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IEEE Transactions on Systems, Man, and Cybernetics

Issue 5 • Sept.-Oct. 1989

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Displaying Results 1 - 25 of 50
  • Real-time obstacle avoidance for fast mobile robots

    Publication Year: 1989, Page(s):1179 - 1187
    Cited by:  Papers (540)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (845 KB)

    A real-time obstacle avoidance approach for mobile robots has been developed and implemented. It permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advance toward the target. The novelty of this approach, entitled the virtual force field method, lies in the integration of two known concepts: certainty grids for obstacle represent... View full abstract»

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  • Pattern classification in dynamic environments: tagged feature-class representation and the classifiers

    Publication Year: 1989, Page(s):1203 - 1209
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    The author discusses: a tagged feature and class representation of the pattern recognition problem in a dynamic environment; univariate cooperative classifiers that are based on statistical feature evaluation and impose no constraint on the variations of the sets of classes and features; and inductive learning procedures that are used to create a class-feature space adaptive to the variations of t... View full abstract»

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  • Optimal and suboptimal binary inputs for system identification

    Publication Year: 1989, Page(s):1199 - 1202
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    A heuristic random search technique for finding a near-optimum binary input sequence to a linear dynamical system is presented. The problem requires the optimization of a multimodal real function that depends on a string of binary integers. The algorithms combine a global random search procedure with a local (neighborhood) search which examines all sequences within a prescribed Hamming distance. T... View full abstract»

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  • Multisensor integration and fusion in intelligent systems

    Publication Year: 1989, Page(s):901 - 931
    Cited by:  Papers (390)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3184 KB)

    The issues involved in integrating multiple sensors into the operation of a system are presented in the context of the type of information these sensors can uniquely provide. A survey is provided of the variety of approaches to the problem of multisensor integration and fusion that have appeared in the literature in recent years ranging from general paradigms, frameworks, and methods for integrati... View full abstract»

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  • Corrections to generalized Petri net reduction method

    Publication Year: 1989, Page(s):1328 - 1329
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (100 KB)

    A reduction method for Petri nets was previously proposed by the authors (ibid., vol.SMC-15, p.272-80, Mar. 1985). In the present paper they give a modification of the reduction method that better conserves the Petri net property. Specifically, an example is shown in which two of the reduction rules do not conserve the liveness property. It is these two reduction rules that have been modified. The... View full abstract»

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  • Efficiency comparison of associative memories using BSC model

    Publication Year: 1989, Page(s):974 - 979
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    The efficiency of distributed associative memories in which information is stored redundantly at the expense of memory efficiency, is addressed. The memory use efficiency is evaluated by calculating the mutual information transmitted through a binary symmetric channel (BSC) model, simulating the memorization/recollection process with an encoding/decoding process. Several modifications of the stand... View full abstract»

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  • Efficient parallel algorithms and VLSI architectures for manipulator Jacobian computation

    Publication Year: 1989, Page(s):1154 - 1166
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (920 KB)

    The real-time computation of the Jacobian that relates the manipulator joint velocities to the linear and angular velocities of the manipulator end-effector is pursued. Since the Jacobian can be expressed in the form of a first-order linear recurrence, the time lower bound for computing the Jacobian can be proved to be of order O(N) on uniprocessor computers and of order ... View full abstract»

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  • Optimal subclasses with dichotomous variables for feature selection and discrimination

    Publication Year: 1989, Page(s):1194 - 1198
    Cited by:  Papers (13)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    The authors present an efficient algorithm for finding optimal subclasses of a class whose members are represented by several dichotomous features with 0 or 1. Each subclass is expressed by a logical formula with common features among its members. It is shown that some typical subclasses, which contain a large number of samples from a class, consist of a few features. Thus one can select these fea... View full abstract»

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  • An evaluation of motor models of handwriting

    Publication Year: 1989, Page(s):1060 - 1072
    Cited by:  Papers (86)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (972 KB)

    A general method is presented for describing and analyzing biomedical handwriting models. Using Laplace's transform theory, a model can be represented in what is called the neural firing-rate domain. Consistent terminology is proposed to facilitate model evaluation and comparison. An overview of previously published models suggests that they could be described using this method, with second- and t... View full abstract»

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  • Recognition of handwritten Hebrew one-stroke letters by learning syntactic representations of symbols

    Publication Year: 1989, Page(s):1306 - 1313
    Cited by:  Papers (1)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    An automatic recognition algorithm for cursive one-stroke Hebrew letters is presented. The algorithm is founded on the representation of each character by basic structures: lines, arcs, loops, and edges arranged in a chain list. The structures are presented in normalized domains that establish position and direction, and emphasize edges and horizontal and vertical directions. For every input lette... View full abstract»

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  • The dynamic hierarchical model of problem solving

    Publication Year: 1989, Page(s):946 - 954
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    A model of human problem solving emphasizing the dynamic transformation from process to process was developed. The transformation mechanism, the smoothness of which determines the efficiency of problem solving, is clarified. An experiment was conducted to verify the model. Fifteen graduate students participated in the experiment, and their problem-solving processes in debugging error in BASIC prog... View full abstract»

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  • Stability indices for the global analysis of expert control systems

    Publication Year: 1989, Page(s):998 - 1007
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (692 KB)

    The stability of rule-based expert control systems is studied. A control structure with a nonlinear plant and a nonlinear controller, designed on the basis of logical rules incorporating the experience of designers and human operators, is considered. Two classes of indices are presented: one related to the relative stability of the equilibrium point at the origin, and the other to the global stabi... View full abstract»

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  • The depth first picture-expression as an image thresholding strategy

    Publication Year: 1989, Page(s):1321 - 1328
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB)

