2,407 research outputs found
Performance Analysis of a Novel GPU Computation-to-core Mapping Scheme for Robust Facet Image Modeling
Though the GPGPU concept is well-known
in image processing, much more work remains to be done
to fully exploit GPUs as an alternative computation
engine. This paper investigates the computation-to-core
mapping strategies to probe the efficiency and scalability
of the robust facet image modeling algorithm on GPUs.
Our fine-grained computation-to-core mapping scheme
shows a significant performance gain over the standard
pixel-wise mapping scheme. With in-depth performance
comparisons across the two different mapping schemes,
we analyze the impact of the level of parallelism on
the GPU computation and suggest two principles for
optimizing future image processing applications on the
GPU platform
Advanced manned space flight simulation and training: An investigation of simulation host computer system concepts
The findings of a preliminary investigation by Southwest Research Institute (SwRI) in simulation host computer concepts is presented. It is designed to aid NASA in evaluating simulation technologies for use in spaceflight training. The focus of the investigation is on the next generation of space simulation systems that will be utilized in training personnel for Space Station Freedom operations. SwRI concludes that NASA should pursue a distributed simulation host computer system architecture for the Space Station Training Facility (SSTF) rather than a centralized mainframe based arrangement. A distributed system offers many advantages and is seen by SwRI as the only architecture that will allow NASA to achieve established functional goals and operational objectives over the life of the Space Station Freedom program. Several distributed, parallel computing systems are available today that offer real-time capabilities for time critical, man-in-the-loop simulation. These systems are flexible in terms of connectivity and configurability, and are easily scaled to meet increasing demands for more computing power
Method and apparatus for positioning a robotic end effector
A robotic end effector and operation protocol for a reliable grasp of a target object irrespective of the target's contours is disclosed. A robotic hand includes a plurality of jointed fingers, one of which, like a thumb, is in opposed relation to the other. Each finger is comprised of at least two jointed sections, and provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and means for receiving reflections of the transmitted energy when reflected by a target object and for generating electrical signals responsive thereto. On the fingers opposed to the thumb, the proximity sensors on the outermost finger sections are aligned in an outer sensor array and the sensors on the intermediate finger sections and sensors on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system with software and/or circuitry for a protocol comprising the steps in sequence of: (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following the target by the robot fingers to minimize target escape potential; and (3) closing to rigidize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit and gain adjustment means are included to maintain the dynamic range of low power reflection signals
Emerging research directions in computer science : contributions from the young informatics faculty in Karlsruhe
In order to build better human-friendly human-computer interfaces,
such interfaces need to be enabled with capabilities to perceive
the user, his location, identity, activities and in particular his interaction
with others and the machine. Only with these perception capabilities
can smart systems ( for example human-friendly robots or smart environments) become posssible. In my research I\u27m thus focusing on the
development of novel techniques for the visual perception of humans and
their activities, in order to facilitate perceptive multimodal interfaces,
humanoid robots and smart environments. My work includes research
on person tracking, person identication, recognition of pointing gestures,
estimation of head orientation and focus of attention, as well as
audio-visual scene and activity analysis. Application areas are humanfriendly
humanoid robots, smart environments, content-based image and
video analysis, as well as safety- and security-related applications. This
article gives a brief overview of my ongoing research activities in these
areas
Design of multimedia processor based on metric computation
Media-processing applications, such as signal processing, 2D and 3D graphics
rendering, and image compression, are the dominant workloads in many embedded
systems today. The real-time constraints of those media applications have
taxing demands on today's processor performances with low cost, low power and
reduced design delay. To satisfy those challenges, a fast and efficient
strategy consists in upgrading a low cost general purpose processor core. This
approach is based on the personalization of a general RISC processor core
according the target multimedia application requirements. Thus, if the extra
cost is justified, the general purpose processor GPP core can be enforced with
instruction level coprocessors, coarse grain dedicated hardware, ad hoc
memories or new GPP cores. In this way the final design solution is tailored to
the application requirements. The proposed approach is based on three main
steps: the first one is the analysis of the targeted application using
efficient metrics. The second step is the selection of the appropriate
architecture template according to the first step results and recommendations.
The third step is the architecture generation. This approach is experimented
using various image and video algorithms showing its feasibility
Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality
Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence
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