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Intelligent Systems Group


Introduction

Simon Fraser University, located 15 km east of Vancouver, enjoys a spectacular view of the Lower Mainland from Burnaby mountain. The School of Engineering Science, a unit of the Faculty of Applied Science, has 22 full-time faculty and 8 instructors. The school offers the degrees of Bachelor of Applied Science, Master of Applied Science, Master of Engineering, and PhD.

This brochure describes current research in Intelligent Systems by faculty and students in the School of Engineering Science. Details of the faculty research and preprints of publications can be obtained by calling or writing the faculty listed below. Additional information concerning entrance requirements and financial assistance can be obtained from the departmental office. Information about the academic programs at the graduate level can be obtained by contacting the Graduate Program Chairman, the Chairman of the Intelligent Systems Group, or the faculty directly.

Contacts

Director, School of Engineering Science
Dr. John Jones, 604-291-4679, jones@sfu.cs.ca
Chairman, Graduate Program
Dr. Mehrdad Saif, 604-291-3119, saif@cs.sfu.ca
Chairman, Intelligent Systems Group
Dr. John Dill, 604-291-3574, dill@cs.sfu.ca
Dr. William A. Gruver
604-291-4339, gruver@cs.sfu.ca
Dr. Kamal K. Gupta
604-291-3118, kamal@cs.sfu.ca
Dr. Paul Ho
604-291-3822, ho@cs.sfu.ca
Dr. Albert Leung
604-291-4296, leung@cs.sfu.ca
Dr. Shahram Payandeh
604-291-4290, shahram@cs.sfu.ca
Dr. Andrew Rawicz
604-291-3819, andrew@schmitt.ensc.sfu.ca

Current Research Projects in Intelligent Systems

Artificial Eye Research
  • Vertebrate vision with retina-like massively parallel optical signal processing
The ultimate goal of this work is fabrication of a functioning eye prosthesis, an electronic equivalent of the vertebrate eye. Results of near-term efforts may help with robotic vision problems with image processing and may help explain certain human vision defects. This is a cooperative effort with scientists from physics, psychology, ophthalmology, and computing science.

Automatic Control Systems

  • Intelligent monitoring and fault tolerant control
  • Neural control and monitoring
  • Decentralized estimation/control
  • Optimization and optimal control
  • Robust estimation/control
This research is developing systems for automated diagnosis of faults. Diagnostic reasoning requires search over a large space of possible diagnoses. Bayesian nets can be used to order this search. A prototype system for diagnosis of automobile engines has been implemented in collaboration with McCarney Technologies. Research also is focused on large scale and decentralized control, optimal control, and fault tolerant control system design. A variety of questions dealing with the state/output feedback design of optimal controllers with pole placement and weight selection capabilities is being investigated. A second area is that of fault-tolerant control system design for applications where continuous and safe operation of the system under control is important for safety or economic reasons. Other work includes the study of robust and insensitive controllers, and the development of a hydraulic pressure controller for compliance and contact force control in underwater robotics applications in collaboration with ISE, Ltd.

Autonomous Underwater Vehicles

  • Bottom Imaging Sonar for Small AUVs
  • Small Area Positioning System for Bottom Survey
  • Sensor Information Flow and Data Interpretation
  • Application of AUVs to Environmental Monitoring and Inspection
An autonomous underwater vehicle (AUV) is being developed as a sensor platform for experiments in signal processing and ocean exploration. Software and hardware for autonomous control of a tethered remotely operated vehicle has been completed and transferred to the AUV platform . The system is being tested in our large in-house test tank and then at a covered barge for initial sea trials. Students also have access to a 40 foot research vessel for coastal work. Research in this area is done in collaboration with the local subsea industry which leads the world in many subsea technologies.

Design Visualization

  • Use of colour to visualize shape information
Existing CAD systems are effective only at the lowest levels of design. The next generation of systems must, by contrast, provide help with design synthesis and analysis. To achieve this, several lines of research are being pursued, including the logical and psychological nature of the design task, and the behaviour of expert and novice designers. Prototype knowledge bases to support mechanical and architectural design are being developed, using an expert system shell with constraint propagation capabilities. Critical attention is being given to the issues of user interface management and visualization techniques.

Industrial Test and Inspection Systems

  • AI based industrial test and diagnostic systems
  • Transducers and microsensor development
  • Automated inspection and defect recognition
  • Single-lens stereo vision camera
New transducers and instrumentation are being developed for special applications such as a diagnostic system for rough ride testing of heavy trucks. The diagnostic inference is made based on the analysis of vibration spectra of a truck interpreted by a trained neural network (lower level inference) and a causal-heuristic expert system (higher inference level). Other examples include a microprocessor controlled capacitive transducer for automated fish inventory. Research is being conducted on the implementation of systems and algorithmic techniques for industrial inspection, defect recognition, and the integration of data from multiple sensors. Recent applications have utilized techniques based on morphology, neural networks, and fuzzy logic. Sensor development is being conducted in collaboration with researchers from the SFU Micromachining Facility.

