Abstract: Digital processing methods and apparatus for monitoring, controlling, and simulating industrial processes operate on data signals representative of process parameter values and generate response values representative of desired or requested process parameter values. A knowledge base stores knowledge of the industrial process in the form of rules, and an inference engine applied the rules to calculate the response values. A time-stamp value is assigned to each data signal, representing the time of receipt of each signal. Currency evaluation elements, responsive to user-selected currency range values and the time-stamp signals, assign an expiration-time value to the data signals and disregard data signals having an expiration-time value outside a corresponding user-selected currency range value.

Abstract: An information processing system and method to calculate output values for a group of neurons. The method comprises transmitting input values for the neurons to a memory unit of a processing section, and then calculating a multitude of series of neuron output values over a multitude of cycles. During a first period of each cycle, a first series of neuron output values are calculated from neuron input values stored in a first memory area of the memory unit; and during a second period of each cycle, a second series of neuron output values are calculated from neuron input values stored in a second memory area of the memory unit. The transmitting step includes the steps of storing in the first memory area of the memory unit, neuron input values transmitted to the memory unit during the period immediately preceding the first period of each cycle; and storing in the second memory area of the memory unit neuron input values transmitted to the memory unit, during the first period of each cycle.

Abstract: A robot manipulator uses multiple robot arms to grasp and move an object. The object is moved by the coordinated motion of the arms. Because of inaccuracies in the coordinated motion of the arms due to mechanical inaccuracies or to imperfections in the model used by the controller to evaluate the interaction of the arms with the environment, the actual motion of the arms may be slightly uncoordinated. This may result in the application of unwanted forces to the object which may distort or break the object, the arms, or both. A multiarm accommodation arrangement evaluates the forces applied by the arms to the object to determine the net forces, and generates position accommodation signals which are summed with the several mutually coordinated arm control signals to tend to cause the forces applied to the object to be zero or a desired finite value. In a particular embodiment of the invention, an outer loop provides position accommodation to control forces applied by the object to an external load.

Abstract: A system is provided for generating prescription wheelchair seats or specialized seating or body supports. The system includes a deformable seat portion which is formed to specialized dimensions of a seated patient. A planar, linear, array of linear transducers is stepped across the form in one dimension forming a series of signals representative of generally planar cross sections of the form. This series of cross-sectional signals is provided as an input to a numerically controlled cutting device which cuts a series of sheet stock foam in accordance with each cross-sectional area measured. These cross-sectional pieces are then assembled into the prescription seat.

Abstract: A knowledge base system includes separate expert user and end user interface facilities which communicate with the system's inference engine and knowledge base. Linking means operatively interconnect the expert user facility to the end user interface facility enabling the simulation of the end user environment while the knowledge base is being concurrently edited or modified. Such simulation is carried out by placing the end user interface facility in an edit mode of operation during which the user can stop at any point. In response to a single keybgoard command, an expert user can switch control back to the expert user facility to a point within the knowledge base selected relative to the context of the operation which was being run thereby facilitating the maintenance and updating of the knowledge base.

Abstract: A knowledge processing system for use in an information processing apparatus. The system comprises a knowledge base which is divided into a slot data section and an object data section; a data reference section; a data updating device; and an interpreter. By changing the updating system according to the relationship between the number of controlled data and the boundary value, data search is achieved in an optimum manner.

Abstract: A material processing apparatus for collating and feeding documents, comprising a plurality of document feeding modules, each of the modules including a source of documents, a queuing station, means for feeding documents from the source to the queuing station control means, and sensing means for sensing the position of a document within the module, a data link interconnecting adjacent modules, means for appling a collation signal to the control means for defining a collation operation in the module, the control means responsive to a arrival of documents at the queuing station in accordance with the collation signal for providing a ready signal, first and second modules positioned adjacent one another, the second being in a downstream location from the first module, the second module control means providing to the first module control means its the ready signal indicating the second module is ready to receive the document collation, the first module control means responsive to its ready signal and to the secon

Abstract: An automatic fee receiving and receipt dispensing system, particularly designed for vehicle registration transactions and the like, comprises an outer housing with a customer interface for displaying information to a customer and receiving customer input and fee payment, and a dispenser assembly in the housing for storing forms specific to the transaction having pre-printed areas and blank areas for receiving information specific to a transaction, a printer for printing information in the blank areas of the forms, and a dispensing device for dispensing printed forms to customers. A control unit in the housing controls operation of the customer interface and dispenser assembly, and is linked via an interface to a remote database containing transaction and fee information, for example vehicle registration records.

Abstract: A knowledge engineering tool for building expert systems is disclosed. The knowledge engineering tool includes a knowledge base containing "if-then" rules and an inference engine that includes a plurality of object processors. Each object processor has access to a set of variables defining an object. Rules are selected from the knowledge base and routed to the object processors having access to the objects referenced in the rule. In a parallel processing configuration, each object processor executes on a processing unit and rules are passed as messages.

Abstract: A three-dimensional vision seam tracking method and apparatus for controlling the motion of the center point of a tool mounted on a manipulator. The manipulator is provided with a control to operate the manipulator members to move the tool center point at programmed velocities along a programmed path corresponding to the seam. The manipulator is provided with a vision system including a laser scanner/camera head mounted ahead of the function element. The control is programmed with dynamically varying orientation angles to control the orientation of the tool during seam tracking. The laser scanner/camera head scans the seam at predetermined time intervals. A set of coordinates for the center point of the seam in a coordinate system relative to the camera is provided for each scan.

