An efficient path planning algorithm based on topologic method is presented in this paper.The colli- sion free path planning for three-joint robotic arm consists of three parts:partition of C-space,construc- tion of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and judging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic fac- …

The basic idea of calibrating a camera system in previous approaches is to determine camera parameters by using a set of known 3D points as calibration reference.In this paper,we present a method of camera calibration in which camera parameters are determined by a set of 3D lines.A set of constraints is derived on camera parameters in terms of perspective line mapping.From these con- straints,the same perspective transformation matrix as that for point mapping can be computed linearly.The minimum number of …

In this paper,a new method is presented for 3D motion estimation by image region correspon- dences using stereo cameras.Under the weak perspectivity assumption,we first employ the moment tensor theory(Cyganski and Orr)to compute the monocular affine transformations relating images taken by the same camera at different time instants and the binocular affine transformations relating images taken by different cameras at the same time instant.We then show that 3D motion can he recovered from these 2D transforma…

INCAPS,a subsystem of XYZ system,is an INteractive Computer-Assisted Proving System, The primary targets to develop it range from proving temporal logic formal theorem to verifying XYZ/SE program s correctness which are supported respectively by the mechanized logics—FOTL logic and Hoare-like proof system.This paper discusses five main topics concerning INCAPS system: the rules,implementation,tactics,forward proof and backward proof.It also gives several typical exam- pies for demonstration of INCAPS worki…

A new implementation(SCKE—Stractured Communication Knowledge Entity)has been proposed towards combining the logic-with the object-oriented paradigm of computing.It is intended to explore the advantages in these two paradigms in a structured,natural and efficient manner for large-scale know- ledge processing.The SCKE model supports modularity and protection for the structured development of knowledge systems.It also introduces the concepts that are typical for the object-oriented systems in the logic-oriente…

Parallel loops account for the greatest amount of parallelism in numerical programs.Executing nested loops in parallel with low run-time overhead is thus very important for achieving high performance in parallel processing systems.However,in parallel processing systems with caches or local memories in memory hierarchies,“thrashing problem”may arise when data move back and forth frequently between the caches or local memories in different processors.The techniques associated with parallel compiler to solve t…

Based on the study of the current two methods—interpretation and compilation—for the integration of logic programming and relational database,a new precompilation-based interpretive approach is proposed.It inherits the advantages of both methods,but overcomes the drawbacks of theirs.A new integrated system based on this approach is presented,which has been implemented on Micro VAX Ⅱ and applied to practise as the kernel of the GKBMS knowledge base management system.Also discussed are the key implementation …

Given two ordered,labeled trees β and α,to find the distance from tree β to tree α is an important problem in many fields,for example,the pattern recognition field.In this paper,a VLSI algorithm for calculating the tree-to-tree distance is presented.The computation structure of the algorithm is a 2-D Mesh with the size m*n-and the time is O(m+n),where m,n are the numbers of nodes of the tree β and tree α,respectively.

The reachability of a strongly connected network may be destroyed after link damage.Since many networds have directed links with the potential for reversal,the reachabilty may be restored by reversing the direction of links.In this paper,the reliability of a network that allows reversal of links is dis- cussed.

Line justification is a basic factor in affecting the efficiency of algorithms for test generation.The existence of reconvergent fanouts in the circuit under test resalts in backtracks in the process of line justification.In order to reduce the number of backtracks and shorten the processing time between backtracks,we present a new algorithm called DLJ(dynamic line justification)in which two techniques are employed.1.A cost function called“FOCOST”is proposed as heuristic information to represent the cost of…

In this paper we introduced the RL project which aims to integrate logic progrmming,relational databases and constraint solving in a single relational framework.We gave a summary of the architecture of the RL/1 system and shortly discussed the characteristics of the RL/1 language.A target of the project has become to turn the RL/1 system into an industrial strength database interface.