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ELsim: a timing simulator for digital CMOS integrated circuits

ELsim: a timing simulator for digital CMOS integrated circui...

引用

IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： M.E. Malowany A.S. Malowany Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines Montreal QUE Canada

The basic operating principles of ELsim, a timing simulator for digital CMOS circuits, are discussed. ELsim uses the electrical-logic, or ELogic, method where time is solved for rather than voltage and an event-driven, selective trace approach is used which exploits circuit latency to improve simulation speed. Voltage levels at the circuit nodes are descretized, and the size of the voltage steps can be increased to trade accuracy for simulation speed. Results of a comparison of the ELsim simulator performance to that of SPICE for sample CMOS circuits are featured. In general, the delay times and waveforms calculated with ELsim show satisfactorily agreement with those obtained using SPICE.< >

关键词： Timing Circuit simulation CMOS integrated circuits Computational modeling Voltage SPICE computer simulation CMOS digital integrated circuits Capacitors Circuit testing

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High-speed 2-D hardware convolution architecture based on VLSI systolic arrays

High-speed 2-D hardware convolution architecture based on VL...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

The design of a special-purpose systolic image convolution processor for use in a robot vision system is described. It presents a high-speed two-dimensional hardware convolution architecture based on VSLI systolic arrays for image processing applications. An architecture for the parallel processing of the generalized two-dimensional convolution is summarized. A VLSI convolution chip was designed to accommodate various convolution window sizes. The number of coefficients being handled is directly proportional to the number of systolic computing elements (processors) used. In the present design three such processors are configured on one VLSI chip. Signed coefficients and unsigned data of eight bits are supported. All processing and interprocessor communications are performed bit-serially. The chip design incorporates error detection during convolution, and overflow avoidance techniques are possible for maximum system autonomy. The chip is estimated to operate at a maximum frequency of 16 MHz.< >

关键词： Hardware Convolution Very large scale integration computer architecture Frequency estimation Robot vision systems Systolic arrays Image processing Parallel processing Process design

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Object recognition using fast adaptive Hough transform

Object recognition using fast adaptive Hough transform

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： D.D. Haule A.S. Malowany Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada

A fast adaptive Hough transform (FAHT) approach is developed for detecting shapes which can be characterized by two parameters. This class of shapes includes both linear and circular image features. The method is based on identifying linear and circular segments in images by searching for clusters of evidence in two-dimensional parameter spaces. The FAHT differs from HT in the degree of freedom allowed in the placement and choice of shape of the window which defines the range of parameters under study at each resolution. This method is superior to that of HT implementation in both storage and computational requirements. The ideas of the FAHT are illustrated by tackling the problem of identifying linear segments in images by searching for clusters of evidence in two-dimensional parameter spaces. It is shown that the method is robust to the addition of extraneous noise and can be used to analyze complex images containing more than one shape.< >

关键词： Object recognition Shape Image analysis Image segmentation Equations computer vision Noise robustness Noise shaping Image edge detection Robot vision systems

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Structured edge map of curved objects in a range image

Structured edge map of curved objects in a range image

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： G.D. Godin M.D. Levine Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

An approach to the computation of a representation of objects with a planar and curved faces using discontinuity features in range images is presented. Edge maps are computed from real laser triangulation images using local operators and shadow analysis, and then structured into an edge-junction graph embedding and quantitative information. This is achieved by appealing to certain concepts of line-drawing analysis adapted to the three-dimensional nature of range imaging. The edge-oriented method is primarily useful for objects that are well-described by their edges. The main advantage of edge-based descriptions is that no fixed surface primitives are assumed. On the other hand, this scheme can only represent objects without any surface crease edges (such as a sphere) by viewpoint-dependent limb edges. This information may be insufficient for the ensuing high-level task. Thus, a generalization of the description format might include a surface analysis to provide a richer representation.< >

关键词： Image edge detection Optical imaging Image analysis Layout Data mining computer vision Intelligent robots Surface reconstruction Surface emitting lasers Optical noise

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Generic object recognition: building coarse 3D descriptions from line drawings

Generic object recognition: building coarse 3D descriptions ...

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Workshop on Interpretation of 3D Scenes

作者： R. Bergevin M.D. Levine Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

PARVO, a computer vision system that addresses the problems of fast and generic recognition of unexpected 3D objects from single 2D views, is introduced. Recently, RBC (recognition by components), a new human image understanding theory, has been proposed on the basis of the results of various psychological studies. However, no systematic computational evaluation of its many aspects has been reported yet. The object recognition system the authors have built is a first step toward this goal, since its design respects and makes explicit the main assumptions of the proposed theory. It analyzes single-view 2D line drawings of 3D objects typical of the ones used in human image understanding studies. The main issues related to generic object recognition are discussed, original algorithms and techniques specific to the author's systems are described, and results of the different processing stages of the system are presented.< >

关键词： Object recognition computer vision Humans Psychology Intelligent robots Robot vision systems Laboratories Intelligent structures Machine intelligence Visual system

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Building hierarchical solid models from sensor data

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Aubry V. Hayward Computer Vision and Robotics Laboratory McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada

