42879781
Vision based navigation system by variable template matching for autonomous mobile robot
We have previously developed a navigation system for autonomous mobile robots. It can find landmarks on the ceiling to move and work. However, it is impossible to recognize landmarks when the size of landmark is different from the size of template. In such cases, the robot cannot continue to work. Therefore we proposed variable template matching (VTM) that makes it possible to recognize landmarks of different sizes. We realize VTM by using the optimization method called the evolution strategy (ES). The robot can recognize the landmark faster, inferring landmark parameters by binary density projection.
30858440
Vision based navigation system for autonomous mobile robot with global matching
We have previously developed a navigation system for an autonomous mobile robot. It can find the landmarks on the ceiling for navigation. However, when the robot fails to recognize a landmark, the robot can not calculate the self-position. So, the robot has to prepare for the behavior of error recovery. But an error that is not able to recover may occur. In such a case, the robot needs to relocate the self-position. In this paper, we define global matching as the behavior that is able to relocate the self-position and propose to use this module for the error recovery in HALAS (hierarchical adaptive and learning architecture system) that we have proposed as a hierarchical system.
27048178
Mechanism and control of mobile pipeline maintenance robot with lazy tongs mechanism
A new type of mobile pipeline maintenance robot has been designed to clarify the feasibility of lazy tongs mechanism for adaptation to various size pipelines. The robot basically consists of three modules with two joints between modules and can move straight and spirally along the surface of pipeline. The robot can change its arm length in order to move on the pipeline of various size from 25 A to 100 A, and pass over obstacles such as reducer, diffuser, flange and other plant equipment. The control of the robot is so complicated that the modified dual control mode is introduced using the coordinate transformation matrix. By calculating the position and attitude of the robot under the control mode, the manoeuvrability of passing over a reducer is shown with experimental results.
8301524
BAXSQL: A Functional MRI Data Management Tool for the Medical Grid Using Ninf-G
A data management tool is developed to support the management of functional magnetic resonance imaging (fMRI) data sets in the Medical Grid Project (MGP) testbed. The tool implements a client-server framework with the Ninf-G middleware providing the necessary infrastructure. The client application runs in the user's local machine and can be used to interact with the server application running in MGP's remote data servers. The server application manages the storage of the actual fMRI data sets and employs a backend database server for storing fMRI metadata. It also supports several predefined functions that can be invoked to perform standard fMRI analysis on the stored data sets. A key feature of the implementation is the use of remote analysis servers to do the actual processing of the data. Because of this, a significant reduction in processing time, from 1.5 hours to around 7 minutes using sample data sets, was attained.
16720525
Resource manager for Globus-based wide-area cluster computing
In this paper, we present a new type of Globus resource allocation manager (GRAM) called RMF (Resource Manager beyond the Firewall) for wide-area cluster computing. RMF manages computing resources such as cluster systems and enables utilization of them beyond the firewall in global computing environments. RMF consists of two basic modules, a remote job queuing system (Q system) and a resource allocator. The Q system is a remote job queuing system, which schedules jobs submitted from global computing sites. The resource allocator manages resources and allocates them for requested jobs. For communications beyond the firewall between job processes, we designed the Nexus Proxy, which relays TCP communication links beyond the firewall. RMF and the Nexus Proxy provide a global computing environment in which users can easily utilize such parallel systems as cluster systems and supercomputers beyond the firewall.
17566771
Complementary Garbage Collector
This paper describes the design and evaluation of a Complementary Garbage Collector that is a fundamental algorithm for parallel and incremental garbage collection. Our algorithm is a combination of two types of fundamental algorithms, incremental update and snapshot-at-beginning, which are complementary to each other. The algorithm has the advantages of both types: greater efficiency of garbage collection and ease of consistent implementation. This algorithm can be substituted for the snapshot-at-beginning algorithm widely used in several types of parallel and incremental garbage collectors. Measurements of this algorithm in a parallel and an incremental mark-sweep GC indicate that it improves the efficiency of the collection making it equivalent to a stop-and-collect garbage collector. Consequently, the execution time of the list processing is shortened and the range of non-stop processing is extended.