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commit cfe412faa220a9224a821c96c421095ff54cf98f 0 parents
Shinpei Kato authored
13 draft/Makefile
@@ -0,0 +1,13 @@
+TARGET = draft
+
+all:
+ latex $(TARGET)
+ bibtex $(TARGET)
+ latex $(TARGET)
+ latex $(TARGET)
+ dvips -t letter -o $(TARGET).ps $(TARGET).dvi
+ ps2pdf $(TARGET).ps
+ #dvipdf draft.dvi
+
+clean:
+ rm -fr *~ *.aux *.ps *.pdf *.dvi *.log *.bbl *.blg *.ent
65 draft/draft.tex
@@ -0,0 +1,65 @@
+\documentclass[times, 10pt, twocolumn]{article}
+\usepackage{latex8}
+\usepackage[dvips]{graphicx}
+\usepackage[fleqn]{amsmath}
+\usepackage{amsthm}
+\usepackage{txfonts}
+\usepackage{courier}
+\usepackage{subfigure}
+\usepackage{comment}
+\usepackage{url}
+\usepackage[square,numbers]{natbib}
+
+%-----------------------------------------
+% need for camera-ready
+\pagestyle{empty}
+
+%----------------------------------------
+
+\begin{document}
+
+\title{
+Supporting Energy CPS with Commodity Many-Core Devices
+}
+
+\author {
+Shinpei Kato$^\dagger$, Nikolaus Rath$^\ddagger$, and Scott Brandt$^*$\\
+\\
+$\dagger$ Department. of Information Engineering, Nagoya University\\
+$\ddagger$ Department of Applied Physics and Applied Mathematics, Columbia
+University \\
+$*$ Department of Computer Science, UC Santa Cruz
+}
+
+\maketitle
+
+%-----------------------------------------
+% need for camera-ready
+\thispagestyle{empty}
+
+\begin{abstract}
+ In this paper, we present two conceptual frameworks for GPU applications to
+ adjust their task execution times based on total workload. These
+ frameworks enable smart GPU resource management when many applications
+ share GPU resources while the workloads of those applications vary.
+ Application developers can explicitly adjust the number of GPU cores
+ depending on their needs.
+ An implicit adjustment will be supported by a run-time framwork, which
+ dynamically allocates the number of cores to tasks based on the total
+ workload. The runtime support of the proposed system can be realized using
+ functions which measure the execution times of the tasks on GPU and change
+ the number of GPU cores. We motivate the necessity of this framework
+ in the context of self-driving technologies, and we believe that our
+ frameworks for GPU programming are useful contributions given
+ the increasing emphasis on parallel heterogeneous computing.
+\end{abstract}
+
+\section{Introduction}
+\label{sec:introduction}
+
+\bibliographystyle{plain}
+{\footnotesize
+\bibliography{references}
+}
+
+\end{document}
1,124 draft/latex8.bst
@@ -0,0 +1,1124 @@
+
+% ---------------------------------------------------------------
+%
+% $Id: latex8.bst,v 1.1 1995/09/15 15:13:49 ienne Exp $
+%
+% by Paolo.Ienne@di.epfl.ch
+%
+
+% ---------------------------------------------------------------
+%
+% no guarantee is given that the format corresponds perfectly to
+% IEEE 8.5" x 11" Proceedings, but most features should be ok.
+%
+% ---------------------------------------------------------------
+%
+% `latex8' from BibTeX standard bibliography style `abbrv'
+% version 0.99a for BibTeX versions 0.99a or later, LaTeX version 2.09.
+% Copyright (C) 1985, all rights reserved.
+% Copying of this file is authorized only if either
+% (1) you make absolutely no changes to your copy, including name, or
+% (2) if you do make changes, you name it something other than
+% btxbst.doc, plain.bst, unsrt.bst, alpha.bst, and abbrv.bst.
+% This restriction helps ensure that all standard styles are identical.
+% The file btxbst.doc has the documentation for this style.
+
+ENTRY
+ { address
+ author
+ booktitle
+ chapter
+ edition
+ editor
+ howpublished
+ institution
+ journal
+ key
+ month
+ note
+ number
+ organization
+ pages
+ publisher
+ school
+ series
+ title
+ type
+ volume
+ year
+ }
+ {}
+ { label }
+
+INTEGERS { output.state before.all mid.sentence after.sentence after.block }
+
+FUNCTION {init.state.consts}
+{ #0 'before.all :=
+ #1 'mid.sentence :=
+ #2 'after.sentence :=
+ #3 'after.block :=
+}
+
+STRINGS { s t }
+
+FUNCTION {output.nonnull}
+{ 's :=
+ output.state mid.sentence =
+ { ", " * write$ }
+ { output.state after.block =
+ { add.period$ write$
+ newline$
+ "\newblock " write$
+ }
+ { output.state before.all =
+ 'write$
+ { add.period$ " " * write$ }
+ if$
+ }
+ if$
+ mid.sentence 'output.state :=
+ }
+ if$
+ s
+}
+
+FUNCTION {output}
+{ duplicate$ empty$
+ 'pop$
+ 'output.nonnull
+ if$
+}
+
+FUNCTION {output.check}
+{ 't :=
+ duplicate$ empty$
+ { pop$ "empty " t * " in " * cite$ * warning$ }
+ 'output.nonnull
+ if$
+}
+
+FUNCTION {output.bibitem}
+{ newline$
+ "\bibitem{" write$
+ cite$ write$
+ "}" write$
+ newline$
+ ""
+ before.all 'output.state :=
+}
+
+FUNCTION {fin.entry}
+{ add.period$
+ write$
+ newline$
+}
+
+FUNCTION {new.block}
+{ output.state before.all =
+ 'skip$
+ { after.block 'output.state := }
+ if$
+}
+
+FUNCTION {new.sentence}
+{ output.state after.block =
+ 'skip$
+ { output.state before.all =
+ 'skip$
+ { after.sentence 'output.state := }
+ if$
+ }
+ if$
+}
+
+FUNCTION {not}
+{ { #0 }
+ { #1 }
+ if$
+}
+
+FUNCTION {and}
+{ 'skip$
+ { pop$ #0 }
+ if$
+}
+
+FUNCTION {or}
+{ { pop$ #1 }
+ 'skip$
+ if$
+}
+
+FUNCTION {new.block.checka}
+{ empty$
+ 'skip$
+ 'new.block
+ if$
+}
+
+FUNCTION {new.block.checkb}
+{ empty$
+ swap$ empty$
+ and
+ 'skip$
+ 'new.block
+ if$
+}
+
+FUNCTION {new.sentence.checka}
+{ empty$
+ 'skip$
+ 'new.sentence
+ if$
+}
+
