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Orientador: Marconi Kolm Madrid / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-15T23:54:05Z (GMT). No. of bitstreams: 1 Nicolato_Fabricio_D.pdf: 1516280 bytes, checksum: 96229803f3bca54f669d4dcc22108c02 (MD5) Previous issue date: 2007 / Resumo: Esta tese trata o problema da resolução do modelo cinemático inverso para manipuladores industriais redundantes ou não. O problema foi abordado por um método de busca heurística no qual a solução da cinemática inversa é construída passo a passo calculando-se a contribuição do movimento de apenas uma junta a cada iteração. Dessa forma, o problema n-dimensional é transformado em problemas unidimensionais mais simples, cuja solução analítica tanto para juntas rotacionais quanto para juntas prismáticas é apresentada em termos da representação de Denavit-Hartenberg. O método proposto não possui singularidades internas. Além disso, o método foi expandido para incorporar informações de sensores externos visando fazer com que o processo seja mais robusto a incertezas nas modelagens envolvidas. Foram realizadas diversas simulações e comparações com técnicas tradicionais que evidenciaram as vantagens da abordagem proposta. O trabalho também englobou o projeto e a construção de um ambiente experimental e a implementação das técnicas desenvolvidas na parte teórica. Desenvolveu-se um sistema com um robô planar redundante de 3 DOF, assim como seus sistemas de controle, acionamento e interfaceamento usando técnicas de sistemas hardware-inthe-loop e lógica programável. As técnicas desenvolvidas foram aplicadas no ambiente experimental demonstrando características como: facilidade de lidar com redundâncias, capacidade de resolução em tempo real, robustez a incertezas de parâmetros etc / Abstract: This thesis deals with the problem of solving the inverse kinematics model of redundant and nonredundant industrial manipulators. The work was developed in a theoretical and a practical part. The problem was approached by an heuristic search method in which the solution of the inverse kinematics is built step by step calculating the movement contribution of just a single joint for each iteration. In that way, the n-dimensional problem is transformed in simpler one-dimensional problems, whose analytic solution for both rotational joints and prismatic joints is presented in terms of the Denavit and Hartenberg representation. The proposed method does not possess internal singularities. Furthermore, the method was expanded to incorporate information of external sensor in order to make the process more robust to uncertainties in the involved modelings. Several results of simulations and comparisons with traditional techniques, which evidence the advantages of the proposed approach, are presented. The work also included the construction of an experimental environment and the implementation of the techniques developed in the theoretical part. The details of a system with a 3-DOF redundant robot as well as its control system, drivers and interfaces using hardware-in-theloop techniques and programmable logic are presented. The developed techniques were applied in the experimental environment are demonstrating their efficiency and evidencing characteristics like: easiness of dealing with redundancies, real time capacity, robustness for parameters uncertainties etc / Doutorado / Automação

Video transcoding is the process of converting compressed video signals to adapt video characteristics such as video bit rate, video resolution, or video codec, so as to meet the specifications of communication channels and endpoint devices. A straightforward transcoding solution is to fully decode and encode the video. However this method is computationally expensive and thus unsuitable in applications with tight resource constraints such as in software-based real-time environment. Therefore, efficient transcoding meth- ods are required to reduce the transcoding complexity while preserving video quality. Prior transcoding methods are suitable for video coding standards such as H.264/AVC and MPEG-2. H.265/HEVC has introduced new coding concepts, e.g., the quad-tree-based block structure, that are fundamentally different from those in prior standards. These concepts require existing transcoding methods to be adapted and novel solutions to be developed. This work primarily addressed the issue of efficient HEVC transcoding for bit rate adaptation (reduction). The goal is to understand the transcoding behaviour for some straightforward transcoding strategies, and to subsequently optimize the complexity/quality trade-off by providing heuristics to reduce the number of coding options to evaluate. A transcoder prototype is developed based on the HEVC reference software HM-8.2. The proposed transcoder reduces the transcoding time compared to full decoding and encoding by at least 80% while inducing a coding performance drop within a margin for 5%. The thesis has been carried out in collaboration with Ericsson Research in Stockholm / Video content is produced daily through variety of electronic devices, however, storing and transmitting video signals in raw format is impractical due to its excessive resource requirement. Today popular video coding standards such as MPEG-4 and H.264 are used to compress the video signals before storing and transmitting. Accordingly, efficient video coding plays an important role in video communications. While video applications become wide-spread, there is a need for high compression and low complexity video coding algorithms that preserve image quality. Standard organizations ISO, ITO, VCEG of ITU-T, and collaboration of many companies have developed video coding standards in the past to meet video coding requirements of the day. The Advanced Video Coding (AVC/H.264) standard is the most widely used video coding method. AVC is commonly known to be one of the major standards used in Blue Ray devices for video compression. It is also widely used by video streaming services, TV broadcasting, and video conferencing applications. Currently the most important development in this area is the introduction of H.265/HEVC standard which has been finalized in January 2013. The aim of standardization is to produce video compression specification that is capable of compression twice as effective as H.264/AVC standard in terms of coding complexity and quality. There is a wide range of platforms that receive digital video. TVs, personal computers, mobile phones, and tablets each have different computational, display, and connectivity capabilities, thus video has to be converted to meet the specifications of target platform. This conversion is achieved through video transcoding. For transcoding, straightforward solution is to decode the compressed video signal and re-encode it to the target compression format, but this process is computationally complex. Particularly in real-time applications, there is a need to exploit the information that is already available through the compressed video bit-stream to speed-up the conversion. The objective of this thesis is to investigate efficient transcoding methods for HEVC. Using decode/re-encode as the performance reference, methods for advanced transcoding will be investigated. / 0760609667 Bäckgårdsvägen 49, 14341 Stockholm

