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Metaphor
This project is no longer active.
Head: Pradeep Khosla
Contact: Carol L. Hoover
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Project Homepage
Publications
  • The Metaphor Project Summary Report: Technology for Analyzing Change and Composing Reusable, Real-Time Components and Applications

    Carol L. Hoover and Pradeep Khosla
    tech. report CMU-RI-TR-98-29, Robotics Institute, Carnegie Mellon University, December, 1998
    Details | pdf (78KB) | Copyrighted

  • Analytical Design of Evolutionary Control Flow Components

    Carol L. Hoover and Pradeep Khosla
    Second Workshop on High Assurance Systems Engineering, August, 1997.
    Details | pdf (54KB) | Copyrighted

  • The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects

    David B. Stewart and Pradeep Khosla
    International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, July, 1996, pp. 249-277.
    Details | pdf (103KB) | Copyrighted

  • An Analytical Approach to Change for the Design of Reusable Real-Time Software

    Carol L. Hoover and Pradeep Khosla
    Proceedings of the Second Workshop on Object-Oriented Real-Time Dependable Systems, March, 1996, pp. 144-151.
    Details | pdf (33KB) | Copyrighted

  • Measuring the difficulty of assembly tasks from tool access information

    Antonio Diaz-Calderon, Dundee Navin-Chandra, and Pradeep Khosla
    IEEE International Symposium on Assembly and Task Planning, August, 1995, pp. 87 - 93.
    Details | pdf (186KB) | Copyrighted

  • Using Hypermedia and Reconfigurable Software Assembly to Support Virtual Laboratories and Factories

    M.W. Gertz, D.B. Stewart, Bradley Nelson, and Pradeep Khosla
    Fifth International Symposium on Robotics and Manufacturing, August, 1994, pp. 493-500.
    Details | pdf (85KB) | Copyrighted

  • Visual Programming and Program Visualization Techniques for Port-Based Objects

    M. Gertz and Pradeep Khosla
    ANS: 1994 Annual Meeting of the American Nuclear Society, July, 1994.
    Details | pdf (60KB) | Copyrighted

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

    M. Gertz and Pradeep Khosla
    ASCE: SPACE 94: The 4th Intternational Conference and Exposition on Engineering, Construction, and Operations in Space, March, 1994.
    Details | pdf (48KB) | Copyrighted

  • The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects

    David B. Stewart and Pradeep Khosla
    The First Workshop on Object-Oriented Real-Time Dependable Systems, October, 1994, pp. 46-53.
    Details | pdf (55KB) | Copyrighted

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

    M. Gertz, D. B. Stewart, and Pradeep Khosla
    AIAA: Space Programs and Technologies, October, 1993.
    Details | pdf (60KB) | Copyrighted

  • Design of Dynamically Reconfigurable Real-Time Software using Port-Based Objects

    David B. Stewart, Richard A. Volpe, and Pradeep Khosla
    tech. report CMU-RI-TR-93-11, Robotics Institute, Carnegie Mellon University, July, 1993
    Details | pdf (1MB) | Copyrighted

  • Integration of Real-Time Software Modules for Reconfigurable Sensor-Based Control Systems

    David B. Stewart, Richard A. Volpe, and Pradeep Khosla
    International Symposium on Intelligent Robotics, January, 1993.
    Details | pdf (62KB) | Copyrighted

  • Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems

    D. B. Stewart and Pradeep Khosla
    Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993
    Details

  • The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295.
    Details | pdf (69KB) | Copyrighted

  • Real-Time Scheduling of Dynamically Reconfigurable Systems

    David B. Stewart and Pradeep Khosla
    IEEE International Conference on Systems Engineering, August, 1991, pp. 139-142.
    Details | pdf (25KB) | Copyrighted

  • Real-Time Scheduling of Sensor-Based Control Systems

    D. B. Stewart and Pradeep Khosla
    IEEE Workshop on Real-Time Operating Systems and Software (RTOS '91), May, 1991, pp. 144 - 150.
    Details | pdf (27KB) | Copyrighted

  • Implementing Real-Time Robotic Systems Using CHIMERA II

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257.
    Details | pdf (631KB) | 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, October, 1989
    Details | pdf (1MB) | Copyrighted

  • CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    Proceedings of the IEEE International Symposium on Intelligent Control, October, 1989, pp. 265-271.
    Details | pdf (14KB) | Copyrighted