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Real-Time Control System software for intelligent system development: experiments and an educational program

Real-Time Control System software for intelligent system dev...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： V. Gazi M. Moore K.M. Passino Department of Electrical Engineering Ohio State Uinversity Columbus OH USA

The National Institute of Standards and Technology (NIST) has been developing the "Real-Time Control Systems (RCS)" software for more than two decades and using it for the design and implementation of complex intelligent control systems. Present applications of RCS include mining, manufacturing, robotics, and autonomous vehicles. In this paper we summarize the efforts at Ohio State University to develop an educational program for the NIST RCS that includes classroom instruction, a strong laboratory component (complete with small-scale RCS implementations), and a software handbook.

关键词： Real time systems Control systems System software Intelligent systems NIST Intelligent manufacturing systems Intelligent robots Competitive intelligence Software systems Intelligent control

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Four-dimensional representation and collision detection for polytopic objects

Four-dimensional representation and collision detection for ...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： M.D.S. Aliyu K.S. Al-Sultan Department of Systems Engineering King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

An algorithm for detecting the collision of moving objects is presented. The algorithm applies to polyhedral objects that can be represented as convex hulls of finite number of vertices in two or three-dimensional space. This is then extended to a three or four-dimensional space (respectively) to represent the objects and their motion. Nonlinear programming techniques are then employed to detect possible interference. The algorithm detects in one step whether or not the objects will interfere during their motion which may involve pure translations or rotations or both.

关键词： Object detection Interference robotics and automation Mobile robots Motion detection Manufacturing industries Robotic assembly Service robots Systems engineering and theory Petroleum

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Stabilization of hybrid dynamical systems

Stabilization of hybrid dynamical systems

引用

ieee international symposium on Intelligent Control (ISIC)

作者： M.B. Amin Department of Electrical and Computer Engineering University of Minnesota Minneapolis MN USA

We consider stabilization of an affine in control, nonlinear autonomous hybrid dynamical system (HDS) plant model. HDS are systems that combine the dynamics of a discrete system abstractly modeled as an automaton and continuous system modeled as nonlinear ordinary differential equations. We drive a HDS version of exact linearization via nonlinear feedback. In doing so we were able to bypass the issue of characterization of inherent switching boundaries in the plant model to derive stabilizing controllers.

关键词： Feedback Power system modeling Stability Automatic control Automata Ear Nonlinear dynamical systems Continuous time systems Nonlinear equations automation

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Dynamic diagrammatic representations for reasoning and motion control

Dynamic diagrammatic representations for reasoning and motio...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： M. Frixione G. Vercelli R. Zaccaria Department of Communication Sciences University of Salerno Fisciano Salerno Italy DEEI-Università di Trieste Trieste Italy DIST-University of Genoa Genoa Italy

The aim of this paper is to propose a way of performing spatial reasoning about dynamic scenarios. We describe a class of intrinsically dynamic diagrammatic models, that are based on the metaphor of artificial potential fields (APFs). APFs are a well known method used for motion planning and force control in robotics. We show that the use of APFs can be extended to different domains, in order to face various problems of spatial reasoning and planning. An advantage of this approach is the lack of a clear cut boundary between reasoning and control. This allows a better integration of these two aspects. In the present paper, this claim is exemplified on grasping problems.

关键词： Motion control Artificial intelligence Logic Motion planning computational modeling Psychology Proposals Context Force control Robots

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

Evolution-based self-adaption as an expression for the auton...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： C. Gerber German Research Center for Artificial Intelligence Saarbrucken Germany

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 mechanism turns out to be an instrument to restrict the autonomy. Therefore, this mechanism provides an internal representation of the degree of agent autonomy in a multi-agent system.

关键词： Multiagent systems Humans Medical services Artificial intelligence Mechanical factors Instruments Evolutionary computation Large-scale systems Organizing Sociology

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Software integration: lessons learned with the ETHNOS environment

Software integration: lessons learned with the ETHNOS enviro...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： M. Piaggio DIST University of Genova Genoa Italy

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 built on top of a RT POSIX OS. The ETHNOS characteristics (in particular the communication services provided) are discussed, focusing on their properties and on their effects on the resulting system. Examples of integration will be provided, and the results experimentally evaluated on real robots.

