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Conference on computer Vision and Pattern Recognition (CVPR)

作者： J.-L. Jezouin P. Saint-Marc G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present an active triangulation range finding system composed of an independent laser system generating a plane of light projected on an object placed on a rotary table driven by a personal computer. This computer includes a video digitizer board connected to a camera looking at the scene. Besides its low cost, this system has other advantages over the comparable existing systems. First, the authors have designed a simple, fast and accurate calibration procedure which does not require any knowledge about the camera parameters or the relative position of the camera with the laser plane. Furthermore, this calibration procedure is performed only once, ensuring stable and accurate results. The result of the scanning of a given object is given in cylindrical coordinates. Choosing different viewpoints, Cartesian range images of the same object are computed in order to show, with shaded and perspective views of the scanned object, the quality of the results.< >

关键词： Calibration Cameras Intelligent robots Costs computer vision Robot kinematics Intelligent systems Laser theory Microcomputers Layout

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Useful geometric properties of the generalized cone

Useful geometric properties of the generalized cone

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： K. Rao G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present results on geometric properties of the generalized cone, in an effort to utilize it for a shape description system. They first derive the relationship between the generalized cone description and the surface description given by differential geometry. Then they derive expressions for the Gaussian and mean curvatures of a generalized cone, in general, and obtain expressions for some special cases like the torus, the solid of revolution etc. They study the planarity property of the contour generators of a generalized cone, in particular, one with a planar axis. They find that homogeneous generalized cones with planar axes and circular cross sections or constant-size cross sections have planar contour generators in an orthographic side view. An example of such a generalized cone is the torus. However, the contour generators are not planar in a general view. They also study symmetry properties of some generalized cones and find, in particular, that in orthographic projection the contour of the solid of revolution is symmetric about the projection of its axis from any point of view.< >

关键词： Shape Intelligent robots Solids Intelligent systems Geometry computer vision Robustness Contracts Monitoring Laboratories

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Robot hand-eye coordination: shape description and grasping

Robot hand-eye coordination: shape description and grasping

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Rao G. Medioni H. Liu G.A. Bekey Departments of Electrical Engineering and Computer Science Institute for Robotics and Intelligent Systems Powell Hall 204 MC-0273 University of Southern California Los Angeles CA USA

The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An approach to this problem, based on separation of the task into two modules, is presented. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasp modes and a set of control signals for the robot hand. Various features of both modules are discussed.< >

关键词： Robot kinematics Shape Grasping Intelligent robots Robot sensing systems Humans Intelligent systems Data structures Motion control Robot control

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Throughput analysis of a timer-controlled token-passing protocol under heavy load

Throughput analysis of a timer-controlled token-passing prot...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： J.W.M. Pang F.A. Tobagi Computer Systems Laboratory Departments of Electrical Engineering and Computer Science University of Stanford Stanford CA USA Dept. of Electr. Eng. & Comput. Sci. Stanford Univ. CA USA

To support real-time applications on a local area network, some recently proposed standards, such as the IEEE 802.4 token bus standard and FDDI, use timers to control station access of the channel in addition to a basic token-passing protocol. The major reason for incorporating the timing mechanism is to avoid excessively long cycles in token-passing that can disrupt real-time services for packetized voice and real-time control. Nevertheless, the timing mechanism is flexible enough to provide priority among non-real-time traffic as well. The authors present an analysis of the throughput performance of the timer-controlled token-passing protocol under heavy load and a few other assumptions. The analysis not only reveals the priority structure of the protocol but also some salient features that render the protocol more favorable than other cycle-limiting schemes (e.g., fixed-maximum channel access per cycle).< >

关键词： Throughput Access protocols Local area networks Counting circuits Timing Laboratories USA Councils Application software FDDI computer networks

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NTDS - A PAGE IN NAVAL HISTORY

