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Proceedings IEEE International Symposium on Intelligent Control 1988最新文献

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Robot trajectory planning for minimising residual vibrations 最小化残余振动的机器人轨迹规划
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65477
M. Dissanayake, A. Poo
{"title":"Robot trajectory planning for minimising residual vibrations","authors":"M. Dissanayake, A. Poo","doi":"10.1109/ISIC.1988.65477","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65477","url":null,"abstract":"An investigation into the effect of the trajectory shape on resulting arm vibrations is presented based on the concept of the shock spectrum. A method to obtain trajectories whose shock spectrum has prescribed properties is briefly described, and some preliminary results are presented. A comparison of various trajectory planning algorithms, in terms of their effectiveness in reducing residual vibrations and the move time, is given. Two performance indices are defined to quantify the information obtained through the shock spectrum and the move time analysis. The superiority of a trajectory based on the simultaneous minimization of the time of travel and residual response is illustrated.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129905189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Searching for an optimal path through Pasadena 寻找一条穿过帕萨迪纳的最佳路径
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65449
G. Grevera, A. Meystel
{"title":"Searching for an optimal path through Pasadena","authors":"G. Grevera, A. Meystel","doi":"10.1109/ISIC.1988.65449","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65449","url":null,"abstract":"A functioning software package for a planning system that uses multiresolutional heuristic search techniques to find the optimal path over terrain with varied traversability is described. Unlike previous systems, the one considered uses the same algorithm of decision-making through all levels of planning/control operation top-down. It employs solutions previously developed for the autonomous robot Drexel-buggy and explores a number of tools which reduce the number of computations, help to overcome the trap of multiple solutions, determine streets, etc. It is demonstrated that time-efficient planning is possible based upon sophisticated input information incorporating expert knowledge. The example map discussed is of Pasadena, California.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121388839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Evaluating the economical impact of expert fault diagnosis systems: the I-CAT experience 评估专家故障诊断系统的经济影响:I-CAT经验
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65447
R. Cantone, P. Caserta
{"title":"Evaluating the economical impact of expert fault diagnosis systems: the I-CAT experience","authors":"R. Cantone, P. Caserta","doi":"10.1109/ISIC.1988.65447","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65447","url":null,"abstract":"The authors address the factors that permit the meeting of the objectives of rapid, economical fault isolation and maintenance troubleshooting utilizing the I-CAT expert fault isolation diagnosis system. Emphasis is placed on the economic considerations. Costs and cost-benefits are considered in qualitative terms. Quantitative figures are provided where available for specific tests and applications. Insight into the costs and cost-savings to be obtained using an expert system for fault location is provided. Economic considerations are discussed as they apply throughout the life cycle of the products to be tested. The authors conclude with guidelines for doing a cost analysis of AI fault detection systems, including rule-based expert systems and unique systems such as I-CAT.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131494942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Programmed compliance for error-correction in robotic assembly 机器人装配误差校正的程序顺应性
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65452
M. Peshkin
{"title":"Programmed compliance for error-correction in robotic assembly","authors":"M. Peshkin","doi":"10.1109/ISIC.1988.65452","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65452","url":null,"abstract":"The use of active compliance to realize an error-corrective assembly is addressed. A robot operating under active compliance-control may be viewed as continuously computing motions from forces. A compliance matrix specific to the shapes of the parts to be mated is constructed. During execution of the assembly operation, this compliance matrix efficiently maps measured forces into appropriate corrective motions. Essentially, the plan is to program, in advance, the 9 (in 2-space) or 36 (in 3-space) elements of a compliance matrix so that the robot will respond correctly to any error which may occur during the assembly operation. Three desirable criteria are proposed for the motion of an error-corrective manipulator. The three criteria become mathematical requirements on the compliance matrix to be designed. It is shown how the compliance matrix which best fulfils these criteria can be constructed.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116869125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Considerations in the development of a knowledge-based control systems design associate 开发以知识为基础的控制系统设计助理的考虑
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65441
N. F. Palumbo, B. Butz
{"title":"Considerations in the development of a knowledge-based control systems design associate","authors":"N. F. Palumbo, B. Butz","doi":"10.1109/ISIC.1988.65441","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65441","url":null,"abstract":"The authors describe an intelligent design associate (IDA), with emphasis on the techniques used in developing the associate and the mechanics of its operation. The expert-system architecture is described, along with some of the problems encountered when coupling symbolic and numerical systems. Also considered is how to transfer information between the expert system and the analysis package, as well as how the expert system is able to direct the actual sequence of analyses performed by the CACSD (computer-aided control systems design) package. It is demonstrated that not only is such a coupled system feasible, but it is also replicatable in that it can be created with off-the-shelf, commercially available software. An example is included to show that the system is capable of designing simple compensators.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"61 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124323461","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Hierarchical control of a nuclear reactor using uncertain dynamics techniques 核反应堆的不确定动力学分级控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65519
L. Rovere, P.J. Otaduy, C. R. Brittain, R. B. Perez
