Artificial Intelligence and Robotics Commons^™

Graphical Evolution Experiments In Artificial Life, Gary R. Greenfield

Department of Math & Statistics Technical Report Series

Larry Yaeger's alife simulation running on a Silicon Graphics Iris Workstation is called Poly World. Our description of PolyWorld is based on notes taken during an oral presentation and video demonstration given in the Artificial Life Panel Session of SIGGRAPH '92: In PolyWorld the visual organisms roam on a bounded two dimensional grid. The organisms "brains" are small neural nets enabling the organisms to control their external visual appearance and to perceive the external world by processing pixmaps. The simulation controls for total energy while striving to explore competition and self-organization. Genes present are for size, strength, maximum speed, mutation …

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, …

Formant Estimation From Dctc's Using A Feedforward Neural Network, Shubhangi U. Kelkar

Electrical & Computer Engineering Theses & Dissertations

Formants are the natural frequencies of the human vocal tract. Existing methods for estimating formants from speech signals are computationally complex and subject to errors for certain type of speech sounds. This thesis describes a method for estimating vowel formant frequencies from Discrete Cosine Transform Coefficients (DCTC's), a form of cepstral coefficients, using a feedforward neural network with back-propagation training. Experimental results are based on a large multispeaker data base. The results are obtained for both a linear transformation and a feedforward neural network with a nonlinear hidden layer. In general, the neural network transformation is superior to the linear …

Reasoning By Analogy In A Multi-Level System Architecture For The Design Of Mechanisms, Ghassan F. Issa

Computer Science Theses & Dissertations

Since the first attempts to integrate AI technology and engineering design nearly two decades ago, few expert systems have been shown to demonstrate sufficient reasoning capabilities to solve real-world design problems. The complex nature of design, the lack of understanding of the design process, and the limitations of current expert system technology have all been shown to have adverse effects on the maturity of this research area. Therefore, our direction in this research concentrates on understanding the design process, investigating a novel area of research focusing on creative design, and incorporating the results into a system model feasible for production …

Monitoring Computer Systems: An Intelligent Approach, Myron Zhihong Xu

Computer Science Theses & Dissertations

Monitoring modern computer systems is increasingly difficult due to their peculiar characteristics. To cope with this situation, the dissertation develops an approach to intelligent monitoring. The resulting model consists of three major designs: representing targets, controlling data collection, and autonomously refining monitoring performance. The model explores a more declarative object-oriented model by introducing virtual objects to dynamically compose abstract representations, while it treats conventional hard-wired hierarchies and predefined object classes as primitive structures. Taking the representational framework as a reasoning bed, the design for controlling mechanisms adopts default reasoning backed up with ordered constraints, so that the amount of data …

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 …

Some Developments In Information Technology In The Irish Hotel And Catering Industry, Sean Connell, Elaine Sunderland, Ciaran Mcdonnell

Conference papers

This paper describes the current and potential future use of computers in the Hospitality Industry in Ireland. It briefly outlines two research projects which are being carried out in the Dublin College of Catering in the application of computers to the Industry.

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 …

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 …

Representation Requirements For Supporting Decision-Model Formulation, Tze-Yun Leong

Research Collection School Of Computing and Information Systems

This paper outlines a methodology for analyzing the representational support for knowledge-based decision-modeling in a broad domain. A relevant set of inference patterns and knowledge types are identified. By comparing the analysis results to existing representations, some insights are gained into a design approach for integrating categorical and uncertain knowledge in a context sensitive manner.

Kinematic Synthesis Of Deployable-Foldable Truss Structures Using Graph Theory, Dirk B. Warnaar

Mechanical & Aerospace Engineering Theses & Dissertations

A graph theoretic approach is applied to the conceptual design of deployable truss structures. The characteristics that relate to the inter-connectivity of the elements of a deployable truss structure can be captured in a schematic representation, called a graph. A procedure is presented that enables the exhaustive generation of these graphs for structures of any given number of nodes and links and which are foldable onto a plane or onto a line.

A special type of truss structures, called truss modules, is presented. Graphs of this class of structures form a subset of the graphs of truss structures. Two procedures …

Effectiveness Analysis Of Knowledge Bases, Shensheng Zhao

Computer Science Theses & Dissertations

Knowledge base systems (expert systems) are entering a critical stage as interest spreads from university research to practical applications. If knowledge base systems are to withstand this transition, special attention must be paid to checking their effectiveness. The issue of effectiveness analysis of knowledge base systems has been largely ignored and few works have been published in this field. This dissertation shows how the effectiveness of a knowledge base system can be defined, discussed and analyzed at the knowledge base system level and the knowledge base level. We characterize the effectiveness of a knowledge base system in terms of minimality, …

Implementing A Neural Network In The Smalltalk Graphical Environment, John M. Damgaard

Presidential Scholars Theses (1990 – 2006)

Interest in artificial neural networks has grown rapidly over the past few years. The technology is intriguing and the potential applications of the technology are exciting and diverse. Another area of growing interest in the computer science field is that of object-oriented programming. The object-oriented paradigm is a very powerful tool which can improve software quality and streamline the development process. The most common object-oriented language is Smalltalk. I feel that Smalltalk is an excellent platform on which to implement artificial neural networks.

