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Journals and Conferences
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)
In this paper, we discuss the use of binary decision diagrams to represent general matrices. We demonstrate that binary decision diagrams are an efficient representation for every special-case matrix in common use, notably sparse matrices. In particular, we demonstrate that for any matrix, the BDD representation can be no larger than the corresponding… (More)
An international group of experts in pharmacokinetic modeling recommends a consensus nomenclature to describe in vivo molecular imaging of reversibly binding radioligands.
The Walsh transform has numerous applications in computer-aided design, but the usefulness of these techniques in practice has been limited by the size of the boolean functions that can be transformed. Currently available techniques limit the functions to less than 20 variables. In this paper, we show how to compute concise representations of the Walsh… (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)
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.
In this paper, we present Robot Entertainment as a new field of the entertainment industry using autonomous robots. For feasibility studies of Robot Entertainment, we have developed an autonomous quadruped robot, named MUTANT, as a pet-type robot. It has four legs, each of which has three degree-of-freedom, and a head which also has three degree-of-freedom.… (More)
UNLABELLED 11C-PBR28 PET can detect the 18-kDa translocator protein (TSPO) expressed within macrophages. However, quantitative evaluation of the signal in brain tissue from donors with multiple sclerosis (MS) shows that PBR28 binds the TSPO with high affinity (binding affinity [Ki], ∼4 nM), low affinity (Ki, ∼200 nM), or mixed affinity (2 sites with Ki, ∼4… (More)
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)