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 53-61页

作者： SWENSON, EN MAHINSKE, EB STOUTENBURGH, JS Capt. Erick N. Swenson USNR (Ret.):is a project manager for special projects in the Surface Ship Systems Division Hughes Aircraft Company Fullerton Calif where he has been employed since his retirement from the U.S. Navy in 1975. Originally trained as an electronics technician during WWII in the Captain Eddy program he later received a BS degree in electrical engineering from the University of Rochester Rochester N. Y. in 1950. Subsequent engineering education was received at the University of Pittsburgh Pittsburgh Penn. and the Naval Postgraduate School Monterey Calif. After commissioning he was ordered to duty as the electronics division officer on the USSMissouri(BB-63) and electronics ships superintendent at Hunters Point Naval Shipyard San Francisco Calif. When the design of the Naval Tactical Data System began in the mid-1950s Lt. (j.g.) Swenson was ordered to the Bureau of Ships Navy Department Washington D.C. as the junior engineering duty only officer assigned to the project. From 1962 to 1965 LCdr. Swenson was assigned as the BuShips technical representative on the program at Remington Rand Univac St. Paul Minn. For the next ten years he returned to BuShips/NavSea/NAVSEC as the NTDS project officer. During this time the project expanded considerably foreign military sales were heavily involved and interoperability with other services and countries were established. His final effort on active duty was to instigate the redesign of the previousSpruanceclass destroyers into the newerAdmiral Kiddclass improvement program. He is a registered professional electrical engineer in the State of California listed inWho's Who in the Worldis a life member of ASNE and chairman of the Long Beach/Greater LA Section. Capt. Edmund B. Mahinske USN (Ret.):is an alumnus of the U.S. Naval Academy the Massachusetts Institute of Technology and the Harvard Business School. His technical background is in electronics and he specialized in the management of programs involving the application of comp

A little over thirty years ago, a group of naval engineers were assembled by the Bureau of Ships to develop a new system approach to the combat information center (CIC). The CIC of World War II, with its “grease pencil” plots and voice telling of tactical information from sensors and other ships, could no longer provide the timely, coordinated reaction to postwar threats. This project group led the Navy into the new world of large-scale, high-speed digital electronics and into a new mode of conducting naval warfare as well. There were no off-the-shelf computers of the requisite capability, size and reliability; what were available were monstrous vacuum tube computers. There were no display equipments that were “conversant” in both the digital language of the computer and the analog language of the sensors and the weapon systems. Who ever heard, at that time, of a computer running a tactical communication net automatically? It was hard enough to find sufficient numbers of engineers who knew what a digital computer was. This paper, by three naval engineers in the implementing engineering office, depicts the evolvement of the Naval Tactical Data systems (NTDS) as they saw it. It discusses the problems that stemmed from the transition from the old world of analog into the new digital world, the system concepts that steered the development; the key decisions that were made; new electronic equipment and processes that became necessary; and the need of the mangagement to face the real world of deadlines, ship schedules and operational requirements.

关键词： NAVAL WARFARE

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Segmented Descriptions of 3-D Surfaces

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IEEE Journal on Robotics and Automation 1987年第6期3卷 527-538页

作者： Fan, Ting-Jun Medioni, Gerard Nevatia, Ramakant Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles MC0273 CA 90089-0273 United States

A method to segment and describe visible surfaces of three-dimensional (3-D) objects is presented by first segmenting the surfaces into simple surface patches and then using these patches and their boundaries to describe the 3-D surfaces. First, distinguished points are extracted which will comprise the edges of segmented surface patches, using the zero-crossings and extrema of curvature along a given direction. Two different methods are used: if the sensor provides relatively noise-free range images, the principal curvatures are computed at only one resolution, otherwise, a multiple scale approach is used and curvature is computed in four directions 45° apart to facilitate interscale tracking. These points are then grouped into curves and these curves are classified into different classes which correspond to significant physical properties such as jump boundaries, folds, and ridge lines (or smooth extrema). Then jump boundaries and folds are used to segment the surfaces into surface patches, and a simple surface is fitted to each patch to reconstruct the original objects. These descriptions not only make explicit most of the salient properties present in the original input, but are more suited to further processing, such as matching with a given model. The generality and robustness of this approach is illustrated on scene images with different available range sensors. Copyright © 1987 by The Institute of electrical and Electronics Engineers, Inc.