+FUNCTION {new.sentence.checkb}
+{ empty$
+ swap$ empty$
+ and
+ 'skip$
+ 'new.sentence
+ if$
+}
+
+FUNCTION {field.or.null}
+{ duplicate$ empty$
+ { pop$ "" }
+ 'skip$
+ if$
+}
+
+FUNCTION {emphasize}
+{ duplicate$ empty$
+ { pop$ "" }
+ { "{\em " swap$ * "}" * }
+ if$
+}
+
+INTEGERS { nameptr namesleft numnames }
+
+FUNCTION {format.names}
+{ 's :=
+ #1 'nameptr :=
+ s num.names$ 'numnames :=
+ numnames 'namesleft :=
+ { namesleft #0 > }
+ { s nameptr "{f.~}{vv~}{ll}{, jj}" format.name$ 't :=
+ nameptr #1 >
+ { namesleft #1 >
+ { ", " * t * }
+ { numnames #2 >
+ { "," * }
+ 'skip$
+ if$
+ t "others" =
+ { " et~al." * }
+ { " and " * t * }
+ if$
+ }
+ if$
+ }
+ 't
+ if$
+ nameptr #1 + 'nameptr :=
+
+ namesleft #1 - 'namesleft :=
+ }
+ while$
+}
+
+FUNCTION {format.authors}
+{ author empty$
+ { "" }
+ { author format.names }
+ if$
+}
+
+FUNCTION {format.editors}
+{ editor empty$
+ { "" }
+ { editor format.names
+ editor num.names$ #1 >
+ { ", editors" * }
+ { ", editor" * }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.title}
+{ title empty$
+ { "" }
+ { title "t" change.case$ }
+ if$
+}
+
+FUNCTION {n.dashify}
+{ 't :=
+ ""
+ { t empty$ not }
+ { t #1 #1 substring$ "-" =
+ { t #1 #2 substring$ "--" = not
+ { "--" *
+ t #2 global.max$ substring$ 't :=
+ }
+ { { t #1 #1 substring$ "-" = }
+ { "-" *
+ t #2 global.max$ substring$ 't :=
+ }
+ while$
+ }
+ if$
+ }
+ { t #1 #1 substring$ *
+ t #2 global.max$ substring$ 't :=
+ }
+ if$
+ }
+ while$
+}
+
+FUNCTION {format.date}
+{ year empty$
+ { month empty$
+ { "" }
+ { "there's a month but no year in " cite$ * warning$
+ month
+ }
+ if$
+ }
+ { month empty$
+ 'year
+ { month " " * year * }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.btitle}
+{ title emphasize
+}
+
+FUNCTION {tie.or.space.connect}
+{ duplicate$ text.length$ #3 <
+ { "~" }
+ { " " }
+ if$
+ swap$ * *
+}
+
+FUNCTION {either.or.check}
+{ empty$
+ 'pop$
+ { "can't use both " swap$ * " fields in " * cite$ * warning$ }
+ if$
+}
+
+FUNCTION {format.bvolume}
+{ volume empty$
+ { "" }
+ { "volume" volume tie.or.space.connect
+ series empty$
+ 'skip$
+ { " of " * series emphasize * }
+ if$
+ "volume and number" number either.or.check
+ }
+ if$
+}
+
+FUNCTION {format.number.series}
+{ volume empty$
+ { number empty$
+ { series field.or.null }
+ { output.state mid.sentence =
+ { "number" }
+ { "Number" }
+ if$
+ number tie.or.space.connect
+ series empty$
+ { "there's a number but no series in " cite$ * warning$ }
+ { " in " * series * }
+ if$
+ }
+ if$
+ }
+ { "" }
+ if$
+}
+
+FUNCTION {format.edition}
+{ edition empty$
+ { "" }
+ { output.state mid.sentence =
+ { edition "l" change.case$ " edition" * }
+ { edition "t" change.case$ " edition" * }
+ if$
+ }
+ if$
+}
+
+INTEGERS { multiresult }
+
+FUNCTION {multi.page.check}
+{ 't :=
+ #0 'multiresult :=
+ { multiresult not
+ t empty$ not
+ and
+ }
+ { t #1 #1 substring$
+ duplicate$ "-" =
+ swap$ duplicate$ "," =
+ swap$ "+" =
+ or or
+ { #1 'multiresult := }
+ { t #2 global.max$ substring$ 't := }
+ if$
+ }
+ while$
+ multiresult
+}
+
+FUNCTION {format.pages}
+{ pages empty$
+ { "" }
+ { pages multi.page.check
+ { "pp." pages n.dashify tie.or.space.connect }
+ { "page" pages tie.or.space.connect }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.vol.num.pages}
+{ volume field.or.null
+ number empty$
+ 'skip$
+ { "(" number * ")" * *
+ volume empty$
+ { "there's a number but no volume in " cite$ * warning$ }
+ 'skip$
+ if$
+ }
+ if$
+ pages empty$
+ 'skip$
+ { duplicate$ empty$
+ { pop$ format.pages }
+ { ":" * pages n.dashify * }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.chapter.pages}
+{ chapter empty$
+ 'format.pages
+ { type empty$
+ { "chapter" }
+ { type "l" change.case$ }
+ if$
+ chapter tie.or.space.connect
+ pages empty$
+ 'skip$
+ { ", " * format.pages * }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.in.ed.booktitle}
+{ booktitle empty$
+ { "" }
+ { editor empty$
+ { "In " booktitle emphasize * }
+ { "In " format.editors * ", " * booktitle emphasize * }
+ if$
+ }
+ if$
+}
+
+FUNCTION {empty.misc.check}
+
+{ author empty$ title empty$ howpublished empty$
+ month empty$ year empty$ note empty$
+ and and and and and
+ key empty$ not and
+ { "all relevant fields are empty in " cite$ * warning$ }
+ 'skip$
+ if$
+}
+
+FUNCTION {format.thesis.type}
+{ type empty$
+ 'skip$
+ { pop$
+ type "t" change.case$
+ }
+ if$
+}
+
+FUNCTION {format.tr.number}
+{ type empty$
+ { "Technical Report" }
+ 'type
+ if$
+ number empty$
+ { "t" change.case$ }
+ { number tie.or.space.connect }
+ if$
+}
+
+FUNCTION {format.article.crossref}
+{ key empty$
+ { journal empty$
+ { "need key or journal for " cite$ * " to crossref " * crossref *
+ warning$
+ ""
+ }
+ { "In {\em " journal * "\/}" * }
+ if$
+ }
+ { "In " key * }
+ if$
+ " \cite{" * crossref * "}" *
+}
+
+FUNCTION {format.crossref.editor}
+{ editor #1 "{vv~}{ll}" format.name$
+ editor num.names$ duplicate$
+ #2 >
+ { pop$ " et~al." * }
+ { #2 <
+ 'skip$
+ { editor #2 "{ff }{vv }{ll}{ jj}" format.name$ "others" =
+ { " et~al." * }
+ { " and " * editor #2 "{vv~}{ll}" format.name$ * }
+ if$
+ }
+ if$
+ }
+ if$
+}
+
+FUNCTION {format.book.crossref}
+{ volume empty$
+ { "empty volume in " cite$ * "'s crossref of " * crossref * warning$
+ "In "
+ }
+ { "Volume" volume tie.or.space.connect
+ " of " *
+ }
+ if$
+ editor empty$
+ editor field.or.null author field.or.null =
+ or
+ { key empty$
+ { series empty$
