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# IEEE Transactions on Systems, Man, and Cybernetics

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Displaying Results 1 - 25 of 25
• ### Exploration and dynamic shape estimation by a robotic probe

Publication Year: 1989, Page(s):840 - 846
Cited by:  Papers (18)  |  Patents (1)
| | PDF (615 KB)

A strategy for motion of a planar manipulator on an unknown surface is presented. To estimate a parameter vector for the surface, least-squares estimators are formulated that use both the kinematic and dynamic data available online. The authors begin with the presentation of a control strategy that uses local sensory data to guide the end effector incrementally over the surface. Force feedback is ... View full abstract»

• ### RIPS: a platform for experimental real-time sensory-based robot control

Publication Year: 1989, Page(s):853 - 860
Cited by:  Papers (9)
| | PDF (816 KB)

The design and performance benchmarking of the prototype robotic instruction processing systems (RIPS) at the Center for Robotic Systems in Microelectronics at the University of California-Santa Barbara, is discussed. The architecture of RIPS is specifically geared for robot control, yet the system is general and fully programmable and does not assume any manipulator characteristics. RIPS provides... View full abstract»

• ### Model-based object recognition using a large-field passive tactile sensor

Publication Year: 1989, Page(s):846 - 853
Cited by:  Papers (4)
| | PDF (896 KB)

The results of a model-driven touch sensor recognition experiment are reported. The touch sensor used is a large-field tactile array. Object features appropriate for touch sensor recognition are extracted from a geometric model of an object, and a dual spherical image is formed. Both geometric and dynamic features are used to identify objects and their position and orientation on the touch sensor.... View full abstract»

• ### A flexible method for nonlinear multicriteria decision-making problems

Publication Year: 1989, Page(s):883 - 887
Cited by:  Papers (14)
| | PDF (556 KB)

An iterative and interactive approach to formulating and solving multicriteria decision-making problems is proposed in which the modeling and the solution phases are not strictly separated but overlap. At each iteration, the decision-maker is allowed to designate criterion functions as objective functions or as constraints or as something in between. The algorithm guarantees all intermediate solut... View full abstract»

• ### RUBIC: a multiprocessor for rule-based systems

Publication Year: 1989, Page(s):699 - 706
Cited by:  Papers (14)  |  Patents (6)
| | PDF (604 KB)

It is shown how sequential production systems can be transformed into equivalent parallel forms by performing an analysis of rule interdependence. In the parallel production system model, rules fire simultaneously and the search space is reduced from the original form. A multiprocessor called RUBIC (rule-based inference computer) was designed to implement the parallel processing model. RUBIC has a... View full abstract»

• ### A gray-level threshold selection method based on maximum entropy principle

Publication Year: 1989, Page(s):866 - 871
Cited by:  Papers (106)  |  Patents (9)
| | PDF (536 KB)

A description is given of a gray-level threshold selection method for image segmentation that is based on the maximum entropy principle. The optimal threshold value is determined by maximizing the a posteriori entropy subject to certain inequality constraints which are derived by means of spectral measures characterizing uniformity and the shape of the regions in the image. For this purpose, the a... View full abstract»

• ### Segmentation between overlapping parts: the moving shadows approach

Publication Year: 1989, Page(s):880 - 883
Cited by:  Papers (2)
| | PDF (480 KB)

A method for segmenting three-dimensional overlapping surfaces is presented that is based on moving a light source in a horizontal plane relative to the surfaces to be segmented. Using a camera that is placed above the surfaces. The shadows cast by the surfaces at each light source angle are recorded and analyzed. The segmentation algorithm is simple and based on Boolean processing of the data. A ... View full abstract»

• ### Processing fuzzy temporal knowledge

Publication Year: 1989, Page(s):729 - 744
Cited by:  Papers (129)  |  Patents (4)
| | PDF (1460 KB)

L.A. Zadeh's (1975) possibility theory is used as a general framework for modeling temporal knowledge pervaded with imprecision or uncertainty. Ill-known dates, time intervals with fuzzy boundaries, fuzzy durations, and uncertain precedence relations between events can be dealt with in this approach. An explicit representation (in terms of possibility distributions) of the available information, w... View full abstract»

