With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this ...
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With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.
In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control i...
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In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented.
Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a ...
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In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control i...
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The new generation of real-timesystems are characterized by multiple, conflicting non-functional desiderata on goals. Furthermore, the systems exhibit very large size and complexity-in both application structures and...
The new generation of real-timesystems are characterized by multiple, conflicting non-functional desiderata on goals. Furthermore, the systems exhibit very large size and complexity-in both application structures and underlying software and hardware platforms. We argue that current high-level real-time languages do not meet the challenge of these complex real-timesystems and introduce a new language-CRL-that we claim does. Relevant real-time features of CRL are discussed and a summary is provided vis-ri-vis future features that would address non-functional goals other than timeliness. A current implementation status and how CRL fits into a rather ambitious environment for the construction of complex real-timesystems (under construction in our real-time Computing Lab at NJIT) are briefly presented.
Although AI planning techniques can potentially be useful in several manufacturing domains, this potential remains largely unrealized. Many of the issues important to manufacturing engineers have not seemed interestin...
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Achieving fault-tolerance using a primary-backup approach involves overhead of recovery such as activating the backup and propagating execution states, which may affect the timeliness properties of real-timesystems. ...
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Achieving fault-tolerance using a primary-backup approach involves overhead of recovery such as activating the backup and propagating execution states, which may affect the timeliness properties of real-timesystems. We propose a semi-passive architecture for fault-tolerance and show that speculative execution can enhance overall performance and hence shorten the recovery time in the presence of failure. The compiler is used to detect speculative execution, to insert check-points and to construct the updated messages. Simulation results are reported to show the contribution of speculative execution under the proposed architecture.
The effects of communication on the task performance of simulated robot colonies are studied Robots in the colony perform tasks that require the cooperation of two robots in time and in space. A robot's call for h...
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The effects of communication on the task performance of simulated robot colonies are studied Robots in the colony perform tasks that require the cooperation of two robots in time and in space. A robot's call for help is responded to by another robot, resulting in the pair performing the cask. The control of the robots is based on the concept of a tropism system cognitive architecture. The effects of the communication radius on performance of the colony is studied, and it is shown that a larger communication radius does not necessarily result in better colony performance.
In this paper we describe a method to reconstruct the 3-D descriptions of buildings from an oblique view aerial image. Oblique views present new difficulties over the more conventional nadir views that are now handled...
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In this paper we describe a method to reconstruct the 3-D descriptions of buildings from an oblique view aerial image. Oblique views present new difficulties over the more conventional nadir views that are now handled by our system. A hierarchical perceptual grouping process is used to generate 2-D roof hypotheses from fragmented linear features of the input image. Good hypotheses are selected and then verified by the corresponding shadow and walls. The 3-D description of a building is reconstructed from the roof hypothesis and the associated shadow and wall evidence. Results on several oblique view images are shown and the evaluation of the results is presented also.
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