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AUTOMATED OPPOSING FORCES FOR TRAINING SIMULATIONS

NAVAL ENGINEERS JOURNAL 1995年第3期107卷 245-252页

作者： ANTON, PS MCADOW, KL SMITH, DB LEHNER, PE SHARP, MA Dr. Philip S. Anton:is currently the Terhnology Area Manager of Modeling and Reasoning in the MITRE Advanced Information Technologies Center. His research at MITRE has included behavioral models of military doctrine and command environmental modeling and reasoning for command forces and intelligent simulations of military entities. His other interests include neural networks artificial intelligence and intelligent agents. Dr. Anton received a U.S. degree in Computer Engineering from UCLA and an M.S. degree and a Ph.D in Computational Neuroscience from the University of California. Irvine After finishing nuclear power training Mr. McAdow served as an Engineering Department Division Officer on USS Mariano G. Vallejo (SSBN 658). He then worked as a civilian far the Naval Coastal Systems Center and then far Martin Marietta Aero and Naval Systems in the development of various submarine systems and unmanned undersea vehicles. David Smith:has been a member of the technical staff at MITRE s Advanced Information Technologies center since 1993. He has a B.S. degree in Computer Science and Mathematics from Albright College and an M.S. degree in Information and Computer Science from the Georgia Institute of Technology. Dr. Paul Lehner:is a part-time Principal Scientist in the MITRE Advanced Information Technologies Center. In addition. Dr. Lehner is an Associate Professor of Systems Engineering at George Mason University. His research at MITRE has included automated planning and scheduling adversarial planning and reasoning against uncertainty. Dr. Lehner received a B.S. degree in Psychology from Bethany College. He also holds M.S. degrees in Psychology and Mathematics and a Ph.D. in Mathematical Psychology from the University of Michigan. Prior to his current employment at MITRE and at George Mason University Dr. Lehner served as the Technical Director of the Decision Sciences Section at PAR Government Systems Corporation. After finishing nuclear power training Cdr. Sharp served as an Engineering Department Divisi

Providing realistic opposing forces is critical to the successful use of military training simulations. Unfortunately, a number of issues can make the manual control of realistic opposing forces difficult or unattainable, This paper explores these issues while discussing how Automatic Interactive Targets (AITs) can assist Training Exercise Controllers (TECs) in providing validated and realistic opposing forces in highly interactive situations. The features of the prototype Remote AIT Processing System (RAPS) are used to demonstrate how an AIT system can be designed to meet TEC requirements for automated entities, RAPS can provide remote control of AITs for existing or new systems while providing sufficient features to allow a TEC to appropriately select and control AITs for individual training exercises and crew proficiencies.

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THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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CONTROL ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： intelligent MACHINES NAVIGATION HIERARCHICALLY intelligent CONTROL ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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PETRI NETS AND INDUSTRIAL APPLICATIONS - A TUTORIAL

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第6期41卷 567-583页

作者： ZURAWSKI, R ZHOU, MC Laboratory for Robotics & Intelligent Systems Swinburne University of Technology Melbourne VIC Australia Laboratory for Discrete Event Systems Department of Elcctrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This is a tutorial paper on Petri nets. Petri nets, as a graphical and mathematical tool, provide a uniform environment for modelling, formal analysis, and design of discrete event systems. The main objective of this paper is to introduce the fundamental concepts of Petri nets to the researchers and practitioners, both from academia and industry, who are involved in the work in the areas of modelling and analysis of industrial types of systems, as well as those who may potentially be involved in these areas. The paper begins with an overview of applications of Petri nets, mostly industrial ones. Then, it proceeds with a description of Petri nets, properties, and analysis methods. The discussion of properties is put in the context of industrial applications. The analysis methods are illustrated using an example of a simple robotic assembly system. The performance analysis, using Petri nets, is discussed for deterministic and stochastic Petri nets. The presented techniques are illustrated by examples representing simple production systems. In addition, the paper introduces high-level Petri nets, fuzzy Petri nets, and temporal Petri nets. This is done in the context of application prospects. The paper also briefly discusses some of the reasons restricting the use of Petri nets, mostly, to academic institutions.

