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Proceedings. IEEE International Symposium on Intelligent Control 1989

25-26 Sept. 1989

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  • Proceedings. IEEE International Symposium on Intelligent Control 1989 (Cat. No.89TH0282-4)

    Publication Year: 1989
    Request permission for commercial reuse | PDF file iconPDF (34 KB)
    Freely Available from IEEE
  • Back-propagation neural network for nonlinear self-tuning adaptive control

    Publication Year: 1989, Page(s):274 - 279
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    A backpropagation neural network is applied to a nonlinear self-tuning tracking problem. Traditional self-tuning adaptive control techniques can only deal with linear systems or some special nonlinear systems. The emerging backpropagation neural networks have the capability to learn arbitrary nonlinearity and show great potential for adaptive control applications. A scheme for combining backpropag... View full abstract»

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  • Dynamic modeling and control of nonlinear processes using neural network techniques

    Publication Year: 1989, Page(s):280 - 286
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    An adaptive network architecture of nonlinear elements and delay lines is proposed, which can be taught to model the time responses of a nonlinear, multivariable system. The structure has been applied to the modeling and control of a highly coupled multivariable process, namely, gas tungsten arc (GTA) welding. The authors present the architecture, learning algorithm, and experiments which showed t... View full abstract»

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  • Application of AI to real-time intelligent attitude control of spacecraft

    Publication Year: 1989, Page(s):287 - 292
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    Modern spacecraft demand from an attitude control system very high performance and accuracy, and many new features, such as self-modification, adaptability, more autonomy, and fault tolerance. It is noted that artificial intelligence and knowledge-based system techniques can be applied to spacecraft attitude control to meet the demanding requirements and to provide many new features. The author di... View full abstract»

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  • An intelligent control system

    Publication Year: 1989, Page(s):194 - 199
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    The authors describe an intelligent control system that combines mathematical control theory and artificial intelligence (AI) technology. A controlled reasoning paradigm is proposed to carry out such an integration. An advanced (AI) control architecture, called Schemer, is described that can support such a paradigm. Schemer embodies a computational model of problem-solving `agents' that react to, ... View full abstract»

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  • Strategies for biped gymnastics

    Publication Year: 1989, Page(s):433 - 437
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    The author studies the dynamics of a planar cat. He then proposes a few strategies that a cat can use to perform a forward or backward somersault View full abstract»

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  • A stereo system for 3-D measurements in robot workspaces

    Publication Year: 1989, Page(s):293 - 298
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The authors describe a stereo system for robot vision applications. The geometry of the system is designed to make use of a simple and efficient camera calibration procedure that requires only three world points of known coordinates. The system introduces new variables that relate the output digital image directly to the viewed 3-D object. In addition, it combines the advantages of the area based ... View full abstract»

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  • An intelligent controller based on approximate reasoning and reinforcement learning

    Publication Year: 1989, Page(s):200 - 205
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The authors introduce a novel method for designing AI (artificial intelligence)-based controllers using approximate reasoning and reinforcement learning. The approach uses linguistic control rules obtained from human expert controllers and a form of reinforcement learning related to the temporal difference method. A major characteristic of the proposed system is its ability to use past experience ... View full abstract»

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  • Quasistatic sliding manipulation-on the transient response of sliding manipulation

    Publication Year: 1989, Page(s):438 - 443
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Analytic models and numerical simulations of transient sliding are presented. The sliding motion of compliant grasps is governed by a first-order time-varying differential equation. The solution of such differential equations is characterized by a study-state and a transient solution. The transient solution is more important because it happens immediately after the sliding motion initiates so that... View full abstract»

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  • Path planning expert system for pipeline inspection robots

    Publication Year: 1989, Page(s):299 - 304
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The authors discuss sensing planning based on system knowledge for pipeline inspection and intelligent control of a maintenance robot. The pipeline inspection robot can carry out inspection tasks to detect the malfunction location autonomously in a plant pipeline system. It can estimate and search failure causes. The path planning system is shown to find the optimal path for the robot from one poi... View full abstract»

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  • Autonomous planning under uncertainty: reset-identification strategies

    Publication Year: 1989, Page(s):465 - 470
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    The author investigates the problem of planning state-identification strategies. These strategies help an agent to reduce its uncertainty about the state of the environment through active exploration of the environment. Specifically, the author emphasizes the gathering of information from the environment where the agent utilizes the (entropic) actions of its control operations to provide maximum i... View full abstract»

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  • Expert tuning of automatic controllers

    Publication Year: 1989, Page(s):207 - 211
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (308 KB)

    Techniques for expert tuning of automatic controllers are presented, with special attention devoted to knowledge acquisition by combining offline and online techniques. These techniques have been implemented with low computational requirements. Two applications are included. In the first the authors consider the supervision of cutting conditions in numerical control machines. The system has been i... View full abstract»

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  • Programming a damping matrix for error-corrective assembly

    Publication Year: 1989, Page(s):334 - 339
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    The author considers the situation in which the response of a manipulator to forces imposed on it is given by a user-selectable damping matrix (a six-by-six matrix which maps forces and torques into translational and rotational velocities). He then seeks to determine whether it is possible to choose the 36 matrix elements so that the forces which characterize every error condition map into the mot... View full abstract»

