waashk/acm huggingface dataset:
arms: arbitrary robot modelling system (abstract only)  one of the problems associated with controlling a robot arm is finding the arm's position control equations. the position control equations tell the magnitude and direction of the motion required from each joint in the arm to position the end effector at an arbitrary point in space with some arbitrary orientation. dr. c. y. ho described how these equations can be derived [1]. dr. ho's method relies on being able to describe each link in the arm by a special matrix called an "a matrix". the a matrices are simple to derive from a mathematical model of a robot called a "link parameter table".  the link parameter table describes each link in the robot. it is assumed that the robot is in a special position called "home position". home position requirements are given in terms of a real world xyz coordinate system. all joints in the robot must move around or along at most two of the three real world axes. there must be no motion along or around the third axis. the approach vector for the end effector must also lie along one of these same two axes. any fixed distances in the arm must be along the third axis and possibly one of the other two axes. many times a robot won't be in home position. it must be manipulated until these requirements are met.  robots can be divided into three classes depending on how easy it is to get them in home position. for the first class it is simple; either they are already in home position or they can be put in home position by turning some of their revolute joints. in the second class, some of the fixed distances must be combined with other fixed distances or prismatic joints. this must be done carefully so that the modified robot has the same functionality as the original robot. in the third class, it is impossible to meet the requirements. these impossible cases are handled separately.  before the development of the arms system, finding a robot's home position was largely a process of trial and error. this was especially true if some of the fixed distances had to be combined in addition to turning some of the joints. the arms system automates this process. its inputs are the direction of the approach vector for the end effector and a physical description of each link in the robot. from this information the arms system will find a link parameter table (if it's possible) and derive the a matrices for the robot.  the a matrices are in a format that can be used for input to a symbolic mathematics package. it is intended that the mathematics package will be used to solve for the position control equations. the differential speed control matrix could also be derived. the differential speed control matrix tells how fast each joint must move so that all the joints start and stop moving at the same time.  an expert system approach was used in a prolog prototype of the system. however, developing the prototype resulted in an algorithm for the process. the algorithm is now being implemented in common lisp on a dec micro-vax ii.  william r. gerlt
beyond formatting and fonts: changing academic needs for computer-assisted document composition  in the last ten years, major trends in academic computing have included a number of particularly interesting changes: 1) increases in cpu capacity, 2) increases in baud rates, 3) the substitution of terminals for card readers, 4) the shift from batch to interactive systems, and 5) the development of computerized text processing. the development of academic text processing has been substantial in several areas of application. this paper will present an overview of the past, present, and possible future of one of these areas: the processing of large and/or complex texts, a task which in this paper will be referred to as "document composition."  joel j. mambretti
gks for imaging  by adopting the graphical kernel system (gks), groups who manipulate pixelated images can take advantage of device independent graphics without giving up the functions which have traditionally been hardware dependent. most of these functions, including image i/o, zoom, pan, lookup table manipulation, and cursor reading, are supported within gks; several other functions, such as the use of multiple image planes and multiple look up tables, are accomodated by the gks escape and the generalized drawing primitive (gdp). because gks has powerful inquire capabilities, it's possible to tightly customize applications code to a particular hardware display device. the inquire functions also can be used by an applications program to determine the hardware display size and thus avoid resampling of a pixelated image.  gks thoroughly separates applications programs from device- dependencies; however, device drivers must still be written. the time and effort of writing device drivers can be largely eliminated by using a single programmable device driver, which is tailored to each device by a graphcap configuration file, in much the same way as termcap is used by berkeley unix implementations.  cliff stoll
legal knowledge acquisition using case-based reasoning and model inference  although case-based reasoning comes out in order to solve knowledge acquisition bottleneck, a case structure acquisition bottleneck has emerged, superseding it. because we cannot decide an appropriate case structure in advance, a framework for cbr should be able to improve a case structure dynamically, collecting and analyzing cases. here is discussed a new framework for knowledge acquisition using cbr and model inference. model inference tries to obtain new descriptors(predicates) with interaction of a domain expert, regarding the predicate as the slots that compose a case structure, with an eye to the function of theoretical term generation. the framework has two features: (1) cbr obtains a more suitable group of slots (a case structure) incrementally through cooperation with model inference, and (2) model inference with theoretical term capability discovers the rules which deal with a given task better. furthermore, we evaluate the feasibility of the framework by implementing it to deal with law interpretation and certify two features with the framework.  takahira yamaguti masaki kurematsu
