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Analyzing the Roles of Descriptions and Actions in Open Systems
(1983-04-01)
This paper analyzes relationships between the roles of descriptions and actions in large scale, open ended, geographically distributed, concurrent systems. Rather than attempt to deal with the complexities and ambiguities ...
Picking Up an Object from a Pile of Objects
(1983-05-01)
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo method generates ...
The Smoothest Velocity Field and Token Matching
(1983-08-01)
This paper presents some mathematical results concerning the measurement of motion of contours. A fundamental problem of motion measurement in general is that the velocity field is not determined uniquely from the ...
Planning Collision Free Motions for Pick and Place Operations
(1983-05-01)
An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths ...
Scaling Theorems for Zero-Crossings
(1983-06-01)
We characterize some properties of the zero-crossings of the laplacian of signals - in particular images - filtered with linear filters, as a function of the scale of the filter (following recent work by A. Witkin, 1983). ...
Conclusions from the Commodity Expert Project
(1980-11-01)
The goal of the commodity expert project was to develop a prototype program that would act as an intelligent assistant to a commodity market analyst. Since expert analysis must deal with very large, yet incomplete, ...
The Interpretation of Biological Motion
(1980-12-01)
The term biological motion has been coined by G. Johansson (1973) to refer to the ambulatory patterns of terrestrial bipeds and quadripeds. In this paper a computational theory of the visual perception of biological ...
Towards a Better Definition of Transactions
(1980-12-01)
This paper builds on a technical report written by Carl Hewitt and Henry Baker called "Actors and Continuous Functionals". What is called a "goal-oriented activity" in that paper will be referred to in this paper as a ...
GPRINT - A LISP Pretty Printer Providing Extensive User Format-Control Mechanism
(1981-10-01)
A pretty printer is presented which makes it easy for a user to control the format of the output produced. The printer can be used as a general mechanism for printing data structures as well as programs. It is divided ...
Automatic Planning of Manipulator Transfer Movements
(1980-12-01)
This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...