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Manipulation Tasks in Robotics Education

IFAC-PapersOnLine 2016年第6期49卷 22-27页

作者： Borisov, Oleg I Gromov, Vladislav S Pyrkin, Anton A Vedyakov, Alexey A Petranevsky, Igor V Bobtsov, Alexey A Salikhov, Vladimir I Department of Control Systems and Informatics ITMO University Kronverkskiy pr. 49 St. Petersburg197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. 61 St. Petersburg199178 Russia

In this paper a series of practical tasks on control for manipulators is presented. This series represents a laboratory part of the course “Control Methods for Robotic Applications” included in the curriculum of the master's degree program at the Department of Control Systems and Informatics of ITMO University. The exercises are aimed to attract and motivate students, improve their practical competency and simplify their understanding of theoretical background. The tasks are focused on such problems as path and trajectory planning, automatic code generation and design of a tracking system for moving target. © 2016

关键词： Manipulators Application programs automatic programming Robotics automatic code generations Control applications Control education Manipulation task Robotic applications Robotic manipulators Robotics education Trajectory Planning

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THE APPLICATION OF MICROCOMPUTERS IN AUTOMATED ARC-WELDING SYSTEMS

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS 1981年第6期17卷 619-625页

作者： COOK, GE VANDERBILT UNIV NASHVILLETN 37240

An overview is presented of the functions, capabilities, and operation of the microcomputer as it relates to automated arc welding. This is followed by examples of the use of the microcomputer ranging from automatic joint tracking to complete weld system programming and data logging. A discussion of future applications of the microcomputer in the role of full, adaptive weld automation is given.

关键词： Microcomputers Welding automatic control Control systems Computerized monitoring Power system reliability Filler metals Feedback control Manufacturing automation automatic programming

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Pipelines

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IEEE SOFTWARE 2003年第6期20卷 17-19页

作者： Thomas, D Hunt, A

One of the underlying philosophies of the Unix command shell is the idea of the pipeline: Take a set of small, specialized programs and let them interact by feeding the output of one into the input of the next. By stringing simple programs together in this way, rich behavior can emerge. Pipelines can let you replace complex program logic with a chain of far simpler discrete steps.

关键词： Pipelines Feeds Filters Logic Pattern matching Impedance matching Automation automatic programming Java Books

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BRIDGE - INTERACTIVE DIALOGUE-GENERATION FACILITY

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1975年第3期SMC5卷 402-406页

作者： STALLINGS, W HONEYWELL INFORMATION SYST INC WALTHAMMA 02154

An interactive programming system for the generation of man-computer dialogues is introduced. The system consists of an integrated set of tools that are used to define and generate the software for a variety of dialogues. The system is capable of generating dialogues for computer-assisted instruction (CAI), data processing, and the programming of special-purpose applications.

关键词： Bridges programming profession Computer aided instruction Application software Data processing Information systems Terminology automatic programming Software tools Road transportation

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AUTOMATING SOFTWARE - PROCEED WITH CAUTION

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IEEE SPECTRUM 1988年第7期25卷 25-27页

作者： VOELCKER, J IEEE Spectrum New York NY USA

While computer-aided software engineering (CASE) tools promise to improve productivity and reliability, they demand drastic changes in the programming process. For the planning and design phases of software development, CASE comprises front-end tools, or upper CASE. For the implementation and support phases of software development, CASE comprises back-end tools, or lower CASE. There is a trend to integrate CASE tools to cover more of the development cycle and improve the consistency of the results. Some computer makers such as Apollo Computer Inc. offer CASE tools by arrangement with the software companies that produce most of such products. CASE tools, especially integrated CASE tools, make larger projects more practical. Although the manufacturers of CASE tools claim that their products improve programmer productivity, this is a contentious topic. programming shops where older, less rigid methods are used often underestimate the difficulty of implementing CASE technology.

关键词： Computer aided software engineering Software tools Software maintenance Writing Process design Dictionaries Reliability engineering Productivity automatic programming Humans

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PRELIMINARY SYSTEM FOR DESIGN OF DBTG DATA STRUCTURES

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COMMUNICATIONS OF THE ACM 1975年第10期18卷 551-557页

作者： GERRITSEN, R UNIV PENN WHARTON SCHDEPT DECISION SCIW-83 DIETRICH HALL CCPHILADELPHIAPA 19174

The functional approach to database design is introduced. In this approach the goal of design is to derive a data structure which is capable of supporting a set of anticipated queries rather than a structure which “models the business” in some other way. An operational computer program is described which utilizes the functional approach to design data structures conforming to the Data Base Task Group specifications. The automatic programming technology utilized by this program, although typically used to generate procedure, is here used to generate declaratives.

关键词： Data Base Task Group automatic programming data structure database design network model of databases nonprocedural languages translation

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EXECUTIVE SYSTEMS AND SOFTWARE DEVELOPMENT FOR MINICOMPUTERS

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PROCEEDINGS OF THE IEEE 1973年第11期61卷 1556-1562页

作者： MILLS, DL UNIV MARYLAND DEPT COMP SCICOLLEGE PKMD 20742

This paper presents a tutorial survey of the function and construction of executive systems for minicomputers. A modular approach to the construction of device schedulers, swapping and multiprogramming supervisors, and file systems is emphasized. Considerable use is made of programming technology borrowed from large-scale computer systems, but specialized to the needs of small-scale minicomputer systems. The paper also describes the use of high-level languages, structured programming, and program-development systems in the application of this technology to the minicomputer environment.

关键词： Microcomputers Application software Hardware Costs Operating systems Milling machines automatic programming Memory management Resource management Computer applications

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Building Efficient Query Engines in a High-Level Language

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PROCEEDINGS OF THE VLDB ENDOWMENT 2014年第10期7卷 853-864页

作者： Klonatos, Yannis Koch, Christoph Rompf, Tiark Chafi, Hassan Ecole Polytech Fed Lausanne Lausanne Switzerland Oracle Labs Redwood Shores CA USA

In this paper we advocate that it is time for a radical rethinking of database systems design. Developers should be able to leverage high-level programming languages without having to pay a price in efficiency. To realize our vision of abstraction without regret, we present LegoBase, a query engine written in the high-level programming language Scala. The key technique to regain efficiency is to apply generative programming: the Scala code that constitutes the query engine, despite its high-level appearance, is actually a program generator that emits specialized, low-level C code. We show how the combination of high-level and generative programming allows to easily implement a wide spectrum of optimizations that are difficult to achieve with existing low-level query compilers, and how it can continuously optimize the query engine. We evaluate our approach with the TPC-H benchmark and show that: (a) with all optimizations enabled, our architecture significantly outperforms a commercial in-memory database system as well as an existing query compiler, (b) these performance improvements require programming just a few hundred lines of high-level code instead of complicated low-level code that is required by existing query compilers and, finally, that (c) the compilation overhead is low compared to the overall execution time, thus making our approach usable in practice for efficiently compiling query engines.

关键词： C (programming language) automatic programming Benchmarking Codes (symbols) Database systems Efficiency Engines Program compilers Query processing Generative programming High level programming language In memory database systems Overall execution Performance improvements Query engines Tpc h benchmarks Wide spectrum

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SPECTRAL ESTIMATION - AN OVERDETERMINED RATIONAL MODEL EQUATION APPROACH

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PROCEEDINGS OF THE IEEE 1982年第9期70卷 907-939页

作者： CADZOW, JA College of Engineering and Applied Sciences Department of Electrical and Computer Engineering Arizona State University Tempe AZ USA

In seeking rational models of time series, the concept of approximating second-order statistical relationships (i.e., the Yule-Walker equations) is often explicitly or implicitly invoked. The parameters of the hypothesized rational model are typically selected so that these relationships "best represent" a set of autocorrelation lag estimates computed from time series observations. One of the objectives of this paper will be that of establishing this fundamental approach to the generation of rational models. An examination of many popular contemporary spectral estimation methods reveals that the parameters of a hypothesized rational model are estimated upon using a "minimal" set of Yule-Walker equation evaluations. This results in an undesired parameter hypersensitivity and a subsequent decrease in estimation performance. To counteract this parameter hypersensitivity, the concept of using more than the minimal number of Yule-Walker equation evaluations is herein advocated. It is shown that by taking this overdetermined parametric evaluation approach, a reduction in data-induced model parameter hypersensitivity is obtained, and a corresponding improvement in modeling performance results. Moreover, upon adapting a singular value decomposition representation of an extended-order autocorrelation matrix estimate to this procedure, a desired model order determination method is obtained and a further significant improvement in modeling performance is achieved. This approach makes possible the generation of low-order high-quality rational spectral estimates from short data lengths.

关键词： Equations Autocorrelation Density functional theory Radar signal processing Array signal processing Fourier transforms Fourier series automatic programming Singular value decomposition Matrix decomposition

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automatic INSERTION OF INDEXING INSTRUCTIONS IN PROGRAM SYNTHESIS

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INTERNATIONAL JOURNAL OF COMPUTER & INFORMATION SCIENCES 1978年第1期7卷 65-90页

作者： BIERMANN, AW Department of Computer Science Duke University Durham

A algorithm is described for creating a computer program from a trace of an example calculation which may omit certain indexing operations. The technique is designed to be used in an interactive programming system that allows a user to work example computations at a display console in scratchpad fashion and that automatically synthesizes a program which can do the computations. A number of programs are given that the algorithm was used to synthesize. Finally, it is shown that this approach yields a technique for synthesizing certain computer programs from input-output information only.

关键词： automatic programming autoprogramming example calculations indexing instructions inference interactive programming program synthesis traces

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