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Browsing Computer Science and Artificial Intelligence Lab (CSAIL) by Title

Research and Teaching Output of the MIT Community

Browsing Computer Science and Artificial Intelligence Lab (CSAIL) by Title

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  • Hollerbach, John M. (1983-01-01)
    A fundamental time-scaling property of manipulator dynamics has been identified that allows modification of movement speed without complete dynamics recalculation. By exploiting this property, it can be determined ...
  • Horn, Berthold K.P.; Hirokawa, Ken-Ichi; Vazirani, Vijay (1977-10-01)
    In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. Here we present an analysis of a detailed model of a three-link ...
  • Horn, Berthold K.P. (MIT Artificial Intelligence Laboratory, 1977-10)
    In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. Here we present an analysis of a detailed model of a three-link device ...
  • Hillis, D. (MIT Artificial Intelligence Laboratory, 1983-01)
    We have developed an efficient Lagrangian formulation of manipulators with small numbers of degrees of freedom. The efficiency derives from the lack of velocities, accelerations, and generalized forces. The number of ...
  • Agre, Philip E. (1988-10-01)
    Computational theories of action have generally understood the organized nature of human activity through the construction and execution of plans. By consigning the phenomena of contingency and improvisation to ...
  • Spoerri, Anselm (1990-05-01)
    This thesis shows how to detect boundaries on the basis of motion information alone. The detection is performed in two stages: (i) the local estimation of motion discontinuities and of the visual flowsfield; (ii) the ...
  • Marr, D. (1975-12-01)
    The article describes a symbolic approach to visual information processing, and sets out four principles that appear to govern the design of complex symbolic information processing systems. A computational theory of ...
  • Sezgin, Tevfik Metin; Davis, Randall (2004-07-28)
    Freehand sketching is a natural and crucial part of everyday humaninteraction, yet is almost totally unsupported by current user interfaces. With the increasing availability of tablet notebooks and pen based PDAs, sketchbased ...
  • Pacheo, Carlos; Ernst, Michael D. (2004-10-14)
    This paper describes a technique that helps a test engineerselect, from a large set of randomly generated testinputs, a small subset likely to reveal faults in the softwareunder test. The technique takes a program or ...
  • Desai, Ujjaval Y.; Mizuki, Marcelo M.; Masaki, Ichiro; Horn, Berthold K.P. (1996-11-01)
    In this paper, we present a static image compression algorithm for very low bit rate applications. The algorithm reduces spatial redundancy present in images by extracting and encoding edge and mean information. Since ...
  • Hildreth, Ellen C. (1985-09-01)
    The goal of vision is to recover physical properties of objects in a scene, such as the location of object boundaries and the structure, color, and texture of object surfaces, from the two-dimensional image that is ...
  • Grimson, W. Eric L. (1990-04-01)
    Many current recognition systems use constrained search to locate objects in cluttered environments. Previous formal analysis has shown that the expected amount of search is quadratic in the number of model and data features, ...
  • Townsend, William T. (William Thomas) (1988-04-01)
    Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties ...
  • Fischer, Michael J. (1972-04-01)
    This paper was first presented at the Symposium on Complexity of Computer Computations, IBM Thomas J. Watson Research Center, Yorktown Heights, New York, on March 22, 1972. The equivalence problem is to determine the ...
  • Psota, James; Agarwal, Anant; Miller, Jason; Beckmann, Nathan; Kurian, George (2010-02-11)
    Ever since industry has turned to parallelism instead of frequency scaling to improve processor performance, multicore processors have continued to scale to larger and larger numbers of cores. Some believe that multicores ...
  • Breuel, Thomas M. (1990-10-01)
    A polynomial time algorithm (pruned correspondence search, PCS) with good average case performance for solving a wide class of geometric maximal matching problems, including the problem of recognizing 3D objects from ...
  • Grauman, Kristen; Darrell, Trevor (2004-11-22)
    Sets of local features that are invariant to common image transformations are an effective representation to use when comparing images; current methods typically judge feature sets' similarity via a voting scheme (which ...
  • Salakhutdinov, Ruslan; Hinton, Geoffrey (2010-08-04)
    We present a new learning algorithm for Boltzmann Machines that contain many layers of hidden variables. Data-dependent statistics are estimated using a variational approximation that tends to focus on a single mode, and ...
  • Levin, Anat; Weiss, Yair; Durand, Fredo; Freeman, William T. (2011-04-04)
    In blind deconvolution one aims to estimate from an input blurred image y a sharp image x and an unknown blur kernel k. Recent research shows that a key to success is to consider the overall shape of the posterior distribution ...
  • Ono, Masahiro; Williams, Brian C. (2008-03-06)
    When controlling dynamic systems such as mobile robots in uncertain environments, there is a trade off between risk and reward. For example, a race car can turn a corner faster by taking a more challenging path. This paper ...
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