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IMACS: A case study in real-world planning

IEEE intelligent systems and Their Applications 1998年第3期13卷 49-60页

作者： Gupta, Satyandra K. Nau, Dana S. Regli, William C. Robotics Institute Carnegie Mellon University United States Computer Science Department Institute for Systems Research University of Maryland United States Dept. of Math. and Computer Science Drexel University United States Robotics Institute United States Grad. Sch. of Indust. Administration Carnegie Mellon University United States University of Maryland United States Amercian Soc. of Mech. Engineers Society of Manufacturing Engineers United States Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA 15213 United States University of Maryland Department of Computer Science Institute for Systems Research United States Systems Integration Research Group Electro-Mech. Syst. Des. Plan. R. United States Comp.-Intgd. Mfg. Laboratory United States Duke University United States AAI United States Computer Science Dept. Univ. of Maryland College Park MD 20742 United States ACM ASME IEEE Computer Society United States Dept. of Math. and Computer Science Drexel Univ. Philadelphia PA 19104 United States

This article discusses the complexities of real-world planning and how to create planning systems to address them. IMACS, an automated designer's aid, evaluates machined parts and suggests design modifications to improve their manufacturability, offering advantages over planning techniques used in classical planning systems. IEEE intelligent systems.

关键词： computer aided software engineering Process planning Artificial intelligence Manufacturing processes Machining computer science Meeting planning Design automation computer aided manufacturing Virtual manufacturing

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Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control

Reference adaptive impedance control: a new paradigm for eve...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Sukhan Lee Ming-Feng Jean Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology (KIST) Seoul South Korea

ISBN: (纸本)0780344650

A new paradigm of event-based robotic and telerobotic control, referred to as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with peg-hole insertion experiment.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Trajectory intelligent robots Robot kinematics Strain control Force control

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Dynamic fuzzy control and system stability for the Acrobot

Dynamic fuzzy control and system stability for the Acrobot

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： M.H. Smith T. Zhang W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Intelligent Robotics and Manufacturing Systems Laboratory Manufacturing Systems Laboratory Simon Fraser University Burnaby Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. Previously, a technique using meta-rules was proposed to compensate for external disturbances when using a dynamic fuzzy controller. In this paper, stability of the meta-rule system is analyzed from a global asymptotic stability viewpoint based on fuzzy characteristic matrices. These matrices are generated from the first phase of a three phase learning process involving the combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques with the purpose of developing a better performing fuzzy controller.

关键词： Fuzzy control Stability Fuzzy systems Automatic control Fuzzy reasoning Robot kinematics Control systems Leg PD control Genetic algorithms

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Generalizing over aspect and location for rooftop detection

Generalizing over aspect and location for rooftop detection

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IEEE Workshop on Applications of computer Vision (WACV)

作者： M.A. Maloof P. Langley T.O. Binford R. Nevatia Department of Computer Science George town University Washington D.C. DC USA Institute for the Study of Learning and Expertise Palo Alto CA USA Robotics Laboratory Department of Computer Science University of Stanford Stanford CA USA Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.

关键词： Machine vision Buildings Machine learning computer science intelligent robots Learning systems Image analysis Nearest neighbor searches Robustness Head

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Welding symbolic AI systems with neural networks and their applications

Welding symbolic AI systems with neural networks and their a...

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International Joint Conference on Neural Networks (IJCNN)

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

We explain the different approaches to fusing neural networks and symbolic processing aspects. Four categories are distinguished namely fusion, transformation, combination and associative systems. A brief description of each is given. We also briefly describe the GEMSES architecture as an example of an associative system which has been built from philosophical, cognitive, practical viewpoints.

关键词： Welding Artificial intelligence Neural networks Information processing Artificial neural networks Hybrid intelligent systems Knowledge based systems Computational intelligence Humans Genetic algorithms

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Performance evaluation of media losses in the Continuous Media Toolkit

Performance evaluation of media losses in the Continuous Med...

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International Workshop on Multimedia Software Engineering

作者： D. Wijesekera S. Varadarajan S. Parikh J. Srivastava A. Nerode Department of Computer Science University of Minnesota Minneapolis MN USA Institute for Foundations of Intelligent Systems Cornell University Ithaca NY USA

We show a methodology for a user-driven, top down approach to research in quality of service issues in multimedia systems. As a case study, we show the development of metrics, validation by means of a user study, and a performance evaluation of a prototyping environment. The Berkeley Continuous Media Toolkit (CMT) is a popular environment that satisfies this need. From a user's perspective, in order for multimedia demonstrations to be comprehensible, the number of audio or video frames dropped and the timing delays in the ones that are displayed, need to be kept to a minimum. Therefore, it is important to know the frame dropping characteristics of CMT. In a series of experiments we monitored the variation of these parameters with respect to processor and network loads. It was observed that loads affect aggregate frame drops at lower rates and consecutive frame drops at higher rates. Because at a higher rate a large number of consecutive frames are dropped, the ones that are played appear in a more timely manner. As a solution to the observed problems, we present some QoS based approaches to control drop and delay parameters.