+ { "need editor, key, or series for " cite$ * " to crossref " *
+ crossref * warning$
+ "" *
+ }
+ { "{\em " * series * "\/}" * }
+ if$
+ }
+ { key * }
+ if$
+ }
+ { format.crossref.editor * }
+ if$
+ " \cite{" * crossref * "}" *
+}
+
+FUNCTION {format.incoll.inproc.crossref}
+{ editor empty$
+ editor field.or.null author field.or.null =
+ or
+ { key empty$
+ { booktitle empty$
+ { "need editor, key, or booktitle for " cite$ * " to crossref " *
+ crossref * warning$
+ ""
+ }
+ { "In {\em " booktitle * "\/}" * }
+ if$
+ }
+ { "In " key * }
+ if$
+ }
+ { "In " format.crossref.editor * }
+ if$
+ " \cite{" * crossref * "}" *
+}
+
+FUNCTION {article}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ crossref missing$
+ { journal emphasize "journal" output.check
+ format.vol.num.pages output
+ format.date "year" output.check
+ }
+ { format.article.crossref output.nonnull
+ format.pages output
+ }
+ if$
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {book}
+{ output.bibitem
+ author empty$
+ { format.editors "author and editor" output.check }
+ { format.authors output.nonnull
+ crossref missing$
+ { "author and editor" editor either.or.check }
+ 'skip$
+ if$
+ }
+ if$
+ new.block
+ format.btitle "title" output.check
+ crossref missing$
+ { format.bvolume output
+ new.block
+ format.number.series output
+ new.sentence
+ publisher "publisher" output.check
+ address output
+ }
+ { new.block
+ format.book.crossref output.nonnull
+ }
+ if$
+ format.edition output
+ format.date "year" output.check
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {booklet}
+{ output.bibitem
+ format.authors output
+ new.block
+ format.title "title" output.check
+ howpublished address new.block.checkb
+ howpublished output
+ address output
+ format.date output
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {inbook}
+{ output.bibitem
+ author empty$
+ { format.editors "author and editor" output.check }
+ { format.authors output.nonnull
+
+ crossref missing$
+ { "author and editor" editor either.or.check }
+ 'skip$
+ if$
+ }
+ if$
+ new.block
+ format.btitle "title" output.check
+ crossref missing$
+ { format.bvolume output
+ format.chapter.pages "chapter and pages" output.check
+ new.block
+ format.number.series output
+ new.sentence
+ publisher "publisher" output.check
+ address output
+ }
+ { format.chapter.pages "chapter and pages" output.check
+ new.block
+ format.book.crossref output.nonnull
+ }
+ if$
+ format.edition output
+ format.date "year" output.check
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {incollection}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ crossref missing$
+ { format.in.ed.booktitle "booktitle" output.check
+ format.bvolume output
+ format.number.series output
+ format.chapter.pages output
+ new.sentence
+ publisher "publisher" output.check
+ address output
+ format.edition output
+ format.date "year" output.check
+ }
+ { format.incoll.inproc.crossref output.nonnull
+ format.chapter.pages output
+ }
+ if$
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {inproceedings}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ crossref missing$
+ { format.in.ed.booktitle "booktitle" output.check
+ format.bvolume output
+ format.number.series output
+ format.pages output
+ address empty$
+ { organization publisher new.sentence.checkb
+ organization output
+ publisher output
+ format.date "year" output.check
+ }
+ { address output.nonnull
+ format.date "year" output.check
+ new.sentence
+ organization output
+ publisher output
+ }
+ if$
+ }
+ { format.incoll.inproc.crossref output.nonnull
+ format.pages output
+ }
+ if$
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {conference} { inproceedings }
+
+FUNCTION {manual}
+{ output.bibitem
+ author empty$
+ { organization empty$
+ 'skip$
+ { organization output.nonnull
+ address output
+ }
+ if$
+ }
+ { format.authors output.nonnull }
+ if$
+ new.block
+ format.btitle "title" output.check
+ author empty$
+ { organization empty$
+ { address new.block.checka
+ address output
+ }
+ 'skip$
+ if$
+ }
+ { organization address new.block.checkb
+ organization output
+ address output
+ }
+ if$
+ format.edition output
+ format.date output
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {mastersthesis}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ "Master's thesis" format.thesis.type output.nonnull
+ school "school" output.check
+ address output
+ format.date "year" output.check
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {misc}
+{ output.bibitem
+ format.authors output
+ title howpublished new.block.checkb
+ format.title output
+ howpublished new.block.checka
+ howpublished output
+ format.date output
+ new.block
+ note output
+ fin.entry
+ empty.misc.check
+}
+
+FUNCTION {phdthesis}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.btitle "title" output.check
+ new.block
+ "PhD thesis" format.thesis.type output.nonnull
+ school "school" output.check
+ address output
+ format.date "year" output.check
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {proceedings}
+{ output.bibitem
+ editor empty$
+ { organization output }
+ { format.editors output.nonnull }
+
+ if$
+ new.block
+ format.btitle "title" output.check
+ format.bvolume output
+ format.number.series output
+ address empty$
+ { editor empty$
+ { publisher new.sentence.checka }
+ { organization publisher new.sentence.checkb
+ organization output
+ }
+ if$
+ publisher output
