Intelligent Systems Architecture, Design, and Control

, by Meystel, Alexander M.; Albus, James S.

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ISBN: 9780471193746 | 0471193747
Cover: Hardcover
Copyright: 10/10/2001

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This comprehensive treatment of the field of intelligent systems is written by two of the foremost authorities in the field. The authors clearly examine the theoretical and practical aspects of these systems. The book focuses on the NIST-RCS (Real-time Control System) model that has been used recently in the Mars Rover.

Preface

xvii

Intelligence in Natural and Constructed Systems

(37)

Introduction

(3)

Brief Overview of the Evolving Concepts of Mind and Intelligence

(8)

Intelligent Systems: Can We Distinguish Them from Nonintelligent Systems?

(4)

Intelligence: Product and Tool of Behavior and Communication

(4)

Advantageous Behavior

(1)

Efficient Symbolic Representation

(2)

Elementary Loop of Functioning

(1)

Evolution of Automatisms

(4)

Learning Automaton

(1)

Concept of Automatism and How It Can Be Learned

(2)

From Reflexes and Rules to Programs

(1)

From Programs to Self-Organization

(1)

From Agent to Multiscale Communities of Agents

(5)

The Concept of ``Agents'' and Its Place in the State of the Art

(5)

Cognitive Agents and Architectures

(9)

References

(4)

Problems

(2)

Theoretical Fundamentals

(62)

Mathematical Framework of the Architectures for Intelligent Systems

(4)

Role of Discrete Mathematics in the Development of the Formal Theory of Intelligent Systems

(2)

What Are the Objects to Which Discrete Mathematics Is Applied?

(1)

What Jobs Does Discrete Mathematics Do? What Are Our Objectives?

(1)

Formal Model of Intelligent Systems and Processes

(18)

Fundamental Procedures of Multiresolutional Calculus

(2)

Existing Definitions of a Set

(4)

What Is a State? How Is It Related to the Concept of Object? What Is Change?

(1)

Formation of New Objects via the GFS Triplet

(3)

Relations among the Objects: What Is a Relation? What Are the Properties of Relations? Can We Measure Relations?

(1)

Representation and Reality

(2)

Models in the Form of Automata: Primitive Agents

(2)

Multiresolutional Automata

(2)

Autonomy and Goal-Orientedness of Intelligent Systems

(1)

Necessary Terminology and Assumptions

(7)

Coordinates, Scope, and Resolution

(2)

States and State-Space

(2)

From Objects toward Entities

(1)

Clusters and Classes

(1)

Distinguishability

(1)

Representation

(1)

Construction and Properties of Objects

(3)

Formation of New Categories

(1)

Recursive Hierarchies and Heterarchies of Representation

(2)

Extracting Entities from Reality

(10)

Natural Grouping of Components

(3)

Grouping within Scientific Processes

(3)

Grouping Leads to the Multiresolutional Architecture

(3)

Differences between Abstraction, Aggregation, and Generalization

(1)

Grouping + Filtering + Search: The Elementary Unit of Self-Organization

(3)

Concept of GFS

(1)

Functioning of GFS

(2)

Relative Intelligence and Its Evolution

(4)

On the Resemblances among Processes of Structuring in Nature and Representation

(2)

Issue of Resemblance

(1)

On the Resemblance among the Algorithms Applied for Structuring

(1)

Semiotic Framework of the Architectures for Intelligent Systems

(11)

What Is Semiotics?

(1)

Semiotic Closure

(2)

Semiosis: The Process of Learning in Semiotic Systems

(2)

Reflection and Consciousness

(2)

References

(1)

Problems

(3)

Knowledge Representation

100

(58)

Problem of Representing the Natural World

100

(8)

Unbearable Richness of the Reality

100

(2)

Epistemology

102

(1)

Evolution of the Theories of Knowledge

103

(3)

Semiotics and Future Perspectives

106

(2)

What Is Knowledge?

108

(7)

Knowledge as a Phenomenon

108

(1)

Knowledge-Related Terminology

109

(3)

Storing the Knowledge

112

(1)

Why Does the Need for Representing Knowledge Emerge?

