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Research and Teaching Output of the MIT Community

Browsing CSAIL Digital Archive by Title

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  • Blackmore, Lars (2006-04-28)
    Autonomous vehicles need to be able to plan trajectories to a specified goal that avoid obstacles, and are robust to the inherent uncertainty in the problem. This uncertainty arises due to uncertain state estimation, ...
  • Wentzlaff, David; Agarwal, Anant (2004-04-13)
    General purpose computing architectures are being called on to work on amore diverse application mix every day. This has been fueled by the needfor reduced time to market and economies of scale that are the hallmarksof ...
  • Jayaraman, Karthick; Ganesh, Vijay; Tripunitara, Mahesh; Rinard, Martin C.; Chapin, Steve J. (2011-04-27)
    Administrative role-based access control (ARBAC) is the first comprehensive administrative model proposed for role-based access control (RBAC). ARBAC has several features for designing highly expressive policies, but current ...
  • Fallon, Maurice; Kuindersma, Scott; Karumanchi, Sisir; Antone, Matthew; Schneider, Toby; Dai, Hongkai; Perez D'Arpino, Claudia; Deits, Robin; DiCicco, Matt; Fourie, Dehann; Koolen, Twan; Marion, Pat; Posa, Michael; Valenzuela, Andres; Yu, Kuan-Ting; Shah, Julie; Iagnemma, Karl; Tedrake, Russ; Teller, Seth (2014-03-16)
    The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor ...
  • Singh, Neha (2005-05-17)
    A service-providing system consists of hosts that provide services such as data, content, computational and memory resources and data-based services to other entities in the system. Consumers that wish to use services ...
  • Livadas, Carolos; Lynch, Nancy A. (2003-08-11)
    In this short technical report, we present a simple yet effective reliable broadcast protocol for sensor networks. This protocol disseminates packets throughout the sensor network by flooding and recovers from losses ...
  • Sussman, Gerald Jay; Radul, Alexey (2009-01-26)
    We develop a programming model built on the idea that the basic computational elements are autonomous machines interconnected by shared cells through which they communicate. Each machine continuously examines the cells it ...
  • Torres-Jara, Eduardo; Vasilescu, Iuliu; Coral, Raul (2006-03-01)
    We present the design, analysis and construction of a biologicallyinspired tactile sensor. The sensor can measure normal and lateralforces, conform to the surfaces with which it comes in contact andincrease the friction ...
  • Strumpen, Volker; Hoffmann, Henry; Agarwal, Anant (2003-10-22)
    We present a stream algorithm for the Singular-Value Decomposition (SVD) of anM X N matrix A. Our algorithm trades speed of numerical convergence for parallelism,and derives from a one-sided, cyclic-by-rows Hestenes SVD. ...
  • Lippert, Ross; Rifkin, Ryan (2005-10-20)
    We consider regularized least-squares (RLS) with a Gaussian kernel. Weprove that if we let the Gaussian bandwidth $\sigma \rightarrow\infty$ while letting the regularization parameter $\lambda\rightarrow 0$, the RLS solution ...
  • Cornejo, Alejandro; Lynch, Nancy; Sastry, Srikanth (2013-01-30)
    Failure detectors -- oracles that provide information about process crashes -- are an important abstraction for crash tolerance in distributed systems. The generality of failure-detector theory, while providing great ...
  • Cornejo, Alejandro; Lynch, Nancy; Sastry, Srikanth (2013-10-10)
    Failure detectors -- oracles that provide information about process crashes -- are an important abstraction for crash tolerance in distributed systems. The generality of failure-detector theory, while providing great ...
  • Liu, Jifeng; Psota, James; Beckmann, Nathan; Miller, Jason; Michel, Jurgen; Eastep, Jonathan; Kurian, George; Kimerling, Lionel; Agarwal, Anant; Beals, Mark (2009-05-05)
    Ever since industry has turned to parallelism instead of frequency scaling to improve processor performance, multicore processors have continued to scale to larger and larger numbers of cores. Some believe that multicores ...
  • Serre, T.; Kouh, M.; Cadieu, C.; Knoblich, U.; Kreiman, G.; Poggio, T. (2005-12-19)
    We describe a quantitative theory to account for the computations performed by the feedforward path of the ventral stream of visual cortex and the local circuits implementing them. We show that a model instantiating the ...
  • Chikkerur, Sharat; Poggio, Tomaso; Serre, Thomas (2009-10-02)
    The human visual system can recognize several thousand object categories irrespective of their position and size. This combination of selectivity and invariance is built up gradually across several stages of visual processing. ...
  • Popic, Victoria (2010-09-29)
    This thesis provides a complete design and implementation of audit trail collection and storage for Aeolus, a distributed security platform based on information flow control. An information flow control system regulates ...
  • Zollei, Lilla (2006-01-25)
    The field of medical image analysis has been rapidly growing for the past two decades. Besides a significant growth in computational power, scanner performance, and storage facilities, this acceleration is partially due ...
  • Zollei, Lilla; Fisher, John; Wells, William (2004-04-28)
    We formulate and interpret several multi-modal registration methods inthe context of a unified statistical and information theoretic framework. A unified interpretation clarifies the implicit assumptionsof each method ...
  • Stauffer, Chris (2005-09-20)
    Current computer vision techniques can effectively monitor gross activities in sparse environments. Unfortunately, visual stimulus is often not sufficient for reliably discriminating between many types of activity. In ...
  • Yu, Xinlin; Steele, Andrew D.; Khilnani, Vinita; Garrote, Estibaliz; Jhuang, Hueihan; Serre, Thomas; Poggio, Tomaso (2009-10-26)
    We describe a trainable computer vision system enabling the automated analysis of complex mouse behaviors. We provide software and a very large manually annotated video database used for training and testing the system. ...
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