+ format.date "year" output.check
+ }
+ { address output.nonnull
+ format.date "year" output.check
+ new.sentence
+ editor empty$
+ 'skip$
+ { organization output }
+ if$
+ publisher output
+ }
+ if$
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {techreport}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ format.tr.number output.nonnull
+ institution "institution" output.check
+ address output
+ format.date "year" output.check
+ new.block
+ note output
+ fin.entry
+}
+
+FUNCTION {unpublished}
+{ output.bibitem
+ format.authors "author" output.check
+ new.block
+ format.title "title" output.check
+ new.block
+ note "note" output.check
+ format.date output
+ fin.entry
+}
+
+FUNCTION {default.type} { misc }
+
+MACRO {jan} {"Jan."}
+
+MACRO {feb} {"Feb."}
+
+MACRO {mar} {"Mar."}
+
+MACRO {apr} {"Apr."}
+
+MACRO {may} {"May"}
+
+MACRO {jun} {"June"}
+
+MACRO {jul} {"July"}
+
+MACRO {aug} {"Aug."}
+
+MACRO {sep} {"Sept."}
+
+MACRO {oct} {"Oct."}
+
+MACRO {nov} {"Nov."}
+
+MACRO {dec} {"Dec."}
+
+MACRO {acmcs} {"ACM Comput. Surv."}
+
+MACRO {acta} {"Acta Inf."}
+
+MACRO {cacm} {"Commun. ACM"}
+
+MACRO {ibmjrd} {"IBM J. Res. Dev."}
+
+MACRO {ibmsj} {"IBM Syst.~J."}
+
+MACRO {ieeese} {"IEEE Trans. Softw. Eng."}
+
+MACRO {ieeetc} {"IEEE Trans. Comput."}
+
+MACRO {ieeetcad}
+ {"IEEE Trans. Comput.-Aided Design Integrated Circuits"}
+
+MACRO {ipl} {"Inf. Process. Lett."}
+
+MACRO {jacm} {"J.~ACM"}
+
+MACRO {jcss} {"J.~Comput. Syst. Sci."}
+
+MACRO {scp} {"Sci. Comput. Programming"}
+
+MACRO {sicomp} {"SIAM J. Comput."}
+
+MACRO {tocs} {"ACM Trans. Comput. Syst."}
+
+MACRO {tods} {"ACM Trans. Database Syst."}
+
+MACRO {tog} {"ACM Trans. Gr."}
+
+MACRO {toms} {"ACM Trans. Math. Softw."}
+
+MACRO {toois} {"ACM Trans. Office Inf. Syst."}
+
+MACRO {toplas} {"ACM Trans. Prog. Lang. Syst."}
+
+MACRO {tcs} {"Theoretical Comput. Sci."}
+
+READ
+
+FUNCTION {sortify}
+{ purify$
+ "l" change.case$
+}
+
+INTEGERS { len }
+
+FUNCTION {chop.word}
+{ 's :=
+ 'len :=
+ s #1 len substring$ =
+ { s len #1 + global.max$ substring$ }
+ 's
+ if$
+}
+
+FUNCTION {sort.format.names}
+{ 's :=
+ #1 'nameptr :=
+ ""
+ s num.names$ 'numnames :=
+ numnames 'namesleft :=
+ { namesleft #0 > }
+ { nameptr #1 >
+ { " " * }
+ 'skip$
+ if$
+ s nameptr "{vv{ } }{ll{ }}{ f{ }}{ jj{ }}" format.name$ 't :=
+ nameptr numnames = t "others" = and
+ { "et al" * }
+ { t sortify * }
+ if$
+ nameptr #1 + 'nameptr :=
+ namesleft #1 - 'namesleft :=
+ }
+ while$
+}
+
+FUNCTION {sort.format.title}
+{ 't :=
+ "A " #2
+ "An " #3
+ "The " #4 t chop.word
+ chop.word
+ chop.word
+ sortify
+ #1 global.max$ substring$
+}
+
+FUNCTION {author.sort}
+{ author empty$
+ { key empty$
+ { "to sort, need author or key in " cite$ * warning$
+ ""
+ }
+ { key sortify }
+ if$
+ }
+ { author sort.format.names }
+ if$
+}
+
+FUNCTION {author.editor.sort}
+{ author empty$
+ { editor empty$
+ { key empty$
+ { "to sort, need author, editor, or key in " cite$ * warning$
+ ""
+ }
+ { key sortify }
+ if$
+ }
+ { editor sort.format.names }
+ if$
+ }
+ { author sort.format.names }
+ if$
+}
+
+FUNCTION {author.organization.sort}
+{ author empty$
+
+ { organization empty$
+ { key empty$
+ { "to sort, need author, organization, or key in " cite$ * warning$
+ ""
+ }
+ { key sortify }
+ if$
+ }
+ { "The " #4 organization chop.word sortify }
+ if$
+ }
+ { author sort.format.names }
+ if$
+}
+
+FUNCTION {editor.organization.sort}
+{ editor empty$
+ { organization empty$
+ { key empty$
+ { "to sort, need editor, organization, or key in " cite$ * warning$
+ ""
+ }
+ { key sortify }
+ if$
+ }
+ { "The " #4 organization chop.word sortify }
+ if$
+ }
+ { editor sort.format.names }
+ if$
+}
+
+FUNCTION {presort}
+{ type$ "book" =
+ type$ "inbook" =
+ or
+ 'author.editor.sort
+ { type$ "proceedings" =
+ 'editor.organization.sort
+ { type$ "manual" =
+ 'author.organization.sort
+ 'author.sort
+ if$
+ }
+ if$
+ }
+ if$
+ " "
+ *
+ year field.or.null sortify
+ *
+ " "
+ *
+ title field.or.null
+ sort.format.title
+ *
+ #1 entry.max$ substring$
+ 'sort.key$ :=
+}
+
+ITERATE {presort}
+
+SORT
+
+STRINGS { longest.label }
+
+INTEGERS { number.label longest.label.width }
+
+FUNCTION {initialize.longest.label}
+{ "" 'longest.label :=
+ #1 'number.label :=
+ #0 'longest.label.width :=
+}
+
+FUNCTION {longest.label.pass}
+{ number.label int.to.str$ 'label :=
+ number.label #1 + 'number.label :=
+ label width$ longest.label.width >
+ { label 'longest.label :=
+ label width$ 'longest.label.width :=
+ }
+ 'skip$
+ if$
+}
+
+EXECUTE {initialize.longest.label}
+
+ITERATE {longest.label.pass}
+
+FUNCTION {begin.bib}
+{ preamble$ empty$
+ 'skip$
+ { preamble$ write$ newline$ }
+ if$
+ "\begin{thebibliography}{" longest.label *
+ "}\setlength{\itemsep}{-1ex}\small" * write$ newline$
+}
+
+EXECUTE {begin.bib}
+
+EXECUTE {init.state.consts}
+
+ITERATE {call.type$}
+
+FUNCTION {end.bib}
+{ newline$
+ "\end{thebibliography}" write$ newline$
+}
+
+EXECUTE {end.bib}
+
+% end of file latex8.bst
+% ---------------------------------------------------------------
+
+
+
169 draft/latex8.sty
@@ -0,0 +1,169 @@
+
+% ---------------------------------------------------------------
+%
+% $Id: latex8.sty,v 1.2 1995/09/15 15:31:13 ienne Exp $
+%
+% by Paolo.Ienne@di.epfl.ch
+%
+% ---------------------------------------------------------------
+%
+% no guarantee is given that the format corresponds perfectly to
+% IEEE 8.5" x 11" Proceedings, but most features should be ok.
