Redundant sensors are needed on a mobile robot so that the accuracy with which it perceives its surroundings can be increased. Sonar and infrared sensors are used here in tandem, each compensating for deficiencies in ...

We present the results of an implemented system for learning structural prototypes from grey-scale images. We show how to divide an object into subparts and how to encode the properties of these subparts and the relations ...

The visual analysis of surface shape from texture and surface contour is treated within a computational framework. The aim of this study is to determine valid constraints that are sufficient to allow surface orientation ...

Geologic interpretation is the task of inferring a sequence of events to explain how a given geologic region could have been formed. This report describes the design and implementation of one part of a geologic interpretation ...

We wish to design a diagnostic for a device from knowledge of its structure and function. the diagnostic should achieve both coverage of the faults that can occur in the device, and should strive to achieve specificity ...

This report describes research about flow graphs - labeled, directed, acyclic graphs which abstract representations used in a variety of Artificial Intelligence applications. Flow graphs may be derived from flow ...

A simple analog circuit designer has been implemented as a rule based system. The system can design voltage followers. Miller integrators, and bootstrap ramp generators from functional descriptions of what these ...

The aim of this thesis was to explore the design of interactive computer learning environments. The particular learning domain selected was Newtonian dynamics. Newtonian dynamics was chosen because it is an important ...

Reasoning about motion is an important part of our commonsense knowledge, involving fluent spatial reasoning. This work studies the qualitative and geometric knowledge required to reason in a world that consists of ...

A fundamental problem in artificial intelligence is obtaining coherent behavior in rule-based problem solving systems. A good quantitative measure of coherence is time behavior; a system that never, in retrospect, ...

The problem of using image contours to infer the shapes and orientations of surfaces is treated as a problem of statistical estimation. The basis for solving this problem lies in an understanding of the geometry of ...

Automated assembly of mechanical devices is studies by researching methods of operating assembly equipment in a variable manner; that is, systems which may be configured to perform many different assembly operations ...

Reconstructing a surface from sparse sensory data is a well known problem in computer vision. Early vision modules typically supply sparse depth, orientation and discontinuity information. The surface reconstruction ...

The goal of this thesis is to apply the computational approach to motor learning, i.e., describe the constraints that enable performance improvement with experience and also the constraints that must be satisfied by ...

This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...

The key to understanding a program is recognizing familiar algorithmic fragments and data structures in it. Automating this recognition process will make it easier to perform many tasks which require program understanding, ...

This paper describes ARLO, a representation language loosely modelled after Greiner and Lenant's RLL-1. ARLO is a structure-based representation language for describing structure-based representation languages, including ...

Rapid judgments about the properties and spatial relations of objects are the crux of visually guided interaction with the world. Vision begins, however, with essentially pointwise representations of the scene, such ...

The primary goal of this research is to develop theoretical tools for analysis, synthesis, application of primitive manipulator operations. The primary method is to extend and apply traditional tools of classical mechanics. ...

TYPICAL is a package for describing and making automatic inferences about a broad class of SCHEME predicate functions. These functions, called types following popular usage, delineate classes of primitive SCHEME ...