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Parallel Architectures And Parallel Algorithms For Integrated Vision Systems
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Book Synopsis Parallel Architectures and Parallel Algorithms for Integrated Vision Systems by : Alok N Choudary
Download or read book Parallel Architectures and Parallel Algorithms for Integrated Vision Systems written by Alok N Choudary and published by . This book was released on 1990-09-30 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer vision has been regarded as one of the most complex and computationally intensive problems. An integrated vision system (IVS) is a system that uses vision algorithms from all levels of processing to perform for a high level application (e.g, object recognition). This thesis addresses several issues in parallel architectures and parallel algorithms for integrated vision systems. First, a model of computation for IVSs is presented. The model captures computational requirements, defines spatial and temporal data dependencies between tasks, and shows what types of interactions may occur between tasks from different levels of processing. The model is used to develop features and capabilities of a parallel architecture suitable for IVSs. A multiprocessor architecture for IVSs (called NETRA) is presented. NETRA is highly flexible without the use of complex interconnection schemes. NETRA is recursively defined hierarchical architecture whose leaf nodes consist of clusters processors connected with a programmable crossbar with a selective broadcast capability. Hence, it is easily scalable from small to large systems. Homogeneity of NETRA permits fault tolerance and graceful degradation under faults. Several refinements in the architecture over the original design are also proposed. Performance of several vision algorithms when they are mapped on one cluster is presented. It is shown that SIMD, MIMD and systolic algorithms can be easily mapped onto processor clusters, and almost linear speedups are possible. An extensive analysis of inter-cluster communication strategies in NETRA is presented. A methodology to evaluate performance of algorithms on NETRA is described. Performance analysis of parallel algorithms when mapped across clusters is presented. The parameters are derived from the characteristics of the parallel algorithms, which are then, used to evaluate the alternative communication strategies in NETRA. The effects of communication interference on the performance of algorithms are studied. It is observed that if communication speeds are matched with the computation speeds, almost linear speedups are possible when algorithms are mapped across clusters. Finally, several techniques to perform data decomposition, and static and dynamic load balancing for IVS algorithms are described. These techniques can be used to perform load balancing for intermediate and high level, data dependent vision algorithms. They are shown to perform well, using them on an implementation of a motion estimation system on a hypercube multiprocessor. (Abstract shortened with permission of author.)
Book Synopsis Parallel Architectures and Parallel Algorithms for Integrated Vision Systems by : Alok N. Choudary
Download or read book Parallel Architectures and Parallel Algorithms for Integrated Vision Systems written by Alok N. Choudary and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer vision is one of the most complex and computationally intensive problem. Like any other computationally intensive problems, parallel pro cessing has been suggested as an approach to solving the problems in com puter vision. Computer vision employs algorithms from a wide range of areas such as image and signal processing, advanced mathematics, graph theory, databases and artificial intelligence. Hence, not only are the comput ing requirements for solving vision problems tremendous but they also demand computers that are efficient to solve problems exhibiting vastly dif ferent characteristics. With recent advances in VLSI design technology, Single Instruction Multiple Data (SIMD) massively parallel computers have been proposed and built. However, such architectures have been shown to be useful for solving a very limited subset of the problems in vision. Specifically, algorithms from low level vision that involve computations closely mimicking the architec ture and require simple control and computations are suitable for massively parallel SIMD computers. An Integrated Vision System (IVS) involves com putations from low to high level vision to be executed in a systematic fashion and repeatedly. The interaction between computations and information dependent nature of the computations suggests that architectural require ments for computer vision systems can not be satisfied by massively parallel SIMD computers.
