Physical Sciences and Mathematics Commons^™

Autonomous Robot Navigation In Unknown Terrains Using Parallel Numerical Artificial Potential Fields, John C. Schneider

Computer Science Theses & Dissertations

We present a new artificial potential field formulation for resolution complete robot navigation that unifies the purely geometric path planning problem with the lower level force control problem. Our formulation is designed for numerical computation over a massively parallel mesh of processors and is responsive to newly discovered terrain features. It does not suffer from many of the problems commonly associated with potential fields and with adequate resolution provides provably correct, collision free convergence to the goal. In addition, our formulation supports many desirable, practical features required for implementation, such as bounded actuator torques, attainable incremental constructability, realizable computation and …

Survey And Implementation Of Commercial Manual Controllers For A Generic Telerobotics Architecture, Thomas E. Deeter

Theses and Dissertations

The purpose of this study is to determine an input device for the Air Force's generic telerobotics architecture for large aircraft maintenance and repair. One area of concern is the human to machine interface, more specifically, which manual controller should be used for the specified tasks in this architecture. We mailed a survey to 68 companies in order to compile a list of possible input devices that the telerobotics architecture could use. 32 companies responded which gave me enough data to generate a list that described the physical traits of the input devices. We then divided the required tasks into …

Artificially Intelligent Air Combat Simulation Agents, Daniel E. Gisselquist

Theses and Dissertations

The Advanced Research Projects Agency (ARPA), in an effort to improve military simulations, has proposed a standard for Distributed Interactive Simulation (DIS). This network protocol will allow dissimilar applications to communicate simulation information. In the field of air combat, this will allow pilots in remote simulators to fly in a common simulation. The success of this standard is dependent on applications being able to work within that standard, as well as a large variety of Computer Generated Forces (CGFs) to complement interactive forces. CGFs are needed to help simulate the large combat scenarios that can only occur in wartime. By …

General Methods For Analyzing Machine Learning Sample Complexity, Christoph Cornelius Michael

Dissertations, Theses, and Masters Projects

During the past decade, there has been a resurgence of interest in applying mathematical methods to problems in artificial intelligence. Much work has been done in the field of machine learning, but it is not always clear how the results of this research should be applied to practical problems. Our aim is to help bridge the gap between theory and practice by addressing the question: "If we are given a machine learning algorithm, how should we go about formally analyzing it?" as opposed to the usual question: "how do we write a learning algorithm we can analyze?".;We will consider algorithms …

A Model Of Visual Recognition Implemented Using Neural Networks, Vincent C. Phillips

Theses: Doctorates and Masters

The ability to recognise and classify objects in the environment is an important property of biological vision. It is highly desirable that artificial vision systems also have this ability. This thesis documents research into the use of artificial neural networks to implement a prototype model of visual object recognition. The prototype model, describing a computtional architecture, is derived from relevant physiological and psychological data, and attempts to resolve the use of structural decomposition and invariant feature detection. To validate the research a partial implementation of the model has been constructed using multiple neural networks. A linear feed-forward network performs pre-procesing …

The Variable Elision Of Unstressed Vowels In European Portuguese: A Case Study, David James Silva

David Silva