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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) Intell

17-17 Sept. 1998

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  • 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
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    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»

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  • 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
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    Freely Available from IEEE
  • Author's index

    Publication Year: 1998, Page(s):897 - 899
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    Freely Available from IEEE
  • Preventing unlearning during online training of feedforward networks

    Publication Year: 1998, Page(s):359 - 364
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    Interference in neural networks occurs when learning in one area of the input space causes unlearning in another area. These interference problems are especially prevalent in online applications where learning is directed by training data that is currently available rather than some optimal presentation schedule of the training data. We propose a procedure that enhances a learning algorithm by giv... View full abstract»

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  • Integrating map learning, localization and planning in a mobile robot

    Publication Year: 1998, Page(s):331 - 336
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    The major themes of our research include the creation of mobile robot systems that are robust and adaptive in rapidly changing environments and the view of integration as a basic research issue. Where reasonable, we try to use the same representations to allow different components to work more readily together and to allow better and more natural integration of and communication between these comp... View full abstract»

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  • Evolution-based self-adaption as an expression for the autonomy degree in multi-agent societies

    Publication Year: 1998, Page(s):741 - 746
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    This work focuses on the development of a method to allow multi-agent systems (MAS) to configure themselves to any application scale and nature. We describe an evolutionary approach to achieve a dynamic adaption of an artificial agent society to environment changes which makes a former efficient society structure suboptimal. Due to the inherent autonomy property of agents this self-adapting mechan... View full abstract»

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  • Signs and values

    Publication Year: 1998, Page(s):677 - 682
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    I consider the value (usefulness) as the most important characteristic of a sign. Values exist only in self-reproducing systems which satisfy the criterion of semantic closure. They can be estimated in a linear model of a system as left eigenvector. The value of any relationship among system components is equal to the contribution of this relationship to the overall value of the system. Autocataly... View full abstract»

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  • Neural network controller for minimizing hub shear forces in helicopter

    Publication Year: 1998, Page(s):354 - 358
    Cited by:  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    Discusses the application of recurrent neural networks for identification and control of helicopter vibrations. A class of recurrent networks called memory neuron networks are used for plant identification and control. These networks are obtained by adding trainable temporal elements to feedforward networks. This makes the network output history sensitive and gives them the capability to identify ... View full abstract»

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  • Software integration: lessons learned with the ETHNOS environment

    Publication Year: 1998, Page(s):325 - 330
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    This paper describes our experiences in the integration of different software components for autonomous robots. In particular, it presents ETHNOS II, a real-time multithreaded programming environment, specifically designed to facilitate the development of distributed robotic systems. ETHNOS II is composed of an object oriented API-Application Programming Interface-and a dedicated operating system ... View full abstract»

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  • Hyper-economy: combining price and utility communication in multi-agent systems

    Publication Year: 1998, Page(s):736 - 740
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    Symbolic communication mechanisms played a significant part in the evolutionary process by allowing plants, animals and humans to exchange individual experiences and thus turning collections of relatively isolated organisms into adaptive distributed cognition systems. By providing aggregated information on comparative values of goods and services to participants with bounded interests and rational... View full abstract»

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  • Agent-based control system for next generation manufacturing

    Publication Year: 1998, Page(s):78 - 83
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    Future manufacturing systems will be required to be agile, flexible and fault-tolerant. The next-generation intelligent manufacturing systems will be multi-agent systems containing distributed control and application entities that dynamically collaborate to satisfy both local and global objectives. This paper focuses on the development of a generic control system design based on IEC-1499 function ... View full abstract»

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  • Biologically-inspired search algorithms for locating unseen odor sources

    Publication Year: 1998, Page(s):265 - 270
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    Many animals use air- or water-borne plumes of odor molecules to locate distant unseen resources. They offer excellent models for the development of robotic systems capable of orientation to chemical plumes. The best studied example of this behavior in biology is that of male moths tracking plumes of the female sex-attractant pheromone upwind to their source, a sexually receptive female. To more f... View full abstract»

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  • Toward computational aspects of text semiotics

    Publication Year: 1998, Page(s):807 - 813
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    This paper deals with the connotative meaning aspect of texts. It proposes a uniform representational format for the structural meaning of language signs belonging to different strata. In this connection some principles of structural meaning constitution are identified: whereas the level of lexical meaning is described relating to the two-stage process of meaning constitution (based on syntagmatic... View full abstract»