user studies of an interdependency-based interface for acquiring problem- solving knowledge  this paper describes a series of experiments with a range of users to evaluate an intelligent interface for acquiring problem- solving knowledge to describe how to accomplish a task. the tool derives the interdependencies between different pieces of knowledge in the system and uses them to guide the user in completing the acquisition task. the paper describes results obtained when the tool was tested with a wide range of users, including end users. the studies show that our acquisition interface saves users an average of 32% of the time it takes to add new knowledge, and highlight some interesting differences across user groups. the paper also describes what are the areas that need to be addressed in future research in order to make these tools usable by end users.  jihie kim yolanda gil
the race ii engine for real-time volume rendering  in this paper, we present the race ii engine, which uses a hybrid volume rendering methodology that combines algorithmic and hardware acceleration to maximize ray casting performance relative the total amount of volume memory throughput contained in the system. the challenge for future volume rendering accelerators will be the ability to process higher resolution datasets at over 10hz without utilizing large-scale, and therefore, expensive designs. the limiting performance factor for large datasets will be the throughput between the volume memory subsystem and computational units. unfortunately, the throughput between memory devices and computational units does not scale with moore's law. as a result, memory efficient solutions are needed that maximize the input-output relationship between volume memory throughput and frame rate. the race ii design utilizes this approach and achieves an input-output relationship of up to 4 × larger than many solutions proposed in literature. as a result, this architecture is well suited for meeting the challenges of next generation datasets.  harvey ray deborah silver
fcp: a summary of performance results  flat concurrent prolog is a simple concurrent programming language which has been used for a variety of non-trivial applications. a compiler based parallel implementation has been completed which operates on an intel hypercube. this paper presents a brief summary of performance data from a recent study of the implementation. three categories of program were studied: parallel applications, uniprocessor benchmarks and communication stereotypes. the latter programs are abstractions of common parallel programming techniques and serve to quantify the cost of communication in the language.  s. taylor r. shapiro e. shapiro
color quantization by dynamic programming and principal analysis  color quantization is a process of choosing a set of k representative colors to approximate the n colors of an image, k < n, such that the resulting k-color image looks as much like the original n-color image as possible. this is an optimization problem known to be np-complete in k. however, this paper shows that by ordering the n colors along their principal axis and partitioning the color space with respect to this ordering, the resulting constrained optimization problem can be solved in o(n \\+ km2) time by dynamic programming (where m is the intensity resolution of the device).  traditional color quantization algorithms recursively bipartition the color space. by using the above dynamic-programming algorithm, we can construct a globally optimal k-partition, k>2, of a color space in the principal direction of the input data. this new partitioning strategy leads to smaller quantization error and hence better image quality. other algorithmic issues in color quantization such as efficient statistical computations and nearest- neighbor searching are also studied. the interplay between luminance and chromaticity in color quantization with and without color dithering is investigated. our color quantization method allows the user to choose a balance between the image smoothness and hue accuracy for a given k.  xiaolin wu
a tutorial on default logics  default logic is one of the most prominent approaches to nonmonotonic reasoning, and allows one to make plausible conjectures when faced with incomplete information about the problem at hand. default rules prevail in many application domains such as medical and legal reasoning.  several variants have been developed over the past year, either to overcome some perceived deficiencies of the original presentation, or to realize somewhat different intuitions. this paper provides a tutorial-style introduction to some important approaches of default logic. the presentation is based on operational models for these approaches, thus making them easily accessible to a broader audience, and more easily usable in practical applications.  grigoris antoniou
shadow volume reconstruction from depth maps  current graphics hardware can be used to generate shadows using either the shadow volume or shadow map techniques. however, the shadow volume technique requires access to a representation of the scence as a polygonal model, and handling the near plane clip correctly and efficiently is difficult; conversely, accurate shadow maps require high-precision texture map data representations, but these are not widely supported.  we present a hybird of the shadow map and shadow volume approaches which does not have these difficulties and leverages high-performance polygon rendering. the scene is rendered from the point of view of the light source and a sampled depth map is recovered. edge detection and a template-based reconstruction technique are used to generate a global shadow volume boundary surface, after which the pixels in shadow can be marked using only a one-bit stencil buffer and a single-pass rendering of the shadow volume boundary polygons. the simple form of our template-based reconstruction scheme simplifies capping the shadow volume after the near plane clip.  michael d. mccool
