This thesis presents methods for implementing robust hexpod locomotion on an autonomous robot with many sensors and actuators. The controller is based on the Subsumption Architecture and is fully distributed over ...

As multiprocessor system size scales upward, two important aspects of multiprocessor systems will generally get worse rather than better: (1) interprocessor communication latency will increase and (2) the probability ...

This thesis describes a system that synthesizes regularity exposing attributes from large protein databases. After processing primary and secondary structure data, this system discovers an amino acid representation ...

This report describes a computational system with which phonologists may describe a natural language in terms of autosegmental phonology, currently the most advanced theory pertaining to the sound systems of human ...

The MIT-Scheme program development environment includes a general-purpose text editor, Edwin, that has an extension language, Edwin Scheme. Edwin is very similar to another general-purpose text editor, GNU Emacs, which ...

Most computational models of neurons assume that their electrical characteristics are of paramount importance. However, all long-term changes in synaptic efficacy, as well as many short-term effects, are mediated by ...

Many search problems are commonly solved with combinatoric algorithms that unnecessarily duplicate and serialize work at considerable computational expense. There are techniques available that can eliminate redundant ...

This thesis proposes a computational model of how children may come to learn the meanings of words in their native language. The proposed model is divided into two separate components. One component produces semantic ...

Nonlinear multivariate statistical techniques on fast computers offer the potential to capture more of the dynamics of the high dimensional, noisy systems underlying financial markets than traditional models, while ...

This report addresses the problem of fault tolerance to system failures for database systems that are to run on highly concurrent computers. It assumes that, in general, an application may have a wide distribution in ...

This thesis presents SodaBot, a general-purpose software agent user-environment and construction system. Its primary component is the basic software agent --- a computational framework for building agents which is ...

This thesis introduces the Named-State Register File, a fine-grain, fully-associative register file. The NSF allows fast context switching between concurrent threads as well as efficient sequential program performance. ...

In this report, I discuss the use of vision to support concrete, everyday activity. I will argue that a variety of interesting tasks can be solved using simple and inexpensive vision systems. I will provide a number ...

This thesis examines a complete design framework for a real-time, autonomous system with specialized VLSI hardware for computing 3-D camera motion. In the proposed architecture, the first step is to determine point ...

This thesis examines the problem of an autonomous agent learning a causal world model of its environment. Previous approaches to learning causal world models have concentrated on environments that are too "easy" ...

This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach ...

This research project is a study of the role of fixation and visual attention in object recognition. In this project, we build an active vision system which can recognize a target object in a cluttered scene efficiently ...

This thesis presents a learning based approach for detecting classes of objects and patterns with variable image appearance but highly predictable image boundaries. It consists of two parts. In part one, we introduce our ...

We describe a program called SketchIT capable of producing multiple families of designs from a single sketch. The program is given a rough sketch (drawn using line segments for part faces and icons for springs and ...

The problem of automatic face recognition is to visually identify a person in an input image. This task is performed by matching the input face against the faces of known people in a database of faces. Most existing ...