Showing papers on "Intelligent sensor published in 1991"
03 Nov 1991
TL;DR: A small size optical range sensor is designed and implemented for their experimental mobile robot, using this sensor, the real-time obstacle avoiding function is realized and added to the autonomous navigation aspect of the robot.
Abstract: The sensor with real-time environment recognition ability is one of the key technologies for autonomous robots. The authors have designed and implemented a small size optical range sensor for their experimental mobile robot. The sensor consists of a laser slit generator, a CCD image sensor and a processing unit. Using this sensor, the real-time obstacle avoiding function is realized and added to the autonomous navigation aspect of the robot. >
50 citations
TL;DR: It is argued that validity has two principal components: “uncertainty” and “status “ (taking one of a discrete set of values) and these two validity components encompass fault detection and other factors influencing the utility of the data.
48 citations
09 Apr 1991
TL;DR: Experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks are described and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed.
Abstract: Experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks are described. The authors discuss the experimental environment employed, with particular attention to the computing and software control environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor-based control. All operator interactions with the system are through fully animated, graphical representations which validate all operator commands before execution to provide for safe operation. Sensing is used to add information to the robot system's world model and to allow sensor-based servo control during selected operations. Initial test results are reported, and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed. >
42 citations
20 May 1991
TL;DR: In this article, it is projected that semiconductor device manufacturing near the year 2000 will be carried out on silicon wafers as large as 300 mm in diameter and minimum geometries will approach 0.18 mu m for the 1024 Mbit DRAM.
Abstract: It is projected that semiconductor device manufacturing near the year 2000 will be carried out on silicon wafers as large as 300 mm in diameter. Minimum geometries will approach 0.18 mu m for the 1024 Mbit DRAM. Chip (device) sizes will be as large as 450 sq. mm. This will require a new manufacturing paradigm. It is projected that the factory of the future will come very close to actual intelligent microelectronic manufacturing. The factory computer will have dynamic planning and scheduling along with process/equipment diagnosis and prognosis. Cost-effective, highly reliable processing equipment will evolve based on a cluster concept. These computer-intensive, intelligent clusters of process equipment will be linked to the factory computer. The computer will download and change recipes for each wafer. Process control technology of the 1990s will used smart sensors in the equipment to drive the process to the target value. Model predictive process control with feedback and feedforward will replace traditional statistical process control. >
17 citations
24 Jun 1991
TL;DR: In this article, a tactile sensor for detecting hardness and/or softness of an object was developed, which was designed to operate with a piezoelectric element which was employed as the sensor, and shows excellent performance.
Abstract: The authors have developed a novel tactile sensor for detecting, in a manner similar to that of the human hand, the hardness and/or softness of an object. This sensor is quite different from conventional tactile sensors which consist of a strain gage, conductive elastomer, and piezoelectric polymer film. The novel sensor is designed to operate with a piezoelectric element which is employed as the sensor, and shows excellent performance. This sensor can also be widely applied in the medical, robotics, and measurement fields. >
16 citations
03 Nov 1991
TL;DR: Action mode representation and ROBOL/0 language are a powerful method to represent sensor-based behavior of an autonomous mobile robot and to show the effectiveness of the method, it is programmed in ROBol/0 and executed on a real robot.
Abstract: The behavior of an autonomous mobile robot must be executed based on the sensor information. The sensor-based behavior cannot be represented by a simple sequence of motions. Action mode representation and ROBOL/0 language are a powerful method to represent such sensor-based behavior. Autonomous navigation with the obstacle avoidance function is designed and represented using action modes. To show the effectiveness of the method, it is programmed in ROBOL/0 and executed on a real robot. >
13 citations
TL;DR: The heart of the control scheme, hierarchically organized Planning-Executing-Monitoring-monitoring-cycles, is presented as well as its implementation with a rule-based expert system.
Abstract: Demand for more intelligent machines will increase in the future. One field of application will be environments dangerous for human workers. This requires intelligent machines capable of autonomously operating in unstructured environments, such as mines and construction sites. Problems related to control of autonomous machines are addressed with dynamic planning based control. The heart of the control scheme, hierarchically organized Planning-Executing-Monitoring-cycles, is presented as well as its implementation with a rule-based expert system. >
11 citations
Journal Article•
TL;DR: The concept of symbolic sensor as an extension of the smart sensor one and the creation of symbols is proposed within the frame of the pretopology theory to adapt the sensor to the measurement context.
Abstract: This paper introduces the concept of symbolic sensor as an extension of the smart sensor one. Then, the links between the physical world and the symbolic one are introduced. The creation of symbols is proposed within the frame of the pretopology theory. In order to adapt the sensor to the measurement context, a learning process has been used to provide an adaptive interpretation of the measurement. Finally, an example is presented in the case of a temperature measurement.
