Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71376
D. Gregory, J. Kirsch, W. M. Crowe
A demonstration of the capabilities and limitations of an optical correlator in a realistic environment has been undertaken. The testing is divided into several phases from laboratory-type data gathering to a fully functional helicopter-delivered demonstration missile. The basic research performed has led to three fully fieldable test units which have proved to be rugged and dependable under normal test range conditions. The units were transportable and required no realignment of the optics. Two of the test systems were modular in construction while the third was a 'solid optic' design having optical paths and components contained within a solid glass construction.<>
{"title":"Optical correlator guidance and tracking field tests","authors":"D. Gregory, J. Kirsch, W. M. Crowe","doi":"10.1109/ICSMC.1989.71376","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71376","url":null,"abstract":"A demonstration of the capabilities and limitations of an optical correlator in a realistic environment has been undertaken. The testing is divided into several phases from laboratory-type data gathering to a fully functional helicopter-delivered demonstration missile. The basic research performed has led to three fully fieldable test units which have proved to be rugged and dependable under normal test range conditions. The units were transportable and required no realignment of the optics. Two of the test systems were modular in construction while the third was a 'solid optic' design having optical paths and components contained within a solid glass construction.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"20 1","pages":"645-650 vol.2"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90357393","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71410
N. Ansari, E. Delp
A technique to guide landmark matching known as hopping dynamic programming is described. The location of the model in the scene is estimated with a least-squares fit. A heuristic measure is then computed to decide if the model is in the scene. The shape features of an object are the landmarks associated with the object. The landmarks of an object are defined as the points of interest of the object that have important shape attributes. Examples of landmarks are corners, holes, protrusions, and high-curvature points.<>
{"title":"Partial shape recognition: a landmark-based approach","authors":"N. Ansari, E. Delp","doi":"10.1109/ICSMC.1989.71410","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71410","url":null,"abstract":"A technique to guide landmark matching known as hopping dynamic programming is described. The location of the model in the scene is estimated with a least-squares fit. A heuristic measure is then computed to decide if the model is in the scene. The shape features of an object are the landmarks associated with the object. The landmarks of an object are defined as the points of interest of the object that have important shape attributes. Examples of landmarks are corners, holes, protrusions, and high-curvature points.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"99 1","pages":"831-836 vol.2"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90392233","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71337
M. Korenberg
The fast orthogonal search method is illustrated for carrying out both system identification and time-series analysis of biological processes. It is first shown how the method can be used to rapidly obtain concise and accurate difference equation models of nonlinear dynamic systems. Then it is considered how the fast orthogonal algorithm enables accurate identification of cascades of alternating dynamic linear and static nonlinear sub-systems from short data records. Finally, it is illustrated how the method achieves accurate, parsimonious sinusoidal series representations of time-series data. It is shown that the method is capable of precise detection of component frequencies in time-series heavily corrupted with noise, demonstrating finer frequency resolution than a conventional Fourier series analysis.<>
{"title":"A fat orthogonal search method for biological time-series analysis and system identification","authors":"M. Korenberg","doi":"10.1109/ICSMC.1989.71337","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71337","url":null,"abstract":"The fast orthogonal search method is illustrated for carrying out both system identification and time-series analysis of biological processes. It is first shown how the method can be used to rapidly obtain concise and accurate difference equation models of nonlinear dynamic systems. Then it is considered how the fast orthogonal algorithm enables accurate identification of cascades of alternating dynamic linear and static nonlinear sub-systems from short data records. Finally, it is illustrated how the method achieves accurate, parsimonious sinusoidal series representations of time-series data. It is shown that the method is capable of precise detection of component frequencies in time-series heavily corrupted with noise, demonstrating finer frequency resolution than a conventional Fourier series analysis.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"178 1","pages":"459-465 vol.2"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85550140","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71345
H. Kazerooni
In the work presented, extenders are defined as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The author gives a summary of the ongoing research work on human-machine interaction in the sense of the transfer of power and information signals. A single-degree-of-freedom extender has been built for theoretical and experimental verification of the extender dynamics and control. System performance is defined as amplification of human force. It is shown that the greater the required amplification, the smaller the stability range of the system is. A condition for stability of the closed-loop system (extender, human and environment) is derived, and, through both simulation and experimentation, the sufficiency of this condition is demonstrated.<>
