# Computer Engineering Commons™

Computer Sciences

Computer Science: Faculty Publications and Other Works

Articles 1 - 24 of 24

## Full-Text Articles in Computer Engineering

Mathematics And Programming Exercises For Educational Robot Navigation, Ronald I. Greenberg Jul 2019

#### Mathematics And Programming Exercises For Educational Robot Navigation, Ronald I. Greenberg

##### Computer Science: Faculty Publications and Other Works

This paper points students towards ideas they can use towards developing a convenient library for robot navigation, with examples based on Botball primitives, and points educators towards mathematics and programming exercises they can suggest to students, especially advanced high school students.

Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg Apr 2019

#### Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg

##### Computer Science: Faculty Publications and Other Works

This paper shows how students can be guided to integrate elementary mathematical analyses with motion planning for typical educational robots. Rather than using calculus as in comprehensive works on motion planning, we show students can achieve interesting results using just simple linear regression tools and trigonometric analyses. Experiments with one robotics platform show that use of these tools can lead to passable navigation through dead reckoning even if students have limited experience with use of sensors, programming, and mathematics.

Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal Jan 2019

#### Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal

##### Computer Science: Faculty Publications and Other Works

This paper presents progress in developing exercises for high school students incorporating level-appropriate mathematics into robotics activities. We assume mathematical foundations ranging from algebra to precalculus, whereas most prior work on integrating mathematics into robotics uses only very elementary mathematical reasoning or, at the other extreme, is comprised of technical papers or books using calculus and other advanced mathematics. The exercises suggested are relevant to any differerential-drive robot, which is an appropriate model for many different varieties of educational robots. They guide students towards comparing a variety of natural navigational strategies making use of typical movement primitives. The exercises align ...

Motion Planning For Simple Two-Wheeled Robots, Ronald I. Greenberg, Jeffery M. Karp Jul 2017

#### Motion Planning For Simple Two-Wheeled Robots, Ronald I. Greenberg, Jeffery M. Karp

##### Computer Science: Faculty Publications and Other Works

This paper considers various simple ways of navigating in a 2-dimensianal territory with a two-wheeled robot of a type typical in educational robotics. We determine shortest paths under various modes of operation and compare.

Apr 2017

#### Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg

##### Computer Science: Faculty Publications and Other Works

Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to ...

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg Jul 2016

#### Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

##### Computer Science: Faculty Publications and Other Works

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.

Jun 2016

#### Metrics, Software Engineering, Small Systems – The Future Of Systems Development, William L. Honig

##### Computer Science: Faculty Publications and Other Works

In this talk I will introduce the importance of metrics, or measures, and the role they play in the development of high quality computer systems. I will review some key mega trends in computer science over the last three decades and then explain why I believe the trend to small networked systems, along with metrics and software engineering will define the future of high technology computer based systems.

I first learned about metrics at the Bell System where everything was measured. Metrics can be understood easily if you think of them as measures, for example of calories or salt in ...

An Example Of Atomic Requirements - Login Screen, William L. Honig May 2016

#### An Example Of Atomic Requirements - Login Screen, William L. Honig

##### Computer Science: Faculty Publications and Other Works

A simple example of what an atomic or individual or singular requirement statement should be. Using the example of the familiar login screen, shows the evolution from a low quality initial attempt at requirements to a complete atomic requirement statement. Introduces the idea of a system glossary to support the atomic requirement.

Atomic Requirements Quick Notes, William L. Honig, Shingo Takada May 2016

#### Atomic Requirements Quick Notes, William L. Honig, Shingo Takada

##### Computer Science: Faculty Publications and Other Works

Working paper on atomic requirements for systems development and the importance of singular, cohesive, individual requirements statements. Covers possible definitions of atomic requirements, and their characteristics. Atomic requirements improve many parts of the development process from requirements to testing and contracting.

Introduction To Atomic Requirements, William L. Honig Apr 2016

#### Introduction To Atomic Requirements, William L. Honig

##### Computer Science: Faculty Publications and Other Works

An introduction to requirements and the importance of making single atomic requirements statements. Atomic requirements have advantages and improve the requirements process, support requirement verification and validation, enable traceability, support testability of systems, and provide management advantages.

Why has there been so little emphasis on atomic requirements?

Requirements Quick Notes, William L. Honig, Shingo Takada Mar 2016

#### Requirements Quick Notes, William L. Honig, Shingo Takada

##### Computer Science: Faculty Publications and Other Works

A short introduction to requirements and their role in system development. Includes industry definition of requirements, overview of basic requirements process including numbering of requirements, ties to testing, and traceability. An introduction to requirements quality attributes (correct, unambiguous, etc.) Includes references to requirements process, numbering, and quality papers.

Mar 2016

#### Requirements Metrics - Definitions Of A Working List Of Possible Metrics For Requirements Quality, William L. Honig

##### Computer Science: Faculty Publications and Other Works

A work in progress to define a metrics set for requirements. Metrics are defined that apply to either the entire requirements set (requirements document as a whole) or individual atomic (or singular, individual) requirements statements. Requirements are identified with standard names and a identification scheme and include both subjective and objective measures.

