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Issues in computerizing the inquiry dialogue planning process 3rd

Proceedings of the 1996 3rd International Conference on intelligent Tutoring systems, ITS'96

作者： Wong, L.-H. Looi, C.-K. Quek, H.-C. Intelligent Systems Laboratory School of Applied Science Nanyang Technological University 639798 Singapore Information Technology Institute 11 Science Park Road Singapore Science Park II Singapore 117685 Singapore

ISBN: (纸本)9783540613275

The TAP (Tutoring Agenda Planner) project studies the feasibility of implementing the inquiry teaching method of Collins & Stevens [4] as an ITS shell. Inquiry teaching is a case- as well as dialogue-based teaching style. It has the objective of training scientific reasoning skills while at the same time can be used to teach subject domain knowledge. Collins and Stevens [5] proposed four sets of rules for the delivery of inquiry dialogue. This paper reports on the tackling of some of the major issues that arise in our effort to computerize the rules, particularly in the following aspects: (1) the reorganization of the rules;(2) the role of case selection in the rule selection process. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Teaching

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Evaluation of scheduling approaches for robotic assembly tasks using Petri nets

Evaluation of scheduling approaches for robotic assembly tas...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： S. Sutdhiraksa R. Zurawski Laboratory for Robotics & Intelligent Systems Swinburne University of Technology Melbourne VIC Australia The Institute of Industrial Science University of Tokyo Tokyo Japan

In this paper, we present an approach to robotic assembly task scheduling which yields suboptimal solutions. The robotic assembly system involves two robot arms working in the same workspace. Collision avoidance between the two robot arms is guaranteed by the use of the uniform cell decomposition approach. Timed Petri nets are used to model the assembly activities. The execution times of the assembly activities are determined during the generation of the reachability graph. Several approaches used to generate the reachability graph and determine the minimum-time paths are proposed.

关键词： Robotic assembly Petri nets Orbital robotics Manipulators Job shop scheduling Assembly systems intelligent robots Collision avoidance Service robots Laboratories

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Scheduling approaches for robotic assembly tasks

Scheduling approaches for robotic assembly tasks

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International Conference on Emerging Technologies and Factory Automation (ETFA)

In this paper, we present an approach to robotic assembly task scheduling which yields suboptimal solutions. The robotic assembly system involves two robot arms working in the same workspace. The collision free operation of the two robot arms is guaranteed by the use of the uniform cell decomposition approach. Timed Petri nets are used to model the assembly activities. The execution times of the assembly activities are determined during the generation of the reachability graph. Several approaches used to generate the reachability graph and determine the minimum-time paths are proposed.

关键词： Robotic assembly Orbital robotics Manipulators Collision avoidance Job shop scheduling intelligent robots Petri nets Laboratories intelligent systems Australia

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Robotic assembly tasks scheduling using Petri nets and heuristic functions

Robotic assembly tasks scheduling using Petri nets and heuri...

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IEEE International Conference on Industrial technology (ICIT)

In this paper, we present an approach to assembly task scheduling involving two robot arms performing concurrently assembly operation in a common workspace. The focus of the material reported in the paper is on an approach which results in sub-optimal sequences, based on combination of breadth-first search method and heuristic functions.

关键词： Robotic assembly Petri nets Manipulators Orbital robotics intelligent robots Assembly systems Collision avoidance Job shop scheduling Service robots Laboratories

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intelligent Controlsystems

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IFAC Proceedings Volumes 1996年第1期29卷 8205-8210页

作者： Rahmat A. Shoureshi Kishan Baheti Devendra Garg John Maulbetsch James Albus Bernard Widrow Tariq Samad Pano Antsaklis Alex Meystel Katsubisha Furuta Center for Robotics and Intelligent Systems (CRIS) Colorado School of Mines Golden Colorado 80401 USA National Science Foundation (NSF) Electric Power Research Institute (EPRI) National Institute of Standards and Technology (NIST) Stanford University Honeywell Technology Center University of Notre Dame Drexel University Tokyo Institute of Technology

Considering recent developments in the fundamentals, analysis, and application areas of the intelligent Control systems (ICS), it is the intent of this panel to review the state-of-the-art in ICS and present a summary of research activities being carried out at different institutions and organizations. Results of some specific research projects that will be discussed at the session are summarized in this paper.

关键词： intelligent Autonomous Adaptive Hybrid Fuzzy Neural Network

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Novel active-vision-based visual-threat-cue for autonomous navigation tasks

Novel active-vision-based visual-threat-cue for autonomous n...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： S.R. Kundur D. Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Intelligent Systems Division National Institute for Standards and Technology Gaithersburg MD USA

This paper presents a new visual motion cue, we call the Visual Threat Cue (VTC) that provides some measure for a relative change in range as well as clearance between a 3D surface and a fixing observer in motion. The VTC corresponds to visual fields surrounding a moving observer. The fields are time-based imaginary 3-D surfaces that move with the observer. They are analogous to equi-potential fields of an electric dipole. A practical method to extract the VTC is presented. The approach is independent of the 3D surface texture and needs no optical flow information, 3D reconstruction, segmentation, feature tracking or pre-processing. This algorithm to extract the VTC was applied to several indoor as well as outdoor real images of textures, where we observed a similar behavior for most of the textures employed.