Intelligent Design

  • Bayesian probabilistic reasoning in design
  • Explanation and the human/computer interface
  • Explanation in knowledge-based design
  • Knowledge bases to support design reasoning
  • Mixed-initiative systems
Research in this area explores the use of model-based reasoning for design and diagnose faults. In collaboration with McCarney Technologies, we are developing a diagnostic system for automobile engines. This research integrates engineering knowledge of the artifact with constraint-based logic programming. Search through the space of possible diagnoses is guided by heuristic rules. In particular, we are evaluating Bayesian probabilistic reasoning as a way of ordering the search. In both design and diagnosis we take a mixed-initiative approach; the responsibility for the task is shared between the system and a human engineer. For this approach to be successful, the system must be able to explain its decisions to the user. This involves study of automatic explanation and the development of a powerful graphic user interface.

Intelligent Graphic Interface

  • Analysis of free form surfaces
  • Constraint visualization
  • Intelligent user interfaces
  • Quantitative use of colour in CAD
The thrust of this joint university-industry project, is to bring intelligence and advanced visualization methods to help inprove graphic user interfaces for very large real time systems, such as power transmission and telecommunications systems. Part of this work has been in visualization methods for representing large, hierarchically organizednetworks. The major industrial partner is MPR Teltech, though several other organizations including HP Canada, BC Tel, TransAlta Utilities, Alberta Research Council, DEC Canada, Shell Canada, and HA Simons are involved.

Manufacturing Automation

  • Accelerated reliability tests
  • Analysis of failure mechanisms and correlations with product life-time
  • Computer controlled creation of microstructures by laser ablation
  • Flexibile and reconfigurable automation for discrete assembly
  • Programming environments for computer-integrated manufacturing
Research in this area treats automation of discrete parts assembly with emphasis on flexibility through sensor-based handling of parts and the development of mechanisms that facilitate mechanical and electronic assembly. Methods are being developed for industrial inspection, defect recogntion, and recognition of parts being handled. This research has received collaboration and support from Weiser Inc. for the manufacture of locksets. Another direction of research is the development of software environments for programming manufacturing systems. Building on textual languages developed for industrial robots and numerically controlled machine tools, manufacturing programming environments attempt to provide a common interface to industrial devices and sensors that would otherwise require specialized programming by different people with different levels of skills. To fabricate micromechanisms from biocompatible materials for medical uses, a Nd:YAG laser with a fine focussing optical system has been coupled with two precision linear motors. The motors are computer controlled providing x-y motion and the laser duty cycle is controlled using an acousto-optical modulator. Reliability research is also being conducted to search for correlations between easily and nondestructively measurable parameters of electronic devices and their lifetime. Correlation models are built on the knowledge of microscopic, physical properties of materials and analysis of failures, and this models are used to determine reliability measures of the product through fast measurement techniques.

Neural Networks and Fuzzy Logic

  • Fuzzy-neural systems for sensor fusion and dynamic control
Work in this area is investigating the properties of non-linear adaptive systems, and their potential in solving pattern recognition and control problems. Advanced computer graphics visualization techniques are being applied to study how such networks learn.

Robot Path Planning and Control

  • Grasping and manipulation
  • Knowledge-based reasoning and geometric methods for path planning
  • Fuzzy-neural systems for sensor fusion and dynamic control
  • Force control
Research focuses on various computational and geometric issues in task level robot planning, in particular robot motion planning efficient algorithms for planning collision-free motions for manipulator arms with many degrees of freedom, planning robot motions among moving obstacles, and dealing with uncertainty in robot motions. A second area of interest is that of building 3-dimensional descriptions of a robot's environment for motion planning, primarily using range and intensity data. With the collaboration of ISE, Ltd., the algorithms designed at SFU are being implemented into a practical motion planner for a space robot having 7 degrees of freedom.

Robotics for Personal Service

  • Dextrous multifingered hands
  • Autonomous underwater vehicles
  • Personal robots for service in the home and office
  • Powered prostheses and aids to assist the disabled
Research in this area deals with mechanical design, intelligent control, and integration of devices for manipulation and mobility. These devices include robotic hands and end-effectors, walking machines, and mobile vehicles. A three-fingered, tendon operated, 9 dof dextrous robotic hand is being developed for use in experimental validation of task oriented grasping. A limited dexterity, 3-fingered hand is being developed for use as a prosthesis and as a flexible end-effector for service robots. Other devices being developed include a four-fingered hand prosthesis, an electro-myographically controlled below-elbow prosthesis, and a powered walking aid to assist paraplegics. This research is being jointly conducted with Tsinghua University and Beijing University of Aeronautics and Astronautics in China. With collaboration from Siemens Corporation, a wheeled mobile vehicle is being developed for use as a personal robot for operation in the home and office. Vehicle control incorporates feedback from ultrasonic and infrared transducers.

