This work develops strategies for adapting a particle-in-cell code to heterogeneous computer architectures and, in particular, to an ARM-based prototype of the Mont-Blanc project using OmpSs programming model and the OpenMP and OpenCL languages.

This thesis presents an effective alternative to the traditional approach to robotic manipulation. In our approach, manipulation is mainly guided by tactile feedback as opposed to vision. The motivation comes from the fact that manipulating an object implies coming in contact with it, consequently, directly sensing physical contact seems more important than vision to control the interaction of ...

A fully asynchronous implementation of the ARM microprocessor has been developed in order to investigate the potential of asynchronous logic for low-power applications. The work demonstrates the feasibility of complex asynchronous design and shows that the cost and performance characteristics are similar to clocked designs. AMULET1 is the first attempt at applying asynchronous techniques to a d...

It is well known that single-rail, bundled-delay circuits provide good area eficiency but it can be dificult to match them with appropriate delay models. Conversely delay insensitive circuits such as those employing dualrail codes are larger but it is easier to ensure timing correctness. In terms of speed, bundled-delay circuits need conservative timing but dual-rail circuits can require an app...

Procedural abstraction, the replacement of several identical code sequences with calls to a single representative function, is a powerful tool in producing compact executables. We explore how predicated instructions can be used to allow procedural abstraction of non-identical basic blocks. A predicated instruction is one that the processor executes if a condition (specified in the opcode) is tr...

Research for ezecuting large-scale motions of mobile manipulators is described. Mobile manipulator" are mobile bases with an attached arm which function in an integrated manner. Motivation i, given for moving the arm while the base i, moving. Thi, work applies reactive control concept, to achieve this type of motion. Tools for modeling Integrated arm-vehicle kinematics' and dynamics are di,cuss...

We propose a probabilistic system model for anonymous ad hoc routing protocols that takes into account the a priori knowledge of the adversary, and illustrate how the information theoretical entropy can be used for quantification of the anonymity offered by a routing protocol as the adversary captures an increasing number of nodes in the network. The proposed measurement schema is applied to AN...

This paper presents a survey of different methods which describe the recognition of body and arm gesture. The methods presented in this work cover the topic of tracking and detection of arm and body gestures. But it will also present methods of recognition with help of pattern recognition methods.

In this paper we propose a complete system energy model based on non-intrusive measurements. This model aims at being integrated in fast cycle accurate simulation tools to give energy consumption feedback for embedded systems software design. Estimations takes into account the whole system consumption including peripherals. Experiments on a complex ARM9 platform show that our model estimates ar...