Proceedings of 8th IEEE International Symposium on Intelligent Control

25-27 Aug. 1993

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Displaying Results 1 - 25 of 108
  • Applying a heuristic cooperation framework to expert control

    Publication Year: 1993, Page(s):617 - 620
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (340 KB)

    An application essentially based on some heuristics in communication processes among expert systems is outlined. With these heuristics, certainty coefficients associated with communicated information are re-evaluated. A difficult problem of process control is discussed. The performance of one "good" model is assessed using computer simulations.<> View full abstract»

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  • Raw manufacturing data storage for hierarchical control

    Publication Year: 1993, Page(s):70 - 74
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (470 KB)

    The collection of the information resulting from the activity of the physical system of manufacturing workshops must facilitate real-time workshop control, but also permit the use of line statistical historics for longer term decision making. A data structure is suggested which can satisfy these two objectives when used on a great variety of production systems. The approach is based on events and ... View full abstract»

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  • Tuning of scheduling parameters for workshop intelligent reactivity

    Publication Year: 1993, Page(s):19 - 23
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (544 KB)

    Most of the available industrial schedulers are based on a simulation approach using dispatching rules. These rules are often dedicated to the satisfaction of a single performance criterion, and are used whatever the characteristics of the set of jobs are. An approach which allows compromises between rules is presented. These compromises can be parametered in accordance with the objectives of the ... View full abstract»

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  • Neural network support for simultaneous optimization of torque and deviation in robot path planning

    Publication Year: 1993, Page(s):244 - 249
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (565 KB)

    A novel architecture of the robot's trajectory planner is proposed. It uses both a conventional trajectory generation algorithm based on underdetermined splines optimized with respect to some quadratic criteria together with a neural network module capable of coping with a nonlinear multi-objective design problem. The backpropagation network structure is chosen. The network has learned the positio... View full abstract»

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  • Nonlinear dynamic feedback technique for motion control in holonomic robotic systems

    Publication Year: 1993, Page(s):24 - 29
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (580 KB)

    A nonlinear dynamic feedback design technique for globally optimal motion control in a class of holonomic systems (e.g., robot manipulators and closed-link robotic mechanisms) is developed. The proposed technique provides asymptotically stable convergence to a desired equilibrium state defined as a (task) function of the Cartesian (e.g., end-effector) coordinates, as well as marginally stable trac... View full abstract»

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  • Proceedings of 8th IEEE International Symposium on Intelligent Control

    Publication Year: 1993
    Request permission for commercial reuse | |PDF file iconPDF (243 KB)
    Freely Available from IEEE
  • A hierarchical intelligent controller for a chemical processing unit

    Publication Year: 1993, Page(s):530 - 535
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (360 KB)

    A hierarchical intelligent controller is developed for a chemical processing unit consists of various tanks, actuators, and sensors. The hierarchy is based on the physical structure of the system, and it is object oriented. The controller is implemented by programmable logic controllers (PLCs) on an IBM-compatible personal computer. Implementational details and various limitations of PLCs and some... View full abstract»

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  • Sliding mode control in hybrid systems

    Publication Year: 1993, Page(s):186 - 189
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (260 KB)

    The sliding mode control (SMC) approach is used for a class of hybrid systems (HSs), which consist of a continuous plant, an interface and a discrete state controller. The equivalent nondeterministic discrete-state system is represented in the form of a deterministic automaton with disturbance input. The introduction of the sliding mode concept leads to a design which is invariant to disturbances,... View full abstract»

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  • Integration of the artificial potential field approach with simulated annealing for robot path planning

    Publication Year: 1993, Page(s):536 - 541
    Cited by:  Papers (23)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (636 KB)

    An integrated approach to local as well as global path planning of the robot in stationary environments is proposed. To provide effectiveness, the path planning is based on the artificial potential field method and to ensure robustness, the susceptibility to local minima is reduced by using some heuristic strategies. The simulated annealing technique is applied when trapped in local minima. The ef... View full abstract»

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  • Neural networks as complementary direct controller of nonlinear plants

    Publication Year: 1993, Page(s):122 - 126
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    A neural network complementary controller for fine tuning performance of the approximate controllers of nonlinear plants is suggested. This approach of using neural networks in control allows placing the maximum amount of knowledge about a plant in its controller design, while leaving the final fine tuning to the neural networks. This method does not put too much restriction on the type of plant t... View full abstract»

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  • The genetic planner: The automatic generation of plans for a mobile robot via genetic programming

    Publication Year: 1993, Page(s):190 - 195
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (468 KB)

    Planning is the creation of programs to control an agent, such as a robot. The genetic planner uses artificial selection, sexual mixing (recombination) and fitness proportionate reproduction to breed computer programs (i.e., to plan). The genetic planner uses a simulation of the world to execute candidate computer programs (i.e., candidate plans). The genetic planner is described, with an example ... View full abstract»

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  • Fuzzy rule-based adaptive force control of a single DOF mechanisms

    Publication Year: 1993, Page(s):469 - 474
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (484 KB)

    A position/force control with completely fuzzified adaptive force control system for the single degree of freedom mechanisms is presented. The proposed force control scheme contains are adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order referent model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model a... View full abstract»

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  • Contact space analysis for narrow-clearance assemblies

    Publication Year: 1993, Page(s):542 - 547
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (460 KB)

