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A HYBRID MODEL FOR INTELLIGENT CONTROL-systems

JOURNAL OF INTELLIGENT & ROBOTIC systems 1994年第3期10卷 221-241页

作者： AN, YF PANG, G APLEVICH, D 1. Pattern Analysis and Machine Intelligence Lab. System Design Engineering University of Waterloo N2L 3G1 Waterloo Ontario Canada 2. Department of Electrical and Computer Engineering University of Waterloo N2L 3G1 Waterloo Ontario Canada

Hybrid continuous-time and discrete-event system models are developed for applications to intelligent robot and autonomous control systems. Certain general properties, including the interface structure between the discrete event part and the continuous part of hybrid systems, are studied. Petri nets are proposed as the model for the discrete event sub-system (DES), and state equations with a set of binary parameters as the model for the continuous time sub-system (CTS) in a hybrid system. The quantized CTS is formulated in prime event structures, which can also be modeled by a condition/event Petri net. Therefore, a complete hybrid system can be fit into an extended Petri net formalism, which provides a unified framework for hybrid system description. The validity of the proposed model is demonstrated by modeling a two-tank system.

关键词： CONTINUOUS TIME systems DISCRETE EVENT systems HYBRID systems PETRI NETS MODELING INTELLIGENT CONTROL

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Digital compressor structure in neural network implementation using complex complementary pass-transistor logic (C/sup 2/PL)

Digital compressor structure in neural network implementatio...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： D. Zhang M. Kamel M.I. Elmasry VLSI Research Group Department of Electrical & Computer Engineering University of Waterloo Waterloo ONT Canada Pattern Analysis & Machine Intelligence Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this paper, a compressor structure based on complex complementary pass-transistor logic (C/sup 2/PL) is presented. Some types of 3-2 compressors in C/sup 2/PL are achieved and a number of experiments are conducted to optimize their performance. Two typical compressor building blocks, the 4-2 compressor and 7-3 compressor, are built and their digital neural network (DNN) applications are discussed. Compared with the complementary pass-transistor logic (CDL) designs, our simulations show that the C/sup 2/PL compressor has the best performances in power, delay and number of transistors.

关键词： Intelligent networks Neural networks CMOS logic circuits Logic design Switches Semiconductor device modeling design engineering Neurons CMOS technology Voltage

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Neural Networks in Manufacturing

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IFAC Proceedings Volumes 1993年第2期26卷 337-340页

作者： A.K.C. Wong J.Y. Ching Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo Waterloo Ontario N2L 3Gl Canada

Neural networks can be used to build autonomous manufacturing systems that can adapt to the changes in their environments. This paper provides some general discussion of the applications of neural network techniques in manufacturing and engineering. In particular, a new neural controller for process control and a novel network suitable for engineering classification and prediction tasks such as quality control and production monitoring are described.

关键词： Neural nets Manufacturing processes Control systems Quality control Inference processes

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IMAGE COMPRESSION BY VARIABLE BLOCK TRUNCATION CODING WITH OPTIMAL THRESHOLD

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1991年第1期39卷 208-212页

作者： KAMEL, M SUN, CT GUAN, L Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this correspondence we propose two modifications to the block truncation coding techniques. The first modification allows the partitioning of the image into variable size blocks rather than fixed size. The second m... 详细信息

关键词： Image coding Mean square error methods Pixel Image reconstruction Sun Vector quantization Tail pattern analysis machine intelligence System analysis and design

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A sensor model registration technique for mobile robot localization

A sensor model registration technique for mobile robot local...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S.Y.T. Lang A.K.C. Wong Autonomous Systems Laboratory Institute of In formation Technology National Research Council Canada Ottawa ONT Canada Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

A method for mobile robot localization using natural environmental features is presented. An attributed graph boundary representation of free space is used. A local sensor model is registered with a global model by a subgraph isomorphism technique. Geometric and structural knowledge is used to search for mappings. The set of possible mappings is incrementally determined. Simultaneously, the associated coordinate transformation between the global and local models is refined. The model registration technique is implemented in software, and two examples are shown.< >

关键词： Mobile robots Sensor phenomena and characterization Dead reckoning Sonar navigation Councils Wires Laboratories Information technology Space technology Calibration

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Intelligent control of an autonomous mobile robot in a hazardous material spill accident ȁ4;a blackboard structure approach

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Robotics and Autonomous systems 1990年第4期6卷 351-365页

作者： Pang, Grantham K.H. Shen, Helen C. Department of Electrical and Computer Engineering University of Waterloo WaterlooOntarioN2L 3G1 Canada Pattern Analysis and Machine Intelligence Group Department of Systems Design Engineering University of Waterloo WaterlooOntarioN2L 3G1 Canada

