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A Hybrid Object Representation for Automatic Assembly Planning

IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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Flexible design of complex high-integrity systems using trade offs

Flexible design of complex high-integrity systems using trad...

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Proceedings - Eighth IEEE International Symposium on High Assurance systems Engineering

作者： Bate, Iain Audsley, Neil Real-time Systems Group Department of Computer Science University of York York YO10 5DD United Kingdom

Large-scale complex embedded systems pose unique problems. To reduce overall development times, there is a need to develop the system in a concurrent fashion, involving the development and verification of software at the same time as designing, building and verifying the hardware. This requires a two-phase trade-off analysis approach to the hardware software co-design problem. The first phase is platform independent: it allows system requirements to be met and also supports other important objectives, e.g. scalability, upgradeability. The results of the first phase include deriving requirements and design constraints placed on the platform dependent phase (eg. resource budgets including time). The second, platform dependent phase, chooses the actual software and hardware implementation that satisfies the requirements derived in phase 1. This paper addresses the first part of the problem through trade-off analysis. This establishes the design decisions in a traceable manner whilst capturing the rationale and assumptions made. It then searches the design space for the solution that best meets the system's objectives. The approach has been developed for the needs of critical systems and has already been applied to the logical design of systems.

关键词： Embedded systems

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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The Control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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On generalisation of machine learning with neural-evolutionary computations 3

On generalisation of machine learning with neural-evolutiona...

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3rd International Conference on Computational Intelligence and Multimedia Applications, ICCIMA 1999

作者： Kumar, Rajeev Department of Computer Science Centre for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani333 031 India

ISBN: (纸本)0769503004

Generalisation is a non-trivial problem in machine learning and more so with neural networks which have the capabilities of inducing varying degrees of freedom. It is influenced by many factors in network design, such as network size, initial conditions, learning rate, weight decay factor, pruning algorithms, and many more. In spite of continuous research efforts, we could not arrive at a practical solution which can offer a superior generalisation. We present a novel approach for handling complex problems of machine learning. A multiobjective genetic algorithm is used for identifying (near-) optimal subspaces for hierarchical learning. This strategy of explicitly partitioning the data for subsequent mapping onto a hierarchical classifier is found both to reduce the learning complexity and the classification time. The classification performance of various algorithms is compared and it is argued that the neural modules are superior for learning the localised decision surfaces of such partitions and offer better generalisation. © 1999 IEEE.

关键词： Degrees of freedom (mechanics)

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Modeling resource contention among distributed periodic processes 4

Modeling resource contention among distributed periodic proc...

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4th IEEE Symposium on Parallel and Distributed Processing, SPDP 1992

作者： Welch, Lonnie R. Stoyenko, Alexander D. Marlowe, Thomas J. Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology NewarkNJ07102 United States

ISBN: (纸本)0818632003

Modern real-time systems consist of distributed periodic processes that have critical timing constraints and share replicated resources. A mathematical model of the resource requirements of periodic processes that are specified using RT-Chari [9] is described. We provide novel techniques for computing "rates of progress" for clients of resources and show how to use the rates to predict the execution times of processes. © 1992 IEEE.

关键词： real time systems

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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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A Four-Bank Memory Design of Optimized Semi-Parallel Polar Decoder 9

A Four-Bank Memory Design of Optimized Semi-Parallel Polar D...

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2017 9th IEEE International Conference on Communication Software and Networks (ICCSN 2017)

作者： Shiwen Xing Yun-Nan Chang Liang Chen Beijing Key Laboratory of Embedded Real-time Information Processing Technology Beijing Institute of Technology Department of Computer Science and Engineering Sun Yat-sen University

ISBN: (纸本)9781509038237;9781509038220

Polar code, which is capable of achieving channel capacity, is known as a promising forward error correction（FEC） code in coding theory. In this paper, a four-bank memory architecture is proposed for polar decoder to store the initial and the intermediate processing data. Based on the proposed load-balance data allocation scheme, each memory bank is able to be equipped with only two access ports, while providing enough data bandwidth demand. Besides, the proposed semi-parallel successive cancellation（SC） polar decoder is optimized by employing the efficient p node and the merged computation of f and g nodes to reduce the decoding latency, which can at most get 62.5% speed improvement with enough processing elements（PEs）. In addition, the proposed four-bank memory design can reduce the overall size of memory especially with higher level of parallelism.

关键词： ploar code successive cancellation decoding fourbank memory design optimized semi-parallel design

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Bonding plus: real-time message channel in linux ethernet environment using regular switching hub

Bonding plus: Real-time message channel in linux ethernet en...

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9th International Conference on real-time and Embedded Computing systems and Applications, RTCSA 2003

作者： Lin, Hsin-hung Hsueh, Chih-wen Huang, Guo-Chiuan Real-Time Systems Laboratory Department of Computer Science and Information Engineering National Chung Cheng University Chiayi621 Taiwan

ISBN: (纸本)9783540246862

Bandwidth management is very important to quality of service of network applications. Communications and data transmissions between hosts in a LAN environment may be large in many systems, such as clustering systems and parallel systems. If the network bandwidth is not enough, real-time packets may be delayed and miss their timing constraints. There are many technologies developed to increase host bandwidth in a LAN environment, but most of them need switching hubs with special support such as IEEE Link Aggregation Standard and are very expensive. In this paper, we propose a real-time message channel, BondingPlus, in Linux Ethernet environment which can make use of multiple Ethernet adapters simultaneously between hosts connected with regular switching hubs. When receiving packets from upper network layer, BondingPlus schedules packets in data link layer. real-time packets can be dispatched into a higher-priority queue so that the packets can be transmitted through the physical Ethernet interface right away. Furthermore, real-time applications can transmit real-time packets via one or several dedicated network adapters which create real-time message channels between hosts and thus reduce transmission delay and jitter dramatically, especially suitable for applications that have high bandwidth and real-time requirements. This approach is implemented in two Linux kernel modules and is backward compatible, flexible and transparent to users. BondingPlus pseudo Ethernet device driver module receives packets from upper network layer and dispatches the packets to multiple physical network adapters with a single IP address. ARP+ protocol module is responsible for maintaining a table of the mapping between an IP address and its corresponding MAC addresses of multiple physical network adapters. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Ethernet

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