Behaviour Synthesis of the Erect Stance for a Biped Control

In this paper we use free fall approach to develop a high level control/command strategy for a bipedal robot called BIPMAN, based on a multi-chain mechanical model with a general control architecture. The strategy is composed of three levels: the Legs and arms level, the Coordinator level and the Supervisor level. The Coordinator level is devoted to controlling leg movements and to ensure the stability of the whole biped. Actually perturbation effects threaten the equilibrium of the human robot and can only be compensated using a dynamic control strategy. This one is based on dynamic stability studies with a center of mass acceleration control and a force distribution on each leg and arm. Free fall in the gravity field is assumed to be deeply involved in the human locomotor control. According to studies of this specific motion through a direct dynamic model,the notion of equilibrium classes is introduced. They allow one to define time intervals in which the biped is able to maintain its posture. This notion is used for the definition of a reconfigurable high level control of the robot.     

Two and three-quarter dimensional meshing facilitators

This paper presents generated enhancements for robust two and three-quarter dimensional meshing, including: (1) automated interval assignment by integer programming for submapped surfaces and volumes, (2) surface submapping, and (3) volume submapping. An introduction to the simplex method, an optimization technique of integer programming, is presented. Simplification of complex geometry is required for the formulation of the integer programming problem. A method of i-j unfolding is defined which explains how irregular geometry can be realigned into a simplified form that is suitable for submap interval assignment solutions. Also presented is the processes by which submapping eliminates the decomposition of surface geometry, through a pseudodecomposition process, producing suitable mapped meshes. The process of submapping involves the creation of interpolated virtual edges, user defined vertex types and i-j-k space traversals. The creation of interpolated virtual edges is the method by which submapping automatically subdivides surface geometry. The interpolated virtual edge is formulated according to an interpolation scheme using the node discretization of curves on the surface. User defined vertex types allow direct user control of surface decomposition and interval assignment by modifying i-j-k space traversals. Volume submapping takes the geometry decomposition to a higher level by using mapped virtual surfaces to eliminate decomposition of complex volumes.     

Information Gaps as Communication Needs: A New Semantic Foundation for Some Non-Classical Logics

Semantics connected to some information based metaphor are well-known in logic literature: a paradigmatic example is Kripke semantic for Intuitionistic Logic. In this paper we start from the concrete problem of providing suitable logic-algebraic models for the calculus of attribute dependencies in Formal Contexts with information gaps and we obtain an intuitive model based on the notion of passage of information showing that Kleene algebras, semi-simple Nelson algebras, three-valued ukasiewicz algebras and Post algebras of order three are, in a sense, naturally and directly connected to partially defined information systems. In this way wecan provide for these logic-algebraic structures a raison dêetre different from the original motivations concerning, for instance, computability theory.     

Implementing the ‘Fool's model’ of combinatory logic

This paper studies Fool's models of combinatory logic, and relates them to Hindley's D-completeness problem. A fool's model is a family of sets of formulas, closed under condensed detachment. Alternatively, it is a model ofCL in naive set theory. We examine Resolution; and the P-W problem. A sequel shows T is D-complete; also, its extensions. We close with an implementation FMO of these ideas.     

Obvious inferences

The notion of obvious inference in predicate logic is discussed from the viewpoint of proof-checker applications in logic and mathematics education. A class of inferences in predicate logic is defined and it is proposed to identify it with the class of obvious logical inferences. The definition is compared with other approaches. The algorithm for implementing the obviousness decision procedure follows directly from the definition.     

Coordinating Multiple Agents via Reinforcement Learning

In this paper, we attempt to use reinforcement learning techniques to solve agent coordination problems in task-oriented environments. The Fuzzy Subjective Task Structure model (FSTS) is presented to model the general agent coordination. We show that an agent coordination problem modeled in FSTS is a Decision-Theoretic Planning (DTP) problem, to which reinforcement learning can be applied. Two learning algorithms, coarse-grained and fine-grained, are proposed to address agents coordination behavior at two different levels. The coarse-grained algorithm operates at one level and tackle hard system constraints, and the fine-grained at another level and for soft constraints. We argue that it is important to explicitly model and explore coordination-specific (particularly system constraints) information, which underpins the two algorithms and attributes to the effectiveness of the algorithms. The algorithms are formally proved to converge and experimentally shown to be effective.     

