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Dive into the research topics where Matthew W. Gertz is active.

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Featured researches published by Matthew W. Gertz.


IEEE Robotics & Automation Magazine | 1994

A human machine interface for distributed virtual laboratories

Matthew W. Gertz; David B. Stewart; Pradeep K. Khosla

To support a distributed virtual laboratory, the Department of Electrical and Computer Engineering at Carnegie Mellon University has developed Onika, an ironically programmed human machine interface with hypermedia capabilities. Onika can retrieve reconfigurable real-time software modules from remote sites via the Internet or World Wide Web and integrate these modules with locally developed modules. Developers can then use Onika to assemble the resulting reusable code into applications in order to control both local and remote robotic systems.<<ETX>>


international symposium on intelligent control | 1993

A software architecture-based human-machine interface for reconfigurable sensor-based control systems

Matthew W. Gertz; David B. Stewart; Pradeep K. Khosla

The authors report on Onika, an iconically programmed human-machine interface, to interact with a reconfigurable software framework to create a reusable code. Onika presents appropriate work environments for both application engineers and end-users. For engineers, icons representing real-time software modules can be combined to form real-time jobs. For the end-user, icons representing these jobs are assembled by the user into applications. Onika verifies that all jobs and applications are syntactically correct, non-ambiguous, and complete. They can then be executed from within Onika, or can be saved as a stand-alone program which can be executed independently on the underlying real-time operating system. Onika has been fully integrated with the Chimera real-time operating system in order to control several different robotic systems in the Advanced Manipulators Laboratory at Carnegie Mellon University.<<ETX>>


intelligent robots and systems | 1991

Exploiting redundancy to reduce impact force

Matthew W. Gertz; Jin-Oh Kim; Pradeep K. Khosla

This paper presents two strategies for reducing the impact force resulting from the collision of a kinematically redundant manipulator with its environment, where it is assumed that the impact event has some finite duration. The first, animpact control strategy, involves adding torques to the joints of the redundant manipulator to impede motion into the environment with which it is colliding. The second, animpact planning strategy, involves choosing the configuration best suited for minimizing the impact force from an impact event, the approximate location of which is known ahead of time. Simulated results from both strategies are presented and discussed, and it is shown that both are successful in minimizing the impact force resulting from planned and unplanned collisions.


Intelligent Automation and Soft Computing | 1995

Visual Programming and Hypermedia Implementation within a Distributed Laboratory Environment

Matthew W. Gertz; Roy A. Maxion; Pradeep K. Khosla

ABSTRACTRecent developments in reusable and reconfigurable real-time software make it possible to create distributed laboratories wherein applications for a sensor-based system located at a particular location can be created by assembling software modules designed at other sites, and executed in combination upon a robotic system at yet another site. Ultimately, such systems will lead to the development of virtual factories, wherein assembly can be performed remotely, using network-accessible time-shared facilities, from sites which otherwise would lack the necessary resources to accomplish such tasks. The benefits of these distributed laboratories and factories can be greatly enhanced by using hypermedia mechanisms. We have developed Onika, an iconically programmed human-machine interface with hypermedia capabilities, which interacts with reconfigurable software to assemble reusable code into applications. Onika can retrieve and use software modules created at other sites via hyperlinks, integrating them ...


Space Programs and Technologies Conference and Exhibit | 1993

A Human-Machine Interface for Reconfigurable Sensor-Based Control Systems

Matthew W. Gertz; David B. Stewart; Pradeep K. Khosla

The development of software for dynamically reconfigurable sensor-based control systems is a complicated and tedious process, requiring specialization in real-time systems programming and an amount of time which may not be available, for instance, in a space laboratory. The total development time can be reduced by automatically integrating reusable software modules to create applications. The integration of these modules can be further simplified by the use of a high-level programming interface which can integrate modules developed at different sites. We have developed Onika, an iconically programmed human-machine interface, to interact with a reconfigurable software framework to create reusable code. Onika presents appropriate work environments for both application engineers and endusers. For engineers, icons representing real-time software modules can be combined to form real-time jobs. For the end-user, icons representing these jobs are assembled by the user into applications. Onika verifies that all jobs and applications are syntactically correct, non-ambiguous, and complete. They can then be executed from within Onika, or can be saved as a stand-alone program which can be executed independently on the underlying real-time operating system. Onika can retrieve and use software modules created at other sites with modules created locally. While Onika has been fully integrated with the Chimera real-time operating system in order to control several different robotic systems in the Advanced Manipulators Laboratory at Carnegie Mellon University, it can also function independently of Chimera. Onika will be used in connection with NASA Langley Research Center’s Intravehicular Autonomous Robot (IVAR) space manipulator laboratory.


Archive | 1994

USING HYPERMEDIA AND RECONFIGURABLE SOFTWARE ASSEMBLY TO SUPPORT VIRTUAL LABORATORIES AND FACTORIES

Matthew W. Gertz; David B. Stewart; Bradley J. Nelson; Pradeep K. Khosla


Archive | 1994

A Human-Machine Interface to Support Reconfigurable Software Assembly for Virtual Laboratories

Matthew W. Gertz; David B. Stewart; Pradeep K. Khosla


Archive | 1994

Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Robotics Systems

Matthew W. Gertz; Pradeep K. Khosla


Archive | 1994

Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Systems

Matthew W. Gertz; Pradeep K. Khosla


Archive | 1994

Software Assembly for Real Time Applications Based on a Distributed Shared Memory Model

David B. Stewart; Matthew W. Gertz; Pradeep K. Khosla

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Pradeep K. Khosla

Carnegie Mellon University

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Jin-Oh Kim

Carnegie Mellon University

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