Facilities

Design and simulation software includes symbolic numerical manipulation (Matlab, IMSL), kinematic simulators (Mechanical Advantage), finite element modelling and analysis (ANSYS), and electronic and mechanical CAD/CAM (OrCAD, AutoCAD, Personal Designer, Personal Machinist). A large selection of Sun SparcStations, 486-class PCs, and an SGI Indigo workstation provide the compute power to run these packages. Computer graphics equipment includes three Silicon Graphics Indigo machines, two Indigo Extremes, and associated video equipment for simulation and animation. Research facilities available for graphics include a pair of Sun Sparc-Stations and four Silicon Graphics Indigo graphics workstations and video equipment in the Computer Graphics Research Laboratory. Software resources include ECHIDNA, developed by Bill Havens, LIFE FORMS - a system for human animation research developed by Tom Calvert, Mechanical Advantage from Cognition Inc., and AutoCad from AutoDesk.

Robotics research is supported by several robot manipulators, Unimation PUMA 560 industrial robot, a Silicon Graphics Indigo workstation for graphical simulations, a laser range scanner (modified 100-X) that generates a full 2-D range image, a 24 bit coulour frame grabber connected to a Sun SPARCstation, two solid state CCD cameras and a high resolution colour display monitor. Projects in underwater vehicles can utilize the Underwater Research Laboratory's 4m x 4m x2 m test tank, an underwater acoustic testbed, a CTD profiler, and communications test equipment. Manufacturing process and reliability research is supported by three environmental chambers, two vibration tables, scanning electron microscope, several light microscopes and a variety of materials' test and inspection devices.

A departmental machine shop is available for small projects, and a larger, fully-staffed university machine shop is equipped with modern NC tools for complex mechanical implementations.

Industrial Collaboration

  • MPR Teltech, Intelligent Graphic Interface project
  • PanAbode Int. and Microlight Computer Graphics, IntelCAD project
  • Int. Submarine Engineering Ltd., practical path planners
  • Weiser Inc., reconfigurable automation for mechanical assembly
  • Northern Telecom, electronics assembly automation
  • HighQuest Engineering, modelling of pressure-swing adsorption processes
  • Kinetic Sciences Inc., design of micromechanical tactile sensor
  • Doty Scientific Inc., design and analysis of laminar-flow heat exchangers and microturbines

Publications (1990-present)