+%
+% ---------------------------------------------------------------
+% with LaTeX2e:
+% =============
+%
+% use as
+% \documentclass[times,10pt,twocolumn]{article}
+% \usepackage{latex8}
+% \usepackage{times}
+%
+% ---------------------------------------------------------------
+
+% with LaTeX 2.09:
+% ================
+%
+% use as
+% \documentstyle[times,art10,twocolumn,latex8]{article}
+%
+% ---------------------------------------------------------------
+% with both versions:
+% ===================
+%
+% specify \pagestyle{empty} to omit page numbers in the final
+% version
+%
+% specify references as
+% \bibliographystyle{latex8}
+% \bibliography{...your files...}
+%
+% use Section{} and SubSection{} instead of standard section{}
+% and subsection{} to obtain headings in the form
+% "1.3. My heading"
+%
+% ---------------------------------------------------------------
+
+\typeout{IEEE 8.5 x 11-Inch Proceedings Style `latex8.sty'.}
+
+% ten point helvetica bold required for captions
+% in some sites the name of the helvetica bold font may differ,
+% change the name here:
+\font\tenhv = phvb at 10pt
+%\font\tenhv = phvb7t at 10pt
+
+% eleven point times bold required for second-order headings
+% \font\elvbf = cmbx10 scaled 1100
+\font\elvbf = ptmb scaled 1100
+
+% set dimensions of columns, gap between columns, and paragraph indent
+\setlength{\textheight}{8.875in}
+\setlength{\textwidth}{6.875in}
+\setlength{\columnsep}{0.3125in}
+\setlength{\topmargin}{0in}
+\setlength{\headheight}{0in}
+\setlength{\headsep}{0in}
+\setlength{\parindent}{1pc}
+\setlength{\oddsidemargin}{-.304in}
+\setlength{\evensidemargin}{-.304in}
+
+% memento from size10.clo
+% \normalsize{\@setfontsize\normalsize\@xpt\@xiipt}
+% \small{\@setfontsize\small\@ixpt{11}}
+% \footnotesize{\@setfontsize\footnotesize\@viiipt{9.5}}
+% \scriptsize{\@setfontsize\scriptsize\@viipt\@viiipt}
+% \tiny{\@setfontsize\tiny\@vpt\@vipt}
+% \large{\@setfontsize\large\@xiipt{14}}
+% \Large{\@setfontsize\Large\@xivpt{18}}
+% \LARGE{\@setfontsize\LARGE\@xviipt{22}}
+% \huge{\@setfontsize\huge\@xxpt{25}}
+% \Huge{\@setfontsize\Huge\@xxvpt{30}}
+
+\def\@maketitle
+ {
+ \newpage
+ \null
+ %\vskip .375in
+ \begin{center}
+ {\Large \bf \@title \par}
+ % additional two empty lines at the end of the title
+ \vspace*{24pt} %24pt
+ {
+ \large
+ \lineskip .5em
+ \begin{tabular}[t]{c}
+ \@author
+ \end{tabular}
+ \par
+ }
+ % additional small space at the end of the author name
+ \vskip .5em
+ {
+ \large
+ \begin{tabular}[t]{c}
+ \@affiliation
+ \end{tabular}
+ \par
+ \ifx \@empty \@email
+ \else
+ \begin{tabular}{r@{~}l}
+ E-mail: & {\tt \@email}
+ \end{tabular}
+ \par
+ \fi
+ }
+ % additional empty line at the end of the title block
+ \vspace*{12pt}
+ \end{center}
+ }
+
+\def\abstract
+ {%
+ \centerline{\large\bf Abstract}%
+ \vspace*{12pt}%
+ \it%
+ }
+
+\def\endabstract
+ {
+ % additional empty line at the end of the abstract
+ \vspace*{12pt}
+ }
+
+\def\affiliation#1{\gdef\@affiliation{#1}} \gdef\@affiliation{}
+
+\def\email#1{\gdef\@email{#1}}
+\gdef\@email{}
+
+\newlength{\@ctmp}
+\newlength{\@figindent}
+\setlength{\@figindent}{1pc}
+
+\long\def\@makecaption#1#2{
+ \vskip 10pt
+ \setbox\@tempboxa\hbox{\tenhv\noindent #1.~#2}
+ \setlength{\@ctmp}{\hsize}
+ \addtolength{\@ctmp}{-\@figindent}\addtolength{\@ctmp}{-\@figindent}
+ % IF longer than one indented paragraph line
+ \ifdim \wd\@tempboxa >\@ctmp
+ % THEN set as an indented paragraph
+ \begin{list}{}{\leftmargin\@figindent \rightmargin\leftmargin}
+ \item[]\tenhv #1.~#2\par
+ \end{list}
+ \else
+ % ELSE center
+ \hbox to\hsize{\hfil\box\@tempboxa\hfil}
+ \fi}
+
+% correct heading spacing and type
+\def\section{\@startsection {section}{1}{\z@}
+ {14pt plus 2pt minus 2pt}{14pt plus 2pt minus 2pt} {\large\bf}}
+\def\subsection{\@startsection {subsection}{2}{\z@}
+ {13pt plus 2pt minus 2pt}{13pt plus 2pt minus 2pt} {\elvbf}}
+
+% add the period after section numbers
+\newcommand{\Section}[1]{\section{\hskip -1em.~#1}}
+\newcommand{\SubSection}[1]{\subsection{\hskip -1em.~#1}}
+
+% end of file latex8.sty
+% ---------------------------------------------------------------
418 draft/references.bib
@@ -0,0 +1,418 @@
+@inproceedings{Kato_OSPERT11,
+author = {S. Kato and S. Brandt and Y. Ishikawa and R. Rajkumar},
+title = {{Operating Systems Challenges for GPU Resource Management}},
+booktitle = {Proceedings of the International Workshop on Operating Systems Platforms for Embedded Real-Time Applications},
+pages = {23--32},
+year = {2011}
+}
+
+@inproceedings{Kato_ATC11,
+author = {S. Kato and K. Lakshmanan and R. Rajkumar and Y. Ishikawa},
+title = {{TimeGraph: GPU Scheduling for Real-Time Multi-Tasking Environments}},
+booktitle = {Proceedings of the USENIX Annual Technical Conference},
+year = {2011}
+}
+
+@inproceedings{Kato_RTAS11,
