This paper presents our experiments for integrating OMG MIOP (Mullicast Inter-ORB Protocol) specifications into a CORBA ORB. We proposed an integration model which allows the coexistence of two different protocol stac...
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Over the past decade, the growing interests in realistic visual communication systems have led to the rapid development of 3D visual compression techniques. A stereoscopic system is one way of simulating 3D perception...
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Over the past decade, the growing interests in realistic visual communication systems have led to the rapid development of 3D visual compression techniques. A stereoscopic system is one way of simulating 3D perception. Without exploiting the high redundancy in a stereo pair, the amount of data required to store or transmit it is doubled, when compared to that for monocular images. In this paper, we present a new technique for coding stereo video sequences based on the Discrete Wavelet Transform (DWT). The proposed technique exploits Zerotree Entropy Coding (ZTE) that makes use of the wavelet block concept to achieve low bit rate stereo video coding. One of the two image streams, the main stream, is independently coded by a modified zerotree video coder and the second stream, the auxiliary stream, is predicted based on disparity compensation. The residual image of the auxiliary stream is then coded by a modified zerotree video coder. Results show that the proposed encoder can achieve 50% bandwidth reduction compared to the ZTE based monoscopic compression encoder.
This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level ...
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This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and on-line consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (rapidly exploring random trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.
This paper introduces a multi-paradigm dynamic system simulator based on discrete time and discrete event formalism for simulating a supply chain as a complex adaptive system. Little is known about why such a diversit...
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This paper introduces a multi-paradigm dynamic system simulator based on discrete time and discrete event formalism for simulating a supply chain as a complex adaptive system. Little is known about why such a diversity of supply chain structures exist. Simulating dynamic supply chain networks over extended periods using the multi-paradigm dynamic system simulator allows us to observe the emergence of different structures. The simulator is implemented using a software agent technology, where individual agents represent firms in a supply chain network. In this paper, we present an example scenario run on the simulator and the preliminary results that have been observed. This multi-paradigm tool provides a valuable investigation instrument for real life supply chain problems.
Traditional security systems are not easily scalable and can become single points of failure or performance bottlenecks when used on a large-scale distributed system such as the Internet. This problem occurs also when...
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Traditional security systems are not easily scalable and can become single points of failure or performance bottlenecks when used on a large-scale distributed system such as the Internet. This problem occurs also when using a public key infrastructure (PKI) with a hierarchical thrust model. SDSI/SPKI is a PKI that adopts a more scalable trust paradigm, which is focused on the client and based on authorization chains. However, the task of locating the chain that links a client to a server is not completely addressed by SDSI/SPKI. Aiming to overcome this limitation, the paper proposes extensions to the SDSI/SPKI authorization and authentication model. The proposed approach introduces the concept of Federation Webs, which allows the client to build new authorization chains linking it to a server when a direct path does not exist. A prototype implementation of this proposal has shown promising results.
We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculate...
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We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.
Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems ...
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Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.
In this paper we present a new, adaptive spatial-derivative circuit for CMOS image sensors. The circuit removes its offset as a natural part of its operation using a combination of electron tunneling and hot-electron ...
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In this paper we present a new, adaptive spatial-derivative circuit for CMOS image sensors. The circuit removes its offset as a natural part of its operation using a combination of electron tunneling and hot-electron injection to add or remove charge on a floating-gate of an auto-zeroing amplifier. We designed, fabricated and successfully tested a chip with the circuit. Test results show that the circuit reduces the offsets by more than an order of magnitude.
The juxtaposition of computation and biology opens up a new world of science and technology. Richard Feynman characterizes the young and fast-developing world of computerscience as follows: "[it] is like enginee...
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The juxtaposition of computation and biology opens up a new world of science and technology. Richard Feynman characterizes the young and fast-developing world of computerscience as follows: "[it] is like engineering-it is all about getting something to do something."1 Viewed from this perspective, the scope of research and development at this intersection is a vast, two-way street that computerscience has to offer to biological science and biotechnology and vice versa. Computational thinking helps characterize, predict, and influence the dynamics of biological processes from molecular to cellular to organ in a way that revolutionizes our understanding of health and drug design. In turn, understanding the architecture and principles of natural biological processes and organization might require new models of computation, which could lead to robustness in the design of large-scale software and hardware systems, a hitherto elusive goal.
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