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A Colony Architecture for an Artificial Creature
(1989-09-01)
This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a ...
Three-Dimensional Motion Estimation Using Shading Information in Multiple Frames
(1989-09-01)
A new formulation for recovering the structure and motion parameters of a moving patch using both motion and shading information is presented. It is based on a new differential constraint equation (FICE) that links the ...
Derivation of an Efficient Rule System Pattern Matcher
(1989-02-01)
Formalizing algorithm derivations is a necessary prerequisite for developing automated algorithm design systems. This report describes a derivation of an algorithm for incrementally matching conjunctive patterns against ...
Principles of Knowledge Representation and Reasoning in the FRAPPE System
(MIT Artificial Intelligence Laboratory, 1989-05)
The purpose of this paper is to elucidate the following four important architectural principles of knowledge representation and reasoning with the example of an implemented system: limited reasoning, truth maintenance, ...
Further Evidence Against the Recovery Theory of Vision
(MIT Artificial Intelligence Laboratory, 1989-02)
The problem of three-dimensional vision is generally formulated as the problem of recovering the three-dimensional scene that caused the image.
We have previously presented a certain line-drawing and shown that it has the ...
A Program Design Assistant
(MIT Artificial Intelligence Laboratory, 1989-06)
The DA will be a design assistant which can assist the programmer in low-level design. The input language of the DA is a cliché-based program description language that allows the specification and high-level design of ...
A Theory of Quantitative Inference Applied to a Mechanical Design Compiler
(1989-01-01)
This thesis presents the ideas underlying a computer program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, and returns catalog numbers ...
Performance Evaluation of the Scheme 86 and HP Precision Architecture
(1989-04-01)
The Scheme86 and the HP Precision Architectures represent different trends in computer processor design. The former uses wide micro-instructions, parallel hardware, and a low latency memory interface. The latter ...
A Compilation Strategy for Numerical Programs Based on Partial Evaluation
(1989-02-01)
This work demonstrates how partial evaluation can be put to practical use in the domain of high-performance numerical computation. I have developed a technique for performing partial evaluation by using placeholders ...
Design and Implementation of a Flexible Robot
(1989-08-01)
This robot has low natural frequencies of vibration. Insights into the problems of designing joint and link flexibility are discussed. The robot has three flexible rotary actuators and two flexible, interchangeable ...