An example metric for the full set of requirements: Rd2 - Requirements Consistency, Is the set of atomic requirements internally consistent, with no contradictions, no duplication between individual requirements? An example of a metric for a single requirement: Ra4 - Requirement Verifiability, How adequately can this requirement be tested? Is ...

Software Metrics And Dashboard, Shilpika Shilpika, George K. Thiruvathukal, Saulo Aguiar, Konstantin Läufer, Nicholas J. Hayward Aug 2015

#### Software Metrics And Dashboard, Shilpika Shilpika, George K. Thiruvathukal, Saulo Aguiar, Konstantin Läufer, Nicholas J. Hayward

##### Computer Science: Faculty Publications and Other Works

Software metrics are a critical tool which provide continuous insight to products and processes and help build reliable software in mission critical environments. Using software metrics we can perform calculations that help assess the effectiveness of the underlying software or process. The two types of metrics relevant to our work is complexity metrics and in-process metrics. Complexity metrics tend to focus on intrinsic code properties like code complexity. In-process metrics focus on a higher-level view of software quality, measuring information that can provide insight into the underlying software development process.

Our aim is to develop and evaluate a metrics dashboard ...

Naked Object File System (Nofs): A Framework To Expose An Object-Oriented Domain Model As A File System, Joseph P. Kaylor, Konstantin Läufer, George K. Thiruvathukal May 2010

#### Naked Object File System (Nofs): A Framework To Expose An Object-Oriented Domain Model As A File System, Joseph P. Kaylor, Konstantin Läufer, George K. Thiruvathukal

##### Computer Science: Faculty Publications and Other Works

We present Naked Objects File System (NOFS), a novel framework that allows a developer to expose a domain model as a file system by leveraging the Naked Objects design principle. NOFS allows a developer to construct a file system without having to understand or implement all details related to normal file systems development. In this paper we explore file systems frameworks and object-oriented frameworks in a historical context and present an example domain model using the framework. This paper is based on a fully-functional implementation that is distributed as free/open source software, including virtual machine images to demonstrate and ...

The Hydra Filesystem: A Distrbuted Storage Famework, Benjamin Gonzalez, George K. Thiruvathukal Jan 2006

#### The Hydra Filesystem: A Distrbuted Storage Famework, Benjamin Gonzalez, George K. Thiruvathukal

##### Computer Science: Faculty Publications and Other Works

Hydra File System (HFS) is an experimental framework for constructing parallel and distributed filesystems. While parallel and distributed applications requiring scalable and flexible access to storage and retrieval are becoming more commonplace, parallel and distributed filesystems remain difficult to deploy easily and configure for different needs. HFS aims to be different by being true to the tradition of high-performance computing while employing modern design patterns to allow various policies to be configured on a per instance basis (e.g. storage, communication, security, and indexing schemes). We describe a working prototype (available for public download) that has been implemented in the ...

Scalable Implementations Of Mpi Atomicity For Concurrent Overlapping I/O, Wei-Keng Liao, Alok Choudhary, Kenin Coloma, George K. Thiruvathukal, Lee Ward, Eric Russell, Neil Pundit Jan 2003

#### Scalable Implementations Of Mpi Atomicity For Concurrent Overlapping I/O, Wei-Keng Liao, Alok Choudhary, Kenin Coloma, George K. Thiruvathukal, Lee Ward, Eric Russell, Neil Pundit

##### Computer Science: Faculty Publications and Other Works

For concurrent I/O operations, atomicity defines the results in the overlapping file regions simultaneously read/written by requesting processes. Atomicity has been well studied at the file system level, such as POSIX standard. In this paper, we investigate the problems arising from the implementation of MPI atomicity for concurrent overlapping write access and provide a few programming solutions. Since the MPI definition of atomicity differs from the POSIX one, an implementation that simply relies on the POSIX file systems does not guarantee correct MPI semantics. To have a correct implementation of atomic I/O in MPI, we examine the ...

Modeling And Comparison Of Wormhole Routed Mesh And Torus Networks, Ronald I. Greenberg, Lee Guan Oct 1997

#### Modeling And Comparison Of Wormhole Routed Mesh And Torus Networks, Ronald I. Greenberg, Lee Guan

##### Computer Science: Faculty Publications and Other Works

2D-mesh and torus networks have often been proposed as the interconnection pattern for parallel computers. In addition, wormhole routing has increasingly been advocated as a method of reducing latency. Most analysis of wormhole routed networks, however, has focused on the torus and the broader class of k-ary n-cubes to which it belongs. This paper presents a performance model for the wormhole routed mesh, and it compares the performance of the mesh and torus based on theoretical and empirical analyses.

