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A new problem for the automated off-line programming of industrial robot application is investigated. The Multi-Goal Path Planning is to find the collision-free path connecting a set of goal poses and minimizing e.g. the total path length. Our solution is based on an earlier reported path planner for industrial robot arms with 6 degrees-of-freedom in an on-line given 3D environment. To control the path planner, four different goal selection methods are introduced and compared. While the Random and the Nearest Pair Selection methods can be used with any path planner, the Nearest Goal and the Adaptive Pair Selection method are favorable for our planner. With the latter two goal selection methods, the Multi-Goal Path Planning task can be significantly accelerated, because they are able to automatically solve the simplest path planning problems first. Summarizing, compared to Random or Nearest Pair Selection, this new Multi-Goal Path Planning approach results in a further cost reduction of the programming phase.
INRECA offers tools and methods for developing, validating, and maintaining classification, diagnosis and decision support systems. INRECA's basic technologies are inductive and case-based reasoning [9]. INRECA fully integrates [2] both techniques within one environment and uses the respective advantages of both technologies. Its object-oriented representation language CASUEL [10, 3] allows the definition of complex case structures, relations, similarity measures, as well as background knowledge to be used for adaptation. The objectoriented representation language makes INRECA a domain independent tool for its destined kind of tasks. When problems are solved via case-based reasoning, the primary kind of knowledge that is used during problem solving is the very specific knowledge contained in the cases. However, in many situations this specific knowledge by itself is not sufficient or appropriate to cope with all requirements of an application. Very often, background knowledge is available and/or necessary to better explore and interpret the available cases [1]. Such general knowledge may state dependencies between certain case features and can be used to infer additional, previously unknown features from the known ones.
About the approach The approach of TOPO was originally developed in the FABEL project1[1] to support architects in designing buildings with complex installations. Supplementing knowledge-based design tools, which are available only for selected subtasks, TOPO aims to cover the whole design process. To that aim, it relies almost exclusively on archived plans. Input to TOPO is a partial plan, and output is an elaborated plan. The input plan constitutes the query case and the archived plans form the case base with the source cases. A plan is a set of design objects. Each design object is defined by some semantic attributes and by its bounding box in a 3-dimensional coordinate system. TOPO supports the elaboration of plans by adding design objects.
Struktur und Werkzeuge des experiment-spezifischen Datenbereichs der SFB501 Erfahrungsdatenbank
(1999)
Software-Entwicklungsartefakte müssen zielgerichtet während der Durchführung eines Software- Projekts erfasst werden, um für die Wiederverwendung aufbereitet werden zu können. Die methodische Basis hierzu bildet im Sonderforschungsbereich 501 das Konzept der Erfahrungsdatenbank. In ihrem experiment-spezifischen Datenbereich werden für jedes Entwicklungsprojekt alle Software-Entwicklungsartefakte abgelegt, die während des Lebenszyklus eines Projektes anfallen. In ihrem übergreifenden Datenbereich werden all die jenigen Artefakte aus dem experiment-spezifischen Datenbereich zusammengefasst, die für eine Wiederverwendung in nachfolgenden Projekten in Frage kommen. Es hat sich gezeigt, dass bereits zur Nutzung der Datenmengen im experiment- spezifischen Datenbereich der Erfahrungsdatenbank ein systematischer Zugriff notwendig ist. Ein systematischer Zugriff setzt jedoch eine normierte Struktur voraus. Im experiment-spezifischen Bereich werden zwei Arten von Experimenttypen unterschieden: "Kontrollierte Experimente" und "Fallstudien". Dieser Bericht beschreibt die Ablage- und Zugriffsstruktur für den Experimenttyp "Fallstudien". Die Struktur wurde aufgrund der Erfahrungen in ersten Fallstudien entwickelt und evaluiert.
