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…

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…

Communication over interference channels poses challenges not present for the more traditional
additive white Gaussian noise (AWGN) channels. In order to approach the information
limits of an interference channel, interference mitigation techniques need to be
integrated with channel coding and…

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…

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…

One important purpose for creating clinical practice guidelines is to improve quality of care by reducing variations in practice. In the current healthcare environment, guidelines are being advocated as a means to disseminate research findings, standardize care, improve quality of…

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…

The report describes a recognition system called GROPER, which performs grouping by using distance and relative orientation constraints that estimate the likelihood of different edges in an image coming from the same object. The thesis presents both a theoretical analysis…