Proceedings. 5th IEEE International Symposium on Intelligent Control 1990

5-7 Sept. 1990

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Displaying Results 1 - 25 of 194
  • The role of rhythm in nervous processing

    Publication Year: 1990
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (103 KB)

    Summary form only given. Throughout the history of neuroscience, interneuron communication has usually been considered under the simplifying assumption of frequency-modulated (FM) encoding. In newer artificial neural networks, this same view has justified the abstraction of real neural pulse trains into hypothesized neuron activation levels: continuously varying scalars representing the short-term... View full abstract»

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  • Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 (Cat. No.90TH0333-5)

    Publication Year: 1990
    Request permission for commercial reuse | |PDF file iconPDF (378 KB)
    Freely Available from IEEE
  • Toward planning and control of highly redundant manipulators

    Publication Year: 1990, Page(s):683 - 688 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (476 KB)

    An approach to the path planning of redundant robot manipulators has been developed by exploring paths for a completely flexible manipulator having an infinite number of degrees of freedom. The idealized manipulator is called a continuous curvature model. It is controlled by changing its curvature. The major advantage of the approach is that the complexity of path planning is dependent only on the... View full abstract»

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  • Task plan generation for intelligent machines

    Publication Year: 1990, Page(s):677 - 682 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (556 KB)

    The issue of structural formulation of task plan generation for intelligent machines is investigated from the perspective of artificial intelligence. The knowledge base of the machines is represented by a relational database, and the task-planning process is modeled by a condition/event net. It is shown that the task plans generated by the formulation proposed are Petri net languages and that any ... View full abstract»

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  • Predictability of a class of supervised one-dimensional systems

    Publication Year: 1990, Page(s):670 - 675 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (392 KB)

    A one-dimensional discrete-time system for which the transition map is state dependent is analyzed. For each transition a controller selects from among N transition maps according to a function of the current state. For the case in which the maps are contractions, sufficient conditions under which the system behavior can be modeled by a finite-state automaton are demonstrated. In this cas... View full abstract»

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  • Intelligent failure-tolerant control

    Publication Year: 1990, Page(s):548 - 557 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1004 KB)

    An overview of failure-tolerant control is presented, beginning with robust control, progressing through parallel and analytical redundancy, and ending with rule-based systems and artificial neural networks. By design or implementation, failure-tolerant control systems are `intelligent' systems. All failure-tolerant systems require some degree of robustness to protect against catastrophic failure;... View full abstract»

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  • Autonomous task control for mobile robots

    Publication Year: 1990, Page(s):663 - 668 vol.2
    Cited by:  Papers (22)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (620 KB)

    The design and implementation of the task control architecture (TCA), a general-purpose framework plus facilities for building and controlling mobile robots, are presented. TCA is designed to support capabilities needed by many autonomous mobile robot systems, including concurrent planning, execution, and perception; reacting to changes in the environment; error recovery; and handling multiple tas... View full abstract»

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  • Estimation of dynamic system parameters by neural networks

    Publication Year: 1990, Page(s):541 - 545 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (296 KB)

    Identification of dynamic systems, operating under correlated noise, is conventionally performed by the generalized least squares algorithm. The Hopfield neural network has been used in connection with the generalized least squares technique to identify the system parameters. A theoretical comparison is made between the conventional generalized least squares and the neural-network-based generalize... View full abstract»

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  • Planning for control

    Publication Year: 1990, Page(s):657 - 662 vol.2
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (520 KB)

    The problems that lie at the boundary of planning and control are studied from an artificial intelligence (AI) planning perspective. An attempt is made to extend the tools of traditional AI planning to handle more complex domains. The capabilities of current plan generation and execution systems are outlined. A sample planning and control problem is defined and then used to show where traditional ... View full abstract»

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  • Trajectory following control of robotic manipulators using neural networks

    Publication Year: 1990, Page(s):536 - 540 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (324 KB)

    A novel learning control architecture utilizing nonlinear computational properties of neural networks is presented. The nonlinear dynamics of the manipulator is assumed to be unknown, and the control scheme efficiently learns the required feedforward torques for a specified trajectory after a repeated number of trials. Simulation tests give promising results for real-time implementation of the alg... View full abstract»

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  • Globally stable closed loops imply autonomous behavior

    Publication Year: 1990, Page(s):651 - 656 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (576 KB)

    A program of research in robotics that seeks to encode abstract tasks in a form that simultaneously affords a control scheme for the torque-actuated dynamical systems, as well as a proof that the resulting closed-loop behavior will correctly achieve the desired goals, is reviewed. Two different behaviors that require dexterity and might plausibly connote `intelligence'-navigating in a cluttered en... View full abstract»

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  • Faster than real time robot simulation with real time feedback

    Publication Year: 1990, Page(s):932 - 935 vol.2
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (464 KB)

    The integration of operational sensory feedback with the sensed world model database is discussed, with the focus on the development of a database model of the environment which has the following three characteristics: a basic level of intelligence whereby information about individual objects, as well as repair and maintenance steps, is readily accessible; a degree of accuracy which allows for aut... View full abstract»

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  • Task decomposition methodology for the design of a coal mining automation hierarchical real-time control system

    Publication Year: 1990, Page(s):884 - 892 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (808 KB)