rendering effective route maps: improving usability through generalization  route maps, which depict a path from one location to another, have emerged as one of the most popular applications on the web. current computer- generated route maps, however, are often very difficult to use. in this paper we present a set of cartographic generalization techniques specifically designed to improve the usability of route maps. our generalization techniques are based both on cognitive psychology research studying how route maps are used and on an analysis of the generalizations commonly found in handdrawn route maps. we describe algorithmic implementations of these generalization techniques within linedrive, a real-time system for automatically designing and rendering route maps. feedback from over 2200 users indicates that almost all believe linedrive maps are preferable to using standard computer-generated route maps alone.  maneesh agrawala chris stolte
an effective way to represent quadtrees  a quadtree may be represented without pointers by encoding each black node with a quaternary integer whose digits reflect successive quadrant subdivisions. we refer to the sorted array of black nodes as the "linear quadtree" and show that it introduces a saving of at least 66 percent of the computer storage required by regular quadtrees. some algorithms using linear quadtrees are presented, namely, (i) encoding a pixel from a 2n × 2>n array (or screen) into its quaternary code; (ii) finding adjacent nodes; (iii) determining the color of a node; (iv) superposing two images. it is shown that algorithms (i)-(iii) can be executed in logarithmic time, while superposition can be carried out in linear time with respect to the total number of black nodes. the paper also shows that the dynamic capability of a quadtree can be effectively simulated.  irene gargantini
picture recognition using arc length and turning angle transformation  pictures can be first approximated by a polygonal approximation. then, this polygonal approximation can be transformed into the arc length s and turning angle coordinates as used in two recent papers [1,2]. for simplicity, we call this transformation, as s- transformation. an important property of this transformation is that s- transformation is invariant with respect to rotation. this implies that the orientation of the picture is not important. therefore it is advantageous to perform matching in the s- space. in addition, techniques and guidelines for improving the matching process are presented and illustrated by examples. the results have useful applications in pattern recognition, robotics, visual languages and artificial intelligence.  chung mou peng wu edward t. lee
image quilting for texture synthesis and transfer  we present a simple image-based method of generating novel visual appearance in which a new image is synthesized by stitching together small patches of existing images. we call this process _image quilting_. first, we use quilting as a fast and very simple texture synthesis algorithm which produces surprisingly good results for a wide range of textures. second, we extend the algorithm to perform texture transfer --- rendering an object with a texture taken from a different object. more generally, we demonstrate how an image can be re- rendered in the style of a different image. the method works directly on the images and does not require 3d information.  alexei a. efros william t. freeman
an analytic visible surface algorithm for independent pixel processing  an algorithm is presented that solves the visible surface problem at each pixel independently. this allows motion blur and depth of field blurring to be integrated into the algorithm. it also allows parallel processing. the algorithm works on large numbers of polygons. an analytic gaussian filter is used. the filter can be elongated or scaled differently for each polygon to adjust for its speed or distance from the focal plane. this is achieved by shrinking or scaling the polygon prior to solving the hidden surface problem so that blurring is correctly presented when objects obscure each other.  edwin catmull
evaluation of modeling techniques for agent-based systems  to develop agent- based systems, one needs a methodology that supports the development process as common in other disciplines. in recent years, several such methodologies and modeling techniques have been suggested. an important question is, to what extent do the existing methodologies address the developers' needs. in this paper we attempt to answer this question. in particular, we discuss suitability of agent modeling techniques to agent- based systems development. in evaluating existing modeling techniques, we address criteria from software engineering as well as characteristics of agent- based systems. our evaluation shows that some aspects of modeling techniques for agent- based systems may benefit from further enhancements. as we show, these aspects include distribution, concurrency, testing and communication richness. we also find space for (relatively small) improvements in aspects such as the refining of the models throughout the development process and the coverage and consistency checking of the suggested models.  onn shehory arnon sturm
a prototype belief network-based expert systems shell  a belief network-based expert system works in a way entirely different from a rule- based expert system. in such systems, a high degree of non-determinism is present in the process of belief propagation. existing belief network-based systems thus provide no control mechanism and let their users make decisions at every stage in the process of evidence gathering and belief propagation. however, for any real world expert system with large complex belief network, it is important to have efficient control of the inference procedure.  in this paper we describe a novel expert system shell that incorporates a general inference control mechanism for efficient belief propagation in belief networks. the control knowledge supplied by domain experts is encoded in some action rules. with these action rules, the system can effectively direct the inference procedure, help the user to gather the most relevant evidence based on the results of previous stages, while the user of the system is still allowed to take the initiative.  shijie wang marco valtorta
