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Soft Objects: A Paradigm for Object Oriented Programming
(1990-03-01)
This paper introduces soft objects, a new paradigm for object oriented programming. This paradigm replaces the traditional notion of object classes with the specification of transforming procedures which transform ...
A Distributed Model for Mobile Robot Environment-Learning and Navigation
(1990-05-01)
A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: ...
Noise Reduction Using Low Weight and Constant Weight Coding Techniques
(1990-05-01)
Signalling off-chip requires significant current. As a result, a chip's power-supply current changes drastically during certain output-bus transitions. These current fluctuations cause a voltage drop between the chip ...
Fat-Tree Routing for Transit
(1990-02-01)
The Transit network provides high-speed, low-latency, fault-tolerant interconnect for high-performance, multiprocessor computers. The basic connection scheme for Transit uses bidelta style, multistage networks to ...
MARVEL: A System for Recognizing World Locations with Stereo Vision
(1990-06-01)
To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, a system that builds and maintains its own models of world locations ...
Estimation of Discontinuous Displacement Vector Fields with the Minimum Description Length Criterion
(1990-10-01)
A new noniterative approach to determine displacement vector fields with discontinuities is described. In order to overcome the limitations of current methods, the problem is regarded as a general modelling problem. ...
A Criterion for the Optimal Design of Multiaxis Force Sensors
(1990-10-01)
This paper deals with the design of multi-axis force (also known as force/torque) sensors, as considered within the framework of optimal design theory. The principal goal of this paper is to identify a mathematical ...
Contact Sensing from Force Measurements
(1990-10-01)
This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of ...
The Shape of Shading
(1990-10-01)
This paper discusses the relationship between the shape of the shading, the surface whose depth at each point equals the brightness in the image, and the shape of the original surface. I suggest the shading as an ...
Continuous Stochastic Cellular Automata that Have a Stationary Distribution and No Detailed Balance
(1990-12-01)
Marroquin and Ramirez (1990) have recently discovered a class of discrete stochastic cellular automata with Gibbsian invariant measures that have a non-reversible dynamic behavior. Practical applications include more ...