关键词： Object recognition Engine cylinders Surface reconstruction Image sensors Intelligent robots Image segmentation Image resolution Image reconstruction Robustness Layout

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COMBATANT PATROL BOAT TOPSIDE design

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NAVAL ENGINEERS JOURNAL 1987年第1期99卷 59-69页

作者： LAW, PE KUNIYOSHI, S MORGAN, TP Preston E. Law Jr:. has been head of the Topside Electromagnetics Design Branch of the Naval Sea Systems Command since 1974. He began his specialized work in shipboard antenna systems design with the Navy in 1968. His prior experience includes employment as a communications systems engineer with the Defense Communications Agency in Thailand the Voice of America in Washington D.C. and the Federal Aviation Agency in Anchorage Alaska. Mr. Law is an electrical engineering graduate of the University of Maryland and a registered professional engineer in the State of Maryland. He is author of the book Shipboard Antennas numerous technical and freelance articles a Senior Member of the Institute of Electrical and Electronics Engineers (IEEE) member of the American Society of Naval Engineers (ASNE) Armed Forces Communications Electronics Association (AFCEA) Association of Scientists and Engineers (ASE) of NAVSEA and Tau Beta Pi and Eta Kappa Nu engineering honor societies. Seiji Kuniyoshi:is a senior project engineer in the Topside Electromagnetics Design Branch of the Naval Sea System Command where since 1980 he has been engaged in the development of topside design for auxiliary ships minecounter-measure ships and patrol boats. Previously he was associated with Ferrotic Inc. as an electronics engineer. Mr. Kuniyoshi is a graduate of George Washington University from which he received his degree of engineer in electrophysics in 1981. He also holds a M.S.E.E. degree from Northwestern University (1961). Mr. Kuniyoshi is a member of the American Society of Naval Engineers (ASNE) Armed Forces Communications Electronics Association (AFCEA) Association of Scientists and Engineers (ASE) of NAVSEA and the Institute of Electrical and Electronics Engineers (IEEE). Thomas P. Morgan:has been working in the Topside Electromagnetics Design Branch of the Naval Sea Systems Command since 1984. He received his B.S. degree in electrical engineering and computer science at Marquette University just prior to accepting employm

Along with the recent development of shipboard weapon systems of substantial firepower, considerable interest has risen in the design of light-displacement, high-speed combatant patrol boats. However, there has been an incorrect notion about patrol boats; “little boats have little problems.” From topside designers' point of view, little boats have many and big problems. Because of extremely limited shipboard topside space of this type ship, severe constraints are imposed for topside designers to effectively arrange shipboard combat systems, such as radars, fire control systems and communication equipment, to fully optimize the overall system performance and to sufficiently reduce electromagnetic hazards and interference (EMI). Recently, computer-aided design techniques have been extensively utilized in combatant patrol boat topside design by making effective use of NAVSEA's topside design model (TDM), which allows for interactive design in graphically illustrated topside arrangements. Combat systems effectiveness is analyzed in terms of elevation plane optical coverages, radar line-of-sight (LOS) range detection, and omni-directional antenna range prediction. The TDM algorithm includes the cumulative amplitude probability distribution of the HF communications range for the broadband fan and tuned whip antennas. The program is extended to analysis of the radiation pattern of directive antennas showing gain reduction principally due to blockage by superstructures. Finally, a set of candidate topside arrangements are proposed to the appropriate ship acquisition and design manager as feasible options to be pursued in the preliminary design phase.

关键词： NAVAL VESSELS

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TIME COMPLEXITY OF GATE ASSIGNMENT PROBLEM IN ONE-DIMENSIONAL ARRAY.

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Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi) 1987年第9期70卷 59-67页

作者： Fujii, Takashi Kikuno, Tohru Yoshida, Noriyoshi Faculty of Engineering Hiroshima University Higashi-Hiroshima Japan 724 NEC Corporation Kawasaki Japan 211 Noriyoshi Yoshida received degrees of B. Eng. and Dr. Eng. in Electronics from Kyushu University Japan in 1955 and 1968 respectively. He joined Kyushu University from 1956 to 1969 holding positions as Lecturer (1961) and Associate Professor (1968). He has been a Professor of Electronic Circuits and Systems Faculty of Engineering Hiroshima University since 1969. His research interests include logical design of digital systems hardware implementation of algorithmic structures and computer networks. He is currently serving as an Advisory Editor of Journal and Transactions of the Institute of Electronics and Communication Engineers of Japan. Dr. Yoshida is a senior member of the Institute of Electric and Electronic Engineers a member of the Institute of Electronics and Communication Engineers of Japan the Institute of Electrical Engineers of Japan Information Processing Society of Japan and the Institute of Medical Electronics and Biomedical Engineering of Japan.

