Preliminary Program 9th IEEE International Symposium on INTELLIGENT CONTROL August 16-18, 1994 Holiday Inn, Crowne Plaza Columbus, Ohio, USA Sponsored by the IEEE Control Systems Society DIRECTORY OF CONTENTS Organizing Committee ................................................ 1 Program Committee ................................................... 1 Invitation .......................................................... 2 Intelligent Control: Problems and Methodology ....................... 2 ISIC Past and Present ............................................... 2 Symposium Highlights ................................................ 3 Symposium Information ............................................... 4 General Information ................................................. 5 ISIC Tutorial Workshops ............................................. 5 ISIC Technical Program .............................................. 6 ORGANIZING COMMITTEE GENERAL CHAIR Umit Ozguner Department of Electrical Engineering The Ohio State University 2015 Neil Avenue Columbus, OH 43210 Telephone: (614)292-5940 Email: umit@ee.eng.ohio-state.edu PROGRAM CHAIRS Michael B. Leahy, Jr. SA-ALC/TIEST, Building 183, 450 Quentin Roosevelt Road Kelly AFB, TX 78241-6416 Telephone: (210)925-3711 Fax: (210)925-4916 Email: mleahy@sadis05.kelly.af.mil Levent Acar Intelligent Systems Division Building 220, Room B124 National Institute of Standards and Technology Gaithersburg, MD 20899-0001 Telephone: (301)975-2975 Fax: (301)990-9688 Email: acar@cme.nist.gov REGISTRATION CHAIR Jeff Donne AEG, Automation Systems Group P.O. Box: 490 Pittsburgh, PA 15230 Telephone: (412)873-9300 Fax: (412)873-9641 Email: donne@ee.pitt.edu PUBLICATIONS CHAIR John S. Bay Bradley Department of Electrical Engineering Virginia Polytechnic Institute Blacksburg, VA 24061-0111 Email: bay@vt.edu FINANCE CHAIR Kevin M. Passino Department of Electrical Engineering The Ohio State University 2015 Neil Avenue Columbus, OH 43210 Telephone: (614)292-5716 Email: passino@ee.eng.ohio-state.edu LOCAL ARRANGEMENTS CHAIR James F. Davis Department of Chemical Engineering The Ohio State University 140 W. Nineteenth Avenue Columbus, OH 43210 Telephone: (614)292-0090 Email: davis.64@osu.edu PROGRAM COMMITTEE J. S. Albus, National Institute of Standards and Technology J. R. Balaram, NASA Jet Propulsion Laboratory J. S. Bay, Virginia Polytechnic Institute H. R. Berenji, NASA Ames Research Center M. Buehler, McGill University J. Farrell, University of California at Riverside J. T. Feddema, Sandia National Laboratory T. Fukuda, Nagoya University, Japan O. Kaynak, Bogazici University, Turkey M. M. Kokar, Northeastern University M. D. Lemmon, University of Notre Dame A. M. Meystel, Drexel University K. M. Passino, The Ohio State University S. V. Rao, University of Missouri-Rolla H. E. Rauch, Lockheed Palo Alto Research Laboratory T. M. Sobh, University of Utah K. P. Valavanis, University of Southwestern Louisiana Y. F. Zheng, The Ohio State University INVITATION On behalf of the IEEE Control Systems Society, the Program and Organizing Committees invite you to participate in the 9th IEEE International Symposium on Intelligent Control (ISIC). ISIC has always been, what I consider, a friendly, intimate gathering. The conference site, at the Holiday Inn, Crowne Plaza provides a particularly good layout for discussions and exchange of ideas. The Program Committee has selected an excellent set of papers, and with the Tutorial Workshops, this promises to be an exciting three days in Columbus. Umit Ozguner, General Chair ISIC'94 INTELLIGENT CONTROL: PROBLEMS AND METHODOLOGY A brief description of the problems addressed and the methodology used in the area of Intelligent Control is given below since it serves to identify the focus of the research in the area and thus help the newcomers to this area better appreciate the results presented: The ever increasing technological demands of today call for very complex systems, which in turn require highly sophisticated controllers to ensure that high performance can be achieved and maintained under adverse conditions. There are needs in the control of these complex systems which cannot be met by conventional approaches to control. For instance, there is a significant interest in enhancing current avionic systems so that they can reconfigure the aircraft controls to maintain adequate levels of performance even if there are complete failures in one or more of the actuators or sensors. In a similar manner, there is a significant need to achieve higher degrees of autonomous operation for robotic systems, spacecraft, manufacturing systems, automotive systems, underwater and land vehicles, and others. To achieve such highly autonomous behavior for complex systems one can enhance today's control methods using intelligent control systems and techniques. The area of Intelligent Control is a fusion of a number of research areas in Systems and Control, Computer Science, and Operations Research among others, coming together, merging and expanding in new