Knowledge-based Robot Control

The paper is related with the problem of developing autonomous intelligent robots for complex environments. In details it outlines a knowledge-based robot control architecture that combines several techniques in order to supply an ability to adapt and act autonomously in complex environments. The described architecture has been implemented as a robotic system that demonstrates its operation in dynamic environment. Although the robotic system demonstrates a certain level of autonomy, the experiments show that there are situation, in which the developed base architecture should be complemented with additional modules. The last few chapters of the paper describe the experimentation results and the current state of further research towards the developed architecture.

Digraphs Definition for an Array Maintenance Problem

In this paper we present a data structure which improves the average complexity of the operations of updating and a certain type of retrieving information on an array. The data structure is devised from a particular family of digraphs verifying conditions so that they represent solutions for this problem.

An Effective Method for Constructing Data Structures Solving an Array Maintenance Problem

In this paper a constructive method of data structures solving an array maintenance problem is offered. These data structures are defined in terms of a family of digraphs which have previously been defined, representing solutions for this problem. We present as well a prototype of the method in Haskell.

A Cauchy Integral Related to a Robot-safety Device System

We introduce a robot-safety device system attended by two different repairmen. The twin system is characterized by the natural feature of cold standby and by an admissible “risky” state. In order to analyse the random behaviour of the entire system (robot, safety device, repair facility) we employ a stochastic process endowed with probability measures satisfying general Hokstad-type differential equations. The solution procedure is based on the theory of sectionally holomorphic functions, characterized by a Cauchy-type integral defined as a Cauchy principal value in double sense. An application of the Sokhotski-Plemelj formulae determines the long-run availability of the robot-safety device. Finally, we consider the particular but important case of deterministic repair.

Robot Control Using Inductive, Deductive and Case Based Reasoning

The paper deals with a problem of intelligent system’s design for complex environments. There is discussed a possibility to integrate several technologies into one basic structure that could form a kernel of an autonomous intelligent robotic system. One alternative structure is proposed in order to form a basis of an intelligent system that would be able to operate in complex environments. The proposed structure is very flexible because of features that allow adapting via learning and adjustment of the used knowledge. Therefore, the proposed structure may be used in environments with stochastic features such as hardly predictable events or elements. The basic elements of the proposed structure have found their implementation in software system and experimental robotic system. The software system as well as the robotic system has been used for experimentation in order to validate the proposed structure - its functionality, flexibility and reliability. Both of them are presented in the paper. The basic features of each system are presented as well. The most important results of experiments are outlined and discussed at the end of the paper. Some possible directions of further research are also sketched at the end of the paper.

Algorithm BIDIMS for Automated Systematization of Data Array. Case Study: Rediscovering Mendeleev’s Periodic Table of Chemical Elements

The method (algorithm BIDIMS) of multivariate objects display to bidimensional structure in which the sum of differences of objects properties and their nearest neighbors is minimal is being described. The basic regularities on the set of objects at this ordering become evident. Besides, such structures (tables) have high inductive opportunities: many latent properties of objects may be predicted on their coordinates in this table. Opportunities of a method are illustrated on an example of bidimentional ordering of chemical elements. The table received in result practically coincides with the periodic Mendeleev table.

Planning of Intellectual Robot Actions in Real Time

In article the mathematical model of the mobile robot actions planning at recognition of situations in extreme conditions of functioning is offered. The purpose of work is reduced to formation of a concrete plan of the robot actions by extrapolation of a situation and its concrete definition with the account a priori unpredictable features of current conditions.