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IEEE Transactions on Systems, Man, and Cybernetics

Issue 1 • Date Jan/Feb 1992

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Displaying Results 1 - 20 of 20
  • Some conceptual and technical problems in integrating models of judgment with simulation models

    Publication Year: 1992, Page(s):21 - 34
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1328 KB)

    Recent research has focused on how policy makers learn from and make better use of policy-oriented simulation models. It is proposed that those who construct simulation models make simplifying assumptions concerning the wide range of judgment tasks that surround both model building and decision making in real policy contexts. Linking formal judgment models with formal simulation models has been su... View full abstract»

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  • Applications of neural networks in learning of dynamical systems

    Publication Year: 1992, Page(s):161 - 164
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    One of the immediate applications of neural networks in the engineering field is pattern recognition and its extension to system identification. Three unique features of neural networks, namely, learning, high-speed processing of massive data, and the ability to handle signals with degrees of uncertainty, make such networks attractive to dynamical systems. The first step in analyzing such systems ... View full abstract»

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  • Control primitives for robot systems

    Publication Year: 1992, Page(s):183 - 193
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1148 KB)

    A set of primitive operations that forms the core of a robot system description and control language is presented. The actions of the individual primitives are derived from the mathematical structure of the equations of motion for constrained mechanical systems. The recursive nature of the primitives allows composite robots to be constructed from more elementary daughter robots. A few pertinent re... View full abstract»

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  • A neuromorphic controller for a three-link biped robot

    Publication Year: 1992, Page(s):164 - 169
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    A neural network architecture for the control of a three-link biped walking robot is developed. The neuromorphic controller, based on hierarchical structure of artificial neural networks, is trained by supervised learning. The training model is derived by applying nonlinear feedback decoupling and an optimal tracking strategy. The neurocontroller utilizes several computational features of neural n... View full abstract»

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  • Load-adaptive control of a single-link flexible manipulator

    Publication Year: 1992, Page(s):85 - 91
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    An adaptive control scheme for the tip position control of a single-link flexible manipulator handling unknown changing loads and its experimental verification are presented. The scheme essentially comprises a least-squares identification algorithm and a self-tuning pole-placement controller. The controller uses a novel recursive algorithm which constrains the control signal not to respond immedia... View full abstract»

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  • Optimal grasps for planar multifingered robotic hands

    Publication Year: 1992, Page(s):193 - 198
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    A fast and simple algorithm for determining optimal grasps of a planar multifingered robotic hand is presented. Using a representation for the stiffness of a planar grasp system, the authors derive conditions for static equilibrium, task-oriented grasping, and stability. An optimization model for determining optimal grasps of a planar multifingered hand is established using a quality measure which... View full abstract»

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  • Adjuncts and alternatives to neural networks for supervised classification

    Publication Year: 1992, Page(s):35 - 46
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    While multilayer neural networks (NNs) are a powerful tool for supervised classification, their intrinsic nonlinearity often leads to slow convergence or divergence when the training sets include multimodal and/or overlapping classes. Well-known optimization techniques improve classification performance and convergence rate and reduce the tendency for divergence. Optimization techniques are also a... View full abstract»

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  • A discrete-time design of robust iterative learning controllers

    Publication Year: 1992, Page(s):74 - 84
    Cited by:  Papers (25)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    A simple discrete-time design of robust iterative learning controllers taking account of the transient behavior as well as the uncertainty of a plant is proposed. Using the impulse response sequence of a plant, a simple finite-dimensional formulation of the problem is given. Assuming that a nominal impulse response sequence is given, a design based on the minimization of a quadratic performance in... View full abstract»

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  • Neural network controller characteristics with regard to adaptive control

    Publication Year: 1992, Page(s):170 - 177
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    The authors attempt to clarify neural network (NN) controller characteristics by comparison with the adaptive control theory. The authors clarify the classification of the NN controller architecture and the dynamic NN structure. Comparison between the NN controller and the adaptive controller clarifies that the framework of a linear two-layer NN-type controller is the same as that of adaptive cont... View full abstract»

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  • The IEEE Systems. Man, and Cybernetics Society: past, present, and future

    Publication Year: 1992, Page(s):1 - 9
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (952 KB)

    Four current and former IEEE Systems, Man, and Cybernetics (SMC) Society presidents consider the past, present, and future of the IEEE SMC Society to commemorate the society's 20th anniversary. The authors address its auspicious beginning, its transition from an incubatee to an incubator society, the breadth of its transactions, the international character of its membership, the appropriateness of... View full abstract»

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  • Task classification for knowledge-based systems in industrial automation

