In this paper, we study the application of propositional decision procedures in hardware verification. In particular, we apply bounded model checking, as introduced in , to equivalence and invariant checking. We present several optimizations that reduce the size of generated propositional formulas. In many instances, our SAT-based approach can… (More)
Power is becoming a critical constraint for designing embedded applications. Current power analysis techniques based on circuit-level or architectural-level simulation are either impractical or inaccurate to estimate the power cost for a given piece of application software. In this paper, an instruction-level power analysis model is developed for an… (More)
This paper presents the role of ethological and emotional models as the basis for an architecture in support of entertainment robotic systems. Specific examples for Sony's AIBO are presented as well as extensions related to a new humanoid robot, SDR.
A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a… (More)
The Marr-Albus model of the cerebellum has been reformulated with linear system analysis. This adaptive linear filter model of the cerebellum performs a filtering action of a phase lead-lag compensator with learning capability, and will give an account for the phenomena which have been termed "cerebellar compensation". It is postulated that a Golgi cell may… (More)
Designations used by companies to distinguish their products are often claimed as trademarks or registered trademarks. In all instances in which Morgan Kaufmann Publishers is aware of a claim, the product names appear in initial capital or all capital letters. Readers, however, should contact the appropriate companies for more complete information regarding… (More)
An international group of experts in pharmacokinetic modeling recommends a consensus nomenclature to describe in vivo molecular imaging of reversibly binding radioligands.