关键词： Tutorial Petri nets Mathematical model Discrete event systems Performance analysis Production systems Modems Communication industry Laboratories intelligent robots

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Autonomous mobile robot teams

Autonomous mobile robot teams

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Conference on intelligent Robots in Factory, Field, Space, and Service, 1994

作者： Agah, Arvin Bekey, George A. Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA United States

This paper describes autonomous mobile robot teams, performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior, transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles. © 1993 by Arvin Agah. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Navigation

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SOLUTION OF POWER-SYSTEM PROBLEMS THROUGH THE USE OF THE OBJECT-ORIENTED PARADIGM

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY systems 1994年第3期16卷 157-165页

作者： DILLON, TS CHANG, E Expert and Intelligent Systems Laboratory Applied Computing Research Institute Australia Department of Computer Science and Computer Engineering La Trobe University Bundoora Vic 3083 Australia

The paper presents a description of the state of the art of the application of object-oriented systems to power system problems. It presents a brief resume of the object-oriented concepts. It examines the application in three areas, namely: traditional software applications, database systems and knowledge-based systems. It also looks at all three stages of the use of object-oriented models in these three areas. The three stages are the conceptual model, the software structure model and the implementation model. It provides a set of conclusions as to future areas of applications of the object-oriented paradigm to power systems applications.

关键词： SOFTWARE ENGINEERING DATABASES KNOWLEDGE-BASED systems AND OBJECT-ORIENTED systems

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A distributed real-time intelligent alarm processing system with symbolic-connectionist computation 2

A distributed real-time intelligent alarm processing system ...

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2nd IEEE Workshop Real-Time Applications, RTA 1994

作者： Khosla, R. Dillon, T. Expert and Intelligent Systems Laboratory Applied Computing Research Institute Department of Computer Science and Computer Engineering La Trobe University MelbourneVIC3083 Australia

ISBN: (纸本)0818663758

In this paper we outline the features of a cognitively compatible symbolic-connectionist architecture for complex data intensive time-critical domains especially in the diagnostic area. We examine how a symbolic-connectionist architecture copes with the time-critical and size complexity aspects of a real time alarm processing system developed for a regional power system control centre. © 1994 IEEE.

关键词： Distributed computer systems

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Automatic programming of coordinate measuring machines

Automatic programming of coordinate measuring machines

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IEEE International Conference on robotics and Automation (ICRA)

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

This paper discusses a planner that generates automatically high-level programs (or plans) for inspecting mechanical parts with coordinate measuring machines. The system's input is a solid model of a toleranced part, and the output a collection of setups, probes and probe orientations associated with the surface features to be inspected. The problem is formulated as state space search. The state contains a collection of inspection plans, represented as a set of 4-tuples of the form (setup, probe, probe direction, surface feature). The initial plans may be invalid, or unnecessarily expensive. The state evolves through the application of operators, which impose geometric and optimization constraints so as to produce a valid and nearly optimal plan. The paper discusses the planner architecture and implementation, and presents experimental results.< >

关键词： Automatic programming Coordinate measuring machines Probes Inspection Robot kinematics intelligent robots State-space methods Manufacturing processes Education computer graphics

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A novel cognitive architecture for simulated robots in an artificial world

A novel cognitive architecture for simulated robots in an ar...

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IEEE International Conference on robotics and Automation (ICRA)

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

This paper presents a novel cognitive architecture for simulated autonomous robots in an artificial world. The design principle of the architecture enables the robotic system to both react to the world and perform premeditated actions. The cognitive architecture is a modular structure composed of a number of multilevel interconnected components, each with distributed, module-specific memory. The modular structure allows for simple portability of the architecture across a variety of robotic platforms. The behavior of the robot is based on the automatic creation of composite behavior from a set of predefined atomic behaviors. Facts about the world are discovered as the robot performs its tasks. An autonomous robot embedded within an artificial world (named Machina Cogitans) is equipped with this architecture, and a number of experiments are presented.< >

关键词： Cognitive robotics intelligent robots computer architecture robotics and automation Computational modeling Robot sensing systems Robotic assembly intelligent systems Biological system modeling Artificial intelligence

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A pivoting gripper for feeding industrial parts

A pivoting gripper for feeding industrial parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Carlisle K. Goldberg A. Rao J. Wiegley Adept Technology Inc. San Jose CA USA Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA Deparment of Computer Science University of Utrecht Utrecht Netherlands Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California USA

To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (DOF) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper the authors describe a way to orient parts about an arbitrary axis by introducing a rotating bearing between the jaws of a simple gripper. Based on this mechanism, the authors are developing a rapidly configurable vision-based system for feeding parts. In this system, a camera determines initial part pose; the robot then reorients the part to achieve a desired final pose. The authors have implemented a prototype version in their laboratory using a commercially-available robot system.< >

关键词： Grippers Costs Robotic assembly Robot vision systems intelligent robots Machine vision Gravity Service robots robotics and automation intelligent systems

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Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

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