{"title":"Stability and performance of human-robot interaction","authors":"H. Kazerooni","doi":"10.1109/ICSMC.1989.71345","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71345","url":null,"abstract":"In the work presented, extenders are defined as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The author gives a summary of the ongoing research work on human-machine interaction in the sense of the transfer of power and information signals. A single-degree-of-freedom extender has been built for theoretical and experimental verification of the extender dynamics and control. System performance is defined as amplification of human force. It is shown that the greater the required amplification, the smaller the stability range of the system is. A condition for stability of the closed-loop system (extender, human and environment) is derived, and, through both simulation and experimentation, the sufficiency of this condition is demonstrated.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"54 8","pages":"494-497 vol.2"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICSMC.1989.71345","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72404833","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71487
N. Moray, R. Ferrell, H. Stassen, D. Yoerger, W. Rouse, T. Govindaraj, C. Mitchell, P. Sanderson
Presents a review of some of the areas to which supervisory control theory has been applied and indicate some of the ideas which have as yet not been followed up but which were introduced by Sheridan and his students. Topics covered include: modeling manual and supervisory control tasks; supervisory control of deep-ocean vehicles; technology problems and technology solutions; human integration in a complex world; supervisory control in distributed decision-making; and human supervisor control models in advanced manufacturing systems.<>
{"title":"Supervisory control: 30 years and counting","authors":"N. Moray, R. Ferrell, H. Stassen, D. Yoerger, W. Rouse, T. Govindaraj, C. Mitchell, P. Sanderson","doi":"10.1109/ICSMC.1989.71487","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71487","url":null,"abstract":"Presents a review of some of the areas to which supervisory control theory has been applied and indicate some of the ideas which have as yet not been followed up but which were introduced by Sheridan and his students. Topics covered include: modeling manual and supervisory control tasks; supervisory control of deep-ocean vehicles; technology problems and technology solutions; human integration in a complex world; supervisory control in distributed decision-making; and human supervisor control models in advanced manufacturing systems.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"67 1","pages":"1185-1186 vol.3"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74124016","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71432
D. Giusto, C. Regazzoni, G. Vernazza
A knowledge-based vision system called DOORS (Distributed Object-Oriented Recognition System), for obstacle detection and tracking, is presented. It integrates multisensory information sources by adaptively selecting appropriate fusion strategies at the abstraction levels of both physical and virtual sensors. The basic methodology adopted for data representation and processing control has several points in common with object-oriented programming techniques and with blackboard approaches. Some preliminary results are presented for the case of an obstacle moving on a country-road scene.<>
{"title":"Multilevel data-fusion for detection of moving objects","authors":"D. Giusto, C. Regazzoni, G. Vernazza","doi":"10.1109/ICSMC.1989.71432","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71432","url":null,"abstract":"A knowledge-based vision system called DOORS (Distributed Object-Oriented Recognition System), for obstacle detection and tracking, is presented. It integrates multisensory information sources by adaptively selecting appropriate fusion strategies at the abstraction levels of both physical and virtual sensors. The basic methodology adopted for data representation and processing control has several points in common with object-oriented programming techniques and with blackboard approaches. Some preliminary results are presented for the case of an obstacle moving on a country-road scene.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"6 1","pages":"931-933 vol.3"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74334006","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71505
A. Gross, T. Boult
Consideration is given to two membership tests for straight homogeneous generalized cylinders to determine if an object in the image is a member of the shape class. It is shown that contour information alone is insufficient to recover a straight homogeneous generalized cylinder uniquely. It is then shown that the sign and magnitude of the Gaussian curvature at a point vary among members of a contour-equivalent class. Next, a method of ruling straight homogeneous generalized cylinder images is developed. This ruling of the surface serves two functions. First, the ruling algorithm provides a heuristic test of whether or not the image is consistent with that of a straight homogeneous generalized cylinder. Secondly, the ruling makes explicit certain parameters of the underlying straight homogeneous generalized cylinder that the authors use in their second membership test. The second membership test is an intensity-based method which assumes that the surface has geodesics and that the albedo is constant. The method compares intensity values at corresponding meridian points along cross-sectional geodesics.<>