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  • 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»

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  • Fuzzy switched hybrid systems-modeling and identification

    Publication Year: 1998, Page(s):130 - 135
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    The combination of hybrid systems and fuzzy multiple model systems is described. Further, a hierarchical identification of the resulting fuzzy switched hybrid system is outlined. The behavior of the discrete component is identified by black box fuzzy clustering and subsequent parameter identification taking into account some prior-knowledge about the discrete states. The identification of the cont... View full abstract»

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  • Parallel inference on connection graphs

    Publication Year: 1998, Page(s):204 - 209
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    The paper presents a theoretical justification and description on the practical implementation of theorem proving problems in the first order predicate logic by using connection graphs. The basic definitions and concepts are given. Two types of parallelism in a process of a deductive inference are introduced. The sequential and parallel inference algorithms are described. The practical implementat... View full abstract»

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  • Basic concepts and methods for keeping autonomous ground vehicle formations

    Publication Year: 1998, Page(s):44 - 49
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A desirable basic behavior of a group of autonomous vehicles while in motion is to keep a predefined formation. Normally units are trained to move in formation according to an operational status. Past experience determines the formation for given situations. In this paper, we discuss concepts pertinent to the theory and design of autonomous vehicles moving in formation. Specifically: 1) we present... View full abstract»

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  • Learning, adaptation and evolution of intelligent robotic system

    Publication Year: 1998, Page(s):2 - 7
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    The intelligent capabilities will be required to the robotics system more and more to adapt the system to dynamic environment. The system needs computational intelligence to cope with wider varieties of the tasks under constraints and environments than ever. Some of the important problems including the system architecture, structured intelligence, emergent system and implementation methods is disc... View full abstract»

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  • Optimal sensor configuration for complex systems

    Publication Year: 1998, Page(s):376 - 380
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    Considers the problem of sensor configuration for complex systems. Our approach involves definition of an appropriate optimality criterion or performance measure, and description of an efficient and practical algorithm for achieving the optimality objective. The criterion for optimal sensor configuration is based on maximizing the overall sensor response while minimizing the correlation among the ... View full abstract»

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  • Stable artificial neural networks for robust pole assignment

    Publication Year: 1998, Page(s):348 - 353
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    Given a linear control system, it is expected that the system poles can be assigned robustly and efficiently. We propose two artificial neural networks for robust pole assignment by state feedback and output feedback controllers, respectively, based on two gradient flows. By embedding the negative gradient flows and the dynamical systems associated with the matrix inverse together into higher dime... View full abstract»

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  • Architectural issues for integration of sensing and acting modalities

    Publication Year: 1998, Page(s):319 - 324
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    The goals of this paper are twofold. First, we present our experiences with (1) fusion of vision, sonar, and contact sensory modalities in perceiving obstacles and targets, (2) arbitration of sensing and acting at reactive and deliberative levels, and (3) integration of asynchronous instruction taking and communication. Following a discussion of lessons learned we discuss architectural modules and... View full abstract»

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  • Semiosis as development

    Publication Year: 1998, Page(s):730 - 735
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The problem, as I see it, is to distinguish externally a developmental trajectory (DT) from any local concatenation of unrelated events. By equating meaning with interpretation from a viewpoint, I assimilate semiosis to development. From DTs emerge, e.g., intentional actions, systems, forms, organisms, texts, organizations-by way of intensification of properties acquired in early stages. All of th... View full abstract»

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  • Behavior-based robust fuzzy control

    Publication Year: 1998, Page(s):233 - 238
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    Fuzzy control has achieved great acceptance in the form of fuzzy versions of the PID, sliding mode and gain scheduling controllers. These fuzzy control techniques ignore the original intent of fuzzy logic: implementation of symbolic, linguistic control laws based on qualitative models of the plant, and control behaviors. We have developed a new fuzzy control methodology, one that achieves robust c... View full abstract»

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  • Quasi-commutative diagrams of multiresolutional systems for representation and control

    Publication Year: 1998, Page(s):72 - 77
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    The multiresolutional approach for representation of intelligent systems with NIST-RCS Architecture leads to a number of mathematical problems related to categorical models associated with the multiresolutional representation. One of these problems is investigation of quasi-commutative diagrams that are mathematical formalization of relations between levels of multiresolutional representation. All... View full abstract»

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