Development and training of a learning expert system in an autonomous mobile robot via simulation

Abstract

The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert system was created to operate on board an autonomous robot working at a process control panel. A two- computer simulation system was used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulat ing also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using a computerized simulator to train a learning computer, and future uses of the simula tion system, are discussed.

Keywords

psychology simulators trainers model design emulation

Get full access to this article

View all access options for this article.

References

Brannen, J.P. & K.L. Hiebert-Dodd. 1987. Expanding the domain of systems analysis. SIMULATION 49, no. 4 (October): 141-149.

Burks, B.L. , de Saussure, G. , Weisbin, C.R. , Jones, J.P. , Hamel, W.R. , "Autonomous Navigation, Exploration, and Recognition Using the HERMIES-IIB Robot," IEEE Expert, Winter, 1987, 18-27.

Buxton, W. "There's More to Interaction than Meets the Eye: Some Issues in Manual Input," User Centered System Design: New Perspectives on Human-Computer Interaction, D. A. Norman & S. W. Draper , eds., Lawrence Earlbaum Associates, Hillsdale, NJ, 1986.

Carbonell, J.G. , et al., "An Overview of Machine Learning," in Machine Learning, R. S. Michalski , J. G. Carbonell , & T. M. Mitchell , Tioga Publishing Company, Palo Alto, CA, 1983, 3-23.

Culbert, C.J. CUPS Reference Manual, NASA Johnson Space Flight Center, distributed by COSMIC Software Information Services, University of Georgia, Computer Services Annex, Athens, GA 30602.

Erickson, S.A., Jr. 1986. Fusing AI and simulation in military modeling. in AI Applied to Simulation ( Kerckhoffs , et al., eds) The Society for Computer Simulation , San Diego, Calif. (February): 140-150.

Klahr, D. , P. Langley , & R. Neches , eds. Production System Models of Learning and Development. The MIT Press , Cambridge, MA, 1987.

Lirov, Y. , et al. 1988. Artificial intelligence modelling of control systems. SIMULATION 50, no. 1 (January): 12-24.

Mellichamp, J.M. & A.F.A. Wahab. 1987. An expert system for FMS design. SIMULATION 48, no. 5 (May): 201-208.

10.

Michalski, R.S. , "Understanding the Nature of Learning: Issues and Research Directions " in Machine Learning, Vol. II. R. S. Michalski , J. G. Carbonell , & T. M. Mitchell , Tioga Publishing Company, Palo Alto, CA , 1986, 3-25.

11.

Moser, J.G. 1986. Integration of artificial intelligence and simulation in a comprehensive decision-support system. SIMULATION 47, no. 6 (December): 223-229.

12.

Murray, K.J. & S.V. Sheppard. 1988. Knowledge-based simulation model specification. SIMULATION 50, no. 3 (March): 112-119.

13.

Oren, T.I. 1987. Artificial intelligence and simulation: From cognitive simulation toward cognizant simulation. SIMULATION 48, no. 4 (April): 129-130.

14.

Spelt, P.F. , deSaussure, G. , Lyness , E.S. , Weisbin, C.R. , Pin, F.G. , "Learning by an Autonomous Robot at a Control Panel", IEEE Expert, special issue on Artificial Intelligence, in press.

15.

Spelt, P.F. , de Saussure, G. , Oliver , G.L. , Weisbin, C.R. , Pin, F.G. , "Concept formation by an Autonomous Robot based on self-generated examples" IEEE Expert, in preparation.

16.

Wildberger, A.M. 1987a. AI and Simulation. SIMULATION 49, no. 1 (July): 3.

17.

Wildberger, A.M. 1987b. AI and Simulation. SIMULATION 48, no. 6 (June): 224.

18.

Wildberger, A.M. 1987c. AI and Simulation. SIMULATION 49, no. 4 (October): 140.