Proceedings. IEEE International Symposium on Intelligent Control 1989

25-26 Sept. 1989

Filter Results

Displaying Results 1 - 25 of 94
  • 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
  • A new class of neural networks suitable for intelligent control

    Publication Year: 1989, Page(s):418 - 423
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    The authors deal with a class of nonlinear neural networks which are capable of forming decision regions of higher complexity than the multilayer perceptron. These nonlinear neural nets have been used in many applications, from nonlinear classification to intelligent control. They have the same feedforward topology as the multilayer perceptron, except that, in certain nodes, a nonlinear operation ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Programming parallel distributed control for complex systems

    Publication Year: 1989, Page(s):426 - 432
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (644 KB)

    The author considers the design of control programs for systems with many degrees of freedom and multiple goals. These systems have several features requiring nontraditional control techniques. The author proposes a framework for the control of such systems. In this framework, it is possible to create abstract domains of interest and relate them to sensed and actuated quantities. Motions are progr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Planning 3-D collision-free paths

    Publication Year: 1989, Page(s):550 - 555
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (472 KB)

    In many robot applications, such as assembly and repair operations, the automatic development of collision-free paths is of vital importance. The authors present the results of obtaining such a path with a novel generate-and-test approach, which is both rapid and exact in a three-dimensional, dynamic environment. The approach uses successive spherical approximations (SSA) as a complete model for t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Path planning under uncertainty from a decision analytic perspective

    Publication Year: 1989, Page(s):556 - 560
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (384 KB)

    Previous work has used a certainty grid for navigation and path planning. In the present work, the author attempts to formulate the path planning problem under uncertainty from a decision analytic perspective. Paths are generated based on the planner's preferences and expected utilities of actions. A proposed cost structure, controlled by a strategy index, can simulate attitudes ranging from risk ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experiments in robot learning

    Publication Year: 1989, Page(s):561 - 565
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (420 KB)

    The authors attempt to bridge the planning gap problem that exists between the AI (artificial intelligence) and robotics communities. the objective was determining how procedural and parameter knowledge could be represented and used in task planning. Because AI planners lack the ability to deal with kinematic and kinetic information of a world model, and robot planners possess poor reasoning abili... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Generation of precedence relations for mechanical assembly sequences

    Publication Year: 1989, Page(s):452 - 457
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (536 KB)

    An algorithm is presented to generate a precedence relation representation for mechanical assembly sequences from the AND/OR graph representation. The equivalence of the two representations is established. The real-time property for the resulting set of precedence relations is also defined and discussed. It is shown that the correctness and completeness of a representation cannot guarantee the rea... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Motion control for a novel legged robot

    Publication Year: 1989, Page(s):2 - 7
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (540 KB)

    A motion control scheme has been developed to control all axes of a novel six-legged robot (Ambler) for planetary exploration. The robot's configuration and control scheme lend themselves well to ensuring predictable and reliable walking. A feature that simplifies control and makes low-energy walking possible is the decoupling of the horizontal and vertical actuations. Each leg resembles a cylindr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An evidential reasoning extension of model-based failure diagnosis

    Publication Year: 1989, Page(s):520 - 525
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (492 KB)

    A model-based failure detection and isolation methodology is considered which utilizes diagnostic models consisting of orthogonal parity equations. To improve the robustness of the algorithm, several models may be used in parallel, providing potentially incomplete and/or conflicting inferences. Dempster's rule of combination is used to integrate evidence from the different models. The probability ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Hierarchical parallel search in a Markov controller

    Publication Year: 1989, Page(s):566 - 573
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (652 KB)

    A novel method of hierarchical parallel search is proposed for dealing with Markov planning/control processes in systems with uncertain information. It is based on a new concept of analyzing alternatives with uncertain cost evaluation. Under definite conditions, instead of making immediate choices based on the expectation of cost at each step of the search, it is recommended to postpone the final ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Introduction to a central tool in the design chain of the model of the control system and in the predimensionment step of flexible manufacturing cells

    Publication Year: 1989, Page(s):221 - 226
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (488 KB)

    The authors discuss the control monitoring system design of flexible manufacturing systems (FMS). Specifically, attention is given to the use of the pregraph model in the framework of CASPAIM (Conception Assistee de Systemes de Production Automatises pour l'Industrie Manufacturiere). Pregraph provides a solid basis from which the detailed and structured model of the control part can be systematica... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • MIMIC: a robot planning environment integrating real and simulated worlds

    Publication Year: 1989, Page(s):459 - 464
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (448 KB)

    The authors describe MIMIC, an interactive multirobot programming environment and robot vision system which allows program development and testing in an integrated real and simulated world. In this environment programs under development can easily be fed either to a real or to a simulated robot. When operating in the simulation mode the robot environment appears as a mix of the real and simulated ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • CHIMERA II: a real-time multiprocessing environment for sensor-based robot control

    Publication Year: 1989, Page(s):265 - 271
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (612 KB)

    The CHIMERA II multiprocessing environment has been developed for use in a wide variety of sensor-based robot systems. It provides the flexibility, performance, and Unix-compatible interface needed for fast development of a real-time control code. The features of CHIMERA II include support for multiple general purpose CPUs; support for multiple special purpose CPUs and I/O devices; a real time mul... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Autonomous planning under uncertainty: planning models

    Publication Year: 1989, Page(s):188 - 193
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (432 KB)

    The author presents an information-theoretic approach to the general problem of autonomous planning under uncertainty. The autonomous planning problem involves an automaton (an autonomous machine) which interacts with an environment via a set of unreliable control and sensing operations. The task assigned to the automaton is to plan and execute a sequence of control and sensing operations which ch... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • On the quantitative evaluation of functionality in distributed intelligence systems

    Publication Year: 1989, Page(s):88 - 93
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (756 KB)

    A quantitative methodology is presented for identifying and evaluating the shortfalls and overlaps between the desired functionality of a distributed intelligence system, as characterized by the requirements and the functionality of a proposed or implemented system. The approach is based on developing compatible Petri net representations of the requirements and of the system architecture which for... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Expert hierarchical adaptive controller for robotic systems

    Publication Year: 1989, Page(s):8 - 11
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (280 KB)

    An expert hybrid control scheme which does not use explicit parameter estimation, is presented. It adjusts its structure in order to provide the `best' control for a broad range of plant conditions. The coarsest control, provided by a multiple-model adaptive control procedure, provides the initial level of control by forcing the plant's response to exist within a predetermined allowable range of s... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A qualitative modelling toolbox for control architectures

    Publication Year: 1989, Page(s):526 - 530
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (384 KB)

    The authors describe a qualitative modeling toolbox for designing and developing application-independent architectures. The domain chosen to demonstrate the versatility of the work is an advanced robotics workcell that is part of a knowledge-based automation laboratory. Developed out of a remote monitoring application, the toolbox uses object-oriented software, and encapsulates knowledge-based inf... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • 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»

    Full text access may be available. Click article title to sign in or learn about subscription options.