The Role of Knowledge in Visual Shape Representation

This report shows how knowledge about the visual world can be built into a shape representation in the form of a descriptive vocabulary making explicit the important geometrical relationships comprising objects' shapes. Two computational tools are offered: (1) Shapestokens are placed on a Scale-Space Blackboard, (2) Dimensionality-reduction captures deformation classes in configurations of tokens. Knowledge lies in the token types and deformation classes tailored to the constraints and regularities ofparticular shape worlds. A hierarchical shape vocabulary has been implemented supporting several later visual tasks in the two-dimensional shape domain of the dorsal fins of fishes.

Dexterous Robotic Hands: Kinematics and Control

This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.

The Effect of Transmission Design on Force-Controlled Manipulator Performance

Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction in the transmission mechanisms of a manipulator. A set of requisites for high performance then guides the development of mechanical-design and servo strategies for improved performance. A single-degree-of-freedom transmission testbed was constructed that confirms the predicted effect of Coulomb friction on robustness; design and construction of a cable-driven, four-degree-of- freedom, "whole-arm" manipulator illustrates the recommended design strategies.

Generalizing on Multiple Grounds: Performance Learning in Model-Based Technology

This thesis explores ways to augment a model-based diagnostic program with a learning component, so that it speeds up as it solves problems. Several learning components are proposed, each exploiting a different kind of similarity between diagnostic examples. Through analysis and experiments, we explore the effect each learning component has on the performance of a model-based diagnostic program. We also analyze more abstractly the performance effects of Explanation-Based Generalization, a technology that is used in several of the proposed learning components.

Test Generation Guided Design for Testability

This thesis presents a new approach to building a design for testability (DFT) system. The system takes a digital circuit description, finds out the problems in testing it, and suggests circuit modifications to correct those problems. The key contributions of the thesis research are (1) setting design for testability in the context of test generation (TG), (2) using failures during FG to focus on testability problems, and (3) relating circuit modifications directly to the failures. A natural functionality set is used to represent the maximum functionalities that a component can have. The current implementation has only primitive domain knowledge and needs other work as well. However, armed with the knowledge of TG, it has already demonstrated its ability and produced some interesting results on a simple microprocessor.

Dependency-Directed Localization of Software Bugs

Software bugs are violated specifications. Debugging is the process that culminates in repairing a program so that it satisfies its specification. An important part of debugging is localization, whereby the smallest region of the program that manifests the bug is found. The Debugging Assistant (DEBUSSI) localizes bugs by reasoning about logical dependencies. DEBUSSI manipulates the assumptions that underlie a bug manifestation, eventually localizing the bug to one particular assumption. At the same time, DEBUSSI acquires specification information, thereby extending its understanding of the buggy program. The techniques used for debugging fully implemented code are also appropriate for validating partial designs.

Hypothesizing Device Mechanisms: Opening Up the Black Box

I describe an approach to forming hypotheses about hidden mechanism configurations within devices given external observations and a vocabulary of primitive mechanisms. An implemented causal modelling system called JACK constructs explanations for why a second piece of toast comes out lighter, why the slide in a tire gauge does not slip back inside when the gauge is removed from the tire, and how in a refrigerator a single substance can serve as a heat sink for the interior and a heat source for the exterior. I report the number of hypotheses admitted for each device example, and provide empirical results which isolate the pruning power due to different constraint sources.

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.

Three-Dimensional Recognition of Solid Objects from a Two-Dimensional Image

This thesis addresses the problem of recognizing solid objects in the three-dimensional world, using two-dimensional shape information extracted from a single image. Objects can be partly occluded and can occur in cluttered scenes. A model based approach is taken, where stored models are matched to an image. The matching problem is separated into two stages, which employ different representations of objects. The first stage uses the smallest possible number of local features to find transformations from a model to an image. This minimizes the amount of search required in recognition. The second stage uses the entire edge contour of an object to verify each transformation. This reduces the chance of finding false matches.

Combining Associational and Causal Reasoning to Solve Interpretation and Planning Problems

This report describes a paradigm for combining associational and causal reasoning to achieve efficient and robust problem-solving behavior. The Generate, Test and Debug (GTD) paradigm generates initial hypotheses using associational (heuristic) rules. The tester verifies hypotheses, supplying the debugger with causal explanations for bugs found if the test fails. The debugger uses domain-independent causal reasoning techniques to repair hypotheses, analyzing domain models and the causal explanations produced by the tester to determine how to replace faulty assumptions made by the generator. We analyze the strengths and weaknesses of associational and causal reasoning techniques, and present a theory of debugging plans and interpretations. The GTD paradigm has been implemented and tested in the domains of geologic interpretation, the blocks world, and Tower of Hanoi problems.

