This paper proposes the use of electric field sensors to implement "pretouch" for robotic grasping. Weakly electric fish use this perceptual channel, but it has not received much attention in robotics. This paper describes a series of manipulators each of which incorporates electric field sensors in a different fashion. In each case, the paper presents techniques for using the sensors, and experimental data collected. First, a simple dynamic-object avoidance technique is presented. Next, a 1-D alignment task for grasping is described. Then linear and rotary electrode scanning techniques are presented. It is shown that these techniques can distinguish a small object at close range from a large object farther away, a capability that may be important for grasping.

An approach to scheduling in high-level synthesis that meets timing constraints while attempting to minimize hardware resource costs is described. The approach is based on a modified control/data-flow graph (CDFG) representation called SALSA. SALSA provides a simple move set that allows alternative schedules to be quickly explored while maintaining timing constraints. It is shown that this move set is complete in that any legal schedule can be reached using some sequence of move applications. In addition, SALSA provides support for scheduling with conditionals, loops, and subroutines. Scheduling with SALSA is performed in two steps. First, an initial schedule that meets timing constraints is generated using a constraint solution algorithm adapted from layout compaction. Second, the schedule is improved using the SALSA move set under control of a simulated annealing algorithm. Results show the scheduler's ability to find good schedules which meet timing constraints in reasonable execution times.>

First, an initial schedule that satisfies all timing constraints is generated using algorithms adapted from layout compaction. This schedule is then improved with respect to resource usage using simulated annealing. SALSA provides for efficient exploration of alternative schedules while supporting timing constraints, conditionals, loops, and subroutines. The SALSA scheduling procedure is described in detail. An implementation of the approach shows promising results.>