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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： I. Mantegh M.R.M. Jenkin A.A. Goldenberg LRobotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Computer Science York University North York ONT Canada

By capitalizing on the known properties of harmonic potential functions this work develops a new approach to probability-based path planning that is intuitive, free from local traps (local minima) and computationally less complex than many existing methods. Although the approach presented here is based on the hill-climbing method, it is still able to guarantee goal attainment. Furthermore the algorithm presented here is able to handle arbitrary-shaped geometries and does not require any geometrical or topological approximation at the environment representation level.

关键词： Path planning Orbital robotics Intelligent robots Collision avoidance automation Laboratories Industrial engineering computer science Mechanical factors Computational geometry

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Solving the find-path problem: a complete and less complex approach using the BIE methodology

Solving the find-path problem: a complete and less complex a...

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IEEE International Symposium on Computational Intelligence in Robotics and automation (CIRA)

作者： I. Mantegh M.R.M. Jenkin A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Computer Science York University North York ONT Canada

Although significant progress has been made in the area of robot motion planning, many issues still need to be addressed. These include the computational complexity of navigation algorithms, their adaptability to different environments, and their sensitivity to changes in the environment. By capitalizing on the known properties of harmonic potential functions, this work develops a new approach towards model-based path planning which is intuitive, complete (goal attainability is guaranteed), free from local traps (local minima) and computationally less complex than many existing methods. Extending the advantages of hill-climbing method, which have low space and time complexity, to a global (model-based) path planning algorithm marks one of the major contributions of this work. Furthermore, the algorithm presented here is able to handle arbitrary geometries and does not require a geometrical or topological approximation at the environment representation level.

关键词： Path planning Orbital robotics Navigation Motion planning Robot sensing systems Intelligent robots Collision avoidance Geometry Robotics and automation Laboratories

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A register pressure sensitive instruction scheduler for dynamic issue processors

A register pressure sensitive instruction scheduler for dyna...

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International Conference on Parallel Architecture and Compilation Techniques (PACT)

作者： R. Silvera Jian Wang G.R. Gao R. Govindarajan IBM Toronto Laboratory North York ONT Canada Nortel Montreal Laboratory Nuns Island QUE Canada Department of Electrical and Computer Engineering University of Delaware Newark DE USA Supercomputer Edn. & Research Center Department of Computer Science & Automation Indian Institute of Science Bangalore India

Several modern superscalar processors contain an out-of-order (OOO) instruction issue mechanism, which resolves dependencies between instructions to expose greater instruction-level parallelism (ILP). How to extend a traditional instruction scheduler to take advantage of these hardware resources has presented both a challenge and an opportunity for compiler design. In this paper, we present a new approach for instruction scheduling, which reorders the instructions in a traditional instruction schedule to reduce its register pressure while maintaining the amount of ILP exploitable by the target OOO processor. This may prevent the introduction of spill code, thus producing a performance improvement. We have implemented our instruction scheduler under the MOST scheduling testbed. Our experiments show that the proposed approach reduces the register pressure by 12.81% in SPEC92 benchmark loops which do not require any spill code. For loops with a high register pressure, our approach reduced the amount of spill code required by an average of 32.08% and produced an average performance improvement of 8.79%.

关键词： Processor scheduling Registers Marine vehicles Testing Scheduling algorithm Degradation Assembly Dynamic scheduling Hazards

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Fault detection filter for linear time varying systems: An algebraic-geometric approach 4

Fault detection filter for linear time varying systems: An a...

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4th European Control Conference, ECC 1997

作者： Szigeti, F. Bokor, J. Edelmayer, A. Tarantino, R. Department of Control Engineering Faculty Universidad de los Andes Mérida5101 Venezuela Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Science XI Kende u. 13-17 BudapestH1111 Hungary Maraven Oil Refinery Punta Cardon Venezuela Universidad de Los Andes Mérida5101 Venezuela

ISBN: (纸本)9783952426906

In this paper we consider the fault isolation problem for the linear time varying systems. Our approach is based on characterization of the observability of LTV systems by Kalman's rank condition, which permits us to design fault detection filters, feeding also the derivatives of the inputs and the outputs. We prove, using a computable method, that the isolation problem can be solved by generalized Luenberger's observer if and only if the detectability and the weak separability of fault signatures holds.

