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Basis Reduction Algorithms and Subset Sum Problems
(1991-06-01)
This thesis investigates a new approach to lattice basis reduction suggested by M. Seysen. Seysen's algorithm attempts to globally reduce a lattice basis, whereas the Lenstra, Lenstra, Lovasz (LLL) family of reduction ...
Program Improvement by Automatic Redistribution of Intermediate Results
(1991-02-01)
Introducing function sharing into designs allows eliminating costly structure by adapting existing structure to perform its function. This can eliminate many inefficiencies of reusing general componentssin specific ...
Automated Acquisition of Evolving Informal Descriptions
(1990-06-01)
The Listener is an automated system that unintrusively performs knowledge acquisition from informal input. The Listener develops a coherent internal representation of a description from an initial set of disorganized, ...
The Early Detection of Motion Boundaries
(1990-05-01)
This thesis shows how to detect boundaries on the basis of motion information alone. The detection is performed in two stages: (i) the local estimation of motion discontinuities and of the visual flowsfield; (ii) the ...
The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
(1990-05-01)
This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...
Vision, Instruction, and Action
(1990-04-01)
This thesis describes Sonja, a system which uses instructions in the course of visually-guided activity. The thesis explores an integration of research in vision, activity, and natural language pragmatics. Sonja's visual ...
Attentional Selection in Object Recognition
(1993-01-01)
A key problem in object recognition is selection, namely, the problem of identifying regions in an image within which to start the recognition process, ideally by isolating regions that are likely to come from a single ...
Site Controller: A System for Computer-Aided Civil Engineering and Construction
(1993-02-01)
A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that ...
Explorations of the Practical Issues of Learning Prediction-Control Tasks Using Temporal Difference Learning Methods
(1992-12-01)
There has been recent interest in using temporal difference learning methods to attack problems of prediction and control. While these algorithms have been brought to bear on many problems, they remain poorly understood. ...
Heterogeneous Multi-Robot Cooperation
(1994-02-01)
This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates ...