In this paper, we present a general-purpose vision system developed for a variety of robots. The vision system provides a common interface for extracting visual information from the robots' surroundings. The visio...
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ISBN:
(纸本)9780889866850
In this paper, we present a general-purpose vision system developed for a variety of robots. The vision system provides a common interface for extracting visual information from the robots' surroundings. The vision system consists of a computer vision library and Property Service, which is a distributed software architecture. The vision system can be easily utilized by robots with differing capabilities. The extracted information is then presented using markers, a common description format. We demonstrate and evaluate the vision system on two diverse mobile robots.
The standard way to offer image reconstruction algorithms and processing tools to the medical community is through the proprietary software preinstalled on the computing system that comes along with the acquisition de...
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ISBN:
(纸本)0780375793
The standard way to offer image reconstruction algorithms and processing tools to the medical community is through the proprietary software preinstalled on the computing system that comes along with the acquisition device. This makes it difficult to the medical community to experiment with new advances in the field of image reconstruction and analysis, and, at the same time, to the basic research community to benefit from an extended feedback from the end users of its products. In this work a prototypal set of software tools and strategies to reconstruct, display, analyze as well as store, share, distribute and organize medical images, is described. The main goal of the project was to design an easily available and usable software environment with which the medical community could experiment on one side, and that the research groups could use as a reference or as a basis for continuing research on the other side. The outcome of this work consists of a software that is platform independent, remotely executable, freely downloadable and accessible, and based, on open source code, while, at the same time, addressing the major problems in the field of image reconstruction and processing.
We have designed and built a set of miniature robots called Scouts and have developed a distributedsoftware system to control them. This paper addresses the fundamental choices we made in the design of the control so...
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We have designed and built a set of miniature robots called Scouts and have developed a distributedsoftware system to control them. This paper addresses the fundamental choices we made in the design of the control software, describes experimental results in a surveillance task, and analyzes the factors that affect robot performance. Space and power limitations on the Scouts severely restrict the computational power of their on-board computers, requiring a proxy-processing scheme in which the robots depend on remote computers for their computing needs. While this allows the robots to be autonomous, the fact that robots' behaviors are executed remotely introduces an additional complication-sensor data and motion commands have to be exchanged using wireless communications channels. Communications channels cannot always be shared, thus requiring the robots to obtain exclusive access to them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communications bandwidth affects robot performance in accomplishing the task, and analyze how performance depends on the number of robots that share the bandwidth.
The MaDViWorld project represents an original attempt to define an appropriate softwarearchitecture for supporting massively distributed virtual world systems. A non-massively distributed virtual world system is typi...
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The MaDViWorld project represents an original attempt to define an appropriate softwarearchitecture for supporting massively distributed virtual world systems. A non-massively distributed virtual world system is typically engineered as a client-server application for which a single server or more rarely a small cluster of servers contain all the world pertinent data and assume the world accessibility, consistency and persistence. On the client side, many of them enable interaction with the other users and the various objects of the world. The main originality of our approach resides in the fact that the server part of the proposed system is no more limited to a few centralized servers, but can be distributed on arbitrarily many of them. Indeed, MaDViWorld, the prototypal software framework already implemented using Java and RMI by our group, allows for creating the rooms of a given world on several machines, each running the server application. It is then possible to connect the rooms by way of simple doors and to populate them with active objects. Finally, avatars managed by the client application visit the rooms and interact with the active objects either directly on the remote host or locally by cloning or transporting them first to the client machine. This paper draws from the experience gained with the development of our first prototype in order to discuss, both at the user's and the vi-world developer's level, the main software engineering issues related to the implementation of such massively distributed virtual world systems. Copyright (C) 2002 John Wiley Sons, Ltd.
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