+author = {S. Kato and K. Lakshmanan and Y. Ishikawa and R. Rajkumar},
+title = {{Resource Sharing in GPU-accelerated Windowing Systems}},
+booktitle = {Proceedings of the IEEE Real-Time and Embedded Technology and Aplications Symposium},
+pages = {191--200},
+year = {2011}
+}
+
+@inproceedings{Kato_RTSS11,
+author = {S. Kato and K. Lakshmanan and A. Kumar and M. Kelkar and Y. Ishikawa and R. Rajkumar},
+title = {{RGEM: A Responsive GPGPU Execution Model for Runtime Engines}},
+booktitle = {Proceedings of the IEEE Real-Time Systems Symposium},
+pages = {57--66},
+year = {2011}
+}
+
+@inproceedings{Rossbach_SOSP11,
+author = {C. Rossbach and J. Currey and M. Silberstein and B. Ray and E. Witchel},
+title = {{PTask: Operating system abstractions to manage GPUs as compute devices}},
+booktitle = {Proc. of the ACM Symposium on Operating Systems Principles},
+year = {2011}
+}
+
+@misc{Fermi,
+author = {NVIDIA},
+title = {{NVIDIA's Next Generation CUDA Compute Architecture: Fermi (Whitepaper)}},
+howpublished = {\url{http://www.nvidia.com/content/PDF/fermi_white_papers/NVIDIA_Fermi_Compute_Architecture_Whitepaper.pdf}}
+}
+
+@misc{CUDA,
+author = {NVIDIA},
+title = {{CUDA C Programming Guide}},
+howpublished = {\url{http://developer.nvidia.com/nvidia-gpu-computing-documentation}},
+}
+
+
+
+
+
+@inproceedings{Al-Kiswany08,
+author = {S. Al-Kiswany and A. Gharaibeh and E. Santos-Neto and G. Yuan and M. Ripeanu},
+title = {{StoreGPU: Exploiting Graphics Processing Units to Accelerate Distributed Storage Systems}},
+booktitle = {Proceedings of the ACM International Symposium on High Performance Distributed Computing},
+pages = {165--174},
+year = {2008}
+}
+
+@inproceedings{Bautin08,
+author = {M. Bautin and A. Dwarakinath and T. Chiueh},
+title = {{Graphics Engine Resource Management}},
+booktitle = {Proceedings of the Annual Multimedia Computing and Networking Conference},
+year = {2008}
+}
+
+@misc{BLOB,
+author = {NVIDIA},
+title = {{Linux X64 (AMD64/EM64T) Display Driver}},
+howpublished = {\url{http://www.nvidia.com/}}
+}
+
+@inproceedings{Chen10,
+author = {L. Chen and O. Villa and S. Krishnamoorthy and G. Gao},
+title = {{Dynamic Load Balancing on Single- and Multi-GPU Systems}},
+booktitle = {Proceedings of the IEEE International Parallel and Distributed Processing Symposium},
+year = {2010}
+}
+
+@article{Cho02,
+author = {H. Cho and B. Ravindran and E.D. Jensen},
+title = {{Efficient Real-Time Scheduling Algorithms for Multiprocessor Systems}},
+journal = {IEICE Transactions on Communications},
+volume = {85},
+pages = {807-–813},
+year = {2002}
+}
+
+@misc{CUDATOOLKIT,
+author = {NVIDIA},
+title = {{NVIDIA CUDA Toolkit Version}},
+howpublished = {\url{http://developer.nvidia.com/cuda-toolkit-32-downloads}},
+}
+
+@misc{ENZO,
+author = {PathScale},
+title = {{ENZO}},
+howpublished = {\url{http://www.pathscale.com/}},
+}
+
+@article{Dowty09,
+author = {M. Dowty and J. Sugeman},
+title = {{GPU Virtualization on VMware's Hosted I/O Architecture}},
+journal = {ACM SIGOPS Operating Systems Review},
+volume = {43},
+number = {3},
+pages = {73--82},
+year = {2009}
+}
+
+@inproceedings{Elliott10,
+author = {G. Elliott and J. Anderson},
+title = {{Real-Time Multiprocessor Systems with GPUs}},
+booktitle = {Proceedings of the International Confrence on Real-Time and Network Systems},
+year = {2010}
+}
+
+@inproceedings{Gharaibeh10,
+author = {A. Gharaibeh and S. Al-Kiswany and S. Gopalakrishnan and M. Ripeanu},
+title = {{A GPU Accelerated Storage System}},
+booktitle = {Proceedings of the ACM International Symposium on High Performance Distributed Computing},
+pages = {167--178},
+year = {2010}
+}
+
+@inproceedings{Govindan91,
+author = {R. Govindan and D. Anderson},
+title = {{Scheduling and IPC Mechanisms for Continuous Media}},
+booktitle = {Proceedings of the ACM Symposium on Operating Systems Principles},
+pages = {68--80},
+year = {1991}
+}
+
+@inproceedings{Guevara09,
+author = {M. Guevara and C. Gregg and K. Hazelwood and K. Skadron},
+title = {{Enabling Task Parallelism in the CUDA Scheduler}},
+booktitle = {Proceedings of the Workshop on Programming Models for Emerging Architectures},
+pages = {69--76},
+year = {2009}
+}
+
+@inproceedings{Gupta09,
+author = {V. Gupta and A. Gavrilovska and N. Tolia and V. Talwar},
+title = {{GViM: GPU-accelerated Virtual Machines}},
+booktitle = {Proceedings of the ACM Workshop on System-level Virtualization for High Performance Computing},
+pages = {17--24},
+year = {2009}
+}
+
+@inproceedings{Gupta11,
+author = {V. Gupta and K. Schwan and N. Tolia and V. Talwar and P. Ranganathan},
+title = {{Pegasus: Coordinated Scheduling for Virtualized Accelerator-based Systems}},
+booktitle = {Proceedings of the USENIX Annual Technical Conference},
+year = {2011}
+}
+
+@inproceedings{Kato_RTCSA08,