directions and opening new horizons to address the problems of this challenging and promising area. Intelligent control systems are typically able to perform one or more of the following functions to achieve autonomous behavior: planning actions at different levels of detail, emulation of human expert behavior, learning from past experiences, integrating sensor information, identifying changes that threaten the system behavior, such as failures, and reacting appropriately. This identifies the areas of Planning and Expert Systems, Fuzzy Systems, Neural Networks, Machine Learning, Multi-sensor Integration, Failure Diagnosis, and Reconfigurable Control, to mention but a few, as existing research areas that are related and important to Intelligent Control. While these techniques provide several key approaches to Intelligent Control, for complex systems they are often interconnected to operate within an architecture which is hierarchical and often distributed. It is for this reason that the areas of hierarchical intelligent control, distributed intelligent control, and architectures for intelligent systems are of significant importance in the design and construction of the overall intelligent controller for complex dynamical systems. Finally, it is of fundamental importance to recognize that (i) intelligent controllers are nonlinear (possibly hierarchical and distributed) controllers that are constructed in nonconventional ways, and (ii) intelligent controllers are often designed to operate in "critical environments" where, for example, the safety of a crew (e.g., in an aircraft/spacecraft), or environmental issues are of concern (e.g., from nuclear power plants or process control). Hence, it is both possible, and of significant importance to introduce mathematical modeling and analysis techniques to be used in the verification and certification of the behavior of intelligent control systems. Topics of interest include: - Architectures for intelligent control - Hierarchical intelligent control - Distributed intelligent systems - Modeling intelligent systems - Mathematical analysis of intelligent systems - Discrete event systems - Hybrid systems - Design techniques for intelligent controllers - Knowledge-based and expert systems - Planning systems - Fuzzy systems and fuzzy control - Machine learning and adaptive systems - Genetic algorithms - Neural networks and neural control - Reconfigurable control - Multisensor fusion and integration - Pattern recognition - Failure detection and identification - Applications and implementations - Robotics - Manufacturing systems - Automotive and transportation systems - Intelligent vehicle highway systems - Aircraft, spacecraft, and satellites - Underwater and land vehicles - Process operations and control - Consumer products ISIC PAST AND PRESENT The 1994 ISIC is the 9th International Symposium on Intelligent Control. From the beginning, the symposium filled a real need and attracted researchers who felt that a forum for discussion and exchange of ideas in this area was necessary. Today the term "Intelligent Control" is part of everyday vocabulary. Its use, and sometimes its misuse, signifies the importance this area has attained, and this symposium was where the early steps were taken. The following summary of locations, chairs and dates outlines the history of the symposium. Note that "GC" and "PC" denote General Chair and Program Chair respectively. 1985 IEEE International Symposium on Intelligent Control GC: G. N. Saridis PC: A. M. Meystel Rensselaer Polytechnic Institute, Troy, New York August 26, 1985 Sponsored by the National Science Foundation 1987 IEEE International Symposium on Intelligent Control GC: A. M. Meystel PC: J. Y. S. Luh Penn Tower Hotel, Philadelphia, Pennsylvania January 19-20, 1987 Sponsored by the IEEE Computer Society and the Philadelphia section 1988 IEEE International Symposium on Intelligent Control GC: H. E. Stephanou PC: A. M. Meystel and J. Y. S. Luh Key Bridge Marriott Hotel, Arlington, Virginia August 24-26, 1988 Sponsored by the IEEE Control Systems Society; in collaboration with the IEEE Systems, Man, and Cybernetics Society and the IEEE Industrial Electronics Society 1989 IEEE International Symposium on Intelligent Control GC: A. C. Sanderson PC: A. A. Desrochers and K. P. Valavanis Desmond Americana, Albany, New York September 25-26, 1989 Sponsored by the IEEE Control Systems Society 1990 IEEE International Symposium on Intelligent Control GC: A. M. Meystel PC: H. Kwatny, S. Navathe, and H. Wechsler Penn Tower Hotel, Philadelphia, Pennsylvania September 5-7 , 1990 Co-Sponsored by the IEEE Control Systems Society and the IEEE Society of Robotics and Automation; in cooperation with the IEEE Computer Society 1991 IEEE International Symposium on Intelligent Control GC: H. E. Stephanou PC: A. H. Levis Key Bridge Marriott Hotel, Arlington, Virginia August 13-15, 1991 Sponsored by the IEEE Control Systems Society. Concurrently with the 1991 IFAC International Symposium on Distributed Intelligence Systems 1992 IEEE