1,387,323 research outputs found

    Physical Simulation of Inarticulate Robots

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    In this note we study the structure and the behavior of inarticulate robots. We introduce a robot that moves by successive revolvings. The robot's structure is analyzed, simulated and discussed in detail

    Physical Results from Partially Quenched Simulation

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    We describe how one can use chiral perturbation theory to obtain results for physical quantities, such as quark masses, using partially quenched simulations.Comment: Written version of two talks at DPF 2000. 6 pages, 2 figure

    Physical simulation for monocular 3D model based tracking

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    The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos

    Distributed Simulation of Heterogeneous and Real-time Systems

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    This work describes a framework for distributed simulation of cyber-physical systems (CPS). Modern CPS comprise large numbers of heterogeneous components, typically designed in very different tools and languages that are not or not easily composeable. Evaluating such large systems requires tools that integrate all components in a systematic, well-defined manner. This work leverages existing frameworks to facilitate the integration offers validation by simulation. A framework for distributed simulation is the IEEE High-Level Architecture (HLA) compliant tool CERTI, which provides the infrastructure for co-simulation of models in various simulation environments as well as hardware components. We use CERTI in combination with Ptolemy II, an environment for modeling and simulating heterogeneous systems. In particular, we focus on models of a CPS, including the physical dynamics of a plant, the software that controls the plant, and the network that enables the communication between controllers. We describe the Ptolemy extensions for the interaction with HLA and demonstrate the approach on a flight control system simulation
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