检索结果-内蒙古大学图书馆

8th International Conference on Inductive Logic Programming, ILP 1998

作者： Manandhar, Suresh Džeroski, Sašo Erjavec, Tomaž Intelligent Systems Group Department of Computer Science University of York YorkYO10 5DD United Kingdom Department for Intelligent Systems Jožef Stefan Institute Jamova 39 LjubljanaSI-1000 Slovenia

ISBN: (纸本)3540647384

The paper presents the decision list learning system Clog and the results of using it to learn nominal inflections of English, Romanian, Czech, Slovene, and Estonian. The dataset used to induce rules for the synthesis and analysis of the inflectional paradigms of nouns and adjectives of these languages is the Multext-East multilingual tagged corpus. The ILP system FoIDL is also applied to the same dataset, and this paper compares the induction methodology and results of the two systems. The experiment shows that the accuracy of the two systems is comparable when using the same training set. However, while FOIDL is, due to efficiency reasons, severely limited in the size of the training set, CLOG does not suffer from such limitations. With the increase of the training set size possible with CLOG, it significantly outperforms FOIDL and learns highly accurate morphological rules. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

Implementing robots in hardware as a tool for integration

Implementing robots in hardware as a tool for integration

引用

IEEE International Symposium on intelligent Control (ISIC)

作者： G.S. Sukhatme J.F. Montgomery G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We suggest that integration in robotics research is facilitated and enhanced by the process of building embodied robots. It is in the translation of conceptual and simulated models into hardware that the integration takes place. Further, multiple techniques that address similar aspects of the same robotic task have to be merged to achieve good overall performance. In this paper we present two examples of successful integration and cross platform validation namely: 1. A walking and a wheeled robot used for planetary exploration (both used the same obstacle avoidance technique but the implementation was necessarily different) and, 2. Two robot helicopters (where behavior-based control used on the first robot is augmented using learning and enriched sensing on the second). The paper reports both case studies and discusses a list of lessons learned in the process of implementation.

关键词： Hardware Mobile robots Legged locomotion intelligent robots Robot sensing systems Fabrication Orbital robotics Testing Mars Infrared sensors

来源：评论

学校读者我要写书评

暂无评论

Sensor fault detection and identification in a mobile robot

Sensor fault detection and identification in a mobile robot

引用

Proceedings. 1998 IEEE/RSJ International Conference on intelligent Robots and systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

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

Multiple model adaptive estimation (MMAE) is used to detect and identify sensor failures in a mobile robot. Each estimator is a Kalman filter with a specific embedded failure model. The filter bank also contains one filter which has the nominal model embedded within it. The filter residuals are postprocessed to produce a probabilistic interpretation of the operation of the system. The output of the system at any given time is the confidence in the correctness of the various embedded models. As an additional feature the standard assumption that the measurements are available at a constant, common frequency, is relaxed. Measurements are assumed to be asynchronous and of varying frequency. The particularly difficult case of 'soft' sensor failure is also handled successfully. A system architecture is presented for the general problem of failure detection and identification in mobile robots. As an example, the MMAE algorithm is demonstrated on a Pioneer I robot in the case of three different sensor failures.

关键词： Fault detection Fault diagnosis Mobile robots intelligent sensors Robot sensing systems Filter bank State estimation Aircraft intelligent robots Adaptive estimation

来源：评论

学校读者我要写书评

暂无评论

Learning helicopter control through "teaching by showing"

Learning helicopter control through "teaching by showing"

引用

IEEE Conference on Decision and Control

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

A model-free "teaching by showing" methodology is developed to train a fuzzy-neural controller for an autonomous robot helicopter. The controller is generated and tuned using training data gathered while a teacher operates the helicopter. A hierarchical behavior-based control architecture is used, with each behavior implemented as a hybrid fuzzy logic controller (FLC) and general regression neural network controller (GRNNC). The FLCs and GRNNCs are generated through "teaching by showing". The FLCs are built during initial controller generation, remain static once created, and provide coarse control of the helicopter. The GRNNCs are incrementally built and modified whenever the controller does not meet performance criteria, are dynamic, and provide fine control, enhancing the control of the FLCs. The methodology has been successfully applied in simulation and, in the future, will be applied on a radio control model helicopter for real world validation.

关键词： Helicopters Education Humans Control system synthesis Control systems Mathematical model Automatic control intelligent robots Training data Radio control

来源：评论

学校读者我要写书评

暂无评论

Plan Management Issues for Cognitive robotics: Project Overview

Plan Management Issues for Cognitive Robotics: Project Overv...

