31 research outputs found
GA-optimization for rapid prototype system demonstration
An application of the Genetic Algorithm (GA) is discussed. A novel scheme of Hierarchical GA was developed to solve complicated engineering problems which require optimization of a large number of parameters with high precision. High level GAs search for few parameters which are much more sensitive to the system performance. Low level GAs search in more detail and employ a greater number of parameters for further optimization. Therefore, the complexity of the search is decreased and the computing resources are used more efficiently
Advances in Robotics, Automation and Control
The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man
Consciosusness in Cognitive Architectures. A Principled Analysis of RCS, Soar and ACT-R
This report analyses the aplicability of the principles of consciousness developed in the ASys project to three of the most relevant cognitive architectures. This is done in relation to their aplicability to build integrated control systems and studying their support for general mechanisms of real-time consciousness.\ud
To analyse these architectures the ASys Framework is employed. This is a conceptual framework based on an extension for cognitive autonomous systems of the General Systems Theory (GST).\ud
A general qualitative evaluation criteria for cognitive architectures is established based upon: a) requirements for a cognitive architecture, b) the theoretical framework based on the GST and c) core design principles for integrated cognitive conscious control systems
Proceedings of the NASA Conference on Space Telerobotics, volume 2
These proceedings contain papers presented at the NASA Conference on Space Telerobotics held in Pasadena, January 31 to February 2, 1989. The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research
The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies
This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed
Proceedings of the NASA Conference on Space Telerobotics, volume 1
The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty
Proceedings of the NASA Conference on Space Telerobotics, volume 4
Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center
A generic architecture style for self-adaptive cyber-physical systems
Die aktuellen Konzepte zur Gestaltung von Regelungssystemen basieren auf dynamischen
Verhaltensmodellen, die mathematische Ansätze wie Differentialgleichungen zur Ableitung der
entsprechenden Funktionen verwenden. Diese Konzepte stoßen jedoch aufgrund der zunehmenden
Systemkomplexität allmählich an ihre Grenzen. Zusammen mit der Entwicklung dieser Konzepte
entsteht eine Architekturevolution der Regelungssysteme.
In dieser Dissertation wird eine Taxonomie definiert, um die genannte Architekturevolution anhand
eines typischen Beispiels, der adaptiven Geschwindigkeitsregelung (ACC), zu veranschaulichen.
Aktuelle ACC-Varianten, die auf der Regelungstheorie basieren, werden in Bezug auf ihre Architekturen
analysiert. Die Analyseergebnisse zeigen, dass das zukünftige Regelungssystem im ACC eine
umfangreichere Selbstadaptationsfähigkeit und Skalierbarkeit erfordert. Dafür sind kompliziertere
Algorithmen mit unterschiedlichen Berechnungsmechanismen erforderlich. Somit wird die
Systemkomplexität erhöht und führt dazu, dass das zukünftige Regelungssystem zu einem
selbstadaptiven cyber-physischen System wird und signifikante Herausforderungen für die
Architekturgestaltung des Systems darstellt.
Inspiriert durch Ansätze des Software-Engineering zur Gestaltung von Architekturen von
softwareintensiven Systemen wird in dieser Dissertation ein generischer Architekturstil entwickelt. Der
entwickelte Architekturstil dient als Vorlage, um vernetzte Architekturen mit Verfolgung der
entwickelten Designprinzipien nicht nur für die aktuellen Regelungssysteme, sondern auch für
selbstadaptiven cyber-physischen Systeme in der Zukunft zu konstruieren. Unterschiedliche
Auslösemechanismen und Kommunikationsparadigmen zur Gestaltung der dynamischen Verhalten
von Komponenten sind in der vernetzten Architektur anwendbar.
Zur Bewertung der Realisierbarkeit des Architekturstils werden aktuelle ACCs erneut aufgenommen,
um entsprechende logische Architekturen abzuleiten und die Architekturkonsistenz im Vergleich zu
den originalen Architekturen basierend auf der Regelungstheorie (z. B. in Form von Blockdiagrammen)
zu untersuchen. Durch die Anwendung des entwickelten generischen Architekturstils wird in dieser
Dissertation eine künstliche kognitive Geschwindigkeitsregelung (ACCC) als zukünftige ACC-Variante
entworfen, implementiert und evaluiert. Die Evaluationsergebnisse zeigen signifikante
Leistungsverbesserungen des ACCC im Vergleich zum menschlichen Fahrer und aktuellen ACC-Varianten.Current concepts of designing automatic control systems rely on dynamic behavioral
modeling by using mathematical approaches like differential equations to
derive corresponding functions, and slowly reach limitations due to increasing
system complexity. Along with the development of these concepts, an
architectural evolution of automatic control systems is raised.
This dissertation defines a taxonomy to illustrate the aforementioned architectural
evolution relying on a typical example of control application: adaptive cruise control
(ACC). Current ACC variants, with their architectures considering control theory, are
analyzed. The analysis results indicate that the future automatic control system in ACC
requires more substantial self-adaptation capability and scalability. For this purpose,
more complicated algorithms requiring different computation mechanisms must be
integrated into the system and further increase system complexity. This makes the future
automatic control system evolve into a self-adaptive cyber-physical system and
consistitutes significant challenges for the system’s architecture design.
Inspired by software engineering approaches for designing architectures of software-intensive systems, a generic architecture style is proposed. The proposed architecture
style serves as a template by following the developed design principle to construct
networked architectures not only for the current automatic control systems but also for
self-adaptive cyber-physical systems in the future. Different triggering mechanisms and
communication paradigms for designing dynamic behaviors are applicable in the
networked architecture.
To evaluate feasibility of the architecture style, current ACCs are retaken to derive
corresponding logical architectures and examine architectural consistency compared to
the previous architectures considering the control theory (e.g., in the form of block
diagrams). By applying the proposed generic architecture style, an artificial cognitive
cruise control (ACCC) is designed, implemented, and evaluated as a future ACC in this
dissertation. The evaluation results show significant performance improvements in the
ACCC compared to the human driver and current ACC variants
Undergraduate and Graduate Course Descriptions, 2013 Summer
Wright State University undergraduate and graduate course descriptions from Summer 2013