E1AR0002@SMUVM1.BITNET (03/08/86)
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(note re an old tech report posting. I am trying to work out
some arrangement to deal with the currency problems for those
outside of Australia. Contact Melbourne or myself for details.
[LEFF, moderator TR-LIST]
Technical Reports
Department of Computer Science
University of Melbourne
We would appreciate it if requests for Technical Reports could
be accompanied by A$5.00 per report to help cover the costs of
postage and reproduction of the Technical Reports.
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Technical Reports
The Robotics Institute
CARNEGIE-MELLON UNIVERSITY
Nancy Serviou@h
@report[number="CMU-RI-TR-84-1",
title="MACHINE VISION: THREE GENERATIONS OF COMMERCIAL SYSTEMS",
Author="James L. Crowley",
Date="January 1984"]
Description of Three Generations of Vision Systems with Algorithms, Data
Structures, and Hardware Architecture for Binary Vision Systems and
Edge-based Vision Systems. (33 Pages)
@report[number="CMU-RI-TR-84-2",
TITLE="A HIGH SPEED PROCESSOR FOR BINARY IMAGES",
author="Robert W. Berger",
date="February 1984"]
Description of a video rate processor for binary images. (10 pages)
@report[number="CMU-RI-TR-84-3",
title="ROBOTIC SENSING DEVICES",
author="David J. Hall",
date="March 1984"]
An overview of robotic sensors, many of which are in experimental stages.
(83 pages)
@report[number="CMU-RI-TR-84-4",
title="TESTING AND CONTROL OF A COMPLIANT WRIST",
author="Mark R. Cutkosky, John M. Jourdain, and Paul K. Wright",
date="March 1984"]
Evaluation of a controllable, instrumented compliant wrist. (22 pages)
@report[number="CMU-RI-TR-84-5",
title="PATH RELAXATION: PATH PLANNING FOR A MOBILE ROBOT",
author="Charles F. Thorpe",
date="April 1984"]
Path Relaxation: planning safe paths around obstacles for
mobile robots. (26 pages)
@report[number="CMU-RI-TR-84-6",
title="AN ALGORITHM FOR SEAM TRACKING APPLICATIONS",
author="P. K. Khosla, C. P. Neuman, and F. B. Prinz],
date="May 1984"]
The feasibility of tracking a seam in real-time. (32 pages)
@report[number="CMU-RI-TR-84-7",
title="A MACHINE LEARNING APPROACH TO STUDENT MODELING",
author="Pat Langley, Stellan Ohlsson, Stephanie Sage",
date="May 1984"]
Buggy procedures in cognitive models of mathematical skills. (32 pages)
@report[number="CMU-RI-TR-84-8",
title="SYMBOLIC KNOWLEDGE PROCESSING FOR THE ACQUISITION OF EXPERT
BEHAVIOR: A STUDY IN MEDICINE",
author="Alain T. Rappaport and Jean-Marie C. Chauvet",
date="May 1984"]
Simulation of learning by experience to induce the capability for a
knowledge-based system to pre-structure the patient's problem before solving
it. (42 pages)
@report[number="CMU-RI-TR-84-9",
title="INVESTIGATING THE IMPLEMENTATION OF ROBOTICS",
author="Linda Argote and Paul S. Goodman",
date="February 1984"]
How introducing robots affects individuals and organizations. (19 pages)
@report[number="CMU-RI-TR-84-10",
title="ROBOTIC SEAM TRACKING",
author="F. B. Prinz and K. T. Gunnarsson",
date="April 1984"]
The principles of contact and non-contact sensors for robotic seam tracking
are reviewed. (10 pages)
@report[number="CMU-RI-TR-84-ll",
title="A COMPUTATIONAL PARADIGM FOR THREE DIMENSIONAL SCENE ANALYSIS",
author="James L. Crowley",
date="April 1984"]
A computational paradigm for a system which will dynamically model the
contents of a three dimensional scene. (19 pages)
@report[number="CMU-RI-TR-84-12",
title="PRECISION FLEXIBLE MACHINING CELLS WITHIN A MANUFACTURING
SYSTEM",
author="Mark R. Cutkosky, Paul S. Fussell, and Robert Milligan, Jr.",
date="June 1984"]
The conceptual design of a manufacturing cell for a small-batch manufacturer.