International Symposium on Intelligent Control GC: E. Grant PC: T. C. Henderson The Albany Hotel, Glasgow, Scotland August 11-13, 1992 Sponsored by the IEEE Control Systems Society 1993 IEEE International Symposium on Intelligent Control GC: P. J. Antsaklis PC: K. M. Passino and U. Ozguner The Knickerbocker Hotel, Chicago, Illinois August 25-27, 1993 Sponsored by the IEEE Control Systems Society SYMPOSIUM HIGHLIGHTS Plenary Presentations Each day begins with a Plenary Lecture: Wednesday: James S. Albus, Nat. Inst. of Standards and Tech. "Intelligent Control --- From Theory to Practice" Thursday: Robert Stengel, Princeton University "Intelligent Control of Automotive Systems" Technical Program Overview The 1994 International Symposium on Intelligent Control has 3 parallel sessions each day for 2 days, Wednesday August 17 and Thursday August 18. There is one set of morning sessions and two sets of afternoon sessions each day with plenty of time in between for informal discussions over coffee. The presentation time for all papers will be 25 minutes. Overhead projectors will be available in all rooms. Authors requiring other special audio-video equipment for their presentation should notify the Local Arrangements Chair (see address above) at least ONE MONTH before the symposium so that the appropriate arrangements can be made. Panel Discussion Defining Intelligent Control Organizer: Panos J. Antsaklis, University of Notre Dame IEEE CSS Task Force, Chair Moderator: Umit Ozguner, The Ohio State University IEEE CSS Committee on Intelligent Control, Chair Panelists: James S. Albus, National Inst. of Standards and Technology Panos J. Antsaklis, University of Notre Dame J. Douglas Birdwell, University of Tennessee Alexander M. Meystel, Drexel University Kumpati S. Narendra, Yale University Harry E. Stephanou, Rensselaer Polytechnic Institute This panel discussion will be held on Thursday from 1:30 p.m. to 3:00 p.m. Tutorial Workshops The 1994 International Symposium on Intelligent Control traditionally starts with a day of tutorial workshops. This year we have two Workshops, providing a lively forum for discussing the latest developments and trends and one tutorial. Workshops: "Architectures for Intelligent Control Systems." Organizer/Moderator: A. M. Meystel, Drexel University "Neural Networks" Organizer/Moderator: L. Berke, NASA Lewis Tutorial: "One Aspect of IVHS: The Automated Highway System." The workshops will have a set of presentations leading to discussions. Those who wish to make a presentation should contact the organizers directly. The tutorial lecturers are leaders in their fields who have published extensively and are experienced lecturers. Tutorial registration fees include lecture notes and are payable either through advance registration or on-site at the registration desk. The advance registration form is included in this program. Advance registration is strongly encouraged both to reserve space and to prevent workshop or tutorial cancellation. A workshop or tutorial will be canceled if the number of advance registrants does not exceed a specified lower limit. In the unlikely event that a workshop or tutorial is canceled, advance registrants will be contacted as soon as possible after the advance registration deadline of July 15; when registering for a workshop or tutorial please make sure to include your phone number, fax number or e-mail address for this purpose. Prospective on-site registrants are advised to confirm that the workshop has not been canceled with the Registration Chair (see page 1 for address). SYMPOSIUM INFORMATION ----------------------------------------------------------------------- Registration Form --- IEEE ISIC'94 Name __________________________________________________________________ Name on badge _________________________________________________________ Affiliation ___________________________________________________________ Department ____________________________________________________________ Street Address ________________________________________________________ City, State _______________________________________ ZIP _______________ Country _______________________ Fax ___________________________________ Accompanying Guest's Name _____________________________________________ IEEE Membership Number ________________________________________________ Email _________________________________________________________________ (Please circle) IEEE Member Non-member Student or Retiree Adv. Reg. Fee $220 $250 $60 Onsite Reg. Fee $250 $280 $80 Tutorial (w/o conf.) $150 $200 $75 Tutorial (with conf.) $100 $120 $40 Workshop $40 $50 $30 Add. Proc. Copies $60 $75 No. ____ Add. Banquet Tickets $30 each No. ____ Workshop Number ____ Conference Registration Total _______ The society and non-member symposium registration fee includes one proceedings copy, one banquet ticket, and one complimentary drink ticket. All workshop registrations received after the advanced registration deadline must be at the nonmember rate. To avoid workshop cancellation, please preregister. Please