We tackle the problem of automated code generation for a High Level Architecture (HLA)- compliant federate application, given a model of the federation architecture including the federate&rsquo / s behavior model. The behavior model is based on Live Sequence Charts (LSCs), adopted as the behavioral specification formalism in the Federation Architecture Metamodel (FAMM). The FAMM is constructed conforming to metaGME, the meta-metamodel offered by Generic Modeling Environment (GME). FAMM serves as a formal language for describing federation architectures. We present a code generator that generates Java/AspectJ code directly from a federation architecture model. An objective is to help verify a federation architecture by testing it early in the development lifecycle. Another objective is to help developers construct complete federate applications. Our approach to achieve these objectives is aspect-oriented in that the code generated from the LSC in conjunction with the Federation Object Model (FOM) serves as the base code on which the computation logic is weaved as an aspect.

This study proposes a metamodel, named Federation Architecture Metamodel (FAMM), for describing the architecture of a High Level Architecture (HLA) compliant federation. The metamodel provides a domain specific language and a formal representation for the federation adopting Domain Specific Metamodeling approach to HLA-compliant federations. The metamodel supports the definitions of transformations both as source and as target. Specifically, it supports federate base code generation from a described federate behavior, and it supports transformations from a simulation conceptual model. A salient feature of FAMM is the behavioral description of federates based on live sequence charts (LSCs). It is formulated in metaGME, the meta-metamodel for the Generic Modeling Environment (GME). This thesis discusses specifically the following points: the approach to building the metamodel, metamodel extension from Message Sequence Chart (MSC) to LSC, support for model-based code generation, and action model and domain-specific data model integration. Lastly, this thesis presents, through a series of modeling case studies, the Federation Architecture Modeling Environment (FAME), which is a domain-specific model-building environment provided by GME once FAMM is invoked as the base paradigm.

This thesis presents a two step automatic transformation of Field Artillery Mission Space Conceptual Models (ACMs) into High Level Architecture (HLA) Federation Architecture Models (FAMs) into executable distributed simulation code. The approach followed in the course of this thesis adheres to the Model-Driven Engineering (MDE) philosophy. Both ACMs and FAMs are formally defined conforming to their metamodels, ACMM and FAMM, respectively. ACMM is comprised of a behavioral component, based on Live Sequence Charts (LSCs), and a data component based on UML class diagrams. Using ACMM, the Adjustment Followed by Fire For Effect (AdjFFE) mission, which serves as the source model for the model transformation case study, is constructed. The ACM to FAM transformation, which is defined over metamodel-level graph patterns, is carried out with the Graph Rewriting and Transformation (GReAT) tool. Code generation from a FAM is accomplished by employing a model interpreter that produces Java/AspectJ code. The resulting code can then be executed on an HLA Run-Time Infrastructure (RTI). Bringing a fully fledged transformation approach to conceptual modeling is a distinguishing feature of this thesis. This thesis also aims to bring the chart notations to the attention of the mission space modeling community regarding the description of military tasks, particularly their communication aspect. With the experience gained, a set of guidelines for a domainindependent transformer from any metamodel-based conceptual model to FAM is offered.

