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Proceedings. 5th IEEE International Symposium on Intelligent Control 1990

5-7 Sept. 1990

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

    Publication Year: 1990
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    Freely Available from IEEE
  • 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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  • 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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  • Reliable high precision positioning for intelligent machines

    Publication Year: 1990, Page(s):376 - 381 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    In order for intelligent machines to proceed successfully from perception to action, the high-precision positioning accuracy of robotic manipulators is considered. First, accuracy estimates for two algorithms are derived and shown to depend upon the condition number of the manipulator Jacobian. Statistics for the positioning error are estimated using maximum-likelihood estimation. These statistics... View full abstract»

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  • A comparison of some neural network models of classical conditioning

    Publication Year: 1990, Page(s):1163 - 1168 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    Classical conditioning is a form of temporal learning that may be useful in intelligent control. Three neural network models of classical conditioning are compared: the Sutton-Barto model, the Klopf model, and the Grossberg-Schmajuk model. All are based on Hebbian learning, but they differ in how events are remembered. Although these models can learn to associate two events occurring at different ... 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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  • An intelligent controller for robot contact and non-contact task control

    Publication Year: 1990, Page(s):370 - 375 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    An architecture for intelligent control of a robot that interacts with a dynamically changing environment is proposed. The problems that are encountered in the implementations of low-level controllers for such robotics applications and their inherent limitations are outlined. An intelligent monitor is proposed to overcome these problems. Since this intelligent interface can change the desired traj... View full abstract»

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  • An expert system for control system design

    Publication Year: 1990, Page(s):1156 - 1162 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (772 KB)

    The Control Laws Expert Assistant for Rotorcraft (CLEAR) project, which is being performed at Temple University and the Boeing Helicopters Company, is described. CLEAR will assist flight control engineers to design a specific set of flight control systems. The resulting interactive knowledge-based system will analyze mathematical models representing rotorcraft and will design any compensation requ... View full abstract»

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  • Hybrid actuation of robotic manipulators: an integral mainfold control approach

    Publication Year: 1990, Page(s):817 - 823 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    The control of robotic manipulators powered by a hybrid actuation method is considered. The hybrid actuator consists of a pneumatically powered bladder actuator in conjunction with a traditional DC servomotor. A bladder actuator-DC motor pair is arranged coantagonistically with all identical pair to actuate manipulator joints. The proposed method of control for the hybrid actuator-powered robot ut... 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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  • Hierarchical design of integrated control for hypersonic vehicles

    Publication Year: 1990, Page(s):904 - 909 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB)

    A hierarchical design methodology for decentralized integrated control of a hypersonic vehicle is described. A hierarchical design methodology is developed for an integrated model comprising many subsystems. The design objective for the higher level of augmentation is to compensate for subsystems' interactions by making the subsystems as weakly coupled as possible through this level of augmentatio... View full abstract»

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  • An intelligent programmable automated welding system: concept and design

    Publication Year: 1990, Page(s):1225 - 1230 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    A control architecture for designing and implementing intelligent automated welding using multiple sensors is described. The system includes both an on- and offline intelligent `engineers assistant' welding planner and a hierarchical intelligent real-time control system for automated/robotic welding. A system goal is to be able to produce very small quantities of parts with little or no robot prog... 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 (29)
    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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  • Qualitative theory of robot grasping-A formalisation of `intuitive' robot grasping

    Publication Year: 1990, Page(s):364 - 369 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    A qualitative theory of robot grasping, as a formalized approach to intuitive robot grasping, is introduced. The qualitative theory is analogous to the analytical theory of robot grasping and consists essentially of symbolic abstractions of the analytically asserted theoretical concepts in robot grasping. A coexistence of the analytical and qualitative formulations of grasping theory is essential ... View full abstract»

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  • A polynomial algorithm for noise identification in linear systems

    Publication Year: 1990, Page(s):595 - 600 vol.1
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    The implementation of an optimal adaptive filter in a composite system consisting of a Kalman filter and a noise covariance identifier is addressed. A method of noise identification employing a polynomial transformation of the system output is presented. The method eliminates batch processing, indirect observation through filtering apparatus, and the need for a priori estimates for tuning the nois... View full abstract»