Books
  • M. Jamshidi, and M. Saif (eds), Robotics and Manufacturing-Recent Trends in Research, Education, and Applications, 1026 pages, ASME Press, NY, 1990.
  • W. A. Gruver and J.C. Boudreaux (eds), Intelligent Manufacturing: Programming Environments for CIM, Springer-Verlag Publishing Co., London, England, 1993, 271 pages.
Journals
  • A. Arakawa, K. Saito, and W. A. Gruver, "A Study of Corner Wall Fires Automated Infrared Imaging Temperature Measurement," J. of Combustion and Flame, Vol 92, 1993, pp. 222-230.
  • T.W. Calvert, A. Bruderlin, J.C. Dill and C. Welman, "Desktop Animation of Multiple Human FIgures," IEEE Computer Graphics and Applications, 13(3), pp. 18-26, May, 1993.
  • J.C. Dill, J.D. Jones and S. W. Josef, "Intelligent Computer Aided Design," Revue Int.e de CFAO et Infographie (Int. Journal of CAD/CAM and Computer Graphics), Vol 8, No. 2, Hermes, Paris,1993, pp. 175-184.
  • D. Doty, Greg Hosford, J.D. Jones and J.B. Spitzmesser, "The Micro-Tube Strip Heat Exchanger," Heat Transfer Engineering, Vol 12, No. 3, pp. 31-41, July, 1991.
  • A. Goshtasby and W. A. Gruver, "Design of a Single-Lens Stereo Camera System," Pattern Recognition , Vol 26, No. 6, June 1993, pp 923-938.
  • W. A. Gruver, "Intelligent Robotics in Manufacturing, Rehabilitation, and Service," IEEE Transactions on Industrial Electronics, Feb 1994.
  • W. A. Gruver and M.T. Senninger, "Tooling Management in a Flexible Manufacturing System," ASME Mechanical Engineering, American Society of Mechanical Engineers, New York, NY, Mar 1990, pp. 40-44.
  • Y. Guan and M. Saif, "A Novel Approach to the Design of Unknown Input Observers," IEEE Transactions on Automatic Control, Vol. 36, pp. 632-635, 1991.
  • G. Guo and W. A. Gruver, "A New Design for a Dextrous Robotic Hand Mechanism," IEEE Control Systems Magazine, Vol 12, Aug 1992, pp. 35-38.
  • G. Guo, W. A. Gruver, and Q. X. Zhang, "Optimal Grasps for Planar Multi-fingered Robot Hands," IEEE Trans. Systems, Man and Cybernetics, SMC-22, No. 1, Jan/Feb 1992, pp. 193-198.
  • K. K. Gupta, "Fast collision avoidance for manipulator arms: A sequential search strategy," IEEE Trans. on Robotics and Automation, Vol. 6, pp. 522-532, No. 5, 1990.
  • K. K. Gupta and X. Zhu, "A Hybrid Approach to Building Boundary Descriptions of Visible Polyhedral Surfaces in a Range Image," Computer Vision: Systems, Theory, and Applications, World Scientific Press, Ed: Anup Basu, 1992.
  • J.D. Jones, "Orderly Currencies," American Mathematical Monthly, accepted for publication in July 1992.
  • J.D. Jones, "The Secant Method," Computers and Graphics, Vol. 15, No. 3, pp 451-454, 1991.
  • J.D. Jones, "Three Unconventional Representations of the Mandelbrot Set," Computers and Graphics, Vol. 14, No. 1, pp. 127-129, 1990.
  • J.D. Jones, "Flow Inhomogeneity in Stirling Engine Regenerators," J.Engr.for Gas Turbines & Power, Vol. 111, pp. 595-600, October 1989.
  • S. Payandeh, "Causality and Robotic Contact Task Problems," IEEE Trans. on Systems, Man and Cybernetics, Vol. 22, No. 5, 1992.
  • M. Saif, "Robust Servo Design with Applications," IEE Proceedings-Part D, Vol. 140, No. 2, pp. 87-92, 1993.
  • M. Saif, "Reduced Order Proportional Integral Observer with Applications," AIAA Journal of Guidance, Control, and Dynamics, Vol. 16, No. 5, 1993.
  • M. Saif., "Design of a Trajectory Insensitive Regulator with Prescribed Degree of Stability, Trans. of ASME - Journal of Dynamic Systems, Measurement and Control, Vol. 112, No. 3, pp. 513-516, 1990.
  • M. Saif and Y. Guan, "Robust Fault Detection and Identification (FDI): Application to a VTOL Aircraft", IEEE Trans. on Aerospace and Electronic Systems, Vol. 29, No. 3, pp. 685-695, 1993.
  • M. Saif and Y. Guan, "A New Approach to Robust Fault Detection and Identification (FDI)," IEEE Transactions on Aerospace and Electronic Systems, Vol. 29, 1993.
  • M. Saif and M. Jalili, "Reliable Control of Nuclear Power Plants," in Control-Theory and Advanced Technology (C-TAT), Vol. 8, No. 3, special issue on Advanced Control Architectures for Nuclear Reactors, 1992, pp. 547-566.
  • M. Saif, and Y. Guan, "Decentralized State Estimation in Large-Scale Interconnected Dynamical Systems," Automatica, Vol. 28, No. 1, pp. 215-219, 1992.
  • C.L. Shih, W. A. Gruver, and T. T. Lee, "Inverse Kinematics and Inverse Dynamics for Control of a Biped Walking Machine" J. Robotic Systems, Vol. 10, No 4, June 1993, pp. 531-555.