ISBN: (纸本)0818619384

The authors consider the problem of aggregating the geometrical information provided by sensors such as range finders, and its applications to scene modeling. The information consists of collections of three-dimensional surface points that form a discrete subspace of the objects-to-free-space boundaries within the world to be modeled. The ultimate goal is to obtain a valid surface model which can in turn be transformed into an efficient volumetric representation for solid-interference-detection algorithms. This representation should achieve search efficiency, compactness, and parallelism. The authors first introduce such a volumetric representation which uses a tetrahedrization of space. Then they show that surface connectivity is a nontrivial and essential element of a valid representation. To that end, they introduce a formal graph-theoretic definition for model validity which they use to guide the process of aggregating the different views. Finally, the topological problems posed by objects nonhomeomorphic to spheres, such as multiholed tori, are introduced.< >

关键词： Solid modeling Robot kinematics Orbital robotics Intelligent sensors Intelligent robots Interference Path planning Manipulators Detectors computer vision

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Mean field theory and MT neurons

Mean field theory and MT neurons

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Dobbins S.W. Zucker Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Canadian Institute for Advanced Research Montreal QUE Canada

The problem of obtaining reliable estimates of the optic flow field and its variation is discussed. It is argued that circuitry in the middle temporal (MT) visual area is arranged to provide mean field approximations of the optical flow field, that is, the maximal neighborhood over which the local field can be well-approximated as uniform, parallel translation. In addition, the way the mean field approximation varies with neighborhood size and position is informative about the variation of the flow field. It is shown how receptive fields can be synthesized to represent the first-order differential information about the flow field. The same ideas are applicable to the binocular disparity vector field, and lead one to predict the existence of extrastriate neurons that are specialized for the local shear and stretch of the disparity and motion vector fields.< >

关键词： Neurons Image motion analysis Circuits computer architecture computer vision Robot vision systems Laboratories Shape Optical devices Retina

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An expert system for circuit board repair

An expert system for circuit board repair

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： N. Ling M.E. Malowany A.S. Malowany McGill Research Centre for Intelligent Machines McGill University Montreal QUE Canada Computer Vision and Robotics Laboratory McGill University Montreal QUE Canada

Using a hierarchical approach, an expert system for performing circuit board repair tasks within a robotic workcell has been developed. The new circuit board repair system is rule-based and includes a nonmonotonic inference engine using forward chaining and nonblocking functions, a database describing a robotic workcell, and rule sets into which repair tasks are implemented. Parallel-processing capability is achieved by using nonblocking functions. Action synthesis is based on matching rules to the given database. The system was programmed in Common LISP on a SUN 3 workstation under UNIX BSD version 4.3 and on a dedicated Symbolics 3600 LISP machine. The development, implementation, and testing of the circuit board repair system are described.< >

关键词： Expert systems Printed circuits Robots Databases Circuit testing Engines Circuit synthesis Sun Workstations System testing

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A digital signal processor network for robot axis control

A digital signal processor network for robot axis control

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： N. Ling A.S. Malowany McGill Research Center for Intelligent Machines McGill University Montreal QUE Canada Computer Vision and Robotics Laboratory McGill University Montreal QUE Canada

A distributed control system built using a local area network of digital signal processor based controllers is described. By coordinating the single-loop controllers, the system allows the partitioning of different tasks on separate microcomputers and offers the advantages of expandability and modularity. Different strategies can be implemented by downloading of software in this distributed control system. Although the architecture of this control system is designed for robot control, the system is generally and fully programmable and does not assume any manipulator characteristics. AT&T DSP32 32-bit, 16-MHz digital signal processors are used in this design. Simulation of the control system software is tested on an IBM-AT with the AT&T DSP32 development tools, and these results are presented.< >

关键词： Digital signal processors Robot control Control systems Distributed control Robot kinematics Local area networks Process control Microcomputers computer architecture Manipulators

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A patient data management system for an intensive care unit

A patient data management system for an intensive care unit

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： C. Collet N. Fumai M. Petroni S. Malowany J.F. Panisset A.S. Malowany F.A. Carnevale R.D. Gottesman A. Rousseau Computer Vision and Robotics Laboratory Department of Electrical Engineering McGill University Montreal QUE Canada Pediatric Intensive Care Unit Montreal Children's Hospital Montreal QUE Canada

A patient data management system (PDMS) based on a local area network linking fourteen bedside instrument monitors to a personal computer is presented. The PDMS acquires real-time data and graphically displays their trends using interactive menus. Fluid balance data, medical dosage calculations based on the patient data, and medical observations are also managed by the PDMS. It provides this information for online use by the medical personnel, produces the special forms and summary reports, and archives this data for storage and retrieval. The PDMS is designed and developed for an IBM PS/2 running under the OS/2 multitasking operating system and equipped with an 8514/A high-resolution color video display. The design of the PDMS is described here, with added emphasis on its software structure. Sample results are presented.< >

关键词： computer displays computer network management Local area networks Joining processes Instruments Microcomputers Personnel Information retrieval Multitasking Operating systems

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