113

(2)

Knowledge Representation in the Brain: Acquiring Automatisms

115

(2)

An Elementary Information Processing Unit: A Neuron

115

(1)

A System for Searching and Storing Patterns: A Neural Net

116

(1)

Sensory and Symbolic Representations in the Brain

117

(3)

General Comments

117

(1)

Sensory Images

117

(2)

Symbolic Representations in the Brain

119

(1)

Reference Frame, Imagination, and Insight

120

(1)

Principles of Knowledge Representation, Entities, and Relational Structures

121

(26)

Nested Hierarchical Knowledge Organization

122

(2)

Definitions and Premises of the Principles of Knowledge Representation

124

(9)

Definitions of Knowledge-Related Mechanisms of ELF Functioning

133

(3)

Types and Classes of Entities

136

(4)

General Characterization of the D-Structure

140

(3)

Properties of Labels

143

(4)

Multiresolutional Character of Knowledge and Its Complexity

147

(4)

State-Space Decomposition

147

(1)

Accuracy

148

(1)

Nestedness of Knowledge

149

(1)

Recursive Algorithm of Constructing Multiscale Knowledge Representations

150

(1)

Virtual Phenomena of Knowledge Representation

151

(7)

Representation for Immediate Sensory Processing

151

(1)

Intermediate Representation

152

(1)

Long-Term Memory Representation

153

(1)

References

153

(3)

Problems

156

(2)

Reference Architecture

158

(30)

Components of a Reference Architecture

158

(2)

Actuators

158

(1)

Sensors

159

(1)

Sensory Processing

159

(1)

World Model

159

(1)

Value Judgment

159

(1)

Behavior Generation

160

(1)

Evolution of the Reference Architecture for Intelligent Systems

160

(3)

Hierarchy with Horizontal ``In Level'' Connections

163

(2)

Levels of Resolution

165

(4)

Neural Components of the Architecture

169

(2)

Behavior-Generating Hierarchy

171

(1)

Analysis of Multiresolutional Architectures

172

(8)

Elementary Loop of Functioning (ELF)

172

(3)

Primary Decomposition of an ELF

175

(2)

Hierarchies of ELFs: the Essence of NIST-RCS

177

(1)

Integrated NIST-RCS Modules

178

(2)

Agent-Based Reference Architectures

180

(8)

Elements of Intelligent Software

180

(1)

Functioning of the Agent-Based Level

181

(3)

References

184

(2)

Problems

186

(2)

Motivations, Goals, and Value Judgment

188

(32)

Internal Needs versus External Goals

188

(11)

Neurophysiological Models

188

(3)

From Instinct to Motivation to Drive and to Emotion

191

(1)

Motivation

192

(1)

From Motives to Goals

193

(1)

Various Approaches

194

(2)

Development of the Concept of ``Goal''

196

(1)

Cognitive Theories of Goal Formation and Comparison

197

(2)

Value Judgments

199

(8)

General Definitions

199

(1)

Limbic System

200

(1)

Value State-Variables

201

(3)

VJ Modules

204

(3)

Value State-Variable Map Overlays

207

(1)

Achieving the Goal: Optimization via the Calculus of Variations

207

(13)

Notation and Basic Premises

207

(1)

A Linearized Third-Order Plant: Model of a DC Motor

208

(1)

Optimization via the Calculus of Variations

209

(7)

Results and Discussion

216

(2)

References

218

(1)

Problems

219

(1)

Sensory Processing

220

(37)

In-level and Inter-level Processes

220

(8)

Focusing of Attention (F of GFS)

221

(2)

Creation of Grouping Hypotheses (G and S of GFS)

223

(1)

Computation Attributes for Grouping Hypotheses (G of GFS)

224

(1)

Selection and Confirmation (S of GFS)

225

(1)

Classification, Recognition, and Organization of Entities

226

(2)

Sensory Processing as a Module of the Level

228

(10)

Information Sources

230

(1)

State-Space Tessellation: Sampling

231

(1)

Noise, Uncertainty, and Ambiguity

232

(1)

Creation of Hypotheses and Testing

233

(3)

Initialization

236

(2)

Hierarchy of Sensory Processing

238

(13)

Naturally Emerging Hierarchies of Representation in SP

238

(2)

Processing at the Two Adjacent Levels of the Highest Resolution

240

(7)

What Happens at the Levels Above?

247

(4)

Multiresolutional Nature of Sensory Processing

251

(6)

References

253

(2)

Problems

255

(2)

Behavior Generation

257

(86)

Preliminary Concepts of Multiresolutional Behavior Generation

257

(8)

Definitions

257

(6)

Behavior Generation as a Recursive Synthesis of Instantiations from Generalizations

263

(2)

BG Architecture

265

(8)

Virtual Loops

265

(5)

Real-Time Control and Planning: How They Are Affected by the Sources of Uncertainty

270

(1)

Nesting of the Virtual ELFs

271

(2)

Strategy of Multiresolutional Control: Generation of a Nested Hierarchy

273

(12)

Off-line Decision-Making Procedures of Planning-Control

273

(2)

Nested Hierarchical Information Refinement during On-line Decision Making

275

(5)

Nested Modules

280

(5)

Overall Organization of Behavior Generation

285

(24)

Main Concept of Computing Behavior

285

(3)

BG Modules

288

(3)

Realistic Examples of Behavior Generation

291

(5)

Generalization upon Realistic Examples: A Sketch of the Theory

296

(1)

Algorithm of Multiresolutional Hierarchical Planning (NIST-RCS Planner)

297

(5)

BG Module: An Overview

302

(7)

Planner

309

(21)

Computation Process of Planning

309

(1)

Epistemology and Functions of the PLANNER

310

(2)

Planning in Multiresolutional Space versus Planning in Abstraction Spaces

312

(3)

Planning in the Task Space versus Motion Planning

315

(1)

Reactive versus Deliberative Decision Making

316

(1)

What Is Inside the PLANNER?

