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Air Force Institute of Technology

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Articles 121 - 137 of 137

Full-Text Articles in Artificial Intelligence and Robotics

Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus Jun 1998

Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus

Theses and Dissertations

Control concepts for satellite mounted manipulators (SMM) are examined. The primary focus is on base actuated concepts, which eliminate singularity problems associated with free floating SMMs. A new form of the equations of motion for an n-link SMM is developed using a quasi coordinate form of Lagrange's Equation. Alternative free floating SMM designs are presented which eliminate dynamic singularities, but still experience difficulties due to the unactuated base. A new generic SMM controller is developed as a framework for various control concepts with and without base actuation. Momentum constrained Jacobians are shown to produce better SMM tracking than fixed base …

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Autonomous Construction Of Multi Layer Perceptron Neural Networks, Thomas F. Rathbun Jun 1997

Autonomous Construction Of Multi Layer Perceptron Neural Networks, Thomas F. Rathbun

Theses and Dissertations

The construction of Multi Layer Perceptron (MLP) neural networks for classification is explored. A novel algorithm is developed, the MLP Iterative Construction Algorithm (MICA), that designs the network architecture as it trains the weights of the hidden layer nodes. The architecture can be optimized on training set classification accuracy, whereby it always achieves 100% classification accuracies, or it can be optimized for generalization. The test results for MICA compare favorably with those of backpropagation on some data sets and far surpasses backpropagation on others while requiring less FLOPS to train. Feature selection is enhanced by MICA because it affords the …

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Neural Network Classification Of Environmental Samples, Jeffrey L. Blackmon Dec 1996

Neural Network Classification Of Environmental Samples, Jeffrey L. Blackmon

Theses and Dissertations

This research develops a general methodology for designing neural network classifiers for real-world environmental problems. This methodology is demonstrated through the design of a multi-layer perceptron to classify stainless steel and actinide samples. Neural networks, sometimes called artificial neural networks, have been shown capable of classifying complex patterns. Artificial neural networks are physiologically motivated computer algorithms which attempt to mimic the function of the large interconnected network of neurons in the human brain, which has extraordinary pattern recognition capabilities. These artificial neural networks learn to map a set of input features, elemental composition, onto a set of outputs such as …

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Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho Dec 1996

Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho

Theses and Dissertations

For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. The suggested concept in this thesis is object based teleoperator control which provides an intuitive way to control the robot in terms of the grasped object and reduces the operator's conceptual constraints. The general control law is developed using a hierarchical control structure, i.e., human interface I gross motion control level in teleoperation control and fine motion control/object grasp stability in autonomous control. The gross motion control is required to provide the position/orientation of the Super …

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Design And Evaluation Of Standard Telerobotic Control Software, Kevin P. Anchor Dec 1995

Design And Evaluation Of Standard Telerobotic Control Software, Kevin P. Anchor

Theses and Dissertations

This thesis represents the first implementation of a proposed Air Force standard telerobotic control architecture. This architecture was developed by the NASA Jet Propulsion Laboratory and the National Institute of Standards and Technology under contract to the Air Force Materiel Command Robotics and Automation Center of Excellence (RACE) as the Unified Telerobotics Architecture Project (UTAP). The AFIT Robotics and Automation Applications Group (RAAG) Lab B facility computational structure was redesigned to be compliant with the UTAP architecture. This thesis shows that the UTAP specification to be implementable. However, if the underlying operating system does not support generic message passing, an …

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Teaching Accommodation Task Skills: From Human Demonstration To Robot Control Via Artificial Neural Networks, Paul V. Whalen Mar 1995

Teaching Accommodation Task Skills: From Human Demonstration To Robot Control Via Artificial Neural Networks, Paul V. Whalen

Theses and Dissertations

A simple edge-mating task, performed automatically by accommodation control, was used to study the feasibility of using data collected during a human demonstration to train an artificial neural network (ANN) to control a common robot manipulator to complete similar tasks. The 2-dimensional (planar) edge-mating task which aligns a peg normal to a fiat table served as the basis for the investigation. A simple multi-layered perceptron (MLP) ANN with a single hidden layer and linear output nodes was trained using the back-propagation algorithm with momentum. The inputs to the ANN were the planar components of the contact force between the peg …

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Artificially Intelligent Air Combat Simulation Agents, Daniel E. Gisselquist Dec 1994

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 …

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Survey And Implementation Of Commercial Manual Controllers For A Generic Telerobotics Architecture, Thomas E. Deeter Dec 1994

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 …

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Discovery Learning In Autonomous Agents Using Genetic Algorithms, Edward O. Gordon Dec 1993

Discovery Learning In Autonomous Agents Using Genetic Algorithms, Edward O. Gordon

Theses and Dissertations

As the new Distributed Interactive Simulation (DIS) draft standard evolves into a useful document and distributed simulations begin to emerge that implement parts of the standard, there is renewed interest in available methods to effectively control autonomous aircraft agents in such a simulated environment. This investigation examines the use of a genetics-based classifier system for agent control. These are robust learning systems that use the adaptive search mechanisms of genetic algorithms to guide the learning system in forming new concepts (decision rules) about its environment. By allowing the rule base to evolve, it adapts agent behavior to environmental changes. Addressed …

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Using Discovery-Based Learning To Prove The Behavior Of An Autonomous Agent, David N. Mezera Dec 1993

Using Discovery-Based Learning To Prove The Behavior Of An Autonomous Agent, David N. Mezera

