I-Ming Chen and Joel W. Burdick Dept. of Mechanical Engineering, Mail Code 104-44, CALTECH, Pasadena, CA 91125 Abstract. A \modular" robotic system consists of standardized joint and link units that can be assembled into a number of di erent kinematic con gurations in order to meet di erent task requirements. Given a predetermined set of modules, this paper considers the problem of nding an \op...

After more than 20 years of research and practice in software con guration management (SCM), constructing consistent con gurations of versioned software products still remains a challenge. This paper focuses on the version models underlying both commercial systems and research prototypes. It provides an overview and classi cation of di erent versioning paradigms. Furthermore, it de nes and rela...

The paper presents the fuzzy self-organising controller (SOC). The original controller con guration is shown and compared to modern model reference adaptive systems. The paper analyses the original con guration, and a novel approximation to the adaptation mechanism is developed. A simulation study in Simulink demonstrates that the SOC is able to stabilise a plant having a long deadtime. The pap...

This paper presents a user model: a computer program which examines the behaviour of a real computer user. The model encompasses four aspects of keyboard use which can present di culties for people with motor disabilities. Where relevant keyboard con® guration options exist, the model chooses appropriate settings for these options. The model bases its recommendations on observation of users ty...

We introduce the notion of expansiveness to characterize a family of robot connguration spaces whose connectivity can be eeectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive connguration spaces has inspired us to develop a new randomized planning algorithm. This algorithm tries to sample only the portion of the connguration space that is relevant to the cur...

Active queue management policies and in particular Random Early Detection RED are being advocated by the Internet Engineering Task Force IETF as additional mechanisms in Internet routers to control congestion and keep network utilization high RED s performance is highly dependent on the settings of its ve control parameters However no rm guidelines exist on con guring RED parameters and the cur...

Supra-threshold spatial integration was studied by testing the saliency of multi Gabor element conngurations in short duration binocular rivalry (dichoptic masking) conditions. Dichoptic presentations allows for a competition between spatially overlapping supra-threshold stimuli that involve non-overlapping receptive elds in the rst stage of visual ltering. Diierent spatial conngurations of Gab...

We present the rst practical, implemented con guration space computation algorithm for a curved planar object translating and rotating amidst stationary obstacles. The bodies are rigid, compact, regular, and bounded by a nite number of rational parametric curve segments. The algorithm represents the three-dimensional con guration space as two-dimensional slices in which the moving object has a ...

We introduce the notion of expansiveness to characterize a family of robot connguration spaces whose connectivity can be eeectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive connguration spaces has inspired us to develop a new randomized planning algorithm. This new algorithm tries to sample only the portion of the connguration space that is relevant to the...

In order to use a model{based approach for describing connguration problems the following types of knowledge have to be represented: the components of which a connguration can consist. Generally the components are collected in a catalog. the allowed/necessary relationships between the components, that deene a valid set of components in a conngura-tion solution. a speciication of the connguratio...