geometrical concept learning and convex polytopes  we consider exact identification of geometrical objects over the domain {0,1,…,n 1}d, d≥1 fixed. we give efficient implementations of the general incremental scheme "identify the target concept by constructing its convex hull" for learning convex concepts. this approach is of interest for intersections of half-spaces over the considered domain, as the convex hull of a concept of this type is known to have "few" vertices. in this case we obtain positive results on learning intersections of halfspaces with superset/disjointedness queries, and on learning single halfspaces with membership queries. we believe that the presented paradigm may become important for neural networks with a fixed number of discrete inputs.  tibor hegedus
b-spline surfaces for ship hull design  the use of true sculptured surface descriptions for design applications has been proposed by numerous authors. the actual implementation and use of interactive sculptured surface description techniques for design and production has been limited. the use of such techniques for ship hull design has been even more limited. the present paper describes a preliminary implementation of such a system for the design of ship hulls and for the production of towing tank models using numerical control techniques. the present implementation is based on a cartesian product b-spline surface description. implementation is on an evans and sutherland picture system supported by a pdp-11/45 minicomputer.  the b-spline surface is manipulated by its associated polygonal net. both surface and net are three-dimensional. techniques both good and bad for 3-d picking of a polygon point when the net, its associated surface, and the 3-d picking cue independently exist and can be independently manipulated in three space are presented and discussed.  the shape of a b-spline surface of fixed order is controlled by the location of the polygon net points, the number of multiple points at a particular net point, and the knot vector. frequently multiple points imply multiple knot vectors. practical techniques for controlling and shaping the surface with and without this assumption are discussed and the results illustrated.  experience attained by interactively fitting a single fourth order b-spline surface patch to the forebody half of an actual ship hull described by three dimensional digitized points is discussed and the results illustrated.  david f. rogers steven g. satterfield
smooth patching of refined triangulations  this paper presents a simple algorithm for associating a smooth, low-degree polynomial surface with triangulations whose extraordinary mesh nodes are separated by sufficiently many ordinary, 6-valent mesh nodes. output surfaces are at least tangent continuous and are c2 sufficiently far away from extraordinary mesh nodes; they consist of three-sided bezier patches of degree 4. in particular, the algorithm can be used to skin a mesh generated by a few steps of loop's generalization of three- direction box-spline subdivision.  jorg peters
incremental execution of guarded theories when it comes to building controllers for robots or agents, high-level programming languages like _golog_ and _congolog_ offer a useful compromise between planning-based approaches and low-level robot programming. however, two serious problems typically emerge in practical implementations of these languages: how to evaluate tests in a program efficiently enough in an open-world setting, and how to make appropriate nondeterministic choices while avoiding full lookahead. recent proposals in the literature suggest that one could tackle the first problem by exploiting sensing information, and tackle the second by specifying the amount of lookahead allowed explicitly in the program. in this paper, we combine these two ideas and demonstrate their power by presenting an interpreter, written in prolog, for a variant of _golog_ that is suitable for efficiently operating in open- world setting by exploiting sensing and bounded lookahead. giuseppe de giacomo hector j. levesque sebastian sardiña
hierarchical triangulation for multiresolution surface description  a new hierarchical triangle-based model for representing surfaces over sampled data is proposed, which is based on the subdivision of the surface domain into nested triangulations, called a hierarchical triangulation (ht). the model allows compression of spatial data and representation of a surface at successively finer degrees of resolution. an ht is a collection of triangulations organized in a tree, where each node, except for the root, is a triangulation refining a face belonging to its parent in the hierarchy. we present a topological model for representing an ht, and algorithms for its construction and for the extraction of a triangulation at a given degree of resolution. the surface model, called a hierarchical triangulated surface (hts) is obtained by associating data values with the vertices of triangles, and by defining suitable functions that describe the surface over each triangular patch. we consider an application of a piecewise-linear version of the hts to interpolate topographical data, and we describe a specialized version of the construction algorithm that builds an hts for a terrain starting from a high- resolution rectangular grid of sampled data. finally, we present an algorithm for extracting representations of terrain at variable resolution over the domain.  leila de floriani enrico puppo