A behavioral characterization of nonhierarchical alternate routing schemes in which a certain number of trunks are reserved for direct routed traffic is presented. It is found that the fundamental behavioral character...
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A behavioral characterization of nonhierarchical alternate routing schemes in which a certain number of trunks are reserved for direct routed traffic is presented. It is found that the fundamental behavioral characteristic of the schemes with trunk reservation control is the same as that of the schemes without reservation. A sufficient condition, which can be utilized to find the minimum number of trunks to be reserved for direct routed traffic so as to avoid the instability, obtained. Although the sufficient condition allows absolute stability of the system from the point of view of catastrophe theory, the designer may select a lower number of trunks to be reserved, provided that the stable equilibrium states remain close to each other. A performance index for comparing various levels of reservations among themselves is proposed.< >
distributed programming is becoming commonplace, typically based on remote procedure call (RPC) and lightweight threads packages, possibly with an underlying distributed file service. It is argued here that there are ...
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distributed programming is becoming commonplace, typically based on remote procedure call (RPC) and lightweight threads packages, possibly with an underlying distributed file service. It is argued here that there are significant merits in providing an integrated distributed application environment, rather than merely augmenting one or more programming languages individually with an RPC package, threads support and remote file access. Our Amadeus environment is a proof of concept implementation, currently extending C++ for distributed and persistent programming above UNIX*.
作者：
GROSSO, ESANDINI, GTISTARELLI, MUniversity of Genoa
Department of Communication Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA - Lab) Via Opera Pia hA Genova 16145 Italy
The paper presents some theoretical results useful in 3D reconstruction from disparity stereo maps. A practical implementation of the theory confirms the possibility of computing a fast spatial transposition of the ob...
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The authors are concerned with providing support for a range of object oriented programming languages to be used in multi-user, multi-machine, heterogeneous environments requiring associative access, as well as concur...
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The authors are concerned with providing support for a range of object oriented programming languages to be used in multi-user, multi-machine, heterogeneous environments requiring associative access, as well as concurrency and storage management. In order to operate in this environment the implementations of current object oriented languages must however be extended. Their goal is to provide a generic runtime support system open to a range of programming language implementations and requiring no (or only minor) alterations to each supported language.< >
A computational model is proposed for trajectory planning of redundant robots starting from studies about synergy generation in human motor system. Based on the passive motion paradigm (PMP), i.e., on an analogic mech...
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A computational model is proposed for trajectory planning of redundant robots starting from studies about synergy generation in human motor system. Based on the passive motion paradigm (PMP), i.e., on an analogic mechanism, the model shows a good representational power and is able to manage several robot motor planning problems. Such a connectionist model shows analogies with several neural network paradigms, in particular relaxation, and can be expressed in terms of neuron-like processing elements.< >
One of the major problems in the realisation of a really autonomous robotic system, has certainly been the impossibility of being provided with perfect a priori information. The authors propose an architecture integra...
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One of the major problems in the realisation of a really autonomous robotic system, has certainly been the impossibility of being provided with perfect a priori information. The authors propose an architecture integrating sensory skills both as an aid to the manipulation process and as a means to extract information from the scene. The vision based self-calibration is described together with the first steps in closing the control loop with vision.< >
The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the vo...
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The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the voxels into an octree representation. At the end of the reconstruction process, this kind of 'essential' information can be used to choose the right pre-shaping and to coordinate the arm and the hand motion towards the pre-shaping position, in order to realize a stable grasp. Some preliminary results are shown.< >
Implementation of a kernel-level consistency control mechanism called invocation-based consistency control (IBCC) is presented. IBCC supports general-purpose persistent object-based distributed computing. It provides ...
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Implementation of a kernel-level consistency control mechanism called invocation-based consistency control (IBCC) is presented. IBCC supports general-purpose persistent object-based distributed computing. It provides mechanisms that support a range of powerful, well-defined consistency semantics. IBCC mechanisms can also be used to implement custom recovery and synchronization. An operating-system-level implementation of IBCC as part of the Clouds distributed operating system that uses memory faulting to initiate locking and intermediate version creation is also given. Performance aspects are discussed, as well as the overhead incurred by supporting IBCC in terms of additional data structures needed in the operating system, and the additional amount of required code.< >
Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object ma...
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Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object manipulation and robot navigation. In particular the monitoring of pushing and tapping actions by means of dynamic measurements performed on image sequences are reported. The experiments show that, not only it seems possible to detect unexpected events, but it is possible to control the arm or vehicle trajectory in such a way to achieve a complex task like the pushing of an unknown object along a predetermined trajectory.< >
In advanced robotic applications which involve unstructured and cluttered environments, highly redundant robots are considered very useful because they allow one to negotiate obstacles and various kinds of constraints...
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In advanced robotic applications which involve unstructured and cluttered environments, highly redundant robots are considered very useful because they allow one to negotiate obstacles and various kinds of constraints. The price, however, is the increased complexity of the planning and control tasks. In this paper the authors present a prototype of a robotic task planning system that integrates an analogical planner, based on relaxation networks (M-Nets), with a robot planning/programming language (NEM++). M-nets are a parallel and distributed architecture which operates via relaxation in a similar way to a Hopfield net for generating synergies of motor commands in polyarticulated robotic structures.< >
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