The Experts below are selected from a list of 261 Experts worldwide ranked by ideXlab platform
Roy Featherstone - One of the best experts on this subject based on the ideXlab platform.
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a divide and conquer articulated body Algorithm for parallel o log n calculation of rigid body dynamics part 2 trees loops and accuracy
The International Journal of Robotics Research, 1999Co-Authors: Roy FeatherstoneAbstract:This paper is the second in a two part series describing a recursive, divide and conquer Algorithm for calculating the forward dynamics of a robot mechanism, or a general rigid body system, on a pa...
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a divide and conquer articulated body Algorithm for parallel o log n calculation of rigid body dynamics part 1 basic Algorithm
The International Journal of Robotics Research, 1999Co-Authors: Roy FeatherstoneAbstract:This paper presents a recursive, Divide-and-Conquer Algorithm for calculating the forward dynamics of a robot mechanism, or general rigid-body system, on a parallel computer. It features O(log(n)) time complexity on O(n) processors and is the fastest available Algorithm for a computer with a large number of processors and low communications costs. It is an exact, noniterative Algorithm and is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The Algorithm works by recursive application of a formula that constructs the articulatedbody equations of motion of an assembly from those of its constituent parts. The inputs to this formula are the equations of motion of two independent subassemblies, plus a description of how they are to be connected, and the output is the equation of motion of the assembly. Starting with a collection of unconnected rigid bodies, the equations of motion of any rigid-body system can be constructed by repeated application of this ...
Amir Kafshdar Goharshady - One of the best experts on this subject based on the ideXlab platform.
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non polynomial worst case analysis of recursive programs
ACM Transactions on Programming Languages and Systems, 2019Co-Authors: Krishnendu Chatterjee, Amir Kafshdar GoharshadyAbstract:We study the problem of developing efficient approaches for proving worst-case bounds of non-deterministic recursive programs. Ranking functions are sound and complete for proving termination and worst-case bounds of non-recursive programs. First, we apply ranking functions to recursion, resulting in measure functions. We show that measure functions provide a sound and complete approach to prove worst-case bounds of non-deterministic recursive programs. Our second contribution is the synthesis of measure functions in non-polynomial forms. We show that non-polynomial measure functions with logarithm and exponentiation can be synthesized through abstraction of logarithmic or exponentiation terms, Farkas Lemma, and Handelman’s Theorem using linear programming. While previous methods obtain polynomial worst-case bounds, our approach can synthesize bounds of various forms including O(n log n) and O(nr), where r is not an integer. We present experimental results to demonstrate that our approach can efficiently obtain worst-case bounds of classical recursive Algorithms such as (i) Merge sort, Heap sort, and the Divide-and-Conquer Algorithm for the Closest Pair problem, where we obtain O(n log n) worst-case bound, and (ii) Karatsuba’s Algorithm for polynomial multiplication and Strassen’s Algorithm for matrix multiplication, for which we obtain O(nr) bounds such that r is not an integer and is close to the best-known bound for the respective Algorithm. Besides the ability to synthesize non-polynomial bounds, we also show that our approach is equally capable of obtaining polynomial worst-case bounds for classical programs such as Quick sort and the dynamic programming Algorithm for computing Fibonacci numbers.
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Non-polynomial Worst-Case Analysis of Recursive Programs
arXiv: Programming Languages, 2017Co-Authors: Krishnendu Chatterjee, Hongfei Fu, Amir Kafshdar GoharshadyAbstract:We study the problem of developing efficient approaches for proving worst-case bounds of non-deterministic recursive programs. Ranking functions are sound and complete for proving termination and worst-case bounds of nonrecursive programs. First, we apply ranking functions to recursion, resulting in measure functions. We show that measure functions provide a sound and complete approach to prove worst-case bounds of non-deterministic recursive programs. Our second contribution is the synthesis of measure functions in nonpolynomial forms. We show that non-polynomial measure functions with logarithm and exponentiation can be synthesized through abstraction of logarithmic or exponentiation terms, Farkas' Lemma, and Handelman's Theorem using linear programming. While previous methods obtain worst-case polynomial bounds, our approach can synthesize bounds of the form $\mathcal{O}(n\log n)$ as well as $\mathcal{O}(n^r)$ where $r$ is not an integer. We present experimental results to demonstrate that our approach can obtain efficiently worst-case bounds of classical recursive Algorithms such as (i) Merge-Sort, the Divide-and-Conquer Algorithm for the Closest-Pair problem, where we obtain $\mathcal{O}(n \log n)$ worst-case bound, and (ii) Karatsuba's Algorithm for polynomial multiplication and Strassen's Algorithm for matrix multiplication, where we obtain $\mathcal{O}(n^r)$ bound such that $r$ is not an integer and close to the best-known bounds for the respective Algorithms.
Krishnendu Chatterjee - One of the best experts on this subject based on the ideXlab platform.
