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SQUIRT: The Prototypical Mobile Robot for Autonomous Graduate Students
(1989-07-01)
This paper describes an exercise in building a complete robot aimed at being as small as possible but using off-the-shelf components exclusively. The result is an autonomous mobile robot slightly larger than one cubic ...
Twilight Zones and Cornerstones: A Gnat Robot Double Feature
(1989-07-01)
We want to build tiny gnat-sized robots, a millimeter or two in diameter. They will be cheap, disposable, totally self-contained autonomous agents able to do useful things in the world. This paper consists of two parts. ...
The Standard Map Machine
(1989-09-01)
We have designed the Standard Map Machine(SMM) as an answer to the intensive computational requirements involved in the study of chaotic behavior in nonlinear systems. The high-speed and high-precision performance of ...
Qualitative Depth and Shape from Stereo, in Agreement with Psychophysical Evidendence
(1987-12-01)
Obtaining exact depth from binocular disparities is hard if camera calibration is needed. We will show that qualitative depth information can be obtained from stereo disparities with almost no computations and with ...
UNITRAN: An Interlingual Machine Translation System
(1987-12-01)
This report describes the UNITRAN (UNIversal TRANslator) system, an implementation of a principle-based approach to natural language translation. The system is "interlingual", i.e., the model is based on universal ...
Software Structuring Principles for VLSI CAD
(1987-12-01)
A frustrating aspect of the frequent changes to large VLSI CAD systems is that so little of the old available programs can be reused. It takes too much time and effort to find the reusable pieces and recast them for ...
The Programmer's Apprentice Project: A Research Overview
(1987-11-01)
The goal of the Programmer's Apprentice project is to develop a theory of how expert programmers analyze, synthesize, modify, explain, specify, verify, and document programs. This research goal overlaps both artificial ...
Inspection Methods in Programming: Cliches and Plans
(1987-12-01)
Inspection methods are a kind of engineering problem solving based on the recognition and use of standard forms or cliches. Examples are given of program analysis, program synthesis and program validation by inspection. ...
Non-Rigid Motion and Regge Calculus
(1987-11-01)
We study the problem of recovering the structure from motion of figures which are allowed to perform a controlled non-rigid motion. We use Regge Calculus to approximate a general surface by a net of triangles. The ...
System Validation via Constraint Modeling
(1988-02-01)
Constraint modeling could be a very important system validation method, because its abilities are complementary to both testing and code inspection. In particular, even though the ability of constraint modeling to ...