Custom Integrated Circuits

Contains table of contents for Part III, table of contents for Section 1 and reports on eleven research projects.IBM CorporationMIT School of EngineeringNational Science Foundation Grant MIP 94-23221Defense Advanced Research Projects Agency/U.S. Army Intelligence Center Contract DABT63-94-C-0053Mitsubishi CorporationNational Science Foundation Young Investigator Award Fellowship MIP 92-58376Joint Industry Program on Offshore Structure AnalysisAnalog DevicesDefense Advanced Research Projects AgencyCadence Design SystemsMAFET ConsortiumConsortium for Superconducting ElectronicsNational Defense Science and Engineering Graduate FellowshipDigital Equipment CorporationMIT Lincoln LaboratorySemiconductor Research CorporationMultiuniversity Research IntiativeNational Science Foundatio

Plethora : a framework for the intelligent control of robotic assembly systems

Plethora : a framework for the intelligent control of robotic assembly system

A 50x30-pixel CMOS Sensor for TOF-based Real Time 3D Imaging

A 50x30-pixel CMOS sensor aimed at real time three-dimensional vision applications is presented along with characterization results. The sensor is realized on a single mixed-signal chip fabricated in a 0.35-um, 3.3-V, 4-metal/2-poly CMOS technology. The distance measurement relies on the pulsed indirect time of flight (ITOF) technique, and a precision of 4 % is obtained in the 2-8 m range. The real time mode of operation is proved at 20 frames per second with non-cooperative target

Herbert: A Second Generation Mobile Robot

In mobile robot research we believe the structure of the platform, its capabilities, the choice of sensors, their capabilities, and the choice of processors, both onboard and offboard, greatly constrains the direction of research activity centered on the platform. We examine the design and tradeoffs in a low cost mobile platform we have built while paying careful attention to issues of sensing, manipulation, onboard processing and debuggability of the total system. The robot, named Herbert, is a completely autonomous mobile robot with an onboard parallel processor and special hardware support for the subsumption architecture [Brooks (1986)], an onboard manipulator and a laser range scanner. All processors are simple low speed 8-bit micro-processors. The robot is capable of real time three dimensional vision, while simultaneously carrying out manipulator and navigation tasks