The goal of this thesis is to apply the computational approach to motor learning, i.e., describe the constraints that enable performance improvement with experience and also the constraints that must be satisfied by a motor learning system, describe what is…

Control of machines that exhibit flexibility becomes important when designers attempt to push the state of the art with faster, lighter machines. Three steps are necessary for the control of a flexible planet. First, a good model of the plant…

This paper descries D-SCRIPT, a language for representing knowledge in artificial intelligence programs. D-SCRIPT contains a powerful formalism for descriptions, which permits the representation of statements that are problematical for other systems. Particular attention is paid to problems of opaque…

TYPICAL is a package for describing and making automatic inferences about a broad class of SCHEME predicate functions. These functions, called types following popular usage, delineate classes of primitive SCHEME objects, composite data structures, and abstract descriptions. TYPICAL types are…

Explanation-based Generalization requires that the learner obtain an explanation of why a precedent exemplifies a concept. It is, therefore, useless if the system fails to find this explanation. However, it is not necessary to give up and resort to purely…

This paper describes ARLO, a representation language loosely modelled after Greiner and Lenant's RLL-1. ARLO is a structure-based representation language for describing structure-based representation languages, including itself. A given representation language is specified in ARLO by a collection of structures…

Reasoning about motion is an important part of our commonsense knowledge, involving fluent spatial reasoning. This work studies the qualitative and geometric knowledge required to reason in a world that consists of balls moving through space constrained by collisions with…

This paper introduces our ongoing analysis of auto component development data obtained from Nishiguchi's research sponsored by MIT's International Motor Vehicle Program (IMVP).
The main results of this paper can be found in the section of Research Results where
a…

Traditional scheduling algorithms (using the techniques of PERT charts, decision analysis or operations research) require well-defined quantitative, complete sets of constraints. They are insufficient for scheduling situations where the problem description is ill-defined, involving incomplete, possibly inconsistent and generally qualitative…

Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses the crucial questions of: what knowledge is required…