A predicate transformer for the progress property ‘to-always’

The temporal property to-always has been proposed for specifying progress properties of concurrent programs. Although the to-always properties are a subset of the leads-to properties for a given program, to-always has more convenient proof rules and in some cases more accurately describes the desired system behavior. In this paper, we give a predicate transformerwta, derive some of its properties, and use it to define to-always. Proof rules for to-always are derived from the properties ofwta. We conclude by briefly describing two application areas, nondeterministic data flow networks and self-stabilizing systems where to-always properties are useful.     

Computers — Utensils or epaulets? The application perspective revisited

This paper is a discussion about how the Application Perspective works in practice.¹ We talk about values and attitudes to system development and computer systems, and we illustrate how they have been carried out in practice by examples from the Florence project.² The metaphors utensil and epaulet refer to questions about how we conceive the computer system we are to design in the system development process. Our experience is that, in the scientific community, technical challenges mean making computer systems that may be characterised as epaulets: they have technical, fancy features, but are not particularly useful. Making small, simple, but useful computer systems, more like utensils, does not give as much credit even if the development process may be just as challenging.     

Modular Control and Coordination of Discrete-Event Systems

In the supervisory control of discrete-event systems based on controllable languages, a standard way to handle state explosion in large systems is by modular supervision: either horizontal (decentralized) or vertical (hierarchical). However, unless all the relevant languages are prefix-closed, a well-known potential hazard with modularity is that of conflict. In decentralized control, modular supervisors that are individually nonblocking for the plant may nevertheless produce blocking, or even deadlock, when operating on-line concurrently. Similarly, a high-level hierarchical supervisor that predicts nonblocking at its aggregated level of abstraction may inadvertently admit blocking in a low-level implementation. In two previous papers, the authors showed that nonblocking hierarchical control can be guaranteed provided high-level aggregation is sufficiently fine; the appropriate conditions were formalized in terms of control structures and observers. In this paper we apply the same technique to decentralized control, when specifications are imposed on local models of the global process; in this way we remove the restriction in some earlier work that the plant and specification (marked) languages be prefix-closed. We then solve a more general problem of coordination: namely how to determine a high level coordinator that forestalls conflict in a decentralized architecture when it potentially arises, but is otherwise minimally intrusive on low-level control action. Coordination thus combines both vertical and horizontal modularity. The example of a simple production process is provided as a practical illustration. We conclude with an appraisal of the computational effort involved.     

Modelling co-operation in the design of knowledge production systems: The Made In'Coop method

This paper presents the latest developments of the MadeIn 'Coop method for modelling the human-machine and human-human co-operation process, and an application of this method for the design of a more co-operative version of the C³I System CHEOPS. We first consider that the design of software systems for organizations is tied more and more to the perspective of compound Knowledge Production Systems that link humans and machines engaged in a co-operative problem solving process. After exposing the four principles upon which MadeIn 'Coop rests for modelling co-operation, we present an artificial problem solving dialogue between CHEOPS and its users. Consistent with the Group Cognitive Processes Theory framework, we propose a dialogue analysis according to two complimentary points of view: the Collective Problem Solving model, and the Coordination model. This analysis should help system designers to identify new system functionalities to assist problem solving.(C³I) Command Control Communication Intelligence Systems     

‘Use’ discourses in system development: Can communication be improved?

This paper aims to provide a basis for renewed talk about use in computing. Four current discourse arenas are described. Different intentions manifest in each arena are linked to failures in translation, different terminologies crossing disciplinary and national boundaries non-reflexively. Analysis of transnational use discourse dynamics shows much miscommunication. Conflicts like that between the Scandinavian System Development School and the usability approach have less current salience. Renewing our talk about use is essential to a participatory politics of information technology and will lead to clearer perception of the implications of letting new systems becoming primary media of social interaction.     