+author = {S. Kato and N. Yamasaki},
+title = {{Global EDF-based Scheduling with Efficient Priority Promotion}},
+booktitle = {Proceedings of the IEEE Embedded and Real-Time Computing Systems and Applications},
+pages = {197--206},
+year = {2008}
+}
+
+@article{Kato_RTSJ11,
+author = {S. Kato and Y. Ishikawa and R. Rajkumar},
+title = {{CPU Scheduling and Memory Management for Interactive Real-Time Applications}},
+journal = {Real-Time Systems},
+year = {2011}
+}
+
+@inproceedings{Kato_RTSS09,
+author = {S. Kato and Y. Ishikawa},
+title = {{Gang EDF Scheduling of Parallel Task Systems}},
+booktitle = {Proceedings of the IEEE Real-Time Systems Symposium},
+pages = {459--468},
+year = {2009}
+}
+
+@inproceedings{Kim10,
+author = {C. Kim and J. Chhugani and N. Satish and E. Sedlar and A.D. Nguyen and T. Kaldewey and V.W. Lee and S.A. Brandt and P. Dubey},
+title = {{FAST: Fast Architecture Sensitive Tree Search on Modern CPUs and GPUs}},
+booktitle = {Proceedings of the 2010 ACM SIGMOD/PODS Conference},
+year = {2010}
+}
+
+@inproceedings{Lagar-Cavilla07,
+author = {H.A. Lagar-Cavilla and N. Tolia and M. Satyanarayanan and E. de Lara},
+title = {{VMM-Independent Graphics Acceleration}},
+booktitle = {Proceedings of the ACM/Usenix International Conference on Virtual Execution Environments},
+pages = {33--43},
+year = {2007}
+}
+
+@inproceedings{Lakshmanan_RTSS10,
+author = {K. Lakshmanan and S. Kato and R. Rajkumar},
+title = {{Scheduling Parallel Real-Time Tasks on Multi-core Processors}},
+booktitle = {Proceedings of the IEEE Real-Time Systems Symposium},
+pages = {259--268},
+year = {2010}
+}
+
+@article{Li89,
+author = {K. Li and P. Hudak},
+title = {{Memory coherence in shared virtual memory systems}},
+journal = {ACM Transactions on Computer Systems},
+volume = {7},
+number = {4},
+pages = {321--359},
+year = {1989}
+}
+
+@article{Liu73,
+author = {L. Liu and J.W. Layland},
+title = {{Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environment}},
+journal = {Journal of the ACM},
+volume = {20},
+pages = {46-–61},
+year = {1973}
+}
+
+@misc{Mellanox,
+author = {Mellanox},
+title = {{NVIDIA GPUDirect Technology-- Accelerating GPU-based Systems (Whitepaper)}},
+howpublished = {\url{http://www.mellanox.com/pdf/whitepapers/TB_GPU_Direct.pdf}}
+}
+
+@misc{Mesa3D,
+author = {Mesa3D},
+howpublished = "\url{http://www.mesa3d.org/}",
+}
+
+@inproceedings{Michel07,
+author = {P. Michel and J. Chestnutt and S. Kagami and K. Nishiwaki and J. Kuffner and T. Kanade},
+title = {{GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing}},
+booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
+pages = {463--469},
+year = {2007}
+}
+
+@inproceedings{Nightingale09,
+author = {E.B. Nightingale and O. Hodson and R. Mcllory and C. Hawblitzel and G. Hunt},
+title = {{Helios: Heterogeneous Multiprocessing with Satellite Kernels}},
+booktitle = {Proceedings of the ACM Symposium on Operating Systems Principles},
+year = {2009}
+}
+
+@misc{Nouveau,
+author = {Linux Open-Source Community},
+title = {{Nouveau Open-Source GPU Device Driver}},
+howpublished = {\url{http://nouveau.freedesktop.org/}}
+}
+
+@misc{NouveauCompanion44,
+author = {Linux Open-Source Community},
+title = {{Nouveau Companion 44}},
+howpublished = {\url{http://nouveau.freedesktop.org/}}
+}
+
+@inproceedings{Oikawa_RTAS95,
+author = {S. Oikawa and H. Tokuda},
+title = {{Efficient Timing Management for User-Level Real-Time Threads}},
+booktitle = {Proceedings of the IEEE Real-Time and Embedded Technology and Aplications Symposium},
+pages = {27--32},
+year = {1995}
+}
+
+@inproceedings{Ousterhout82,
+author = {J.K. Ousterhout},
+title = {{Scheduling Techniques for Concurrent Systems}},
+booktitle = {Proceedings of the IEEE International Conference on Distributed Computing Systems},
+pages = {22-–30},
+year = {1982}
+}
+
+@misc{PhoronixReport,
+author = {Phoronix},
+title = {{NVIDIA Developer Talks Openly About Linux Support}},
+howpublished = {\url{http://www.phoronix.com/scan.php?page=article&item=nvidia_qa_linux&num=2}},
+}
+
+@inproceedings{Pronovost06,
+author = {S. Pronovost and H. Moreton and T. Kelley},
+title = {{Windows Display Driver Model (WDDM v2) And Beyond}},
+booktitle = {Windows Hardware Engineering Conference},
+year = {2006}
+}
+
+@misc{PSCNV,
+author = {PathScale},
+title = {{PSCNV GPU Device Driver}},
+howpublished = {\url{https://github.com/pathscale/pscnv/}}
+}
+
+@inproceedings{Rajkumar_RTAS97,
+author = {R. Rajkumar and M. Gagliardi and L. Sha},
+title = {{The Real-Time Publisher/Subscriber Inter-Process Communication Model for Distributed Real-Time Systems: Design and Implementation}},
+booktitle = {Proceedings of the IEEE Real-Time and Embedded Technology and Aplications Symposium},
+pages = {66--75},
+year = {2011}
+}
+
+@inproceedings{Saba10,
