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1995 AAAI Spring Symposium

作者： Nau, Dana S. Gupta, Satyandra K. Regli, William C. University of Maryland College ParkMD20742 United States Carnegie Mellon University PittsburghPA15213 United States Computer Science Department Institute for Systems Research United States Robotics Institute United States

Although AI planning techniques can potentially be useful in several manufacturing domains, this potential remains largely unrealized. Many of the issues important to manufacturing engineers have not seemed interesting to AI researchers-but in order to adapt AI planning techniques to manufacturing, it is important to address these issues in a realistic and robust manner. Furthermore, by investigating these issues, AI researchers maybe able to discover principles that are relevant for AI planning in general. As an example, in this paper we describe the techniques for manufacturing-operation planning used in IMACS(Interactive Manufacturability Analysis and Critiquing System). Wecompare and contrast them with the techniques used in classical AI planning systems, and point out that some of the techniques used in IMACSmayalso be useful in other kinds of planning problems. © 1995, AAAI (***). All rights reserved.

关键词： Artificial intelligence

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Parallel interval-based reasoning in medical knowledge-based system Clinaid

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Reliable Computing 1995年第2期1.0卷 109-140页

作者： Kohout, Ladislav J. Stabile, Isabel Kalantar, Hasan San-Andres, F. Anderson, John Department of Computer Science B-173 Florida State University Tallahassee 32306 Florida United States Center for Expert Systems and Robotics Florida State University Tallahassee 32306 Florida United States Academic Unit of Obstetrics and Gynaecology The Royal London Hospital College University of London United Kingdom Department of Computer Science Middlesex University London United Kingdom Department of Computer Science B-173 Florida State University Tallahassee 32306 Florida United States King's College School of Medicine and Dentistry University of London United Kingdom

The paper continues a series of papers and a monograph [33], where we have described the conceptual structures as well as the basic architecture of a knowledge-based system Cunaid. © 1995 institute of New Technol...

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In a team of robots the loudest is not necessarily the best

In a team of robots the loudest is not necessarily the best

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IEEE International Conference on systems, Man and Cybernetics

作者： A. Agah G.A. Bekey Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA

The effects of communication on the task performance of simulated robot colonies are studied Robots in the colony perform tasks that require the cooperation of two robots in time and in space. A robot's call for help is responded to by another robot, resulting in the pair performing the cask. The control of the robots is based on the concept of a tropism system cognitive architecture. The effects of the communication radius on performance of the colony is studied, and it is shown that a larger communication radius does not necessarily result in better colony performance.

关键词： Robot kinematics Cognitive robotics Robot sensing systems Orbital robotics Intelligent robots Intelligent systems Communication system control Control systems computer science Computational modeling

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3-D descriptions of buildings from an oblique view aerial image

3-D descriptions of buildings from an oblique view aerial im...

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International Symposium on computer Vision (ISCV)

作者： Chungan Lin R. Nevatia Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA

In this paper we describe a method to reconstruct the 3-D descriptions of buildings from an oblique view aerial image. Oblique views present new difficulties over the more conventional nadir views that are now handled by our system. A hierarchical perceptual grouping process is used to generate 2-D roof hypotheses from fragmented linear features of the input image. Good hypotheses are selected and then verified by the corresponding shadow and walls. The 3-D description of a building is reconstructed from the roof hypothesis and the associated shadow and wall evidence. Results on several oblique view images are shown and the evaluation of the results is presented also.

关键词： Image reconstruction Shape Buildings Layout Intelligent robots Image segmentation Image edge detection Intelligent systems Intelligent structures computer science

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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented.

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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Knowledge modeling in integrated symbolic-connectionist systems

Knowledge modeling in integrated symbolic-connectionist syst...

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IEEE International Conference on systems, Man and Cybernetics

作者： R. Khosla T. Dillon Expert and Intelligent Systems Laboratory Applied Computing Research Institute Department of Computer Science and Computer Engineering La Trobe University Melbourne VIC Australia

Knowledge based systems, fuzzy systems, and artificial neural networks (ANN) are the three most widely used computational paradigms for emulating different aspects of human cognition like information processing, knowledge representation, and learning. A proper integration of these three paradigms can help to realize powerful problem solving strategies especially for large data intensive domains. In this direction we have developed a generic architecture for integration of symbolic (knowledge based and fuzzy) and connectionist (ANN) systems for large, data intensive domains at the task structure level, computational (symbol) level, and the program level. In this paper we outline the knowledge modeling aspects of the integrated symbolic (knowledge based and fuzzy)-connectionist architecture. The knowledge content of the architecture can facilitate a problem solver in modeling the knowledge required for using as well as integrating the three intelligent paradigms.