关键词： Intelligent robots Cognitive robotics Computer architecture Real time systems Programming environments Application software Protocols Object oriented programming Robot programming Operating systems

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A systems theoretical view on computational semiotics. Modeling text understanding as meaning constitution by SCIPS

A systems theoretical view on computational semiotics. Model...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： B.B. Rieger FB II Department of Computational Linguistics University of Trier Germany

In a rather sharp departure from CL and AI approaches, modeling in computational semiotics (CS) neither presupposes rule-based or symbolic formats for linguistic knowledge representations, nor does it subscribe to the notion of symbolically represented world knowledge as some static structures that may be abstracted from and formatted independently of the way they are processed. Consequently, knowledge structures and the processes operating on them are to be modeled procedurally and ought to be implemented as algorithms. They determine semiotic cognitive information processing systems (SCIPS) as collections of cognitive information processing devices whose semiotic character consists in their multilevel representational system of (working) structures emerging from and being modified by such processing. According to different types of cognitive modeling distinguished in the past, computational semiotics can be characterized as aiming at the dynamics of emergent meaning constituted by processes which may be simulated as multiresolutional representations within the frame of an ecological information processing paradigm.

关键词： computational modeling Information processing computational linguistics Natural languages Artificial intelligence Handicapped aids Information systems Constitution Binary search trees Text recognition

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Integrating map learning, localization and planning in a mobile robot

Integrating map learning, localization and planning in a mob...

引用

ieee international symposium on Intelligent Control (ISIC)

作者： B. Yamauchi A. Schultz W. Adams K. Graves Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Inc. Washington D.C. DC USA

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 components. In this paper, we summarize our recent work in integrated mobile robot exploration, localization, and navigation.

关键词： Mobile robots Navigation Sonar Robustness Infrared sensors Bayesian methods Learning Artificial intelligence Mobile communication Fuses

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Meaning is a fuzzy web of patterns: semiotics/autonomy feedback in the WebMind Internet AI system

Meaning is a fuzzy web of patterns: semiotics/autonomy feedb...

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ieee international symposium on Intelligent Control (ISIC)

作者： B. Goertzel IntelliGenesis Corp. USA

In the Webmind network-based self-organizing knowledge management system, symbols are grounded by the genetic-algorithm evolution of automata mapping nonlinguistic data to patterns of linguistic reference associated with symbols. This process is the core of the Webmind system's creation of meaning from its own experience, leading to the philosophical conclusion that, in Webmind at any rate, semiotics supports autonomy via the social creation of self, whereas autonomy supports semiotics by supplying a coherent body of information to serve as raw material for the evolution of symbol groundings.

关键词： Fuzzy systems Feedback Internet Artificial intelligence Humans Ground support Intelligent networks Grounding Computer networks IP networks

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Semiosis in embodied autonomous systems

Semiosis in embodied autonomous systems

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ieee international symposium on Intelligent Control (ISIC)

作者： E. Prem Austrian Res. Inst. for Artificial Intelligence Vienna Austria

Discusses processes of semiosis in embodied autonomous systems such as behavior-based robots or animals. The starting point for this investigation are the peculiarities of embodied autonomous systems, i.e. the fact that they are physical systems with a body that is to be moved around in the real world without the help of a human supervisor. We revisit previous results about the nature of representation in such systems. We draw parallels with the philosophical work of Heidegger (1927) and show the relevance of these accounts for the study of autonomous sign users. It is argued that signs are a type of equipment for such systems that reveal a specific interaction context and serve to orient autonomous systems at specific action circuits. These considerations shed new light on a considerable amount of previous work about the usage or "communication" of signs in the field.

关键词： Artificial intelligence Grounding Information systems Humans Heart Intelligent robots Circuits Visualization Internet Animals

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