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A biologically motivated model for the control of visually guided reach-to-grasp movements

A biologically motivated model for the control of visually g...

引用

ieee International symposium on Intelligent control (ISIC)

作者： A. Hauck M. Sorg G. Farber T. Schenk Laboratory for Process Control and Real-Time Systems Technische Universitat Munchen Germany Department of Neurology Ludwig-Maximilians Universitat Munchen Germany

Human grasping still outshines its robotical counterparts with respect to accuracy, speed, robustness, and flexibility. When trying to develop a robotical hand-eye system, it therefore suggests itself to examine the results of neuroscience. In this paper, we describe a model for visually guided reach-to-grasp movements that unifies the two robotical strategies look-then-move and visual servoing, thereby compensating the problems that each strategy shows when used alone. This model was developed by analyzing and extending current models for the control of human reach-to-grasp movements.

关键词： Biological system modeling Biological control systems Humans Robot sensing systems Robot kinematics Robot control Service robots Manipulators Motion control control systems

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Neural network controller for minimizing hub shear forces in helicopter

Neural network controller for minimizing hub shear forces in...

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ieee International symposium on Intelligent control (ISIC)

作者： S.N. Omkar J. Nagabhushanam Department of AeroSpace Engineering Indian Institute of Science Bangalore India

Discusses the application of recurrent neural networks for identification and control of helicopter vibrations. A class of recurrent networks called memory neuron networks are used for plant identification and control. These networks are obtained by adding trainable temporal elements to feedforward networks. This makes the network output history sensitive and gives them the capability to identify and control systems whose order is unknown or systems with unknown delay. A representative analytical model with higher harmonic pitch angles for minimizing hub shear forces is used for simulation. The effectiveness of the controller in minimizing the force level at varying and constant forward speed are studied. The ability of the controller to cope with changes in system and environment parameters is also considered.

关键词： Neural networks Force control control systems Analytical models Recurrent neural networks Helicopters Vibration control Neurons History Delay systems

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Stable artificial neural networks for robust pole assignment

Stable artificial neural networks for robust pole assignment

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ieee International symposium on Intelligent control (ISIC)

作者： Danchi Jiang Jun Wang Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

ISBN: (纸本)0780344235

Given a linear control system, it is expected that the system poles can be assigned robustly and efficiently. We propose two artificial neural networks for robust pole assignment by state feedback and output feedback controllers, respectively, based on two gradient flows. By embedding the negative gradient flows and the dynamical systems associated with the matrix inverse together into higher dimensional spaces, we obtain two modified gradient systems. Without involving the direct computation of the matrix inverse, those modified systems are readily realized using recurrent neural networks. Furthermore, the trajectories of the modified gradient flows are guaranteed to converge to the equilibrium sets of the original flows by appropriately choosing a design parameter. The architecture of the corresponding neural networks is discussed. Simulation results are also included to show the effectiveness of the proposed approach.

关键词： Artificial neural networks Robustness Robust control control systems State feedback Output feedback Computer networks Recurrent neural networks Computer architecture Neural networks

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Reactive control of distributed interactive simulations

Reactive control of distributed interactive simulations

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ieee International symposium on Intelligent control (ISIC)

作者： W. Kohn J.B. Remmel A. Nerode Department of Commerce Agreement HyBrithms Corporation Bellevue WA USA Department of Commerce Agreement 70NANB5H1164 Department of Mathematics University of California San Diego La Jolla CA USA Department of Commerce Agreement 70NANB5H1164 and by ARO under the MURI program Integrated Approach to Intelligent Systems grant number DAAH04-96-1-0341. Department of Mathematics Cornell University Ithaca NY USA

We propose a distributed control architecture for distributed interactive simulation (DIS) applications which allows for the dynamic integration and communication of interacting processes using intelligent control age... 详细信息

关键词： Distributed control control systems Supply chains Real time systems Information systems Communication system control Large-scale systems Communication channels Costs Protocols

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Basic concepts and methods for keeping autonomous ground vehicle formations

Basic concepts and methods for keeping autonomous ground veh...

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ieee International symposium on Intelligent control (ISIC)

作者： Y. Moscovitz N. DeClaris Intelligent Systems Division National Institute for Standards and Technology Gaithersburg MD USA Computational Intelligence Research Laboratory University of Maryland College Park MD USA

A desirable basic behavior of a group of autonomous vehicles while in motion is to keep a predefined formation. Normally units are trained to move in formation according to an operational status. Past experience determines the formation for given situations. In this paper, we discuss concepts pertinent to the theory and design of autonomous vehicles moving in formation. Specifically: 1) we present the basic idea of controlling the behavior of autonomous vehicles to keep them in prespecified formation, 2) we examine difficulties in keeping the formation caused by path shapes and obstacles in the path of the vehicles and due to the kinematics and dynamics of the individual vehicle, and 3) we discuss concepts relevant to reformation transitions following temporary changes in the formation caused by the terrain properties and the presence of obstacles.

