Abstract: A method of optimising a service rate of a buffer in a computer system having memory stores of first and second type is described. The method selectively services the buffer by routing data to each of the memory store of the first type and the second type based on read/write capacity of the memory store of the first type.

Abstract: A method of optimising a service rate of a buffer in a computer system having memory stores of first and second type is described. The method selectively services the buffer by routing data to each of the memory store of the first type and the second type based on read/write capacity of the memory store of the first type.

Abstract: A method of optimising a service rate of a buffer in a computer system having memory stores of first and second type is described. The method selectively services the buffer by routing data to each of the memory store of the first type and the second type based on read/write capacity of the memory store of the first type.

Abstract: A method of optimising a service rate of a buffer in a computer system having memory stores of first and second type is described. The method selectively services the buffer by routing data to each of the memory store of the first type and the second type based on read/write capacity of the memory store of the first type.

Abstract: A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term T?1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.

Abstract: A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term T?1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.