The “explicit-implicit” distinction

Much of traditional AI exemplifies the explicit representation paradigm, and during the late 1980's a heated debate arose between the classical and connectionist camps as to whether beliefs and rules receive an explicit or implicit representation in human cognition. In a recent paper, Kirsh (1990) questions the coherence of the fundamental distinction underlying this debate. He argues that our basic intuitions concerning explicit and implicit representations are not only confused but inconsistent. Ultimately, Kirsh proposes a new formulation of the distinction, based upon the criterion ofconstant time processing.The present paper examines Kirsh's claims. It is argued that Kirsh fails to demonstrate that our usage of explicit and implicit is seriously confused or inconsistent. Furthermore, it is argued that Kirsh's new formulation of the explicit-implicit distinction is excessively stringent, in that it banishes virtually all sentences of natural language from the realm of explicit representation. By contrast, the present paper proposes definitions for explicit and implicit which preserve most of our strong intuitions concerning straightforward uses of these terms. It is also argued that the distinction delineated here sustains the meaningfulness of the abovementioned debate between classicists and connectionists.     

Negotiating Boundaries. Configuration Management in Software Development Teams

Using case-study material from threesmall software development teams, this paper analysesthe regionalisation of design spaces. Its mainpurpose is to understand problems and practices ofcooperative work in such spaces. Configurationmanagement is used to denote both a practice andsupporting software tools and their relationship. Amajor concern is how to develop practices and toolsthat support cooperation across multipleorganisational and social boundaries whilesimultaneously being respectful of regionalisations.     

Holistic approach for problem improvement in health education: A human centred basis. A case study on AIDS prevention and control at a Chinese medical school

In order to cope with the changing health needs in the community, an holistic approach on AIDS prevention and control with particular reference to essential quality was introduced at an educational seminar at Hebei Medical University in China, 1996. We have identified three major points in the present study through learning and research process: 1. The importance of cultural norm for the unification of science and technology is identified for the community approach; 2. community care emphasising human quality provides unity in diversity for educational program; and 3. community control emphasising quality assurance demonstrates the effectiveness for program analysis from the viewpoint of human centred systems.     

On generators and generative capacity of EOL forms

Summary In this paper we study the generative capacity of EOL forms from two different points of view. On the one hand, we consider the generative capacity of special EOL forms which one could call linear like and context free like, establishing the existence of a rich variety of non-regular sub-EOL language families. On the other hand, we propose the notion of a generator L of a language family We mean by this that any synchronized EOL system generating L generates — if understood as an EOL form — all languages of . We characterize the generators of the family of regular languages, and prove that other well known language families do not have generators.Partially supported under NSE Research Council of Canada, grant No. A-7700     

Strategies for improving neural net generalisation

We address the problem of training multilayer perceptrons to instantiate a target function. In particular, we explore the accuracy of the trained network on a test set of previously unseen patterns — the generalisation ability of the trained network. We systematically evaluate alternative strategies designed to improve the generalisation performance. The basic idea is to generate a diverse set of networks, each of which is designed to be an implementation of the target function. We then have a set of trained, alternative versions — a version set. The goal is to achieve useful diversity within this set, and thus generate potential for improved generalisation performance of the set as a wholewhen compared to the performance of any individual version. We define this notion of useful diversity, we define a metric for it, we explore a number of ways of generating it, and we present the results of an empirical study of a number of strategies for exploiting it to achieve maximum generalisation performance. The strategies encompass statistical measures as well as a selectornet approach which proves to be particularly promising. The selector net is a form of metanet that operates in conjunction with a version set.     

Theory of edge perception for computer vision feedback control

In this paper, the authors address the problem of edge-perception for its applications to vision-feedback control in robotic systems.In natural vision, the recognition of objects takes place through the process consisting of eye system, neural networks and cognition. The cognitive process, in turn yields a phenomenon known as perception. This is the phenomenon of perception of physical attributes, such as edges, color and texture, etc., which is responsible for the recognition of objects through the natural vision processes.In this paper, we make an attempt to postulate the theory of perception for gray-level images. The gray-level images, when going through the cognitive and perception processes, are contaminated by the uncertainty; here we call it cognitive uncertainty.The studies in this paper are confined to the phenomenon of edge-perception for two-dimensional gray-level images, however, these studies can be extended to other types of visual attributes both in two-dimensional and three-dimensional spaces. Indeed, the perception of these attributes, which attempts to emulate the human vision system, may help in the design of a truly robust computer vision-feedback control system for robotic applications.     

