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Publications, Metaphor

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• The Metaphor Project Summary Report: Technology for Analyzing Change and Composing Reusable, Real-Time Components and Applications
  C.L. Hoover and P. Khosla
  tech. report CMU-RI-TR-98-29, Robotics Institute, Carnegie Mellon University, December, 1998. [Abstract]
  Download: pdf [78 KB], ps.gz [226 KB] copyrighted

• Analytical Design of Evolutionary Control Flow Components
  C.L. Hoover and P. Khosla
  Second Workshop on High Assurance Systems Engineering, IEEE Computer Society Press, August, 1997.
  Download: pdf [53 KB], ps.gz [167 KB] copyrighted

• The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, June, 1996, pp. 249-277.
  Download: pdf [103 KB], ps.gz [84 KB] copyrighted

• An Analytical Approach to Change for the Design of Reusable Real-Time Software
  C.L. Hoover and P. Khosla
  Proceedings of the Second Workshop on Object-Oriented Real-Time Dependable Systems, IEEE Computer Society Press, February, 1996, pp. 144-151. [Abstract]
  Download: pdf [33 KB], ps.gz [47 KB] copyrighted

• Measuring the difficulty of assembly tasks from tool access information
  A. Diaz-Calderon, D. Navin-Chandra, and P. Khosla
  IEEE International Symposium on Assembly and Task Planning, August, 1995, pp. 87 - 93. [Abstract]
  Download: pdf [185 KB], ps.gz [192 KB] copyrighted

• The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  D.B. Stewart and P. Khosla
  The First Workshop on Object-Oriented Real-Time Dependable Systems, October, 1994, pp. 46-53. [Abstract]
  Download: pdf [55 KB], ps.gz [51 KB] copyrighted

• Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories
  M.W. Gertz, D.B. Stewart, B. Nelson, and P. Khosla
  Fifth International Symposium on Robotics and Manufacturing, Vol. 5, August, 1994, pp. 493-500.
  Download: pdf [85 KB], ps.gz [109 KB], ps.z [160 KB] copyrighted

• Visual Programming and Program Visualization Techniques for Port-Based Objects
  M. Gertz and P. Khosla
  ANS: 1994 Annual Meeting of the American Nuclear Society, June, 1994.
  Download: pdf [60 KB], ps.gz [85 KB], ps.z [118 KB] copyrighted

• Onika: A Multilevel Human-Machine Interface for Real-Time Sensor-Based Robotics Systems
  M. Gertz and P. Khosla
  ASCE: SPACE 94: The 4th Intternational Conference and Exposition on Engineering, Construction, and Operations in Space, February, 1994.
  Download: pdf [48 KB], ps.gz [43 KB], ps.z [64 KB] copyrighted

• A Human-Machine Interface for Reconfigurable Sensor-Based Control Systems
  M. Gertz, D.B. Stewart, and P. Khosla
  AIAA: Space Programs and Technologies, September, 1993.
  Download: pdf [60 KB], ps.gz [54 KB], ps.z [77 KB] copyrighted

• Design of Dynamically Reconfigurable Real-Time Software using Port-Based Objects
  D.B. Stewart, R.A. Volpe, and P. Khosla
  tech. report CMU-RI-TR-93-11, Robotics Institute, Carnegie Mellon University, July, 1993. [Abstract]
  Download: pdf [1423 KB] copyrighted

• Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993.

• Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems
  D.B. Stewart, R.A. Volpe, and P. Khosla
  International Symposium on Intelligent Robotics, January, 1993.
  Download: pdf [61 KB], ps.gz [51 KB], ps.z [73 KB] copyrighted

• The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295. [Abstract]
  Download: pdf [69 KB], ps.gz [53 KB] copyrighted

• Real-Time Scheduling of Dynamically Reconfigurable Systems
  D.B. Stewart and P. Khosla
  IEEE International Conference on Systems Engineering, August, 1991, pp. 139-142.
  Download: pdf [25 KB], ps.gz [26 KB] copyrighted

• Real-Time Scheduling of Sensor-Based Control Systems
  D.B. Stewart and P. Khosla
  IEEE Workshop on Real-Time Operating Systems and Software (RTOS '91), May, 1991, pp. 144 - 150.
  Download: pdf [26 KB], ps.gz [27 KB] copyrighted

• Implementing Real-Time Robotic Systems Using CHIMERA II
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257. [Abstract]
  Download: pdf [631 KB] copyrighted

• CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control
  D.B. Stewart, D.E. Schmitz, and P. Khosla
  Proceedings of the IEEE International Symposium on Intelligent Control, September, 1989, pp. 265-271. [Abstract]
  Download: pdf [14 KB] copyrighted

• CHIMERA II: A Real-Time UNIX-Compatible Multiprocessor Operating System for Sensor-based Control Applications
  D.B. Stewart, D.E. Schmitz, and P.K. Kousla
  tech. report CMU-RI-TR-89-24, Robotics Institute, Carnegie Mellon University, September, 1989.
  Download: pdf [1352 KB] copyrighted