  • C. L. Shih and W. A. Gruver, "Control of a Biped Robot in the Double Support Phase," IEEE Trans. on Systems, Man & Cybernetics, Vol SMC-22, No. 4, Jul/Aug 1992, pp. 729-235.
  • C.L. Shih, T.T. Lee, and W. A. Gruver, "A Unified Approach for Robot Motion Planning Among Moving Polyhedral Obstacles," IEEE Trans. on Systems, Man and Cybernetics, Vol. SMC-20, No. 4, Jul/Aug 1990, pp.903-915.
  • H. Wang, T.T. Lee, and W. A. Gruver, "Neuromorphic Control of a Three-Link Biped Walking Machine," IEEE Trans. on Systems, Man and Cybernetics, Vol. SMC-22, No. 1, Jan/Feb 1992, pp. 164-169.
  • H.Q. Yang, Y. Hua and J.D. Jones, "Calculating Functions of Fuzzy Numbers," Fuzzy Sets and Systems, Vol. 55, No. 3, pp. 273-283, 10 May 1993.
  • H.Q. Yang, H. Yao and J.D. Jones, "A General Method for Calculating Functions of Fuzzy Numbers," Applied Mathematics Letters, Vol. 5, No. 6, pp. 51-55, 1992.
Book Chapters
  • W. A. Gruver, "Robotics," in Encyclopedia of Science and Technology, Vol. 16, McGraw-Hill Publishing Co., New York, NY, 1992, pp. 516-522.
  • G. Guo and W. A. Gruver, "Geometrical and Static Characterization of a Robotic Hand Grasping with Sliding Contacts," in Robotics Research 1990, K. Youcef-Toumi and H. Kazerooni (eds), ASME Press, New York, NY, 1990, pp. 163-169.
  • J.D. Jones, W.S. Havens and J.C. Dill, "Explanation in Concurrent Design," in Concurrent Engineering, eds. P. Gu and A. Kuziak, Fall 1993.
  • W.S. Havens, J.D. Jones, C. Hunter, S. Joseph and A. Manaf, "Model-Based Automotive Diagnosis Using the Echidna Expert System Shell," in Operational Expert Systems in Canada, Pergamon Press, pp. 154-169, September 1991.
  • Z. Lin, E. Jackson, and M. Saif, "Modeling and Force Control of a Hydraulically Actuated Manipulator," in Robotics and Manufacturing, Vol. 4, M. Jamshidi, R. Lumia, J. Mullins, and M. Shahinpoor (Editors), ASME Press, NY, pp. 37-43, 1992.
  • Y. Rong, M. Fang, H.S. Tzou, and W. A. Gruver, "Monitoring and Diagnosis of Robot Operations using Pattern Based Vibration Analysis," in Sensors, Control and Quality Issues in Manufacturing, T.I. Liu, et al. (eds), ASME Press, New York, NY, 1991.
  • M. Saif, "Techniques in Robust State Estimation Theory with Applications," in Control and Dynamic Systems-Advances in Theory and Applications, Vol. 53: High Performance Systems Techniques and Applications, C.T. Leondes (Editor), Academic Press, NY, 1992, pp. 261-298,
  • M. Saif and M. Jalili, "Reliable Control of Nuclear Power Plants," in Control-Theory and Advanced Technology (C-TAT), Vol. 8, No. 3, special Issue on Advanced Control Architectures for Nuclear Reactors, pp. 547-566, 1992.
Conference Publications
  • G. Bojadziev and M. Saif, "Fault Preventive Control of Planar Manipulators with Uncertain Masses," Proc. of AMSE Int. Conf.erence on Neural Networks, Vol. 1, pp. 245-251, San Diego, 1991.
  • A. Bruderlin, J. Dickinson, J. Dill and L. Bartram, "Protocol Analysis of the Use of a CAD System in a Home Design Task," CHI '91, Poster Session. April, 1991.
  • T. W. Calvert, J.C. Dill, J. Dickinson, A. Bruderlin and L. Bartram, "The Design of Computer Based Tools to Support Complex Synthesis Tasks," Proc. of IRIS Precarn Conf., Vancouver, April 1991.
  • T. W. Calvert, J. Dickinson, J. Dill, W. Havens, J. Jones, and L. Bartram, "IntelCAD: an Intelligent Basis for Design," Proc. of IEEE Pacific Rim Conf. on Communications, Computers and Signal Processing,Victoria, B.C., Canada, May 1991.
  • T. Calvert, J. Dickinson, J. Dill, W. Havens, J. Jones, L. Bartram (1991) "IntelCAD: an Intelligent Basis for Design," Proc. IEEE Pacific Rim Conf. on Communications, Computers and Signal Processing,Victoria, BC, Canada, May 1991, pp 371-376.
  • J. Chapman, T.W. Calvert and J.C. Dill, "Exploiting Temporal Coherence in Ray Tracing," Proc. of Graphics Interface '90, pp. 196-204, Nova Scotia, May, 1990.
  • J. Chapman, T.W. Calvert and J.C. Dill, "Temporal Coherence in Ray Tracing Animated Images," Proc. of Graphics Interface '91.
  • J. Chapman, T.W. Calvert and J.C. Dill, "Exploiting Temporal Coherence in Ray Tracing," Prof. of Graphics Interface '90, pp. 196-204, April, 1990, pp. 196-204.