317

(13)

Executor: Its Structure and Functioning

330

(7)

Processing the Results of Planning

330

(2)

Structure of Executor

332

(2)

Operations of the Executor

334

(2)

Executor as a Task Generator

336

(1)

Conclusions: Integrating BG in the Intelligent System

337

(6)

References

338

(3)

Problems

341

(2)

Multiresolutional Planning: A Sketch of the Theory

343

(56)

Introduction to Planning

343

(6)

Overview of the Key Results in the Area of Planning

343

(2)

Definitions Related to Planning

345

(2)

Planning as a Stage of Control

347

(2)

Emerging Problems in Planning

349

(5)

Generic Problems of Behavior Generation

349

(1)

Structural Sources of Problems

350

(1)

Representation and Planning

350

(2)

Classification of Planning Problems in Intelligent Systems

352

(2)

Planning of Actions and Planning of States

354

(3)

Algorithms of Planning

354

(1)

Visibility-Based Planning

354

(2)

Local Planning: Potential Field for World Representation

356

(1)

Global Planning: Search for the Trajectories

356

(1)

Linkage between Planning and Learning

357

(1)

Learning as a Source of Representation

357

(1)

Interrelations between Planning and Learning

358

(1)

Planning in Architectures of Behavior Generation

358

(8)

Hierarchical Multiresolutional Organization of Planning

358

(2)

Case Study: A Pilot for an Autonomous Vehicle

360

(6)

Path Planning in a Multidimensional Space

366

(7)

State-Space Representation

366

(2)

Expert Rules/Heuristics

368

(2)

Techniques to Reduce Computation Time

370

(1)

Experimental Results

371

(2)

Multiresolutional Planning as a Tool of Increasing Efficiency of Behavior Generation

373

(26)

Multiresolutional Planning Embodies the Intelligence of a System

373

(1)

Multiresolutional Planning Reduces the Complexity of Computations

374

(5)

Applying the General S3-Search Algorithm for Planning with Complexity Reduction

379

(2)

Tessellation

381

(3)

Testing of the Representation

384

(3)

387

(3)

Consecutive Refinement

390

(3)

Evaluation of Complexity

393

(2)

References

395

(3)

Problems

398

(1)

Multiresolutional Hierarchy of Planner/Executor Modules

399

(58)

Hybrid Control Hierarchy

399

(2)

Theoretical Premises

401

(3)

Canonical Hybrid Planner/Executor Module

404

(9)

Basic Control Architecture

404

(2)

Recursive Application and Nesting of the Canonical Hybrid Planner/Executor Modules

406

(1)

World Model: Maintenance of Knowledge

407

(3)

Nesting and Bandwidth Separation

410

(3)

Quasi-minimum Time Functioning of Planner/Executor Modules Equipped with a Production System

413

(14)

Assumptions about System Dynamics

413

(3)

Assumptions about Propulsion Force Development

416

(1)

Assumptions about the Resistance Force

417

(1)

Determining Standard Components of the Control Cycle

418

(2)

Production System for Combining the Control Cycle from Standard Components

420

(2)

Simulation of a Real System

422

(5)

Approximate Inverse via Forward Searching

427

(12)

Introduction

427

(1)

Concept of Approximate Inverse Image of the Reference Trajectory

428

(2)

Approximate Inversion via Search Procedures

430

(3)

Experimental Results

433

(6)

Multirate Hierarchical Predictive Control System

439

(13)

Introduction

440

(1)

Hierarchical Structure with Averaging the Wavelet Algorithm

441

(2)

Hierarchical Controller Design

443

(1)

Simulation Results

444

(3)

Multirate Hierarchical Controller

447

(5)

Conclusion

452

(5)

References

453

(2)

Problems

455

(2)

Learning

457

(103)

Intelligent Systems and Learning

457

(1)

Definitions of Learning

458

(5)

Implicit and Explicit Logical and Psychological Schemes of Learning

463

(14)

Need in ``Bootstrap'' Knowledge: Axioms and ``Self-evident'' Principles

463

(1)

