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A primary goal has been to construct visual sensors that can provide general-purpose robots with the same information about their surroundings as we receive from our own visual senses. This system can recognize known three-dimensional objects in ordinary black-and-white images taken from unknown viewpoints, even when parts of the object are undetectable or hidden from view.

A second major goal of computer vision re search is to provide a computational understanding of human vision. The research presented in this book has many implica tions for our understanding of human vision, particularly in the areas of perceptual organization and knowledge-based recogni tion. An attempt has been made to relate each computational result to the relevant areas in the psychology of vision.

Since the material is meant to be accessible to a wide range of inter disciplinary readers, the book is written in plain language and attempts to explain most concepts from the starting position of the non-specialist. Robotic Grasping and Fine Manipulation. Book 6. When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers.


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The arm brings the part near the chuck. The wrist positions the part, giving it the proper orientation to slide in.

After the part is inserted, the wrist and fingers make tiny corrections to ensure that it is correctly seated. Today's robot attempting the same operations is at a grave disadvantage if it has to make all motions with the arm. The following work investigates the use of robotic wrists and hands to help industrial robots perform the fine motions needed in a metal working cell.

Chapters 1 and 2 are an introduction to the field and a review of previous investigations on related subjects. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature. Book 7. State-of-the-art device and process development are presented. This book is intended as a reference for engineers involved in VLSI develop ment who have to solve many device and process problems.

CAD specialists will also find this book useful since it discusses the organization of the simula tion system, and also presents many case studies where the user applies the CAD tools in different situations. This book is also intended as a text or reference for graduate students in the field of integrated circuit fabrication. Major areas of device physics and processing are described and illustrated with Simulations.

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The material in this book is a result of several years of work on the implemen tation of the simulation system, the refinement of physical models in the simulation programs, and the application of the programs to many cases of device developments. The text began as publications in journals and con ference proceedings, as weil as lecture notes for a Hewlett-Packard internal CAD course.

This book consists of two parts.

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Part A presents the organization of the two-dimensional simulation system. Book 8. Parsing Efficiency is crucial when building practical natural language systems. Despite its importance, parsing efficiency has received little attention in the area of natural language processing. In the areas of compiler design and theoretical computer science, on the other hand, parsing algorithms 3 have been evaluated primarily in terms of the theoretical worst case analysis e.

The Springer International Series in Engineering and Computer Science

This book introduces a context-free parsing algorithm that parses natural language more efficiently than any other existing parsing algorithms in practice. Its feasibility for use in practical systems is being proven in its application to Japanese language interface at Carnegie Group Inc. This work was done while I was pursuing a Ph. D degree at Carnegie-Mellon University. My advisers, Herb Simon and Jaime Carbonell, deserve many thanks for their unfailing support, advice and encouragement during my graduate studies. I would like to thank Phil Hayes and Ralph Grishman for their helpful comments and criticism that in many ways improved the quality of this book.

I wish also to thank Steven Brooks for insightful comments on theoretical aspects of the book chapter 4, appendices A, B and C , and Rich Thomason for improving the linguistic part of tile book the very beginning of section 1. Book 9. Routing of VLSI chips is an important, time consuming, and difficult problem. The difficulty of the problem is attributed to the large number of often conflicting factors that affect the routing quality.

Traditional techniques have approached routing by ignoring some of these factors and imposing unnecessary constraints in order to make routing tractable. In addition to the imposition of these restrictions, which simplify the problems to a degree but at the same time reduce the routing quality, traditional approaches use brute force. They often transform the problem into mathematical or graph problems and completely ignore the specific knowledge about the routing task that can greatly help the solution.

This thesis overcomes some of the above problems and presents a system that performs routing close to what human designers do. Universal subgoaling and chunking : the automatic generation and learning of goal hierarchies. Kluwer international series in engineering and computer science. Knowledge, representation, learning, and expert systems.

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