10 citations
Proceedings Article•
01 Sep 1991
TL;DR: A smart sensor chip, comprising a grid of light sensors and a set of processors operating in parallel, is presented, reported on and an example of an image acquired and processed by this smart sensor is presented.
Abstract: Many computer vision tasks requiring only a limited resolution and using a simple image processing algorithm could be implemented on a single silicon chip. This article presents a smart sensor chip, comprising a grid of light sensors and a set of processors operating in parallel. The chip has been fabricated in standard CMOS technology and satisfactorily tested. The main characteristics of the chip and its internal components are reported; an example of an image acquired and processed by this smart sensor is then presented.
26 Jun 1991
09 Apr 1991
TL;DR: An approach to reliability analysis is proposed based on the use of entropy which is invariant with respect to homogeneous coordinate frame transformations, which yields an easily calculated set of entropy constraints that must be met to ensure reliable operation.
Abstract: Given an explicit task to be executed, an intelligent machine must be able to select a plan containing control and sensing strategies such that a desired set of specifications are reliably satisfied. This issue is addressed through a technique termed reliable control and sensor fusion. An approach to reliability analysis is proposed based on the use of entropy which is invariant with respect to homogeneous coordinate frame transformations. This yields an easily calculated set of entropy constraints that must be met to ensure reliable operation. An example problem illustrates the technique and presents general results for visual positioning. >
09 Apr 1991
TL;DR: A sensor-driven control model for multijointed cooperating robotic arms that uses human-like joint motion profiles and sensory information of all joints, evaluates the weighted work done by each joint in cooperative motion, and then synthesizes a minimal effort motion trajectory to precisely and efficiently position the robotic arm end effector is explored.
Abstract: The development and validation of a sensor-driven control model for multijointed cooperating robotic arms is explored. The approach is used to explore an anthropomorphic model, and to then reason by analogy to discover a robust control model for robotic arm motion. This approach uses human-like joint motion profiles and sensory information of all joints, evaluates the weighted work done by each joint in cooperative motion, and then synthesizes a minimal effort motion trajectory to precisely and efficiently position the robotic arm end effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The result is a less complex, faster, and adaptive control process. A pressure-servoed hydraulic motion system has been developed to implement the movement strategy. This is a major step toward a long-term research goal of conceptualizing in an intelligent way to implement a manufacturing task. >
19 Jun 1991
TL;DR: A general model for intelligent robot control is proposed, a hierarchical framework with motion and manipulation task decomposition, sensor processing and modelling sub-structures is considered as an overall system architecture.
Abstract: A general model for intelligent robot control is proposed. A hierarchical framework with motion and manipulation task decomposition, sensor processing and modelling sub-structures is considered as an overall system architecture. Each computational module, both related to task decomposition and sensor processing is proposed to consist of modules, for each of which there are three generic activities: planning, executing and monitoring (PEM). Planning encompasses task decomposition activities, executing activates a mechanism to carry out the plan and monitoring observes the validity of the plan related to real situations. The time dependencies of planning, executing and monitoring are described with a meta-control mechanism, for which six basic schemes are introduced. The importance within the different meta-control schemes is that they result in different overall behaviour, particularly in erroneous or unexpected situations. >
Patent•
11 Nov 1991
TL;DR: In this article, the authors proposed a scheme to reduce the cost of CPU at a control unit side by eliminating the waste of a wave from processing, etc., to the increase of a sensor cable or a sensor input.
Abstract: PURPOSE: To reduce the cost of CPU at a control unit side by eliminating the waste of a wave from processing, etc., to the increase of a sensor cable or a sensor input. CONSTITUTION: Signals from plural sensors 23-32 are fetched into an intelligent sensor unit 60, the waveform processing is executed here, detected physical quantity is converted into a prescribed signal level and other things such as the judgement of abnormality in a sensor signal, etc., are executed. After that, the signal is converted into the signal which is serial communication possible and information of the plural sensors 23-32 are successively transmitted to plural controllers 1-n in an external part by a communication cable 44 by a fixed cycle. Then, the signal which is transmitted by serial communication at the controller 1-n side is received, a control value for driving a vehicle auxiliary device is operated based on the received signal, the driving signal of an actuator which drives the vehicle auxiliary device is generated based on the control value and the actuator drives the vehicle auxiliary device (an active suspension device for a vehicle, for example). COPYRIGHT: (C)1993,JPO&Japio
13 Aug 1991
TL;DR: The multiresolutional approach allows for viewing all existing architectures for intelligent machines within a set of theoretical models, which makes possible their comparison and selection and allows for answering a number of questions that traditionally were addressed ad hoc: how many levels the hierarchy should have, how to select vocabularies at different levels, and so on.