关键词： Performance loss Quality of service Humans Testing Prototypes Delay Aggregates computer science intelligent systems Electronic mail

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The ZEUS agent building tool-kit

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BT TECHNOLOGY JOURNAL 1998年第3期16卷 60-68页

作者： Collis, JC Ndumu, DT Nwana, HS Lee, LC University of Manchester Institute of Science and Technology United Kingdom Queen's University Belfast United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Imperial College United Kingdom Open University University of Central Lancashire United Kingdom BT Laboratories (BTL) Intelligent Systems Research Group BTL Appl. Res. and Technology Department BT Laboratories United Kingdom Queen's College University of Cambridge United Kingdom ABW-ZEUS British Computer Society United Kingdom ART's Future Technologies Group University of Essex United Kingdom Croucher Foundation Hong Kong ZEUS Project

There is an emerging desire among agent researchers to move away from developing point solutions to point problems in favour of developing methodologies and tool-kits for building distributed multi-agent systems. This philosophy has led to the development of the ZEUS agent building tool-kit, which facilitates the engineering of collaborative agent applications through the provision of a library of agent-level components and an environment to support the agent building process. The ZEUS tool-kit is a synthesis of established agent technologies with some novel solutions that provide an integrated environment for rapid software engineering of collaborative agent applications.

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Biologically-based learning in the ARBIB autonomous robot

Biologically-based learning in the ARBIB autonomous robot

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IEEE International Joint Symposia on Intelligence and systems

作者： R.I. Damper T.W. Scutt Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science University of Southampton Southampton UK ICL Institute of Information Technology University of Nottingham Nottingham UK

We describe the autonomous robot ARBIB, which uses biologically-motivated forms of learning to adapt to its environment. The "nervous system" of ARBIB has a nonhomogeneous population of spiking neurons, and uses both nonassociative (habituation, sensitization) and associative (classical conditioning) forms of learning to modify pre-existing ("hard-wired") reflexes. As a result of interaction with its environment, interesting and "intelligent" light-seeking and collision-avoidance behaviors emerge which were not pre-programmed into the robot-or "animat". These behaviors are similar to those described by other workers who have generally used behaviorally-motivated reinforcement learning rather than biologically-based associative learning. The complexity of observed behavior is remarkable given the extreme simplicity of ARBIB's "nervous system", having just 33 neurons. It does not even have a brain! We take this to indicate that great potential exists to explore further "the animat path to AI".

关键词： Animation Artificial intelligence Learning intelligent robots Neurons computer architecture Biological neural networks Artificial neural networks Speech intelligent systems

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Feature transformation by function decomposition

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IEEE intelligent systems and Their Applications 1998年第2期13.0卷 38-43页

作者： Zupan, Blaz Bohanec, Marko Demsar, Janez Bratko, Ivan Jožef Stefan Institute Slovenia University of Ljubljana Slovenia Jožef Stefan Institute University of Ljubljana Slovenia Jožef Stefan Institute University of Ljubljana Ljubljana Slovenia University of Houston United States University of Ljubljana Slovenia Dept. of Intelligent Systems J. Stefan Inst. SI-1000 Ljubljana Jamova 39 Slovenia Jožef Stefan Institute Ljubljana Slovenia Faculty of Organizational Sciences University of Maribor Slovenia Fac. of Comp. and Info. Science University of Ljubljana Slovenia Fac. of Comp. and Info. Science Univ. of Ljubljana SI-1000 Ljubljana Tržaška 25 Slovenia Department of Computer Science University of Ljubljana Slovenia AI Laboratories Jozef Stefan Inst. and the Univ. Slovenia Issek Slovenia

The function decomposition described here can identify subsets of existing features and discover nongiven functions that map these subsets to a new feature. Also, it can organize the existing and new features into a h... 详细信息

关键词： Feature Transformation Feature Construction Feature Discovery Function Decomposition Hierarchy Of Features Classification

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ZEUS agent building tool-kit

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 60-68页

作者： Collis, J.C. Ndumu, D.T. Nwana, H.S. Lee, L.C. University of Manchester Institute of Science and Technology United Kingdom Queen's University Belfast United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Imperial College United Kingdom Open University University of Central Lancashire United Kingdom Intelligent Systems Research Group BTL Appl. Res. and Technology Department BT Laboratories United Kingdom Queen's College University of Cambridge United Kingdom ABW-ZEUS British Computer Society United Kingdom ART's Future Technologies Group University of Essex United Kingdom Croucher Foundation Hong Kong ZEUS Project

关键词： Artificial intelligence

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