Rapid Prototyping of Parallel Robot Vision Systems Using Virtual Reality and Systems Simulation

小行星9401142 该奖项为建立一个实验室提供支持，该实验室在视觉控制机器人系统的设计中使用两种类型的仿真技术。 第一种类型的模拟技术是模拟感官与物理环境的交互，俗称“虚拟现实”。 虚拟现实可以代替真实的世界进行系统的测试和调试。 第二种是在单个消息和存储器访问级别上对复杂并行算法进行执行驱动的仿真，这可以解决交互进程的性能和低级别实时问题。 所要求的实验设施包括用于在模拟世界中生成场景的硅图形现实（SGI）引擎、用于模拟虚拟世界和控制软件的现有SGI挑战多处理器的升级、用于执行实时中级到高级视觉的计算引擎、用于实时操纵的液压机械臂、用于设备控制和中级视觉的小型多处理器，以及通用工作站。 该提案的重点是开发模拟，以帮助开发真实世界的机器人系统。 要探索的研究课题包括：构建复杂的物理自主系统的原则的发展;虚拟现实模拟的新模式的发展，以及机器人控制算法的模拟和实现。

9401142 LeBlanc This award provides support for the establishment of a laboratory that uses two types of simulation technologies in the design of visually controlled robotics systems. The first type of simulation technology is the simulation of sensory interaction with physical environments, popularly known as "virtual reality". Virtual reality can replace the real world in testing and debugging a system. The second is execution-driven simulation of complex parallel algorithms at the level of individual messages and memory accesses, which can address the performance and low-level real-time problems of interacting processes. The experimental facilities requested include a Silicon Graphics Reality (SGI) Engine for scene generation in the simulated world, an upgrade of an existing SGI Challenge multiprocessor for simulation of the virtual world and control software, a computational engine for performing real-time intermediate to high-level vision, a hydraulic robot arm for real-time manipulation, a small-scale multi-processor for device control and medium-level vision, and general purpose workstations. The focus of the proposal is the development of simulations to aid in the development of real-world robotic systems. Research topics to be explored include the development of principles for constructing complex physical autonomous systems; the development of new modes of simulation for virtual reality, and simulation and implementation of robotic control algorithms.