Machine Intelligence and Knowledge Engineering for Robotic Applications

1. Front Matter

   Pages I-XIV

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2. Robot Vision

   1. Robot Vision

      • Azriel Rosenfeld

      Pages 1-19

   2. 3-D Vision for Robot Applications

      • D. Nitzan, R. Bolles, J. Kremers, P. Mulgaonkar

      Pages 21-81

   3. On the Computation of Motion from a Sequence of Monocular or Stereo Images — An Overview

      • J. K. Aggarwal

      Pages 83-103

   4. Time-Varying Image Analysis

      • Thomas S. Huang

      Pages 105-112

3. Knowledge Representation & Image Understanding

   1. Knowledge Representation for Robot Vision and Path Planning Using Attributed Graphs and Hypergraphs

      • Andrew K. C. Wong

      Pages 113-143

   2. Knowledge-Based Systems for Robotic Applications

      • Julius T. Tou

      Pages 145-189

   3. Image Understanding for Robotic Applications

      • Ramesh Jain

      Pages 191-220

4. Robot Control and Inference Systems

   1. Machine-Intelligent Robots: A Hierarchical Control Approach

      • George N. Saridis

      Pages 221-234

   2. On the Application of Intelligent Planning Techniques in Industrial Robotics

      • M. H. Lee

      Pages 235-267

   3. Analogical Reasoning by Intelligent Robots

      • Nicholas V. Findler, Laurie H. Ihrig

      Pages 269-282

   4. Knowledge-Based Real-Time Change Detection, Target Image Tracking and Threat Assessment

      • L. F. Pau

      Pages 283-297

5. Task Planning and Expert Systems

   1. Task and Path Planning for Mobile Robots

      • Raja Chatila, Georges Giralt

      Pages 299-330

   2. Task Planning and Control Synthesis for Flexible Assembly Systems

      • A. C. Sanderson, L. S. Homem-de-Mello

      Pages 331-353

   3. Mars: An Expert Robot Welding System

      • Pierre Sicard, Martin D. Levine

      Pages 355-385

6. Software/Hardware Systems

   1. The Edinburgh Designer System as a Framework for Robotics

      • R. J. Popplestone

      Pages 387-406

   2. Implementation of Complex Robot Subsystems on Distributed Computing Resources

      • S. Y. Harmon

      Pages 407-435

   3. Autonomous Robot of the University of Karlsruhe

      • Ulrich Rembold, Rüdiger Dillmann

      Pages 437-462

7. Poster Session

   1. Robotics Research at the Laboratory for Intelligent Systems National Research Council of Canada

      • S. Elgazzar

      Pages 463-476

8. Future Directions in Knowledge-Based Robotics

   1. Future Directions in Knowledge-Based Robotics

      • Deborah A. Stacey, Andrew K. C. Wong

      Pages 477-481

This book is the outcome of the NATO Advanced Research Workshop on Machine Intelligence and Knowledge Engineering for Robotic Applications held at Maratea, Italy in May 1986. Attendance of the workshop was by invitation only. Most of the participants and speakers are recognized leaders in the field, representing industry, government and academic c0mrnunity worldwide. The focus of the workshop was to review the recent advances of machine intelligence and knowledge engineering for robotic appli­ cations. It covers five main areas of interest. They are grouped into five sections: 1. Robot Vision 2. Knowledge Representation and Image Understanding 3. Robot Control and Inference Systems 4. Task Planning and Expert Systems 5. Software/Hardware Systems Also included in this book are a paper from the Poster Session and a brief report of the panel discussion on the Future Direction in Knowledge-Based Robotics. Section I of this book consists of four papers. It begins with a review of the basic concepts of computer vision, with emphasis on techniques specific for robot vision systems. The next paper pre­ sents a comprehensive 3-D vision system for robotic application.

• autonomous robot
• control
• expert system
• image analysis
• intelligence
• knowledge
• knowledge engineering
• knowledge representation
• knowledge-based systems
• robot
• robotics

• Systems Design Engineering, University of Waterloo, Waterloo, Canada

  Andrew K. C. Wong

• Electronic Engineering, University of Hull, Hull, UK

  Alan Pugh

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