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 disa...
详细信息
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.< >
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 author...
详细信息
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.< >
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 asym...
详细信息
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.< >
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 ...
详细信息
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 ...
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 proportional to the intensity of the electromagnetic signal.
A study of some languages which may be used for expert system building is conducted. The characteristics necessary in an expert system building language are detailed. Languages that are unable to provide for many diff...
详细信息
作者：
JOLLIFF, JVCALLAHAN, CMUSNCapt. James V. Jolliff
USNgraduated from the U. S. Naval Academy in 1954. Following graduation he served in the USS S. N. Moore (DD—747) and USS Cimarron (AO—22). He received his MS degrees in Naval Architecture from Webb Institute of Naval Architecture and in Financial Management from The George Washington University. He culminated his education at The Catholic University of America where he was awarded his Doctorate in Ocean Engineering in 1972. Capt. Jolliff has served in Naval Shipyards as Ship Superintendent Assistant Repair Officer and Assistant Planning & Estimating Superintendent and as such was primarily concerned with the repair and conversion of U. S. Navy skips. In addition he has served as Maintenance Officer Staff of Commander Mine Force U. S. Pacific Fleet as Co—Chairman of the Naval Engineering Division
Engineering Department U. S. Naval Academy and as CV Design Manager in the Advanced Concepts Division and as Head
Ship Survivability Office Naval Ship Engineering Center. An active member of ASNE since 1966 he has served as a member of the National Council and is currently the Chairman of the Journal Committee. He has had several papers presented at ASNE Day and published in the Journal and in 1976 was one of the recipients of the ASNE President's Award. At the present time he is assigned as the Commanding Officer Naval Coastal Systems Laboratory (NCSL) Panama City Fla. Mr. Casville M. Callahanis a native of Southwest Virginia where he attended Elementary and Secondary School prior to his three year's service in the U. S. Navy during World War II. He graduated from Lincoln Memorial University
Harrogate Tenn. in 1950 receiving his BS degree in Mathematics. In 1952 he received his MS degree in Mathematics from Auburn University Auburn Ala. and taught mathematics at Lincoln Memorial University and at Florida State University Tallahassee Fla. prior to joining the staff of the Mine Defense Laboratory in 1955. He has progressed through a variety of assignments as the Labo
Test and Evaluation have become paramount in today's department of Defense acquisition process. Therefore, the U. S. Navy requires both private and public facilities to accomplish the final goals of the “Fly befo...
Test and Evaluation have become paramount in today's department of Defense acquisition process. Therefore, the U. S. Navy requires both private and public facilities to accomplish the final goals of the “Fly before Buy” concept. Such a facility exists at the Naval Coastal systems Laboratory (NCSL); an integral part of the Chief of Naval Material's, Director of Navy Laboratories organization. This paper briefly addresses the Laboratory, its mission, and its history. This is followed by an in—depth facilities overview in order to create an understanding of the slow but steady evolution of NCSL's unique fixed facilities. These facilities, when coupled to the local natural environment, provide a unique in situ test and evaluation capability which is unequalled in the United States for assessing seagoing coastal systems. Of prime consideration is the Range Date Acquisition Center (RADAC) and Its ancillary subsystems for tracking, environmental monitoring, communications, and post run analysis. The paper is concluded with a discussion of both past and present use of the aforementioned facilities with an emphasis on user acceptance and future potential growth.
作者：
BECKER, LOUIS A.SIEGRIST, FRANKLIN I.Louis A. Becker was born in New Rochelle
N.Y. in 1930 receiving his earlier education in the New Rochelle Public Schools. He completed his undergraduate studies at Manhattan College in 1952 receiving his BCE degree during which time he was also engaged in land surveying. Following this he did postgraduate study at Virginia Polytechnic Institute obtaining his MS in 1954. He joined Naval Ship Research and Development Center in 1953 as a Junior Engineer and is currently the Head of the Engineering & Facilities Division Structures Department. His field of specialization is Structural Research and Development. Franklin I. Siegrist was born in Knoxville
Tenn. in 1937 receiving his earlier education in the Public Schools of Erie Pa. He attended Pennsylvania State University graduating in 1962 with a Bachelor of Science degree in Electrical Engineering having prior to that time served four years in the U. S. Navy. He was a Junior Engineer in the AC Spark Plug Division of General Motors from 1962 until 1964 at which time he came to the David Taylor Model Basin as an Electrical Engineer in the Industrial Department. He is currently Supervisory Engineer for Electrical and Electronics Engineering Structures Department Naval Ship Research and Development Center. His field of specialization is Electrical Engineering Control Systems Data Collection Systems Computer Applications to Structural Research and Hydraulic System Design. In the last of these he holds Patent Rights on a “Hydraulic Supercharge and Cooling Circuit” granted in 1970.
Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The m...
Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The main purposes of this article are to evaluate the research and development achievements so far and to identify new challenges and related new research issues. Unlike other robot competitions and research conferences, RoboCup eliminates the boundaries between pure research activities and the development of full system designs with hardware and software implementations at a site open to the public. It also creates specific scientific and technological research and development challenges to be addressed. In this article, we provide an overview of RoboCup, including its league structure and related research issues. We also review recent studies across several research categories to show how participants (called RoboCuppers) address the research and development challenges before, during, and after the annual competitions. Among the diversity of research issues, we highlight two unique aspects of the challenges: the platform design of the robots and the game evaluations. Both of these aspects contribute to solving the research and development challenges of RoboCup and verifying the results from a common perspective (i.e., a more objective view). Finally, we provide concluding remarks and discuss future research directions.
暂无评论