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  • Task/effector system models of dexterity for machine assembly

    Publication Year: 1989, Page(s):444 - 449
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    The author reviews the need for a quantitative measure of dexterity based on task/effector interactions. These are quantified in the human perspective, and machine dexterity is shown to have parallel measures and limitations. An information-based definition of dexterity is shown to provide a quantitative measure between different robotic systems that have varying degrees of dexterity and the inter... View full abstract»

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  • Unsupervised parallel distributed computing architecture for adaptive control

    Publication Year: 1989, Page(s):174 - 178
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    An unsupervised parallel distributed adaptive controller for nonlinear systems is proposed. It is shown to provide bounded tracking and asymptotic regulation following an arbitrary `teacher'. A two-degrees-of-freedom robotic simulation example is provided, which demonstrates the feasibility of the proposed method View full abstract»

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  • Stabilized digital inverse system and its application to motor control

    Publication Year: 1989, Page(s):180 - 185
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    The authors describe the design of a disturbance attenuation control using a stabilized digital inverse system and apply the control to 2nd-order motor control. Experimental results for a DC motor show that the proposed disturbance attenuation control can reduce the influence of the disturbance torque on the angular velocity. But the disturbance attenuation control by a conventional inverse system... View full abstract»

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  • Adaptive processing with neural network controlled resonator-banks

    Publication Year: 1989, Page(s):306 - 311
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    The author describes a novel neuromorphic architecture for structurally adaptive control systems. The neural network controlled resonator-bank (NCRB) architecture consists of two main components, a resonator-bank filter structure and a neural network which controls the transfer characteristics of the filter. The architecture offers an attractive alternative to the approximation of nonlinear dynami... View full abstract»

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  • Optimal dispatching of two-priority job streams to two nonidentical machines

    Publication Year: 1989, Page(s):138 - 143
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    The following control problem in manufacturing is addressed. Jobs of two priority classes, C1 and C2, arrive at a system with two non-identical machines. Class C1 jobs with higher priority have dispatch preference over C2 jobs with lower priority. The problem is to dispatch appropriate fractions of class C1 jobs to machines 1 and 2 so that the... View full abstract»

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  • Architecture of an integrated sensorial system-application to real or simulated tactile sensors

    Publication Year: 1989, Page(s):499 - 505
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    A proposed development for robotic sensor based systems is described. This development environment is based on artificial intelligence techniques where object programming, reactive programming, and frame representation play a fundamental role. An application of this development environment to active tactile sensors is described in detail. Several possibilities of integrating different sensorial so... View full abstract»

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  • An application of the 4-parameter controller to the robot payload variation problem

    Publication Year: 1989, Page(s):244 - 250
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    The authors describe the design of a diagnostic system to maintain high performance of robotic manipulators in the face of payload variations. The novel application of failure diagnostic methods to the problem of detecting abrupt payload variations in robots is introduced. Application of the four-parameter controller to the simultaneous design of the feedback control and diagnostic systems using a... View full abstract»

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  • A framework for the integration of cooperative knowledge-based systems

    Publication Year: 1989, Page(s):472 - 477
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    Solving a complex problem often requires the application of knowledge from multiple experts; however, integrating diverse expertise requires that the experts be able to resolve their conflicting goals and beliefs with respect to the salient issues. The authors describe the cooperating experts framework (CEF), a generic framework developed to support cooperative problem solving among sets of knowle... View full abstract»

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  • Collision-free path planning for multirobot systems

    Publication Year: 1989, Page(s):537 - 542
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    The authors discuss a real-time algorithm for planning collision-free navigation or manipulation paths in dynamic, cluttered environments. A Newton-like iteration is used to determine a sequence of knot points that guide the motion of several robots in a velocity vector field toward their targets while avoiding collisions with a set of moving obstacles. Complex targets and obstacles are modeled wi... View full abstract»

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  • Autonomous manufacturing systems

    Publication Year: 1989, Page(s):214 - 220
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    It is noted that autonomous systems provide a new magnitude of flexibility and capability for complex manufacturing requirements. All resources are modeled as intelligent entities that interact with each other in a controlled environment. Each entity has an adaptive and intelligent controller allowing the entity to autonomously pursue multiple goals as both a consumer and a producer. Environment r... View full abstract»

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  • A learning/adaptive robot controller

    Publication Year: 1989, Page(s):576 - 581
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    The authors explore the relationship of learning and adaptations in robot control. Learning, in this context, is the process of identifying the robot dynamics and its interaction with the environment for the purpose of improved tracking over an infinite horizon. Adaptation is the process of adjusting the controller to comply with the regulation and tracking needs of the closed-loop system. It is t... View full abstract»

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  • Near-optimal kinodynamic planning for robots with coupled dynamics bounds

    Publication Year: 1989, Page(s):354 - 359
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    The authors consider the following problem: given a robot system, find a minimal-time trajectory from a start state to a goal state, while avoiding obstacles by a safety margin and respecting bounds on velocity and generalized forces. A provably good polynomial-time approximation algorithm for this problem is one for which it is possible to (1) bound the goodness of the approximate solution it pro... View full abstract»

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