Theses and Dissertations

Computer-generated autonomous agents in simulation often behave predictably and unrealistically. These characteristics make them easy to spot and exploit by human participants in the simulation, when we would prefer the behavior of the agent to be indistinguishable from human behavior. An improvement in behavior might be possible by enlarging the library of responses, giving the agent a richer assortment of tactics to employ during a combat scenario. Machine learning offers an exciting alternative to constructing additional responses by hand by instead allowing the system to improve its own performance with experience. This thesis presents NOSTRUM, a discovery-based learning DBL system …

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Design And Construction Of The Aerobot Robotic Manipulator (Arm), William L. Cochran Dec 1993

Design And Construction Of The Aerobot Robotic Manipulator (Arm), William L. Cochran

Theses and Dissertations

This thesis designed, constructed, and tested a robotic arm for the Aerobot Aerial Robot. The main purpose of the ARM is to enable the Aerobot to retrieve objects for use in an annual robotics competition. Design of the ARM involved synthesizing the characteristics of simplicity, weight, strength, and size. The result was a three-degree-of-freedom manipulator that uses electric motors, cable linkages, and telescoping tubes to access a work space below the Aerobot. Forward and inverse kinematics were investigated to enable automation of the ARM. Data was collected from infrared sensors to validate the model. Manipulation of the ARM is presently …

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Power Analysis In Flexible Automation, Nathan A. Titus Dec 1992

Power Analysis In Flexible Automation, Nathan A. Titus

Theses and Dissertations

The performance of an automation or robotic device can be measured in terms of its power efficiency. Screw theory is used to mathematically define the task instantaneously with two screws. The task wrench defines the effect of the device on its environment, and the task twist describes the motion of the device. The tasks can be separated into three task types: kinetic, manipulative, and reactive. Efficiency metrics are developed for each task type. The output power is strictly a function of the task screws, while device input power is shown to be a function of the task, the device Jacobian, …

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Hardware-Verification Through Logic Extraction, Michael A. Dukes Mar 1992

Hardware-Verification Through Logic Extraction, Michael A. Dukes

Theses and Dissertations

A Prolog-based system is described which employs logic-extraction to perform hardware-verification. The extraction rules are built automatically from hierarchical structural VHDL models, enabling the equivalence of a structural VHDL description and a layout specification to be verified. Pin-to-pin critical- path analysis is performed within the logic-extraction process; many noncritical paths are pruned early, making pin-to-pin critical path analysis of large circuits feasible. It is demonstrated that a design methodology based on logic extraction, VHDL, and a layout tool can provide a fabricated functionally- correct IC design without circuit-level or switch-level simulation. This methodology is shown to be practical for VLSI …

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Robotic Tactile Sensors Fabricated From A Monolithic Silicon Integrated Circuit And A Piezoelectric Polyvinylidene Fluoride Thin Film, Craig S. Dyson Dec 1991

Robotic Tactile Sensors Fabricated From A Monolithic Silicon Integrated Circuit And A Piezoelectric Polyvinylidene Fluoride Thin Film, Craig S. Dyson

Theses and Dissertations

The purpose of this research effort was to design, fabricate, and test a tactile sensor system consisting of an external high impedance switch circuit, an external multiplexing circuit, and a tactile sensor IC. In order to accomplish this objective, a hardware design and selection process was implemented along with a logical test methodology. An external multiplexer circuit samples all of the array elements in 50 ms. The current prototype sensor has linearity spanning loads of 0.8 g to 135 g, a load resolution of 20 g, and a maximum bandwidth of 25 Hz. Using an elementary shape recognition algorithm the …

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Heuristics For Hospital Inventory Management, Thomas G. Hibson Sep 1991

Heuristics For Hospital Inventory Management, Thomas G. Hibson

Theses and Dissertations

This study investigated the reasoning strategies used by hospital logistics management experts and was conducted at the Wright-Patterson AFB (WPAFB) Medical Center. An expert system was developed to verify the captured strategies. The particular area of interest of this study was the reasoning strategies involved in the reconciliation of the Monthly Stock Status Report within the Medical Logistics Branch. A literature review revealed there were few guidelines as to when and what action to pursue when reconciling the Monthly Stock Status Report. Though there were no references in the literature on expert systems that dealt with this particular report, there …

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Three Degrees Of Freedom Compliant Motion Control For Robotic Aircraft Refueling, Clayton M. Andersen Dec 1990

Three Degrees Of Freedom Compliant Motion Control For Robotic Aircraft Refueling, Clayton M. Andersen

Theses and Dissertations

The Air Force Institute of Technology (AFIT) supports on-going research in application of robotic technology to enhance assembly tasks. As a testbed, AFIT supports the ground-based aerial refueling project, with an emphasis on visual servoing techniques and compliant motion control. This thesis focuses on compliant motion control. Previous research developed the testing environment, which includes a PUMA-560 industrial manipulator, and a half scale mock-up of an aerial refueling system. This effort corrected and expanded the existing two degree of freedom (DOF) compliant controller to three DOF. Three DOF compliance was demonstrated by inserting the refueling nozzle into the receiver port. …

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Use Of Grasp Force Focus Positioning To Enhance The Torque Resistance Capability Of Robotic Grasps, Stephen G. Edwards Dec 1990

Use Of Grasp Force Focus Positioning To Enhance The Torque Resistance Capability Of Robotic Grasps, Stephen G. Edwards

Theses and Dissertations

Three-point-contact grasps are unique in that the homogeneous solution for the contact forces always produces a grasp force focus. Careful positioning of this focus point in the grasp plane can help avoid two things; slipping at the contact points, and violation of joint torque limits. The focus placement method is explored theoretically by examining two types of grasps on cylinders; 1) fingertip grasps using three independently operated fingers, and 2) single-finger power grasps with one contact point on each of three links. Constraint maps are generated for various fingertip grasps in order to show how proper placement of the grasp …

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