Gestalt Principles: Entity Discovering Insights

464

(3)

Repetitiveness: Induction, Abduction, and Deduction

467

(1)

Recursion and Iteration

467

(1)

Typology of Learning

468

(9)

On the Difference between Adaptive and Learning Systems

477

(1)

Information Acquisition via Learning: Domains of Application

477

(4)

Estimation and Recognition as Components of Learning

477

(2)

Domains of Application for the Theory

479

(2)

Axiomatic Theory of Learning Control Systems

481

(13)

Axioms

481

(6)

Learning Control Systems

487

(3)

Emerging Nonconventional Issues

490

(3)

Exosystem and Multi-actuation

493

(1)

Learning and Behavior Generation: Constructing and Using MR Representation and Goal Hierarchies

494

(23)

Learning from Multiple Experiences

494

(2)

Algorithms of Unsupervised Learning

496

(11)

Evolution of Knowledge

507

(1)

Focusing of Attention

508

(1)

Formation of Similarity Clusters

509

(1)

Searching for Valid Hypotheses among Clusters

510

(1)

Learning in Behavior Generation

511

(2)

Evolution of Multiresolutional Learning Automata

513

(2)

Further Research in LPA

515

(2)

Baby-Robot: Analysis of Early Cognitive Development

517

(19)

ECD: Its Significance for Learning in Intelligent Systems

517

(1)

Resemblances and Differences between ECD in Human and ISs

518

(2)

Quantitative Learning Domain

520

(1)

Conceptual Learning Domain

521

(2)

Baby-Robot: Simulation Tool for Analysis of ECD Processes

523

(1)

Baby-Robot: A Mental Experiment

524

(1)

A Possible Algorithm of Learning

525

(2)

Conditions of Clause Generation

527

(1)

Learning When the Goal Is Given

528

(1)

Simulation and Physical Experiments with Baby-Robot

528

(7)

Implications of Baby-Robot Research

535

(1)

Applying Neural Networks for Learning

536

(24)

Neural Networks: Architectures for Generalization of Multiple Information

536

(4)

CMAC: An Associative Neural Network Alternative to Backpropagation

540

(9)

References

549

(10)

Problems

559

(1)

Applications of Multiresolutional Architectures for Intelligent Systems

560

(82)

An Intelligent Systems Architecture for Manufacturing

560

(8)

ISAM Standard

560

(1)

ISAM as a Conceptual Framework

561

(1)

ISAM versus Current Practice

561

(1)

ISAM as a Reference Model Architecture

562

(1)

An ISAM Example

563

(5)

Planning in the Hierarchy of NIST-RCS for Manufacturing

568

(7)

Planner within a Single RCS Module

569

(1)

Planner in the RCS Hierarchy

570

(1)

Algorithm of Planning

571

(2)

RCS Approach within the System of Contemporary Views on Scheduling in Manufacturing

573

(2)

Inspection Workstation-Based Testbed Application for the Intelligent Systems Architecture for Manufacturing

575

(10)

HPCC Program: A Paradigm for ISAM Implementation

576

(1)

The Approach

576

(1)

Application Design for Prototype System Implementations

577

(1)

Modules

578

(7)

RCS-Based RoboCrane Integration

585

(7)

The Prototypes

586

(2)

RoboCrane Subsystems

588

(4)

Mobile Robot Goes Multiresolutional

592

(9)

Types of Decision Making

596

(1)

Rule Bases

596

(1)

Precise Preplanning (PP) Algorithm

597

(3)

Implementation

600

(1)

Instantaneous Decision Maker (ID) and Path Monitor

600

(1)

Mission Structure for an Unmanned Vehicle

601

(14)

Levels of the System

602

(4)

Classification of Missions

606

(3)

Activities of the Platoon Leader

609

(2)

Tasks Assigned to a Section

611

(1)

Tasks Assigned to a Single Vehicle

612

(1)

Tasks Assigned to a Vehicle's Subsystems

612

(1)

Invariant Elements of Mission Programs

613

(2)

Detection and Recognition of Sensed Objects

615

(1)

4-D/RCS as an Implementation Guide for Demo III

615

(27)

Subset of 4-D/RCS for Demo III

615

(13)

Examples of 4-D/RCS Entities

628

(7)

Integration of the System

635

(4)

References

639

(3)

Intelligent Systems: Precursor of the New Paradigm in Science and Engineering

642

(25)

Multidisciplinarity: The Most Promising But a Bumpy Road

642

(5)

What Is the Core Activity of Intelligent Systems?

647

(2)

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Intelligent Systems Architecture, Design, and Control

Summary

Author Biography

Table of Contents

Supplemental Materials