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— Humanoid soccer serves as benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, e.g., in the RoboCup Humanoid league. As the robots manage the basic skills of walking, kicking, and getting up better, teams can focus on soccer skills and team coordination. The complexity of soccer behaviors and team play… (More)
In this work we describe a new memory management concept which allows the use of both virtual and dynamic memory management at the same time in the context of real-time systems. For a fixed size of the virtual address space, the operations of memory allocation, de-allocation and access have a constant complexity. Therefore our approach is highly suited for… (More)
fest vorgeben ist, kann die Laufzeit somit als (quasi) konstant betrachtet werden.
We present an approach which schedules task sets using scratchpad memory (SPM ) in an embedded multi-task system with realtime constraints. A new task model is introduced, where each task is represented by di erent pre-compiled variants which di er in the amount of scratchpad memory used. A higher use of SPM leads to smaller runtimes of a task. Moreover,… (More)
During the isolation of human parathyroid hormone there is an extensive loss of immuno-assayble hormone over the successive extraction steps, due in part to the presence of fragments that are soluble in 4% trichloroacetic acid. These fragments are derived from both the amino- and carboxyl-terminal regions of the hormone. The hormonal fractions precipitated… (More)