    A systematic approach to hierarchical task decomposition and planning is described. The application of this task decomposition methodology is illustrated through the design of a coal mining automation hierarchical real-time control system. The mining automation standard reference model adapts the National Institute of Standards and Technology's real-time control system (RCS) architecture to coal m... View full abstract»

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  • Implementation of neural network controller for unknown systems

    Publication Year: 1990, Page(s):530 - 535 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (512 KB)

    With both neural network theory and custom VLSI technology becoming more advanced, it is now possible to implement adaptive-type control strategies using VLSI-based neural networks. The reported work addresses three issues: developing a general control system structure for control of unknown systems; developing the neural network paradigm for the controller, a multilayer feedforward network which ... View full abstract»

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  • Prediction, observation and estimation in planning and control

    Publication Year: 1990, Page(s):645 - 650 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (528 KB)

    The central role of reasoning about change in planning and control is studied. Some of the basic insights of control theory regarding the connection between observability and controllability are reviewed, and how these insights should inform research in planning is considered. A decision-theoretic approach to planning that subscribes to a basic cycle of prediction, observation, estimation and acti... View full abstract»

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  • The statistical study of robot manipulators

    Publication Year: 1990, Page(s):424 - 429 vol.1
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (520 KB)

    An approach to the analysis and design of robot manipulators based on a non-standard formulation of the modeling problem is presented. Usually, system descriptions are based on a set of differential equations which, due to their nature, lead to very precise results and strategies, but which, in general. require laborious computations. The proposed statistical method provides clear guidelines for r... View full abstract»

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  • Model based, sensor directed remediation of underground storage tanks

    Publication Year: 1990, Page(s):923 - 931 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1000 KB)

    Experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks are described, with particular attention paid to the computing and software environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor-based control. All operator interactio... View full abstract»

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  • Control system architecture for a remotely operated unmanned land vehicle

    Publication Year: 1990, Page(s):876 - 883 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (536 KB)

    Techbase Enhancements for Autonomous Machines (TEAM) is a joint effort among several US Army organizations, national laboratories, and commercial contractors to develop a vehicle control system that can support a mix of capabilities ranging from master-slave teleoperation to autonomous control. The overall TEAM control system architecture and the design of the mobility and communication functions ... View full abstract»

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  • Sunspot numbers forecasting using neural networks

    Publication Year: 1990, Page(s):524 - 529 vol.1
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (420 KB)

    A recurrent connectionist network has been designed to model sunspot data. The network architecture, sunspot data, and statistical models are described, and experimental results are provided. This preliminary experimental work shows that the network can produce competitive prediction results that compare with those of traditional autoregressive models. The method is not problem specific and could ... View full abstract»

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  • Fuzzy supervision of direct controllers

    Publication Year: 1990, Page(s):638 - 643 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (372 KB)

    In closed-loop control systems, a supervision loop is sometimes needed in order to perform an operation task which usually consists of adjustments of set points and controller parameters. A fuzzy approach to the supervision of controller parameters in single-loop plants is described. The fuzzy supervision is performed over two different direct controllers: a PI (proportional-integral) and a fuzzy ... View full abstract»

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  • Knowledge acquisition from aerial images

    Publication Year: 1990, Page(s):417 - 422 vol.1
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (432 KB)

    Determining the position of a surface object from an aerial mobile tracking device is one of the major tasks in the control of airborne automatic-guided vehicles (AGVs). A knowledge acquisition algorithm that is able to classify roads in serial images is proposed. The information is acquired by encoding object features, which are then classified through a rule-based system in a database. To aid in... View full abstract»

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  • Classification and positioning of algebraic curves and surfaces

    Publication Year: 1990, Page(s):1284 - 1288 vol.2
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (376 KB)

    An approach to 3-D rigid object recognition and positioning from range data is described. Only piecewise algebraic objects are considered. A piecewise algebraic object is a solid object whose boundary surfaces can be described as finite collections of smooth surface patches, and each of these patches as a subset of an algebraic surface, the set of zeros of a polynomial in three variables. It is sh... View full abstract»

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  • The role of world modeling and value judgement in perception

    Publication Year: 1990, Page(s):154 - 163 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (912 KB)

    The world model is the intelligent system's best estimate of the external world. It provides an interface between sensory processing and task decomposition. A world model architecture that represents knowledge in terms of maps, entity frames, and state variables is proposed. This structure is hierarchically organized to provide multiple levels of resolution in space and time. Three types of map co... View full abstract»

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  • Review of the four parameter controller approach for FDI problems

    Publication Year: 1990, Page(s):577 - 582 vol.1
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (480 KB)

    A summary of fault detection and isolation methodologies used to accommodate system actuator and sensor failures is given. The four-parameter controller for failure diagnostic problems is described in detail. Applications of this novel approach to robot control are discussed View full abstract»

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  • Using semantic data models in knowledge-based manufacturing-workcell design

    Publication Year: 1990, Page(s):966 - 971 vol.2
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (492 KB)

    The application of advanced database concepts in the design of manufacturing work cells is discussed. After an overview of some applications of semantic and object-oriented data models in the manufacturing domain, issues relating to their use in the design of manufacturing work cells are presented. A simple data and knowledge organization that integrates ideas and constructs typically available in... View full abstract»

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