• ### Alternative implementations of Prolog: the microarchitecture perspective

Publication Year: 1989, Page(s):693 - 698
Cited by:  Papers (1)
| | PDF (572 KB)

An area that should provide opportunities for obtaining improvements in the performance of Prolog programming is explored: the microarchitecture of the uniprocessor engine. Alternative execution models are examined for a uniprocessor microengine, and their performance is measured on 14 separate benchmark programs; the resulting data is presented and analyzed. The author also examines the program s... View full abstract»

• ### The likelihood ratio test for goodness of fit with fuzzy experimental observations

Publication Year: 1989, Page(s):771 - 779
Cited by:  Papers (14)
| | PDF (804 KB)

Experiments are considered in which the person responsible for observation cannot crisply perceive the outcomes, but where each observable event can be identified with a fuzzy subset of the sample space. It is explained that in such a situation, the likelihood ratio test can immediately be derived for goodness of fit to a completely specified hypothetical distribution regarding the exact experime... View full abstract»

• ### Issues in low-dimensional sensing and feedback [in robot grippers]

Publication Year: 1989, Page(s):832 - 839
Cited by:  Papers (6)
| | PDF (796 KB)

A discussion is presented of problems of multisensory integration and feedback in a robot gripper. Various contact and noncontact sensors are described and it is shown how a number of such low-dimensional' sensors are integrable in an advanced robot gripper. The resulting gripper uses only a few data and power supply connections out of the wrist. Feedback structures are outlined with the main emp... View full abstract»

• ### Classification quality assessment for a generalized model-based object identification system

Publication Year: 1989, Page(s):861 - 866
Cited by:  Papers (5)  |  Patents (1)
| | PDF (660 KB)

An object recognition system based on global features and nearest neighbor matching is extended and enhanced using classification quality assessment methodology. For quality assessment, a classification decision is processed at two levels. The first is to reject options that are not contained in the model database. The second is to identify the likelihood of error for classifications of known obje... View full abstract»

• ### Partial simultaneous updating in Hopfield memories

Publication Year: 1989, Page(s):887 - 888
Cited by:  Papers (9)
| | PDF (176 KB)

A simple generalization of the Hopfield memory is presented. The model proposed updates simultaneously groups of a fixed number of neurons that are disjoint in the sense that each neuron belongs to one and only one group. An analysis is presented of the case in which one of the groups is chosen at random with equal probability and then is updated according to a rule equivalent to the one given by ... View full abstract»

• ### The Connection Machine model CM-1 architecture

Publication Year: 1989, Page(s):707 - 713
Cited by:  Papers (9)  |  Patents (1)
| | PDF (612 KB)

An examination is presented of the performance of the Connection Machine model CM-1 system, a general-purpose computer capable of adapting to many sizes and types of data sets. An overview of the hardware and software systems is provided and a simple application is presented from which the raw performance of the machine is examined. This illustrates the power of data-level parallelism and indicate... View full abstract»

• ### New sensing strategies for monitoring moving polyhedral objects by machine vision

Publication Year: 1989, Page(s):872 - 880
Cited by:  Papers (1)
| | PDF (1012 KB)

A set of sensing strategies is proposed for monitoring three-dimensional moving objects by computer vision. Three-dimensional (3-D) object surface points are selected as the features for monitoring 3-D moving objects because the point features are easy to detects, extract, store, and manipulate. It is proved that the minimum measurable feature point set for monitoring a 3-D moving convex polyhedra... View full abstract»

• ### A description of the dynamic behavior of fuzzy systems

Publication Year: 1989, Page(s):745 - 755
Cited by:  Papers (73)
| | PDF (920 KB)

An approach is presented for analyzing the global behavior of a fuzzy dynamical system that applies the concept and method of cell-to-cell mapping to obtain the evolving trend of the states of a fuzzy dynamical system. The behavior of the fuzzy system is characterized by equilibria, periodic motions, and their domain of attractions. Min-max operation accumulates the fuzziness of a fuzzy system in ... View full abstract»

• ### Some discussion of static gripping and its stability

Publication Year: 1989, Page(s):783 - 796
Cited by:  Papers (43)
| | PDF (1296 KB)

