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Enumerating the NonIsomorphic Assembly Configurations of Modular Robotic Systems
 the International Journal of Robotics Research
"... A "modular" robotic system consists of joint and link modules that can be assembled in a variety of configurations to meet different or changing task requirements. However, due to typical symmetries in module design, different assembly configurations may lead to robotic structures which are kinemati ..."
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Cited by 26 (1 self)
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A "modular" robotic system consists of joint and link modules that can be assembled in a variety of configurations to meet different or changing task requirements. However, due to typical symmetries in module design, different assembly configurations may lead to robotic structures which are kinematically identical, or isomorphic. This paper considers how to enumerate the nonisomorphic assembly configurations of a modular robotic system. We introduce an Assembly Incidence Matrix (AIM) to represent a modular robot assembly configuration. Then we use symmetries of the module geometry and graph isomorphisms to define an equivalence relation on the AIMs. Equivalent AIMs represent isomorphic robot assembly configurations. Based on this equivalence relation, we propose an algorithm to generate nonisomorphic assembly configurations of an nlink treelike robot with different joint and link module types. Examples demonstrate that this method is a significant improvement over a brute force enu...
The Generic Graph Component Library
, 1999
"... In this paper we present the Generic Graph Component Library (GGCL), a generic programming framework for graph data structures and graph algorithms. Following the theme of the Standard Template Library (STL), the graph algorithms in GGCL do not depend on the particular data structures upon which the ..."
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Cited by 24 (5 self)
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In this paper we present the Generic Graph Component Library (GGCL), a generic programming framework for graph data structures and graph algorithms. Following the theme of the Standard Template Library (STL), the graph algorithms in GGCL do not depend on the particular data structures upon which they operate, meaning a single algorithm can operate on arbitrary concrete representations of graphs. To attain this type of flexibility for graph data structures, which are more complicated than the containers in STL, we introduce several concepts to form the generic interface between the algorithms and the data structures, namely, Ve r ex, Edge, Visitor, andDecorator. We describe the principal abstractions comprising the GGCL, the algorithms and data structures that it provides, and provide examples that demonstrate the use of GGCL to implement some common graph algorithms. Performance results are presented which demonstrate that the use of novel lightweight implementation techniques and stat...
Emergent Conventions and the Structure of MultiAgent Systems
 Lectures in Complex systems: the proceedings of the 1993 Complex systems summer school, Santa Fe Institute Studies in the Sciences of Complexity Lecture Volume VI, Santa Fe Institute
, 1995
"... This paper examines the emergence of conventions through "colearning" in a model multiagent system. Agents interact through a twoplayer game, receiving feedback according to the game's payoff matrix. The agent model specifies how agents use this feedback to choose a strategy from the possible stra ..."
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Cited by 24 (0 self)
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This paper examines the emergence of conventions through "colearning" in a model multiagent system. Agents interact through a twoplayer game, receiving feedback according to the game's payoff matrix. The agent model specifies how agents use this feedback to choose a strategy from the possible strategies for the game. A global structure, represented as a graph, restricts which agents may interact with one another. Results are presented from experiments with two different games and a range of global structures. We find that for a given game, the choice of global structure has a profound effect on the evolution of the system. We give some preliminary analytical results and intuitive arguments to explain why the systems behave as they do and suggest directions of further study. Finally, we briefly discuss the relationship of these systems to work in computer science, economics, and other fields. To appear in: Lynn Nadel and Daniel Stein, editors, 1993 Lectures in Complex Systems: the pr...
The Directed Chinese Postman Problem
 IEEE Trans. On Magnetics
, 1976
"... This paper reviews the wide range of applications of the problem and presents complete, executable code to solve it for the case of directed multigraphs. A variation called the `open Chinese Postman Problem' is also introduced and solved. Although optimisations are possible, no substantially better ..."
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Cited by 17 (5 self)
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This paper reviews the wide range of applications of the problem and presents complete, executable code to solve it for the case of directed multigraphs. A variation called the `open Chinese Postman Problem' is also introduced and solved. Although optimisations are possible, no substantially better algorithms are likely.
Fish and Shrink. A next step towards efficient case retrieval in large scaled case bases
, 1996
"... . Keywords: CaseBased Reasoning, case retrieval, case representation This paper deals with the retrieval of useful cases in casebased reasoning. It focuses on the questions of what "useful" could mean and how the search for useful cases can be organized. We present the new search algorithm Fish a ..."
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Cited by 12 (0 self)
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. Keywords: CaseBased Reasoning, case retrieval, case representation This paper deals with the retrieval of useful cases in casebased reasoning. It focuses on the questions of what "useful" could mean and how the search for useful cases can be organized. We present the new search algorithm Fish and Shrink that is able to search quickly through the case base, even if the aspects that define usefulness are spontaneously combined at query time. We compare Fish and Shrink to other algorithms and show that most of them make an implicit closed world assumption. We finally refer to a realization of the presented idea in the context of the prototype of the FABELProject 1 . The scenery is as follows. Previously collected cases are stored in a large scaled case base. An expert describes his problem and gives the aspects in which the requested case should be similar. The similarity measure thus given spontaneously shall now be used to explore the case base within a short time, shall presen...
