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Based on experiences from an autonomous mobile robot project called MOBOT -III, we found hard realtime-constraints for the operating-system-design. ALBATROSS is "A flexible multi-tasking and realtime network-operatingsystem-kernel", not limited to mobile- robot-projects only, but which might be useful also wherever you have to guarantee a high reliability of a realtime-system. The focus in this article is on a communication-scheme fulfilling the demanded (hard realtime-) assurances although not implying time-delays or jitters on the critical informationchannels. The central chapters discuss a locking-free shared buffer management, without the need for interrupts and a way to arrange the communication architecture in order to produce minimal protocol-overhead and short cycle-times. Most of the remaining communication-capacity (if there is any) is used for redundant transfers, increasing the reliability of the whole system. ALBATROSS is actually implemented on a multi-processor VMEbus-system.

Case-based problem solving can be significantly improved by applying domain knowledge (in opposition to problem solving knowledge), which can be acquired with reasonable effort, to derive explanations of the correctness of a case. Such explanations, constructed on several levels of abstraction, can be employed as the basis for similarity assessment as well as for adaptation by solution refinement. The general approach for explanation-based similarity can be applied to different real world problem solving tasks such as diagnosis and planning in technical areas. This paper presents the general idea as well as the two specific, completely implemented realizations for a diagnosis and a planning task.

In this paper we present an interpreter which allows to support the validation of conceptual models in early stages of the development. We compare hypermedia and expert system approaches to knowledge processing and show how an integrated approach eases the creation of expert systems. Our knowledge engineering tool CoMo-Kit allows a "smooth" transition from initial protocols via a semi-formal specification based on a typed hypertext up to an running expert system. The interpreter uses the intermediate hypertext representation for the interactive solution of problems. Thereby, tasks are distributed to agents via an local area network. This means that the specification of an expert system can directly be used to solve real world problems. If there exist formal (operational) specifications for subtasks then these are delegated to computers. Therefore, our approach allows to specify and validate distributed, cooperative systems where some subtasks are solved by humans and other subtasks are solved automatically by computers.

We study deterministic conditional rewrite systems, i.e. conditional rewrite systemswhere the extra variables are not totally free but 'input bounded'. If such a systemR is quasi-reductive then !R is decidable and terminating. We develop a critical paircriterion to prove confluence if R is quasi-reductive and strongly deterministic. In thiscase we prove that R is logical, i.e./!R==R holds. We apply our results to proveHorn clause programs to be uniquely terminating.This research was supported by the Deutsche Forschungsgemeinschaft, SFB 314, Project D4

We investigate restricted termination and confluence properties of term rewritADing systems, in particular weak termination and innermost termination, and theirinterrelation. New criteria are provided which are sufficient for the equivalenceof innermost / weak termination and uniform termination of term rewriting sysADtems. These criteria provide interesting possibilities to infer completeness, i.e.termination plus confluence, from restricted termination and confluence properADties.Using these basic results we are also able to prove some new results aboutmodular termination of rewriting. In particular, we show that termination ismodular for some classes of innermost terminating and locally confluent termrewriting systems, namely for nonADoverlapping and even for overlay systems. Asan easy consequence this latter result also entails a simplified proof of the factthat completeness is a decomposable property of soADcalled constructor systems.Furthermore we show how to obtain similar results for even more general cases of(nonADdisjoint) combined systems with shared constructors and of certain hierarADchical combinations of systems with constructors. Interestingly, these modularityresults are obtained by means of a proof technique which itself constitutes a modADular approach.

SPIN-NFDS Learning and Preset Knowledge for Surface Fusion - A Neural Fuzzy Decision System -
(1993)

The problem to be discussed in this paper may be characterized in short by the question: "Are these two surface fragments belonging together (i.e. belonging to the same surface)?" The presented techniques try to benefit from some predefined knowledge as well as from the possibility to refine and adapt this knowledge according to a (changing) real environment, resulting in a combination of fuzzy-decision systems and neural networks. The results are encouraging (fast convergence speed, high accuracy), and the model might be used for a wide range of applications. The general frame surrounding the work in this paper is the SPIN- project, where emphasis is on sub-symbolic abstractions, based on a 3-d scanned environment.

This paper refers to the problem of adaptability over an infinite period of time, regarding dynamic networks. A never ending flow of examples have to be clustered, based on a distance measure. The developed model is based on the self-organizing feature maps of Kohonen [6], [7] and some adaptations by Fritzke [3]. The problem of dynamic surface classification is embedded in the SPIN project, where sub-symbolic abstractions, based on a 3-d scanned environment is being done.

The paper presents a fast implementation of a constructive method to generate a special class of low-discrepancy sequences which are based on Van Neumann-Kakutani tranformations. Such sequences can be used in various simulation codes where it is necessary to generate a certain number of uniformly distributed random numbers on the unit interval.; From a theoretical point of view the uniformity of a sequence is measured in terms of the discrepancy which is a special distance between a finite set of points and the uniform distribution on the unit interval.; Numerical results are given on the cost efficiency of different generators on different hardware architectures as well as on the corresponding uniformity of the sequences. As an example for the efficient use of low-discrepancy sequences in a complex simulation code results are presented for the simulation of a hypersonic rarefied gas flow.