Executive Summary Improved system quality is often cited as a benefit of software reuse, but little work has been done to quantify this benefit. The software component certification strategy presented in this report is a framework for such a quantification. The main idea behind component certification can be stated quite simply: Having guaranteed that a specific set of quality guidelines have b...

| Underlying recognition is an organization of objects and their parts into classes and hierarchies. A representation of parts for recognition requires that they be invariant to rigid transformations, robust in the presence of occlusions, stable with changes in viewing geometry, and be arranged in a hierarchy. These constraints are captured in a general framework using notions of a part-line an...

Visual Attributes are properties observable in images that have human-designated names ( e.g., smiling, natural) and they are valuable as a new semantic cue in various vision problems like facial verification, object recognition, generating description of unfamiliar objects and to facilitate zero shot transfer learning etc. While most of the work on attributes focuses on binary attributes (indi...

A 2-axis force/torque sensor has been designed for contact sensing and the localization of 2-D curved shapes. The sensor is an aluminum piece attached with two “chip sensors”, each a half-bridge circuit consisting of two strain gauges. It functions like a “wrist” which uses the two chip sensors to detect bending and twisting moments, respectively. When an external force is exerted on a jaw moun...

We consider a spare parts stock point that serves an installed base of machines. Each machine contains the same critical component, whose degradation behavior is described by a Markov process. We consider condition based spare parts supply, and show that an optimal, condition based inventory policy is 20% more efficient on average than a standard, state-independent base stock policy. We further...

A simple gripper with two vertical cylindrical jaws can make contact with external or internal concavities in polygonal and polyhedral parts to align and grip parts in form closure. Such grippers are inexpensive, lightweight, and their small footprint facilitates access and insertion for industrial applications. We refer to this as a v-grip. We begin by defining 2D v-grips, where a pair of fric...

Human perception of shape is based on visual parts of objects to a point that a single, significant visual part is sufficient to recognize the whole object. For example, if you see a hand in the door, you expect a human behind the door. Therefore, a cognitively motivated shape similarity measure for recognition applications should be based on visual parts. This cognitive assumption leads to two...

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