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No abstract

While navigating in an environment, a vision system has to be able to recognize where it is and what the main objects in the scene are. In this paper we present a context-based vision system for place and object recognition. The goal is to identify familiar locations (e.g., office 610, conference room 941, Main Street), to categorize new environments (office, corridor, street) and to use that information to provide contextual priors for object recognition (e.g., table, chair, car, computer). We present a low-dimensional global image representation that provides relevant information for place recognition and categorization, and how such contextual information introduces strong priors that simplify object recognition. We have trained the system to recognize over 60 locations (indoors and outdoors) and to suggest the presence and locations of more than 20 different object types. The algorithm has been integrated into a mobile system that provides real-time feedback to the user. 1

Understanding the most efficient design and utilization of emerging multicore systems is one of the most challenging questions faced by the mainstream and scientific computing industries in several decades. Our work explores multicore stencil (nearest-neighbor) computations-a class of algorithms at the heart of many structured grid codes, including PDE solvers. We develop a number of effective optimization strategies, and build an auto-tuning environment that searches over our optimizations and their parameters to minimize runtime, while maximizing performance portability. To evaluate the effectiveness of these strategies we explore the broadest set of multicore architectures in the current HPC literature, including the Intel Clovertown, AMD Barcelona, Sun Victoria Falls, IBM QS22 PowerXCell 8i, and NVIDIA GTX280. Overall, our auto-tuning optimization methodology results in the fastest multicore stencil performance to date. Finally, we present several key insights into the architectural tradeoffs of emerging multicore designs and their implications on scientific algorithm development. *. Node power under a computational load can differ dramatically from both idle power and from the manufacturer's peak power specifications.

Many maintenance tasks address concerns, or features, that are not well modularized in the source code comprising a system. Existing approaches available to help software developers locate and manage scattered concerns use a representation based on lines of source code, complicating the analysis of the concerns. In this paper, we introduce the Concern Graph representation that abstracts the implementation details of a concern and makes explicit the relationships between different parts of the concern. The abstraction used in a Concern Graph has been designed to allow an obvious and inexpensive mapping back to the corresponding source code. To investigate the practical tradeoffs related to this approach, we have built the Feature Exploration and Analysis tool (FEAT) that allows a developer to manipulate a concern representation extracted from a Java system, and to analyze the relationships of that concern to the code base. We have used this tool to find and describe concerns related to software change tasks. We have performed case studies to evaluate the feasibility, usability, and scalability of the approach. Our results indicate that Concern Graphs can be used to document a concern for change, that developers unfamiliar with Concern Graphs can use them effectively, and that the underlying technology scales to industrial-sized programs.