make check or money order in US dollars payable to "9th IEEE ISIC'94" and mail payment with this form to the registration chair at the address below. Alternatively, you can charge the total amount by filling in the following information: Mastercard ___ Visa ___ American Express ___ Number: ___________________________ Expiration Date: ________ ----------------------------------------------------------------------- After completing the form, cut it out and mail it to Jeff Donne AEG, Automation Systems Group P.O. BOX: 490 Pittsburgh, PA 15230 Telephone: (412)873-9300 Fax: (412)873-9641 Email: donne@ee.pitt.edu Symposium Advanced Registration Deadline: July 15, 1994 Registration after this date is at the onsite rate. Additional Banquet tickets, $30 each. Attendees may pick up their symposium Proceedings at the symposium Registration area at the Holiday Inn Hotel. All attendees must register and wear the symposium badges. The Registration Desk will be open: Wednesday, August 17: 7:00 a.m. -- 1:00 p.m. 4:00 p.m. -- 8:00 p.m. Thursday, August 18: 7:00 a.m. -- 5:00 p.m. Friday, August 19: 7:00 a.m. -- 12:00 noon ----------------------------------------------------------------------- Hotel Reservation Form --- IEEE ISIC'94 Name __________________________________________________________________ Affiliation ___________________________________________________________ Street Address ________________________________________________________ City, State _______________________________________ ZIP ______________ Country _______________________ Fax __________________________________ Sharing room with _____________________________________________________ Arrival Date ______________________ Arrival Time ______________________ Departure Date ________________________________________________________ Reservations must be received by August 5, 1994 and must include a one night deposit. Please reserve _____ single room(s) at $98 per room (plus tax) Please reserve _____ double room(s) at $98 per room (plus tax) Please pay in U.S. dollars by either check, money order, or credit card: Mastercard ___ Visa ___ American Express ___ Number: ___________________________ Expiration Date: ________ Signature _____________________________________________________ ----------------------------------------------------------------------- After completing the form, please cut it out and mail it to: Holiday Inn, Crowne Plaza 33 Nationwide Blvd. Columbus, OH 43215 or use the enclosed envelope. Speakers' Breakfast Speakers, session chairs and co-chairs are invited to breakfast on the day of their session, from 7:15 to 8:15 a.m. on Wednesday and Thursday (The location will be posted at the hotel). All speakers should plan to attend because session chairs use this opportunity to make final arrangements for the sessions and to learn about the background of the speakers. Reception and Banquet A no-host, welcome reception will be held on Tuesday evening, August 16, 1994 for Tutorial, Workshop and Conference participants. The reception begins at 6:30 p.m. A complimentary ticket for one drink is included with your registration packet. The Conference banquet is on Wednesday August 17, 1994 at 7:30 p.m. One banquet ticket is included with the regular registration package; students' registration does not include banquet tickets. Additional banquet tickets for accompanying persons and guests should be purchased in advance, since only a limited number may be available on-site. It is customary for the registrants who do not plan to attend the banquet to leave their tickets at the registration desk so students may use them. GENERAL INFORMATION Columbus Columbus is the capital of Ohio, located in the center of the state on the banks of the Scioto River. It was the first U.S. city that was planned and built as a state capital, and it was incorporated as a city in 1834. Columbus is the largest city in Ohio. The economy is oriented toward service occupations, such as insurance, finance, education, and government. A number of major corporations have their headquarters in Columbus, including AEP and The Limited. Major industries nearby include the Honda manufacturing plant. Major higher educational institutions are located in Columbus, at the forefront is the Ohio State University (1870), one of the largest in the United States with a student population close to 54 thousand. Columbus has important cultural and recreational attractions, including the Center of Science and Industry Museum, Columbus Museum of Art, and Ohio Theater, where the Columbus Symphony Orchestra and other fine arts groups perform. The Ohio State University stadium and the large state fairgrounds are frequently visited by tourists. "German Village" with a number of micro-breweries is also a popular location. Transportation Columbus is at the intersection of I-70 and I-71 and is within driving distance of a substantial portion of the US population. Columbus International Airport is served by all major National Airlines. Direct flights exist to both coasts. The Hotel The Holiday