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...
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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.
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 suffici...
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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.
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 ...
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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.
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' rese...
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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.
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 reacti...
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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
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...
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Modern real-timesystems 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...
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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 pro...
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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.
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 t...
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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.
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 a...
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