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  • Automated error recovery in manufacturing systems through learning and reasoning

    Publication Year: 1990, Page(s):1011 - 1016 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Error recovery in manufacturing systems, is addressed and an error recovery approach based on the integration of explanation-based and analogy-based learning is proposed. The knowledge representation for the proposed learning technique is based on the object-oriented modeling concept. A new concept, called perspective, is defined to capture the causal relationship between two objects in analogy-ba... View full abstract»

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  • The formalist manifesto [artificial intelligence]

    Publication Year: 1990, Page(s):1152 - 1155 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (260 KB)

    A categorical model of problem solving is introduced. The concept is that domain-dependent knowledge can also take the form of structural knowledge about the domain and, more specifically, that the decomposition methods that have proved to be so effective in mathematical reasoning can also be applied in the case of artificial intelligence systems. The fact that such knowledge is superficially more... View full abstract»

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  • Merging AI and game theory in multiagent planning

    Publication Year: 1990, Page(s):853 - 857 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    An approach to reasoning about the actions that other agents are likely to pursue is outlined. This approach is based on the idea that many attempts to reason about another agent's beliefs and actions are based on an ability to self-reflect on one's own reasoning process and then to extrapolate to the other agent (`If I were she. . .'). It is shown how to combine knowledge-based option enumeration... View full abstract»

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  • Trends in shop floor control: modularity, hierarchy, and decentralization

    Publication Year: 1990, Page(s):45 - 51 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY... View full abstract»

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  • Intelligent control: a new decade for pulp and paper processes

    Publication Year: 1990, Page(s):1096 - 1099 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    The necessity of intelligent control for pulp and paper processes is discussed, and a framework for pulp and paper process control with artificial intelligence techniques is presented. The rationale for intelligent control is discussed, the project configuration is described, and intelligent control for the digester and paper machine is considered. Integrated intelligent systems are outlined, and ... View full abstract»

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  • Implementing a real-time knowledge-based controller in a velocity controlled, servo motor control system

    Publication Year: 1990, Page(s):811 - 815 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    The system maintains a constant velocity at the output of a DC servomotor in the presence of unknown parameter variations occurring within the motor. The constant velocity is maintained by use of an expert system which modifies the compensator in real-time. Most expert systems require a relatively long period of time to execute in relation to the process being controlled. An architecture which ove... View full abstract»

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  • The analysis of fuzzy knowledge-based systems using cell-to-cell mapping

    Publication Year: 1990, Page(s):633 - 637 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    A cell-to-cell mapping method is introduced and applied to the analysis of a fuzzy-knowledge-based mobile robot motion control system. The cell-to-cell mapping was originally used in nonlinear system analysis. This method is found to be very compatible with the fuzzy-knowledge-based system. By dividing the state space into cell state space, the multi-image fuzzy mapping is transformed to a fuzzy c... View full abstract»

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  • Fuzzy logic-based flexible wing aircraft roll and structural torsion moment control

    Publication Year: 1990, Page(s):897 - 902 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A fuzzy-logic-based, multi-input/output roll controller that has been designed for Rockwell International's Advanced Technology Wing (ATW) aircraft to control roll rate and torsion loads is described. The ATW integrates active controls with a flexible wing structure to provide wing shapes that optimize particular flight performance criteria. Because of the large variations in the dynamic model of ... View full abstract»

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  • Dynamic predictive planning+fuzzy logic control=intelligent control

    Publication Year: 1990, Page(s):1217 - 1224 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    The authors present a hierarchical, multiresolutional approach to control system design that addresses the problem of controlling the process in a logical, top-down, piecewise fashion. At higher (low-resolution) levels linguistic (symbolic) representation prevails, whereas at lower (high-resolution) levels analytical models remain the common tool of representation. For control based on a hierarchi... View full abstract»

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  • A neural network simulator for the Connection Machine

    Publication Year: 1990, Page(s):518 - 523 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    The design, development, and performance of CM-RCS, a neural network simulator for the Connection Machine (CM), are described. The design of the simulator is based on the Rochester Connectionist Simulator (RCS) for connectionist networks. The CM-RCS can be used as a stand-alone system or as a high-performance parallel back end to RCS. In the latter case, once the network has been built by RCS, the... View full abstract»

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