Book Synopsis Handbook of Parallel Computing by : Sanguthevar Rajasekaran
Download or read book Handbook of Parallel Computing written by Sanguthevar Rajasekaran and published by CRC Press. This book was released on 2007-12-20 with total page 1224 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability of parallel computing to process large data sets and handle time-consuming operations has resulted in unprecedented advances in biological and scientific computing, modeling, and simulations. Exploring these recent developments, the Handbook of Parallel Computing: Models, Algorithms, and Applications provides comprehensive coverage on a
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1993 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Transputer Applications and Systems '94 by : A. De Gloria
Download or read book Transputer Applications and Systems '94 written by A. De Gloria and published by IOS Press. This book was released on 1994 with total page 1036 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings -- Parallel Computing.
Book Synopsis Intelligent Robotic Systems for Space Exploration by : Alan A. Desrochers
Download or read book Intelligent Robotic Systems for Space Exploration written by Alan A. Desrochers and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In this environment, intelligent automation and robotics are essential complements to the capabilities of humans. In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Future missions will require the construction, maintenance, and repair of large structures, such as the space station. This volume presents the effords of several groups that are working on robotic solutions to this problem. Much of the work in this book is related to assembly in space, and especially in-orbit assembly of large truss structures. Many of these so-called truss structures will be assembled in orbit. It is expected that robot manipulators will be used exclusively, or at least provide partial assistance to humans. Intelligent Robotic Systems for Space Exploration provides detailed algorithms and analysis for assembly of truss structure in space. It reports on actual implementations to date done at NASA's Langley Research Center. The Johnson Space Center, and the Jet Propulsion Laboratory. Other implementations and research done at Rensselaer are also reported. Analysis of robot control problems that are unique to a zero-gravity environment are presented.
Book Synopsis Intelligent Robotic Systems: Theory, Design and Applications by : Kimon P. Valavanis
Download or read book Intelligent Robotic Systems: Theory, Design and Applications written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 265 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the late 1960s, there has been a revolution in robots and industrial automation, from the design of robots with no computing or sensorycapabilities (first-generation), to the design of robots with limited computational power and feedback capabilities (second-generation), and the design of intelligent robots (third-generation), which possess diverse sensing and decision making capabilities. The development of the theory of intelligent machines has been developed in parallel to the advances in robot design. This theory is the natural outcome of research and development in classical control (1950s), adaptive and learning control (1960s), self-organizing control (1970s) and intelligent control systems (1980s). The theory of intelligent machines involves utilization and integration of concepts and ideas from the diverse disciplines of science, engineering and mathematics, and fields like artificial intelligence, system theory and operations research. The main focus and motivation is to bridge the gap between diverse disciplines involved and bring under a common cover several generic methodologies pertaining to what has been defined as machine intelligence. Intelligent robotic systems are a specific application of intelligent machines. They are complex computer controlled robotic systems equipped with a diverse set of visual and non visual sensors and possess decision making and problem solving capabilities within their domain of operation. Their modeling and control is accomplished via analytical and heuristic methodologies and techniques pertaining to generalized system theory and artificial intelligence. Intelligent Robotic Systems: Theory, Design and Applications, presents and justifies the fundamental concepts and ideas associated with the modeling and analysis of intelligent robotic systems. Appropriate for researchers and engineers in the general area of robotics and automation, Intelligent Robotic Systems is both a solid reference as well as a text for a graduate level course in intelligent robotics/machines.
