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Programming by demonstration: A machine learning approach to support skill acquision for robots 3rd

3rd International Conference on Artificial Intelligence and Symbolic Mathematical Computation, AISMC 1996

作者： Dillmann, R. Friedrich, H. University of Karlsruhe Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)3540617329

Programming by Demonstration (PbD) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradigm offers the potential to reduce the complexity of robot task programming and to make programming more "natural". In case of programming an assembly task PbD allows with the help of a video or a laser camera and a data glove the automatic generation the necessary robot program for the assembly task. In addition, the demonstration of the task with few different assembly situations and strategies may achieve a generalized assembly function for all possible variants of the class. In order to realize such a PbD system at least two major problems have to be solved. First, the sensor data trace of a demonstration has to be interpreted and transformed into a high-level situation-action representation. This task is not yet well understood nor solved in general. Second, if a generalization is required, induction algorithms must be applied to the sensor data trace, to find the most general user-intended robot function from only few examples. In this paper mainly the second problem is focused. The described experimental PbD environment consists of an industrial robot, a 6D space mouse used as input device, and some sensors. Various data can be recorded during a demonstration for further processing in the PbD system implemented on a workstation. The objective is to exploit the possibilities of integrating learning and clustering algorithms for automated robot programming. In particular it is investigated how human interaction with the PbD system as well as user-initiated dialogs can support inductive learning to acquire generalized assembly programs and skills. © Springer-Vedag Berlin Heidelberg 1996.

关键词： Demonstrations

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THE LIQUID MODEL LOAD BALANCING METHOD

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Parallel Algorithms and Applications 1996年第3-4期8卷 285-307页

作者： Dominik Henrich[a] [a] Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Karlsruhe D Germany

Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which realizes a physical analogy to equilibrating liquids in multi-dimensional tori or hypercubes, is presented. It is especially suited for communication mechanisms with low set-up to transfer ratio occurring in tightly-coupled or SIMD systems. By successive shifting single load elements to the direct neighbors, the load is automatically transferred to lightly loaded *** to former methods, the proposed Liquid model has two main advantages. First, the task of load sharing is combined with the task of load balancing, where the former has priority. This property is valuable in many applications and important for highly dynamic load distribution. Second, the Liquid model has high efficiency, Asymptotically, it needsO(D K Ldiff) load transfers to reach the balanced state in aD-dimensional torus withKprocessors per dimension and a maximum initial load difference ofLdiff. The Liquid model clearly outperforms an earlier load balancing approach, the *** a survey of related research, analytical results within a formal framework are derived. These results are validated by worst-case simulations in one- and two-dimeasional tori with up to two thousand processors.

关键词： Distributed computing parallel algorithms load sharing load balancing rings tori hypcrcubes.

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An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

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3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： Doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： real time systems

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Run time detection of blocking time violations in real-time systems

Run time detection of blocking time violations in real-time ...

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14th IEEE International Conference on Embedded and real-time Computing systems and Applications, RTCSA 2008

作者： Santos, Dos Osmar M. Wellings, Andy Real-time Systems Research Group Department of Computer Science University of York United Kingdom

ISBN: (纸本)9780769533490

The run-time support mechanism usually deployed for monitoring the timing requirements of real-time systems is based on deadline monitoring, i.e., the system calls specific application code whenever a deadline is violated. However, from a fault-tolerance point-of-view, deadline miss is the final error in a chain of errors that results from some fault in the execution of one or more threads. Recognising this, major real-time programming standards, like Ada, POSIX and the RTSJ, have proposed different mechanisms for monitoring the execution time of threads. Nevertheless, in order to provide a complete fault-tolerance approach against timing errors, the potential blocking time of threads also has to be monitored. In this paper, we propose a mechanism for monitoring the blocking time of threads in the context of both basic priority inheritance and priority ceiling protocols. We also implement and evaluate the mechanism with the definition of blocking-time clocks and timers (extending the POSIX standard), via the modification of the open-source operating system MaRTE OS. © 2008 IEEE.