+author = {A. Saba and R. Mangharam},
+title = {{Anytime Algorithms for GPU Architectures}},
+booktitle = {Proceedings of the Analytic Virtual Integration of Cyber-Physical Systems Workshop},
+year = {2010}
+}
+
+@misc{SandyBridge,
+author = {Intel},
+title = {{Intel Microarchitecture Codename Sandy Bridge}},
+howpublished = {\url{http://www.intel.com/}},
+}
+
+@inproceedings{Schaa09,
+author = {D. Schaa and D. Kaeli},
+title = {{Exploring the Multiple-GPU Design Space}},
+booktitle = {Proceedings of the IEEE International Parallel and Distributed Processing Symposium},
+year = {2009}
+}
+
+@inproceedings{Shimokawabe10,
+author = {T. Shimokawabe and T. Aoki and C. Muroi and J. Ishida and K. Kawano and T> Endo and A. Nukada and N. Maruyama and S. Matsuoka},
+title = {{An 80-Fold Speedup, 15.0 TFlops, Full GPU Acceleration of Non-Hydrostatic Weather Model ASUCA Production Code}},
+booktitle = {Proceedings of the ACM/IEEE International Conference on High Performance Computing, Networking, Storage and Analysis},
+year = {2010}
+}
+
+@misc{Thrun10,
+author = {S. Thrun},
+title = {{GTC Closing Keynote}},
+booktitle = {GPU Technology Conference},
+howpublished = {\url{http://livesmooth.istreamplanet.com/nvidia100923/}},
+year = {2010}
+}
+
+@misc{TOP500,
+author = {{Top500~Supercomputing~Sites}},
+howpublished = {\url{http://www.top500.org/}}
+}
+
+@article{Urmson08,
+author = {C. Urmson and J. Anhalt and H. Bae and D. Bagnell and C. Baker and R. Bittner and T. Brown and M. Clark and M. Darms and D. Demitrish and J. Dolan and D. Duggins and D. Ferguson and T. Galatali and C. Geyer and M. Gittleman and S. Harbaugh and M. Hebert and T. Howard and S. Kolski and M. Likhachev and B. Litkouhi and A. Kelly and M. McNaughton and N. Miller and J. Nickolaou and K. Peterson and B. Pilnick and R. Rajkumar and P. Rybski and V. Sadekar and B. Salesky and Y-W. Seo and S. Singh and J. Snider and J. Struble and A. Stentz and M. Taylor and W. Whittaker and Z. Wolkowicki and W. Zhang and J. Ziglar},
+title = {{Autonomous Driving in Urban Environments: Boss and the Urban Challenge}},
+journal = {{Journal of Field Robotics}},
+volume = {25},
+number = {8},
+pages = {425--466},
+year = {2008}
+}
+
+@inproceedings{Yang08,
+author = {T. Yang and T. Liu and E.D. Berger and S.F. Kaplan and J.E-B. Moss},
+title = {{Redline: First Class Support for Interactivity in Commodity Operating Systems}},
+booktitle = {Proceedings of the USENIX Symposium on Operating Systems Design and Implementation},
+pages = {73--86},
+year = {2008}
+}
+
+@misc{Tegra3,
+ author = {NVIDIA},
+ title = {{Tegra 2 and Tegra 3 super chip processors}},
+ howpublished = {\url{http://www.nvidia.com/object/tegra-superchip.html} seen on March 7th, 2012},
+}
+
+@misc{NVIDIA_BMW,
+ author = {NVIDIA Press},
+ title = {{NVIDIA GPUs to Be the Infotainment Centerpiece Across BMW's Next-Generation of Cars}},
+ howpublished = {\url{http://pressroom.nvidia.com/easyir/customrel.do?easyirid=A0D622CE9F579F09&version=live&prid=704317&releasejsp=release_157&xhtml=true} seen on March 7th, 2012},
+}
+
+@INPROCEEDINGS{McNaughton11,
+ author={McNaughton, M. and Urmson, C. and Dolan, J.M. and Jin-Woo Lee},
+ booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on},
+ title={Motion planning for autonomous driving with a conformal spatiotemporal lattice},
+ year={2011},
+ month={may},
+ volume={},
+ number={},
+ pages={4889 -4895},
+ keywords={GPU;autonomous highway driving;autonomous passenger vehicle;conformal spatiotemporal lattice;lane change;low-level trajectory planner;motion planning;planetary rover navigation;public roadway;search space representation;state lattice framework;structured environment;computer graphic equipment;coprocessors;mobile robots;path planning;planetary rovers;remotely operated vehicles;road vehicles;roads;search problems;spatiotemporal phenomena;},
+ doi={10.1109/ICRA.2011.5980223},
+ ISSN={1050-4729},
+}
+
+@article {Ferreira11,
+ author = {Ferreira, J. and Lobo, J. and Dias, J.},
+ affiliation = {ISR-University of Coimbra, 3030-290 Coimbra, Portugal},
+ title = {Bayesian real-time perception algorithms on GPU},
+ journal = {Journal of Real-Time Image Processing},
+ publisher = {Springer Berlin / Heidelberg},
+ issn = {1861-8200},
+ keyword = {Computer Science},
+ pages = {171-186},
+ volume = {6},
+ issue = {3},
+ url = {http://dx.doi.org/10.1007/s11554-010-0156-7},
+ note = {10.1007/s11554-010-0156-7},
+ year = {2011},
+}
+
+@misc{Markoff10,
+ author={J. Markoff},
+ title={Google Cars Drive Themselves},
+ booktitle={in Traffic, The New York Times},
+ year={2010},
+}
+
+@misc{Kelly12,
+ author={T. Kelly},
+ title={BMW Self Driving Car: Carmaker shows off hands-free car on Autobhan},
+ booktitle={The Huffington Post},
+ year={2012},
+}
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