Inn Crowne Plaza is located in the heart of downtown Columbus. An enclosed walkway connects the hotel to the Greater Columbus Convention Center, a 1500 space parking garage, the famous Nationwide Building Atrium, and a variety of shops and restaurant. Within walking distance is the State Capitol, the beautifully renovated Palace and Ohio Theaters and the colossal City Center Mall. Only minutes away from the shops and restaurants on the cobblestone roads of the German Village. Driving Directions From 315 South: Exit Long Street, go 1 mile Turn left on Front Street Turn right on Nationwide Blvd. From I-70 East: Exit High Street (Exit 100A) Pittsburgh Turn left onto High Street Turn right on Nationwide Blvd. From I-70 West: Exit Fourth Street (Exit 100B) Indianapolis Turn left onto Spring Street Turn right onto High Street Turn right onto Nationwide Blvd. From I-71 South: Exit Spring Street Cincinnati Turn right onto High Street Turn right onto Nationwide Blvd. From I-71 North: Same directions as from I-70 East Cleveland ISIC'94 TUTORIAL AND WORKSHOPS Two full day Workshops and one full day Tutorial will be offered on Tuesday August 16, 1994 (to register see page 4). TUTORIAL One Aspect of IVHS: The Automated Highway System. Since the passage of the Intermodal Surface Transportation Efficiency Act of 1991 (ISTEA), efforts in IVHS has increased many fold. One area of particular interest to Intelligent Control Systems researchers is the Automated Highway System (AHS), Research in this area is not new, and certainly proceeds ISTEA by over ten years. AHS provides an application area for a combination of techniques ranging from standard vehicular control, to sensor fusion, from communications systems to neural networks and software hierarchies to complex AI approaches. In this tutorial we shall present an overview of AHS research and developments, from its origin (particularly at the Ohio State University), with a sampling of past and present efforts, and ongoing national programs. Topics and Speakers: "The Origins and Development of AHS Research," R. E. Fenton, The Ohio State University. "Overview of AHS Programs," J. Pittenger, Battelle. "Lanetrak: A Vision Based Automated Steering System," O. Altan, GM Research. "The Path Program," T.B.A. "Radar Based Lane Following and Headway Control," J. Young, U. Ozguner, et al., The Ohio State University. WORKSHOPS Workshop 1. Architecture for Intelligent Control Systems (AICS) A. M. Meystel, Drexel University Telephone: (215)895-2220 Fax: (215)895-1695 Email: Alexander_Meystel@cbis.ece.drexel.edu "The encephalization that accompanies the phylogenetic emergence of mammals led to a dramatic increase in the number of nerve cells and neural connections. The human brain contains somewhere between 1012 and 1014 nerve cells. These numbers exemplify the combinatorial complexity of possible relations that can be established by neuronal connections and raise the challenging question of how such a complex system can develop in a safe and reproducible way >from a comparatively small set of genetic instructions" (W. Singer, Director of Max Planck Institute for Brain Research) When one reads these lines, one is bound to think, "But this is written about intelligent control system design!" This is what we will find out during the Fourth Annual IEEE Workshop on Architecture for Intelligent Control Systems. It will be dedicated to a multidisciplinary discussion: "The Architecture of Intelligence of a Brain, of a Species, and of a Machine". Three groups of specialists-on on the Brain, on Neuroethology, on Intelligent Control- will be invited to present their views on these matters. We will request from them that their paradigm be represented in an architectural form, which some call Schema, some call Functional Decomposition, and some call an Intelligent Control Structure. The only thing which will help us to come to a common denominator will be the emphasis on Intelligence. What is the Schema of the intelligence as embodied by the Brain of and animal? What is the functional decomposition of Intelligence demonstrated by a neuroethological approach? What is the nature of Intelligence which we aspire to build as a part of an Intelligent Machine? We expect that this discussion will enable us to recognize elements of resemblance among these three different groups of scientists. If the resemblance found it can be a motivation in subsequent research and a basis for models, explanations and hypotheses. These three groups are not used to working together; communication differences are expected, but after all --- aren't all of them working on intelligence? They will start understanding each other sooner or later (this is one of the functions of the program organizers; to establish a common language in advance). We are interested in finding commonalities in the patterns of the operations of intelligence which are usually utilized by the three groups of scientists. The issues of goals, costs, values, efficiency, and complexity will be addressed as far as the neurobiologists, neuroethologists, and neural network control communities are concerned. Also we are going to discuss the role of evolution --- natural and simulated --- in the development of intelligent systems. The AICS community won't remain indifferent to this event. I would expect that many of you would be interested in presenting your views at this workshop. Let me know your intentions. Send me a brief abstract of your possible paper and we will discuss it via e-mail. Don't worry about a limited framework: we will be able to accommodate the intention to increase our agenda. A. M. Meystel, Moderator Workshop 2. 