引用

1998 AAAI Fall Symposium

作者： Horty, John F. Pollack, Martha E. Philosophy Department Institute for Advanced Computer Studies University of Maryland College ParkMD20742 United States Department of Computer Science Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States

Progress in cognitive robotics can comeeither fromefforts to provide physical robots with more autonomy, or from efforts to make AI techniques more generally applicable to the needs of robotic agents. Weare conducting research on dynamic plan management, whichis an instance of the latter type of effort. In this paper, we provide an overview of our research project. Plan managementis the process (or set of related processes) by which a goal-directed agent coordinates, updates, and monitors its plans in response to ongoing changes in its environment. We discuss the main challenges in automating plan management, and then illustrate our approach by focusing on one plan management task: evaluating options for action in the context of existing plans. We also briefly describe the Plan Management Agent (PMA), a system weare building as a testbed for our plan management theories. Although PMA is not a robotic system, weare interested in also applying dynamicplan managementechniques to mobile robots, whichis whyweare participating in this symposium. © 1998, AAAI (***). All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Robotic assistants for aircraft inspectors

引用

IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

来源：评论

学校读者我要写书评

暂无评论

A framework for the choices of design alternatives

A framework for the choices of design alternatives

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： W.A. Tiao J. Yen Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

A software design process is to build a system that satisfies the customer's requirements which are often not crisply defined. Thus, design engineers often need to make design trade-off decisions to choose a set of design alternatives that satisfies the requirements as much as possible. In this paper, we propose a formal framework to assist design engineers in choosing design alternatives. Our approach uses fuzzy logic to represent quality requirements and design alternatives. Based on the representations, we can identify the impacts of design alternatives on requirements, infer the implicit impacts through hierarchical structures, and assist design engineers in the determination of a set of design alternatives. The goal of this research is to guide design engineers in evaluating design alternatives, to reduce design errors, to facilitate design rationale capture, and to build a system that better satisfies the customer.

关键词： Design engineering Fuzzy logic Software design intelligent robots Software systems Natural languages Process design intelligent systems computer science

来源：评论

学校读者我要写书评

暂无评论

STAR: a tool for analyzing imprecise requirements

STAR: a tool for analyzing imprecise requirements

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Yen W.A. Tiao Jianwen Yin Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

Requirement analysis is an important activity in a software development process. Customers usually describe requirements in a natural language, which is often vague. Requirements can be rarely satisfied in a black and white sense. That is, a requirement is usually satisfied to some degree. Existing requirement methodologies are limited in specifying requirements and in supporting tradeoff analysis between the conflicting requirements. A tool support for the requirement process is important since a number of tasks in the requirement process are very time consuming. We describe an on-going project for building a tool that supports requirement specification, trade-off, and analysis. In this tool, we use fuzzy logic to capture the imprecise requirements. Once customers identify some requirement relationships, we are able to infer more implicit relationships between requirements. This functionality is crucial since identification of all requirement relationships is tedious. Moreover, the tool provides the capability of making trade-off between conflicting requirements. We illustrate the tool using a textile spinning frame manufacturing example. The goal of developing such a tool is to automate part of the requirement process such that requirement errors can be reduced in the software development process.

关键词： Fuzzy logic intelligent robots Programming Natural languages Software systems Formal specifications Robot sensing systems intelligent systems computer science Textiles

来源：评论

学校读者我要写书评

暂无评论

A global-local learning algorithm for identifying Takagi-Sugeno-Kang fuzzy models

A global-local learning algorithm for identifying Takagi-Sug...

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Yen Liang Wang W. Gillespie Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

The fuzzy inference system proposed by Takagi, Sugeno and Kang, which is known as the TSK model in fuzzy system literature, provides a powerful tool for modeling complex nonlinear systems. Unlike conventional modeling where a single model is used to describe the global behavior of a system, TSK modeling is essentially a multi-model approach in which simple submodels combined to describe the global behavior of the system. Most existing learning algorithms for identifying the TSK model are based on minimizing the square of the residual between the overall outputs of the real system and the identified model. Although these algorithms can generate a TSK model with good global performance, they cannot guarantee the resulting model to have a good local performance. Often, the submodels in the TSK model may exhibit an erratic local behavior which is difficult to interpret. Since one of the important motivations of using the TSK model is to gain insights into the model, it is important to investigate the interpretability issue of the TSK model. We propose a learning algorithm that integrates global learning and local learning in a single algorithmic framework. This algorithm uses the idea of local weighted regression and local approximation in nonparametric statistics, but remains the component of global fitting in the existing learning algorithms. The algorithm is capable of adjusting its parameters based on the user's preference, generating models with good trade-off in terms of global fitting and local interpretation. We illustrate the performance of the proposed algorithm using a motorcycle crash modeling example.

关键词： Takagi-Sugeno-Kang model Power system modeling Fuzzy systems Inference algorithms Training data Fuzzy logic intelligent robots Nonlinear systems Approximation algorithms Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Fault detection and identification in a mobile robot using multiple-model estimation

Fault detection and identification in a mobile robot using m...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systerns University of Southern California Los Angeles CA USA

This paper introduces a method to detect and identify faults in wheeled mobile robots. The idea behind the method is to use adaptive estimation to predict (in parallel) the outcome of several faults. Models of the system behavior under each type of fault are embedded in the various parallel estimators (each of which is a Kalman filter). Each filter is thus tuned to a particular fault. Using its embedded model each filter predicts values for the sensor readings. The residual (the difference between the predicted and actual sensor reading) is an indicator of how well the filter is performing. A fault detection and identification module is responsible for processing the residual to decide which fault has occurred. As an example the method is implemented successfully on a Pioneer I robot. The paper concludes with a discussion of future work.

关键词： Fault detection Fault diagnosis Mobile robots Filters intelligent robots Parallel robots Robot sensing systems Actuators Filtering computer science

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：