Doing What You\u27re Told: Following Task Instructions in Changing, but Hospitable Environments

The AnimNL project (Anim ation from N atural L anguage) has as its goal the automatic creation of animated task simulations from natural-language instructions. The question addressed in this paper is how agents can perform tasks in environments about which they have only partial relevant knowledge. The solution we describe involves enabling such agents to * develop expectations through instruction understanding and plan inference, and use those expectations in deciding how to act; * exploit generalized abilities in order to deal with novel geometric situations. The AnimNL project builds on an animation system, Jack™, that has been developed at the Computer Graphics Research Lab at the University of Pennsylvania, and draws upon a range of recent work in Natural Language semantics, planning and plan inference, philosophical studies of intention, reasoning about knowledge and action, and subsumption architectures for autonomous agents

Control and optimization of semi-passively actuated multibody systems

The controlled multibody systems are under the consideration. At the lecture special emphasis is put on the study of underactuated and overactuated systems having different type of actuators (external powered drives, unpowered spring-damper like drives, etc.). Several questions are addressed about the role of inherent dynamics, and how much multibody system should be governed by external powered drives and how much by the systems inherent dynamics. The lecture consists of the following parts: introduction to the subject in question; mathematical statement of the optimal control problems that are suitable for modelling of controlled motion and optimization of semi-passively controlled multibody systems with different degrees of actuation; description of the methodology and the numerical algorithms for solution of control and optimization problems for semi-passively actuated multibody systems. The solutions of several optimal control problems for different kind of semi-passively actuated multibody systems are presented. Namely, the energy-optimal control of planar semi-passively controlled three-link manipulator robot, the energy-optimal control of closed-loop chain semi-passively actuated SCARA-like robot; optimization of the hydraulic and pneumatic drives of the multibody system modelled the human locomotor apparatus with above-knee prostheses, and others. Future perspectives in area of control and optimization problems of the semi-passively actuated multibody systems are discussed

Research Perspectives for Logic and Deduction

The article is meant to be kind of the author's manifesto for the role of logic and deduction within Intellectics. Based on a brief analysis of this role the paper presents a number of proposals for future scientic research along the various di-mensions in the space of logical explorations. These dimensions include the range of possible applications including modelling intelligent behavior, the grounding of logic in some semantic context, the choice of an appropriate logic from the great variety of alternatives, then the choice of an appropriate formal system for repre-senting the chosen logic, and nally the issue of developing the most ecient search strategies. Among the proposals is a conjecture concerning the treatment of cuts in proof search. Often a key advance is a matter of applying a small change to a single formula. Ray Kurzweil [Kur05, p.5]