  • J. C. Dill, S. Mah, J. Dickinson and W. Moore. "A Comparison of the Use of Graphics and Text in a Telecommunications Operator Interface," Proc. of 23rd Annual Conf. of the Human Factors Association of Canada, Ottawa, September 1990.
  • J. C. Dill, S. Mah, J. Dickinson and W. Moore, "Textual vs. Graphical Representations for Operators of Network Management Systems," Proc. of Western Canadian Computer Graphics Workshop, March, 1990.
  • J. C. Dill, A. Welman and C. Morawetz, "On the Choice of Colour Space Paths to Disambiguate Shape information," Proc. of Western Canadian Computer Graphics Workshop, March 1990.
  • J. S. Dill, S. Mah, J. Dickinson and W. Moore, "A Comparison of the use of Graphics and Text in a Telecommunications Operator Interface," Proc. of 23rd Annual Conf. of the Human Factors Association of Canada, Ottawa, September 1990.
  • G. Guo and W. A. Gruver, "Optimal Distribution of Fingertip Force Functions in Dynamic Grasping," Proc. of 1993 IEEE Conf. on Robotics and Automation, Atlanta, GA, May 1993, pp 3-971-977.
  • G. Guo, K. Jin, and J. P. Sadler, and W. A. Gruver, "Master-Slave Control of a Multifingered Robot Hand," Proc. of 9th Int. Conf. on CAD/CAM, Robotics and Factories of the Future, Newark, NJ, August 1993.
  • G. Guo, T.T. Lee, W. A. Gruver, and J. Zhang, "Design of a Planar Multijointed Finger Mechanism," Proc. of 1990 ASME Bien. Mechanisms Conf., Chicago, IL, Sep 1990, pp. 165-170.
  • G. Guo and W. A. Gruver, "A Robotic Hand Mechanism with Rotating Fingertips and Motor-Tendon Actuation," Proc. of 1991 IEEE Int. Conf. on Systems, Man and Cybernetics, Charlottesville, VA, Oct 1991, pp. 1023-1028.
  • G. Guo, W. A. Gruver, and K. Jin, "Control of Dynamic Grasping Systems Using Neural Network Approximation," Proc. of 1991 IEEE Int. Symposium on Intelligent Control, Arlington, VA, Aug 1991, pp. 196-202.
  • G. Guo and W. A. Gruver, "Fingertip Force Planning in Multifingered Robot Hands," Proc. of 1991 IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, Apr 1991, pp. 665-672.
  • G. Guo and W. A. Gruver, "Dynamics and Control of Multifingered Robot Hands with Elastic Joints," in Robotics and Manufacturing, Vol. 4, M. Jamshidi, R. Lumia, J. Mullins, and M. Shahinpoor (Editors), ASME Press, NY, 1992, pp. 513-518.
  • G. Guo, X. Qian, and W. A. Gruver, "A Single-DOF Multi-Functional Prosthetic Hand Mechanism," Proc. of 1992 ASME Bien. Mechanisms Conf. Phoenix, AZ, Sep 1992, pp. 149 154.
  • G. Guo and W. A. Gruver, "Grasp Planning for Multi-Fingered Robot Hands," Proc. of 1992 IEEE Int. Conf. on Robotics & Automation, Nice, France, May 1992, pp. 2284-2289.
  • G. Guo, W. A. Gruver, and K. Jin, "Elemental Function Approximators for Neural Control of Robotic Systems," Proc. of 1992 Int. Conf. on Fuzzy Systems and Intelligent Control, Louisville, KY, Mar 1992, pp. 265-274.
  • K. K. Gupta and Z. Guo, "Motion Planning for Many Degrees of Freedom: Backtracking with Sequential Search," Prof. of IEEE Conf. on Robotics and Automation, 1992.
  • K. K. Gupta and Z.-P. Guo, "Toward Practical Motion Planners: Experiments with a Sequential Search Strategy," Proc. of IEEE Conf. on Robotics and Automation, 1990.
  • L. Hassebrook, G. Guo, and W. A. Gruver, "Adaptive Sampling Pattern and Mass Feature Extraction for Tactile Object Recognition with a Three-Fingered Hand," Proc. of 1992 Int. Conf. on Intelligent Robots and Systems, Raleigh, NC, Jul 1992, pp. 1591-1596.
  • W. Havens, J. Dill, J Dickinson, J. Crawford, I. Begg, R. Kheraj & W. Moore, "Intelligent Graphics Interfaces for Supervisory Control and other Real-Time Database Applications," Proc. 7th Int. Conf. on Data Eng., April, 1991, Kobe, Japan, pp. 31-39.
  • W. Havens, S. Sidebottom, G. Sidebottom, J. Jones and R. Ovans, "Echidna: A Constraint Logic Programming Shell," Proc. of the 2nd Pacific Rim Int. Conf. on Artificial Intelligence, Seoul, Korea, Sept 15-18, 1992.
  • C. Hunter and J. Jones, "Application of a Constraint-Based Reasoning System to Engine Diagnosis," Proc. of the SAE Future Transportation Technology Conf., San Antonio, TX, August 1993.
  • Hwang, B., Saif, M., and Jamshidi, M., "A Neural Network Based Fault Detection and Identification (FDI) for a Pressurized Water Reactor," Proc. of 12th IFAC World Congress, Sydney, Australia, 1993.
  • J. Jones, Yang Xiang and S. Joseph, "Bayesian Probabilistic Reasoning in Design," Proc. of the 1993 IEEE Pacific Rim Conf. on Communications, Computers and Signal Propagation, May 1993, pp. 501-504.
