Compliant control is a standard method for performing fine manipulation tasks, like grasping and assembly, but it requires estimation of the state of contact between the robot arm and the objects involved. Here we present a method to learn a…

There are multiple sorts of reasoning by analogy between two domains; the one with which we are concerned is a type of contextual analogy. The purpose of this paper is to see whether two domains that look analogous would be…

If we are provided a face database with only one example view per person, is it possible to recognize new views of them under a variety of different poses, especially views rotated in depth from the original example view? We…

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of…

This report investigates some techinques appropriate to representing the knowledge necessary for understanding a class of electronic machines -- radio receivers. A computational performance model - WATSON - is presented. WATSONs task is to isolate failures in radio receivers whose…

Honda of America has developed a comprehensive approach to teaching the principles of lean
production to its suppliers. The centerpiece of these efforts is a program called BP (for "Best process",
"Best Performance", "Bs Practice"), in which a crossfunctional team…

Freud's theory of jokes explains how they overcome the mental "censors" that make it hard for us to think "forbidden" thoughts. But his theory did not work so well for humorous nonsense as for other comical subjects. In this essay…

This paper presents an overview of a theory of discourse structure, and discusses a model for assimilating text into a frame-based data structure. The model has been applied to the analysis of news articles. The theory assumes sentences contain links…

This paper deals with the "Calculus of Knowledge", an extension of the propositional calculus in which one may reason about what other people know. Semantic and Syntactic systems are developed, certain theorems are proven, and a formal solution in the…

We prove that the scale map of the zero-crossings of almost all signals filtered by the second derivative of a gaussian of variable size determines the signal uniquely, up to a constant scaling and a harmonic function. Our proof provides…