# Presentation: 316694

## Engineering 

**Engineering **
**Intelligent Systems**

**James S. Albus**
- albus@cme.nist.gov
- Intelligent Systems Division
- Manufacturing Engineering Laboratory
- National Institute of Standards and Technology

## GOAL

**GOAL**

**1.  To understand the nature of mind**
**2.  To build intelligent machines and systems ****	****	****that:**

**Improve economic prosperity**
**Strengthen military security**
**Improve human well being**

**Worthy and desirable**
**Within our grasp**
**Should be pursued**

## PROBLEMS

**PROBLEMS**

**1.  Skepticism**
**2.  Scope of the domain**
**3.  Lack of understanding**
**	****	****	****-  of theoretical foundations**
**	****	****	****-  of importance to society**
**4.  Inadequate funding**

## REASONS FOR SKEPTICISM

**REASONS FOR SKEPTICISM**

**Past naivete**
**Overly optimistic promises**
**Shrinkage of goals**
**Current budgetary support**

## SCOPE OF DOMAIN

**SCOPE OF DOMAIN**

**Neurosciences**
**Cognitive Sciences**
**Philosophy**
**Artificial Intelligence**
**Intelligent Control**
**Intelligent Manufacturing Systems**
**Game Theory and Operations Research**
**Robotics and Intelligent Machines**
**Image Understanding**
**Learning and Adaption**
**Planning and Reasoning**
**Linguistics and Speech Understanding**

**Integration is a big problem**

## INTELLIGENT SYSTEMS

**INTELLIGENT SYSTEMS**
**ARE IMPORTANT**
**For:**
**Science**
**Economic prosperity**
**Military strength**
**Human well being**

## IMPORTANT TO SCIENCE

**IMPORTANT TO SCIENCE**

**1.  What is the nature of matter?**
**2.  What is the nature of life?**
**3.  What is the nature of mind?**

## WHAT IS MIND?

**WHAT IS MIND?**

**Thought**
**Imagination**
**Reason**
**Emotion**
**Perception**
**Cognition**
**Planning**
**Behavior**
**Intention**
**Intelligence**

**Motives**
**Reflexes**
**Memory**
**Instinct**
**Learning**
**Feelings**
**Habit**
**Creativity**
**Consciousness**
**Intuition**

**Mind is a process**

## THE STUDY OF MIND

**THE STUDY OF MIND**

**Aristotle - Mind = Soul**
**Decartes - Body is physical / Mind is spiritual**
**Kant - Internal representation vs. external reality**
**Darwin -> James - Mind product of natural selection**
**James - Consciousness**
**Freud - Unconscious and dreams**
**Watson and Skinner - Behaviorism,  Stimulus / Response**
**Piaget - Development of behavior in children**
**Modern theories - Based on the computer**

## WHAT IS BRAIN?

**WHAT IS BRAIN?**

## WHAT IS MIND/BRAIN?

**WHAT IS MIND/BRAIN?**

## IMPORTANT TO

**IMPORTANT TO**
**ECONOMIC PROSPERITY**
**Toffler's Three Waves**

**1.  Invention of agriculture**
**2.  Invention of steam engine and discovery of electricity**
**3.  Invention of electronics and digital computer**

## IMPORTANT FOR

**IMPORTANT FOR**
**ECONOMIC PROSPERITY**

**Manufacturing**
**Business management and financial services**
**Marketing and customer services**
**Transportation safety and efficiency**
**Communications**
**Construction**
**Waste management and cleanup**
**Health care**
**Physical security**
**Agriculture and food processing**
**Mining and drilling**
**Space and undersea exploration**

## IMPORTANT FOR

**MILITARY STRENGTH**

**1.  Intelligent systems will enable a new generation of**
**unmanned vehicles and weapon systems that will:  **
**2.  Intelligent systems technologies will enable: **

**-- outperform manned systems **
**-- with fewer casualties **
**-- and lower cost for training and readiness**
**-- faster information gathering and processing**
**-- more rapid replanning for real-time events**
**-- and more effective command and control**

