检索结果-内蒙古大学图书馆

International Conference on Pattern Recognition

作者： N.O. Stoffler T. Burkert G. Farber Institute for Real-Time Computer Systems Technische Universität München Munich Germany

ISBN: (纸本)0769507506

Describes a vision system for obstacle detection in mobile robot navigation. The system uses an image processing board equipped with an MPEG motion estimation processor that calculates a robust optic-flow-like vector field in real-time. This field is then evaluated by algorithms running in software on the host PC. As the solutions to the general problem of structure and motion from optic flow are too instable for the use in this application, the typical constraints of mobile robotics are exploited, i.e. a reduced set of motion parameters and a known ground plane. Ego-motion can then be reconstructed with robust one dimensional methods. A new criterion for obstacles that copes well with the noise properties of the motion field is introduced. For vectors belonging to obstacles the 3D information is reconstructed allowing not only qualitative detection of obstacles but quantitative path planning.

关键词： Mobile robots Image reconstruction Machine vision Navigation Image processing Motion estimation Robustness real time systems Software algorithms Image motion analysis

来源：评论

学校读者我要写书评

暂无评论

PRED-DF - a data flow based semantic concurrency control protocol for real-time main-memory database systems

PRED-DF - a data flow based semantic concurrency control pro...

引用

IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： A. Munnich Institute for Real-Time Computer Systems RCS Technische Universität München Munchen Germany

In real-time systems, the use of databases is increasing. If the application is safety-critical, one must guarantee in advance, by suitable verification methods, that all deadlines hold in all possible cases of use. Predictability of the database's concurrency control protocol is one of the most important prerequisites for this. However, most real-time concurrency control protocols are influenced by traditional database requirements. For hard real-time systems, they are usually unsuitable, because they are not predictable and they noticeably interfere with task scheduling. We present a new semantic concurrency control protocol called PRED-DF (PREDeclaration and Data Flow analysis) for main-memory real-time database systems. PRED-DF uses pre-declaration, is locking-based and generates serializable schedules. It uses additional knowledge gained from advance analysis of the application's data flow to minimize blocking times. PRED-DF's behavior is predictable and so the verification of real-time requirements is possible.

关键词： Concurrency control Protocols real time systems Database systems Application software Data analysis Programming Safety Transaction databases Control system analysis

来源：评论

学校读者我要写书评

暂无评论

On the performance of a biologically motivated visual control strategy for robotic hand-eye coordination

On the performance of a biologically motivated visual contro...

引用

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： A. Hauck G. Passig T. Schenk M. Sorg G. Farber Institute for Real-Time Computer Systems Technische Universität München Germany Department of Neurology Ludwig-Maximilians-Universitaet Muenchen Germany

Research has focused on developing control strategies that allow to work with imprecisely calibrated or even uncalibrated robot systems. A popular approach is to close the control loop with visual feedback (visual servoing), even though this requires continuous, high rate image processing. In contrast, we developed a strategy that can compensate calibration errors by integrating sparse visual feedback asynchronously. This strategy was motivated by neuroscientific studies which show that human grasping definitely requires only sparse asynchronous visual feedback, even with disturbed visual input. We analyze the performance of our control strategy on a robotic hand-eye system consisting of a 6 d.o.f. manipulator and a pan-tilt head with a stereo camera system. To analyze thoroughly which calibration errors can be compensated by sparse feedback, we furthermore built a complete simulation model of the real hand-eye system, including the vision modules. Taken together, experimental and simulation results show that calibration errors can be compensated with a very moderate amount of (asynchronous) visual feedback. Thus, the proposed control strategy can indeed be seen as a serious alternative to visual servoing for real robotics applications. This shows that robotics can profit from taking a closer look at the results of neuroscience.

