公开(公告)号：US5046022A

公开(公告)日：1991-09-03

申请号：US166337

申请日：1988-03-10

申请人： Lynn A. Conway ,  Richard A. Volz ,  Michael W. Walker

发明人： Lynn A. Conway ,  Richard A. Volz ,  Michael W. Walker

IPC分类号： B25J9/16 ,  G05B19/427

CPC分类号： B25J9/1689 ,  G05B19/427

摘要： Systems and methods for performing tele-operations with the active assistance and supervision of a cognitive agent, such as a human being, who generates a future path plan in real time for immediate use by an automated on-line controlled agent, such as a work robot or other manipulator, are disclosed. The systems and methods may employ a visual display to present images of the controlled agent, of a foward simulation of the controlled agent, and of the future path plan being generated to enable a human operator to assess and control the on-going activity. The system simultaneously operates the controlled agent and produces the forward simulation and path plan, all under real time conditions. The cognitive agent, display and forward simulation equipment may be at one location and the controlled agent and its controller at another remote location. The forward simulation may be selectively operated in one of three modes: a time-and-position synchronized mode, a position-synchronized, time-desynchronized mode, and a mode where neither time nor position are synchronized with the controlled agent. The desynchronization of time and of position of the forward simulation with respect to the controlled agent is accomplished by use of a time clutch and a position clutch. The forward simulation can also be reversed through the use of a time brake, and the time ratio between the forward simulation time and real time can be adjusted. Finally, a method for transferring active control of functioning autonomously-operated equipment from one cognitive agent to another cognitive agent under real time conditions is disclosed.

摘要翻译： 用于通过自动在线受控代理（例如工作）实时生成未来路径计划的认知代理（例如人）的主动协助和监督来执行远程操作的系统和方法 机器人或其他操纵器。 系统和方法可以使用视觉显示来呈现受控代理的图像，受控代理的模拟仿真以及将来的路径计划，以使得操作者能够评估和控制正在进行的活动。 系统同时操作受控代理，并在实时条件下生成正向仿真和路径规划。 认知代理，显示和正向模拟设备可以在一个位置，受控代理及其控制器在另一个远程位置。 正向模拟可以选择性地以三种模式中的一种操作：时间和位置同步模式，位置同步，时间同步模式以及时间和位置都不与受控代理同步的模式。 通过使用时间离合器和位置离合器来实现正向模拟相对于受控制剂的时间和位置的不同步。 前进仿真也可以通过使用时间制动来反转，并可以调整正向模拟时间与实时之间的时间比。 最后，公开了一种在实时条件下将功能自主操作的设备的主动控制从一个认知代理转移到另一认知代理的方法。

公开(公告)号：US5410685A

公开(公告)日：1995-04-25

申请号：US086224

申请日：1993-07-01

申请人： Venu Prabhakar Banda ,  Richard A. Volz

发明人： Venu Prabhakar Banda ,  Richard A. Volz

IPC分类号： G06F11/36 ,  G06F9/45

CPC分类号： G06F9/3863 ,  G06F11/3636 ,  G06F11/3664 ,  G06F9/3004 ,  G06F9/30043 ,  G06F9/30123

摘要： A non-intrusive method and system for recovering the state of a computer system including a memory having first and second matched levels. The first level is connected to a target processor and the second level is connected to a checkpoint processor which is also connected to the target processor. In an example of the invention, a two phase, non-intrusive method and system for debugging parallel computer programs is provided. The program has checkpoint instructions therein. In the first phase the execution of the program is monitored non-intrusively from a bus connecting the target processor to the first level of memory. A sequence of relevant program instructions is stored in an event table. Upon encountering a checkpoint instruction, the target processor cues the checkpoint processor to initiate a non-intrusive checkpointing strategy utilizing the two-level memory with an E-bit scheme. In the second phase the information collected during the first phase is utilized to replay an identical execution of the program, in a simulated environment. A user, on encountering an error, can back up to a previous checkpoint and replay the program from that state of the computer system.

摘要翻译： 一种用于恢复包括具有第一和第二匹配电平的存储器的计算机系统的状态的非侵入性方法和系统。 第一级连接到目标处理器，第二级连接到还连接到目标处理器的检查点处理器。 在本发明的示例中，提供了一种用于调试并行计算机程序的两相非侵入方法和系统。 程序中有检查点指令。 在第一阶段，从连接目标处理器到第一级存储器的总线，非侵入性地监视程序的执行。 相关程序指令的序列存储在事件表中。 在遇到检查点指令时，目标处理器引导检查点处理器，以利用具有E位方案的两级存储器发起非侵入式检查点策略。 在第二阶段，在第一阶段收集的信息用于在模拟环境中重播程序的相同执行。 遇到错误时，用户可以备份到先前的检查点，并从计算机系统的状态重播程序。