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PASCAL-XSC
This manual describes a PASCAL extension for scientific computation with the short title PASCAL-XSC (PASCAL eXtension for Scientific Computation). The language is the result of a long term effort of members of the Institute for Applied Mathematics of Karlsruhe University and several associated scientists. PASCAL XSC is intended to make the computer more powerful arithmetically than usual. It makes the computer look like a vector processor to the programmer by providing the vector/matrix operations in a natural form with array data types and the usual operator symbols. Programming of algorithms is thus brought considerably closer to the usual mathematical notation. As an additional feature in...
Real-time Biomechanical Modeling for Intraoperative Soft Tissue Registration
Computer assisted surgery systems intraoperatively support the surgeon by providing information on the location of hidden risk and target structures during surgery. However, soft tissue deformations make intraoperative registration (and thus intraoperative navigation) difficult. In this work, a novel, biomechanics based approach for real-time soft tissue registration from sparse intraoperative sensor data such as stereo endoscopic images is presented to overcome this problem.
Situation Interpretation for Knowledge- and Model Based Laparoscopic Surgery
To manage the influx of information into surgical practice, new man-machine interaction methods are necessary to prevent information overflow. This work presents an approach to automatically segment surgeries into phases and select the most appropriate pieces of information for the current situation. This way, assistance systems can adopt themselves to the needs of the surgeon and not the other way around.
Visual Perception for Humanoid Robots
This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topic...
Theory and Numerics of Ordinary and Partial Differential Equations
This book surveys the most recent research in six key areas related to numerical solutions of differential equations. It covers guaranteed error bounds for ordinary differential equations; an introduction to computational methods for differential equations; numerical solution of differential-algebraic equations, boundary element methods; and perturbation theory for infinite dimensional dynamical systems. It draws together a method that is currently only available in journals, introducing the reader to important current research. This book is written at a level for graduate students and researchers in computational mathematics and in application areas in physics and engineering.
A Contribution to Resource-Aware Architectures for Humanoid Robots
The goal of this work is to provide building blocks for resource-aware robot architectures. The topic of these blocks are data-driven generation of context-sensitive resource models, prediction of future resource utilizations, and resource-aware computer vision and motion planning algorithms. The implementation of these algorithms is based on resource-aware concepts and methodologies originating from the Transregional Collaborative Research Center ""Invasive Computing"" (SFB/TR 89).
Whole-Body Affordances for Humanoid Robots: A Computational Approach
The goal of this work is the development of a novel computational formalization of whole-body affordances which is suitable for the multimodal detection and validation of interaction possibilities in unknown environments. The hierarchical framework allows the consistent fusion of affordance-related evidence and can be utilized for realizing shared autonomous control of humanoid robots. The affordance formalization is evaluated in several experiments in simulation and on real humanoid robots.
ICIAM 91
Proceedings -- Computer Arithmetic, Algebra, OOP.
IMACS '91
None
