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  • Other Sources  (1,851)
  • CYBERNETICS  (1,851)
  • 1990-1994  (1,831)
  • 1970-1974  (20)
  • 11
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    Robot path planning for space-truss assembly (1992)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.
    Keywords: CYBERNETICS
    Type: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54); p. 172-182.
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  • 12
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    Efficient visual grasping alignment for cylinders (1992)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.
    Keywords: CYBERNETICS
    Type: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54); p. 161-171.
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  • 13
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    Network compensation for missing sensors (1991)
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    Publication Date: 2019-08-28
    Description: A network learning translation invariance algorithm to compute interpolation functions is presented. This algorithm with one fixed receptive field can construct a linear transformation compensating for gain changes, sensor position jitter, and sensor loss when there are enough remaining sensors to adequately sample the input images. However, when the images are undersampled and complete compensation is not possible, the algorithm need to be modified. For moderate sensor losses, the algorithm works if the transformation weight adjustment is restricted to the weights to output units affected by the loss.
    Keywords: CYBERNETICS
    Type: In: Human vision, visual processing, and digital display II; Proceedings of the Meeting, San Jose, CA, Feb. 27-Mar. 1, 1991 (A93-25363 08-54); p. 134-146.
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  • 14
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    Modelling intelligent behavior (1993)
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    Publication Date: 2019-08-28
    Description: An introductory discussion of the related concepts of intelligence and consciousness suggests criteria to be met in the modeling of intelligence and the development of intelligent materials. Methods for the modeling of actual structure and activity of the animal cortex have been found, based on present knowledge of the ionic and cellular constitution of the nervous system. These have led to the development of a realistic neural network model, which has been used to study the formation of memory and the process of learning. An account is given of experiments with simple materials which exhibit almost all properties of biological synapses and suggest the possibility of a new type of computer architecture to implement an advanced type of artificial intelligence.
    Keywords: CYBERNETICS
    Type: Journal of Intelligent Material Systems and Structures (ISSN 1045-389X); 4; 1; p. 35-42.
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  • 15
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    Model reference adaptive control of flexible robots in the presence of sudden load changes (1991)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.
    Keywords: CYBERNETICS
    Type: Cooperative Intelligent Robotics in Space; Nov 06, 1990 - Nov 07, 1990; Boston, MA; United States
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  • 16
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    Robustness of a distributed neural network controller for locomotion in a hexapod robot (1992)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Robotics and Automation (ISSN 1042-296X); 8; 3 Ju; 293-303
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  • 17
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    Perspectives future space on robotics (1994)
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    Publication Date: 2019-08-28
    Description: Last year's flight of the German ROTEX robot flight experiment heralded the start of a new era for space robotics. ROTEX is the first of at least 10 new robotic systems and experiments that will fly before 2000. These robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces. The robotic systems to be flown in the next five years fall into three categories: extravehicular robotic (EVR) servicers, science payload servicers, and planetary surface rovers. A description of the work on these systems is presented.
    Keywords: CYBERNETICS
    Type: Aerospace America (ISSN 0740-722X); 32; 5; p. 32-37
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  • 18
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    Case study of binary and ternary synthetic discriminant function filters with similar in-class and out-of-class images (1993)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: A simulation study is reported of the performance of two designs of ternary synthetic discriminant function (SDF) filters. The filters are compared to binary SDFs in terms of the probability of correct identification P(ID) between in-class and out-of-class image sets. Compared to binary synthetic discriminant function (BSDF) filters, both ternary SDF filters designs offer improved performance in P(ID) and thus allow extension of the maximum filter direction range when evaluated in the presence of white image noise. Larger distortion range filters translate to fewer correlations required to perform image identification, and thus higher system speed. The TSDF(SNR) filters had the highest of system performance, while TSDF(d) filters were able to improve discrimination to a degree, but their optimal designs had essentially the same SNR performance as the BSDF filters.
    Keywords: CYBERNETICS
    Type: Optical Engineering (ISSN 0091-3286); 32; 3; p. 560-570.
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  • 19
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    Neurodynamical model of collective brain (1992)
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    Publication Date: 2019-08-28
    Description: A dynamical system which mimics collective purposeful activities of a set of units of intelligence is introduced and discussed. A global control of the unit activities is replaced by the probabilistic correlations between them. These correlations are learned during a long term period of performing collective tasks, and are stored in the synaptic interconnections. The model is represented by a system of ordinary differential equations with terminal attractors and repellers, and does not contain any man-made digital devices.
    Keywords: CYBERNETICS
    Type: In: IJCNN - International Joint Conference on Neural Networks, Baltimore, MD, June 7-11, 1992, Proceedings. Vol. 4 (A93-37001 14-63); p. IV-115 to IV-121.
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  • 20
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    Nonlinear functional approximation with networks using adaptive neurons (1992)
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    Publication Date: 2019-08-28
    Description: A novel mathematical framework for the rapid learning of nonlinear mappings and topological transformations is presented. It is based on allowing the neuron's parameters to adapt as a function of learning. This fully recurrent adaptive neuron model (ANM) has been successfully applied to complex nonlinear function approximation problems such as the highly degenerate inverse kinematics problem in robotics.
    Keywords: CYBERNETICS
    Type: In: IJCNN - International Joint Conference on Neural Networks, Baltimore, MD, June 7-11, 1992, Proceedings. Vol. 3 (A93-37001 14-63); p. III-491 to III-49
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