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Browsing AI Technical Reports (1964 - 2004) by Title

Research and Teaching Output of the MIT Community

Browsing AI Technical Reports (1964 - 2004) by Title

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  • Morrell, John Bryant (1996-01-01)
    This thesis presents a new actuator system consisting of a micro-actuator and a macro-actuator coupled in parallel via a compliant transmission. The system is called the Parallel Coupled Micro-Macro Actuator, or PaCMMA. ...
  • Minsky, Henry (1991-03-01)
    This thesis describes the design and implementation of an integrated circuit and associated packaging to be used as the building block for the data routing network of a large scale shared memory multiprocessor system. ...
  • Lathrop, Richard D. (1984-12-01)
    This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the swing phase) given ...
  • Surati, Rajeev (1993-07-01)
    We constructed a parallelizing compiler that utilizes partial evaluation to achieve efficient parallel object code from very high-level data independent source programs. On several important scientific applications, ...
  • Pollard, Nancy S. (1994-01-01)
    This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to ...
  • Smoliar, Stephen W. (1971-09-01)
    Euterpe is a real-time computer system for the modeling of musical structures. It provides a formalism wherein familiar concepts of musical analysis may be readily expressed. This is verified by its application to the ...
  • Hung, Elmer S. (1995-04-01)
    This report examines how to estimate the parameters of a chaotic system given noisy observations of the state behavior of the system. Investigating parameter estimation for chaotic systems is interesting because of ...
  • Greiner, Helen (1990-05-01)
    This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a ...
  • Playter, Robert (1995-03-01)
    The control of aerial gymnastic maneuvers is challenging because these maneuvers frequently involve complex rotational motion and because the performer has limited control of the maneuver during flight. A performer can ...
  • Wu, Henry M. (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 ...
  • Thompson, Bruce R. (1990-05-01)
    This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: ...
  • Wills, Donald Scott (1990-05-01)
    This thesis defines Pi, a parallel architecture interface that separates model and machine issues, allowing them to be addressed independently. This provides greater flexibility for both the model and machine builder. ...
  • Flynn, Anita M. (1995-06-01)
    This report describes development of micro-fabricated piezoelectric ultrasonic motors and bulk-ceramic piezoelectric ultrasonic motors. Ultrasonic motors offer the advantage of low speed, high torque operation without ...
  • Teitelman, Warren (1966-09-01)
    PILOT is a programming system constructed in LISP. It is designed to facilitate the development of programs by easing the familiar sequence: write some code, run the program, make some changes, write some more code, ...
  • Buckley, Stephen J. (1987-01-01)
    This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...
  • Chapman, David (1985-11-01)
    The problem of achieving conjunctive goals has been central to domain independent planning research; the nonlinear constraint-posting approach has been most successful. Previous planners of this type have been comlicated, ...
  • Fahlman, Scott E. (1973-05-01)
    This paper describes BUILD, a computer program which generates plans for building specified structures out of simple objects such as toy blocks. A powerful heuristic control structure enables BUILD to use a number of ...
  • Siegel, David M. (1991-05-01)
    This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information ...
  • Beymer, David (1996-03-28)
    The problem of automatic face recognition is to visually identify a person in an input image. This task is performed by matching the input face against the faces of known people in a database of faces. Most existing ...
  • Ucko, Aaron Mark (2001-05-01)
    I have added support for predicate dispatching, a powerful generalization of other dispatching mechanisms, to the Common Lisp Object System (CLOS). To demonstrate its utility, I used predicate dispatching to enhance Weyl, ...
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