  • J. Jones, "Explanation in Mixed-Initiative Design Systems," Proc. of the Ninth IEEE Conf. on Artificial Intelligence for Applications, Orlando, Florida, March, 1993.
  • Z. Katz, G. Guo, and W. A. Gruver, "Fiber Optics Method for Object Recognition with Multifingered Robot Hands" Proc. of 1992 IEEE Int. Conf. on Industrial Electronics, Control, and Automation, San Diego, CA, Nov. 1992, pp. 762-766.
  • D. Li and J. Jones, "A Sense of Scale," Proc. of 1993 IEEE Pacific Rim Conf. on Communications, Computers and Signal Propagation, May 1993, pp. 497-500.
  • Lin, Z., Jackson, E., and Saif, M., "Modeling and Force Control of a Hydraulically Actuated Manipulator," Robotics and Manufacturing, Vol. 4, M. Jamshidi, R. Lumia, J. Mullins, and M. Shahinpoor (Editors), ASME Press, NY, pp. 37-43, 1992.
  • A. Manaf, W. Havens and J. Jones, "Model-Based Diagnosis: Combining Deductive and Abductive Reasoning," Proc.of the 2nd Pacific Rim Int. Conf. on Artificial Intelligence, Seoul, Korea, 1992, Sept 15-18.
  • S. Payandeh, "Grasping with Compliant Fingers: Models of Finger-tip and Methods for Interpreting Force Measurements," Proc. of the IASTED Int. Conf. on Control and Robotics, 1992, pp.1-4.
  • S. Payandeh, "Grasping with Compliant Fingers: Stiffness of Power Grasps," Proc. of 11th Symposium on Engineering Application of Mechanics, 1992, pp.68-73
  • S. Payandeh and M. Saif, "Force Control of Multiple Robotic Mechanisms," Proc. of 1992 American Control Conf., 1992, pp.776-777.
  • S. Payandeh and M. Saif, "Force and Fine-Position Control of Multiple Planar Robotic Mechanisms," Proc. of 4th ISRAM Conf., Santa Fe, NM, 1992.
  • S. Payandeh and A. Goldenberg, "Linear Passive Impedance," Proc. of 13th Canadian Congress of Applied Mechanics, 1991, pp.672-673.
  • S. Payandeh and A. Goldenberg, "A Control Architecture for Arm/Hand Manipulating System," Proc. of the 5th Int. Conf. on Advanced Robotics, 1991, pp. 1440-1443.
  • S. Payandeh and A. Goldenberg, "A Robust Force Controller: Theory and Experiments," Proc. of IEEE Conf. on Robotics and Automation, 1991, pp.36-41.
  • S. Payandeh, and M. Saif, "Force and Fine-Position Control of Multiple Robotic Mechanisms," Proc. of the Third Int.. Conf. on Advances in Communication and Control Systems, 1991, pp. 565-575.
  • D. Schaffer, Z. Zuo, J. Dill, L. Bartram, S. Dubs, S. Greenburg and D. Roseman. "An experiment comparing variable zoom to standard methods," Graphics Interface '93, Toronto, May 1993, pp. 87-96.
  • M. Saif, "A Reduced Order Observer for Servomechanism Applications," Proc. of 12th IFAC World Congress, Sydney, Australia, July 1993.
  • M. Saif, "A Reduced Order Observer for Servomechanism Applications," Proc. of 12th IFAC World Congress, Sydney, Australia, 1993.
  • M. Saif, "A Disturbance Accommodating Estimator for Bilinear Systems," Proc. of the 1993 American Control Conf., San Francisco, June 1993, pp. 945-949.
  • M. Saif, "Estimation and Fault Detection in Discrete Time Systems with Noisy Measurements," Proc. of the IASTED Modelling and Simulation Conf., May 1993, Pittsburgh, PA, pp. 313-316.
  • M. Saif and Y. Guan, "Robust Fault Detection in Systems with Uncertainties," Proc. of 5th IEEE International Symposium on Intelligent Control, pp. 570-576, Philadelphia, PA, Sept.4-6, 1990.
  • M. Saif, "A Sequential Approach to Pole Assignment," Proc. of 21st Annual Pittsburgh Conf.erence on Modeling and Simulation, ISA Paper #90-1224, Vol. 21, Part-5, pp. 2033-2038, May 1990.
  • M. Saif, "Optimal Robust Servo Design with Industrial and Process Control Applications," Proc. of the American Control Conf., Chicago, June 1992, pp. 107-111.
  • M. Saif, "Partially Modal Projective Control of a Nuclear Power Plant," Automatic Control - Proc. 11th Triennial World Congress of IFAC, Vol. VI, U. Jaaksoo, and V.I. Utkin, (Editors), pp. 103-108, Pergamon Press, 1991.
  • M. Saif, "Robust Estimation Using a PI Estimator," Proc. of 23rd Annual Pittsburgh Conf.erence on Modeling and Simulation, pp. 2269-2276, Pittsburgh, PA, May 1992.
  • M. Saif and G. Bojadziev, "An Analytical Redundancy Based Approach for Sensor Failure Detection in Control Systems," Proc. of 23rd Annual Pittsburgh Conf.erence on Modeling and Simulation, pp. 2261-2267, Pittsburgh, PA, May 1992.