This thesis presents methods for automated synthesis of flexible chip multiprocessor systems from parallel programs targeted at FPGAs to exploit both task-level parallelism and architecture customization. Automated synthesis is necessitated by the complexity of the design space. A detailed description of the design space is provided in order to determine which parameters should be modeled to facilitate automated synthesis by optimizing a cost function, the emphasis being placed on inclusive modeling of parameters from application, architectural and physical subspaces, as well as their joint coverage in order to avoid pre-constraining the design space. Given a parallel program and a set of an IP library, the automated synthesis problem is to simultaneously (i) select processors (ii) map and schedule tasks to them, and (iii) select one or several networks for inter-task communications such that design constraints and optimization objectives are met. The research objective in this thesis is to find a suitable model for automated synthesis, and to evaluate methods of using the model for architectural optimizations. Our contributions are a holistic approach for the design of such systems, corresponding models to facilitate automated synthesis, evaluation of optimization methods using state of the art integer linear and answer set programming, as well as the development of synthesis heuristics to solve runtime challenges. / Aktuelle Technologien erlauben es komplexe Multiprozessorsysteme auf einem Chip mit Milliarden von Transistoren zu realisieren. Der Entwurf solcher Systeme ist jedoch zeitaufwendig und schwierig. Diese Arbeit befasst sich mit der Frage, wie On-Chip Multiprozessorsysteme ausgehend von parallelen Programmen automatisch synthetisiert werden können. Die Implementierung der Multiprozessorsysteme auf rekonfigurierbaren Chips erlaubt es die gesamte Architektur an die Struktur eines vorliegenden parallelen Programms anzupassen. Auf diese Weise ist es möglich die aktuellen technologischen Unzulänglichkeiten zu umgehen, insbesondere die nicht weitersteigende Taktfrequenzen sowie den langsamen Zugriff auf Datenspeicher. Eine Automatisierung des Entwurfs von Multiprozessorsystemen ist notwendig, da der Entwurfsraum von Multiprozessorsystemen zu groß ist, um vom Menschen überschaut zu werden. In einem ersten Ansatz wurde das Syntheseproblem mittels linearer Gleichungen modelliert, die dann durch lineare Programmierungswerkzeuge gelöst werden können. Ausgehend von diesem Ansatz wurde untersucht, wie die typischerweise langen Rechenzeiten solcher Optimierungsmethoden durch neuere Methode aus dem Gebiet der Erfüllbarkeitsprobleme der Aussagenlogik minimiert werden können. Dabei wurde die Werkzeugskette Potassco verwendet, in der lineare Programme direkt in Logikprogramme übersetzt werden können. Es wurde gezeigt, dass dieser zweite Ansatz die Optimierungszeit um bis zu drei Größenordnungen beschleunigt. Allerdings lassen sich große Syntheseprobleme auf diese weise wegen Speicherbegrenzungen nicht lösen. Ein weiterer Ansatz zur schnellen automatischen Synthese bietet die Verwendung von Heuristiken. Es wurden im Rahmen diese Arbeit drei Heuristiken entwickelt, die die Struktur des vorliegenden Syntheseproblems ausnutzen, um die Optimierungszeit zu minimieren. Diese Heuristiken wurden unter Berücksichtigung theoretischer Ergebnisse entwickelt, deren Ursprung in der mathematische Struktur des Syntheseproblems liegt. Dadurch lassen sich optimale Architekturen in kurzer Zeit ermitteln. Die durch diese Dissertation offen gewordene Forschungsarbeiten sind u. a. die Berücksichtigung der zeitlichen Reihenfolge des Datenaustauschs zwischen parallelen Tasks, die Optimierung des logik-basierten Ansatzes, die Integration von Prozessor- und Netzwerksimulatoren zur funktionalen Verifikation synthetisierter Architekturen, sowie die Entwicklung geeigneter Architekturkomponenten.

The growing implementation of ergonomics in the automotive sector sets high demands on Digital Human Modelling (DHM) functionalities towards the simulation of more realistic environments and the reduction of physical model dependency. During the current degree project a leading element that smartly assembles DHM usage (implementation of high-level commanding languages) was designed, revolving around the industries’ needs which were gathered and interpreted in order to organize current functions in this language and suggest new complementary functions that would create a language environment suitable for non-expert users. This was achieved by focusing in an intuitive word-function structure, the proposal of defaults and other tools that aid users with different kinds of expertise. The need for realism of simulations was assessed by the language design especially by designing means to coordinate synchronic manikin-actions. / Virtual Driver

