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Proceedings IEEE International Symposium on Intelligent Control 1988最新文献

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Expert supervisor prototype for a crushing plant 一个破碎工厂的专家监督原型
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65527
E. Fahrenkrog, E. Cifuentes, D. Sbarbaro
{"title":"Expert supervisor prototype for a crushing plant","authors":"E. Fahrenkrog, E. Cifuentes, D. Sbarbaro","doi":"10.1109/ISIC.1988.65527","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65527","url":null,"abstract":"An expert supervisor prototype for use in a crushing plant is expressed. The supervisor structure is based on a human operator model. Internally, it possesses qualitative information of the process, knowledge of the process under control, and the heuristic strategies obtained from an experienced operator to achieve the proposed plant operation objectives. For communication with the external world, it possesses a process interface and a user interface to supervise the global operation from an upper level. The simulation results obtained show the advantages and potential of this type of expert supervisor for supporting automatic plant operation.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"14 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":"127628175","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
The one dimensional random pairing problem in a cellular robotic system 元胞机器人系统中的一维随机配对问题
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65408
O. Egecioglu, B. Zimmermann
{"title":"The one dimensional random pairing problem in a cellular robotic system","authors":"O. Egecioglu, B. Zimmermann","doi":"10.1109/ISIC.1988.65408","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65408","url":null,"abstract":"A cellular robotics system which is essentially characterized by having no centralized control, no centralized database, no shared memory, and no synchronous clock is considered. Each robot in the system executes an identical internal algorithm and is equipped with limited sensing power. A typical reconfiguration problem, the pairing problem, for such an autonomous robotic system on a one-dimensional grid is studied. The global goal of the system is to self-organize into units of physically adjacent pairs separated by empty seats. The use of randomization in the decision-making process of each robot allows the evolution of the system to be modeled as a Markov chain, where each state represents a nonuniform random walk. The chain is absorbing, showing that the desired configuration will be reached with probability one.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"8 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":"126397178","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
Symbolic diagnosis for intelligent control 智能控制的符号诊断
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65444
S. Jowers, J. Painter
{"title":"Symbolic diagnosis for intelligent control","authors":"S. Jowers, J. Painter","doi":"10.1109/ISIC.1988.65444","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65444","url":null,"abstract":"The results of research intended to create a symbolic diagnostician to support intelligent control of numerical processors and/or processes are reported. Example applications include real-time signal processors, industrial automation, and aerospace power systems. The approach is to create a generic, symbolic inference engine to interpret data from real-time numerical processes. The interpreted data are then utilized by companion symbolic and numeric modules resulting in a dynamic, intelligent real-time control architecture. General results are obtained while focusing research efforts on an initial target application-a software-intensive radio receiver/processor. Object-oriented programming techniques are used due to ease of knowledge engineering and potential parallels to hardware implementation.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"87 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":"126194146","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
Design, implementation and performance evaluation of a real-time knowledge-based controller 基于知识的实时控制器的设计、实现和性能评估
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65436
J. Jiang, R. Doraiswami
{"title":"Design, implementation and performance evaluation of a real-time knowledge-based controller","authors":"J. Jiang, R. Doraiswami","doi":"10.1109/ISIC.1988.65436","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65436","url":null,"abstract":"The general structure and design specifications of a real-time knowledge-based controller are proposed. The knowledge-based controller has been designed, implemented, and evaluated for a hydraulic turbine generator control system. The controller has been designed to maintain the system stability and performance not only during normal plant operation, but also in the presence of contingencies, such as system component failures and severe external load disturbances. The knowledge-base and the inference engine software are written in Prolog, and the information preprocessing and control algorithms are written in C language. The performance of the knowledge-based controller has been evaluated by simulating the hydraulic turbine generator system on an analog computer with the knowledge-based controller implemented in real time on a microcomputer.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"64 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":"132233034","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
An intelligent integrated sensor system for the ORNL mobile robot 面向ORNL移动机器人的智能集成传感器系统
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65425
R. Mann, J. Jones, M. Beckerman, C. Glover, L. Farkas, J. Han, E. Wacholder, J. Einstein
{"title":"An intelligent integrated sensor system for the ORNL mobile robot","authors":"R. Mann, J. Jones, M. Beckerman, C. Glover, L. Farkas, J. Han, E. Wacholder, J. Einstein","doi":"10.1109/ISIC.1988.65425","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65425","url":null,"abstract":"The mobile robot prototypes developed at the Oak Ridge National Laboratory (ORNL) Center for Engineering Systems Advanced Research (CESAR) are equipped with sonar sensors and CCD cameras that are used to support autonomous navigation and simple inspection tasks in an a priori unknown and unstructured dynamic environment. A laser range camera is being added to the sensor suite of HERMIES III, a mobile robot that is currently being built. The authors summarize work directed at extracting information from data collected with these sensors and integrating it, in order to produce reliable descriptions of the robot's environment. Specifically, they describe the integration of two-dimensional vision and sonar range information. The integration methodology is based on a framework for multisensor integration that consists of multiple, distributed world models and appropriate mappings among them. All operations are carried out onboard the mobile robot using a 16-processor hypercube computer.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"185 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":"131406420","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
An approach to implementing a knowledge-based controller 一种实现基于知识的控制器的方法