## IMPORTANT FOR

**IMPORTANT FOR**
**HUMAN WELL BEING**

**Clean up the environment**
**Improve health care**
**Improve transportation safety and efficiency**
**Improve personal services and security**
**Improve productivity **
**End poverty and create golden age**

## PROGRESS IN

**PROGRESS IN**
**INTELLIGENT SYSTEMS**

**Neural nets, fuzzy logic, genetic algorithms**
**Learning and adaptation**
**Pattern recognition and process control**
**Artificial intelligence**
**Semiotics and linguistics**
**Image understanding**
**Expert systems**
**Planning and reasoning**
**Problem solving**
**Game theory and operations research **
**Sensory fusion and uncertainty**
**Robotics and autonomous vehicles**
**Computer integrated manufacturing**
**Intelligent control**

## PROGRESS IN NEUROSCIENCES

**PROGRESS IN NEUROSCIENCES**

**Neuroanatomy - circuit diagrams, modules**
**Neurophysiology - neural computation**
**Brain modeling - models of brain function**
**Neuropharmacology - transmitters, hormones**
**Psychophysics - perception, illusion**
**Neuropsychology - development, emotion, behavior**

## TECHNOLOGY IS ACCELERATING

**TECHNOLOGY IS ACCELERATING**

**Computing power is increasing exponentially**
**Knowledge of the brain is growing**
**Manufacturing technology is advancing**
**Number of scientists and engineers is rising**
**Technology growth not subject to diminishing returns **
**The more known, the easier to discover new things**
**Technology growth is limited only by investment rate**

## PROGRESS IN COMPUTING POWER

## WHAT IS MISSING?

**WHAT IS MISSING?**

**•****  ****A clear goal**
**• ****A widely accepted theory**
**• ****A reference model architecture**
**•****  ****An engineering methodology**
**•****  ****Measures of performance**
**•****  ****A sense of urgency **
**•****  ****Adequate funding**

## OUTLINE for a  THEORY OF INTELLIGENCE*

**OUTLINE for a  THEORY OF INTELLIGENCE*******

**BEHAVIOR GENERATION  **
**(Planning and control)**
**SENSORY PROCESSING **
**(Filter, detect, recognize, interpret)**
**WORLD MODELING **
**(Store knowledge, predict and simulate future)**
**VALUE JUDGMENT **
**(Compute cost, benefit, and uncertainty attributes)**
**KNOWLEDGE REPRESENTATION**
**(States, events, entities, attributes, maps, tasks, processes)**
**SYSTEM ARCHITECTURE**
**(Communications, timing, operating system)**

******* ****Transactions of SMC, June, 1991**

## RELATIONSHIPS BETWEEN ELEMENTS

**RELATIONSHIPS BETWEEN ELEMENTS**

## REFERENCE MODEL ARCHITECTURE

**REFERENCE MODEL ARCHITECTURE**

## WHY A HIERARCHICAL MODEL?

**WHY A HIERARCHICAL MODEL?**

**Decompose system into manageable units**
**Develop a systematic framework**

**Levels of range and resolution in time and space**
**Hierarchy of tasks and plans**
**Hierarchy of entities and events**
**Hierarchy agents with coordinated goals**
**Engineering methodology**
**Modular components **
**Standard interfaces**
**Plug-and-play capabilities **
**Add sensors and processing modules**

**To deal with complexity**

## TEMPORAL HIERARCHY

**TEMPORAL HIERARCHY**

## PLANNING AND EXECUTION AT A LEVEL

**PLANNING AND EXECUTION AT A LEVEL**

## PLANNING AND EXECUTION AT TWO LEVELS

**PLANNING AND EXECUTION AT TWO LEVELS**

## PLANNING AND EXECUTION AT SIX LEVELS

**PLANNING AND EXECUTION AT SIX LEVELS**

## Generic 

**Generic **
**Shell for**
**Behavior**
**Generation**

## WORLD MODELING and VALUE JUDGMENT

**WORLD MODELING and VALUE JUDGMENT**

## KNOWLEDGE REPRESENTATION 

**KNOWLEDGE REPRESENTATION**

**ICONIC**** - pictures**
**Signals - sensor attribute values**
**Images - arrays of attributes**
**Maps - images of entities and relationships**
**SYMBOLIC**** - words and symbols**
**Entities - nouns and descriptors**
**Actions - verbs and modifiers**
**Rules - laws of physics, math, logic, and language**
**Relationships - between entities, actions, and rules**

