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Software Tools for Design and Performance Evaluation of Intelligent Systems

Abstract : The objective of this effort was to leverage the principles of knowledge engineering in the ongoing development of a software tool for rapid design, simulation, prototyping and performance evaluation of Intelligent Systems in the Matlab/Simulink environment. In this paper, we have demonstrated the use of this software tool to design a cable robot, automatically generate the kinematic and dynamic relationships for this robot and develop an automatic on-line calibration scheme for this cable robot where traditional one-time or periodic calibration methods do not provide adequate measures of performance. Hence, from the standpoint of intelligent system design and performance metrics, through this example, we demonstrate the usefulness of leveraging the principles of knowledge engineering to develop domain specific knowledge. The models so developed can be used to evaluate the performance of such robotic systems and modified to improve the performance. For example, kinematic errors such as assembly errors are likely to be introduced in the construction; faults such as joint failures are likely to be introduced in the operation. Hence, automated on-line calibration of intelligent systems (such cable robots) becomes particularly important for continuous performance evaluation (positioning accuracy) and enhancement.