检索结果-内蒙古大学图书馆

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 51-59页

作者： RAO, AS GOLDBERG, KY Department of Computer Science University of Utrecht Utrecht Netherlands Departments of Computer Science and Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

In industrial assembly, a registration mark can be placed on parts to aid a computer vision system in determining the position and orientation (pose) of parts. However, when sensor noise and limits on resolution introduce errors in the measured location of the registration mark, these errors can propagate into the measurement of part pose. In this paper, we define the registration mark problem: given an n-sided rigid planar polygonal part-and a set of k poses for the part, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. We give an 0(n log n + k4 log k log* k) time algorithm to solve this planar problem using a result from Schwartz and Sharir [21], and demonstrate the algorithm using a commercial vision system. Our results extend to classes of curved planar parts and polyhedral parts.

关键词： computer vision computer errors Noise measurement Manufacturing automation robotics and automation computer science Intelligent robots computer industry Assembly systems Robustness

来源：评论

学校读者我要写书评

暂无评论

SUPRA-RPC - SUBPROGRAM PARAMETERS IN REMOTE PROCEDURE CALLS

引用

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

来源：评论

学校读者我要写书评

暂无评论

Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

来源：评论

学校读者我要写书评

暂无评论

Least-space-time-first scheduling algorithm: A policy for complex real-time tasks in multiple processor systems

引用

Annual Review in Automatic Programming 1994年第C期18卷 33-38页

作者： Bo-Chao, Cheng Stoyenko, Alexander D Marlowe, Thomas J Real-Time Computing Laboratory Department of Computer Information Science New Jersey Institute of Technology Newark NJ 07102 United States Department of Mathematics Computer Science Seton Hall University South Orange NJ 07079 United States

Significant prior work exists on scheduling for the 'simple-tasks-single-processor', 'simple-tasks-multiple-processor', and 'complex-tasks-single-processor', but few researchers have yet considered the 'complex-tasks-multiple-processor' model. We propose a new algorithm, Least Space-time First (LSTF), to deal with the general 'complex-task-multiple-processor' model. We demonstrate that LSTF outperforms the Highest-Level-First, Earliest-Deadline-First and Least-Laxity-First scheduling disciplines in the sense of minimizing maximum tardiness of a set of tasks. LSTF can gracefully incorporate some realistic overhead assumptions, including context switch and communication. The Unit Precedence Graph and Soft-Precedence Edges significantly facilitate implementation of LSTF. © 1994.

关键词： LSTF MIMD Overhead Precedence Graph Scheduling Tardiness

来源：评论

学校读者我要写书评

暂无评论

Requirements for a real-time image processing language

引用

Annual Review in Automatic Programming 1994年第C期18卷 175-180页

作者： Laplante, P Marlowe, T Stoyenko, A Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ 07940 United States also research faculty of the Real-Time Computing Laboratory (CIS NJIT) United States Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 United States also research faculty of the Real-Time Computing Laboratory (CIS NJIT) United States Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ 07102 United States

In this paper we discuss issues in real-time image processing, including applications, approaches and hardware. In particular, we discuss the failure of existing programming languages to support these considerations a... 详细信息

关键词： image processing multimedia programming languages real-time virtual reality

来源：评论

学校读者我要写书评

暂无评论

Autonomous mobile robot teams

Autonomous mobile robot teams

引用

Conference on Intelligent Robots in Factory, Field, Space, and Service, 1994

作者： Agah, Arvin Bekey, George A. Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA United States

This paper describes autonomous mobile robot teams, performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior, transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles. © 1993 by Arvin Agah. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

Speculative execution in a real-time system 2

Speculative execution in a real-time system

引用

2nd IEEE Workshop real-time Applications, RTA 1994

作者： Younis, Mohamed F. Marlowe, Thomas J. Stoyenko, Alexander D. Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology NewarkNJ07102 United States Department of Mathematics and Computer Science Seton Hall University South OrangeNJ07079 United States

ISBN: (纸本)0818663758

Compiler techniques can help enhance average case execution and extract parallelism opportunities in distributed real time systems. We show that there are situations in which speculative execution with rollback can improve the performance of a hard real time system, either by improving average performance while not affecting the worst-case, or by actually decreasing worst-case execution time. We also show how related strategies for partial or total precomputation can lead to improved performance. We briefly discuss possible practical compiler transformation tools to detect chances of profitable speculative execution in real-time applications. © 1994 IEEE.

关键词： real time systems

来源：评论

学校读者我要写书评

暂无评论

Compiler transformations for speculative execution in a real-time system

Compiler transformations for speculative execution in a real...

引用

15th IEEE real-time systems Symposium, RTSS 1994

作者： Younis, Mohamed F. Marlowet, Thomas J. Stoyenko, Alexander D. Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ 07102 United States Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 United States

ISBN: (纸本)0818666005

Deterministic worst-case execution to satisfy hard real-time constraints, and speculative execution with rollback to improve average-case throughput, appear to lie on opposite ends of a spectrum of performance requirements and strategies. Nonetheless, we show there are situations in which speculative execution can probably improve the performance of a hard real-time system, either by improving average performance while not affecting the worst case, or by actually decreasing worst-case execution time. We also show how related strategies for partial or total precomputation can lead to improved performance. Finally, we discuss possible compiler transformations to detect chances of profitable speculative execution. © 1994 IEEE.

关键词： real time systems

来源：评论

学校读者我要写书评

暂无评论

time-delay neural networks for control

引用

IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

来源：评论

学校读者我要写书评

暂无评论

Requirements for a real-time Image Processing Language 1

引用

IFAC Proceedings Volumes 1994年第6期27卷 175-180页

作者： P. Laplante T. Marlowe A. Stoyenko Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ 07940 USA research faculty of the Real- Time Computing Laboratory (CIS NJIT) Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 USA Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ 07102 USA

In this paper we discuss issues in real-time image processing, including applications, approaches, and hardware. In particular, we discuss the failure of existing programming languages to support these considerations,... 详细信息

关键词： real-time image processing programming languages virtual reality multimedia

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：