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IEEE Transactions on Systems, Man, and Cybernetics

Issue 8 • Date Aug 1994

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Displaying Results 1 - 17 of 17
  • Acceleration based learning control of robotic manipulators using a multi-layered neural network

    Publication Year: 1994, Page(s):1265 - 1272
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    This paper presents a nonlinear compensation method based on neural networks for trajectory control of robotic manipulators. A multi-layered perceptron neural network (MLP) is used to predict the required actuator torques of a robot to follow a desired trajectory, and these predicted torques are applied to the robot as feedforward compensations in parallel to a linear feedback controller. An accel... View full abstract»

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  • Constructive stochastic temporal reasoning in situation assessment

    Publication Year: 1994, Page(s):1099 - 1113
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1272 KB)

    Due to poor structure of situation assessment tasks (SA-tasks), the knowledge-based approach has been studied intensively by many authors. But little progress up to now has been achieved because the existing techniques usually neglect the constructive nature of a human expert's reasoning in a process of a SA-task solving. The development of a new method enabling one to model constructive reasoning... View full abstract»

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  • Integration of overlapping maps made by stereo vision using view field information

    Publication Year: 1994, Page(s):1273 - 1279
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    We propose a new method for combining two overlapping maps made by the stereo vision technique utilizing view field information. Degree of matching is evaluated for every matching candidate, where object point pairs and solitary points in the overlapping view fields contribute positive and negative values, respectively. The threshold value used in judging pair is determined by considering the erro... View full abstract»

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  • Identification of fuzzy prediction models through hyperellipsoidal clustering

    Publication Year: 1994, Page(s):1153 - 1173
    Cited by:  Papers (30)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1668 KB)

    To build a fuzzy model, as proposed by Takagi and Sugeno (1985), the authors emphasize an interactive approach in which knowledge or intuition can play an important role. It is impossible in principle, due to the nature of the data, to specify a criterion and procedure to obtain an ideal fuzzy model. The main subject of fuzzy modeling is how to analyze data in order to summarize it to a certain ex... View full abstract»

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  • A unified approach to camera fixation and vision-based road following

    Publication Year: 1994, Page(s):1125 - 1141
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1800 KB)

    Both camera fixation and vision-based road following are problems that involve tracking or fixating on 3-D points and features. This paper presents a unified theoretical approach to analyzing camera fixation and vision-based road following. The approach is based on the concept of equal flow circles (EFCs) and zero flow circles (ZFCs). Using EFCs it is possible to locate points in space relative to... View full abstract»

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  • A new identification Jacobian for robotic hand/eye calibration

    Publication Year: 1994, Page(s):1284 - 1287
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    Hand/eye calibration is the process of identifying the unknown position and orientation of the camera frame with respect to the robot hand frame, when the camera is rigidly mounted on the robot hand. While computationally slightly more involved, one-stage iterative algorithms have two distinguished advantages over traditional two-stage linear approaches: 1) they are less sensitive to noise, and 2)... View full abstract»

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  • Approximate clustering via the mountain method

    Publication Year: 1994, Page(s):1279 - 1284
    Cited by:  Papers (117)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    We develop a simple and effective approach for approximate estimation of the cluster centers on the basis of the concept of a mountain function. We call the procedure the mountain method. It can be useful for obtaining the initial values of the clusters that are required by more complex cluster algorithms. It also can be used as a stand alone simple approximate clustering technique. The method is ... View full abstract»

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  • Semi-autonomous evolution of object models for adaptive object recognition

    Publication Year: 1994, Page(s):1191 - 1207
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1612 KB)

    The paper presents a semi-autonomous model evolution approach to object recognition under variable perceptual conditions. The approach assumes that (i) the system has to recognize objects on separate images of a sequence, and (ii) the images demonstrate the variability of conditions under which objects are perceived (gradual change in resolution, lighting, positioning). The adaptation of object mo... View full abstract»

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  • Optimal state space partitioning

    Publication Year: 1994, Page(s):1174 - 1190
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1172 KB)