This paper describes the use of the blackboard architecture for the high level programming and control of autonomous mobile robots in a hazardous material spill emergency situation. The purpose of the robot is to perform some of the tasks which are dangerous for the emergency response personnels. The proposed blackboard system provides a unifying framework for the integration of information from various sensor-based and knowledge-based sub-systems. © 1990 Elsevier Science Publishers B.V. (North-Holland) All rights reserved

关键词： Hazardous materials spills

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AN ADAPTIVE APPROACH TO FEATURE SELECTION IN pattern RECOGNITION

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International Journal of pattern Recognition and Artificial intelligence 1990年第4期4卷 573-601页

作者： H.C. SHEN R. PILKEY Department of Systems Design Engineering Pattern Analysis and Machine Intelligence Group University of Waterloo Waterloo Ontario canada N2L 3G1 Canada Present address: Carma Industries 494 The Parkway Peterborough Ontario Canada K9J 7L9.

Feature selection is an important phase in most pattern recognition problems, especially when the space of the extracted features is very large. Feature selection methods attempt to reduce the feature space to satisfy certain objectives. We propose the concept of defining a performance potential as a measure of the effectiveness of the set of selected features. This paper begins by outlining a ranking scheme for features based on a feature’s calculated “performance potential”. The performance potential is made up of a number of performance measures: extraction time, memory requirements, variance, covariance and classification success. An adaptive scheme is proposed to process a number of initial features and arrive at the “best” subset based on their performance potential. The approach is applied to a texture analysis problem. The results of the testing of the approach point to conclusions concerning its effectiveness.

关键词： Feature selection pattern recognition Adaptive approach Performance potential

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Representing uncertainty in robot task planning

Representing uncertainty in robot task planning

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IEEE International Conference on Robotics and Automation (ICRA)

作者： M.S. Kamel P.M. Kaufmann Pattern Analysis and Machine Intelligence Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

A representation for uncertain states within the context of robot task planning is described. This includes the probabilistic description of objects, relationships between objects, and operators. It is one component of a task planner designed for use in uncertain task domains. The planner is based on a game theoretic-approach which views the environment as an opponent (often fallible). Multiple outcomes arising from operator application in an uncertain world are attributed to moves of the opponent. These are called reaction operators. Their representation and effect on the planning process are discussed.< >

关键词： Uncertainty Robot sensing systems Process planning pattern analysis machine intelligence System analysis and design design engineering systems engineering and theory Intelligent robots Game theory

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Intelligent Database Query Translation

Intelligent Database Query Translation

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IEEE International Conference on systems, Man and Cybernetics

作者： M.S. Kamel W.S. Loo A.K.C. Wong Pattern Analysis and Machine Intelligence Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this paper we are concerned with techniques for processing database queries that are not required to be formulated based on complete and precise knowledge of the query specification as defined in the database management system. In specific, we consider processing queries that are ill-defined, not complete and fuzzy . We propose a query translator that tries to bridge the gap between the user's semantically stated query and its full specification as required by the database. The translator utilizes a graph based structure to represent queries and relations in the database. The translation process involves transforming incomplete query graphs into complete query graphs using attribute covering where the entities of the query are mapped to real entities of the database and functional dependency resolution, where the relational joins between these entities are established. The proposed translator is an attempt at incorporating intelligence in query processing systems to support user- friendly features such as cooperative and corrective responses from database systems.

关键词： Deductive databases Cities and towns Algebra Natural languages Topology Database languages Query processing

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Quaternions approach to solve the kinematic equation of rotation, A/sub a/A/sub x/=A/sub x/A/sub b/, of a sensor-mounted robotic manipulator

Quaternions approach to solve the kinematic equation of rota...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.C.K. Chou M. Kamel Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering Institute for Computer Research University of Waterloo Waterloo ONT Canada

The problem of finding the relative orientation between the reference frames of a line-mounted sensor and the link is formulated as a kinematic equation of the form A/sub a/A/sub x/=A/sub x/A/sub b/, which has to be solved for the rotational transformation matrix A/sub x/ given the transformations A/sub a/ and A/sub b/. This equation can be transformed to its equivalent form in terms of quaternion and then simplified to a well-structured linear system of equations of the form Bx=0. Since B is rank-deficient, the solution is not unique. The generalized-inverse method using singular-value decomposition (SVD) is applied. Although the solution is reached using the analysis of SVD, the SVD is derived symbolically; therefore, the actual implementation of SVD is not required. A method for obtaining a unique solution is proposed where a system of nonlinear equations is solved using Newton-Raphson iteration. The iteration is simplified by a dimension-reduction technique that provides a set of closed-form formulas for solving the resulting linear system of equations.< >

关键词： Quaternions Robot kinematics Sensor systems Linear systems Coordinate measuring machines Robot sensing systems Nonlinear equations Position measurement Intelligent robots Manipulators

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