关键词： real time systems

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SUPRA-RPC - SUBPROGRAM PARAMETERS IN REMOTE PROCEDURE CALLS

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SOFTWARE-PRACTICE & EXPERIENCE 1994年第1期24卷 27-49页

作者： STOYENKO, AD Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology University Heights Newark New Jersey 07102 U.S.A.

Remote-procedure calls (RPCs) allow distributed, high-level language programs to communicate and synchronize in the usual manner via subprogram calls. One of the great challenges in RPC research is to preserve the traditional call semantics despite the distribution and heterogeneity of the new environment. The main contribution of SUPRA-RPC is in addressing the passing of subprograms as RPC parameters. In doing so, SUPRA overcomes a number of technical difficulties, stemming from scoping, side-effects and other sources. Since supporting subprogram RPC parameters is harder than supporting nonsubprogram RPC parameters, the three (of six) components of the SUPRA architecture extend in novel ways the traditional functionality found in their counterparts in other RPC systems. The SUPRA stub generator extracts information not only from remote entry interfaces, but from any scope potentially referenced by a subprogram passed as an RPC parameter. In addition to the usual call- and accept-stubs and the marshaling and unmarshaling routines, the generator constructs out-of-scope access stubs, callback' and callback-handling-stubs, and modified parameter subprograms and others. The SUPRA run-time support manages a run-time symbol table to keep track of referencing environments and out-of-scope objects. When an out-of-scope object is unavailable for access or execution on the server, the object is reached by a synchronous, 'under-the-covers' callback. The SUPRA process management supports servers with independent threads of control, manages (possibly nested) callbacks and pools of callback handler threads, and maintains correct identification of thread-initiated calls or callbacks. A SUPRA prototype has been implemented on Sun Unix workstations. The prototype supports C, C++ and CommonLisp programs. A prototype graphical demonstration has been implemented as well, that represents RPC concepts in terms of common life objects and situations.

关键词： REMOTE PROCEDURE CALLS PASSING SUBPROGRAMS AS PARAMETERS PRESERVING HIGH-LEVEL LANGUAGE SEMANTICS DISTRIBUTED PROGRAMS STUB GENERATION CALLBACKS

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Distributed embedded real-time systems for education - TTcar

Distributed embedded real-time systems for education - TTcar

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28th International Convention on computers in Technical systems and Intelligent systems, MIPRO 2005

作者： Madritsch, C.V. Real-Time Systems and Computer Science Carinthia Tech Institute Europastrasse 4 Villach 9524 Austria

ISBN: (纸本)9532330127

Distributed Embedded real-time systems are becoming more important in the industrial sector. Applications in the field of automotive, aerospace and industrial control require a deep understanding of system design, implementation as well as validation and verification. These requirements need to be fulfilled during the education of future engineers. The Carinthia Tech institute (CTI), department of real-time systems (RTS), uses real-world applications like a modelsized car to teach the fundamental principles of real-time systems design. © 2005 by MIPRO All rights reserved.

关键词： real time systems

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On buffering with stochastic guarantees in resource-constrained media players 11

On buffering with stochastic guarantees in resource-constrai...

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Embedded systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Raman, Balaji Quintin, Guillaume Ooi, Wei Tsang Gangadharan, Deepak Milan, Jerome Chakraborty, Samarjit École Polytechnique Palaiseau France Department of Computer Science National University of Singapore Singapore Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781450307154

Playout delay or buffering are commonly used in the case of streaming multimedia to ensure smooth playout. A large delay, however, is required for promising a high quality in display. Such significant delays consume huge on-chip memory. We show that when the constraints on output are slightly relaxed, the playout delay needed can be reduced to a negligible value with no perceivable loss in video quality. We propose a mathematical framework that precisely estimates that minimal playout delay value. Perhaps more importantly, unlike existing analytical models, our framework allows to specify loss and provides guarantees that the desired display quality is achieved with the chosen delay. We present simulation results to validate the minimum delay value obtained from the analytical framework. Using the reduced delay value enormously saves the on-chip memory requirement. Copyright 2011 ACM.