    A technique is described for modeling the six-dimensional contact space of an assembly with narrow insertion clearances. A nominal assembly mating trajectory is supplied a priori by a high-level planner, using assembly part models with zero clearance at the sites of insertion. Augmented with small, user-specified clearances, the local contact space surrounding any “problematic” configu... View full abstract»

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  • BARNET - A new approach to behavior arbitration

    Publication Year: 1993, Page(s):417 - 422
    Cited by:  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (412 KB)

    A new mechanism, termed Behavior Arbitration Network (BARNET) is presented. BARNET is a dynamic adaptive network which is used for arbitration among behaviors and for combining reflexive behaviors and reasoning-driven behaviors in high-functionality intelligent autonomous systems (IASs). BARNET is structured as a networked team of stochastic learning automata, operating in multiple stochastic nons... View full abstract»

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  • A neural network based RLS parameter estimation algorithm and its application in predictive control

    Publication Year: 1993, Page(s):127 - 132
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (440 KB)

    A method which uses neural networks to improve the performance of recursive least squares (RLS) algorithms in estimating the parameters of nonlinear processes is presented. Its application in a process gain-adaptive algorithm is described. This method uses neural networks to learn the parameter updating process of standard RLS algorithms and to relate these parameters to the operating conditions. ... View full abstract»

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  • Modeling, control and obstacle avoidance of a mobile robot with an onboard manipulator

    Publication Year: 1993, Page(s):196 - 201
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (632 KB)

    A systematic approach for modeling and base motion control of a mobile vehicle with an onboard robot is presented. Feedback linearization is used to take into account the complete dynamics with nonholonomic constraints. Methods from potential field theory are incorporated to provide resolution among possibly conflicting performance goals (e.g. maintaining a desired course and speed plus obstacle a... View full abstract»

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  • Neural network construction and rapid learning for system identification

    Publication Year: 1993, Page(s):475 - 480
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (432 KB)

    A new learning algorithm is introduced and used to identify nonlinear functions in a feedforward neural network. Its distinctive features are that it transforms the problem to a quadratic optimization problem that is solved by a number of linear equations and it constructs the appropriate network that will meet the specifications. The quadratic optimization/dependence identification algorithm exte... View full abstract»

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  • Automatic control of robotic systems in unstructured environments

    Publication Year: 1993, Page(s):81 - 89
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (712 KB)

    The US Department of Energy's Office of Technology Development has sponsored the development of generic robotics technologies for application to a wide range of remote systems. Of primary interest is the development of technologies which enable faster, safer, and cheaper cleanup of hazardous waste sites than is possible using conventional human contact or remote manual approaches. The development ... View full abstract»

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  • Planning via search in the input/output space

    Publication Year: 1993, Page(s):548 - 553
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (472 KB)

    The computational complexity of planning can be reduced by the synthesis of an appropriate representational hierarchy. In order to provide a formal structure for the description of such a hierarchy, the concepts of temporal and spatial resolution are defined, and a technique for the automated construction of multilevel system representations is described. The operation of contraction (or focusing ... View full abstract»

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  • An entropy-based reliability assessment technique for intelligent machines

    Publication Year: 1993, Page(s):423 - 428
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    A new method for measuring the performance of intelligent robot systems is presented. The method utilizes entropy, a concept borrowed from informaton theory, to provide a unified technique for measuring the performance of various combinations of control and sensing algorithms available in an intelligent machine in response to a given task specification. It can be shown that the entropy of a system... View full abstract»

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  • Architectures for intelligent control systems: The science of autonomous intelligence

    Publication Year: 1993, Page(s):42 - 48
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (592 KB)

    This new area of engineering (AICS), endeavor, architectures for intelligent control systems, has generated a number of often controversial results and directions. It is rooted in control theory, artificial intelligence, computer architectures, software engineering as well as in psychology, biology, linguistics, and other disciplines. A question arises: is this a science, or just an intersection o... View full abstract»

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  • A simulation-based grasp planning system for multifinger robot hands

    Publication Year: 1993, Page(s):219 - 224
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (640 KB)

    The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic approach to the problem of planning grasp parameters for multifinger hands is presented, which considers the constraints of pick-and-place operations in manipulation and insertion task... View full abstract»

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  • Generalized stochastic state space neural adaptive control

    Publication Year: 1993, Page(s):133 - 138
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (252 KB)

    A generalized stochastic neural adaptive control algorithm is presented, where the system identification is based on the state space innovations model and a neural network architecture. This identification algorithm is derived from three different optimization approaches, i.e., the gradient, Newton, and minimum variance. The control law, also based on neural networks structure, is derived from a q... View full abstract»

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  • Control of systems with deadzones using PD controllers with fuzzy precompensation

    Publication Year: 1993, Page(s):451 - 456
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (416 KB)

    A fuzzy logic-based precompensation approach for controlling systems with deadzones is proposed. The control structure consists of a fuzzy logic-based precompensator followed by a conventional proportional derivative (PD) controller. The authors' proposed control scheme shows superior transient and steady-state performance compared to conventional PD and proportional integral derivative (PID) cont... View full abstract»

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  • Modeling walker/terrain interaction to achieve reliable, autonomous walking control

    Publication Year: 1993, Page(s):202 - 207
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (516 KB)

    Walking robots are inherently complex locomotors vis-a-vis their tracked and wheeled counterparts, yet they retain advantages in their ability to traverse difficult terrain. However, this advantage may only be realized through the development of methods which allow the robot to traverse such terrain safely and reliably. Methods and insights on how to achieve this for statically-stable walking robo... View full abstract»

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