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HumanPT: architecture for low cost robotic applications

HumanPT: Architecture for low cost robotic applications

2006 IEEE International Conference on Virtual Environments, Human-computer Interfaces and Measurement Systems, VECIMS 2006

作者： Pachidis, Theodore Lygouras, John Tarchanidis, Kostas Kodogiannis, Vassilis IEEE Dpt. of Electrical and Computer Eng. Democritus University of Thrace Xanthi 67100 Greece Dpt. of Petroleum and Natural Gas Technology Kavala Institute of Technology and Education Ag. Loukas Kavala Greece School of Computer Science Mechatronics Group University of Westminster London HA1 3TP United Kingdom

ISBN: (纸本)1424402433

In this paper an architecture for low cost robotic applications as well as its implementation in a commercial robot is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot + robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server-client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one, to ensure - in case that the robotic system provide such a facility-control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. The proposed architecture provides the possibility in small enterprises to be automated enhancing in this way their production. © 2006 IEEE.

关键词： computer architecture

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Asynchronous event-based communication across Service Brokers

Asynchronous event-based communication across Service Broker...

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12th European Wireless Conference 2006 - Enabling Technologies for Wireless Multimedia Communications

作者： E. Koutsoloukas S. Kapellaki G. N. Prezerakos N. Tselikas I. S. Venieris D. I. Kaklamani Intelligent Communications and Broadband Networks Laboratory School of Electrical and Computer Engineering National Technical University of Athens 9 Heroon Polytechneioy str Zografou Greece Technological Education Institute of Piraeus Faculty of Technology Dpt. of Electronic Computing Systems Petrou Ralli & Thivon 250 122 44 Athens Greece

Modern communication environments tend to be complex, dynamic and highly distributed. For the provision of messaging in such environments multiple entities, providing different functionalities and located remotely from each other, must cooperate in order to perform different tasks and provide different kind of information for the completion of the service provision lifecycle. Within this paper we present an implementation analysis of the communication mechanism which was employed in a distributed brokerage framework for the provision of context aware personalized services. The paper focuses on the inter-broker communication mechanism which enables the transparent interaction between components located in different brokers. The mechanism was designed and implemented having in mind relevant requirements such as transparency, modularity and high availability. The design and implementation was based on web service practices and the SOAP protocol.

关键词： Laboratories

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A survey of forecasting preprocessing techniques using RNs

A survey of forecasting preprocessing techniques using RNs

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作者： Górriz, J.M. Segura-Luna, J.C. Puntonet, C.G. Salmerón, M. Dpt. Signal Theory Daniel Saucedo s/n E-18071 Dpt. Architecture and Computer Tech. Daniel Saucedo E-18071

In this paper we make a survey of various preprocessing techniques including the statistical method for volatile time series forecasting using Regularization Networks (RNs). These methods improve the performance of Regularization Networks i.e. using Independent Component Analysis (ICA) algorithms and filtering as preprocessing tools. The preprocessed data is introduced into a Regularized Artificial Neural Network (ANN) based on radial basis functions (RBFs) and the prediction results are compared with the ones we get without these preprocessing tools, with the high computational effort method based on multidimensional regularization networks (MRN) and with the Principal Component Analysis (PCA) technique.

关键词： Information science

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Long term prediction of product quality in a glass manufacturing process using a kernel based approach

Long term prediction of product quality in a glass manufactu...

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8th International Workshop on Artificial Neural Networks, IWANN 2005: Computational Intelligence and Bioinspired Systems

作者： Jung, Tobias Herrera, Luis Javier Schoelkopf, Bernhard Johannes Gutenberg-Universitaet Fachbereich Mathematik and Informatik 55099 Mainz Germany University of Granada Dpt. of Computer Architecture and Technology 18071 Granada Spain M.P.I. for Biological Cybernetics 72076 Tuebingen Germany

In this paper we report the results obtained using a kernel-based approach to predict the temporal development of four response signals in the process control of a glass melting tank with 16 input parameters. The data set is a revised version1 from the modelling challenge in EUNITE-2003. The central difficulties are: large time-delays between changes in the inputs and the outputs, large number of data, and a general lack of knowledge about the relevant variables that intervene in the process. The methodology proposed here comprises Support Vector Machines (SVM) and Regularization Networks (RN). We use the idea of sparse approximation both as a means of regularization and as a means of reducing the computational complexity. Furthermore, we will use an incremental approach to add new training examples to the kernel-based method and efficiently update the current solution. This allows us to use a sophisticated learning scheme, where we iterate between prediction and training, with good computational efficiency and satisfactory results. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Glass manufacture

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Maximum Entropy Guide for BSS

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AIP Conference Proceedings 2005年第1期803卷 282-289页

作者： J. M. Górriz C. G. Puntonet E. G. Medialdea F. Rojas *Dpt. Signal theory Fuente nueva s/n 19071 Granada Spain †Dpt. Architecture and Computer Tech. Daniel Saucedo s/n Granada Spain

This paper proposes a novel method for Blindly Separating unobservable independent component (IC) Signals (BSS) based on the use of a maximum entropy guide (MEG). The paper also includes a formal proof on the convergence of the proposed algorithm using the guiding operator, a new concept in the genetic algorithm (GA) scenario. The Guiding GA (GGA) presented in this work, is able to extract IC with faster rate than the previous ICA algorithms, based on maximum entropy contrast functions, as input space dimension increases. It shows significant accuracy and robustness than the previous approaches in any case.

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Personalization techniques for web search results categorization

Personalization techniques for web search results categoriza...