A keychain based keying scheme for manytomany secure group communication
 ACM Transactions on Information and System Security
, 2004
"... We propose a novel secure group keying scheme using hash chain for manytomany secure group communication. This scheme requires a key predistribution center to generate multiple hash chains and allocates exactly one hash value from each chain to a group member. A group member can use its allocated ..."
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Cited by 7 (6 self)
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We propose a novel secure group keying scheme using hash chain for manytomany secure group communication. This scheme requires a key predistribution center to generate multiple hash chains and allocates exactly one hash value from each chain to a group member. A group member can use its allocated hash values (secrets) to generate group and subgroup keys. Key distribution can be either offline or online via the key distribution protocol. Once keys are distributed, this scheme enables a group member to communicate with any possible subgroups without help of the key distribution center, and without having to leave the overall group, thus avoiding any setup delay. Our scheme is suitable for applications where the population of a system is stable, group size is moderate, subgroup formation is frequent, and the application is delay sensitive. Through analysis, we present effectiveness of our approach.
Who is Interested in Algorithms and Why? Lessons from the Stony Brook Algorithms Repository
"... We present "market research" for the field of combinatorial algorithms and algorithm engineering, attempting to determine which algorithmic problems are most in demand in applications. We analyze 249,656 WWW hits recorded on the Stony Brook Algorithms Repository (http://www.cs.sunysb.edu/algorith ..."
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Cited by 4 (0 self)
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We present "market research" for the field of combinatorial algorithms and algorithm engineering, attempting to determine which algorithmic problems are most in demand in applications. We analyze 249,656 WWW hits recorded on the Stony Brook Algorithms Repository (http://www.cs.sunysb.edu/algorith), to determine the relative level of interest among 75 algorithmic problems and the extent to which publicly available algorithm implementations satisfy this demand. 1. Introduction A primary goal of algorithm engineering is to provide practitioners with wellengineered solutions to important algorithmic problems. Our beliefs as to which problems are important to practitioners have been based primarily on anecdotal evidence. To provide more objective information, it seems useful to conduct "market research" for the field of combinatorial algorithms, by determining which algorithmic problems are most in demand in applications, and how well currently available implementations satisfy this...
Increasing Engagement in Automata Theory With JFLAP
, 2009
"... We describe the results from a twoyear study with fourteen universities on presenting formal languages in a more visual, interactive and applied manner using JFLAP. In our results the majority of students felt that having access to JFLAP made learning course concepts easier, made them feel more eng ..."
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Cited by 4 (2 self)
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We describe the results from a twoyear study with fourteen universities on presenting formal languages in a more visual, interactive and applied manner using JFLAP. In our results the majority of students felt that having access to JFLAP made learning course concepts easier, made them feel more engaged in the course and made the course more enjoyable. We also describe changes and additions to JFLAP we have made based on feedback from users. These changes include new algorithms such as a CYK parser and a usercontrolled parser, and new resources that include a JFLAP online tutorial, a wiki and a listserv.
Applying Graph Theory to Interaction Design
, 2007
"... Abstract. Graph theory provides a substantial resource for a diverse range of quantitative and qualitative usability measures that can be used for evaluating recovery from error, informing design tradeoffs, probing topics for user training, and so on. Graph theory is a straightforward, practical an ..."
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Cited by 3 (1 self)
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Abstract. Graph theory provides a substantial resource for a diverse range of quantitative and qualitative usability measures that can be used for evaluating recovery from error, informing design tradeoffs, probing topics for user training, and so on. Graph theory is a straightforward, practical and flexible way to implement real interactive systems. Hence, graph theory complements other approaches to formal HCI, such as theorem proving and model checking, which have a less direct relation to interaction. This paper gives concrete examples based on the analysis of a real nontrivial interactive device, a medical syringe pump, itself modelled as a graph. New ideas to HCI (such as small world graphs) are introduced, which may stimulate further research. 1
Cluster formation in mesoscopic systems
 Physica A: Statistical Mechanics and Its Applications
"... Graphtheoretical approach is used to study cluster formation in mesocsopic systems. Appearance of these clusters are due to discrete resonances which are presented in the form of a multigraph with labeled edges. This presentation allows to construct all nonisomorphic clusters in a finite spectral d ..."
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Cited by 3 (2 self)
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Graphtheoretical approach is used to study cluster formation in mesocsopic systems. Appearance of these clusters are due to discrete resonances which are presented in the form of a multigraph with labeled edges. This presentation allows to construct all nonisomorphic clusters in a finite spectral domain and generate corresponding dynamical systems automatically. Results of MATHEMATICA implementation are given and two possible mechanisms of cluster destroying are discussed. PACS: 47.27.E, 67.40.Vs, 67.57.Fg