{"title":"Hierarchical control of a nuclear reactor using uncertain dynamics techniques","authors":"L. Rovere, P.J. Otaduy, C. R. Brittain, R. B. Perez","doi":"10.1109/ISIC.1988.65519","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65519","url":null,"abstract":"Good agreement is shown between a centralized and a hierarchical implementation of a controller for a hypothetical nuclear power plant subject to multiple demands. The performance of the hierarchical distributed system in the presence of localized subsystem failures is analyzed. The proposed approach to the hierarchical control of large systems eliminates the need for the typical iterative computations to account for the coupling effects between subsystems. In addition, the computational independence between the unknown terms generated by each subsystem's controller facilitates both its implementation in a distributed network of CPUs and the isolation and diagnosis of sensor and system component failures. The role of the coordinator is transformed from that of an inflexible black-box-like numerical procedure to that of an intelligent supervisor of subsystem performance. By incorporating symbolic and numerical recipes, the supervisor issues the appropriate set of demands for each subsystem required for the specific goal. It is the task of the individual subsystem controllers to fulfil those demands in an optimal fashion.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121872343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Neural computing and production systems 神经计算和生产系统
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65510
M. Sartori, P. Antsaklis
{"title":"Neural computing and production systems","authors":"M. Sartori, P. Antsaklis","doi":"10.1109/ISIC.1988.65510","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65510","url":null,"abstract":"The application of neural computing to the problem of matching in production systems is addressed. The computation time required by this problem can be significantly reduced by using the massive parallelism and pattern recognition capabilities available through neural computing. A novel neural computing model, called the ProNet, is introduced and explained in detail. The ProNet is applied to the match phase of the production system interpreter in an attempt to yield a reduction in time and space requirements by matching all of the productions to all of the working memory elements simultaneously. Simulation results are presented. It is shown that, using neural computing via the ProNet, the time required by the match phase can be considerably reduced, and thus the overall time required by the production interpreter can be decreased.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116819881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Motion generation from world descriptions: the level of required redundancy 从世界描述生成运动:所需冗余的水平
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65437
R. Bhatt, A. Meystel
{"title":"Motion generation from world descriptions: the level of required redundancy","authors":"R. Bhatt, A. Meystel","doi":"10.1109/ISIC.1988.65437","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65437","url":null,"abstract":"An overview is given of the experimental analysis of motion planning from comparison of two snapshots of the world: initial scene and goal scene. It is commonly believed that from comparison of these two images the researcher can deduce the plan of actions and, eventually, the program of motion (e.g. in robotics). Indeed, in many particular cases the existence of a knowledge inverse operator can be proven. If so, the process of plan generation can be done automatically. The feasibility of solving the problem of automatic plan generation is considered. These questions are addressed by considering several man-chair situations. An effort is made to analyze this process experimentally and to trace the whole set of required computational procedures, as well as the required structure of knowledge representation. It is concluded that difference generation requires a substantial amount of knowledge which is not represented explicitly within the interpreted image description. Supervised learning is one of the possible ways for filling the lists of primitive rules and metarules. However, using redundant thesaural descriptions seems to be more promising.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123073035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A hierarchical planner for autonomous underwater vehicle control: the distributed control system multicomputer (DCSM) workbench 水下机器人自主控制的分层规划:分布式控制系统多计算机(DCSM)工作台
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65434
G. Trimble
{"title":"A hierarchical planner for autonomous underwater vehicle control: the distributed control system multicomputer (DCSM) workbench","authors":"G. Trimble","doi":"10.1109/ISIC.1988.65434","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65434","url":null,"abstract":"The objective of the DCSM project is to develop and test hardware and operating-system-level concepts in support of knowledge-based architectures for the execution of command and control for autonomous vehicles. Research is concentrated on the areas of multicomputer hardware, system software, and the ways in which they can support knowledge-based application software as well as traditional control programs. The primary goal of this program is to develop a multicomputer architectural environment capable of supporting differing topologies of processing hardware, memory association and interconnection. A prototype distributed planning framework which allows evaluation of the coordination of plans in terms of goals, assertions, and informational usage is described. An example vehicle control mission is evaluated and decomposed into a planning hierarchy which aids in modeling the interaction of an AUV (autonomous underwater vehicle) and a manned submarine.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115260308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Object-oriented model-based reasoning for diagnosing automated manufacturing systems 基于面向对象模型的自动化制造系统诊断推理
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65517
D.I. Kerpelman
{"title":"Object-oriented model-based reasoning for diagnosing automated manufacturing systems","authors":"D.I. Kerpelman","doi":"10.1109/ISIC.1988.65517","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65517","url":null,"abstract":"In automated manufacturing, availability is the percentage of time that a production system is functioning properly. The author addresses the problems of availability by exploring the feasibility of a class of diagnosis algorithm. To develop this approach, a range of theory used in other areas was surveyed and synthesized. Petri net analysis was applied to fault detection. Rule-based inference and model-based reasoning were applied to failure isolation and hypothesis validation. A large part of the effort was the use of object-oriented software engineering to integrate the pieces into a unified algorithm. A software system was developed to realize the advanced algorithm and applied to a case study manufacturing subsystem for evaluation and analysis.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124983729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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