The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibility in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidance in the context of a specified end-effector trajectory as the task description. Such a task definition is a more accurate model for such tasks as spray painting or arc welding. The approach presented here is to determine the required joint angle rates for the manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describing the obstacle avoidance criteria. The decomposition of the solution into a particular and a homogeneous component effectively illustrates the priority of the multiple goals that is exact end-effector control with redundant degrees of freedom maximizing the distance to obstacles. An efficient numerical implementation of the technique permits sufficiently fast cycle times to deal with dynamic environments.

To exploit a heterogeneous computing (HC) environment, an application task may be decomposed into subtasks that have data dependencies. Subtask matching and scheduling consists of assigning subtasks to machines, ordering subtask execution for each machine, and ordering intermachine data transfers. The goal is to achieve the minimal completion time for the task. A heuristic approach based on a genetic algorithm is developed to do matching and scheduling in HC environments. It is assumed that the matcher/scheduler is in control of a dedicated HC suite of machines. The characteristics of this genetic-algorithm-based approach include: separation of the matching and the scheduling representations, independence of the chromosome structure from the details of the communication subsystem, and consideration of overlap among all computations and communications that obey subtask precedence constraints. It is applicable to the static scheduling of production jobs and can be readily used to collectively schedule a set of tasks that are decomposed into subtasks. Some parameters and the selection scheme of the genetic algorithm were chosen experimentally to achieve the best performance. Extensive simulation tests were conducted. For small-sized problems (e.g., a small number of subtasks and a small number of machines), exhaustive searches were used to verify that this genetic-algorithm-based approach found the optimal solutions. Simulation results for larger-sized problems showed that this genetic-algorithm-based approach outperformed two nonevolutionary heuristics and a random Search.

Parallel and distributed systems may operate in an environment that undergoes unpredictable changes causing certain system performance features to degrade. Such systems need robustness to guarantee limited degradation despite fluctuations in the behavior of its component parts or environment. This research investigates the robustness of an allocation of resources to tasks in parallel and distributed systems. The main contributions of this paper are 1) a mathematical description of a metric for the robustness of a resource allocation with respect to desired system performance features against multiple perturbations in multiple system and environmental conditions, and 2) a procedure for deriving a robustness metric for an arbitrary system. For illustration, this procedure is employed to derive robustness metrics for three example distributed systems. Such a metric can help researchers evaluate a given resource allocation for robustness against uncertainties in specified perturbation parameters.

We present a computationally efficient algorithm for the eigenspace decomposition of correlated images. Our approach is motivated by the fact that for a planar rotation of a twodimensional image, analytical expressions can be given for the eigendecomposition, based on the theory of circulant matrices. These analytical expressions turn out to be good first approximations of the eigendecomposition, even for three-dimensional objects rotated about a single axis. We use this observation to automatically determine the dimension of the subspace required to represent an image with a guaranteed user-specified accuracy, as well as to quickly compute a basis for the subspace. Examples show that -the algorithm performs very well on a range of test images composed of three-dimensional objects rotated about a single axis.

Abstract