(42 pages)
@report[number="CMU-RI-TR-84-13",
title="RAPIDBUS: DESIGN OF AN EXTENSIBLE MULTIPROCESSOR STRUCTURE",
author="John C. Willis and Arthur C. Sanderson",
date="May 1984"]
RAPIDbus is described as two evolutionary steps in the development of a
system to support research in advanced, integrated, sensor based robotic
systems. (149 pages)
@report[number="CMU-RI-TR-84-14",
title="HEURISTICS FOR EMPIRICAL DISCOVERY",
author="Pat Langley, Herbert A. Simon, and Gary L. Bradshaw",
date="June 1984"]
Review of the BACON project which has focused on empirical methods for
discovering numeric laws. (28 pages)
@report[number="CMU-RI-TR-84-15",
title="DETERMINING OBJECT ORIENTATION FROM A SINGLE IMAGE USING
MULTIPLE INFORMATION SOURCES",
author="Nigel J. Foster and Arthur C. Sanderson",
date="June 1984"]
Three techniques which use assumptions about the real world to determine
the orientation of objects from a single visual image. (96 pages)
@report(number="CMU-RI-TR-84-16",
title="DYNAMIC VISUAL SERVO CONTROL OF ROBOTS: AN ADAPTIVE
IMAGE-BASED APPROACH",
author="Lee Elliot Weiss",
date="April 1984")
Analytical tools for the design and evaluation of feedback compensators for
dynamic vision-based robot control. (266 pages)
@report(number="CMU-RI-TR-84-17",
title="DESIGN OF AN OPTICAL PROXIMITY SENSOR USING MULTIPLE CONES
OF LIGHT FOR MEASURING SURFACE SHAPE",
author="Michael Fuhrman and Takeo Kanade",
date="April 1984")
Description of a noncontact multi-light source optical proximity sensor
which can measure the distance, orientation, and curvature of a surface.
(23 pages)
@report(number="CMU-RI-TR-84-18",
title="NAVIGATION FOR AN INTELLIGENT MOBILE ROBOT",
author="James L. Crowley",
date="August 1984")
A system which performs task-oriented navigation for an
intelligent mobile robot. (13 pages)
@report(number="CMU-RI-TR-84-19",
title="STATE DEPENDENT PRIORITY RULES FOR SCHEDULING",
author="Ari P. J. Vepsalainen",
date="July 1984")
Priority setting procedures for job shop scheduling systems. (104 pages)
@report(number="CMU-RI-TR-84-20",
title="THE SEARCH FOR REGULARITY: FOUR ASPECTS OF SCIENTIFIC
DISCOVERY",
author="Pat Langley, Jan Zytkow, Herbert A. Simon, and
Gary L. Bradshaw",
date="September 1984")
Four AI systems of scientific discovery: BACON.6 (discovering empirical
laws that summarize numerical data), GLAUBER (discovering laws of qualitative
structure), STAHL (determining the components of substances involved in
reactions, and DALTON (formulating structural models of chemical reactions).
(34 pages)
@report(number="CMU-RI-TR-84-2l",
title="LEARNING TO SEARCH: FROM WEAK METHODS TO DOMAIN-SPECIFIC
HEURISTICS",
author="Pat Langley",
date="September 1984")
Learning from experience (generating behavior, assigning credit, and
modifying behavior) with a focus on SAGE, a production system. (32 pages)
@report(number="CMU-RI-TR-84-22",
title="HUMAN ASSEMBLY TIME VERSUS LEVELS OF VISUAL AND TACTILE
SENSORY INPUT: EXPERIMENTAL RESULTS FOR FIVE DEVICES",
author="Steven M. Miller",
date="September 1984")
Results of laboratory experiments where levels of visual and
tactile sensory input of human subjects are controlled, and time required to
assemble several types of devices is measured. Results are also
reported of experiments where the levels of visual input and manipulative
capability of human subjects are controlled. (71 pages)
@report(number="CMU-RI-TR-84-23",
title="IMPACTS OF ROBOTIC AND FLEXIBLE MANUFACTURING TECHNOLOGIES
ON MANUFACTURING COSTS AND EMPLOYMENT",
author="Steven M. Miller",
date="March 1984")
The extent to which unit costs and production labor requirements might
be reduced in manufacturing industries if there were more widespread
use of industrial robots and flexible manufacturing systems. Also, potential
reductions in unit cost for low-, medium-, and high-volume plants are
estimated. (40 pages)
@report(number="CMU-RI-TR-84-24",
title="MECHANICAL PROPERTIES FOR THE GRASP OF A ROBOTIC HAND",
author="Mark R. Cutkosky",
date="September 1984")
Mechanics of grasping and fine-manipulation for robots. (78 pages)
@report(number="CMU-RI-TR-84-25",
title="THE STATE OF THE ART IN PRINTED WIRING BOARD INSPECTION",
author="Robert Thibadeau",
date="November 1984")
Device design considerations for turning an optical inspection device into a
tool for manufacturing process analysis and control. (13 pages)
@report(number="CMU-RI-TR-84-26",
title="THE MAN-MACHINE INTERFACE",
author="Robert U. Ayres",
date="December 1984")
The emerging competition between human workers as machine
process controllers in certain highly engineered environments,
and the use of sensor-based, computerized systems for the same purpose.