关键词： Multimedia systems

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TECMH:Transformer-Based Cross-Modal Hashing For Fine-Grained Image-Text Retrieval

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computers, Materials & Continua 2023年第5期75卷 3713-3728页

作者： Qiqi Li Longfei Ma Zheng Jiang Mingyong Li Bo Jin College of Computer and Information Science Chongqing Normal UniversityChongqing401331China Institute of Systems and Robotics(ISR) Department of Electrical and Computer Engineering(DEEC)University of CoimbraCoimbraPortugal

In recent years,cross-modal hash retrieval has become a popular research field because of its advantages of high efficiency and low ***-modal retrieval technology can be applied to search engines,crossmodalmedical processing,*** existing main method is to use amulti-label matching paradigm to finish the retrieval ***,such methods do not use fine-grained information in the multi-modal data,which may lead to suboptimal *** avoid cross-modal matching turning into label matching,this paper proposes an end-to-end fine-grained cross-modal hash retrieval method,which can focus more on the fine-grained semantic information of multi-modal ***,the method refines the image features and no longer uses multiple labels to represent text features but uses BERT for ***,this method uses the inference capabilities of the transformer encoder to generate global fine-grained ***,in order to better judge the effect of the fine-grained model,this paper uses the datasets in the image text matching field instead of the traditional label-matching *** article experiment on Microsoft COCO(MS-COCO)and Flickr30K datasets and compare it with the previous *** experimental results show that this method can obtain more advanced results in the cross-modal hash retrieval field.

关键词： Deep learning cross-modal retrieval hash learning transformer

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Stereo parallel tracking and mapping for robot localization

Stereo parallel tracking and mapping for robot localization

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IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2015

作者： Pire, Taihu Fischer, Thomas Civera, Javier De Cristoforis, Pablo Berlles, Julio Jacobo Computer Science Department University of Buenos Aires Argentina Robotics Perception and Real-Time Group University of Zaragoza Spain

ISBN: (纸本)9781479999941

This paper describes a visual SLAM system based on stereo cameras and focused on real-time localization for mobile robots. To achieve this, it heavily exploits the parallel nature of the SLAM problem, separating the time-constrained pose estimation from less pressing matters such as map building and refinement tasks. On the other hand, the stereo setting allows to reconstruct a metric 3D map for each frame of stereo images, improving the accuracy of the mapping process with respect to monocular SLAM and avoiding the well-known bootstrapping problem. Also, the real scale of the environment is an essential feature for robots which have to interact with their surrounding workspace. A series of experiments, on-line on a robot as well as off-line with public datasets, are performed to validate the accuracy and real-time performance of the developed method. © 2015 IEEE.

关键词： Mapping

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Evaluating design trade-offs in customizable processors 09

Evaluating design trade-offs in customizable processors

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2009 46th ACM/IEEE Design Automation Conference, DAC 2009

作者： Bordoloi, Unmesh D. Huynh, Phung Huynh Chakraborty, Samarjit Mitra, Tulika Verimag Labs. France Department of Computer Science National University of Singapore Singapore Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781605584973

The short time-to-market window for embedded systems demands automation of design methodologies for customizable processors. Recent research advances in this direction have mostly focused on single criteria optimization, e.g., optimizing performance though custom instructions under pre-defined area constraint. From the designer's perspective, however, it would be more interesting if the conflicting trade-offs among multiple objectives (e.g., performance versus area) are exposed enabling an informed decision making. Unfortunately, identifying the optimal trade-off points turns out to be computationally intractable. In this paper, we present a polynomial-time approximation algorithm to systematically evaluate the design trade-offs. In particular, we explore performance-area trade-offs in the context of multi-tasking real-time embedded applications to be implemented on a customizable processor. Copyright 2009 ACM.

关键词： Embedded systems

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