Bakgrund: Testmaterialet Bedömning av Subtila Språkstörningar (BeSS) togs fram för att bedöma subtila språkliga svårigheter hos bland annat personer med neurodegenerativa sjukdomar. Testet har sedan använts bland annat i dyslexiutredningar då subtila språkliga svårigheter kan förekomma även vid dyslexi.  BeSS saknar dock referensmaterial för flera åldersgrupper vilket behövs för att logopeder ska kunna göra tillförlitliga bedömningar med materialet.   Mål: Att låta gymnasieungdomar genomgå BeSS och sammanställa ett referensmaterial. Att se om det föreligger några prestationsskillnader mellan deltesten och könsskillnader.   Metod: I studien deltog 28 gymnasieungdomar, 16 flickor och 12 pojkar, vilka testades enskilt med BeSS. Deltagarna fick inte ha några kända språkliga svårigheter eller läs-/skrivsvårigheter. Övriga krav var att deltagarna gått i svensk skolklass och fått svensk undervisning på svenska under minst 8 år.   Resultat: Det totala medelvärdet för testgruppen (alla deltesten sammanräknade) var 172 poäng av 210 möjliga med standardavvikelsen 14,5. I studien presenteras även medelvärde och standardavvikelse för var och ett av deltesten: Repetition av långa meningar M=20,8 (SD 4,6), Meningskonstruktion M=27,3 (SD 2,3), Inferens M=25,5 (SD 3,5), Förståelse av logikogrammatiska meningar M=25,2 (SD 3,4), Tvetydigheter M=22,1 (SD 5,0), Förståelse av metaforer M=25,5 (SD 3,9) och Definitioner av ord M=25,6 (SD 3,2). Det förelåg inga könsskillnader.   Slutsats: Denna studie har resultat för 28 gymnasieungdomar vilket är början till ett referensmaterial som behövs för att BeSS fortsatt ska kunna användas kliniskt i logopedisk verksamhet. Deltesten Repetition av långa meningar och Meningskonstruktion blev de deltest där gymnasieungdomarna presterade lägst respektive högst poäng. Det förelåg inga signifikanta könsskillnader. / Background: The test material BeSS was developed to assess subtle language difficulties in people with neurodegenerative diseases. The test has also been used in dyslexia evaluations since subtle language difficulties also can occur with dyslexia. The material lacks reference material for several age groups which is needed to give safer assessments with the material.   Aim: To collect reference material for the BeSS test for high school students. To see if there is differences in performance between the test sections and if there is a gender difference.   Method: The study had 28 participants, 16 girls and 12 boys, who were tested individually with BeSS. The participants did not have any known language difficulties or reading/writing problems and they were required to have attended a Swedish class with Swedish education in Swedish for at least 8 years.   Results: For each of the test sections means and standard deviations are presented. For the individual test sections the students performed as follows: Repetition of long sentences mean 20.8 (SD 4.6), Sentence construction 27.3 (SD 2.3), Inference 25.5 (SD 3.5), Understanding of grammatically logical sentences 25.2 (SD 3.4), Ambiguities 22.1 (SD 5.0), Understanding of metaphors 25.5 (SD 3.9) and Definitions of words 25.6 (SD 3.2). There was not a significant gender difference.   Conclusions: This study presents results for 28 students which is the beginning of a reference material that is needed for the continued use of the test in clinical speech and language pathology work. In the test sections Repetition of long sentences and Sentence construction the students performed the lowest and the highest scores. There was not a significant gender difference.

To increase the productivity of electronic systems design we offer to use UML – the standard specification language of high level systems. The higher level of abstraction and automatic design methods could decrease a gap of hardware design. We offer to use UML class diagrams for the specification of electronic systems structure and UML state diagrams to specify the behavior of electronic systems. We introduce metamodels which describe mapping between UML class and state diagrams and hardware description languages (VHDL, SystemC), as the possible realization of ideas we introduced earlier. Also we provide code generator which translates notations of UML class and state diagrams to VHDL and SystemC languages.

The purpose of this research was to explore the three smashes attacking tactics wich is used by professional table tennis players all over the world. While analysing the game of world‘s elite and top lithuanian men and women players such videotapes of 2005 were used during this work: World Cup (Belgium, October), Lithuania‘s Top 12 competition (Kaunas, December), The Women Euroleague (Kaunas, November). This research incorporates an analyse of 20 players: 6 world men elite players and 6 lithuanian men top players, 4 world class and 4 Lithuanian women players. During the time of research 20 issues were explored: after concluding the results it was estimated how many points are being won by tree smashes attacking conception – completing the service, accepting the service, after completing the serve and winning the point by the third smash, after accepting the service and winning the point by the third smash. Also, it was backhand and forehand smashes explored concerning their effect by using three smashes conception. It emerged that world‘s elite men players win 59,33% points by using three smashes conception while lithuanian men top players win 69,83% points by using the same tactics in the game. World class women players are able to win 75,50% by using an attacking tree points concept, while lithuanian top women players achieve the result of 73,00% by using the same style. World top class players during the first three points win about 33,99% by using their forehand and... [to full text]

Darbas skirtas sukurti kuriamam kosminiam žingsniniam strateginiam žaidimui reikalingas grafinio varikliuko statinės dalies aukšto lygio objektų atvaizdavimo funkcijas, kurios bus naudojamos žaidimo vartotojo sąsajos vaizdo langų realizavimui. Buvo išanalizuotas „3D Orion“ žaidimo modelis ir suprojektuota grafinio varikliuko statinė dalis su jos realizacijai skirtais funkcijų prototipais. Funkcijų prototipai suskirstyti į atskiras klases ir realizuoti. / The purpose of this work is to create a high level objects visualization interface functions for turn-based space strategy game graphic user interface viewports. The analysis of “3D Orion” game model was made and designed graphic engines static part, with functions prototypes for its realization. Functions prototypes specified to different classes and developed.