In the one-dimensional array approach, a logic circuit is realized by arranging NAND (NOR) gates in a one-dimensional array and interconnecting them. To minimize the area required, we must find a one-dimensional assignment of gates so as to minimize the vertical length. This optimization problem (called problem G) has been formulated as a graph problem and has already been proved to be NP-hard. In this paper, a restricted problem (called the problem R) is introduced anew wherein a connection of each net is restricted to be between two gates. The problem R plays an important role in developing a heuristic algorithm for the problem G. As for the time complexity, we show that the problem R is also NP-hard.

关键词： INTEGRATED CIRCUITS, VLSI

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MPCS - THE MANUFACTURING PROCESS-CONTROL SYSTEM

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AT&T TECHNICAL JOURNAL 1986年第4期65卷 35-45页

作者： DUNIETZ, IS HSU, JLC MCEACHERN, MT STOCKING, JH SWARTZ, MA TROMBLY, RM The authors Irwin S. Dunietz John L.C. Hsu Michael T. McEachern James H. Stocking Mark A. Swartz andRodney M. Tromblyare responsible for design and development of the Manufacturing Process Control System. Mr. Dunietz joined AT&T in 1980. He is a member of the technical staff in the Manufacturing Information Automation department at AT&T Engineering Research Center Princeton New Jersey. He received an A.B. in mathematics from Cornell University and an M.S.E. in computer science from Princeton University. Mr. Hsu who joined AT&T in 1970 is a department head in the Manufacturing Information Automation department at the Engineering Research Center. He received an M.S. in electrical engineering from the University of Missouri. Mr. McEachern joined AT&T in 1962 and is a supervisor in the 5ESS™ Line Unit Manufacturing department at AT&T Technologies in Oklahoma City Oklahoma. He is responsible for the manufacturing process control center in Oklahoma City which provides computerized support for all circuit pack manufacturing. Mr. Stocking who joined AT&T in 1975 is a supervisor in the Manufacturing Information Automation department at the Engineering Research Center. He received a B.S. in chemical engineering from Rensselaer Polytechnic Institute and a Ph.D. in chemical engineering from the University of California Berkeley. Mr. Swartz joined AT&T in 1980 and is a member of the technical staff in the Manufacturing Information Automation department at the Engineering Research Center. He received an A.B. in computer science from Cornell University and an M.S. in computer science from Rutgers—The State University. Mr. Trombly who joined AT&T in 19 78 is an assistant manager at the AT&T Merrimack Valley Works in Massachusetts. Previously he was a supervisor at the Engineering Research Center. He holds a B.S. in computers and systems engineering and an M.S.E.E. from Rensselaer Polytechnic Institute.

The central challenge of all manufacturing is making products to the right standards and delivering them at the right time. AT&T is upgrading its corporate and factory resource planning systems to improve control of day-to-day manufacturing. The Manufacturing Process Control System (MPCS), developed at the AT&T engineering Research Center (ERC), provides this support. MPCS connects the shop floor with production scheduling, accounting, product data archive, and engineering support systems.

关键词： PRODUCTION CONTROL

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Towards a universal directory service 85

Towards a universal directory service

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4th Annual ACM Symposium on Principles of Distributed Computing, PODC 1985

作者： Lantz, Keith A. Edighoffer, Judy L. Hitson, Bruce L. Departments of Computer Science and Electrical Engineering Stanford University Computer Systems laboratory StanfordCA94305 United States

ISBN: (纸本)0897911687

Directory services and name servers have been discussed and implemented for a number of distributed systems. Most have been tightly interwoven with the particular distributed systems of which they are a part: A few are more general in nature. In this paper we survey recent work in this area and discuss the advantages and disadvantages of a number of approaches. From this, we are able to extract some fundamental requirements of a naming system capable of handling a wide variety of object types in a heterogeneous environment. We outline how these requirements can be met in a universal directory service. © 1985 ACM.

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