{"title":"Straight homogeneous generalized cylinders: analysis of reflectance properties and a necessary condition for class membership","authors":"A. Gross, T. Boult","doi":"10.1109/ICSMC.1989.71505","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71505","url":null,"abstract":"Consideration is given to two membership tests for straight homogeneous generalized cylinders to determine if an object in the image is a member of the shape class. It is shown that contour information alone is insufficient to recover a straight homogeneous generalized cylinder uniquely. It is then shown that the sign and magnitude of the Gaussian curvature at a point vary among members of a contour-equivalent class. Next, a method of ruling straight homogeneous generalized cylinder images is developed. This ruling of the surface serves two functions. First, the ruling algorithm provides a heuristic test of whether or not the image is consistent with that of a straight homogeneous generalized cylinder. Secondly, the ruling makes explicit certain parameters of the underlying straight homogeneous generalized cylinder that the authors use in their second membership test. The second membership test is an intensity-based method which assumes that the surface has geodesics and that the albedo is constant. The method compares intensity values at corresponding meridian points along cross-sectional geodesics.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"1997 1","pages":"1260-1265 vol.3"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78106339","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71427
Hai-Wen Chen, L. D. Jacobson, J. Gaska, D. Pollen
Structural classification and parameter estimation results that are applicable to multi-input nonlinear biological systems are presented. To use these methods properly, it is necessary first to establish that the structure of the system under study belongs to one of the broad structural classes examined; such a priori constraints would generally be inferred from the known anatomical and physiochemical properties of the system. Using the methods presented, input-output measurements are used to restrict the structural classification of the system further and to estimate the parameters of the classified model. Ongoing efforts to identify the spatiotemporal nonlinear networks that underlie the extracellularly recorded (spike) responses of visual cortical neurons to photic stimulation are discussed.<>
{"title":"Structural classification of multi-input biological nonlinear systems","authors":"Hai-Wen Chen, L. D. Jacobson, J. Gaska, D. Pollen","doi":"10.1109/ICSMC.1989.71427","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71427","url":null,"abstract":"Structural classification and parameter estimation results that are applicable to multi-input nonlinear biological systems are presented. To use these methods properly, it is necessary first to establish that the structure of the system under study belongs to one of the broad structural classes examined; such a priori constraints would generally be inferred from the known anatomical and physiochemical properties of the system. Using the methods presented, input-output measurements are used to restrict the structural classification of the system further and to estimate the parameters of the classified model. Ongoing efforts to identify the spatiotemporal nonlinear networks that underlie the extracellularly recorded (spike) responses of visual cortical neurons to photic stimulation are discussed.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"115 1","pages":"903-908 vol.3"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76683215","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71433
W. Wen
Reasoning under uncertainty is one of the most important challenges in expert systems and some other branches of AI. Computational efficiency is a primary problem in implementing any practical system. In order to improve computational efficiency, several methods have been proposed to exploit the parallelism inherent in reasoning under uncertainty. However, some of these models can be used only in the case of singly connected networks, and one allows only one direction of reasoning. A parallel reasoning method based on the minimum cross entropy principle and the concept of recursive causal models is proposed to avoid the disadvantages of the methods.<>
{"title":"Parallel reasoning in recursive causal networks","authors":"W. Wen","doi":"10.1109/ICSMC.1989.71433","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71433","url":null,"abstract":"Reasoning under uncertainty is one of the most important challenges in expert systems and some other branches of AI. Computational efficiency is a primary problem in implementing any practical system. In order to improve computational efficiency, several methods have been proposed to exploit the parallelism inherent in reasoning under uncertainty. However, some of these models can be used only in the case of singly connected networks, and one allows only one direction of reasoning. A parallel reasoning method based on the minimum cross entropy principle and the concept of recursive causal models is proposed to avoid the disadvantages of the methods.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"88 1","pages":"934-939 vol.3"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80271904","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}
Pub Date : 1989-11-14DOI: 10.1109/ICSMC.1989.71401
A. Erkmen, H. Stephanou
Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.<>
{"title":"Preshape Jacobians for minimum momentum grasping","authors":"A. Erkmen, H. Stephanou","doi":"10.1109/ICSMC.1989.71401","DOIUrl":"https://doi.org/10.1109/ICSMC.1989.71401","url":null,"abstract":"Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"27 1","pages":"790-795 vol.2"},"PeriodicalIF":0.0,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81084190","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}
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