems, like autonomous navigation or collision avoidance, constitutes the core of this thesis. This dissertation proposes a framework for the simultaneous computation of the 6 degrees of freedom of ego-motion (rotation and translation in 3D Euclidean space), the estimation of the scene structure and the detection and estimation of independently moving objects. The input is exclusively provided by a binocular system and the framework does not call for any data acquisition strategy, i.e. the stereo images are just processed as they are provided. Stereo allows one to establish correspondences between left and right images, estimating 3D points of the environment via triangulation. Likewise, feature tracking establishes correspondences between the images acquired at different time instances. When both are used together for a large number of points, the result is a set of clouds of 3D points with point-to-point correspondences between clouds. The apparent motion of the 3D points between consecutive frames is caused by a variety of reasons. The most dominant motion for most of the points in the clouds is caused by the ego-motion of the vehicle; as the vehicle moves and images are acquired, the relative position of the world points with respect to the vehicle changes. Motion is also caused by objects moving in the environment. They move independently of the vehicle motion, so the observed motion for these points is the sum of the ego-vehicle motion and the independent motion of the object. A third reason, and of paramount importance in vision applications, is caused by correspondence problems, i.e. the incorrect spatial or temporal assignment of the point-to-point correspondence. Furthermore, all the points in the clouds are actually noisy measurements of the real unknown 3D points of the environment. Solving ego-motion and scene structure from the clouds of points requires some previous analysis of the noise involved in the imaging process, and how it propagates as the data is processed. Therefore, this dissertation analyzes the noise properties of the 3D points obtained through stereo triangulation. This leads to the detection of a bias in the estimation of 3D position, which is corrected with a reformulation of the projection equation. Ego-motion is obtained by finding the rotation and translation between the two clouds of points. This problem is known as absolute orientation, and many solutions based on least squares have been proposed in the literature. This thesis reviews the available closed form solutions to the problem. The proposed framework is divided in three main blocks: 1) stereo and feature tracking computation, 2) ego-motion estimation and 3) estimation of 3D point position and 3D velocity. The first block solves the correspondence problem providing the clouds of points as output. No special implementation of this block is required in this thesis. The ego-motion block computes the motion of the cameras by finding the absolute orientation between the clouds of static points in the environment. Since the cloud of points might contain independently moving objects and outliers generated by false correspondences, the direct computation of the least squares might lead to an erroneous solution. The first contribution of this thesis is an effective rejection rule that detects outliers based on the distance between predicted and measured quantities, and reduces the effects of noisy measurement by assigning appropriate weights to the data. This method is called Smoothness Motion Constraint (SMC). The ego-motion of the camera between two frames is obtained finding the absolute orientation between consecutive clouds of weighted 3D points. The complete ego-motion since initialization is achieved concatenating the individual motion estimates. This leads to a super-linear propagation of the error, since noise is integrated. A second contribution of this dissertation is a predictor/corrector iterative method, which integrates the clouds of 3D points of multiple time instances for the computation of ego-motion. The presented method considerably reduces the accumulation of errors in the estimated ego-position of the camera. Another contribution of this dissertation is a method which recursively estimates the 3D world position of a point and its velocity; by fusing stereo, feature tracking and the estimated ego-motion in a Kalman Filter system. An improved estimation of point position is obtained this way, which is used in the subsequent system cycle resulting in an improved computation of ego-motion. The general contribution of this dissertation is a single framework for the real time computation of scene structure, independently moving objects and ego-motion for automotive applications.
