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丛书名： Springer Tracts in Advanced robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collaborations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： Control, robotics, Mechatronics Artificial Intelligence systems Theory, Control

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A Bayesian network to represent a data quality model

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International Journal of Information Quality 2007年第3期1卷 272-294页

作者： Caro, Angélica Calero, Coral Sahraoui, Houari A. Piattini, Mario Department of Computer Science and Information Technologies University of Bio Bio Chillán Chile Information Systems and Technologies Department UCLM-INDRA Research and Development Institute University of Castilla-La Mancha Paseo de la Universidad 4 Ciudad Real Spain Department D'Informatique et de Recherche Opérationnelle Université de Montreal CP 6128 succ Centre-Ville-Montréal-QC-H3C-3J7 Canada

Web portals provide data to many people where data consumers need to assess Data Quality (DQ). In our previous work a Portal Data Quality Model (PDQM) was developed. PDQM is focused on data consumers' perspective and is composed by 33 attributes appropriate for DQ evaluation. Now, we have organised these attributes into a generic and operational structure. Considering the uncertainty inherent in perception of quality, we decided to use a probabilistic approach, using Bayesian Networks (BNs). This paper, explains the definition of the BN structure that supports PDQM. Copyright © 2007 Inderscience Enterprises Ltd.

关键词： Bayesian networks

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Multisite co-allocation algorithms for computational grid 20

Multisite co-allocation algorithms for computational grid

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20th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2006

作者： Zhang, Weizhe Cheng, Albert M. K. Hu, Mingzeng School of Computer Science and Technology Harbin Institute of Technology China Real-Time Systems Laboratory Department of Computer Science University of Houston Houston TX 77204-3010 United States

ISBN: (纸本)1424400546

Efficient multisite job scheduling facilitates the cooperation of multi-domain massively parallel processor systems in a computing grid environment. However, co-allocation, heterogeneity, adaptability, and scalability emerge as tough challenges for the design of multisite job scheduling models and algorithms. This paper presents a new multisite job scheduling schema based on the multisite job scheduling model and the performance model for a heterogeneous grid environment. There are three key components: resource selection, reservation, and backfilling. The optimal and greedy-heuristic adaptive resource selection strategies are introduced. The conservative and easy backfilling are incorporated into the backfilling procedure. Experiments indicate that the scheduler and the algorithm are effective and perform better than a non-adaptive algorithm. © 2006 IEEE.

关键词： Computational methods

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Boosting ethernet using regular switching hubs

Boosting ethernet using regular switching hubs

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作者： Hsueh, Chih-Wen Lin, Hsin-Hung Huang, Guo-Chiuan Graduate Institute of Networking and Multimedia Department of Computer Science and Information Engineering National Taiwan University Taipei 106 Taiwan Real-Time Systems Laboratory Department of Computer Science and Information Engineering National Chung Cheng University Chiayi 621 Taiwan

Ethernet is the most pervasive communication technology in use today. It is a standard for connecting computers to form a local area network and provides a common method for the exchange of data. In this paper, we propose a Linux solution, BondingPlus, to support real-time control and boost bandwidth using multiple network interface cards connected to regular switching hubs in an Ethernet environment. BondingPlus schedules packets in the data link layer without modification to the hardware or operating system in the host machine. real-time packets can be transmitted via one or several dedicated bonding Ethernet interfaces, and there is no competition with low priority packets. Transmission delay and network jitter for real-time packets can be dramatically reduced. Furthermore, bandwidth can be increased in proportion to the number of bonding Ethernet interfaces under both TCP and UDP transmission. Various types of systems, such as clustering and parallel systems, can be enhanced at minimal hardware cost.

关键词： Communication systems

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An intensity-augmented ordinal measure for visual correspondence

An intensity-augmented ordinal measure for visual correspond...

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2006 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2006

作者： Mittal, Anurag Ramesh, Visvanathan Real Time Vision and Modeling Siemens Corporate Research Princeton NJ 08540 Department of Computer Science and Engg. Indian Institute of Technology Madras Chennai- 600036 India

ISBN: (纸本)0769525970

Determining the correspondence of image patches is one of the most important problems in computer Vision. When the intensity space is variant due to several factors such as the camera gain or gamma correction, one needs methods that are robust to such transformations. While the most common assumption is that of a linear transformation, a more general assumption is that the change is monotonic. Therefore, methods have been developed previously that work on the rankings between different pixels as opposed to the intensities themselves. In this paper, we develop a new matching method that improves upon existing methods by using a combination of intensity and rank information. The method considers the difference in the intensities of the changed pixels in order to achieve greater robustness to Gaussian noise. Furthermore, only uncorrelated order changes are considered, which makes the method robust to changes in a single or a few pixels. These properties make the algorithm quite robust to different types of noise and other artifacts such as camera shake or image compression. Experiments illustrate the potential of the approach in several different applications such as change detection and feature matching. © 2006 IEEE.

