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In this paper, we study the application of propositional decision procedures in hardware verification. In particular, we apply bounded model checking, as introduced in [1], 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)
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)
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)
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)