Automatic Design of a Maglev Controller in State Space

We describe the automatic synthesis of a global nonlinear controller for stabilizing a magnetic levitation system. The synthesized control system can stabilize the maglev vehicle with large initial displacements from an equilibrium, and possesses a much larger operating region than the classical linear feedback design for the same system. The controller is automatically synthesized by a suite of computational tools. This work demonstrates that the difficult control synthesis task can be automated, using programs that actively exploit knowledge of nonlinear dynamics and state space and combine powerful numerical and symbolic computations with spatial-reasoning techniques.

Automatic Qualitative Modeling of Dynamic Physical Systems

This report describes MM, a computer program that can model a variety of mechanical and fluid systems. Given a system's structure and qualitative behavior, MM searches for models using an energy-based modeling framework. MM uses general facts about physical systems to relate behavioral and model properties. These facts enable a more focussed search for models than would be obtained by mere comparison of desired and predicted behaviors. When these facts do not apply, MM uses behavior-constrained qualitative simulation to verify candidate models efficiently. MM can also design experiments to distinguish among multiple candidate models.

Program Improvement by Automatic Redistribution of Intermediate Results

Introducing function sharing into designs allows eliminating costly structure by adapting existing structure to perform its function. This can eliminate many inefficiencies of reusing general componentssin specific contexts. "Redistribution of intermediate results'' focuses on instances where adaptation requires only addition/deletion of data flow and unused code removal. I show that this approach unifies and extends several well-known optimization classes. The system performs search and screening by deriving, using a novel explanation-based generalization technique, operational filtering predicates from input teleological information. The key advantage is to focus the system's effort on optimizations that are easier to prove safe.

Automatic Qualitative Analysis of Ordinary Differential Equations Using Piecewise Linear Approximations

This paper explores automating the qualitative analysis of physical systems. It describes a program, called PLR, that takes parameterized ordinary differential equations as input and produces a qualitative description of the solutions for all initial values. PLR approximates intractable nonlinear systems with piecewise linear ones, analyzes the approximations, and draws conclusions about the original systems. It chooses approximations that are accurate enough to reproduce the essential properties of their nonlinear prototypes, yet simple enough to be analyzed completely and efficiently. It derives additional properties, such as boundedness or periodicity, by theoretical methods. I demonstrate PLR on several common nonlinear systems and on published examples from mechanical engineering.

Coherent Behavior from Incoherent Knowledge Sources in the Automatic Synthesis of Numerical Computer Programs

A fundamental problem in artificial intelligence is obtaining coherent behavior in rule-based problem solving systems. A good quantitative measure of coherence is time behavior; a system that never, in retrospect, applied a rule needlessly is certainly coherent; a system suffering from combinatorial blowup is certainly behaving incoherently. This report describes a rule-based problem solving system for automatically writing and improving numerical computer programs from specifications. The specifications are in terms of "constraints" among inputs and outputs. The system has solved program synthesis problems involving systems of equations, determining that methods of successive approximation converge, transforming recursion to iteration, and manipulating power series (using differing organizations, control structures, and argument-passing techniques).

Automatic Analysis of the Logical Structure of Programs

This report presents a method for viewing complex programs as built up out of simpler ones. The central idea is that typical programs are built up in a small number of stereotyped ways. The method is designed to make it easier for an automatic system to work with programs. It focuses on how the primitive operations performed by a program are combined together in order to produce the actions of the program as a whole. It does not address the issue of how complex data structures are built up from simpler ones, nor the relationships between data structures and the operations performed on them.

Automatic diagnosis of task faults in flexible manufacturing systems

Hardy, N. W., Barnes, D. P., Lee, L. H. (1989). Automatic diagnosis of task faults in flexible manufacturing systems. Robotica, 7 (1):25-35

Research into automatic error recovery

Lee, M., Hardy, N., & Barnes, D. P. (1984). Research into automatic error recovery. 65-69. Paper presented at 4th International Conference on Robot Vision and Sensory Controls, London, London, United Kingdom.

Automatic Error Recovery in Behaviour-Based Assistive Robots with Learning from Experience

Meng Q. and Lee M.H., Automatic Error Recovery in Behaviour-Based Assistive Robots with Learning from Experience, in Proc. INES 2001, 5th IEEE Int. Conf. on Intelligent Engineering Systems, Helsinki, Finland, Sept 2001, pp291-296.

Automatic 3d free form shape matching using the graduated assignment algorithm.

Liu, Yonghuai. Automatic 3d free form shape matching using the graduated assignment algorithm. Pattern Recognition, vol. 38, no. 10, pp. 1615-1631, 2005.

Biologically inspired automatic construction of cross-modal mapping in robotic eye/hand systems

Q. Meng and M.H. Lee, 'Biologically inspired automatic construction of cross-modal mapping in robotic eye/hand systems', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006,) ,4742-49, Beijing, 2006.

Automatic point correspondence and registration based on linear structures

R. Marti, R. Zwiggelaar, C.M.E. Rubin, 'Automatic point correspondence and registration based on linear structures', International Journal of Pattern Recognition and Artificial Intelligence 16 (3), 331-340 (2002)

Inspection of teats by colour image analysis for automatic milking systems

C.R. Bull, N.J.B. McFarlane, R. Zwiggelaar, C.J. Allen and T.T. Mottram, 'Inspection of teats by colour image analysis for automatic milking systems', Computers and Electronics in Agriculture 15 (1), 15-26 (1996)

Automatic 2D Hand Tracking in Video Sequences

In gesture and sign language video sequences, hand motion tends to be rapid, and hands frequently appear in front of each other or in front of the face. Thus, hand location is often ambiguous, and naive color-based hand tracking is insufficient. To improve tracking accuracy, some methods employ a prediction-update framework, but such methods require careful initialization of model parameters, and tend to drift and lose track in extended sequences. In this paper, a temporal filtering framework for hand tracking is proposed that can initialize and reset itself without human intervention. In each frame, simple features like color and motion residue are exploited to identify multiple candidate hand locations. The temporal filter then uses the Viterbi algorithm to select among the candidates from frame to frame. The resulting tracking system can automatically identify video trajectories of unambiguous hand motion, and detect frames where tracking becomes ambiguous because of occlusions or overlaps. Experiments on video sequences of several hundred frames in duration demonstrate the system's ability to track hands robustly, to detect and handle tracking ambiguities, and to extract the trajectories of unambiguous hand motion.

Automatic 3D Registration of Lung Surfaces in Computed Tomography Scans

We developed an automated system that registers chest CT scans temporally. Our registration method matches corresponding anatomical landmarks to obtain initial registration parameters. The initial point-to-point registration is then generalized to an iterative surface-to-surface registration method. Our "goodness-of-fit" measure is evaluated at each step in the iterative scheme until the registration performance is sufficient. We applied our method to register the 3D lung surfaces of 11 pairs of chest CT scans and report promising registration performance.