    A novel image thresholding method called minimal complexity measure thresholding (MCMT) is presented. It is based on the idea that image thresholding should produce the simplest picture possible, which in turn is based on the idea that a simple pattern is easier for humans to perceive. A hierarchical MCMT (HMCMT) algorithm is also shown; it categorizes portions of each local image area as `signifi... View full abstract»

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  • Adaptive design of Petri net controllers for error recovery in automated manufacturing systems

    Publication Year: 1989, Page(s):963 - 973
    Cited by:  Papers (115)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (912 KB)

    The concept of Petri net controllers is extended to include automatic error recovery and adaptive design. In the Petri net controller considered, a place that represents an operation or a state of a machine is attached to two functions and a constant so that it can represent a system working with both normal states and abnormal states. In addition, it is possible to detect an error with the contro... View full abstract»

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  • Textural features corresponding to textural properties

    Publication Year: 1989, Page(s):1264 - 1274
    Cited by:  Papers (255)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1436 KB)

    Five properties of texture, namely, coarseness, contrast, business, complexity, and texture strength, are given conceptual definitions in terms of spatial changes in intensity. These conceptual definitions are then approximated in computational forms. In comparison with human perceptual measurements, the computational measures have shown good correspondences in the rank ordering of ten natural tex... View full abstract»

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  • A sensory gripper using tactile sensors for object recognition, orientation control, and stable manipulation

    Publication Year: 1989, Page(s):1250 - 1261
    Cited by:  Papers (7)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1100 KB)

    A sensory gripper is presented which incorporates two tactile sensing matrices. The tactile sensors acquire 3D information about object contours of interest. An algorithm is presented that is used to determine the orientation of various objects lying randomly, regardless of their identity. The robot gripper is then aligned appropriately, and stable hold sites are found. Object identification is ca... View full abstract»

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  • Planning and control of robot orientational path

    Publication Year: 1989, Page(s):1234 - 1241
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    A novel geometric method for the planning and controlling the orientation of a robot's end-effector as it moves along a prescribed translational path is presented. To eliminate the influence of geometric changes to the path and to be able to predict the orientation, the proposed method plans rotational paths with respect to a natural local coordinate frame formed by three unit vectors, namely, the... View full abstract»

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  • A multiagent multiattribute approach for conflict resolution in acid rain impact mitigation

    Publication Year: 1989, Page(s):1142 - 1153
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1048 KB)

    A methodology for using multiattribute utility functions within a Nash bargaining model and an application of the model to the problem of conflict resolution in acid rain impact mitigation are given. Multiattribute utility theory provides decision makers with a framework for integrating the complex and multiple impacts of acid rain and for making policy decisions. The author examines the economic,... View full abstract»

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  • Dynamic tunneling algorithm for global optimization

    Publication Year: 1989, Page(s):1222 - 1230
    Cited by:  Papers (74)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    A dynamic tunneling algorithm for global optimization, which is motivated by the concept of dynamic flow and tunneling phenomena, is proposed. The algorithm requires the memory of the most recently found minimum and the focal smoothness in the energy landscape. It is based on two systems: a dynamic optimization system by which a local minimum is found, and a dynamic tunneling system by which a new... View full abstract»

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  • Timing information in transient behavior of neuropopulations

    Publication Year: 1989, Page(s):1188 - 1193
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A computational model of neuronal populations based on neurophysiological data is presented. The neuronal population consists of model neurons that simulate electrochemical processes in real neurons. Input and output of the population are defined in terms of the stochastic behavior of the single neurons. Analysis of the populational behavior shows that neuronal populations can approximately functi... View full abstract»

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  • An epistemological view of decision-aid technology with emphasis on expert systems

    Publication Year: 1989, Page(s):1021 - 1029
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (932 KB)

    The philosophical foundations of statistics, operations research, and expert systems are explored, using the notion of metaphor. The authors develop the idea that a root metaphor or a world view exists in both the decision maker and the decision-aid technologies available to solve a problem. To solve a problem correctly, a decision maker must not only use a decision aid correctly, but also first c... View full abstract»

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  • Asymmetry in energy system uncertainty

    Publication Year: 1989, Page(s):1053 - 1059
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    A method of analyzing the long-term growth in uncertainty of a complex system over time is described. The method calls for an iterative application of formal statistical analyses of a computer simulation model. The method was used in a recent case study of the electric utility system in the northwestern US. The author examines whether the uncertainty in electricity demand will change in an asymmet... View full abstract»

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  • Machine recognition and correction of printed Arabic text

    Publication Year: 1989, Page(s):1300 - 1306
    Cited by:  Papers (54)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    A method for automatic recognition of a multifont Arabic text entered from a scanner of 300 dpi density is presented. The system is based on two components, one for character recognition and one for word recognition. Character recognition is further divided into three phases: the digitization process, segmentation of words into characters, and identification of characters. The word recognition com... View full abstract»

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  • An innovative technique for backbone network design

    Publication Year: 1989, Page(s):1122 - 1132
    Cited by:  Papers (12)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (876 KB)

    An algorithm is proposed for solving the minimum-cost backbone network design problem. The method includes time delay as the performance criterion and multiple-hop communication paths. The algorithm combines a branch-and bound method with the algorithm of L.R. Ford and D.R. Fulkerson (1962). The branch-and-bound method is used to find the network topology. A depth-first search using a cost heurist... View full abstract»

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  • Neural networks for extraction of weak targets in high clutter environments

    Publication Year: 1989, Page(s):1210 - 1217
    Cited by:  Papers (18)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    It is shown that feed-forward and graded response Hopfield neural networks can implement an optimum postdetection target track receiver. For the Hopfield net the spurious states correspond to the important case of multiple track detection. Simulations are presented that show that substantial signal-to-noise gain can be achieved. The advantage of the Hopfield network is that the desired final outpu... View full abstract»

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