关键词： Land vehicles Remotely operated vehicles Position measurement Vehicle driving Turning Gravity Time factors Time measurement

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A framework for plan execution in behavior-based robots

A framework for plan execution in behavior-based robots

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ieee International symposium on Intelligent control (ISIC)

作者： J. Hertzberg H. Jaeger U. Zimmer P. Morignot Schloss Birlinghoven GMD Sankt Augustin Germany ILOG Inc. Gentilly France

We present a conceptual architecture for autonomous robots that integrates behavior-based and goal-directed action as by following a traditional action plan. Dual dynamics is the formalism for describing behavior-based action. Partial-order propositional plans are used as a basis for acting goal-directedly; the concept is suitable for using other planning methods and plan formats, though. We describe the corresponding action and plan representations at the plan side and at the behavior side. Moreover, we demonstrate how behavior-based action is biased towards executing a plan and how information from the behavior side is fed back to the plan side to determine progress in the plan execution.

关键词： Robot sensing systems Navigation Artificial intelligence Strategic planning Filtering Sensor phenomena and characterization

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Quasi-commutative diagrams of multiresolutional systems for representation and control

Quasi-commutative diagrams of multiresolutional systems for ...

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ieee International symposium on Intelligent control (ISIC)

作者： A. Meystel A. Mironov National Institute for Standards and Technology USA Drexel University USA

The multiresolutional approach for representation of intelligent systems with NIST-RCS Architecture leads to a number of mathematical problems related to categorical models associated with the multiresolutional representation. One of these problems is investigation of quasi-commutative diagrams that are mathematical formalization of relations between levels of multiresolutional representation. All levels in the multiresolutional representation of an intelligent system are representations of this system with different values of resolution. Relations between different levels of the representation are expressed by functors between the categories of the representation. This dependency is associated with morphisms in the categories of representation that correspond to different levels of resolution. This association is expressed by diagrams. This paper is focused upon the mathematical formalization of the problem of synthesis of a behavior generator of high level with quasi-commutative diagram of control for given restricted behavior morphism of low level.

关键词： control systems Intelligent systems control system synthesis NIST Mathematical model Discrete event systems Filtration Couplings Marine vehicles Remotely operated vehicles

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Intelligent control and monitoring of strategic documentation: a complex system for knowledge miniaturization and text iconization

Intelligent control and monitoring of strategic documentatio...

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ieee International symposium on Intelligent control (ISIC)

作者： G. Tonfoni University of Bologna Italy The College of Library and Information Services University of Maryland College Park MD USA

The paper introduces the basic principles for conceiving and designing strategic documentation in highly context-sensitive ways. The notion of "communicative context" is explored and defined, and concepts such as "miaturization" and "iconization" are transferred to the domain of information design and accurately reformulated. An enhanced model for strategic information seeking and retrieval is illustrated. Accurate interpretation of documents entails a whole set of processes, which are complex and expensive both at a cognitive and at a computational level. Interpretation is based upon a consistent operational model, which is meant both to raise the level of readability and to optimize access for fast and accurate decision making. Enhancing of strategic document textual resolution, based upon context visualization, can be achieved through accurately incorporating context features of different kinds so as to avoid fuzziness and dispersion of relevant information.

关键词： Intelligent control Monitoring Documentation Context Visualization Educational institutions Libraries Decision making control systems Packaging

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A conceptual foundation for autonomous learning in unforeseen situations

A conceptual foundation for autonomous learning in unforesee...

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ieee International symposium on Intelligent control (ISIC)

作者： C.M. Kennedy Artificial Intelligence Institute Dresden University of Technology Dresden Germany

A cognitive agent should have the capability to learn autonomously in completely unforeseen situations. "Unforeseen" means something that was not taken into account in an internal representation of the world. However, it is detectable in the form of anomalous sensor measurements. Two problems must be solved: 1) the "newness" of the situation must be detected, i.e. it should not be allocated (wrongly) to an existing category; and 2) new concepts must be learned so that when a similar situation occurs again it is no longer anomalous. A conceptual framework is presented here based on a form of symbol grounding which emphasises a continual distinction between model-driven expectancy and actual reality. Large differences between expectation and reality indicate that a new concept is required which corresponds more accurately to the sensor data. This results in the autonomous growth and change of symbol groundings. Genetic programming is considered as a tool (both on the symbolic and the subsymbolic levels).

关键词： Grounding Cognition Learning Artificial intelligence Genetic programming Stacking Fuzzy reasoning Fuels Technological innovation

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Reducing the cost of designing, implementing and modifying intelligent systems by the synergistic use of advanced abstractions

Reducing the cost of designing, implementing and modifying i...

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ieee International symposium on Intelligent control (ISIC)

作者： F.M. Brown Artificial Intelligence Laboratory University of Kansas Lawrence KS USA

This paper investigates and describes how advanced programming language capabilities can be used to significantly reduce the cost of implementing computer programs for large complex computer programming requirements of the Department of Defense. Representative programming tasks that are discussed include the Navy AEGIS Weapons system and an Air Force planning benchmark used to asses various DARPA supported automatic planning systems. These examples show that programming languages, such as Logistica, which allow a wide variety of synergistic features can provide the most effective way for reducing the complexity of the programming task. It is also suggested that the complexity of the programming process is worse than linear with respect to the size of the resulting program code, the size of the code is inversely proportional to the used design space of the programming language, and the design space provided by a programming language is exponentially related to the number of synergistic features it has.

关键词： Costs Intelligent systems Artificial intelligence Programming profession Linear programming Computer languages Laboratories Graphics Humans Large-scale systems

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