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Los Angeles (LA) Association for Computing Machinery (ACM)
Technical Activity Committee on Artificial Intelligence (TACART)

             TACART

TOPIC:       Autonomous Synthesis of Goal-Oriented Behaviors
                 for Planetary Robotic Sampling

SPEAKER:     Dr. Sukhan Lee
             Jet Propulsion Laboratory and
             University of Southern California

DATE:        20 November 1996 (Wednesday night)

TIME:        The talk will begin at 7:30.

PLACE:       Loyola Marymount University, Pereira Hall 27.
             LMU is located at Loyola Blvd. and 80th Street in
             Westchester. From the 405, take the Manchester exit
             and proceed west to Loyola Blvd.  Turn north, and
             continue until you enter the LMU campus.  Ask the
             guard for directions to Pereira Hall. Parking is free.

ABSTRACT:    An architecture for planetary robotic sampling will be 
             presented that autonomously synthesizes goal-oriented
             behaviors, while connecting sensing and action in real-time.
             A perception net manages uncertainties, errors, and faults
             in sensor fusion, sensor planning, and constraint propagation.
             An action net generates robust and fault-tolerant system
             behaviors using on-line adaptive task monitoring and planning.
             Three typical Mars planetary sampling scenarios for a robot
             arm are used to evaluate the architecture: 1) trench soil to  
             expose samples, 2) scan surface, pick up small samples, 
             3) use tools to expose, scan and extract fresh rock samples.

BIOGRAPHY:   Dr. Sukhan Lee received his Ph.D. degree in electrical engineering
             (EE) from Purdue University, West Lafayette, Indiana, in 1982 and
             his B.S. and M.S. degrees from Seoul National University, Korea.
             He is currently a senior member of the technical staff at the
             Jet Propulsion Laboratory, California Institute of Technology,
             and an adjunct professor of EE and computer science at USC. He is
             the author and/or coauthor of more than 200 technical papers.
             Dr. Lee has been an Associate Editor for the IEEE Transactions on
             Robotics  and Automation, the International Journal of AI Tools, 
             and the International Journal of Intelligent Systems and Control.
             He is currently chairing the IEEE Robotics and Automation Society
             Technical Committee on Neural Networks and Fuzzy Systems as well 
             as that on Assembly and Task Planning.

DINNER:      No dinner is planned.  No social activities are planned.
NEWSGROUPS:  Announced in comp.ai, la.seminars, ca.seminars.
HOMEPAGE:    http://kecksvr.eng.lmu.edu/TACART.html (under repair).
CONTACTS:    L. Andrew Campbell campbell@aero.org (310) 336-8642 or
             Program Chair Barney Toma tomab@ecn.com (310) 323-8451.
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| L. Andrew Campbell     internet: campbell@aero.org       |
| M1-102 PO Box 92957    organization: The Aerospace Corp. |
| Los Angeles CA 90009   telephone: (310) 336-8642         |