39419808
A Twelve-Step Program to More Efficient Robotics
Sensor abuse is a serious and debilitating condition. However, one must remember that it is a disease, not a crime.1 As such, it can be treated. This article presents a case study in sensor abuse. This particular subject was lucky enough to pull himself out of his pitiful condition, but others are not so lucky. The article also describes a 12- step behavior-modification program modeled on this and other successful case studies.
18083854
Attitude and Position Control Using Real-Time Color Tracking
A variety of sensors and positioning methods have been developed over the years. Most methods rely on active sensors (such as sonars or lasers) which have range and power restrictions, or rely on computationally complex (and often slow) methods such as recovering position from stereo or optical flow. This paper describes a system that can determine a robot's position and orientation, in all six degrees of freedom, relative to a simple passive target. The system can determine its position relative to the target from a single image frame, and process the image and calculate the position faster than a camera's frame rate (60Hz). It uses a standard, uncalibrated color video camera as its sensor. The system runs on an inexpensive microprocessor (a Motorola 68332) leaving many cycles left over. By careful design of the target and the vision processing hardware and software, we are able to selectively perceive only the relevant parts of the target, greatly simplifying and speeding all the necessary computations. The system is being developed for autonomous spacecraft station keeping and docking.
303726
Simplified navigation and traverse planning for a long-range planetary rover
This paper presents the sensor and control system for SR2, a planetary rover prototype capable of km+/day traverses through Mars-like terrain. The control system described allowed the rover to successfully navigate Mars-like terrain given a set of way-points spaced approximately 100 m apart. The control system uses input from a variety of sensors including heading, roll, pitch, an array of proximity sensors, voltage and current sensors, and a depth from stereo camera system. The control system is adequate, when combined with the rover's mobility system to make its way over or around almost all hazards a rover is likely to encounter, and to know when it is getting diverted so far off course that it needs to ask for help. In a recent field test, the robot autonomously navigated through 1.3 km of Mars like terrain to reach its goal. The SR2 is a solar powered, four-wheeled rover that masses 21 kg and fits inside a 90/spl times/65/spl times/40 cm envelope.
42391520
Are You Being Served?
There has been a lot of talk about service robots over the past decade, and indeed some service robots are starting to make their way into the real world; delivering food in hospitals, turning book pages for people with physical diabilities, and the like. Unfortunately, while functional, these robots perform their jobs with all the panache of machines. When people want service robots they really want “servant robots” but without the social guilt that now often accompanies the hiring of actual human servants. To do servants correctly, it is necessary to have a hierarchy in the ‘help’. Only the Dark Knight has been able to maintain style and social standing with a single servant The AAAI-97 Conference Reception is the AI community’s social event of the season. Here, as with almost all AI activities, style and social standing are everything. AI researchers work hard, and when they party, they want to be pampered. Procuring one’s own food is gauche; the AI community wants to be served. Towards this end, KIPR is creating a pair of servant robots (Capt. Peacock and Mr. Humphries) to serve and cater to their charges every gastromical need, while maintaining that old-world flavor that lets you know that while your servants may be smarter, stronger and more expensive than you, they are definitely your social inferiors.
