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Proceedings. IEEE International Symposium on Intelligent Control 1989

25-26 Sept. 1989

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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 schema-based representation for execution monitoring and error recovery in assembly systems

    Publication Year: 1989, Page(s):33 - 37
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    A schema-based approach for representing an assembly plan knowledge is presented. Such an approach can lead to a more flexible way of monitoring the execution of the plan as well as of recovering from an error that may occur during the execution. the high-level description of the plan is based on a causal reasoning model. Using the causal reasoning model it is possible to describe the process plan... View full abstract»

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  • An algorithm for constructing a failure propagation tree in manufacturing systems

    Publication Year: 1989, Page(s):38 - 43
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    The authors consider the diagnostic step of the error recovery process in manufacturing systems and formalize an algorithm for constructing and pruning a failure propagation tree. They also present a methodology for classifying error reasons in order to reduce the diagnostic search space. This algorithm assumes the availability of a hierarchical process plan for the manufacturing operations. The p... View full abstract»

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  • A decentralized control architecture for computer integrated manufacturing systems

    Publication Year: 1989, Page(s):44 - 49
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    A shop floor control architecture for CIM (computer-integrated manufacturing) which combines concepts from multilayer and multilevel control theory is described. This architecture distributes both decision-making and control, requires each module to work on many jobs simultaneously and provides for structured negotiations between supervisors and subordinates. Each module within the architecture is... 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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  • Multiple model-based control of robotic manipulators: theory and simulation

    Publication Year: 1989, Page(s):53 - 58
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    The multiple-model-based control (MMBC) technique utilizes knowledge of nominal plant dynamics and principles of Bayesian estimation to provide parameter-independent trajectory tracking accuracy. The MMBC algorithm is formed by augmenting a model-based controller with a closed-loop form of multiple-model adaptive estimation (ΔMMAE). The ΔMMAE uses perturbation models of the combined pl... View full abstract»

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  • 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»

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  • Joint-space adaptive control of a redundant telerobot manipulator

    Publication Year: 1989, Page(s):59 - 65
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    The design of a joint-space adaptive control-scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space is presented. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and the Lyapunov direct method, the au... View full abstract»

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  • Lyapunov stability analysis for self-learning neural model with application to semi-active suspension control system

    Publication Year: 1989, Page(s):326 - 331
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    A supervised training algorithm and an unsupervised learning algorithm for neural models are derived using Lyapunov stability theory and the concept of model reference adaptive control (MRAC). The practicability of the algorithm is demonstrated by its successful application to a semiactive suspension system. The neurocontroller establishes its own control laws for improving the suspension performa... View full abstract»

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  • A frequency-domain approach to learning control: implementation for a robot manipulator

    Publication Year: 1989, Page(s):66 - 71
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A frequency-domain approach to the analysis and design of a learning control law for linear dynamic systems is presented. In its most simple version the scheme uses two separate filters in order to achieve rapid improvements in a specified bandwidth while cutting off-perhaps unmodeled-dynamic effects which would bar the convergence. The merit of this approach is to make explicit the tradeoff betwe... View full abstract»

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  • Software environment and architecture for intelligent control

    Publication Year: 1989, Page(s):482 - 486
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    Three types of software environment and architecture for intelligent control systems are discussed. The first type is the single expert system that only processes symbolic information and provides assistance to control engineers in decision-making processes for design and offline monitoring. The second is the coupling system that couples the numerical computation programs into an expert system so ... View full abstract»

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  • 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»

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  • 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»

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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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  • 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»

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  • On the generation of a variable structure airport surface traffic control system

    Publication Year: 1989, Page(s):74 - 81
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    A quantitative methodology for modeling variable-structure decision-making organizations and for characterizing the set of solutions to a particular organizational design problem is presented. The structures considered, deterministically process a set of simultaneous observations. This methodology models variable structures with colored Petri nets, which are used as the basic mathematical framewor... 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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  • 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»

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  • HMP: a hierarchical multiprocessor computer architecture for multi-sensor based robotic tasks

    Publication Year: 1989, Page(s):487 - 492
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined information structure. Queuing network analysis indicates that this hierarchical multiprocessor computer architecture, at least for the sets of loads defined, performs better than current... View full abstract»

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  • Position and force control of robot arms

    Publication Year: 1989, Page(s):251 - 256
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying with the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model of the environment is available. In each of these cases, a s... View full abstract»

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  • Intelligent control in expert database systems using a heuristic approach

    Publication Year: 1989, Page(s):399 - 405
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    The authors propose a general strategy for the design and implementation of an intelligent expert database system using semantic knowledge (integrity constraint) and heuristics (domain-specific knowledge, expert knowledge, approximate knowledge) to search for the answers. The authors present a graph model for representing rules and show how to use knowledge for answering a given query. Also, they ... 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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  • 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»

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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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  • Entropy representation at cell level in computer integrated manufacturing system (CIMS)

    Publication Year: 1989, Page(s):239 - 242
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    The authors study an equivalent-machine cell with different scheduling criteria such as minimizing the make span, minimizing the average throughput time and minimizing the maximum delay, and analyzing the mathematical representations of entropy under three conditions in which probabilities are defined correspondingly. Scheduling is shown to be a decision-making problem. In an intelligent control s... View full abstract»

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