By Topic

Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings

Date 17-17 Sept. 1998

Filter Results

Displaying Results 1 - 25 of 157
  • Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intelligent Systems and Semiotics (ISAS) (Cat. No.98CH36262))

    Publication Year: 1998
    Request permission for commercial reuse | PDF file iconPDF (545 KB)
    Freely Available from IEEE
  • Multiresolutional symbol processing in intelligent systems

    Publication Year: 1998, Page(s): 1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (137 KB)

    Two major algorithmic tools associated with multiresolutional systems are discussed in this lecture: 1) "Multiresolutional Formation of the Motion Trajectory," and 2) "Synthesis of Possible Worlds". The first tool contains a family of niultiresolutional algorithms applicable for motion planning and control. It focuses upon imagining changes and is actively helpful for reasoning about actions. They... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Panel discussion: Autonomy in engineering systems: What is it and why is it important? Setting the stage: Some autonomous thoughts on autonomy

    Publication Year: 1998, Page(s):520 - 521
    Request permission for commercial reuse | PDF file iconPDF (161 KB)
    Freely Available from IEEE
  • Author's index

    Publication Year: 1998, Page(s):897 - 899
    Request permission for commercial reuse | PDF file iconPDF (189 KB)
    Freely Available from IEEE
  • Spatial localization and the refinement of orienting behavior: What can be learned from the barn owl?

    Publication Year: 1998, Page(s):253 - 258
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    The barn owl is a nocturnal predator that relies on audition for hunting. In addition to being able to localize sound sources with high accuracy, it can adjust its orienting behavior in the presence of changes in sensorimotor conditions (e.g. through growth). We review our work modeling the principal neural structures responsible for the orienting behavior of the barn owl. To expose these models t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A software architecture for multi-criteria decision making for advanced robotics

    Publication Year: 1998, Page(s):525 - 530
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Integrating natural language and gesture in a robotics domain

    Publication Year: 1998, Page(s):247 - 252
    Cited by:  Papers (13)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    For our work in the robotics domain, we have concentrated on integrating spoken natural language and natural gesture for command and control of a semi-autonomous mobile robot. We have assumed that both spoken natural language and natural gesture are more user-friendly means of interacting with a mobile robot, and from the human standpoint, such interactions are easier, given that the human is not ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Functions of the limbic system in the brain

    Publication Year: 1998, Page(s):522 - 524
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    Functions of the limbic system are analyzed based on previously published ideas that all hierarchical levels of the nervous system are built according to the same functional principles: each level is a learning system that contains a model of object behavior and receives two types of afferent signals: initiating and informational. It is shown how each limbic hierarchical level adds new controlling... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Unified walking control for a biped robot using neural networks

    Publication Year: 1998, Page(s):283 - 288
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    A control scheme for handling variable speed gaits was implemented on an experimental biped. The control scheme used adaptation of pre-planned motion sequences in combination with closed loop reactive control. CMAC neural networks were responsible for the adaptive control of motion sequences. The biped was able to walk with variable speed gaits, and to change gait speeds on the fly. The slower gai... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Maximum entropy adaptive control of chaotic systems

    Publication Year: 1998, Page(s):243 - 246
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    We present an adaptive control strategy for controlling chaos in nonlinear dynamical systems. The proposed method is a neuro-fuzzy model as a globally coupled map based on entropy optimization, which combines an identified system fuzzy model and a control input update rule. The stability analysis of the resulting control scheme is shown by a property of contraction mappings. Numerical examples are... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Planning: a sketch of the theory

    Publication Year: 1998, Page(s):56 - 62
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    Concerns motion trajectory planning. Main historical milestones in the development of trajectory planning are given, beginning in 1966. Planning and related concepts are defined. Planning is examined as a stage of control. Behaviour generation is then considered. Problems related to planning are examined. Planning is considered as a reaction to an anticipated future. Representation spaces are cons... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robot control of animal flocks

    Publication Year: 1998, Page(s):277 - 282
    Cited by:  Papers (10)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    The Robot Sheepdog Project has developed a mobile robot that gathers a flock of ducks and manoeuvres them safely to a specified goal position. This is the first example of a robot system that exploits and controls an animal's behaviour to achieve a useful task. A potential-field model of flocking behaviour was constructed and used to aid the design of two novel flock-control methods. These methods... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Petri net based modeling and analysis of switched systems

    Publication Year: 1998, Page(s):140 - 145
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    Summarizes results for a class of timed Petri nets called programmable timed Petri nets (PTPN) (Lemon et al., 1988). The application of results concerning the uniform ultimate boundedness of switched systems, modeled by PTPN, is discussed. Unfolding is introduced as an efficient way to identify fundamental cycles from the reachability graph of the PTPN thereby providing an efficient way to test un... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An open sensing architecture to autonomous mobile robots

