This thesis describes a methodology, a representation, and an implemented program for troubleshooting digital circuit boards at roughly the level of expertise one might expect in a human novice. Existing methods for ...

This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme ...

This thesis develops a model for the topological structure of situations. In this model, the topological structure of space is altered by the presence or absence of boundaries, such as those at the edges of objects. ...

The flexibility of the robot is the key to its success as a viable aid to production. Flexibility of a robot can be explained in two directions. The first is to increase the physical generality of the robot such that ...

The report describes a recognition system called GROPER, which performs grouping by using distance and relative orientation constraints that estimate the likelihood of different edges in an image coming from the same ...

A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been ...

Methods are developed for predicting vibration response characteristics of systems which change configuration during operation. A cartesian robot, an example of such a position-dependent system, served as a test case ...

This thesis addresses the problem of categorizing natural objects. To provide a criteria for categorization we propose that the purpose of a categorization is to support the inference of unobserved properties of objects ...

Machine translation has been a particularly difficult problem in the area of Natural Language Processing for over two decades. Early approaches to translation failed since interaction effects of complex phenomena in ...

We develop an algorithm that computes the gravitational potentials and forces on N point-masses interacting in three-dimensional space. The algorithm, based on analytical techniques developed by Rokhlin and Greengard, ...

Free-word order languages have long posed significant problems for standard parsing algorithms. This thesis presents an implemented parser, based on Government-Binding (GB) theory, for a particular free-word order ...

Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end ...

Ontic is an interactive system for developing and verifying mathematics. Ontic's verification mechanism is capable of automatically finding and applying information from a library containing hundreds of mathematical ...

I have designed and implemented a system for the multilevel verification of synchronous MOS VLSI circuits. The system, called Silica Pithecus, accepts the schematic of an MOS circuit and a specification of the circuit's ...

During the past few years, there has been much discussion of a shift from rule-based systems to principle-based systems for natural language processing. This paper outlines the major computational advantages of ...

Texture provides one cue for identifying the physical cause of an intensity edge, such as occlusion, shadow, surface orientation or reflectance change. Marr, Julesz, and others have proposed that texture is represented ...

This thesis describes the development of a model-based vision system that exploits hierarchies of both object structure and object scale. The focus of the research is to use these hierarchies to achieve robust recognition ...

A computational model of observation in quantum mechanics is presented. The model provides a clean and simple computational paradigm which can be used to illustrate and possibly explain some of the unintuitive and ...

Computational models are arising is which programs are constructed by specifying large networks of very simple computational devices. Although such models can potentially make use of a massive amount of concurrency, ...

A foundational model of concurrency is developed in this thesis. We examine issues in the design of parallel systems and show why the actor model is suitable for exploiting large-scale parallelism. Concurrency in actors ...