    The partitioning problem of a parameter state space Ω into observation subsets is addressed. The initial knowledge about this parameter is a prior probability distribution over Ω. This distribution is recursively updated through parallel observation results, that are actually binary informations about the presence or the absence of the parameter inside subsets ωi of &O... View full abstract»

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  • Simple model of human arm reachable workspace

    Publication Year: 1994, Page(s):1239 - 1246
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB)

    The paper introduces a simplified mathematical model of the human arm kinematics which is used to determine the workspace related to the reachability of the wrist. The model contains six revolute degrees of freedom, five in the shoulder complex and one in the elbow joint. It is not directly associated to the anatomical structure of the arm, but represents the spatial motion of two characteristic p... View full abstract»

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  • Systems engineering of agricultural robot design

    Publication Year: 1994, Page(s):1259 - 1265
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This paper presents a systems engineering method to evaluate the performance of an agricultural robot by simulating and comparing different types of robots, number of arms, multiple arm configurations, workspace design and dynamic characteristics. Numerical simulation tools were developed to quantify measures of machine performance such as cycle time and percentage of successful cycles based on an... View full abstract»

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  • Neuro-controllers for adaptive helicopter hover training

    Publication Year: 1994, Page(s):1142 - 1152
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    This paper presents an application of artificial neural networks in adaptive helicopter hover training of novice student pilots. The design of the adaptive trainer utilizes the hypothesis that novices can be trained to fly a helicopter system automatically (with no human interaction) if the helicopter system adapts to the learning curve of the student. Two different techniques based on the above a... View full abstract»

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  • Experiments with a target-threshold control theory model for deriving Fitts' law parameters for human-machine systems

    Publication Year: 1994, Page(s):1089 - 1098
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (900 KB)

    A target-threshold control theory model was developed for predicting human-machine movement time. This allows the previously empirical parameters of Fitts' speed and accuracy law (1954) to be determined before system construction. Fitts' law may now serve a role as a predictive design engineering tool for new systems as well as in its traditional role of after-the-fact analysis. The target-thresho... View full abstract»

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  • A reservation-based CSMA protocol for integrated manufacturing networks

    Publication Year: 1994, Page(s):1247 - 1258
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1152 KB)

    This paper presents PCSMA, an extension to the CSMA/CD protocol (used in the Ethernet) to support both conventional datagram traffic and real-time traffic. The protocol provides predictable packet-delivery bounds for real-time traffic. It does not require changes to existing Ethernet controllers for datagram traffic. Under the new protocol, periodic sources follow a variation of the CSMA protocol ... View full abstract»

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  • ANN implementation of stereo vision using a multi-layer feedback architecture

    Publication Year: 1994, Page(s):1220 - 1238
    Cited by:  Papers (4)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1488 KB)

    An artificial neural network (ANN), consisting of three interacting neural modules, is developed for stereo vision. The first module locates sharp intensity changes in each of the images. The edge detection process is basically a bottom-up, one-to-one input-output mapping process with a network structure which is time-invariant. In the second module, a multilayered connectionist network is used to... View full abstract»

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  • Multi-agent resource allocation: an incomplete information perspective

    Publication Year: 1994, Page(s):1208 - 1219
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1136 KB)

    Explores a multi-agent resource allocation problem in an environment of incomplete information. The paper posits the existence of a central policy maker who integrates information acquisition with decision making, in order to optimally allocate resources among multiple agents. The study focuses on three salient aspects: first, the policy maker uses a nonparametric revealed preference approach for ... View full abstract»

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  • Rule generation from neural networks

    Publication Year: 1994, Page(s):1114 - 1124
    Cited by:  Papers (77)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    The neural network approach has proven useful for the development of artificial intelligence systems. However, a disadvantage with this approach is that the knowledge embedded in the neural network is opaque. In this paper, we show how to interpret neural network knowledge in symbolic form. We lay dawn required definitions for this treatment, formulate the interpretation algorithm, and formally ve... View full abstract»

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