Terrain Coverage with UAVs: Real-Time Search and Geometric Approaches Applied to an Abstract Model of Random Events

The correct and efficient implementation of general real-time applications remains very much an open problem. A key issue is meeting timing constraints whose satisfaction depends on features of the execution platform, in particular its speed. Existing rigorous implementation techniques are applicable to specific classes of systems, for example, with periodic tasks or time-deterministic systems.We present a general model-based implementation method for real-time systems based on the use of two models: •An abstract model representing the behaviour of real-time software as a timed automaton, which describes user-defined platform-independent timing constraints. Its transitions are timeless and correspond to the execution of statements of the real-time software.•A physical model representing the behaviour of the real-time software running on a given platform. It is obtained by assigning execution times to the transitions of the abstract model. A necessary condition for implementability is time-safety, that is, any (timed) execution sequence of the physical model is also an execution sequence of the abstract model. Time-safety simply means that the platform is fast enough to meet the timing requirements. As execution times of actions are not known exactly, time-safety is checked for the worst-case execution times of actions by making an assumption of time-robustness: time-safety is preserved when the speed of the execution platform increases.We show that, as a rule, physical models are not time-robust, and that time-determinism is a sufficient condition for time-robustness. For a given piece of real-time software and an execution platform corresponding to a time-robust model, we define an execution engine that coordinates the execution of the application software so that it meets its timing constraints. Furthermore, in the case of non-robustness, the execution engine can detect violations of time-safety and stop execution.We have implemented the execution engine for BIP programs with real-time constraints and validated the implementation method for two case studies. The experimental results for a module of a robotic application show that the CPU utilisation and the size of the model are reduced compared with existing implementations. The experimental results for an adaptive video encoder also show that a lack of time-robustness may seriously degrade the performance for increasing platform execution speed.

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Assessment of the Influence Caused by Random Events within a Real-Time Strategy Game Engine on a Game Bot Gameplay

10.5176/2251-1679_cgat15.27 ◽

2015 ◽

Author(s):

Damijan Novak ◽

Domen Verber

Keyword(s):

Real Time ◽

Game Engine ◽

Random Events ◽

Strategy Game ◽

Real Time Strategy Game

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Some Recent Results in Quiescent Prominence Spectrometry

International Astronomical Union Colloquium ◽

10.1017/s0252921100065179 ◽

1979 ◽

Vol 44 ◽

pp. 41-47

Author(s):

Donald A. Landman

Keyword(s):

Real Time ◽

Computer System ◽

Spectral Response ◽

Absolute Intensity ◽

Solar Observatory ◽

Target Size ◽

Small Target ◽

Signal Averaging ◽

Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

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Video real-time imaging of artificial membranes during freeze-drying by cryo-electron microscopy

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s042482010010216x ◽

1988 ◽

Vol 46 ◽

pp. 16-17

Author(s):

Alan S. Rudolph ◽

Ronald R. Price

Keyword(s):

Real Time ◽

Self Assembly ◽

Freeze Drying ◽

Video Capture ◽

Drying Process ◽

Artificial Membranes ◽

The Past ◽

Cryo Electron Microscopy ◽

Spherical Structures ◽

Capture Techniques

We have employed cryoelectron microscopy to visualize events that occur during the freeze-drying of artificial membranes by employing real time video capture techniques. Artificial membranes or liposomes which are spherical structures within internal aqueous space are stabilized by water which provides the driving force for spontaneous self-assembly of these structures. Previous assays of damage to these structures which are induced by freeze drying reveal that the two principal deleterious events that occur are 1) fusion of liposomes and 2) leakage of contents trapped within the liposome [1]. In the past the only way to access these events was to examine the liposomes following the dehydration event. This technique allows the event to be monitored in real time as the liposomes destabilize and as water is sublimed at cryo temperatures in the vacuum of the microscope. The method by which liposomes are compromised by freeze-drying are largely unknown. This technique has shown that cryo-protectants such as glycerol and carbohydrates are able to maintain liposomal structure throughout the drying process.

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An Interactive Minicomputer Program for the Indexing and Simulation of Electron Diffraction Patterns

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100092670 ◽

1976 ◽

Vol 34 ◽

pp. 542-543

Author(s):

R.P. Goehner ◽

W.T. Hatfield ◽

Prakash Rao

Keyword(s):

Electron Diffraction ◽

Real Time ◽

Pattern Analysis ◽

Flow Diagram ◽

Hard Copy ◽

Time Analysis ◽

Real Time Analysis ◽

Transmission Electron ◽

One Step ◽

Diffraction Patterns

Computer programs are now available in various laboratories for the indexing and simulation of transmission electron diffraction patterns. Although these programs address themselves to the solution of various aspects of the indexing and simulation process, the ultimate goal is to perform real time diffraction pattern analysis directly off of the imaging screen of the transmission electron microscope. The program to be described in this paper represents one step prior to real time analysis. It involves the combination of two programs, described in an earlier paper(l), into a single program for use on an interactive basis with a minicomputer. In our case, the minicomputer is an INTERDATA 70 equipped with a Tektronix 4010-1 graphical display terminal and hard copy unit.A simplified flow diagram of the combined program, written in Fortran IV, is shown in Figure 1. It consists of two programs INDEX and TEDP which index and simulate electron diffraction patterns respectively. The user has the option of choosing either the indexing or simulating aspects of the combined program.

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Microstructural investigation of surface roughness in MBE-grown AlAs

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100138646 ◽

1995 ◽

Vol 53 ◽

pp. 454-455

Author(s):

R. Rajesh ◽

R. Droopad ◽

C. H. Kuo ◽

R. W. Carpenter ◽

G. N. Maracas

Keyword(s):

Thin Film ◽

Real Time ◽

Growth Control ◽

Native Oxide ◽

Effusion Cell ◽

Surface Oxide Layer ◽

Microstructural Investigation ◽

Mbe Growth ◽

Film Substrate ◽

And Control

Knowledge of material pseudodielectric functions at MBE growth temperatures is essential for achieving in-situ, real time growth control. This allows us to accurately monitor and control thicknesses of the layers during growth. Undesired effusion cell temperature fluctuations during growth can thus be compensated for in real-time by spectroscopic ellipsometry. The accuracy in determining pseudodielectric functions is increased if one does not require applying a structure model to correct for the presence of an unknown surface layer such as a native oxide. Performing these measurements in an MBE reactor on as-grown material gives us this advantage. Thus, a simple three phase model (vacuum/thin film/substrate) can be used to obtain thin film data without uncertainties arising from a surface oxide layer of unknown composition and temperature dependence.In this study, we obtain the pseudodielectric functions of MBE-grown AlAs from growth temperature (650°C) to room temperature (30°C). The profile of the wavelength-dependent function from the ellipsometry data indicated a rough surface after growth of 0.5 μm of AlAs at a substrate temperature of 600°C, which is typical for MBE-growth of GaAs.

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