We present a higher-order call-by-need lambda calculus enriched with constructors, case-expressions, recursive letrec-expressions, a seq-operator for sequential evaluation and a non-deterministic operator amb that is locally bottom-avoiding. We use a small-step operational semantics in form of a single-step rewriting system that defines a (nondeterministic) normal order reduction. This strategy can be made fair by adding resources for bookkeeping. As equational theory we use contextual equivalence, i.e. terms are equal if plugged into any program context their termination behaviour is the same, where we use a combination of may- as well as must-convergence, which is appropriate for non-deterministic computations. We show that we can drop the fairness condition for equational reasoning, since the valid equations w.r.t. normal order reduction are the same as for fair normal order reduction. We evolve different proof tools for proving correctness of program transformations, in particular, a context lemma for may- as well as mustconvergence is proved, which restricts the number of contexts that need to be examined for proving contextual equivalence. In combination with so-called complete sets of commuting and forking diagrams we show that all the deterministic reduction rules and also some additional transformations preserve contextual equivalence.We also prove a standardisation theorem for fair normal order reduction. The structure of the ordering <=c a is also analysed: Ω is not a least element, and <=c already implies contextual equivalence w.r.t. may-convergence.
This paper proves several generic variants of context lemmas and thus contributes to improving the tools for observational semantics of deterministic and non-deterministic higher-order calculi that use a small-step reduction semantics. The generic (sharing) context lemmas are provided for may- as well as two variants of must-convergence, which hold in a broad class of extended process- and extended lambda calculi, if the calculi satisfy certain natural conditions. As a guide-line, the proofs of the context lemmas are valid in call-by-need calculi, in callby-value calculi if substitution is restricted to variable-by-variable and in process calculi like variants of the π-calculus. For calculi employing beta-reduction using a call-by-name or call-by-value strategy or similar reduction rules, some iu-variants of ciu-theorems are obtained from our context lemmas. Our results reestablish several context lemmas already proved in the literature, and also provide some new context lemmas as well as some new variants of the ciu-theorem. To make the results widely applicable, we use a higher-order abstract syntax that allows untyped calculi as well as certain simple typing schemes. The approach may lead to a unifying view of higher-order calculi, reduction, and observational equality.
We show on an abstract level that contextual equivalence in non-deterministic program calculi defined by may- and must-convergence is maximal in the following sense. Using also all the test predicates generated by the Boolean, forall- and existential closure of may- and must-convergence does not change the contextual equivalence. The situation is different if may- and total must-convergence is used, where an expression totally must-converges if all reductions are finite and terminate with a value: There is an infinite sequence of test-predicates generated by the Boolean, forall- and existential closure of may- and total must-convergence, which also leads to an infinite sequence of different contextual equalities.
Various concurrency primitives have been added to sequential programming languages, in order to turn them concurrent. Prominent examples are concurrent buffers for Haskell, channels in Concurrent ML, joins in JoCaml, and handled futures in Alice ML. Even though one might conjecture that all these primitives provide the same expressiveness, proving this equivalence is an open challenge in the area of program semantics. In this paper, we establish a first instance of this conjecture. We show that concurrent buffers can be encoded in the lambda calculus with futures underlying Alice ML. Our correctness proof results from a systematic method, based on observational semantics with respect to may and must convergence.
We investigate methods and tools for analyzing translations between programming languages with respect to observational semantics. The behavior of programs is observed in terms of may- and mustconvergence in arbitrary contexts, and adequacy of translations, i.e., the reflection of program equivalence, is taken to be the fundamental correctness condition. For compositional translations we propose a notion of convergence equivalence as a means for proving adequacy. This technique avoids explicit reasoning about contexts, and is able to deal with the subtle role of typing in implementations of language extensions.
We investigate methods and tools for analysing translations between programming languages with respect to observational semantics. The behaviour of programs is observed in terms of may- and mustconvergence in arbitrary contexts, and adequacy of translations, i.e., the reflection of program equivalence, is taken to be the fundamental correctness condition. For compositional translations we propose a notion of convergence equivalence as a means for proving adequacy. This technique avoids explicit reasoning about contexts, and is able to deal with the subtle role of typing in implementations of language extensions.
We investigate methods and tools for analysing translations between programming languages with respect to observational semantics. The behaviour of programs is observed in terms of may- and mustconvergence in arbitrary contexts, and adequacy of translations, i.e., the reflection of program equivalence, is taken to be the fundamental correctness condition. For compositional translations we propose a notion of convergence equivalence as a means for proving adequacy. This technique avoids explicit reasoning about contexts, and is able to deal with the subtle role of typing in implementations of language extensions.