An Examination And Analysis Of The Boltzmann Machine, Its Mean Field Theory Approximation, And Learning Algorithm, Vincent Clive Phillips

Theses : Honours

It is currently believed that artificial neural network models may form the basis for inte1ligent computational devices. The Boltzmann Machine belongs to the class of recursive artificial neural networks and uses a supervised learning algorithm to learn the mapping between input vectors and desired outputs. This study examines the parameters that influence the performance of the Boltzmann Machine learning algorithm. Improving the performance of the algorithm through the use of a naïve mean field theory approximation is also examined. The study was initiated to examine the hypothesis that the Boltzmann Machine learning algorithm, when used with the mean field approximation, …

Integration Of Abductive And Deductive Inference Diagnosis Model And Its Application In Intelligent Tutoring System, Jingying Zhang

Computer Science Theses & Dissertations

This dissertation presents a diagnosis model, Integration of Abductive and Deductive Inference diagnosis model (IADI), in the light of the cognitive processes of human diagnosticians. In contrast with other diagnosis models, that are based on enumerating, tracking and classifying approaches, the IADI diagnosis model relies on different inferences to solve the diagnosis problems. Studies on a human diagnosticians' process show that a diagnosis process actually is a hypothesizing process followed by a verification process. The IADI diagnosis model integrates abduction and deduction to simulate these processes. The abductive inference captures the plausible features of this hypothesizing process while the deductive …

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. …

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 …

An Artificial Neural Approach To The Decomposition Problem, Chandrashekar L. Masti

Electrical & Computer Engineering Theses & Dissertations

The goal of this thesis is to develop an artificial neural approach toward addressing the intractability involved with the decomposition problem. The search for the lattice of substitution property (s. p.) partitions essential to decompositions is cast into the framework of constraint satisfaction. An artificial neural network is developed to provide solutions by performing optimization of a mathematically derived objective function over the problem space. The issue of transitivity is verified to belong to a class of problems beyond the scope of solvability for conventional quadratic-order constraint satisfaction neural networks. A theorem is stated and proved establishing that third-order correlations …

A Philosophical Critique Of Artificial Intelligence, David Miller

Mahurin Honors College Capstone Experience/Thesis Projects

The term "Artificial Intelligence" creates fantastic images of robots and omniscient machines. Of all the technological pursuits, Artificial Intelligence best epitomizes man's thirst for technology. The science of making machines think stands at the apex of man's mission, reflecting not only his desire for control over his world but also his quest to control himself. To create a machine capable of thought -- rational life -- would mean that man would have achieved a dream as old as technology itself.

Michigan Apple Pest Identifier And Manager Expert System, James R. Schalk

Masters Theses

The Michigan Apple Pest Identifier and Management System (MAPI) is a knowledge- based consultation software system. MAPI was designed to provide the user with the ability to identify insects which may harm the apples of Michigan orchards and to project occurrences of maximum adult emergence. A discussion of standard entomological and expert system concepts and the application of these concepts to the processing of information by the Michigan Apple Pest Identifier and Management System is presented. Future possible expansions of the system are suggested.

In The Image Of Man: Reflections On Artificial Intelligence, Noreen L. Herzfeld

Theology Faculty Publications

No abstract provided.

A Classification Approach For Automated Reasoning Systems--A Case Study In Graph Theory, Rong Lin

Computer Science Theses & Dissertations

Reasoning systems which create classifications of structured objects face the problem of how object descriptions can be used to reflect their components as well as relations among these components. Current reasoning systems on graph theory do not adequately provide models to discover complex relations among mathematical concepts (eg: relations involving subgraphs) mainly due to the inability to solve this problem. This thesis presents an approach to construct a knowledge-based system, GC (Graph Classification), which overcomes this difficulty in performing automated reasoning in graph theory. We describe graph concepts based on an attribute called Linear Recursive Constructivity (LRC). LRC defines classes …

Impacts Of Industrial Robotics: Potential Effects On Labor And Costs Within The Metalworking Industries, Steven M. Miller

Research Collection School Of Computing and Information Systems

According to leading expert opinion, industrial robots are among the most important innovations of recent decades. Yet there is very considerable uncertainty (and disagreement) as to the rate at which the use of robots will spread and what their effects on employment, costs, and market structure will be. As stressed in 1983 by Congress’s Office of Technology Assessment: “A central question for an analysis of the social and economic impacts of programmable automation is whether programmable automation is likely to spread especially rapidly among firms and industries, and why.” The author analyzes the job displacement effects of industrial robots, as …

Ua35/11 Wku Student Honors Research Bulletin, Wku University Honors Program

WKU Administration Documents

The Western Kentucky University Student Honors Research Bulletin is dedicated to scholarly involvement and student research. These papers represent work done by students from throughout the university.

