The paper describe the teaching of object-oriented ideas within all four years of a Bachelor of computer System Engineering and the BSc in computerscience Degree at La Trobe University. This is taught together with a...
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The paper describe the teaching of object-oriented ideas within all four years of a Bachelor of computer System Engineering and the BSc in computerscience Degree at La Trobe University. This is taught together with a variety of other traditional approaches. A key element in the teaching of OO is the Software Engineering Project, which is explained in some detail. The teaching is also complicated by a number of different target student populations. This also provides us with an opportunity to study the effect of different factors on the learning of OO by the students. The experience indicates that OO is a significant software engineering paradigm, well accepted by the students.< >
A modular recurrent connectionist architecture is proposed to classify binary and continuous patterns. This system consists of three networks: one feedforward backpropagation (BP) network and two self-organization map...
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A modular recurrent connectionist architecture is proposed to classify binary and continuous patterns. This system consists of three networks: one feedforward backpropagation (BP) network and two self-organization map (SOM) networks. The feedforward (basic) network is trained until a saturation error level occurs. Simultaneously, the first SOM (input control) network and the last SOM (output control) define the mapping features for the given input/output patterns. The resultant features are used by a Gaussian potential function to adjust the weights of the basic network and to classify the given patterns.< >
This paper outlines some preliminary work on the stability analysis of switched and hybrid systems. The hybrid systems considered are those that combine continuous dynamics, represented by differential or difference e...
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This paper outlines some preliminary work on the stability analysis of switched and hybrid systems. The hybrid systems considered are those that combine continuous dynamics, represented by differential or difference equations, with finite dynamics usually thought of as being a finite automaton. Here, we concentrate on the continuous dynamics and model the finite dynamics as switching among finitely many continuous systems. We introduce multiple Lyapunov functions as a tool for analyzing Lyapunov stability of such "switched systems". We use iterated function systems theory as a tool for Lagrange stability. We also discuss the case where the switched systems are indexed by an arbitrary compact set.< >
It is reported that the first partial derivative of the phase distribution for a transparent object can be measured automatically by a personal computer with an image processor. The moire pattern is formed by superimp...
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We outline the features of a cognitively compatible symbolic-connectionist architecture for complex data intensive time-critical domains especially in the diagnostic area. We examine how a symbolic-connectionist archi...
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We outline the features of a cognitively compatible symbolic-connectionist architecture for complex data intensive time-critical domains especially in the diagnostic area. We examine how a symbolic-connectionist architecture copes with the time-critical and size complexity aspects of a real time alarm processing system developed for a regional power system control centre.< >
Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however t...
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Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to teleroboticssystems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.< >
作者：
M. KaiserUniversity 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 ...
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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.
By monitoring or following trails layed on the ground a mobile robot can perform several useful navigation tasks. An example would be following a trail layed on an outward journey in order to later find the way back t...
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By monitoring or following trails layed on the ground a mobile robot can perform several useful navigation tasks. An example would be following a trail layed on an outward journey in order to later find the way back to the starting point. This paper describes the latest stage in the development of a robot navigation system based on laying down and detecting trails of volatile chemicals. Previously a prototype olfactory sensor was developed which showed the feasibility of having a mobile robot follow an odour trail on the floor. This prototype sensor has now been improved by managing airflow in the vicinity of the sensor. This has decreased the sensor response time and improved rejection of spurious odour signals carried by airflow in the room. A simple and effective applicator has also been developed for laying odour trails.< >
The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can ...
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The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.
In manufacturing it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertice...
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In manufacturing it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertices describing a polygonal part whose initial orientation is unknown, find the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull. We show that such a sequence exists for any polygonal part by giving an O(n2 log n) algorithm for finding the sequence. Since the gripper actions do not require feedback, this result implies that any polygonal part can be oriented without sensors.
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