3rd Annual Workshop on Neural Networks L. Berke, NASA Lewis Research Center Telephone: (216)433-5648 Fax: (216)433-8300 Email: smberke@lims01.lerc.nasa.gov The Neural Networks Workshop is an annual event organized with the participation of user groups in the Cleveland area (SIGART), the Ohio Aerospace Institute (OAI), NASA Lewis and AFWAL. It provides a forum for discussion of latest developments, algorithms and application areas. Participants range from software developers to users in such diverse areas as banking-insurance and space station control. This year, ISIC will be the host to the workshop and provide a bridge between the Intelligent Control Community and the NN user groups. Those wishing to make presentations should contact Les Berke. ISIC'94 TECHNICAL PROGRAM Wednesday, August 17, 1994 ----------------------------------------------------------------------- 8:30 -- 9:30 a.m. Plenary Session Chair: Umit Ozguner, The Ohio State University Dr. James S. Albus, National Inst. of Standards and Technology "Intelligent Control --- From Theory to Practice" ----------------------------------------------------------------------- 9:30 a.m. -- 10:00 a.m. Break ----------------------------------------------------------------------- WA1 --- Fuzzy Control I Chair: S. Yurkovich, The Ohio State University Co-Chair: T. Fukuda, Nagoya University, Japan 10:00 a.m. Hybrid Fuzzy/Statistically Based Controllers: A Preliminary Comparison A. Wright and P. Ralston Louisville University 10:25 a.m. Fuzzy Logic Control of Linear Systems with Variable Time Delay J. Dawson and Z. Gao Cleveland State University 10:50 a.m. Neuro-Fuzzy Architecture in a Batch Reactor Temperature Control System E. Cuellar, J. Coronado, and C. Moreno University of Valladolid 11:15 a.m. Fuzzy Neural Network Implementation of Self Tuning PID Control System A. Ismael, B. Hussein, and R. McLaren Integrated Systems Inc. 11:40 a.m. A Fuzzy Logic Supervisor for PID control of Unknown Systems R. Copeland and K. Rattan Wright State University ----------------------------------------------------------------------- WA2 --- Architecture and Machine Learning Chair: A. M. Meystel, Drexel University Co-Chair: E. Chong, Purdue University 10:00 a.m. What is an Open Architecture Robot Controller W. Ford Sandia National Laboratory 10:25 a.m. Interior Point Methods in the Design of Hierarchical Controllers P. Szymanski and M. D. Lemmon University of Notre Dame 10:50 a.m. Hidden Markov Model-Based Learning Controller J. Yang, Y. Xu, and C. Chen Carnegie Mellon University 11:15 a.m. Task Level Training Signals for Learning Controllers J. Schneider and C. Brown University of Rochester 11:40 a.m. Low Level Fusion for Target Detection N. Parmer and M. Kokar Northeastern University ----------------------------------------------------------------------- WA3 --- Robot Adaptive Control Chair: J. S. Bay, Virginia Polytechnic Institute Co-Chair: F. Lewis, Automation and Robotics Research Institute 10:00 a.m. A New Controller Based on Neural Networks for Robotic Trajectories Tracking Wei Wei and J. Jiang Zheinjiang University 10:25 a.m. Stable Trajectory Control of Robotic Manipulators Using Neural Networks Y. Jin, T. Pipe, and A. Winfield University of the West of England 10:50 a.m. Control of Flexible-Link Robot Arm Using Singular Perturbation and Neural Networks A. Yesildirek, M. Vandegrift, and F. Lewis Automation and Robotics Research Institute 11:15 a.m. Experimental Results of an Adaptive Controller for Robot Manipulators J. Yu and P. Muller University of Wuppertal 11:40 a.m. Two Adaptive Robust Sliding Mode Controllers for Robot Manipulators T. Furuta and K. Tomiyama Aoyama Gakuin University ----------------------------------------------------------------------- 12:05 p.m. -- 1:30 p.m. Lunch ----------------------------------------------------------------------- WM1 --- Fuzzy Control II Chair: Z. Gao, Cleveland State University Co-Chair: K. Rattan, Wright State University 1:30 p.m. Fuzzy Adaptive Systems Applied to the Control of A Switched Reluctance D. Reay, T. Green, and B. Williams Heriot-Watt University 1:55 p.m. A Fuzzy Logic Optimal Solution to the CMMCA Tracking Problem Y. J. Zhong and X. L. Yan Mission Research Corporation 2:20 p.m. An Appropriate Application of Fuzzy Logic: A Missile Autopilot for Dual Control Implementation W. Schroeder and D. Liu Loral-Vought Systems 2:45 p.m. Fuzzy Control of an Electrical Muscle Stimulation System for the