Book Synopsis Parallel Processing for Artificial Intelligence 1 by : L.N. Kanal
Download or read book Parallel Processing for Artificial Intelligence 1 written by L.N. Kanal and published by Elsevier. This book was released on 2014-06-28 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel processing for AI problems is of great current interest because of its potential for alleviating the computational demands of AI procedures. The articles in this book consider parallel processing for problems in several areas of artificial intelligence: image processing, knowledge representation in semantic networks, production rules, mechanization of logic, constraint satisfaction, parsing of natural language, data filtering and data mining. The publication is divided into six sections. The first addresses parallel computing for processing and understanding images. The second discusses parallel processing for semantic networks, which are widely used means for representing knowledge - methods which enable efficient and flexible processing of semantic networks are expected to have high utility for building large-scale knowledge-based systems. The third section explores the automatic parallel execution of production systems, which are used extensively in building rule-based expert systems - systems containing large numbers of rules are slow to execute and can significantly benefit from automatic parallel execution. The exploitation of parallelism for the mechanization of logic is dealt with in the fourth section. While sequential control aspects pose problems for the parallelization of production systems, logic has a purely declarative interpretation which does not demand a particular evaluation strategy. In this area, therefore, very large search spaces provide significant potential for parallelism. In particular, this is true for automated theorem proving. The fifth section considers the problem of constraint satisfaction, which is a useful abstraction of a number of important problems in AI and other fields of computer science. It also discusses the technique of consistent labeling as a preprocessing step in the constraint satisfaction problem. Section VI consists of two articles, each on a different, important topic. The first discusses parallel formulation for the Tree Adjoining Grammar (TAG), which is a powerful formalism for describing natural languages. The second examines the suitability of a parallel programming paradigm called Linda, for solving problems in artificial intelligence. Each of the areas discussed in the book holds many open problems, but it is believed that parallel processing will form a key ingredient in achieving at least partial solutions. It is hoped that the contributions, sourced from experts around the world, will inspire readers to take on these challenging areas of inquiry.
Author :Luis S. Homem de Mello Publisher :Springer Science & Business Media ISBN 13 :1461540380 Total Pages :448 pages Book Rating :4.4/5 (615 download)
Book Synopsis Computer-Aided Mechanical Assembly Planning by : Luis S. Homem de Mello
Download or read book Computer-Aided Mechanical Assembly Planning written by Luis S. Homem de Mello and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: Some twenty years have elapsed since the first attempts at planning were made by researchers in artificial intelligence. These early programs concentrated on the development of plans for the solution of puzzles or toy problems, like the rearrangement of stacks of blocks. These early programs provided the foundation for the work described in this book, the automatic generation of plans for industrial assembly. As one reads about the complex and sophisticated planners in the current gen eration, it is important to keep in mind that they are addressing real-world problems. Although these systems may become the "toy" systems of tomor row, they are providing a solid foundation for future, more general and more advanced planning tools. As demonstrated by the papers in this book, the field of computer-aided mechanical assembly planning is maturing. It now may include: • geometric descriptions of parts extracted from or compatible with CAD programs; • constraints related to part interference and the use of tools; • fixtures and jigs required for the assembly; • the nature of connectors, matings and other relations between parts; • number of turnovers required during the assembly; • handling and gripping requirements for various parts; • automatic identification of subassemblies. This is not an exhaustive list, but it serves to illustrate the complexity of some of the issues which are discussed in this book. Such issues must be considered in the design of the modern planners, as they produce desirable assembly sequences and precedence relations for assembly.
Book Synopsis A General Model of Legged Locomotion on Natural Terrain by : David J. Manko
Download or read book A General Model of Legged Locomotion on Natural Terrain written by David J. Manko and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system. A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines. This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.
Book Synopsis Measurement of Image Velocity by : David J. Fleet
Download or read book Measurement of Image Velocity written by David J. Fleet and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: Measurement of Image Velocity presents a computational framework for computing motion information from sequences of images. Its specific goal is the measurement of image velocity (or optical flow), the projection of 3-D object motion onto the 2-D image plane. The formulation of the problem emphasizes the geometric and photometric properties of image formation, and the occurrence of multiple image velocities caused, for example, by specular reflections, shadows, or transparency. The method proposed for measuring image velocity is based on the phase behavior in the output of velocity-tuned filters. Extensive experimental work is used to show that phase can be a reliable source of pure image translation, small geometric deformation, smooth contrast variations, and multiple local velocities. Extensive theorectical analysis is used to explain the robustness of phase with respect to deviations from image translation, and to detect situations in which phase becomes unstable. The results indicate that optical flow may be extracted reliably for computing egomotion and structure from motion. The monograph also contains a review of other techniques and frequency analysis applied to image sequences, and it discusses the closely related topics of zero-crossing tracking, gradient-based methods, and the measurement of binocular disparity. The work is relevant to those studying machine vision and visual perception.
