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Intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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On the applicability of knowledge-based systems in communication

On the applicability of knowledge-based systems in communica...

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Israel Conference on computer systems and Software Engineering

作者： A. Kandel J.M. Perl M. Schneider Computer Science Department and the Institute for Expert Systems and Robotics Florida State University Tallahassee FL USA Computer Science Department Florida Institute of Technology Melbourne FL USA

A knowledge-based system (COMEX) is presented which replaces or augments the human operator of a communication station in a multilink, multidrop communication network. The system accepts some preliminary information from a human operator, from utility programs running on the same processor, and from external sensors. The system comprises an expert system that operates on three distinct knowledge bases in order to reach an optimal solution for the communication problem. COMEX is written in Turbo Pascal and runs on an IBM-compatible PC, which functions as the communication station controller. When used in a fully automatic mode, it performs efficiently all the functions of an experienced and expert operator, equipment parameters selection and setting, and complete message handling.< >

关键词： Knowledge based systems Communication system control Expert systems Humans Frequency Control systems Automatic control Intelligent systems Satellite broadcasting Artificial satellites

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The multi-dimensional quality of task requirements for dextrous robot hand control

The multi-dimensional quality of task requirements for dextr...

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IEEE International Conference on robotics and Automation (ICRA)

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

The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain.< >

关键词： Robot control Intelligent robots Robotic assembly Control systems Fingers Stability Refining Service robots robotics and automation Manufacturing automation

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Dissertation abstracts

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Machine Vision and Applications 1989年第2期2卷 117-120页

作者： Tanimoto, Steven L. Srihari, Sargur N. Levine, Martin D. Seering, Warren P. Nevatia, R. Department of Computer Science FR-35 University of Washington Seattle USA Technical Report 88-08 Department of Computer Science SUNY at Buffalo Buffalo USA Technical Report 88-22 Department of Computer Science SUNY at Buffalo Buffalo USA Research Centre for Intelligent Machines McGill University Montréal Canada Publications Department Technical Report 932 MIT Artificial Intelligence Laboratory Cambridge USA Institute for Robotics and Intelligent Systems University of Southern California School of Engineering Los Angeles USA

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Building a generic architecture for robot hand control

Building a generic architecture for robot hand control

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International Conference on Neural Networks

作者： Liu Huan Iberall Bekey Institute of Robotics and Intelligence Systems Department of Computer Science University of Southern California Los Angeles CA USA

As various dextrous robot hands are designed and built, a major question is how to develop device-independent robot hand controllers. This would allow the low-level control problems to be separated from high level functionality. GeSAM is a generic robot hand controller that is based on a model of human prehensile function. It focuses on the relationship between geometric object primitives and the ways a hand can perform prehensile behaviors. The authors show how the relationship between object primitives and a useful set of grasp modes can be learned by an adaptive neural network. By adding training points as necessary, system performance can be improved, avoiding the tedious job of computing every relationship by hand.< >

关键词： Learning systems Neural networks Robots

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Automatic construction of assembly partial-order graphs

Automatic construction of assembly partial-order graphs

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International Conference on computer Integrated Manufacturing

作者： S. Lee Y.G. Shin Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department University of Southern California Los Angeles CA USA

A system is presented which automatically constructs an assembly partial-order graph from an object-oriented model describing parts and their connections. The construction is based on the principle of assembly by disassembly and on assembly heuristics representing criteria for preferred subassemblies. The system first identifies disassemblable parts and subassemblies by reasoning geometric and physical constraints as well as resource requirements, and then assigns preference to the identified disassembly options based on assembly heuristics. The recursive application of this process to the selected disassemblies results in a hierarchical partial-order graph (HPOG). The HPOG not only specifies the required precedence in part assembly but also provides parallelism for implementing multiple-robot distributed and cooperative assembly. The software is organized under the cooperative-problem-solving paradigm.< >

关键词： Robotic assembly Assembly systems robotics and automation Process planning Job shop scheduling Robot sensing systems Intelligent robots Throughput Parallel robots Motion planning

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Learning expert systems for robot fine motion control

Learning expert systems for robot fine motion control

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Lee M.H. Kim Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Computer Science Department Sung Kyun Kwan University Seoul South Korea

The authors present a learning expert system which enables a robot to acquire fine motion skills automatically. The system follows the paradigm of Expert Assisted Robot Skill Acquisition (EARSA) proposed by the authors (1987). EARSA is mainly concerned with the self-discovery of skills by a robot in conjunction with the transfer of human skills to a robot and emphasizes the distinctive difference in perceptual and physical capabilities between a human and a robot. The authors review the theory and mechanism of EARSA, describe the robot fine motion skill learning algorithm formulated on the basis of EARSA, and present the details of simulation on the robot learning of two-dimensional peg-hole insertion skills. The results of simulation indicate the dramatic improvement of performance as a result of skill learning.< >

关键词： Expert systems Motion control robotics and automation Robot sensing systems Intelligent robots Cognitive robotics Motion planning Robotic assembly Automatic control Humans

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Refining edges detected by a LoG operator

Refining edges detected by a LoG operator

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： F. Ulupinar G. Medioni Dept. of Electr. Eng. & Comput. Sci. Univ. of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The Laplacian of Gaussian (LoG) operator is one of the most popular operators used in edge detection. This operator, however, has some problems: zero-crossings do not always correspond to edges, and edges with an asymmetric profile introduce a symmetric bias between edge and zero-crossing locations. The authors offer solutions to these two problems. First, for one-dimensional signals, such as slices from images, they propose a simple test to detect true edges, and, for the problem of bias, they propose different techniques: the first one combines the results of the convolution of two LoG operators of different deviations, whereas the others sample the convolution with a single LoG filter at two points besides the zero-crossing. In addition to localization, these methods allow them to further characterize the shape of the edge. The authors present an implementation of these techniques for edges in 2-D images.< >

关键词： Image edge detection Laplace equations Detectors Intelligent robots Convolution Shape Intelligent systems Testing Filters Image segmentation

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The use of fuzzy information retrieval techniques in construction of multi-centre knowledge-based systems

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International Conference on Information Processing and Management of Uncertainty in Knowledge-Based systems, 1986

作者： Kohout, Ladislav J. Bandler, Wyllis Department of Computer Science Brunel University of West London UxbridgeMiddx. United Kingdom Institute for Expert Systems and Robotics Department of Computer Science Florida State University TallahasseeFL32306 United States

ISBN: (纸本)9783540185796

The paper outlines the role of Information Retrieval techniques in the construction of Knowledge-Based systems. A Functional Communication Structure selects and communicates the relevant information by means of fuzzy logical and fuzzy relational requests between the individual knowledge acceptors and knowledge donors. The theory of fuzzy relational products developed by Bandler and Kohout qualifies as an especially adequate tool to handle fuzziness of selection as well as fuzziness of information contents. © 1987, Springer-Verlag.

关键词： Knowledge based systems

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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