Spinal Cord Injured D. Mahajan, D. Reynolds, and K. Rattan Wright State University 3:10: p.m. Reducing Travel Energy Costs for a Subway Train via Fuzzy Logic Controls M. Khanbaghi and R. Malhame Ecole Polytechnic de Montreal ----------------------------------------------------------------------- WM2 --- Discrete Event Chair: K. P. Valavanis, University of Southwestern Louisiana Co-Chair: P. J. Antsaklis, University of Notre Dame 1:30 p.m. Finite State Supervisors in Discrete Event Systems Under Partial Observations T. Ushio Kobe College 1:55 p.m. Controlling Instability in Distributed Queueing Systems E. Billard University of Aizu 2:20 p.m. Permissive Control of Boolean Condition/Event Systems: Synthesis and Limits S. Kowalewski and H-M. Hanisch University of Dortmund 2:45 p.m. A Total Ordering on Languages with a Two-Partition Alphabet A. Nanavati, S. Gulati, and S. Iyengar Louisiana State University 3:10 p.m. Stability of Hybrid Systems M. Dogruel and U. Ozguner The Ohio State University ----------------------------------------------------------------------- WM3 --- Robot Motion and Path Planning Chair: C. H. Spenny, AFIT Co-Chair: M. Bayoumi, Queen's University 1:30 p.m. Nonholonomic Motion Planning for Wheeled Mobile Systems Using Geometric Phases M. Reyhanoglu and E. Al-Regib King Fahd University of Petroleum and Minerals 1:55 p.m. Sensor Based Online Trajectory Generation for Smoothly Grasping Moving Objects without Replanning M. Zhang and M. Buehler McGill University 2:20 p.m. Self-Motions for a Two Robot Closed Chain System H. Yan Missouri Western State College 2:45 p.m. Power Metrics for Robot Planning and Redundancy Resolution N. Titus and C. Spenny AFIT 3:10 p.m. Case-Based Path Planning for Autonomous Underwater Vehicles C. Vasudevan and K. Ganesan Florida Atlantic University ----------------------------------------------------------------------- 3:35 p.m. - 4:00 p.m. Break ----------------------------------------------------------------------- WP1 --- Fuzzy Identification Chair: E. Chong, Purdue University Co-Chair: C. Batur, University of Akron 4:00 p.m. Fuzzy Modeling by Induction and Pruning of Decision Trees L. Sison and E. Chong Purdue University 4:25 p.m. A Fuzzy Clustering Method for the Identification of Fuzzy Models for Dynamic Systems J. Zhao, V. Wertz, and R. Gomez Universite Catholique de Louvain 4:50 p.m. A Method for Dynamic, Multi-Sensor, Evidence Combination Using Fuzzy Linguistic Terms B. Hussien, M. Bender, and A. Procenko Integrated Systems Inc. 5:15 p.m. Fuzzy Systems for Function Approximation with Applications to Failure Estimation E. Laukonen and K. M. Passino The Ohio State University ----------------------------------------------------------------------- WP2 --- Discrete Event & Manufacturing System Chair: M. D. Lemmon, University of Notre Dame Co-Chair: P. J. Antsaklis, University of Notre Dame 4:00 p.m. Modeling and Control of a High-Speed Discrete Event System M. Ghabri and P. Ladet Laboratoire d'Automatique de Grenoble 4:25 p.m. Sequencing Flow Shops with Arbitrary Intermediate Storage A. Benlogab and B. Descotes-Genon Automatic Control Laboratory 4:50 p.m. Algorithmic Approach to Action Planning for Assembly Automation Using State Matrix Representation S. Noorhosseini and A. Malowany McGill University 5:15 p.m. Sensor Assignment for Invertibility in Interruptive Timed Discrete Event Systems Y. Park and E. Chong Purdue University 5:40 p.m. Fault Diagnosis of Manufacturing Systems Using a Discrete Event System Framework S. Bavishi and E. Chong Purdue University ----------------------------------------------------------------------- WP3 --- Genetic Algorithm Chair: B. Carse, University of the West of England Co-Chair: K. M. Passino, The Ohio State University 4:00 p.m. Genetic Adaptive Control L. Porter II and K. M. Passino The Ohio State University 4:25p.m. Genetic Algorithms in Noisy Environment T. Then and E. Chong Purdue University 4:50 p.m. A New Approach to Genetics Based on Machine Learning in Fuzzy Controller Design B. Carse University of the West of England 5:15 p.m. A Hybrid Adaptive Heuristic Critic Architecture for Learning in Large or Continuous Search Spaces A. Pipe, Y. Jin, and A. Winfield University of the West of England ----------------------------------------------------------------------- Thursday, August 18, 1994 ----------------------------------------------------------------------- 8:30 -- 9:30 a.m. Plenary Session Chair: Levent Acar, University of Missouri-Rolla and National Inst. of Standards and Tech. Robert Stengel, Princeton University Intelligent Control of Automotive Systems ----------------------------------------------------------------------- 9:30 a.m. -- 10:00 a.m. Break ----------------------------------------------------------------------- ThA1 --- Mobile Robots Chair: J. S. Bay, Virginia Polytechnic Institute Co-Chair: M. Bayoumi, Queen's University 10:00 a.m. Intercepting a Maneuvering Target in a Multidimensional Stationary Environment Using a Wave Equation Potential Field Strategy M. Ahmad and M. Mohamed