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65507
J. James, L. Rapisarda
{"title":"An approach to implementing a knowledge-based controller","authors":"J. James, L. Rapisarda","doi":"10.1109/ISIC.1988.65507","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65507","url":null,"abstract":"The results of building a knowledge-based adaptive controller for a DC-motor-driven, angular-positioning servo-trainer are presented. The approach used is general in the sense that tools have been built which will support knowledge-based identification, control law calculation, and controller implementation in response to changes in the system plant. However, the implementation is restricted to lead-lag compensation of a single-input, single-output linear, continuous plant and is currently limited by the accuracy of the model identification results. The system is capable of executing the cycle of identification, controller design, and implementation in approximately 10 s for a servo trainer used for classroom laboratory experiments. A significant analytical shortfall exists in that an assessment of the stability of such a system is not possible using currently available techniques. The system is described, and the tools developed for an inference engine to support reasoning about time-sensitive events are discussed.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"3 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":"131584445","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: 8
Moving object tracking using local windows 移动对象跟踪使用本地窗口
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1117/12.960459
M. Celenk, H. Reza
{"title":"Moving object tracking using local windows","authors":"M. Celenk, H. Reza","doi":"10.1117/12.960459","DOIUrl":"https://doi.org/10.1117/12.960459","url":null,"abstract":"The authors describe a novel technique for the analysis of a sequence of time-varying images taken by a stationary camera. The proposed algorithm is divided into the three stages: (1) motion detection, (ii) object location, and (iii) trajectory tracing. In the first stage, two consecutive images are compared, and a difference image is formed to detect the presence of any motion. A subimage is then defined in the difference image as the active region in which the motion is analyzed. In the second stage, the subimage is compared with both previous and next frames. The local windows enclosing the object are determined in each respective image. These windows are then used in the last stage for tracing the trajectory of the moving object. Their center-of-mass points are computed and plotted on a two-dimensional plane. The approach is tested for both fast and slow motion cases using real-world images of moving objects in complex scenes.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"206 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":"134108725","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
A knowledge-based control paradigm for real-time systems 基于知识的实时系统控制范例
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65435
J. Painter, S. Lin, E. Glass
{"title":"A knowledge-based control paradigm for real-time systems","authors":"J. Painter, S. Lin, E. Glass","doi":"10.1109/ISIC.1988.65435","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65435","url":null,"abstract":"The authors examine the application of knowledge-based symbolic control to the management of execution and configuration of a complex numerical control system. Symbolic processing is used to implement inference of system state and internal communication for inference and control. The flavor system provides an object-oriented programming environment in which the inference engine and knowledge base for the symbolic controller are realized. System communication is accomplished by asynchronous message passing using a mailbox facility. The particular target application considered is a software-intensive radio, which is envisioned as being digitally implemented. Symbolic processing is used to internally control the radio down to the module level. Testing is via computer emulation (Monte Carlo).<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"56 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":"132607372","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
A discrete decentralized hybrid computed torque-model referenced adaptive controller for robotic manipulators 基于离散分散混合计算力矩模型的机械臂自适应控制器
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65473
Z. S. Tumeh
{"title":"A discrete decentralized hybrid computed torque-model referenced adaptive controller for robotic manipulators","authors":"Z. S. Tumeh","doi":"10.1109/ISIC.1988.65473","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65473","url":null,"abstract":"A decentralized controller for robotic manipulators was designed and tested using a distributed multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal component based on a computed torque approach and a variational component based on a model referenced adaptive control approach. The controller is applied to each manipulator joint separately. The motivation for decentralized manipulator control is that the derived algorithm can be implemented using a distributed architecture where each joint is assigned a microprocessor and, thus, the control algorithms for the joints can be executed in parallel using relatively inexpensive hardware. Nonlinear interaction and coupling between joints are treated as a disturbance torque that is compensated for. The function of the developed controller is to drive the manipulator along a desired trajectory.<<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":"131015536","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: 10
Design of self-learning controllers using expert system techniques 利用专家系统技术设计自学习控制器
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65490
Z. Geng, M. Jamshidi, J. Liebowitz
{"title":"Design of self-learning controllers using expert system techniques","authors":"Z. Geng, M. Jamshidi, J. Liebowitz","doi":"10.1109/ISIC.1988.65490","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65490","url":null,"abstract":"The use of real-time expert system techniques to control systems, including robot manipulator control systems, is discussed. A novel type of intelligent controller structure, the expert learning controller prototype called ELEC (expert learning controller), is developed for the control series optimization of trajectory tracking problems in repeat operations. The ELEC, acting as an intelligent real-time controller in a closed-loop system, can modify the control series in a human-expert-like way using the experience of previous operations in order to force the system output to converge to the previously given desired trajectory. With the self-learning functions, the ELEC does not require the knowledge of system models; thus, it can be used in a wide range of control problems, especially in robot control. Numerical examples and simulation results of nonlinear, time-varying and multiple-variable robot systems are given to show the satisfactory performance of ELEC.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"21 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":"133047977","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: 4
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