• Kesselring, Marcia. Attitudes Toward the Need for Computer Literacy
• Tuck, Janna & Karen Wiggins. Methylation and Confirmation of PGE
• Lewis, Gloria. John Donne's Attitude Toward Love
• Johnson, Linda. International Telecommunications Trade with Japan
• Sharpe, Greg. Precipitation Patterns in Bowling Green, Kentucky, 1980-1985
• Smith, Sandy. Religion and the Media: Alliance or War?
• Bell, Suzanne. Early Secret Involvement of the United States Military in Cambodia
• Scariot, Linda. Parental Divorce and Childhood Emotional Disturbances
• Daniel, Janice. …

A Graphic Implementation Of Blocks World As An Example Of Artificial Intelligence, Shigenori Ochiai

Masters Theses

The objective of this study is to implement blocks world as a classic example of artificial intelligence both visually and realistically.

The visual representation is implemented by using a graphic system in a microcomputer. Real world constraints are implemented as rules concerning centers of gravity.

These goals are significant in realizing principles of artificial intelligence. Visual data help a human being to quickly understand the state of a system. Also, bringing a situation closer to the real world is a step toward to the final goal of artificial intelligence.

Impact Of Automation On Process Control Decision-Making, Steven M. Miller, Susan R. Bereiter

Research Collection School Of Computing and Information Systems

This paper investigates changes in the process control of a vehicle assembly plant which had been modernized from a principally manual procedure to one that uses programmable automation extensively. Process control is defined as the information flow and decision-making required to perform basic process operations. We investigate the effects of implementing a computer-integrated production system on the amount and types of process control decision-making and on the distribution of process control decision-making between humans and machines. After automation, the emphasis on decisions regarding product quality specifications increased and the emphasis on decisions related to flexibility in handling a variety of …

Computers And The Nature Of Man: A Historian's Perspective On Controversies About Artificial Intelligence, Judith V. Grabiner

Pitzer Faculty Publications and Research

The purpose of the present paper is to provide a historical perspective on recent controversies, from Turing's time on, about artificial intelligence, and to make clear that these are in fact controversies about the nature of man. First, I shall briefly review three recent controversies about artificial intelligence, controversies over whether computers can think and over whether people are no more than information-processing machines. These three controversies were each initiated by philosophers who, irrespective of what the programs of their time actually did, viewed with alarm the argument that if a machine can think, a thinking being is just a …

Ua35/11 Student Honors Research Bulletin, Wku Honors Program

WKU Administration Documents

The WKU Student Honors Research Bulletin is dedicated to scholarly involvement and student research. These papers are representative of work done by students from throughout the university.

• Whicker, Garth. Agriculture and the Development of Malaysia
• McGaha. Rape, Passion, Lechery, Usury, Incest, Murder and other Matters in The Ravenger's Tragedy
• Harrison, Robert. It was a Day of Very General Awakening . . : Reformation and Revival in Russellville, Kentucky
• King, Betty. An Affirmative Decision for James's Isabel Archer
• Sutton, Joyce. Sex Bias in Performance of Women
• Logsdon, Doug. Poe's Women
• Yoder, Nate. Emily Dickinson and Her Puritan Heritage
• Davis, Aleen. Jay …

Artificial Intelligence: Myths And Realities, Hugo D'Alarcao

Bridgewater Review

Artificial intelligence the name conjures images of mechanical monsters, the Golem, Dr. Frankenstein’s creation and the rebellious computer Hal. We have always been fascinated by the possibility of creating a machine in our image, but this fascination is often accompanied by apprehension. We fear losing control of our creation and suspect that it might turn against us. It is this duality, this conflict between the desire to create and the fear of the consequences of the creation that has been so successfully exploited by writers. It is also, in part, this fascination that has recently brought the field of Artificial …

Robotics And The Conservation Of Human Resources, Robert U. Ayres, Steven M. Miller

Research Collection School Of Computing and Information Systems

Due to rapid expansion in the field of robotics, policy issues have arisen in regard to developing human skills to deal with the new technology and to deal with the obsolescent human skills which are the inevitable result of this growth pattern. Industrialists, educators, union leaders, and government officials must work cooperatively to insure that the coming changes are made with minimum disruption. Improved training methods and courses have to be developed for the skills needed to control, manage and supervise the new machines. Some of the ways in which this can be accomplished are through offering financial incentives for …