scholarly journals A Geometric Approach to Scheduling of Concurrent Real-time Processes Sharing Resources

10.5772/5230 ◽  
2007 ◽  
Author(s):  
Thao Dang ◽  
Philippe Gerner
Keyword(s):  
Real Time ◽  
Geometric Approach

A Geometric Approach to Dynamically Feasible, Real-Time Formation Control

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
D. H. A. Maithripala ◽  
D. H. S. Maithripala ◽  
S. Jayasuriya
Keyword(s):  
Real Time ◽  
Wide Class ◽  
Formation Control ◽  
Geometric Approach ◽  
Control Problems ◽  
Multi Agent Systems ◽  
Individual Agent ◽  
Planning Algorithm ◽  
Explicit Consideration ◽  
Multi Agent

We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping and/or formation reconfiguration tasks. The decomposition makes the approach scalable, computationally economical, and decentralized. Most importantly, the designed trajectories are dynamically feasible, meaning that they maintain the formation while satisfying the nonholonomic and saturation type velocity and acceleration constraints of each individual agent. The main contributions of this paper are (i) explicit consideration of second order dynamics for agents, (ii) explicit consideration of nonholonomic and saturation type velocity and acceleration constraints, (iii) unification of a wide class of formation control problems, and (iv) development of a real-time, distributed, scalable, computationally economical motion planning algorithm.

A geometric approach to real time pitch detection

2003 ◽  
Author(s):  
T.D. Nguyen ◽  
J.B. Ferguson ◽  
T.W. McNamara
Keyword(s):  
Real Time ◽  
Geometric Approach ◽  
Pitch Detection

A geometric approach to manipulator path planning in 3D space in the presence of obstacles

Robotica ◽  
1992 ◽  
Vol 10 (4) ◽  
pp. 321-328
Author(s):  
Manja Kirćanski ◽  
Olga Timčenko
Keyword(s):  
Euclidean Space ◽  
Path Planning ◽  
Real Time ◽  
Control Level ◽  
Geometric Approach ◽  
Geometric Method ◽  
Reachable Workspace ◽  
3D Space ◽  
Simulation Results ◽  
Polyhedral Obstacles

SUMMARYThe paper presents a geometric method for collision-free manipulator path planning in 3D Euclidean space with polyhedral obstacles. It ensures that none of the links nor the manipulator tip collide with the objects. The method is computationally very cheap and it does not require intensive off-line preprocessing. Hence, it is real-time applicable if the information about obstacles positions and shapes is obtained from a higher control level. The trajectories generated lie within the reachable workspace. The method is implemented on a VAX 11/750 computer and the simulation results are included.

scholarly journals Real-time Character Motion Effect Enhancement Based on Fluid Simulation

2012 ◽  
Vol 11 (1) ◽  
pp. 59-68
Author(s):  
Tianchen Xu ◽  
Enhua Wu ◽  
Mo Chen ◽  
Ming Xie
Keyword(s):  
Real Time ◽  
Motion Tracking ◽  
High Efficiency ◽  
Geometric Approach ◽  
Motion Blur ◽  
Fluid Simulation ◽  
Motion Trajectory ◽  
Special Effect ◽  
Time Motion ◽  
Motion Effect

In fast figure animation, motion blur is of crucial importance, and this is especially true when an artist wants to generate exaggerating effect through figure motion. For a quite long period of time, animators seek the answer by using certain kind of image blending, no matter by the means of hardware or software. In recent years, methods based on 3D geometry of the motion figure with global illumination become gradually in demand, as they could deliver relatively high quality of motion blur effect. However, the computation cost in those methods is always very high, thus real time rendering become quite difficult to achieve. In this paper, a real-time motion effect based on 3D geometric approach is proposed, in which a special effect along the motion trajectory based on fluid simulation is combined with the volumetric motion blur. Furthermore, the motion trajectory would be decomposed and multi-pass geometry rendering would be employed to achieve geometry instancing for reuse. In this manner, the redundant calculation of each frame could be avoided, and the limitation of trajectory generation would be broken. In the pipeline, we separate motion tracking and fluid solution, to support various fluid effects flexibly. The scheme we present makes use of GPU geometry shading in parallel, aiming at guaranteeing high efficiency of computation while delivering splendid rendering. As a result, real time rendering including the motion blur effect is achieved.

scholarly journals EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time

2017 ◽  
Vol 2 (2) ◽  
pp. 593-600 ◽  
Author(s):  
Henri Rebecq ◽  
Timo Horstschaefer ◽  
Guillermo Gallego ◽  
Davide Scaramuzza
Keyword(s):  
Real Time ◽  
Geometric Approach ◽  
Event Based

scholarly journals A geometric approach for follow-the-leader motion of serpentine manipulator

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987463 ◽  
Author(s):  
Haibo Xie ◽  
Cheng Wang ◽  
Shusen Li ◽  
Liang Hu ◽  
Huayong Yang
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Computation Time ◽  
Geometric Approach ◽  
Real Time Control ◽  
Time Control ◽  
The Ideal

This article presents a geometric approach for path planning of serpentine manipulator for real-time control in confined spaces. Firstly, the mechanical design of a serpentine manipulator is introduced, and its kinematics is analyzed. As the serpentine manipulator usually has more than 10 degrees of freedom, the motion control and obstacle avoidance are difficult considering its inverse kinematics. Follow-the-leader is an ideal path planning method for serpentine manipulator, as the manipulator moves forward, all the sections follow the path that the tip of manipulator has passed, which simplifies the obstacle avoidance. The realization of follow-the-leader method is to find the new configurations of the manipulator that can fit the ideal path with small errors. In this article, a novel geometric approach for follow-the-leader motion is proposed to solve new configurations with high precision of location and less computation time. The method is validated through simulation and the deviation from the ideal path is analyzed, simulation results show that calculation time for per step is less than 0.5 ms for a serpentine manipulator with 10 sections. To verify the follow-the-leader method, a 13-degree-of-freedom serpentine manipulator system with 6 sections was built, and 12 magnetic rotary encoders were embedded into the universal joints to collect data of rotation angles of each section. Experimental results show that the manipulator can carry out follow-the-leader motion as expected in real time.

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

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