14 research outputs found

    Proof of the correctness of EMYCIN sequential propagation under conditional independence assumptions

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    Task planning with uncertainty for robotic systems

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    In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft components in robotic systems are investigated

    An intelligent classification system for land use and land cover mapping using spaceborne remote sensing and GIS

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    The objectives of this study were to experiment with and extend current methods of Synthetic Aperture Rader (SAR) image classification, and to design and implement a prototype intelligent remote sensing image processing and classification system for land use and land cover mapping in wet season conditions in Bangladesh, which incorporates SAR images and other geodata. To meet these objectives, the problem of classifying the spaceborne SAR images, and integrating Geographic Information System (GIS) data and ground truth data was studied first. In this phase of the study, an extension to traditional techniques was made by applying a Self-Organizing feature Map (SOM) to include GIS data with the remote sensing data during image segmentation. The experimental results were compared with those of traditional statistical classifiers, such as Maximum Likelihood, Mahalanobis Distance, and Minimum Distance classifiers. The performances of the classifiers were evaluated in terms of the classification accuracy with respect to the collected real-time ground truth data. The SOM neural network provided the highest overall accuracy when a GIS layer of land type classification (with respect to the period of inundation by regular flooding) was used in the network. Using this method, the overall accuracy was around 15% higher than the previously mentioned traditional classifiers. It also achieved higher accuracies for more classes in comparison to the other classifiers. However, it was also observed that different classifiers produced better accuracy for different classes. Therefore, the investigation was extended to consider Multiple Classifier Combination (MCC) techniques, which is a recently emerging research area in pattern recognition. The study has tested some of these techniques to improve the classification accuracy by harnessing the goodness of the constituent classifiers. A Rule-based Contention Resolution method of combination was developed, which exhibited an improvement in the overall accuracy of about 2% in comparison to its best constituent (SOM) classifier. The next phase of the study involved the design of an architecture for an intelligent image processing and classification system (named ISRIPaC) that could integrate the extended methodologies mentioned above. Finally, the architecture was implemented in a prototype and its viability was evaluated using a set of real data. The originality of the ISRIPaC architecture lies in the realisation of the concept of a complete system that can intelligently cover all the steps of image processing classification and utilise standardised metadata in addition to a knowledge base in determining the appropriate methods and course of action for the given task. The implemented prototype of the ISRIPaC architecture is a federated system that integrates the CLIPS expert system shell, the IDRISI Kilimanjaro image processing and GIS software, and the domain experts' knowledge via a control agent written in Visual C++. It starts with data assessment and pre-processing and ends up with image classification and accuracy assessment. The system is designed to run automatically, where the user merely provides the initial information regarding the intended task and the source of available data. The system itself acquires necessary information about the data from metadata files in order to make decisions and perform tasks. The test and evaluation of the prototype demonstrates the viability of the proposed architecture and the possibility of extending the system to perform other image processing tasks and to use different sources of data. The system design presented in this study thus suggests some directions for the development of the next generation of remote sensing image processing and classification systems

    Capture and Maintenance of Constraints in Engineering Design

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    The thesis investigates two domains, initially the kite domain and then part of a more demanding Rolls-Royce domain (jet engine design). Four main types of refinement rules that use the associated application conditions and domain ontology to support the maintenance of constraints are proposed. The refinement rules have been implemented in ConEditor and the extended system is known as ConEditor+. With the help of ConEditor+, the thesis demonstrates that an explicit representation of application conditions together with the corresponding constraints and the domain ontology can be used to detect inconsistencies, redundancy, subsumption and fusion, reduce the number of spurious inconsistencies and prevent the identification of inappropriate refinements of redundancy, subsumption and fusion between pairs of constraints.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

    Integration of Abductive and Deductive Inference Diagnosis Model and Its Application in Intelligent Tutoring System

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    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\u27 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 inference presents the nature of the verification process. The IADI diagnosis model combines the two inference mechanisms with a structure analysis to form the three steps of diagnosis, mistake detection by structure analysis, misconception hypothesizing by abductive inference, and misconception verification by deductive inference. An intelligent tutoring system, Recursive Programming Tutor (RPT), has been designed and developed to teach students the basic concepts of recursive programming. The RPT prototype illustrates the basic features of the IADI diagnosis approach, and also shows a hypertext-based tutoring environment and the tutoring strategies, such as concentrating diagnosis on the key steps of problem solving, organizing explanations by design plans and incorporating the process of tutoring into diagnosis

    Studies related to the process of program development

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    The submitted work consists of a collection of publications arising from research carried out at Rhodes University (1970-1980) and at Heriot-Watt University (1980-1992). The theme of this research is the process of program development, i.e. the process of creating a computer program to solve some particular problem. The papers presented cover a number of different topics which relate to this process, viz. (a) Programming methodology programming. (b) Properties of programming languages. aspects of structured. (c) Formal specification of programming languages. (d) Compiler techniques. (e) Declarative programming languages. (f) Program development aids. (g) Automatic program generation. (h) Databases. (i) Algorithms and applications
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