Modern day technological advancements are moving at a rapid pace. In the field of Artificial Intelligence, algorithms are becoming ever faster and process larger amounts of data. These fast algorithms call for data structures that can store this processed data compactly. This premise also holds true in the AI subfield of planning. In the common planning approach of state space search, found states are memorized as to not unnecessarily revisit them. Research has put a big focus on improving the speed of state space searches which in turn leads to a lot of states being stored. A crucial bottleneck then occurs when memory runs out due to storing these large amounts of states. This is where this project, with its exploration of compact state set representations, comes into the picture. This project's focus is on exploring memory usage for planning by state space search. More specifically, the project investigates compact state set representations for an A* state space search's closed- and open lists. It was hypothesized that the closed list would be the larger of the two which is why a focus was put on testing compact representations of that state set. Results from this project confirm this hypothesis as it is shown that the closed list is the largest and most critical of the two (although the differences between the two become increasingly small for strong heuristics).  Four different state set representations were tested for use as closed lists in an A* algorithm: Level-Ordered Edge Sequences (LOES), compressed LOES (cLOES), Binary Decision Diagram (BDD) and an explicit representation. A primary focus was put on exploring the LOES data structure because of the limited amount of research done on the data structure. Explicit representation was used as the main point of comparison with it being a very commonly used standard in state space search. The results from this project show that LOES managed to lower memory usage significantly for large tasks when compared to the explicit representation. The lower memory usage did, however, come at the cost of speed with LOES being noticeably slower. Although less drastic, the same differences could be seen when comparing LOES to its compressed version, cLOES. Out of all the tested state set representations, cLOES was shown to be the most compact but also the slowest. Moreover, the results indicated that, even if most tasks didn't benefit from the additional compression provided by cLOES in comparison to normal LOES, the tasks that did, benefited a lot. Lastly, the BDD data structure gave more inconclusive results. The poor BDD results were seemingly caused by an unfit implementation for the closed list use case. The results did, however, suggest that BDD was faster but less compact than LOES for large tasks. The different closed list state set representations were also tested with four different heuristics: blind, max, CEGAR and Merge-and-Shrink heuristic. A takeaway from these tests was that stronger heuristics resulted in fewer states being stored in the open- and closed list. Moreover, the closed states made up a smaller portion of the total amount states for the stronger heuristics. This smaller number of stored closed states made, as a consequence, the differences between the tested state set representations less pronounced. For large tasks, however, the closed list did get big enough to experience the effect of the efficient closed list implementations. Conclusively, LOES and cLOES proved strong replacements to explicit representation. Especially in use cases where compactness is more critical than speed such as in embedded systems. Additionally, even though strong heuristics lessened the effect of efficient state set representations, there are still notable advantages to be found for big tasks where the closed list grows large enough.

<p>Doktorska disertacija se bavi temama rešavanja računarski teških<br />problema kombinatorne optimizacije. Istaknut je problem maksimalne<br />klike kao predstavnik određenih struktura u grafovima. Problem<br />maksimalne klike i sa njim povezani problemi su formulisani kao<br />nelinearne funkcije. Rešavani su sa ciljem otkrivanja novih metoda<br />koje pronalaze dobre aproksimacije rešenja za neko razumno vreme.<br />Predložene su varijante Metode promenljivih okolina na rešavanje<br />maksimalne klike u grafu. Povezani problemi na grafovima se mogu<br />primeniti na pretragu informacija, raspoređivanje, procesiranje<br />signala, teoriju klasifikacije, teoriju kodiranja, itd. Svi algoritmi<br />su implementirani i uspešno testirani na brojnim različitim<br />primerima.</p> / <p>This Ph.D. thesis addresses topics NP hard problem solving approaches in<br />combinatorial optimization and according to that it is highlighted maximum<br />clique problem as a representative of certain structures in graphs. Maximum<br />clique problem and related problems with this have been formulated as non<br />linear functions which have been solved to research for new methods and<br />good solution approximations for some reasonable time. It has been<br />proposed several different extensions of Variable Neighborhood Search<br />method. Related problems on graphs could be applied on information<br />retrieval, scheduling, signal processing, theory of classi_cation, theory of<br />coding, etc. Algorithms are implemented and successfully tested on various<br />different tasks.</p>

In Artificial Intelligence, especially in area of constraint programming, it's popular to design various modeling languages which allow solving problems on domain level and by using domain specific abstractions. Techniques known from research on Domain-Specific Languages are often useful in this effort. Functional programming languages offer new tools for designing such languages, particularly Domain-Specific Embedded Languages. This work investigates the advantages and disadvantages of using functional programming for designing and implementing a Domain-Specific Embedded Language for state space search problems.