An Improved Analytical Model For Wormhole Routed Networks With Application To Butterfly Fat-Trees, Ronald I. Greenberg, Lee Guan Aug 1997

#### An Improved Analytical Model For Wormhole Routed Networks With Application To Butterfly Fat-Trees, Ronald I. Greenberg, Lee Guan

##### Computer Science: Faculty Publications and Other Works

A performance model for wormhole routed interconnection networks is presented and applied to the butterfly fat-tree network. Experimental results agree very closely over a wide range of load rate. Novel aspects of the model, leading to accurate and simple performance predictions, include (1) use of multiple-server queues, and (2) a general method of correcting queuing results based on Poisson arrivals to apply to wormhole routing. These ideas can also be applied to other networks.

An Empirical Comparison Of Networks And Routing Strategies For Parallel Computation, Ronald I. Greenberg, Lee Guan Oct 1996

#### An Empirical Comparison Of Networks And Routing Strategies For Parallel Computation, Ronald I. Greenberg, Lee Guan

##### Computer Science: Faculty Publications and Other Works

This paper compares message routing capabilities of important networks proposed for general-purpose parallel computing. All the networks have been proven to have some type of universality property, i.e., an ability to simulate other networks of comparable cost with modest slowdown, using appropriate cost and communication models. But in this paper we seek an empirical comparison of communication capability under typical direct use rather than an analysis of worst-case results for simulating message traffic of another network.

An Empirical Comparison Of Area-Universal And Other Parallel Computing Networks, Ronald I. Greenberg, Lee Guan Sep 1996

#### An Empirical Comparison Of Area-Universal And Other Parallel Computing Networks, Ronald I. Greenberg, Lee Guan

##### Computer Science: Faculty Publications and Other Works

This paper provides empirical comparison of the communication capabilities of two area-universal networks, the fat-tree and the fat-pyramid, to the popular mesh and hypercube networks for parallel computation. While area-universal networks have been proven capable of simulating, with modest slowdown, any computation of any other network of comparable area, prior work has generally left open the question of how area-universal networks compare to other networks in practice. Comparisons are performed using techniques of throughput and latency analysis that have previously been applied to k-ary n-cube networks and using various existing models to equate the hardware cost of the networks being ...

A Systolic Simulation And Transformation System, Ronald I. Greenberg, H.-C. Oh Mar 1993

#### A Systolic Simulation And Transformation System, Ronald I. Greenberg, H.-C. Oh

##### Computer Science: Faculty Publications and Other Works

This paper presents a CAD tool, SystSim, to ease the design of systolic systems. Given a high-level, functional description of processors, and a high-level description of their interconnection, SystSim will perform simulations and provide graphical output. SystSim will also perform transformations such as retiming, which eases use of the methodology of Leiserson and Saxe of designing a system with broadcasting and then obtaining a systolic system through retiming.

Packet Routing In Networks With Long Wires, Ronald I. Greenberg, H.-C. Oh Oct 1992

#### Packet Routing In Networks With Long Wires, Ronald I. Greenberg, H.-C. Oh

##### Computer Science: Faculty Publications and Other Works

In this paper, we examine the packet routing problem for networks with wires of differing length. We consider this problem in a network independent context, in which routing time is expressed in terms of “congestion” and “dilation” measures for a set of packet paths. We give, for any constant ε > 0, a randomized on-line algorithm for routing any set of N packets in O((Clg^ε(Nd)+Dlg(Nd))/lglg(Nd)) time, where C is the maximum congestion and D is the length of the longest path, both taking wire delays into account, and d is the longest path in ...

The Fat-Pyramid: A Robust Network For Parallel Computation, Ronald I. Greenberg Apr 1990

#### The Fat-Pyramid: A Robust Network For Parallel Computation, Ronald I. Greenberg

##### Computer Science: Faculty Publications and Other Works

This paper shows that a fat-pyramid of area Theta(A) built from processors of size lg A requires only O(lg^2 A) slowdown in bit-times to simulate any network of area A under very general conditions. Specifically, there is no restriction on processor size (amount of attached memory) or number of processors in the competing network, nor is the assumption of unit wire delay required. This paper also derives upper bounds on the slowdown required by a fat-pyramid to simulate a network of larger area in the case of unit wire delay.

Randomized Routing On Fat-Trees, Ronald I. Greenberg Oct 1985

#### Randomized Routing On Fat-Trees, Ronald I. Greenberg

##### Computer Science: Faculty Publications and Other Works

Fat-trees are a class of routing networks for hardware-efficient parallel computation. This paper presents a randomized algorithm for routing messages on a fat-tree. The quality of the algorithm is measured in terms of the load factor of a set of messages to be routed, which is a lower bound on the time required to deliver the messages. We show that if a set of messages has load factor lambda on a fat-tree with n processors, the number of delivery cycles (routing attempts) that the algorithm requires is O(lambda+lgnlglgn) with probability 1-O(1/n). The ...