The proceedings contain 26 papers. The topic discussed include: a representation for error detection and recovery in robot task plans;execution monitoring for a mobile robot system;statistical mechanics models for mot...
The proceedings contain 26 papers. The topic discussed include: a representation for error detection and recovery in robot task plans;execution monitoring for a mobile robot system;statistical mechanics models for motion and force planning;a knowledge based signal interpretation system for intelligent sensing of defects in materials;REKRIATE: a knowledge representation system for object recognition and scene interpretation;distributed self-organizing intelligentcontrol for dendritic robotic systems;and a distributed sensor network structure with fault-tolerant facilities.
A new control methodology is presented to effectively operate a robotic system with redundant degrees of freedom. The utilized Decomposed Optimization Technique (DOT) is part of the AISP (An intelligent Spatial Planne...
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It is argued that the development of an effective methodology for the design of intelligentcontrolsystems requires the synthesis of many concepts from artificial intelligence, real-time computing, and control engine...
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It is argued that the development of an effective methodology for the design of intelligentcontrolsystems requires the synthesis of many concepts from artificial intelligence, real-time computing, and control engineering. Furthermore, it is contended that this synthetic process necessitates the radical reappraisal of much of modern control engineering in order to reestablish research priorities. Research contributions are identified that are believed to provide an excellent basis for the design of intelligentcontrolsystems.< >
Robotic welding systems which cannot adapt in real time to changes in the joint geometry along the weld seam and to the seam position itself have only limited success in many welding applications, due to heat distorti...
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Robotic welding systems which cannot adapt in real time to changes in the joint geometry along the weld seam and to the seam position itself have only limited success in many welding applications, due to heat distortion of the weldment or to an overall shift in the weld seam caused by fixturing errors. A solution to this problem requires the application of some form of adaptive joint geometry sensing system for guidance of the welding torch. Research is described that addresses the general aluminum welding problem by integrating a laser-based part-profiling sensor with a welding robot. An adaptive system is being developed that is referred to as ARTIST (adaptive Real-Time intelligent Seam Tracker). An IBM PC/AT-compatible microcomputer serves as the system supervisor, commands the motion of the robot, directs and processes the sensor scans, and establishes the required weld parameters. The programming language used in the microcomputers is C, chosen primarily for its flexibility and high execution speed. The host robot is a Unimate 760 Series electric six-axis articulated arm, using a VAL II controller.< >
This paper examines the need for complex, adaptive solutions to certain types of complex problems typified by the Strategic Defense System and NASA's Space Station and Mars Rover. Since natural systems have evolve...
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This paper examines the need for complex, adaptive solutions to certain types of complex problems typified by the Strategic Defense System and NASA's Space Station and Mars Rover. Since natural systems have evolved with capabilities of intelligent behavior in complex, dynamic situations, it is proposed that biological principles be identified and abstracted for application to certain problems now facing industry, defense, and space exploration. Two classes of artificial neural networks are presented - a nonadaptive network used as a genetically determined 'retina,' and a frequency-coded network used as an adaptive 'brain.' The role of a specific environment coupled with a system of artificial neural networks having simulated sensors and effectors is seen as an ecosystem. Evolution of synthetic organisms within this ecosystem provides a powerful optimization methodology for creating intelligentsystems able to function successfully in any desired environment.
The problem of automatic tuning of simple regulators is examined. The key idea is to design an aid for the process operator, which should use minimal prior information about the system. This is a typical example of a ...
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The problem of automatic tuning of simple regulators is examined. The key idea is to design an aid for the process operator, which should use minimal prior information about the system. This is a typical example of a case where it is essential to develop techniques that will give crude but robust estimates. The development has resulted in a novel generation of the classical PID (proportional, integral, and derivative) controller. An application of relay autotuning to temperature control of a distillation column is considered as an example. adaptivecontrol is then treated. The adaptive algorithms can be viewed as local gradient methods. They require prior information but, given the information, can give very good control performance. The use of an expert system to integrate the two approaches is then discussed.
An unsupervised parallel distributed adaptivecontroller for nonlinear systems is proposed. It is shown to provide bounded tracking and asymptotic regulation following an arbitrary 'teacher.' A two-degrees-of-...
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ISBN:
(纸本)0818689870
An unsupervised parallel distributed adaptivecontroller for nonlinear systems is proposed. It is shown to provide bounded tracking and asymptotic regulation following an arbitrary 'teacher.' A two-degrees-of-freedom robotic simulation example is provided, which demonstrates the feasibility of the proposed method.
A backpropagation neural network is applied to a nonlinear self-tuning tracking problem. Traditional self-tuning adaptivecontrol techniques can only deal with linear systems or some special nonlinear systems. The eme...
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ISBN:
(纸本)0818689870
A backpropagation neural network is applied to a nonlinear self-tuning tracking problem. Traditional self-tuning adaptivecontrol techniques can only deal with linear systems or some special nonlinear systems. The emerging backpropagation neural networks have the capability to learn arbitrary nonlinearity and show great potential for adaptivecontrol applications. A scheme for combining backpropagation neural networks with self-tuning adaptivecontrol techniques is proposed. The control mechanism is analyzed. Simulation results show that the new self-tuning scheme can deal with a large unknown nonlinearity.
This conference proceedings contains 93 papers. The following topics are dealt with: expert hierarchical control, manufacturing systems, robot control, distributed intelligence systems, learning control, intelligent c...
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ISBN:
(纸本)0818689870
This conference proceedings contains 93 papers. The following topics are dealt with: expert hierarchical control, manufacturing systems, robot control, distributed intelligence systems, learning control, intelligentcontrols, real-time control of robots, neural networks for adaptivecontrol, motion planning, knowledge-based systems, path planning, architecture for intelligentcontrols, and qualitative reasoning.
It is noted that autonomous systems provide a new magnitude of flexibility and capability for complex manufacturing requirements. All resources are modeled as intelligent entities that interact with each other in a co...
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ISBN:
(纸本)0818689870
It is noted that autonomous systems provide a new magnitude of flexibility and capability for complex manufacturing requirements. All resources are modeled as intelligent entities that interact with each other in a controlled environment. Each entity has an adaptive and intelligentcontroller allowing the entity to autonomously pursue multiple goals as both a consumer and a producer. Environment rules are established by local and global multiple-criteria decision systems to resolve conflicts between entities and to optimize their overall performance.
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