    Publication Year: 1998, Page(s):610 - 615
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    In this paper, a system that allows the connection of different types of sensors and sensor combinations is presented. The designed system is considered a black box from the point of view of the sensors, and provides the users with a multisensor fusion method to prove different sensor sets, which can be complementary and/or redundant, in order to save the users from creating a new structure for ea... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Cranking along: slip-free locomotion by snake robots without torsion-free joints

    Publication Year: 1998, Page(s):239 - 242
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    Although snake robots are probably most at their kinematic advantage in rough terrain, they should also be able to transport themselves efficiently over relatively smooth areas. An argument that is often held against them is that there is a heavy efficiency penalty for locomotion on flat surfaces, due to the energy loss caused by sliding friction of the robot's body against the ground. An earlier ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Object-oriented design and multiresolution in intelligent control

    Publication Year: 1998, Page(s):120 - 125
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    Intelligent control (IC) tasks are naturally formalized in terms of object-oriented design and programming. However, the software are often not reusable. Inheritance and other relations are so specific that they do not lead to selection of the most appropriate intelligent control method. We develop methodology and prototypes of reusable C++ classes for intelligent control tasks related to fuzzy co... View full abstract»

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

    Publication Year: 1998, Page(s):516 - 519
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The phenomenon of autonomy is strongly connected with the multiresolutional representation of intelligent systems and the mechanisms that provide for the existence of MR-representation. In the meantime, the issue of autonomous intelligent control systems (AICS) is a complicated one. Not all premises of this issue are universally accepted. In the paper, attention is focused upon the topics, which r... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR

    Publication Year: 1998, Page(s):658 - 670
    Cited by:  Papers (17)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2288 KB)

    The next phase of unmanned ground vehicle (UGV) development, the Demo III programme, aims to enable round-the-clock operation with autonomous, cross-country navigation at speeds up to 40 mph on roads, 20 mph by day off road, and 10 mph by night off road. This paper reviews the obstacle sizes that must be detected and lookahead distances that are required to support such driving speeds, and describ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modeling schizophrenic behavior and testing drug efficacy using general mixture components

    Publication Year: 1998, Page(s):417 - 421
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    A critical idea in the statistical analysis of randomized experiments is that the validity of the significance level for any test-statistic is assured by finding the randomization distribution of that statistic under the null hypothesis. Since validity under the null hypothesis is certain for any statistic, the most powerful statistic should be used to test for the equivalence of treatments, that ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Bottleneck analysis for self-adaption in multi-agent societies

    Publication Year: 1998, Page(s):446 - 451
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    We describe an approach to achieve dynamic adaption of an artificial agent society to environmental changes. Such changes cause sub-optimalities in the agent society design, leading to overloaded or underloaded agents or agent groups in the society. Our approach provides a mechanism to reveal these sub-optimalities by integrating bottleneck analysis to structural self-adaption in a generic multi-a... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Path planning for autonomous vehicles driving over rough terrain

    Publication Year: 1998, Page(s):50 - 55
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (952 KB)

    This paper presents a multiresolutional architecture of planners for obstacle avoidance in outdoor mobility. The planner makes use of off-line dynamical simulations results to efficiently find paths that avoid obstacles. The trajectories are generated by sets of steering velocity commands. This approach of building the search space for the planner results in realistic cost and trajectories for the... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A conceptual foundation for autonomous learning in unforeseen situations

    Publication Year: 1998, Page(s):483 - 488
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    A cognitive agent should have the capability to learn autonomously in completely unforeseen situations. “Unforeseen” means something that was not taken into account in an internal representation of the world. However, it is detectable in the form of anomalous sensor measurements. Two problems must be solved: 1) the “newness” of the situation must be detected, i.e. it should... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A neural network for object recognition through sonar on a mobile robot

    Publication Year: 1998, Page(s):271 - 276
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    A novel approach to sonar-based object recognition for use on an autonomous robot is described. An inexpensive Polaroid sonar, coupled with an A/D data acquisition board installed in a LINUX-based PC, provides full-echo sonar information to a fuzzy ARTMAP neural network classification system. Initial experimental results are described which illustrate recognition of five objects and generalization... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Learning approach to fault tolerant control: an overview

    Publication Year: 1998, Page(s):157 - 162
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    Presents an overview of a learning methodology for detecting, identifying and accommodating faults in nonlinear dynamic systems. The main idea behind this approach is to monitor the plant for any off-nominal behavior due to faults utilizing a neural network or other types of online approximators. In the presence of a failure, the neural network can be used as an estimate of the nonlinear fault fun... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stabilization of hybrid dynamical systems

    Publication Year: 1998, Page(s):136 - 139
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (284 KB)

    We consider stabilization of an affine in control, nonlinear autonomous hybrid dynamical system (HDS) plant model. HDS are systems that combine the dynamics of a discrete system abstractly modeled as an automaton and continuous system modeled as nonlinear ordinary differential equations. We drive a HDS version of exact linearization via nonlinear feedback. In doing so we were able to bypass the is... View full abstract»

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