Building general purpose autonomous robots that suit a wide range of user-specified applications, requires a leap from today's task-specific machines to more flexible and general ones. To achieve this goal, one should move from traditional preprogrammed robots to learning robots that easily can acquire new skills. Learning from Demonstration (LfD) and Imitation Learning (IL), in which the robot learns by observing a human or robot tutor, are among the most popular learning techniques. Showing the robot how to perform a task is often more natural and intuitive than figuring out how to modify a complex control program. However, teaching robots new skills such that they can reproduce the acquired skills under any circumstances, on the right time and in an appropriate way, require good understanding of all challenges in the field. Studies of imitation learning in humans and animals show that several cognitive abilities are engaged to learn new skills correctly. The most remarkable ones are the ability to direct attention to important aspects of demonstrations, and adapting observed actions to the agents own body. Moreover, a clear understanding of the demonstrator's intentions and an ability to generalize to new situations are essential. Once learning is accomplished, various stimuli may trigger the cognitive system to execute new skills that have become part of the robot's repertoire. The goal of this thesis is to develop methods for learning from demonstration that mainly focus on understanding the tutor's intentions, and recognizing which elements of a demonstration need the robot's attention. An architecture containing required cognitive functions for learning and reproduction of high-level aspects of demonstrations is proposed. Several learning methods for directing the robot's attention and identifying relevant information are introduced. The architecture integrates motor actions with concepts, objects and environmental states to ensure correct reproduction of skills. Another major contribution of this thesis is methods to resolve ambiguities in demonstrations where the tutor's intentions are not clearly expressed and several demonstrations are required to infer intentions correctly. The provided solution is inspired by human memory models and priming mechanisms that give the robot clues that increase the probability of inferring intentions correctly. In addition to robot learning, the developed techniques are applied to a shared control system based on visual servoing guided behaviors and priming mechanisms. The architecture and learning methods are applied and evaluated in several real world scenarios that require clear understanding of intentions in the demonstrations. Finally, the developed learning methods are compared, and conditions where each of them has better applicability are discussed. / Att bygga autonoma robotar som passar ett stort antal olika användardefinierade applikationer kräver ett språng från dagens specialiserade maskiner till mer flexibla lösningar. För att nå detta mål, bör man övergå från traditionella förprogrammerade robotar till robotar som själva kan lära sig nya färdigheter. Learning from Demonstration (LfD) och Imitation Learning (IL), där roboten lär sig genom att observera en människa eller en annan robot, är bland de mest populära inlärningsteknikerna. Att visa roboten hur den ska utföra en uppgift är ofta mer naturligt och intuitivt än att modifiera ett komplicerat styrprogram. Men att lära robotar nya färdigheter så att de kan reproducera dem under nya yttre förhållanden, på rätt tid och på ett lämpligt sätt, kräver god förståelse för alla utmaningar inom området. Studier av LfD och IL hos människor och djur visar att flera kognitiva förmågor är inblandade för att lära sig nya färdigheter på rätt sätt. De mest anmärkningsvärda är förmågan att rikta uppmärksamheten på de relevanta aspekterna i en demonstration, och förmågan att anpassa observerade rörelser till robotens egen kropp. Dessutom är det viktigt att ha en klar förståelse av lärarens avsikter, och att ha förmågan att kunna generalisera dem till nya situationer. När en inlärningsfas är slutförd kan stimuli trigga det kognitiva systemet att utföra de nya färdigheter som blivit en del av robotens repertoar. Målet med denna avhandling är att utveckla metoder för LfD som huvudsakligen fokuserar på att förstå lärarens intentioner, och vilka delar av en demonstration som ska ha robotens uppmärksamhet. Den föreslagna arkitekturen innehåller de kognitiva funktioner som behövs för lärande och återgivning av högnivåaspekter av demonstrationer. Flera inlärningsmetoder för att rikta robotens uppmärksamhet och identifiera relevant information föreslås. Arkitekturen integrerar motorkommandon med begrepp, föremål och omgivningens tillstånd för att säkerställa korrekt återgivning av beteenden. Ett annat huvudresultat i denna avhandling rör metoder för att lösa tvetydigheter i demonstrationer, där lärarens intentioner inte är klart uttryckta och flera demonstrationer är nödvändiga för att kunna förutsäga intentioner på ett korrekt sätt. De utvecklade lösningarna är inspirerade av modeller av människors minne, och en primingmekanism används för att ge roboten ledtrådar som kan öka sannolikheten för att intentioner förutsägs på ett korrekt sätt. De utvecklade teknikerna har, i tillägg till robotinlärning, använts i ett halvautomatiskt system (shared control) baserat på visuellt guidade beteenden och primingmekanismer. Arkitekturen och inlärningsteknikerna tillämpas och utvärderas i flera verkliga scenarion som kräver en tydlig förståelse av mänskliga intentioner i demonstrationerna. Slutligen jämförs de utvecklade inlärningsmetoderna, och deras applicerbarhet under olika förhållanden diskuteras. / INTRO