    Publication Year: 1992, Page(s):142 - 152
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1084 KB)

    A formal classification of primitive tasks for knowledge-based system applications in industrial automation is presented. The classification is based on a system theoretic perspective using the direction of temporal reasoning as the metric for classification. This classification is canonical with respect to time and can, therefore, be used to define primitive elements in constructing more complex ... View full abstract»

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  • Reasoning about energy in qualitative simulation

    Publication Year: 1992, Page(s):47 - 63
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1084 KB)

    Qualitative modeling and simulation make it feasible to predict the possible behavior of a mechanism consistent with an incomplete state of knowledge. Though qualitative simulation predicts all possible types of behavior of a system, it can also produce spurious behavior, i.e., behavior that corresponds to no solution of any ordinary differential equation consistent with the qualitative model. A m... View full abstract»

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  • Segmenting images using normalized color

    Publication Year: 1992, Page(s):64 - 73
    Cited by:  Papers (50)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1172 KB)

    An algorithm for segmenting images of 3-D scenes is presented. From an input color image, the algorithm determines the number of materials in the scene and labels each pixel according to the corresponding material. This segmentation is useful for many visual tasks including 3-D inspection and 3-D object recognition. The segmentation algorithm is based on a detailed analysis of the physics underlyi... View full abstract»

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  • A geometric feature relation graph formulation for consistent sensor fusion

    Publication Year: 1992, Page(s):115 - 129
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1312 KB)

    A generic framework that employs a sensor-independent, feature-based relational model, called the geometric feature relation graph (GFRG), to represent information acquired by various sensors is proposed. A GFRG consists of nodes representing 3-D geometric features and arcs denoting spatial relations between features. Sensor fusion is then accomplished by integrating multiple irregular GFRGs const... View full abstract»

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  • Coordinated motion planning: the warehouseman's problem with constraints on free space

    Publication Year: 1992, Page(s):130 - 141
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1052 KB)

    The warehouseman's problem, namely, the coordinated motion planning for multiple independent objects confined in a room, is addressed. Several constraints are presented under which the problem becomes tractable, and polynomial time algorithms that guarantee a coordinated rearrangement under the given conditions are obtained. The concept of temporary storage space (TSS) is introduced as a general w... View full abstract»

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  • Control of the heel-off to toe-off motion of a dynamic biped gait

    Publication Year: 1992, Page(s):92 - 102
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (876 KB)

    A mechanism for the control of the heel-off to toe-off motion of a dynamic biped gait is presented. It is argued that the reaction force between the ground and the biped foot is an important factor in a satisfactory implementation of dynamic gait. This force must be properly controlled while the foot is in the heel-off to toe-off phase. Since the foot rolls over the ground surface in this phase an... View full abstract»

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  • A neural network for tactile sensing: the Hertzian contact problem

    Publication Year: 1992, Page(s):177 - 182
    Cited by:  Papers (4)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    A neural network has been developed for use in local closed-loop gripper control using a tactile sensor array. Backpropagation is used to train a network with a single hidden layer to recognize the angle of contact between a cylindrical finger with an embedded sensor array and a cylindrical rod. Simulation results are presented and discussed View full abstract»

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  • A cognitive-map-based approach to the coordination of distributed cooperative agents

    Publication Year: 1992, Page(s):103 - 114
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1100 KB)

    A partial taxonomy for cognitive maps is provided. The notions of NPN (negative-positive-neural) logic, NPN relations, coupled-type neurons, and coupled-type neural networks are introduced and used as a framework for cognitive map modeling. D-POOL a cognitive-map-based architecture for the coordination of distributed cooperative agents, is presented. D-POOL consists of a collection of distributed ... View full abstract»

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  • Big graphics and little screens: designing graphical displays for maintenance tasks

    Publication Year: 1992, Page(s):10 - 20
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1068 KB)

    Traditional maintenance information includes large graphical drawings that are difficult to portray on the small screens of computer-based maintenance information systems. The research described investigates the design of graphical displays using display abstraction and aggregation as design parameters. A display's aggregation level reflects the field of view of a display, such as component, assem... View full abstract»

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  • Fuzzy-attribute graph with application to Chinese character recognition

    Publication Year: 1992, Page(s):153 - 160
    Cited by:  Papers (16)  |  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    To include fuzzy properties in solving some types of problems, the attributes graph is extended to provide a fuzzy-attribute graph (FAG). With such an extension, equality of attributes can no longer be used when matching of FAGs is considered, as equality of two fuzzy sets is too stringent a condition. A measure for matching two FAGs is suggested. The measure has its interpretation in fuzzy logic.... View full abstract»

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