Control of Vibration in Mechanical Systems Using Shaped Reference Inputs

Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Such profiles are developed using a ramped sinusoid function and its harmonics, choosing coefficients to reduce spectral energy at the natural frequencies of the system. To improve robustness with respect to parameter uncertainty, spectral energy is reduced for a range of frequencies surrounding the nominal natural frequency. An additional set of versine profiles are also constructed to permit motion at constant speed for velocity-limited systems. These shaped force profiles are incorporated into a simple closed-loop system with position and velocity feedback. The force input is doubly integrated to generate a shaped position reference for the controller to follow. This control scheme is evaluated on the MIT Cartesian Robot. The shaped inputs generate motions with minimum residual vibration when actuator saturation is avoided. Feedback control compensates for the effect of friction Using only a knowledge of the natural frequencies of the system to shape the force inputs, vibration can also be attenuated in modes which vibrate in directions other than the motion direction. When moving several axes, the use of shaped inputs allows minimum residual vibration even when the natural frequencies are dynamically changing by a limited amount.

Residual Vibration Reduction in Computer Controlled Machines

Control of machines that exhibit flexibility becomes important when designers attempt to push the state of the art with faster, lighter machines. Three steps are necessary for the control of a flexible planet. First, a good model of the plant must exist. Second, a good controller must be designed. Third, inputs to the controller must be constructed using knowledge of the system dynamic response. There is a great deal of literature pertaining to modeling and control but little dealing with the shaping of system inputs. Chapter 2 examines two input shaping techniques based on frequency domain analysis. The first involves the use of the first deriviate of a gaussian exponential as a driving function template. The second, acasual filtering, involves removal of energy from the driving functions at the resonant frequencies of the system. Chapter 3 presents a linear programming technique for generating vibration-reducing driving functions for systems. Chapter 4 extends the results of the previous chapter by developing a direct solution to the new class of driving functions. A detailed analysis of the new technique is presented from five different perspectives and several extensions are presented. Chapter 5 verifies the theories of the previous two chapters with hardware experiments. Because the new technique resembles common signal filtering, chapter 6 compares the new approach to eleven standard filters. The new technique will be shown to result in less residual vibrations, have better robustness to system parameter uncertainty, and require less computation than other currently used shaping techniques.

Computation and Pre-Parametric Design

My work is broadly concerned with the question "How can designs bessynthesized computationally?" The project deals primarily with mechanical devices and focuses on pre-parametric design: design at the level of detail of a blackboard sketch rather than at the level of detail of an engineering drawing. I explore the project ideas in the domain of single-input single-output dynamic systems, like pressure gauges, accelerometers, and pneumatic cylinders. The problem solution consists of two steps: 1) generate a schematic description of the device in terms of idealized functional elements, and then 2) from the schematic description generate a physical description.

Theories of Comparative Analysis

Comparative analysis is the problem of predicting how a system will react to perturbations in its parameters, and why. For example, comparative analysis could be asked to explain why the period of an oscillating spring/block system would increase if the mass of the block were larger. This thesis formalizes the task of comparative analysis and presents two solution techniques: differential qualitative (DQ) analysis and exaggeration. Both techniques solve many comparative analysis problems, providing explanations suitable for use by design systems, automated diagnosis, intelligent tutoring systems, and explanation based generalization. This thesis explains the theoretical basis for each technique, describes how they are implemented, and discusses the difference between the two. DQ analysis is sound; it never generates an incorrect answer to a comparative analysis question. Although exaggeration does occasionally produce misleading answers, it solves a larger class of problems than DQ analysis and frequently results in simpler explanations.

Heuristics for Job-Shop Scheduling

Two methods of obtaining approximate solutions to the classic General Job-shop Scheduling Program are investigated. The first method is iterative. A sampling of the solution space is used to decide which of a collection of space pruning constraints are consistent with "good" schedules. The selected space pruning constraints are then used to reduce the search space and the sampling is repeated. This approach can be used either to verify whether some set of space pruning constraints can prune with discrimination or to generate solutions directly. Schedules can be represented as trajectories through a Cartesian space. Under the objective criteria of Minimum maximum Lateness family of "good" schedules (trajectories) are geometric neighbors (reside with some "tube") in this space. This second method of generating solutions takes advantage of this adjacency by pruning the space from the outside in thus converging gradually upon this "tube." One the average this methods significantly outperforms an array of the Priority Dispatch rules when the object criteria is that of Minimum Maximum Lateness. It also compares favorably with a recent relaxation procedure.