关键词： Image analysis

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Fusion of Stereo-Camera and PMD-Camera Data for real-time Suited Precise 3D Environment Reconstruction

Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Su...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Klaus-dieter Kuhnert Martin Stommel Institute of Real-Time Learning Systems Department of Electrical Engineering and Computer Science University of Siegen Germany

3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The combined system is real-time suited. Experimental data of an indoor scene including the calibration procedure are reported

关键词： Cameras Robot vision systems Image reconstruction Mobile robots Optical modulation Robustness Intelligent robots real time systems Navigation Layout

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Automated semantic web service discovery with OWLS-MX 06

Automated semantic web service discovery with OWLS-MX

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Fifth International Joint Conference on Autonomous Agents and Multiagent systems, AAMAS

作者： Klusch, Matthias Fries, Benedikt Sycara, Katia German Research Center for Artificial Intelligence Multiagent Systems Group Saarbruecken Germany University of the Saarland Computer Science Department Saarbruecken Germany Carnegie Mellon University Robotics Institute Pittsburgh PA United States

ISBN: (纸本)1595933034

We present an approach to hybrid semantic Web service matching that complements logic based reasoning with approximate matching based on syntactic IR based similarity computations. The hybrid matchmaker, called OWLS-MX, applies this approach to services and requests specified in OWL-S. Experimental results of measuring performance and scalability of different variants of OWLS-MX show that under certain constraints logic based only approaches to OWL-S service I/O matching can be significantly outperformed by hybrid ones. Copyright 2006 ACM.

关键词： Semantic Web

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COS: A Configurable OS for Embedded SoC systems

COS: A Configurable OS for Embedded SoC Systems

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IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： Hsin-hung Lin Chih-Wen Hsueh Real-Time Systems Laboratory Department of Computer Science and Information Engineering National Chung Cheng University Chiayi Taiwan Embedded System and Wireless Networking Laboratory Graduate Institute of Networking and Multimedia and Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

As the increasing of system performance and computing power, embedded systems are more complicated and interactive. Therefore, operating system (OS) plays a more important role in embedded systems to utilize various hardware and software resources. However, no OS can meet all requirements of various embedded systems. Due to the advance of reconfigurable processors, system requirements can be more dynamic. Embedded OS has becoming more critical in the development of embedded systems and thus there is a strong need of configurable embedded OS to better and faster build up the target system. In this paper, we propose a configurable OS, called COS, based on SOA (service-oriented architecture) for embedded SoC (system on a chip) systems to build an application specific OS according to the system requirements. COS can be easily configured to better utilize the resources of the target embedded platform and have better support to the embedded application. Moreover, the COS can easily extend new features or functionalities of other OSes and even be adapted to the designs of other OSes. We implement COS on an ARM platform to prove its configurability and also evaluate its overhead. We believe that COS can be configured to meet the various requirements in embedded SoC systems and help to speed up the embedded system development process

关键词： Embedded system Kernel System-on-a-chip Service oriented architecture Operating systems real time systems Laboratories computer science Power engineering and energy System performance

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Output-feedback control for stabilization on SE(3)

Output-feedback control for stabilization on SE(3)

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IEEE Conference on Decision and Control

作者： Rita Cunha Carlos Silvestre Joao Hespanha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

This paper addresses the problem of stabilizing systems that evolve on SE(3). The proposed solution consists of an output-feedback controller that guarantees almost global asymptotic stability (GAS) of the desired equilibrium point, i.e. the point is stable and, except for a set of zero measure, all initial conditions converge to it. The output vector is formed by the position coordinates, expressed in the body frame, of a collection of landmarks fixed in the environment. The resulting closed-loop system exhibits the following properties: i) the position error is globally exponentially stable and ii) the norm of the angle-axis of the error rotation matrix is monotonically decreasing almost everywhere. Results are also provided that allow one to select landmark configurations so as to control how the position and orientation of the rigid body converge to their desired values

关键词： Control systems Asymptotic stability Quaternions Extraterrestrial measurements State feedback Error correction USA Councils US department of Transportation Kinematics Satellites

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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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