关键词： Observability

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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RACE: Reconfigurable and adaptive computing environment 6th

RACE: Reconfigurable and adaptive computing environment

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6th International Workshop on Field-Programmable Logic and Applications, FPL 1996

作者： Smith, Doug Bhatia, Dinesh Design Automation Laboratory Department of Electrical and Computer Engineering and Computer Science University of Cincinnati P.O. Box 210030 CincinnatiOH45221-0030 United States

ISBN: (纸本)9783540617303

The Reconfigurable Adaptive Computing Environment (RACE) is a complete environment for reconfigurable computing. The RACE system provides the ability for run-time reconfiguration as well as multiple, simultaneous applications. A hardware library is the key part of the computing environment, allowing for the quick simulation of applications and hardware-software co-execution. Time-consuming functions can be specified in VHDL and added to the hardware library, which are then linked into a user's C program for hardware execution of the functions. The RACE hardware consists of a DMA interface and five Xilinx XC4013 FPGAs, providing approximately 52,000 gates of logic. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Computation theory

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Optimal adaptive control of an LQG system

Optimal adaptive control of an LQG system

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IEEE Conference on Decision and Control

作者： M.C. Campi P.R. Kumar Department of Electrical Engineering and Automation University of Brescia Brescia Italy Department of Electrical and Computer Engineering and theCoordinated Science Laboratory University of Illinois Urbana IL USA

We consider the problem of adaptively controlling a linear system so as to minimize a long-term average quadratic cost criterion. It is well known that certainty equivalent controllers based on standard parameter estimators run into an identifiability problem which leads to a strictly suboptimal performance. In this contribution, a cost-biased parameter estimator is introduced to overcome this difficulty. The corresponding adaptive scheme is proven to be stable and optimal when the unknown system parameter lies in an infinite, yet compact, parameter set.

关键词： Adaptive control Cost function Parameter estimation Optimal control Control systems Linear systems Programmable control Symmetric matrices Maximum likelihood estimation State-space methods

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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An object-oriented approach to video coding via the CNN Universal Machine

An object-oriented approach to video coding via the CNN Univ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： A. Toffels T. Roska L.O. Chua Inst. of Power Syst. & Power Econ. Tech. Hochschule Aachen Germany Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Nonlinear Electronics Laboratory at the Department of Electrical Engineering and Computer Science University of California Berkeley USA

The cellular neural network Universal Machine (CNNUM) is applied to object-oriented image compression algorithms and proves its universality as a hardware platform for future applications. The estimated processing times allow a real-time analysis of the video sequence and outdo the performance of other comparable digital devices reported.

关键词： Video coding Cellular neural networks Turing machines Image segmentation Labeling Image coding Power system economics Power engineering computing Video sequences Video compression

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Resource Requirements for Field Programmable Interconnection Chips

Resource Requirements for Field Programmable Interconnection...

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Proceedings of the 8th International Conference on VLSI Design

作者： Bhatia, Dinesh Hardambidest, James Design Automation Laboratory Department of Electrical and Computer Engineering University of Cincinnati ML - 0030 CincinnatiOH45221-0030 United States Department of Mathematics and Computer Science Barry University 11300 NE 2nd Avenue Miami ShoresFL33161-6695 United States

In this paper we prove an fl(n1og n) lower bound on the number of edges of an n-permutation gmph G = (V,E). The lower bound is applicable to and characterizes permutations for Field Progmmmable Interconnection Chips and, more importantly, permutation networks in geneml. We also propose a family of permutation networks as a variation of the known Bened network with a wide mnge of diameters, a network property directly related to routing delays. Finally, the relation between the total number of progmmmable switches and the routing delay (mazimum length of routing paths for specific 1/0 permutations) is explored. © 1995 IEEE computer Society. All rights reserved.

关键词： Integrated circuit interconnects

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