Abstract: Scintillation camera inlcuding a scintillator crystal, a light guide, a set of p photodetectors, p acquisition channels (60), and a computer (100) intended to deliver the coordinates x.sub.j and y.sub.j of a scintillation j and the energy E.sub.j which is associated with this event j. This camera is characterized in that there is provided, between the output of the p acquisition channels and the input of the computer, a transfer control stage (200) including: (a) p subtractors (180) receiving on a first input the corresponding output of the p acquisition channels (60) and on a second common input a so-called slaved threshold evaluated by a threshold computer (170), (b) an additional acquisition channel (160) supplying to the threshold computer the digital energy signal E.sub.mj, (c) at the output of the additional acquisition channel and of the p substractors, (p+1) transfer control circuit (190), the (p+1).sup.

Abstract: A memory module for controlling access by a processor to information stored within the memory module including a memory for storing a plurality of groups of information, each group including a data word, an operation word for indicating the operation to be performed by the processor on the data word, and a state word for representing the status of that group for processing by the processor. A selection module accepts an access request from the processor for an identified group, and for interpreting the contents of the request. The memory module further includes a state modification module for determining, based on the information within the identified group in the memory and the interpretation by the selection module, when the identified group is ready to be processed by the processor, for updating the status of the identified group by selectively modifying the state word, and for selectively signalling the processor when the identified group is ready to be processed.

Abstract: An industrial robot for drilling is provided with a robot arm to which a working unit is mounted. An apparatus for adjusting the position of the industrial robot comprises a laser beam emitting unit secured to the working unit and a laser beam receiving unit for receiving a laser beam emitted from the emitting unit. A reflecting material is disposed on a working portion of a workpiece to be worked. The laser beam is emitted from the light emitting unit towards a working portion of the workpiece and the laser beam is reflected by the reflecting material on the workpiece. The reflected light beam is received by the light receiving unit. The light receiving unit comprises a plurality of light receiving elements including one reference light receiving element. The position of the industrial robot is adjusted by the light receiving unit until the working unit is displaced to the portion at which the reflected laser beam is finally received by the reference light receiving element.

Abstract: An arbitrary-direction tracer control system moves a model and a tracer head relative to each other at an arbitrary angle to a reference axis X along lines passing through a reference point K, first and second tracing stroke limits L1 and L2 are set at which tracing feed is returned, so that tracing feed is along radial lines a - b, c - d, e - f and f - g extending from the reference ponts K, and pick feed operations are carried out by predetermined amounts b - c and f - g at the tracing stroke limits L1 and L2. As a result, tracing feed can always be performed in a direction perpendicular to a curved surface of the model, ensuring accurate tracing of the curved surface.

Abstract: Methods of information correlation based on extremization of transmission capacity of an assembly of information processors are disclosed. In one embodiment, an assembly of processors exchanging information through the exchange of random codes serves as a correlator between two inputs adjusting its total communication capacity to achieve maximum correlation between two inputs.

Abstract: A method for measuring the position and orientation changes of a 3-D sensor relative to a robot mount and for measuring the positioning and orienting changes of the robot mount. All measurements reveal changes relative to a baseline measurement. A novel reference provides a low-cost measurement aid. A reference object is placed within the work volume of the robot carrying the sensor which is capable of making three-dimensional measurements. The reference object has a shape that enables unambiguous determination of its location and orientation. The reference object is measured from predetermined orientations, and the measurements are recorded in a memory. These measurements form a baseline measurement set. The measurement step is repeated at a later time, and another measurement set is produced. The baseline measurement set and the other measurement set are processed to determine robot positioning errors and sensor location errors.

Abstract: A definition-based expert system and expert system shell. The expert system shell creates a knowledge base consisting of terms and their definitions, the definitions making up a hierarchy of definitions in which each definition depends only on terms defined at lower levels in the hierarchy or on term-independent values. Expert responses are obtained from the system by evaluating the terms. When a term is evaluated, all of the term-independent values and the values of all of the terms in its definition are obtained. The definitions include operators specifying operations which are to be performed when the defined term is evaluated. The operators include causing other systems operable in the digital computer system in which the expert system is operating to operate. The definitions further include table operators. Base table operators define terms representing tables and columns in the tables and permit loading of the tables.

Abstract: An integrated system for process control in which a process supervisor procedure (which is preferably the top-level procedure) is configured as a modular software structure with modules which can be revised by a user at any time, without significantly interrupting the operation of the process supervisor. Users can define or redefine modules by editing highly constrained templates. These templates use a standardized data interface (as seen by the user), which facilitates communications with an extremely wide variety of systems. The template set preferably contains highly constrained portions (which are optimized for the most common functions), and also contains pointers to user-customized functions. Thus, rapid set-up and modification are possible, but sophisticated users still have full flexibility to do customization.

Abstract: In a production installation, all component parts which are required for a synthesis process or manufacturing process, are combined in terms of hardware and software into modular units (8 to 12). Here, on the one hand local fixed modules (8, 46) and mobile modules (9 to 12) are formed, the apparatus and instruments of which are mounted in racks. Control units (33 to 37) are associated with the modular units, which control units in each case receive a programmable module address code, by which each modular unit (8 to 12) identifies itself to the process guiding system (1).

Abstract: An artificial intelligence design and qualitative modelling tool is disclosed for creating computer models and simulating therein continuous activities, functions and/or behavior using developed discrete event techniquers. Conveniently, the tool is organized in four modules: library design module, model construction module, simulation module, and experimentation and analysis. The library design module supports the building of library knowledge including component classes and elements pertinent to a particular domain of continuous activities, functions and behavior being modelled. The continuous behavior is defined discretely with respect to invocation statements, effect statements and time delays. The functionality of the components is defined in terms of variable cluster instances, independent processes and modes, further defined in terms of mode transition processes and mode dependent processes. Model construction utilizes the hierarchy of libraries and connects them with appropriate relations.