关键词： Navigation Data mining Surface texture Cameras Surface reconstruction NIST Motion measurement Image reconstruction Image segmentation Electric variables measurement

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On-line identification of continuous time-delay systems using the genetic algorithm

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ELECTRICAL ENGINEERING IN JAPAN 1996年第6期116卷 115-126页

作者： Hachino, T Yang, ZJ Tsuji, T Kyushu Institute of Technology Currently in the doctoral program in Electrical Engineering at Kyushu Institute of Technology. He is engaged in research on system identification. He is a member of the Institute of Systems Control and Information Engineers and the Society of Instrument and Control Engineers. Received his Dr. of Eng. degree in 1992 from Kyushu University. Since then he has been a Research Associate in the Department of Electrical Engineering Kyushu Institute of Technology. He is engaged in research mainly in system identification and related genetic algorithms neural networks wavelet analysis and control of magnetic levitation systems etc. He is a member of the Institute of Systems Control and Information Engineers Society of Instrument and Control Engineers and Robotics Society of Japan. Received his Dr. of Eng. degree in 1968 from Kyushu University. In 1968 he became a Lecturer in 1971 an Associate Professor and since 1982 a Professor in the Department of Electrical Engineering Kyushu Institute of Technology. He was Visiting Researcher at the University of Minnesota under the sponsorship of the Ministry of Education from 1986 to 1987. He is engaged in research mainly on control theory and power electronics. He is a member of the Institute of Systems Control and Information Engineers

This paper proposes a new kind of on-line identification method of continuous time-delay systems from sampled input-output data. In order to track the time-varying system parameters as well as time-delay, the recursive linear least squares (RLS) method is combined in a bootstrap manner with the genetic algorithm (GA) which has a high potential for global optimization. The time-delay is coded into binary bit strings and searched by the GA, while the system parameters are updated by the RLS method. Furthermore, this method (GALS method) is hybridized with the sequential nonlinear least squares method to improve the speed of convergence. Simulation results show that both the GALS and hybrid methods are efficient in the case that the system changes abruptly, and among them the hybrid method has superior convergence property to the GALs method and yields excellent estimation results in the case that the system changes with time continuously.

关键词： on-line identification continuous-time system time-delay system recursive least squares method sequential nonlinear least squares method genetic algorithm

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Medical image compression with neural nets

Medical image compression with neural nets

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Conference of the North American Fuzzy information Processing Society - NAFIPS

作者： A. Steudel S. Ortmann M. Glesner Intelligent Systems for Information and Automation Technology Darmstadt University of Technology Darmstadt Germany Institute of Microelectronic Systems Darmstadt University of Technology Darmstadt Germany

A nonlinear 5 layer artificial neural autoencoder network for image data compression is constructed and trained using the back propagation algorithm and medical CT images. The influence of linear and nonlinear pre/postprocessing operations is studied as well as an alternative compression scheme. Important implementational issues of neural networks are addressed as well as autoencoder issues. One of the results of this work is a compression/decompression tool that provides maximum flexibility and can be used independently from the training environment.

关键词： Biomedical imaging Image coding Neural networks Medical diagnostic imaging Back Artificial neural networks Digital images X-ray imaging Spatial resolution Image reconstruction

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Vision-based fuzzy controllers for navigation tasks

Vision-based fuzzy controllers for navigation tasks

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International Symposium on Computer Vision (ISCV)

This paper deals with vision-based fuzzy closed-loop control schemes for collision avoidance as well as maintenance of clearance in a-priori unknown textured environments. These control schemes employ a visual motion cue, we call the visual threat cue (VTC) that provides some measure for a relative change in range as well as clearance between 3D surface and a fixated observer in motion. It is a collective measure obtained directly from the raw data of gray level images, is independent of the type of 3D surface texture. This motion cue is scale-independent, rotation independent, needs no 3D reconstruction and is measured in [time/sup -1/] units. Fuzzy control is closer in spirit to human thinking and can implement linguistically-expressed heuristic control policies directly without any knowledge about the dynamics of the complex process. The fuzzy controllers were implemented in real-time using a 486-based personal computer and a camera capable of undergoing 6-DOF motion. Results are highly encouraging.

关键词： Fuzzy control Navigation Motion control Motion measurement Surface reconstruction Collision avoidance Surface texture Image reconstruction Rotation measurement Time measurement

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