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Chapter and Verse Program Description
(MIT Artificial Intelligence Laboratory, 1984-06)
The design of a program is rarely a straightforward mapping from the problem solution to the code. More frequently, fragments of high level concepts are distributed over one or more modules such that it is hard to identify ...
BUILD -- A System Construction Tool
(MIT Artificial Intelligence Laboratory, 1984-08)
BUILD is a proposed tool for constructing systems from existing modules. BUILD system descriptions are composed of module declarations and assertions of how modules refer to each other. An extensible library of information ...
TEMPEST -- A Template Editor for Structured Text
(MIT Artificial Intelligence Laboratory, 1984-05)
This paper proposes an editing tool named TEMPEST (TEMPlate Editor for Structured Text) whose goal is to extend a text editing environment by using templates to incorporate into it some knowledge of the structure of the ...
The Incremental Rigidity Scheme for Recovering Structure from Motion: Position vs. Velocity Based Formulations
(1985-10-01)
Perceptual studies suggest that the visual system uses the "rigidity" assumption to recover three dimensional structures from motion. Ullman (1984) recently proposed a computational scheme, the incremental rigidity ...
Prism Trees: An Efficient Representation for Manipulating and Displaying Polyhedra with Many Faces
(1985-04-01)
Computing surface and/or object intersections is a cornerstone of many algorithms in Geometric Modeling and Computer Graphics, for example Set Operations between solids, or surface Ray Casting display. We present an ...
The Computational Approach to Vision and Motor Control
(1985-08-01)
Over the past decade it has become increasingly clear that to understand the brain, we must study not only its biochemical and biophysical mechanisms and its outward perceptual and physical behavior. We also must study ...
Redundancy Resolution of Manipulators through Torque Optimization
(1986-01-01)
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the ...
An Approach to Automatic Robot Programming
(1985-04-01)
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...
Estimation of Inertial Parameters of Rigid Body Links of Manipulators
(1986-02-01)
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...
On Multiple Moving Objects
(1986-05-01)
This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...