An overview is presented of research done in the area of dextrous manipulation. The main issue has been how to control mechanical hands so that they can perform manipulation task with the same dexterity and sensitivity as the human hands. To achieve sophisticated algorithms for grasping, compliance control, and manipulation, the nature of the contact wrenches, twists, and compliance of the fingers... View full abstract»

• ### A model-based aid for monitoring and controlling a large-scale system

Publication Year: 1989, Page(s):888 - 892
| | PDF (576 KB)

Approaches to aiding human performance in monitoring and controlling a large-scale system are considered. One particular approach that is based on a model of human performance is described in detail. The model includes a rule-based representation of procedural knowledge, a frame-based representation of declarative knowledge, and a fuzzy prioritization mechanism to handle rule of conflicts. The onl... View full abstract»

• ### Joint recognition and tracking for robotic arc welding

Publication Year: 1989, Page(s):714 - 728
Cited by:  Papers (17)  |  Patents (1)
| | PDF (1272 KB)

An automatic joint guidance system was developed as part of a project to develop an expert welding robot. The apparatus consists of a servo-robot laser scanner mounted on a conventional CLOOS model ROMAT 75/76 industrial welding robot. The computer vision system is able to recognize and track the joint to be welded without external information by using range data obtained from scanning the workpie... View full abstract»

• ### A survey on the design of multiprocessing systems for artificial intelligence applications

Publication Year: 1989, Page(s):667 - 692
Cited by:  Papers (7)  |  Patents (4)
| | PDF (3024 KB)

Some issues in designing computers for artificial intelligence (AI) processing are discussed. These issues are divided into three levels: the representation level, the control level, and the processor level. The representation level deals with the knowledge and methods used to solve the problem and the means to represent it. The control level is concerned with the detection of dependencies and par... View full abstract»

• ### Reasoning with imprecise knowledge to enhance intelligent decision support

Publication Year: 1989, Page(s):756 - 770
Cited by:  Papers (13)
| | PDF (1552 KB)

Decisionmakers often have to deal with knowledge that is both unstructured and imprecise in nature. Lack of structure forces the use of heuristic programming and artificial intelligence methods in automated decision support systems for such problems. At the same time, the knowledge representation and manipulation methods used should be able to include imprecise knowledge, where imprecision may be ... View full abstract»

• ### A dynamic approach to high-precision parts mating

Publication Year: 1989, Page(s):797 - 810
Cited by:  Papers (24)
| | PDF (1328 KB)

A method for the mating of tightly fitting parts in the presence of significant sensing, model, and control uncertainties is presented. Using this method randomly placed parts that were located using a three-dimensional laser range scanning system can be mated even when the clearance between them is only 0.001 in. The various sources of error introduced in the fine forced-guided motions used to ex... View full abstract»

• ### New graphics as computerized displays for human information processing

Publication Year: 1989, Page(s):893 - 898
Cited by:  Papers (8)
| | PDF (656 KB)

A comparative study of various graphic and tabular representations of financial and accounting statistics in an interactive decision setting is presented. Controls are placed on demographic variables, cognitive style, abilities, and math and computer anxiety. Bar graphics are found to be a faster but more accurate form of man-machine communication that tabular presentation of information in credit... View full abstract»

• ### Adaptive self-calibration of vision-based robot systems

Publication Year: 1989, Page(s):811 - 824
Cited by:  Papers (18)
| | PDF (1236 KB)

An adaptive self-learning process to dynamically and continuously learn the transformation between the camera space and the robot space is discussed. The process is referred to as the adaptive self-calibration of hand-eye systems in which a visual-feedback-based self-learning process is used for dynamically and continuously learning the hand-eye transformation through repetitive operation trials. ... View full abstract»

• ### Real-time application of neural networks for sensor-based control of robots with vision

Publication Year: 1989, Page(s):825 - 831
Cited by:  Papers (152)  |  Patents (11)
| | PDF (916 KB)

A practical neural network-based learning control system is described that is applicable to complex robotic systems involving multiple feedback sensors and multiple command variables. In the controller, one network is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space. The learned infor... View full abstract»