关键词： Biological control systems Robots Neurofeedback Calibration Control systems Visual servoing Feedback loop Image processing Humans Performance analysis

来源：评论

学校读者我要写书评

暂无评论

Vision-based door-traversal for autonomous mobile robots

Vision-based door-traversal for autonomous mobile robots

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： C. Eberst M. Andersson H.I. Christensen Inst. for Real-Time Computer-Systems Technische Universität München Munich Germany Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

Robust and safe traversal of doors is an important task for autonomous mobile robots. This paper presents a robust and inexpensive approach for recognizing and localizing doors based on monocular grey-level images and minimalistic models. The traversal is achieved by servoing the robot with respect to the door-hypothesis. Robustness against pose errors, scene complexity, and sensing conditions is obtained by combining indexing on significant aggregated features with a multi-view approach that employs consistency over time: pose-hypotheses are filtered via the motion of the robot to reject incorrect ones. The traversal is implemented as a behavior and was evaluated in 150 experiments at different doors under different conditions.

关键词： Mobile robots Robustness Robot sensing systems Filtering Navigation Layout Indexing Robot vision systems Buildings real time systems

来源：评论

学校读者我要写书评

暂无评论

Workshop on software and performance [Guest Editors' Introduction]

引用

IEEE Transactions on Software Engineering 2000年第12期26卷 1121-1121页

作者： A.M.K. Cheng P. Clements M. Woodside Department of Computer Science University of Houston Houston TX USA Software Engineering Institute Carnegie Mellon University Pittsburgh PA USA Real-Time and Distributed Systems Group Department of Systems and Computer Engineering Carleton University Ottawa ONT Canada

来源：评论

学校读者我要写书评

暂无评论

Making worst case execution time analysis for hard real-time tasks on state of the art processors feasible 6

Making worst case execution time analysis for hard real-Time...

引用

6th International Conference on real-time Computing systems and Applications, RTCSA 1999

作者： Petters, S.M. Farber, G. Institute for Real-Time Computer Systems Dr.-Ing. Georg Farber Technische Universitat Munchen Germany

ISBN: (纸本)0769503063

In the development of embedded hard real-time systems the ability to guarantee worst case execution times is gaining importance and complexity. The fast evolving processor acceleration techniques constantly increase the gap between a processor which uses the accelerations and one which does not. Modeling cache, pipelines and other parts of the processor gets increasingly difficult and time consuming. To circumvent this problem especially in the domain of rapid prototyping of embedded hard real-time systems, we propose to lay more weight on measurement and less on modeling. By analyzing the control flow graph the compiler uses for optimization, a reduced control flow graph can be generated, which limits the paths to be measured. Using this information the object code of the program is being instrumented and then measured. By measuring all paths the reduced control flow graph indicates, predictability is achieved without using too pessimistic estimations. © 1999 IEEE.

关键词： real time systems

来源：评论

学校读者我要写书评

暂无评论

Relocalisation by partial map matching 3rd

引用

3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot systems, 1998

作者： Rencken, Wolfgang D. Feiten, Wendlin Zöllner, Raoul Siemens AG Coporate Technology München81730 Germany Institute for Real-Time Computer Control Systems Dept. of Computer Science University of Karlsruhe Karlsruhe76128 Germany

ISBN: (纸本)3540669337

The autonomous operation of an intelligent service robot in practical applications requires that the robot builds up a map of the environment by itself. A prerequisite for building large scale consistent maps is that the robot is able to recognise previously mapped areas and relocalise within these areas. The recognition is based on constructing partial maps of geometric landmarks which are then compared to yield the optimal correspondence between these landmarks. For each landmark a signature is constructed which contains additional information about its immediate environment and its non-geometric properties. It is ensured that the signatures are robust with respect to missing landmarks, rotation and translation of landmarks and varying landmark lengths. Both simulation and experiments on real robots have shown that the approach is capable of recognising previously mapped areas robustly in real-time. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Making worst case execution time analysis for hard real-time tasks on state of the art processors feasible

Making worst case execution time analysis for hard real-time...

引用

IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： S.M. Petters G. Farber Institute for Real-Time Computer Systems Technische Universitat Munchen Germany

关键词： computer aided software engineering Iron real time systems Acceleration Pipelines Optimizing compilers Reduced instruction set computing Manufacturing processes Flow graphs Prototypes

来源：评论

学校读者我要写书评

暂无评论

A system for robot assisted maxillofacial surgery

A system for robot assisted maxillofacial surgery

引用

6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Muenchenberg, Jan E. Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

Knowledgebased segmentation

Knowledgebased segmentation

引用

6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Pernozzoli, Arno Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.

关键词： computerized tomography

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：