关键词： Artificial neural networks computer architecture Fuzzy systems Power system modeling Knowledge based systems computer networks Humans Cognition Information processing Knowledge representation

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Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.S. Sukhatme M.A. Lewis G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning Intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation computer science Intelligent systems

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Fixture foolproofing for polygonal parts

Fixture foolproofing for polygonal parts

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A modular fixture is an arrangement of fixturing elements (fixels) that locate and immobilize a workpart. A complete algorithm for designing fixtures for polygonal parts in 2-D was proposed by Brost and Goldberg (1994). The algorithm finds all fixtures consisting of three fixed-size locators and one clamp on a regular grid of holes. However, often it is possible to load the workpart into the fixture in an incorrect pose. An incorrect loading may have disastrous consequences when the part program is executed. Therefore, fixtures that permit only one pose for the loaded workpiece are very desirable. We call them foolproof fixtures. In this paper we present an algorithm that accepts a fixture design, produced by the Brost-Goldberg algorithm, and augments it by inserting in certain grid holes foolproofing pins that make the incorrect loading impossible. The algorithm is complete in the sense that it either (i) produces a solution; (ii) terminates without a solution because none exists; or (iii) detects and flags those nongeneric situations it cannot handle. (These occur rarely.) The produced set of foolproofing pins may not be minimal. However, it is not much worse than the minimal one. Experimental results and complexity analysis are provided.

关键词： Fixtures Clamps Pins Algorithm design and analysis robotics and automation Intelligent robots Laboratories computer science Intelligent systems

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Complete algorithms for reorienting polyhedral parts using a pivoting gripper

Complete algorithms for reorienting polyhedral parts using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Rao D. Kriegman K. Goldberg Department of Computer Science Utrecht University Postbus Utrecht Netherlands Center for Systems Science Department of Electrical Engineering Yale University New Heaven CT USA University of Utrecht Netherlands Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

To rapidly feed industrial parts on an assembly line, Carlisle et. al. (1994) proposed a flexible part feeding system that drops parts on a flat conveyor belt, determines the pose of parts with a vision system and manipulates them into a desired pose. A robot arm with 4-DOF is capable of moving parts through 6-DOF when equipped with a passive pivoting axis between the parallel jaws of its gripper. We refer to these actions as pivot grasps. This paper considers the planning problem. Given a polyhedral part shape, coefficient of friction and a pair of stable configurations as input, find pairs of grasp points that will cause the part to pivot from one stable configuration to the other. For some transitions, pivot grasps may not exist. For a part with n faces and m stable configurations, we give an O(m/sup 2/n log n) algorithm to generate the m/spl times/m matrix of pivot grasps. When the part is star shaped, this reduces to O(m/sup 2/n). We also study a generalization that considers "capture regions" around stable configurations. Both algorithms are complete in that they are guaranteed to find pivot grasps when they exist.

关键词： Grippers robotics and automation Service robots Feeds Belts Machine vision computer science Intelligent robots Manipulators Robotic assembly

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PLACING REGISTRATION MARKS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 51-59页

作者： RAO, AS GOLDBERG, KY Department of Computer Science University of Utrecht Utrecht Netherlands Departments of Computer Science and Electrical Engineering-Systems Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

In industrial assembly, a registration mark can be placed on parts to aid a computer vision system in determining the position and orientation (pose) of parts. However, when sensor noise and limits on resolution introduce errors in the measured location of the registration mark, these errors can propagate into the measurement of part pose. In this paper, we define the registration mark problem: given an n-sided rigid planar polygonal part-and a set of k poses for the part, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. We give an 0(n log n + k4 log k log* k) time algorithm to solve this planar problem using a result from Schwartz and Sharir [21], and demonstrate the algorithm using a commercial vision system. Our results extend to classes of curved planar parts and polyhedral parts.

关键词： computer vision computer errors Noise measurement Manufacturing automation robotics and automation computer science Intelligent robots computer industry Assembly systems Robustness

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