(24 pages)
@report(number="CMU-RI-TR-84-27",
title="DYNAMIC WORLD MODELING FOR AN INTELLIGENT MOBILE ROBOT
USING A ROTATING ULTRA-SONIC RANGING DEVICE",
author="James L. Crowley",
date="December 1984")
Description of a system which performs task-oriented navigation for an
intelligent mobile robot. (17 pages)
@report(number="CMU-RI-TR-84-28",
title="A FUNCTIONAL VEHICLE FOR AUTONOMOUS MOBILE ROBOT RESEARCH",
author="Gregg Podnar, Kevin Dowling, and Bike Blackwell",
date="April 1984")
Design of Neptune, a tethered vehicle built for autonomous mobile robot
research. (79 pages)
@report(number="CMU-RI-TR-84-29",
title="MULTIPLE RESOLUTION REPRESENTATION AND PROBABILISTIC
MATCHING OF 2-D GRAY-SCALE SHAPE",
author="James L. Crowley and Arthur C. Sanderson",
date="December 1984")
A probabilistic representation for structural models of pattern classes
based on symbols which represent gray-scale information at multiple
resolutions. (27 pages)
@report(number="CMU-RI-TR-85-1",
title="THREE-DIMENSIONAL SENSING AND INTERPRETATION",
author="Gerald J. Agin, Martin J. Uram, and Peter T. Highnam",
date="January 1985")
Results of calibration and use of the range finder, a tactile sensor for
exploring a three-dimensional domain. (36pages)
@report(number="CMU-RI-TR-85-2",
title="IDENTIFYING SOLUTION PATHS IN COGNITIVE DIAGNOSIS",
author="Stellan Ohlsson, and Pat Langley",
date="March 1985")
Study of the problem of cognitive diagnosis--inferring explanations of
observed human behavior. (48 pages)
@report(number="CMU-RI-TR-85-3",
title="A COMPUTER PACKAGE FOR CALCULATING TEMPERATURE DISTRIBUTIONS
IN MACHINING FROM FORCE, SHEAR ANGLE AND CONTACT LENGTH
MEASUREMENTS",
author="M. G. Stevenson",
date="November 1984")
Comparison of temperature distributions for flat rake face tools with
distributions for controlled contact tools under the same conditions.
(77 pages)
@report(number"CMU-RI-TR-85-4",
title="ROBOTIC INSPECTION BY DATABASE MATCHING",
author="Henry Thorne, F. B. Prinz, and H. O. K. Kirchner",
date="March 1985")
A method of inspection which does not require reference
points or accurate fixturing. (27 pages)
@report(number="CMU-RI-TR-85-5",
title="DEVELOPMENT OF CMU DIRECT-DRIVE ARM II",
author="Takeo Kanade and Donald Schmitz",
date="March 1985")
The design of the new CMU-DD Arm II, particularly our solutions to the
difficulties of practical implementation of direct drive. (17 pages)
@report(number="CMU-RI-TR-85-6",
title="REACHABLE GRASPS ON A POLYGON: THE CONVEX ROPE ALGORITHM",
author="M. A. Peshkin and A. C. Sanderson",
date="April 1985")
An algorithm to find the externally visible vertices of a
polygon, and which generates the clockwise and counter-clockwise convex
ropes of each one. (25 pages)
@report(number="CMU-RI-TR-85-7",
title="PSRL: AN SRL-BASED PRODUCTION RULE SYSTEM Reference Manual
for PSRL Version 1.2",
author="Michael D. Rychener",
date="December 1984")
PSRL is a production-rule interpreter based on SRL/1.5 language. This
version includes a facility for converting OPS5 rules in PSRL schemata.
(108 pages)
@report(number="CMU-RI-TR-85-8",
title="A MODELESS CONVEX HULL ALGORITHM FOR SIMPLE POLYGONS",
author="M. A. Peshkin and A. C. Sanderson",
date="May 1984")
An order @i<n> algorithm which computes the convex hull of a
two-dimensional non-self-intersecting polygon. (7 pages)
@report(number="CMU-RI-TR-85-9",
title="A PERTURBATION APPROACH TO ROBOT CALIBRATION",
author="H. O. K. Kirchner, B. Gurumoorthy, and F. B. Prinz",
date="April 1985")
The forward and reverse solutions of a manipulator with six joints are
expanded up to second order in the 24 joint parameters. (21 pages)
@report(number="CMU-RI-TR-85-10",
title="EXPERIENCES WITH SRL: AN ANALYSIS OF A FRAME-BASED KNOWLEDGE
REPRESENTATION",
author="@b[Mark S. Fox, J. Mark Wright, and David Adam",
date="July 1985")
Examination of a single representation language, SRL, and its applications
to determine use of its ideas. (14 pages)