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Date: Wednesday, 20-Nov-96 20:06:17 GMTServer: NCSA/1.3MIME-version: 1.0Content-type: text/htmlLast-modified: Friday, 24-Feb-95 20:35:44 GMTContent-length: 3831<HTML><HEAD><TITLE> NSF IIP Home Page </TITLE></HEAD><BODY><H1>Rapid Prototypingof Parallel Robot Vision SystemsUsing Virtual Reality and Systems Simulation </H1><H2> An NSF Institutional Infrastructure Grant (No. CDA-94-01142) </H2><H2> Principal Investigators </H2><UL><LI><!WA0><A HREF="http://www/users/faculty/leblanc/home.html"> Thomas J. LeBlanc</A><LI><!WA1><A HREF="http://www/users/faculty/scott/home.html"> Michael L. Scott</A><LI><!WA2><A HREF="http://www/users/faculty/ballard/home.html"> Dana H. Ballard</A><LI><!WA3><A HREF="http://www/users/faculty/nelson/home.html"> Randal C. Nelson</A><LI><!WA4><A HREF="http://www/users/faculty/brown/home.html"> Christopher M. Brown</A>.</UL><H2> The Idea </H2><P><!WA5><IMG SRC= "http://www/users/faculty/brown/IIP/IIPidea.gif"><P><H2> Summary </H2><P>The emerging behavioral and active vision paradigms hold thatmachines that work inthe real world must be built and tested in the real world, and thatreal-world interaction is necessary for perception.Until recently there has beenno practical alternative to building hardware inorder to test ideas.Unfortunately,working with sophisticated physical manipulators or navigatorsis an extremely expensive,time-consuming, and sometimes hazardous process.Recent advances in simulationtechnology in two specific areas have crossed a threshold, enablingus to solve this problem, and to achieve enormousspeedup in the design of complex, real-world robotic systems.<P>The first technology is the simulation of sensory interaction with physicalenvironments (popularly known as <!WA6><A HREF="http://www/users/faculty/brown/IIP/VR.html">virtual reality</A>),which can replacethe real world in testing and debugging a system.The second is <!WA7><A HREF="http://www/users/faculty/brown/IIP/Mint.html">execution-driven simulation</A>of complex parallel algorithmsat the level of individual messages and memory accesses,which can address the performance andlow-level real-time problems of interacting processes.<P> With NSF Funding, we are equipping a laboratory thatbreaks logically into two halves.One half of the lab,the <!WA8><A HREF="http://www/users/faculty/brown/lab.html">robotics laboratory</A>, is for building working systems in the real world.The other half, the <!WA9><A HREF="http://www/users/faculty/brown/IIP/VRlab.html">virtual reality laboratory</A>,is for prototyping and experimentationin the virtual world.This hardware and software is configured so that thecomputational engines running the robot control algorithms can beswapped transparently between the real-world devices and the virtual devices.In addition, the virtual-world lab contains hardware and softwarefor simulating and analyzing thecontrol algorithms at a low level,where all the timings and complexities ofinteraction among the various subsystems can beinstrumented and tracked.<HR><P> For more detailed information, including pointers to publications, seethe following.<UL><LI> <!WA10><A HREF="http://www/users/faculty/brown/lab.html"> The Current Laboratory</A><LI> <!WA11><A HREF="http://www/users/faculty/brown/IIP/Schedule.html"> Schedule of Equipment Acquisition </A><LI> <!WA12><A HREF="http://www/users/faculty/brown/IIP/VR.html"> Virtual Reality Simulation </A><LI> <!WA13><A HREF="http://www/users/faculty/brown/IIP/Robots.html"> Real Robotic Systems </A><LI> <!WA14><A HREF="http://www/users/faculty/brown/IIP/Mint.html"> Computer System Simulation </A></UL> <HR><ADDRESS> Chris Brown <!WA15><A HREF="http://www.cs.rochester.edu/users/faculty/brown/home.html"> <brown> </A> </ADDRESS><P><!WA16><A HREF="http://www.cs.rochester.edu/users/faculty/brown/home.html"><!WA17><IMG ALIGN=TOP SRC="http://www.cs.rochester.edu/images/up.gif">Back to Brown's Home Page</A><P><!WA18><A HREF="http://www.cs.rochester.edu/users/faculty.html"><!WA19><A HREF="http://www.cs.rochester.edu/urcs.html"> <!WA20><IMG ALIGN=TOP SRC="http://www.cs.rochester.edu/images/home.gif">Back to URCS Home Page</A><P></BODY></HTML>⌨️ 快捷键说明
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