Organisational development issues and the implementation of the Clean Technology paradigm in industry

Environmental protection activities in industry have rapidly increased in number over the last years. Additionally, surveys of environmental activities have identified a change in the kind or in the approaches used to environmental problem solving. A new paradigm Clean Technology has been developed which gradually seems to replace the Clean-up Technology paradigm and the older Dilute and Disperse paradigm. The new Clean Technology paradigm brings with it not only a new way of looking at environmental protection, but also a range of rules guiding the application of technology and the design of technological systems. This paper presents a few case studies highlighting and evaluating Clean Technology activities.     

Toward Cultural Oncology: The Evolutionary Information Dynamics of Cancer

'Racial' disparities among cancers, particularly of the breast and prostate, are something of a mystery. For the US, in the face of slavery and its sequelae, centuries of interbreeding has greatly leavened genetic differences between Blacks and Whites, but marked contrasts in disease prevalence and progression persist. Adjustment for socioeconomic status and lifestyle, while statistically accounting for much of the variance in breast cancer, only begs the question of ultimate causality. Here we propose a more basic biological explanation that extends the theory of immune cognition to include an elaborate tumor control mechanism constituting the principal selection pressure acting on pathologically mutating cell clones. The interplay between them occurs in the context of an embedding, highly structured, system of culturally-specific psychosocial stress. A rate distortion argument finds that larger system able to literally write an image of itself onto the disease process, in terms of enhanced risk behaviour, accelerated mutation rate, and depressed mutation control. The dynamics are analogous to punctuated equilibrium in simple evolutionary systems, accounting for the staged nature of disease progression. We conclude that 'social exposures' are, for human populations, far more than incidental cofactors in cancer etiology. Rather, they are part of the basic biology of the disorder. The aphorism that culture is as much a part of human biology as the enamel on our teeth appears literally true at a fundamental cellular level.     

Symbols and Computation A Critique of the Computational Theory of Mind

Over the past several decades, the philosophical community has witnessed the emergence of an important new paradigm for understanding the mind.¹ The paradigm is that of machine computation, and its influence has been felt not only in philosophy, but also in all of the empirical disciplines devoted to the study of cognition. Of the several strategies for applying the resources provided by computer and cognitive science to the philosophy of mind, the one that has gained the most attention from philosophers has been the Computational Theory of Mind (CTM). CTM was first articulated by Hilary Putnam (1960, 1961), but finds perhaps its most consistent and enduring advocate in Jerry Fodor (1975, 1980, 1981, 1987, 1990, 1994). It is this theory, and not any broader interpretations of what it would be for the mind to be a computer, that I wish to address in this paper. What I shall argue here is that the notion of symbolic representation employed by CTM is fundamentally unsuited to providing an explanation of the intentionality of mental states (a major goal of CTM), and that this result undercuts a second major goal of CTM, sometimes refered to as the vindication of intentional psychology. This line of argument is related to the discussions of derived intentionality by Searle (1980, 1983, 1984) and Sayre (1986, 1987). But whereas those discussions seem to be concerned with the causal dependence of familiar sorts of symbolic representation upon meaning-bestowing acts, my claim is rather that there is not one but several notions of meaning to be had, and that the notions that are applicable to symbols are conceptually dependent upon the notion that is applicable to mental states in the fashion that Aristotle refered to as paronymy. That is, an analysis of the notions of meaning applicable to symbols reveals that they contain presuppositions about meaningful mental states, much as Aristotle's analysis of the sense of healthy that is applied to foods reveals that it means conducive to having a healthy body, and hence any attempt to explain mental semantics in terms of the semantics of symbols is doomed to circularity and regress. I shall argue, however, that this does not have the consequence that computationalism is bankrupt as a paradigm for cognitive science, as it is possible to reconstruct CTM in a fashion that avoids these difficulties and makes it a viable research framework for psychology, albeit at the cost of losing its claims to explain intentionality and to vindicate intentional psychology. I have argued elsewhere (Horst, 1996) that local special sciences such as psychology do not require vindication in the form of demonstrating their reducibility to more fundamental theories, and hence failure to make good on these philosophical promises need not compromise the broad range of work in empirical cognitive science motivated by the computer paradigm in ways that do not depend on these problematic treatments of symbols.