Abstract: A general framework is proposed for the design of intelligent machines. It is based on theoretical principles that are crystallizing at the present time as a result of joint multidisciplinary efforts in the areas of robotics, intelligent control, large systems for information distribution, and decision support. This framework, called here the multiresolutional approach, reflects the nature of cognitive processes in intelligent machines. The world, the decision-making activities, the perception, and the control systems are explicitly organized within the model in such a manner as to deal with multiple representation of the same process of the intelligent machine functioning at different resolutions simultaneously. The multiresolutional approach allows for viewing all existing architectures for intelligent machines within a set of theoretical models, which makes possible their comparison and selection. It also allows for answering a number of questions that traditionally were addressed ad hoc: how many levels the hierarchy should have, how to select vocabularies at different levels, and so on. >
01 Jan 1991
TL;DR: It is shown that a small number of intelligent sensors can be almost as effective as a larger number in solving a load sharing problem involving the optimal allocation of measurement data amongst n intelligent sensors interconnected through a bus type communication medium.
Abstract: A load sharing problem involving the optimal allocation of measurement data amongst n intelligent sensors interconnected through a bus type communication medium is considered for three distinct architectural connguratiom. It is found that a minimal time solution can be achieved if the computation by each senJor ends simultaneously. Simple recursions for the determination of the optimal allocation of load are presented. It is shown that a small number of intelligent sensors can be almost as effective as a larger number. These bus oriented architectures produce faster solutions than a previously published linear daisy chain architecture.
30 Sep 1991
TL;DR: A discussion is presented of an architecture called InFuse (Intelligent Fusion) for the multiple sensor fusion problem, which exploits the notion of combining expert systems and neural networks to capture the advantages of both technologies.
Abstract: A discussion is presented of an architecture called InFuse (Intelligent Fusion) for the multiple sensor fusion problem InFuse exploits the notion of combining expert systems and neural networks to capture the advantages of both technologies The application involves the extraction of natural terrain features from imagery provided by multiple sensors In addition to the imagery, terrain knowledge in geographical databases needs to be integrated The uniqueness of the approach lies in its ability to combine symbolic data of spatial databases and domain-specific knowledge about sensor behavior in expert systems with example-induced learning from neural networks to achieve a high classification rate Results are presented to demonstrate the power of the approach >
31 Oct 1991
TL;DR: An innovative concept for parallel image sensing and preprocessing as an interface to artificial neural networks is presented, based on a parallel preprocessor system, integrated sensor elements, and readout electronics on a single chip using CMOS wafer scale integration.
01 Jan 1991
TL;DR: In this article, a sensor application for monitoring multispindle drilling is presented, which is based on the evaluation of tensile and compressive strains inside the spindle bearing plate.
01 Apr 1991
TL;DR: This paper suggests that sensor interpretation and model building are active processes driven by an agent's goals, and that many sensor fusion issues are really issues in planning and acting.
Abstract: An intelligent agent must understand its sur-roundings by integrating sensory data from many sources over time. This integration typi-cally consists of processing raw data into ab- stract models that fuse the data from manysensors into a consistent interpretation. This process is often quite complex when attemptedwith raw data because noise, uncertainty, and missing information create ambiguities that cannot be resolved until after an interpretationis chosen. The very same problems exist in gen-erating a consistent interpretation of data overtime, in particular, identifying an object as hay- ing been "seen" before. This paper suggeststhat sensor interpretation and model building are active processes driven by an agent's goals, and that many sensor fusion issues are really issues in planning and acting. An object identi-fication system based on consciously gatheringappropriate new data is presented as an exam-pie of doing active task directed data fusion. 1 Introduction
01 Oct 1991
01 May 1991
TL;DR: Research will address issues related to autonomous systems in unstructured dynamic work environments and focus on multiple cooperating robotic systems, combined mobility and manipulation, intelligent sensor systems, machine learning, and embedded high performance computing.
Abstract: This proposal describes the context and technical direction during the next five years for the DOE/ER/BES-sponsored basic research program in intelligent machines at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL). Research will address issues related to autonomous systems in unstructured dynamic work environments. Specifically, the work will focus on multiple cooperating robotic systems, combined mobility and manipulation, intelligent sensor systems, machine learning, and embedded high performance computing. Focus for proof-of-principle experiments demonstrating innovative development will be delivered from a number of application areas related to DOE missions. 183 refs., 4 figs., 3 tabs.
24 Jun 1991
TL;DR: The Linear IC/Sensor Array (LISA) as mentioned in this paper is a silicon-based integrated circuit array with a unique layout and process technique which allows a shortened development and fabrication time and reduced design and development costs for several types of monolithically integrated smart sensors.
Abstract: A silicon-based integrated circuit array is demonstrated with a unique layout and process technique which allows a shortened development and fabrication time and reduced design and development costs for several types of monolithically integrated smart sensors. This array utilizes the same semi-custom techniques which have allowed similar development time improvements and cost reductions for digital gate arrays and analog tile arrays, but is designed specifically for use with monolithic silicon sensors and actuators. This array is known as the Linear IC/Sensor Array, or LISA, and directly applies semi-custom design and processing techniques to monolithic smart sensor developments. >