Versions- und Konfigurationsmanagement sind zentrale Instrumente zur intellektuellen Beherrschung komplexer Softwareentwicklungen. In stark wiederverwendungsorientierten Softwareentwicklungsansätzen -wie vom SFB bereitgestellt- muß der Begriff der Konfiguration von traditionell produktorientierten Artefakten auf Prozesse und sonstige Entwicklungserfahrungen erweitert werden. In dieser Veröffentlichung wird ein derartig erweitertes Konfigurationsmodell vorgestellt. Darüberhinau wird eine Ergänzung traditioneller Projektplanungsinformationen diskutiert, die die Ableitung maßgeschneiderter Versions- und Konfigurationsmanagementmechanismen vor Projektbeginn ermöglichen.
Let \(X\) be a Banach lattice. Necessary and sufficient conditions for a linear operator \(A:D(A) \to X\), \(D(A)\subseteq X\), to be of positive \(C^0\)-scalar type are given. In addition, the question is discussed which conditions on the Banach lattice imply that every operator of positive \(C^0\)-scalar type is necessarily of positive scalar type.
In the scalar case one knows that a complex normalized function of boundedvariation \(\phi\) on \([0,1]\) defines a unique complex regular Borel measure\(\mu\) on \([0,1]\). In this note we show that this is no longer true in generalin the vector valued case, even if \(\phi\) is assumed to be continuous. Moreover, the functions \(\phi\) which determine a countably additive vectormeasure \(\mu\) are characterized.
The following two norms for holomorphic functions \(F\), defined on the right complex half-plane \(\{z \in C:\Re(z)\gt 0\}\) with values in a Banach space \(X\), are equivalent:
\[\begin{eqnarray*} \lVert F \rVert _{H_p(C_+)} &=& \sup_{a\gt0}\left( \int_{-\infty}^\infty \lVert F(a+ib) \rVert ^p \ db \right)^{1/p}
\mbox{, and} \\ \lVert F \rVert_{H_p(\Sigma_{\pi/2})} &=& \sup_{\lvert \theta \lvert \lt \pi/2}\left( \int_0^\infty \left \lVert F(re^{i \theta}) \right \rVert ^p\ dr \right)^{1/p}.\end{eqnarray*}\] As a consequence, we derive a description of boundary values ofsectorial holomorphic functions, and a theorem of Paley-Wiener typefor sectorial holomorphic functions.
In order to reduce the elapsed time of a computation, a pop-ular approach is to decompose the program into a collection of largelyindependent subtasks which are executed in parallel. Unfortunately, it isoften observed that tightly-coupled parallel programs run considerablyslower than initially expected. In this paper, a framework for the anal-ysis of parallel programs and their potential speedup is presented. Twoparameters which strongly affect the scalability of parallelism are iden-tified, namely the grain of synchronization, and the degree to which thetarget hardware is available. It is shown that for certain classes of appli-cations speedup is inherently poor, even if the program runs under theidealized conditions of perfect load balance, unbounded communicationbandwidth and negligible communication and parallelization overhead.Upper bounds are derived for the speedup that can be obtained in threedifferent types of computations. An example illustrates the main find-ings.
We consider wavelet estimation of the time-dependent (evolutionary) power spectrum of a locally stationary time series. Allowing for departures from stationary proves useful for modelling, e.g., transient phenomena, quasi-oscillating behaviour or spectrum modulation. In our work wavelets are used to provide an adaptive local smoothing of a short-time periodogram in the time-freqeuncy plane. For this, in contrast to classical nonparametric (linear) approaches we use nonlinear thresholding of the empirical wavelet coefficients of the evolutionary spectrum. We show how these techniques allow for both adaptively reconstructing the local structure in the time-frequency plane and for denoising the resulting estimates. To this end a threshold choice is derived which is motivated by minimax properties w.r.t. the integrated mean squared error. Our approach is based on a 2-d orthogonal wavelet transform modified by using a cardinal Lagrange interpolation function on the finest scale. As an example, we apply our procedure to a time-varying spectrum motivated from mobile radio propagation.