Queen's University 10:25 a.m. Spatial Self-Organization in Large Populations of Mobile Robots C. Unsel and J. S. Bay Virginia Polytechnic Institute 10:50 a.m. Dual-Use Mobile Detachable Manipulator (DM)2 Y. Xu, J. Yang, and S. Aoki Carnegie Mellon University 11:15 a.m. Robot Motion Planning in a Changing, Partially Predictable Environment S. LaValle and R. Sharma The Beckman Institute for Advanced Science and Technology 11:40 a.m. The NIST Mobility Testbed William G. Rippey National Institute of Standards and Technology ----------------------------------------------------------------------- ThA2 --- Neural Control Chair: M. D. Lemmon, University of Notre Dame Co-Chair: F. Lewis, Automation and Robotics Research Institute 10:00 a.m. Neural Network Controller for Systems with Unmodeled Dynamics, with Applications to a Wastewater Treatment Plant J. Spall and J. Criston John Hopkins University 10:25 a.m. Event-Based Intelligent Control of Saturated Chemical Plant Using Endomorphic Neural Network Model S. Jung, T. Kim, and K. Park Korea Advanced Institute of Science and Technology 10:50 a.m. Stability of Time Varying Multiple Output Continuous Time Learning Control Systems: A Sufficient Condition L. Hideg Lawrence Technology University 11:15 a.m. Development of a Real-Time Learning Scheduler Using Adaptive Critics Concepts L. Rabelo, A. Jones, and L. Quiroga Ohio University 11:40 a.m. Nonlinear Output Tracking via Nonlinear Dynamic Sliding Manifolds Y. Shtessel University of Alabama at Huntsville ----------------------------------------------------------------------- ThA3 --- Neural Network and Fuzzy Set Theory Based Identification and Control (invited) Chair: S. Ahalt, The Ohio State University Co-Chair: J. Donne, AEG 10:00 a.m. Neural Networks for Dynamic Flight Control R. Setzer, S. Rogers, D. Ruck, and M. Oxley Air Force Institute of Technology 10:25 a.m. Power Grasp Using Fuzzy and Neural Control M. Hanes, S. Ahalt, and D. Orin The Ohio State University 10:50 a.m. Speaker Normalization Using Neural Networks S-C Tsai and A. Krishnamurthy The Ohio State University 11:15 a.m. Neural Network Shortest Path Algorithm T. Haines and Y. Medanic University of Illinois 11:40 a.m. Identification of Membership Function Parameters with Empirical Data from Biomedical Application" D. Repperger and T. Chelette Wright Patterson Air Force Base ----------------------------------------------------------------------- 12:05 p.m. -- 1:30 p.m. Lunch ----------------------------------------------------------------------- 1:30 p.m. -- 3:00 p.m. Symposium-Wide Panel Discussion Organizer: Panos J. Antsaklis, University of Notre Dame Moderator: Umit Ozguner, The Ohio State University Panel Members: James S. Albus, Nat. Inst. of Standards and Technology Panos J. Antsaklis, University of Notre Dame J. Douglas Birdwell, University of Tennessee Alexander M. Meystel, Drexel University Kumpati S. Narendra, Yale University Harry E. Stephanou, Rensselaer Polytechnic Institute Report of the IEEE Task Force on Intelligent Control ----------------------------------------------------------------------- 3:00 p.m. - 3:30 p.m. Break ----------------------------------------------------------------------- ThP1 --- Control Reconfiguration and Failure Diagnosis Chair: J. Farrell, The University of California Riverside Co-Chair: G. Rizzoni, The Ohio State University 3:30 p.m. Stable Learning Scheme for Failure Detection and Accommodation M. Polycarpou University of Cincinnati 3:55 p.m. Hybrid Learning Control in Flexible Space Structures with Reconfiguration Capability G. Yen USAF Phillips Laboratory 4:20 p.m. The Minimal Time Change Detection Algorithm for Intelligent Control System S. Kim University of California, Los Angeles 4:45 p.m. Fuzzy Learning Systems for Aircraft Control Law Reconfiguration W. Kwong, K. M. Passino, and S. Yurkovich The Ohio State University 5:10 p.m. Computational Considerations for Fault Diagnosis in Complex Systems J. Graham, R. Grove Jr., and J. Guan University of Louisville ----------------------------------------------------------------------- ThP2 --- Neural System Identification Chair: J. Spall, John Hopkins University Co-Chair: M. D. Lemmon, University of Notre Dame 3:30 p.m. Identification of Nonlinear Dynamical Systems Using Multilayered Neural Networks S. Jagannathan and F. Lewis Automation and Robotics Research Institute 3:55 p.m. A Modified Radial Basis Function Network for System Identification E. Bass and K. Lee Pennsylvania State University 4:20 p.m. Neural Network Approach to Control System Identification with Variable Activation Functions M. Nechyba and Y. Xu Carnegie Mellon University 4:45 p.m. Node Decoupled Extended Kalman Filter Based Learning Algorithm for Neural Networks S. Murtuza and S. Chorian University of Michigan, Dearborn 5:10 p.m. Designing Wavelet Neural Networks for Feathering the Solar Arrays of the Space Station D. Clancy, U. Ozguner, The Ohio State University R. Graham NASA Lewis Research Center -----------------------------------------------------------------------