8161426
Extending Definite Clause Grammars with Scoping Constructs
Definite Clause Grammars (DCGs) have proved valuable to computational linguists since they can be used to specify phrase structured grammars. It is well known how to encode DCGs in Horn clauses. Some linguistic phenomena, such as filler-gap dependencies, are difficult to account for in a completely satisfactory way using simple phrase structured grammar. In the literature of logic grammars there have been several attempts to tackle this problem by making use of special arguments added to the DCG predicates corresponding to the grammatical symbols. In this paper we take a different line, in that we account for filler-gap dependencies by encoding DCGs within hereditary Harrop formulas, an extension of Horn clauses (proposed elsewhere as a foundation for logic programming) where implicational goals and universally quantified goals are permitted. Under this approach, filler-gap dependencies can be accounted for in terms of the operational semantics underlying hereditary Harrop formulas, in a way reminiscent of the treatment of such phenomena in Generalized Phrase Structure Grammar (GPSG). The main features involved in this new formulation of DCGs are mechanisms for providing scope to constants and program clauses along with a mild use of λ-terms and λ-conversion. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-90-20. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/519 Extending Definite Clause Grammars With Scoping Constructs MS-CIS-90-20 LINC LAB 167 Remo Pareschi Dale Miller Department of Computer and Informat ion Science School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 19104-6389
839746
Roadmap for enhanced languages and methods to aid verification
This roadmap describes ways that researchers in four areas---specification languages, program generation, correctness by construction, and programming languages---might help further the goal of verified software. It also describes what advances the "verified software" grand challenge might anticipate or demand from work in these areas. That is, the roadmap is intended to help foster collaboration between the grand challenge and these research areas.A common goal for research in these areas is to establish language designs and tool architectures that would allow multiple annotations and tools to be used on a single program. In the long term, researchers could try to unify these annotations and integrate such tools.
14544430
Specifying Theorem Provers in a Higher-Order Logic Programming Language
Since logic programming systems directly implement search and unification and since these operations are essential for the implementation of most theorem provers, logic programming languages should make ideal implementation languages for theorem provers. We shall argue that this is indeed the case if the logic programming language is extended in several ways. We present an extended logic programming language where first-order terms are replaced with simply-typed λ-terms, higher-order unification replaces first-order unification, and implication and universal quantification are allowed in queries and the bodies of clauses. This language naturally specifies inference rules for various proof systems. The primitive search operations required to search for proofs generally have very simple implementations using the logical connectives of this extended logic programming language. Higher-order unification, which provides sophisticated pattern matching on formulas and proofs, can be used to determine when and at what instance an inference rule can be employed in the search for a proof. Tactics and tacticals, which provide a framework for high-level control over search, can also be directly implemented in this extended language. The theorem provers presented in this paper have been implemented in the higher-order logic programming language λProlog.
14704715
A logic for reasoning with higher-order abstract syntax
Logical frameworks based on intuitionistic or linear logics with higher-type quantification have been successfully used to give high-level, modular, and formal specifications of many important judgments in the area of programming languages and inference systems. Given such specifications, it is natural to consider proving properties about the specified systems in the framework: for example, given the specification of evaluation for a functional programming language, prove that the language is deterministic or that the subject-reduction theorem holds. One challenge in developing a framework for such reasoning is that higher-order abstract syntax (HOAS), an elegant and declarative treatment of object-level abstraction and substitution, is difficult to treat in proofs involving induction. In this paper we present a meta-logic that can be used to reason about judgments coded using HOAS; this meta-logic is an extension of a simple intuitionistic logic that admits higher-order quantification over simply typed /spl lambda/-terms (key ingredients for HOAS) as well as induction and a notion of definition. The latter concept of a definition is a proof-theoretic device that allows certain theories to be treated as "closed" or as defining fixed points. The resulting meta-logic can specify various logical frameworks and a large range of judgments regarding programming languages and inference systems. We illustrate this point through examples, including the admissibility of cut for a simple logic and subject reduction, determinacy of evaluation, and the equivalence of SOS and natural semantics presentations of evaluation for a simple functional programming language.
6569694
"Token" equilibria in sensor networks with multiple sponsors
When two sponsoring organizations, working towards separate goals, can employ wireless sensor networks for a finite period of time, it can be efficiency-enhancing for the sponsors to program their sensors to cooperate. But if each sensor privately knows whether it can provide a favor in any particular period, and the sponsors cannot contract on ex post payments, then no favors are performed in any Nash equilibrium. Allowing the sponsors to contract on ex post payments, we construct equilibria based on the exchange of "tokens" that yield significant cooperation and increase expected sponsor payoffs. Increasing the sponsors' liability is beneficial because it enables them to use more tokens