Book Synopsis Directed Sonar Sensing for Mobile Robot Navigation by : John J. Leonard
Download or read book Directed Sonar Sensing for Mobile Robot Navigation written by John J. Leonard and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is a revised version of the D.Phil. thesis of the first author, submitted in October 1990 to the University of Oxford. This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide that are observed, but not predicted, vehicle position estimates. Targets represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. Chapter 1 presents a brief definition of the problem and a discussion of the basic research issues involved. No attempt is made to survey ex haustively the mobile robot navigation literature-the reader is strongly encouraged to consult other sources. The recent collection edited by Cox and Wilfong [34] is an excellent starting point, as it contains many of the standard works of the field. Also, we assume familiarity with the Kalman filter. There are many well-known texts on the subject; our notation derives from Bar-Shalom and Fortmann [7]. Chapter 2 provides a detailed sonar sensor model. A good sensor model of our approach to navigation, and is used both for is a crucial component predicting expected observations and classifying unexpected observations.
Book Synopsis Perturbation Techniques for Flexible Manipulators by : Anthony R. Fraser
Download or read book Perturbation Techniques for Flexible Manipulators written by Anthony R. Fraser and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.
Author :Brian Armstrong-Hélouvry Publisher :Springer Science & Business Media ISBN 13 :1461539722 Total Pages :180 pages Book Rating :4.4/5 (615 download)
Book Synopsis Control of Machines with Friction by : Brian Armstrong-Hélouvry
Download or read book Control of Machines with Friction written by Brian Armstrong-Hélouvry and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is the discipline that concerns itself with friction, wear and lubrication. Tribology spans a great range of disciplines, from surface physics to lubrication chemistry and engineering, and comprises investigators in diverse specialities. The English language tribology literature now grows at a rate of some 700 articles per year. But for all of this activity, in the three years that I have been concerned with the control of machines with friction, I have but once met a fellow controls engineer who was aware that the field existed, this including many who were concerned with friction. In this vein I must confess that, before undertaking these investigations, I too was unaware that an active discipline of friction existed. The experience stands out as a mark of the specialization of our time. Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest is in dynamics, which is not the central interest of the tribologist. The tribologist is more often concerned with wear, with respect to which there has been enormous progress - witness the many mechanisms which we buy today that are lubricated once only, and that at the factory. Though a secondary interest, frictional dynamics are note forgotten by tribology.
Book Synopsis Monthly Catalog of United States Government Publications by :
Download or read book Monthly Catalog of United States Government Publications written by and published by . This book was released on with total page 1200 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Monthly Catalogue, United States Public Documents by :
Download or read book Monthly Catalogue, United States Public Documents written by and published by . This book was released on 1991 with total page 1690 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Qualitative Motion Understanding by : Wilhelm Burger
Download or read book Qualitative Motion Understanding written by Wilhelm Burger and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots operating in real-world, outdoor scenarios depend on dynamic scene understanding for detecting and avoiding obstacles, recognizing landmarks, acquiring models, and for detecting and tracking moving objects. Motion understanding has been an active research effort for more than a decade, searching for solutions to some of these problems; however, it still remains one of the more difficult and challenging areas of computer vision research. Qualitative Motion Understanding describes a qualitative approach to dynamic scene and motion analysis, called DRIVE (Dynamic Reasoning from Integrated Visual Evidence). The DRIVE system addresses the problems of (a) estimating the robot's egomotion, (b) reconstructing the observed 3-D scene structure; and (c) evaluating the motion of individual objects from a sequence of monocular images. The approach is based on the FOE (focus of expansion) concept, but it takes a somewhat unconventional route. The DRIVE system uses a qualitative scene model and a fuzzy focus of expansion to estimate robot motion from visual cues, to detect and track moving objects, and to construct and maintain a global dynamic reference model.
