Learn More
The authors use a neural-network model in the solution of the inverse kinematics problem in robotics. It is found that the neural network can be trained to generate a fairly accurate solution which, when augmented with local differential inverse kinematic methods, results in minimal burden on processing load of each control cycle and thus allows real-time(More)
Trainable adaptive controllers (TACs) are a subset of process controllers in which much of the design is done online by means of training rather than programming. The authors show how a neural-network-based architecture may be used to implement a general-purpose TAC. An example of controlling a cart-pole system (an inverted pendulum mounted on a cart) is(More)
A hybrid approach to the iterative solution of robotic manipulators is presented. In this method a multiplayer feedforward network (MFN) is trained to provide an approximate solution to the inverse kinematic problem of a robot. This approximate solution is then utilized as the initial guess to the iterative procedure which provides the solution within some(More)
We present an analysis of the computational features of neural networks and fuzzy logic architectures which attempts to explain their recent popularity as well as their drawbacks. Based upon many reports in several fields, we identify the key computational requirements in the clinical laboratory setting, and review several classical tools. In particular we(More)
Summary form only given, as follows. An approach to distortion-invariant target identification and target classification based on the adaptive resonance theory II (ART-II) is presented. The neural network used demonstrates fast unsupervised learning coupled with stable retention and retrieval of information. To keep the dimensions of the network to a bare(More)
Summary form only given, as follows. A report is presented on results of experiments in object recognition with a combined neural network/expert system architecture (neuro-expert). The neuro-expert architecture is outlined with a description of the experimental object recognition system. Results are reported for the recognition of a 20-pattern prototype set(More)
A new algorithm of minimum time motion planning is proposed for robots operating in the obstacle strewn environment. Structure of the topological passageways is analyzed and represented using a model of slalom situations for which a number of rules is determined. Dynamical system of robot is described in a form of sequential machine. Thls enabled a merger(More)
A simple distributed-detection scheme whose probability of error can be calculated analytically is demonstrated, and it is shown that it corresponds to a two-layer network of binary threshold elements. The authors assume that the sensors and the fusion center are subject to sudden unpredictable changes in the environment that they survey and show how(More)
  • 1