## KNOWLEDGE REPRESENTATION

**KNOWLEDGE REPRESENTATION**

## KNOWLEDGE REPRESENTATION -- Entities 

**KNOWLEDGE REPRESENTATION -- Entities**

## KNOWLEDGE REPRESENTATION - Image 

**KNOWLEDGE REPRESENTATION - Image**

**Iconic image with symbolic labels**

## PROCESS OF PERCEPTION

**PROCESS OF PERCEPTION**

## IMAGE PROCESSING

**IMAGE PROCESSING**

## IMAGE PROCESSING AT LEVEL 1 (PIXEL)

**IMAGE PROCESSING AT LEVEL 1 (PIXEL)**

## RECURSIVE ESTIMATION AT LEVEL 1

**RECURSIVE ESTIMATION AT LEVEL 1**

## IMAGE PROCESSING AT LEVELS >1

**IMAGE PROCESSING AT LEVELS >1**

## RECURSIVE ESTIMATION AT LEVELS >1

**RECURSIVE ESTIMATION AT LEVELS >1**

## 4-D/RCS SYSTEM ARCHITECTURE

**4-D/RCS SYSTEM ARCHITECTURE**

## DEALING WITH COMPLEXITY IN THE WORLD

**DEALING WITH COMPLEXITY IN THE WORLD**

**Computational resources are finite**
**World is not uniformly important**
**Focus sensors on task object**
**Select filters, masks, and windows**
**Build rich world model at point of attention**
**with sparse world model elsewhere**

**Attend to what is important**

## WHAT IS IMPORTANT?

**Goal objects are important (top down)**
**Sensed objects may be important (bottom up)**

**Search for goal object**
**Track goal object**
**Compare goal model to observed object**
**Recognized goal object**
**Unrecognized objects**
**Unusual behavior**
**Looming**
**Motion**

**WHAT IS IMPORTANT?**

## FOCUS OF ATTENTION

## FOCUS OF ATTENTION

**FOCUS OF ATTENTION**

## STATUS OF RELEVANT TECHNOLOGY

**STATUS OF RELEVANT TECHNOLOGY**

**Robots for deburring, machine loading, welding**
**Next generation inspection systems**
**Computer integrated manufacturing systems**
**Multiple autonomous undersea vehicles**
**Space station telerobotic systems**
**Unmanned ground vehicles**
**Submarine operational automation systems**
**Coal mine automation**
**Post office automation**
**RoboCrane**
**Enhanced machine controller **

**NIST RCS (Real-time Control System) is an**
**open architecture developed over last 20 years **
**for a wide variety of applications including:**

## ENGINEERING METHODOLOGY

**Scenario analysis **
**Task decomposition and task knowledge**
**Communication messages and protocols**
**World model knowledge representation**
**Maps, lists, and state variables**
**Entities, events, agents, states, and attributes**
**Sensory processing algorithms and filters**
**Event detection and feature recognition**
**Timing, sampling, and spatial resolution**
**Computing platforms, memory, buses, and LANs**
**Virtual machines**
**Operating systems**
**Operator interfaces**
**Measures of performance**

**ENGINEERING METHODOLOGY**

## PLANS FOR THE FUTURE

**PLANS FOR THE FUTURE**

**Develop  RCS templates and software development tools**
**NAMT -  a distributed & virtual manufacturing testbed**
**Distribute RCS freeware to universities**
**Create RCS engineering curriculum**
**Support RCS users groups**
**Develop an ATP targeted thrust area**
**Promote a national program for Intelligent Systems**

**http://isd.cme.nist.gov**

## SUMMARY AND CONCLUSION

**SUMMARY AND CONCLUSION**

**Intelligent systems could generate**
**the productivity growth**
**to bring **
**an**
**End to Poverty**
**and a**
**Golden Age for Human Kind**

**Intelligent systems are important**
**The technology is ready**