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IEEE International Conference on e-technology, e-Commerce and e-Service

作者： Garofalakis, J Matsoukas, T Panagis, Y Sakkopoulos, E Tsakalidis, A RA Computer Technology Institute Internet and Multimedia Technologies RU 5 26110 61 Riga Feraiou Str Greece University of Patras Computer Engineering and Informatics Dpt. 26500 Patras Greece Hellenic Open University 26442 Patras 84 K Palama Str Greece

ISBN: (纸本)0769522742

Generic web search is designed to serve all users, independent of the individual needs and without any adaptation to personal requirements. We propose a novel technique1 that performs post-categorization to the results of popular search engines at the client's side. A user profile is built based on user's choices from a category hierarchy (explicitly given requirements) and user's search history (implicitly logged choices). Caching is utilized in order to provide improved responses. An experimental prototype has been implemented based on results coming from a popular search engine. The experimental results indicate strongly that the proposed mechanism is both effective and efficient.

关键词： Online searching

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A global optimization approach to image translational alignment in electron microscopy

A global optimization approach to image translational alignm...

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IEEE International Conference on Systems, Man and Cybernetics

作者： J.L. Redondo R.M. Ortigosa I. Garcia J.J. Fernandez Dpt. Computer Architecture and Electronics University of Almería Almeria Spain

Electron microscope tomography allows determination of the 3D structure of biological specimens, which is critical to understanding their function. Prior to the 3D reconstruction procedure, the images taken from the microscope have to be properly aligned. Traditional alignment methods in this field are based on a phase residual function to be minimized by inefficient exhaustive search procedures. This work addresses this minimization problem from a global optimization perspective. UEGO, an evolutionary multimodal optimization algorithm, has been applied and evaluated for the task of image alignment in this field. UEGO has turned out to be a promising technique alternative to the standard methodology. The alignments found out by UEGO show high levels of accuracy, while reducing the number of function evaluations by a significant factor with respect to the standard method.

关键词： Electron microscopy Clustering algorithms Tomography Stochastic processes Cooling computer architecture Evolutionary computation Image processing Image resolution Reconstruction algorithms

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Two hybrid multicast algorithms for optimizing resources in a distributed VoD system

Two hybrid multicast algorithms for optimizing resources in ...

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International Conference on Multimedia Modeling (MMM)

作者： S. Gonzalez A. Navarro J. Lopez E. Zapata Computer Architecture Dpt. University of Màlaga Malaga Spain

Among many different multicast approaches, batching and patching are two commonly used policies. In this paper, we propose two hybrid multicast algorithms inspired by the maximum factored queue length (MFQL) batching scheme - used to decide which video queue will be serviced with a multicast session - and by a threshold-based patching scheme - applied to control the partial streams transmission before a threshold is reached during an ongoing multicast session. The novelty is that our algorithms have been designed to efficiently handle the requests in a distributed VoD system while optimizing the usage of the sever/network resources. Precisely, one key issue in the optimization of these resources is the computation of the threshold. We show in this paper how that threshold is derived to deliver a service. In addition, we conduct some simulation experiments that provides us some insightful information about the impact that our threshold based multicast algorithms have in the average waiting time in a distributed VoD system.

关键词： Multicast algorithms Switches Bandwidth Network servers Asynchronous transfer mode Streaming media Video on demand computer architecture Algorithm design and analysis Design optimization

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Empirical characterization of the latency of long asynchronous pipelines with data-dependent module delays

Empirical characterization of the latency of long asynchrono...

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Euromicro Conference on Parallel, Distributed and Network-Based Processing

作者： J.M. Colmenar O. Garnica S. Lopez J.I. Hidalgo J. Lanchares R. Hermida C.E.S. Felipe II Universidad Complutense de Madrid Spain Dpt. of Computer Architecture and System Engineering Universidad Complutense de Madrid Spain

The paper has two aims: on one hand, to characterize the nature of the relationship between the latency of an asynchronous pipeline and the stage latencies when the latency of the stages is data-dependent. On the other hand, to find the closed-form expression which relates the mean value of the latency of the pipeline with the parameters which characterize the behaviour of the constituting stages. To attain these two goals, we have followed an empirical approach; we have developed a model of an asynchronous pipeline with n stages, the latency of the stages has been modelled using a probability density function and the pipeline behaviour has been simulated. From the results, we have defined linear equations which estimate the mean latency of the pipeline without needs of simulation. Finally, we have designed and implemented a 32/spl times/32 bit asynchronous pipelined multiplier, and we have tested the estimations on it.

关键词： Pipelines Circuit simulation Asynchronous circuits Delay estimation computer architecture Systems engineering and theory Closed-form solution Probability density function Equations Circuit testing

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A VHDL library to analyse fault tolerant techniques

A VHDL library to analyse fault tolerant techniques

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13th International Conference on Field-Programmable Logic and Applications, FPL 2003

作者： Ortigosa, P.M. Lòpez, O. Estrada, R. Garcìa, I. Garzòn, E.M. Dpt. of Computer Architecture and Electronics University of Almerìa Almerìa04120 Spain

ISBN: (纸本)3540408223

This work presents an initiative to teach the basis of fault tolerance in digital systems design in undergraduate and graduate courses in electrical and computer engineering. The approach is based on a library of characteristic circuits related to fault tolerance techniques which has been implemented using a Hardware Description Language (VHDL). Due to the properties of the design tools associated to these languages, this approach allows with ease: (1) to implement faults tolerant digital systems;(2) to d etermine the behaviour of system when faults are presented;(3) to evaluate the additional resources and response time linked to any fault tolerance technique in the laboratory. © Springer-Verlag Berlin Heidelberg 2003.

关键词： computer hardware description languages

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