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non polynomial worst case analysis of recursive programs
ACM Transactions on Programming Languages and Systems, 2019Co-Authors: Krishnendu Chatterjee, Amir Kafshdar GoharshadyAbstract:We study the problem of developing efficient approaches for proving worst-case bounds of non-deterministic recursive programs. Ranking functions are sound and complete for proving termination and worst-case bounds of non-recursive programs. First, we apply ranking functions to recursion, resulting in measure functions. We show that measure functions provide a sound and complete approach to prove worst-case bounds of non-deterministic recursive programs. Our second contribution is the synthesis of measure functions in non-polynomial forms. We show that non-polynomial measure functions with logarithm and exponentiation can be synthesized through abstraction of logarithmic or exponentiation terms, Farkas Lemma, and Handelman’s Theorem using linear programming. While previous methods obtain polynomial worst-case bounds, our approach can synthesize bounds of various forms including O(n log n) and O(nr), where r is not an integer. We present experimental results to demonstrate that our approach can efficiently obtain worst-case bounds of classical recursive Algorithms such as (i) Merge sort, Heap sort, and the Divide-and-Conquer Algorithm for the Closest Pair problem, where we obtain O(n log n) worst-case bound, and (ii) Karatsuba’s Algorithm for polynomial multiplication and Strassen’s Algorithm for matrix multiplication, for which we obtain O(nr) bounds such that r is not an integer and is close to the best-known bound for the respective Algorithm. Besides the ability to synthesize non-polynomial bounds, we also show that our approach is equally capable of obtaining polynomial worst-case bounds for classical programs such as Quick sort and the dynamic programming Algorithm for computing Fibonacci numbers.
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Non-polynomial Worst-Case Analysis of Recursive Programs
arXiv: Programming Languages, 2017Co-Authors: Krishnendu Chatterjee, Hongfei Fu, Amir Kafshdar GoharshadyAbstract:We study the problem of developing efficient approaches for proving worst-case bounds of non-deterministic recursive programs. Ranking functions are sound and complete for proving termination and worst-case bounds of nonrecursive programs. First, we apply ranking functions to recursion, resulting in measure functions. We show that measure functions provide a sound and complete approach to prove worst-case bounds of non-deterministic recursive programs. Our second contribution is the synthesis of measure functions in nonpolynomial forms. We show that non-polynomial measure functions with logarithm and exponentiation can be synthesized through abstraction of logarithmic or exponentiation terms, Farkas' Lemma, and Handelman's Theorem using linear programming. While previous methods obtain worst-case polynomial bounds, our approach can synthesize bounds of the form $\mathcal{O}(n\log n)$ as well as $\mathcal{O}(n^r)$ where $r$ is not an integer. We present experimental results to demonstrate that our approach can obtain efficiently worst-case bounds of classical recursive Algorithms such as (i) Merge-Sort, the Divide-and-Conquer Algorithm for the Closest-Pair problem, where we obtain $\mathcal{O}(n \log n)$ worst-case bound, and (ii) Karatsuba's Algorithm for polynomial multiplication and Strassen's Algorithm for matrix multiplication, where we obtain $\mathcal{O}(n^r)$ bound such that $r$ is not an integer and close to the best-known bounds for the respective Algorithms.
Sander Stuijk - One of the best experts on this subject based on the ideXlab platform.
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parametric throughput analysis of synchronous data flow graphs
Design Automation and Test in Europe, 2008Co-Authors: A.h. Ghamarian, M.c.w. Geilen, Twan Basten, Sander StuijkAbstract:Synchronous Data Flow Graphs (SDFGs) have proved to be a very successful tool for modeling, analysis and synthesis of multimedia applications targeted at both single- and multiprocessor platforms. One of the most prominent performance constraints of concurrent real-time applications is throughput. For given actor execution times, throughput can be verified by analyzing the SDFG models of such applications, for instance using maximum cycle mean analysis or state space analysis. In various contexts, such as design space exploration or run-time reconfiguration, many fast throughput computations are required for varying actor execution times. We present methods to compute throughput of an SDFG where actor execution times can be parameters. The throughput of these graphs is obtained in the form of a function of these parameters. Recalculation of throughput is then merely an evaluation of this function for specific parameter values, which is much faster than the standard throughput analysis. We propose three different Algorithms for parametric throughput analysis and evaluate these Algorithms experimentally, showing the feasibility of the approach and showing that a divide and conquer Algorithm performs best.
Andrew Thompson - One of the best experts on this subject based on the ideXlab platform.
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the cascading haar wavelet Algorithm for computing the walsh hadamard transform
IEEE Signal Processing Letters, 2017Co-Authors: Andrew ThompsonAbstract:A novel Algorithm for computing the Walsh–Hadamard transform (WHT) is proposed, which consists entirely of Haar wavelet transforms. It is proved that the Algorithm, referred to as the cascading Haar wavelet Algorithm, shares precisely the same serial complexity as the popular Divide-and-Conquer Algorithm for the WHT. A natural parallelization of the Algorithm is also proposed, which has a number of attractive features.
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the cascading haar wavelet Algorithm for computing the walsh hadamard transform
arXiv: Data Structures and Algorithms, 2016Co-Authors: Andrew ThompsonAbstract:We propose a novel Algorithm for computing the Walsh-Hadamard Transform (WHT) which consists entirely of Haar wavelet transforms. We prove that the Algorithm, which we call the Cascading Haar Wavelet (CHW) Algorithm, shares precisely the same serial complexity as the popular Divide-and-Conquer Algorithm for the WHT. We also propose a natural way of parallelizing the Algorithm which has a number of attractive features.