The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a ...
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The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a discrete set of mutually exclusive hypotheses about the state of the environment. Given that the quality of the evidence is variable, it follows that the precision of the reasoning process must also vary. That is, the level of specificity and the certainty associated with decisions made at that level depend directly on the quality of the evidence. An indistinguishability measure is used to generate a core set of aggregate focal elements, each of which may consist of logical disjunctions of the basic hypothesis set. The measure takes into account both the differences in support levels for the hypotheses and the degree to which they are similar. Partial dominance is then used to associate a basic probability assignment on the core set. This approach makes it possible to apply simple, quantitative methods to express the variations in the precision associated with decisions. The result is a set of aggregate hypotheses and their support levels which become input to the classification process. In most cases, multiple sets of aggregate hypotheses will be used in an evidential classification scheme to produce a composite characterization of the environment.< >
An intelligent robot prehension paradigm is introduced, focusing attention on evidential reasoning that would be used in combination with topological reasoning for regrasping tasks. The prehension paradigm is based on...
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An intelligent robot prehension paradigm is introduced, focusing attention on evidential reasoning that would be used in combination with topological reasoning for regrasping tasks. The prehension paradigm is based on a topological model of multifingered hands capable of tip prehension, palm prehension or a combination of tip and palm prehension. The topological model constitutes a much richer set of available grasps than those provided by current grasp models. Associated with this topological model is a set of reasoning algorithms for grasp selection and for regrasping. The grasp selection scheme, using mainly topological reasoning, is characterized by a set of continuous transformations from a given, symbolic task description into a set of numeric parameters specifying the hand posture and functionality of a selected grasp. The regrasping scheme using mainly evidential reasoning to guide a change of grasps according to perceptual data. From a control point of view, both reasoning schemes will operate concurrently for grasp synthesis and regrasping.< >
The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of...
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The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >
An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical spe...
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An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above. The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction. The model utilizes a modularization of complex kinematic chains, a classification of primitive tasks, and a concept of functional time dependency.< >
A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis ...
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A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >
作者：
LUEDEKE, GFARNHAM, RBJR.George Luedeke
Jr.: received his BS degree in Mechanical Engineering from Massachusetts Institute of Technology and his MS degree in Product Design from Illinois Institute of Technology. Early in his career Mr. Luedeke joined General Motors Corporation as a designer responsible for development of people mover and rail rapid transit systems. From 1964 to 1974 he was with Hughes Aircraft Company. At Hughes he performed analyses and developed designs for a wide variety of program and proposal efforts such as: High Speed Ground Transportation (DOT) Task Force Command Center (NAVY) Panama Canal Marine Traffic Control Center (Panama Canal Co.) Royal Iranian Navy Command Center (Iran) Tactical Information Processing and Interpretation Center (Air Force) and WALLEYE CONDOR and PHOENIX Missile Systems (NAVY). He also had marketing development responsibilities related to the diversification of Hughes resources in civil business areas such as: Automatic train control (WMATA BARTD SCRTD) water/sewage treatment plant automation (Santa Clara County) Aqueduct Control (SWR) Hydrometeorological data collection (BPA WMO) and Salton Sea basin systems analysis (Dept. of the Interior). He was responsible for combat system integration for the Hughes 2000T Surface Effect Ship (SES) proposal. He also conducted detailed studies concerning ship flexure for the Improved Point Defense Target Acquisition System Program and for the definition of operational High Energy Laser weapon installations on a series of conventional monohulls (DLG DD and CVN). Since 1974 Mr. Luedeke has been employed at RMI Inc. (formerly Rohr Marine Inc.). During this time he has held several positions. His responsibilities have included directing a number of studies on advanced SES concepts managing activities defining mission/cost effectiveness of military and commercial SES's including defining the operational benefits and enhanced survivability characteristics of cargo SES's for high speed military sealiftfor NA TO and Southeast Asia
This paper will present the results of a marketing, engineering, and economic analysis of advanced marine vehicles done by IMA Resources, Inc. and RMI, Inc., in support of a Maritime Administration project to study “...
This paper will present the results of a marketing, engineering, and economic analysis of advanced marine vehicles done by IMA Resources, Inc. and RMI, Inc., in support of a Maritime Administration project to study “Multimode Express Shipping”. The study was conducted in 1981 and examined the economic benefits of using advanced marine vehicles as express cargo vessels in domestic and international service. Commodity characteristics, desirable express carrier rates, and potential high payoff service and route alternatives were identified. advanced marine vehicles were surveyed and sized to meet desirable deadweight and block speed objectives. The costs of operating these craft on a variety of trade routes were calculated using an advanced marine vehicle economic analysis program. Revenues, expenses, break-even, profit and loss, cash flow requirements, tax summary and economic indicators (i.e., cost/ton – mile, etc.) were projected over the expected life of the vehicles as was return on investment. Traffic density and market penetration considerations narrowed the field of choice to smaller sized advanced marine vehicle carriers (i.e., 50 and 250 ton deadweight) and to three international and five domestic routes.
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