The progess in NMRQIP can be outlined in to four parts.1) Implementation of theoretical protocols on small number of qubits. 2) Demonstration of QIP on various NMR systems. 3) Designing and implementing the algorithms for mixed initial states. 4) Developing the techniques for coherent and decoherent control on higher number(up to 15) of qubits. This thesis contains some efforts in the direction of first three points. Quantum-state discrimination has important applications in the context of quantum communication and quantum cryptography. One of the characteristic features of quantum mechanics is that it is impossible to devise a measurement that can distinguish nonorthogonal states perfectly. However, one can distinguish them with a finite probability by an appropriate measurement strategy. In Chapter 2, we describe the implementation of a theoretical protocol of programmable quantum-state discriminator, on a two-qubit NMR System. The projective measurement is simulated by adding two experiments. This device does the unambiguous discrimination of a pair of states of the data qubit that are symmetrically located about a fixed state. The device is used to discriminate both linearly polarized states and eillipitically polarized states. The maximum probability of successful discrimination is achieved by suitably preparing the ancilla quubit. The last step of any QIP protocol is the readout. In NMR-QIP the readout is done by using density matrix tomography. It was first proposed by Ernst and co-workers that a two-dimensional method can be used to correlate input and output states. This method uses an extra (aniclla) qubit, whose transitions indicate the quantum states of the remaining qubits. The 2D spectrum of ancilla qubit represent the input and output states along F1 and F2 dimensions respectively. However the 2D method requires several t1 increments to achieve the required spectral width and resolution in the indirect dimension, hence leads to large experimental time. In chapter 3, the conventional 2D NMRQIP method is speeded-up by using Hadamard spectroscopy. The Hadamard method is used to implement various two-, three-qubit gates and qutrit gates. We also use Hadamard spectroscopy for information storage under spatial encoding and to implement a parallel search algorithm. Various slices of water sample can be spatially encoded by using a multi-frequency pulse under the field gradient. Thus the information of each slice is projected to the frequency space. Each slice represents a classical bit, where excitation and no excitation corresponds to the binary values 0 and 1 respectively. However one has to do the experiment for each binary information, by synthesizing a suitable multi-frequency pulse. In this work we show that by recording the data obtained by various Hadamard encoded multi-frequency pulses, one can suitably decode it to obtain any birnary information, without doing further experiments. Geometric phases depend only on the geometry of the path executed in the projective Hilbert space, and are therefore resilient to certain types of errors. This leads to the possibility of an intrinsically fault-tolerant quantum computation. In liquid state NMRQIP. Controlled phase shift gates are achieved by using qubit selective pulses and J evolutions, and also by using geometir phases. In order to achieve higher number of qubits in NMR, one explores dipolar couplings which are larger in magnitude, yielding strongly coupled spectra. In such systems since the Hamiltonian consists of terms, it is difficult to apply qubit selective pulses. However such systems have been used for NMRQIP by considering 2n eigen states as basis states of an n-qubit system. In chapter 4, it is shown that non-adiabatic geometric phases can be used to implement controlled phase shift gates in strongly dipolar coupled systems. A detailed theoretical explanation of non-adiabatic geometric phases in NMR is given, by using single transition operators. Using such controlled phase shift gates, the implementation of Deutsch-Jozsa and parity algorithms are demonstrated. Search algorithms play an important role in the filed of information processing. Grovers quantum search algorithm achieves polynomial speed-up over the classical search algorithm. Bruschweiler proposed a Liouville space search algorithm which achieve polymonial speed-up. This algorithm requires a weakly coupled system with a mixed initial state. In chapter 5 we modified the Bruschweiler’s algorithm, so that it can be implemented on a weakly as well as strongly coupled system. The experiments are performed on a strongly dipolar coupled four-qubit system. The experiments from four spin-1/2 nuclei of a molecule oriented in a liquid crystal matrix. Chapter 6 describes the implementation of controlled phase shift gates on a quadrupolar spin-7/2 nucleus, using non-adiabatic geometric phases. The eight energy levels of spin-7/2 nucleus, form a three qubit system. A general procedure is given, for implementing a controlled phase shift gate on a system consisting of any number of energy levels. Finally Collin’s version of three-qubit DJ algorithm using multi-frequency pulses, is implemented in the spin-7/2 system.

The diploma thesis deals with the use of a simulation model for the development of an automatic algorithm for the creation of a routing table and route evaluation in a transport system. It includes a search of modeling and simulation issues and state-space search issues with an analysis of available search methods. The simulation model of the transport system is created in the software Tecnomatix Plant Simulation, where an algorithm for automatic creation of routing tables for routing and evaluation of routes according to static criteria is subsequently developed and tested. The work presents a proposal for the principle of the algorithm for evaluating the routes of the transport system, including dynamic criteria and their optimization.