this paper describes a knowledge representation and programming method for a robotic assembly task. the methodology is explained using a robotic assembly task involving position and force controls. the action sequence...
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ISBN:
(纸本)9780769529837
this paper describes a knowledge representation and programming method for a robotic assembly task. the methodology is explained using a robotic assembly task involving position and force controls. the action sequence is defined based on a control hierarchy which consists of four levels (Control primitive level, Control skill level, Skill level, and Task level). A complicated assembly task can be represented by the product and concatenation of control primitives in the lower levels, and various tasks can be defined by adding new control primitives. the parts to be assembled are represented by the built-up structure that we propose. In this paper the concept of a CRS (Constraint Reduction System) is introduced for creating a robot task program. the CRS is realized through the use of an extended "prolog" programming language. All the actions and primitives are considered processes and can be uniformly described by the reduction rule of the CRS.
Navigation planning for legged robots via foot placement planning has enabled several humanoids to traverse interesting environments autonomously. In this paper we explore methods of adapting foot placement actions to...
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ISBN:
(纸本)9781424418619
Navigation planning for legged robots via foot placement planning has enabled several humanoids to traverse interesting environments autonomously. In this paper we explore methods of adapting foot placement actions to the terrain during the search process, allowing for fuller use of the robot's capabilities, and better resulting paths. We show the results of these adaptive action models for boththe humanoid HRP-2 and the quadruped LittleDog.
the proceedings contain 30 papers. the topics discussed include: a distributed cognition account of mature XP teams;foundations of agile decision making from agile mentors and developers;software development as a coll...
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ISBN:
(纸本)3540350942
the proceedings contain 30 papers. the topics discussed include: a distributed cognition account of mature XP teams;foundations of agile decision making from agile mentors and developers;software development as a collaborative writing project;comparative analysis of job satisfaction in agile and non-agile software development teams;the collaborative nature of pair programming;leveraging code smell detection with inter-smell relations;studying the evolution of quality metrics in an agile/distributed project;the effect of test-driven development on program code;configuring hybrid agile-tradition software processes;agility in the avionics software world;security planning and refactoring in extreme programming;augmenting the agile planning toolbox;and storytelling in interaction: agility in practice.
An unique not-OR (NOR) flash memory cell using an asymmetric Schottky barrier (SB) was designed to increase programming speed and driving current. An asymmetric SB NOR flash memory cell was proposed on the basis of th...
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ISBN:
(纸本)9781424411313
An unique not-OR (NOR) flash memory cell using an asymmetric Schottky barrier (SB) was designed to increase programming speed and driving current. An asymmetric SB NOR flash memory cell was proposed on the basis of the fundamental structure of the conventional NOR flash memory cells with a length of 90 nm. the programming speed and the driving current of the SB NOR flash memory cell with an asymmetric SB were simulated by using T-SUPREM4 and MEDICI. the simulation results showed that the heavily doped carriers existing in the titanium-disilicide Schottky drain can be used to increase programming speed of the SB NOR flash memory cell and that a decrease in the source/drain series resistance utilizing the silicide in the SB NOR flash memory cell help to increase driving current density.
this paper introduces a type-preserving XML Schema-Haskell data binding (or, translation) UUXML, and shows how to customize it by exploiting the theory of canonical isomorphisms to automatically infer coercions betwee...
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this paper introduces a type-preserving XML Schema-Haskell data binding (or, translation) UUXML, and shows how to customize it by exploiting the theory of canonical isomorphisms to automatically infer coercions between the machine-generated types and an equivalent, more natural, user-defined set of types. We show how to implement the inference mechanism in Generic Haskell. (c) 2006 Elsevier B.V. All rights reserved.
Generic programming (GP) is the evolvement of OO, and more general than OO. In a certain degree, it is requirement-oriented programming. this paper, firstly, addresses some insufficiencies of OO;secondly illustrates a...
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We present an evolutionary algorithm for the induction of context-free grammars from positive and negative examples. the algorithm is based on genetic programming and uses a local optimization operator that is capable...
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ISBN:
(纸本)9780769529769
We present an evolutionary algorithm for the induction of context-free grammars from positive and negative examples. the algorithm is based on genetic programming and uses a local optimization operator that is capable of improving the learning task. Ordinary genetic operators were modified so as to bias the search and a new operator was proposed the system was evaluated using benchmark problems and results were compared with another recent approach. Results show that the proposed approach is very promising.
Bulk-Synchronous Parallel ML (BSML) is a functional data-parallel language to code Bulk-Synchronous Parallel (BSP) algorithms. It allows an estimation of execution time, avoids deadlocks and non-determinism. this pape...
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ISBN:
(纸本)9783540725831
Bulk-Synchronous Parallel ML (BSML) is a functional data-parallel language to code Bulk-Synchronous Parallel (BSP) algorithms. It allows an estimation of execution time, avoids deadlocks and non-determinism. this paper presents the implementation of a new primitive for BSML which can express divide-and-conquer algorithms.
this paper proposes a new algorithm to generate a minimal search space of the problem of coalition structure generation using a new optimal integer partition. the new partition includes only partitions giving optimal ...
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ISBN:
(纸本)9780769529837
this paper proposes a new algorithm to generate a minimal search space of the problem of coalition structure generation using a new optimal integer partition. the new partition includes only partitions giving optimal coalition structures. these partitions are those containing I at most one element. Our new algorithm generates optimal partition structures in two steps. the first step, we use a modified version of ZS1 algorithm to generate the optimal integer partition Of input integer. We then use the partition to generate optimal coalition structures in the second step.
Applications like weather forecasting and prediction, health-care monitoring, habitat monitoring, tsunami-warning systems, demand integration of Wireless Sensor Networks (WSNs) with grids. the issues that need to be a...
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