  • M. Saif and Y. Guan, "Sensor and Actuator Failure Detection Using the UIO Theory," Proc. of Third Int. Conf. on Advances in Communication and Control Systems, Vol. 2, pp. 710-717, Victoria, BC, October 1991.
  • M. Saif and Y. Guan, "State Estimation in Uncertain Dynamical Systems," Proc. of COMCON 3, Vol. 2, pp. 657-666, Victoria, BC, October 1991. C.L. Shih, J.P. Sadler, and W. A. Gruver, "Collision Avoidance for Two SCARA Manipulators," Proc. of 1991 IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, Apr 1991, pp. 674-679.
  • C.L. Shih and W. A. Gruver, "Fuzzy Logic Force Control for a Biped Robot," Proc. of 1991 IEEE Int. Symposium on Intelligent Control, Arlington, VA, Aug 1991, pp. 860-866.
  • C.L. Shih, S. Churng, T. T. Lee, and W. A. Gruver, " Trajectory Synthesis and Physical Admissibility for a Biped Robot During the Single-Support Phase," Proc. of 1990 IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, May 1990, pp. 1646-1652.
  • C.L. Shih, T. T. Lee, and W. A. Gruver, "Motion Planning with Time-Varying Polyhedral Obstacles Based on Graph Search and Mathematical Programming," Proc. of 1990 IEEE Int. Conf. on Robotics & Automation, Cincinnati, OH, May 1990, pp. 331-336.
  • J. S. Wang, B. P. Zhang, W. A. Gruver, and G. Guo, "An Omnidirectional Dual-Tripod Walking Machine: Mechanism Design and Control," Proc. of 1993 IEEE Int. Conf. on Systems, Man, and Cybernetics, LeTouquet, France, October 1993.
  • O. Williams, E. Jackson, V. Hayward, K. Gupta, et al., "Trajectory Planning, Obstacle Avoidance and Force Control for the STEAR/SPDM Testbed Manipulator," Proc. of 7th Conf. on Astronautics, Ottawa, 1992.
  • O. Williams et al. and K. Gupta, "Trajectory Planning, Obstacle Avoidance and Force Control for the STEAR/ISE SPDM Testbed Manipulator," Proc. of 7th Conf. on Astronautics, Ottawa, 1992
  • D. Yan, and M. Saif, "Neural Network Based Controllers for Non-Linear Systems," IEEE Conf. on Control Applications, October 1993, Vancouver.
  • Y. Zhang, B. P. Zhang, G. Guo, and W. A. Gruver, "A Model-Based Specification Technique and its Application to Protocol Development for Manufacturing Automation," Proc. of 1993 ASME Winter Annual Meeting, Dec 1993.
  • J. Zhang, G. Guo, and W. A. Gruver, "Kinematics and Workspace Analysis of a Patient Care Robot by Revolute Tensor Calculus," Proc. of Modern Design: Manufacturing and Measurement (MODMM '93), Beijing, China, May 1993, pp.157-163.
  • J. Zhang, G. Guo, W. A. Gruver, and Z. Zu, "Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism," Proc. 1992 ASME Biennial Mechanisms Conf., Phoenix, AZ, Sep 1992, pp. 299-304.
  • Y. Zhu, C.L. Shih, and W. A. Gruver, "Optimization of the Biped Robot Trajectory," Proc. of 1991 IEEE Int. Conf. on Systems, Man and Cybernetics, Charlottesville, VA, Oct 1991, pp. 899-904.
Theses and Dissertations
  • Yuping Guan, "Robust Estimation with Application to Failure Detection and Identification (FDI)," in Dynamical systems, MASc Thesis, 1992.
  • C. Hunter, "Modelling Automotive Engines for Automated Diagnosis," MASc Thesis, 1991.
  • B. Hwang, "A Neural Network Paradigm for Fault Detection in a Nuclear Power Plant," MASc Thesis, 1993.
  • M. Jalili, "Load-Frequency Control of Multimachine Power Systems with Time Varying Load Demand," MASc Thesis, 1993.
  • D. Li, "Representing Engineering Design Knowledge in an Object-Oriented Constraint Logic Programming Language," MASc Thesis, 1993.
  • Q. Wang, "Instrument Failure Detection Identification and Accommodation Using a Bank of Estimators," MASc Thesis, 1993.
  • H. Wu, "Computer Modelling of Microturbines," MASc Thesis, 1992.
  • H. Yao, "Fuzzy Logic in Intelligent Design," MASc Thesis, 1993.
  • Z. Zuo, "Variable Zoom: A New Display Technique for Large Hierarchical Networks". MASc Thesis, 1992.
Other Publications
  • G. Guo, X. Qian and W. A. Gruver, "Multi-Function Mechanical Hand with Shape Adaptation," U. S. patent pending, 1993.
  • K. K. Gupta and Zukang Xu, "Extracting B-Reps for Robotic Tasks from Multiple Range Images," Centre for Systems Science, Simon Fraser University, 1992.
  • S. Payandeh, "Advanced Robotics: Mechanics and Control," Lecture notes in Engineering Science, 1992.
  • S. Payandeh, "Introduction to Robotics: Pre-Robotics," Lecture notes in Engineering Science, 1992.

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