This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator control. We reformulated the manipulator con trol problem as direct control of manipulator motion in oper ational space--the space in which the task is originally described--rather than as control of the task's corresponding joint space motion obtained only after geometric and kine matic transformation.

One of the features of a computer program that attempts concept learning is described by the term bias. The bias of a learning program refers to the collection of factors that are brought to bear upon the selection and consideration of partially formed hypotheses pertaining to the concept being learned. For most learning programs, the bias is fixed and provided by the program's author. Utgoff investigates how a learning program may modify its bias by considering when a shift in bias should be attempted, by proposing a method for accomplishing the shift, and by implementing a program that demonstrates procedures for performing a shift. The book begins with an introduction to machine learning and bias and a discussion of related work.

This report contains the following discussions: the defense program simulation of rocky flats plant; spatial representation and reasoning for automated mesh generation; INEL support to modernization efforts at the aberdeen proving ground; artificial intelligence applications at the ICPP; an expert system for tuning particle beam accelerators; quality control expert system; an easily maintained knowledge-based system for interactive delivery of detailed technical information; workload scheduling in DOE production complex; turning operations planning system; a nuclear power plant operator advisor based on artificial intelligence technology; a impact of artificial intelligence on the new production reactor; using expert systems in treaty verification; knowledge-basedmore » systems technology transfer in Oak Ridge; applications of AI to nuclear power plants; knowledge-based computer security systems; robotic grasping of unknown objects: a knowledge-based approach; applying expertise to data in the geologist's assistant expert system; feature recognition based automatic part classification and coding; object-oriented inventories for simulation of manufacturing process; expert system at AWE; plating expert system; inspection process planning expert; troubleshooting local area networks at Savannah River Site; maintenance importance generator; joint theater level simulator; a system for authoring of tutorials including video capture and annotation, links to manuals, and links to executable code; a personal computer based expert system for documenting compliance with the National Environmental Protection Act; spatial representation and reasoning for automated mesh generation; robotic grasping of unknown objects: a knowledge-based approach; and synthesis of engineering anticipatory systems.«

J. International Computer Chess Association, May, 131–139.

The technology for building knowledge-based systems by inductive inference from examples hasbeen demonstrated successfully in several practical applications. This paper summarizes an approach to synthesizing decision trees that has been used in a variety of systems, and it describes one such system, ID3, in detail. Results from recent studies show ways in which the methodology can be modified to deal with information that is noisy and/or incomplete. A reported shortcoming of the basic algorithm is discussed and two means of overcoming it are compared. The paper concludes with illustrations of current research directionsMachine Learning, 1, p. 81-106

The major limitations in building large software have always been (a) its brittleness when confronted by problems that were not foreseen by its builders, and (by the amount of manpower required. The recent history of expert systems, for example highlights how constricting the brittleness and knowledge acquisition bottlenecks are. Moreover, standard software methodology (e.g., working from a detailed "spec") has proven of little use in AI, a field which by definition tackles ill- structured problems. But decades of work on such systems have convinced us that each of these approaches has difficulty "scaling up" for want a substantial base of real world knowledge.

It is certainly important that this turns Another purpose of the book might be to serve as out to be the correct pairing of adjectives with nouns.

One day a man, who had lost Using an ordinary text-editing algorithm and a variety of much of his long-term episodic memory, consulted the professor changeable key words, the man could call up stories on his to ask him if there was any way he could help him personal computer, read them aloud, and thus attempt to regain the lost memories. Being righthanded text-editing method is trivial, but this is not an article and left-hemisphere specialized for language, he about method; it is about ethics.) The hope was that was still able to speak, to read and write: and to understand not only would the man now have some memory to think what was said to him. Besides the usual difficulty about and talk about but, more importantly, this repeated in recalling proper names, his main problem involved large daily practice at his own pace, with no one looking over gaps in his memory for events that he participated in before his shoulder, might help open up new access paths to his the stroke, although he could remember events that own memory of these events, filling them in and modifying occurred after the stroke. He could not, however, remember the award out the plan.

The major limitations in building large software have always been (a) its brittleness when confronted by problems that were not foreseen by its builders, and (by the amount of manpower required. The recent history of expert systems, for example highlights how constricting the brittleness and knowledge acquisition bottlenecks are. Moreover, standard software methodology (e.g., working from a detailed "spec") has proven of little use in AI, a field which by definition tackles ill- structured problems. How can these bottlenecks be widened? Attractive, elegant answers have included machine learning, automatic programming, and natural language understanding. But decades of work on such systems have convinced us that each of these approaches has difficulty "scaling up" for want a substantial base of real world knowledge.

This article explores the implications of one type of cognitive technology, techniques and concepts to develop joint human-machine cognitive systems, for the application of computational technology by examining the joint cognitive system implicit in a hypothetical computer consultant that outputs some form of problem solution. This analysis reveals some of the problems can occur in cognitive system design-e.g., machine control of the interaction, the danger of a responsibility-authority double-bind, and the potentially difficult and unsupported task of filtering poor machine solutions. The result is a challenge for applied cognitive psychology to provide models, data, and techniques to help designers build an effective combination between the human and machine elements of a joint cognitive system.