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  • 1
    Publication Date: 2013-08-31
    Description: Over the past three years, our group has concentrated on the application of neural network methods to the training of controllers for real-world systems. This presentation describes our approach, surveys what we have found to be important, mentions some contributions to the field, and shows some representative results. Topics discussed include: (1) executing model studies as rehearsal for experimental studies; (2) the importance of correct derivatives; (3) effective training with second-order (DEKF) methods; (4) the efficacy of time-lagged recurrent networks; (5) liberation from the tyranny of the control cycle using asynchronous truncated backpropagation through time; and (6) multistream training for robustness. Results from model studies of automotive idle speed control serve as examples for several of these topics.
    Keywords: CYBERNETICS
    Type: JPL, A Decade of Neural Networks: Practical Applications and Prospects; p 191
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  • 2
    Publication Date: 2013-08-31
    Description: This paper presents a new approach to rescheduling called constraint-based iterative repair. This approach gives our system the ability to satisfy domain constraints, address optimization concerns, minimize perturbation to the original schedule, and produce modified schedules quickly. The system begins with an initial, flawed schedule and then iteratively repairs constraint violations until a conflict-free schedule is produced. In an empirical demonstration, we vary the importance of minimizing perturbation and report how fast the system is able to resolve conflicts in a given time bound. These experiments were performed within the domain of Space Shuttle ground processing.
    Keywords: CYBERNETICS
    Type: NASA. Ames Research Center, Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning; p 92-96
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  • 3
    Publication Date: 2019-06-28
    Description: Due to control processor limitations, the design of reduced-order controllers is an active area of research. Suboptimal methods based on truncating the order of the corresponding linear-quadratic-Gaussian (LQG) compensator tend to fail if the requested controller dimension is sufficiently small and/or the requested controller authority is sufficiently high. Also, traditional parameter optimization approaches have only local convergence properties. This paper discusses a homotopy algorithm for optimal reduced-order control that has global convergence properties. The exposition is for discrete-time systems. The algorithm has been implemented in MATLAB and is applied to a benchmark problem.
    Keywords: CYBERNETICS
    Type: In: Controls for optical systems; Proceedings of the Meeting, Orlando, FL, Apr. 21, 22, 1992 (A93-34276 13-74); p. 116-127.
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  • 4
    Publication Date: 2019-06-28
    Description: This paper presents a general learning method for dynamically selecting between repair heuristics in an iterative repair scheduling system. The system employs a version of explanation-based learning called Plausible Explanation-Based Learning (PEBL) that uses multiple examples to confirm conjectured explanations. The basic approach is to conjecture contradictions between a heuristic and statistics that measure the quality of the heuristic. When these contradictions are confirmed, a different heuristic is selected. To motivate the utility of this approach we present an empirical evaluation of the performance of a scheduling system with respect to two different repair strategies. We show that the scheduler that learns to choose between the heuristics outperforms the same scheduler with any one of two heuristics alone.
    Keywords: CYBERNETICS
    Type: NASA-TM-108118 , FIA-92-14 , NAS 1.15:108118
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  • 5
    Publication Date: 2019-06-28
    Description: This paper describes the GERRY scheduling and rescheduling system being applied to coordinate Space Shuttle Ground Processing. The system uses constraint-based iterative repair, a technique that starts with a complete but possibly flawed schedule and iteratively improves it by using constraint knowledge within repair heuristics. In this paper we explore the tradeoff between the informedness and the computational cost of several repair heuristics. We show empirically that some knowledge can greatly improve the convergence speed of a repair-based system, but that too much knowledge, such as the knowledge embodied within the MIN-CONFLICTS lookahead heuristic, can overwhelm a system and result in degraded performance.
    Keywords: CYBERNETICS
    Type: NASA-TM-108120 , FIA-92-16 , NAS 1.15:108120
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  • 6
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    In:  Other Sources
    Publication Date: 2019-06-28
    Description: The authors present the input-normal Riccati parameterization which allows a minimal plant (A, B, C, D) to be represented completely by its B, C, and D matrices. In addition to the basic parameterization, they present useful gradient expressions for a cost functional J(A, B, C, D) when the plant is restricted to the input-normal Riccati form. The parameterization is valid for both stable and unstable, and continuous-time and discrete-time systems.
    Keywords: CYBERNETICS
    Type: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 1 (A93-22776 07-63); p. 355, 356.
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  • 7
    Publication Date: 2019-06-28
    Description: An iterative repair search method is described called constraint based simulated annealing. Simulated annealing is a hill climbing search technique capable of escaping local minima. The utility of the constraint based framework is shown by comparing search performance with and without the constraint framework on a suite of randomly generated problems. Results are also shown of applying the technique to the NASA Space Shuttle ground processing problem. These experiments show that the search methods scales to complex, real world problems and reflects interesting anytime behavior.
    Keywords: CYBERNETICS
    Type: NASA-TM-107871 , FIA-91-16 , NAS 1.15:107871
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  • 8
    Publication Date: 2019-06-28
    Description: This paper presents a new approach to rescheduling called constraint-based iterative repair. This approach gives our system the ability to satisfy domain constraints, address optimization concerns, minimize perturbation to the original schedule, produce modified schedules, quickly, and exhibits 'anytime' behavior. The system begins with an initial, flawed schedule and then iteratively repairs constraint violations until a conflict-free schedule is produced. In an empirical demonstration, we vary the importance of minimizing perturbation and report how fast the system is able to resolve conflicts in a given time bound. We also show the anytime characteristics of the system. These experiments were performed within the domain of Space Shuttle ground processing.
    Keywords: CYBERNETICS
    Type: NASA-TM-108119 , FIA-92-15 , NAS 1.15:108119
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  • 9
    Publication Date: 2019-06-28
    Description: MITRE Corporation's, A Review of Space Station Freedom Program Capabilities for the Development and Application of Advanced Automation, cites as a critical issue the following situation, extant at the NASA facilities visited in the course of preparing the review: The major issues noted with regard to design and research facilities deal with cooperative problem solving, technology transfer, and communication between these facilities. While the authors were visiting lab and test beds to collect information, personnel at many of these facilities were interested in any information they could collect on activities at other facilities. A formal means of gathering this information could not be identified by these personnel. While communication between some facilities was taking place or was planned, for technology transfer or coordination of schedules (e.g., for SADP demonstrations), poor communication between these facilities could lead to a lack of technical standards, duplication of effort, poorly defined interfaces, scheduling problems, and increased cost. Formal mechanisms by which effective communication and cooperative problem solving can take place, and information can be disseminated, must be defined. A solution is proposed for the communications aspects of the issues addressed above; and offered at the same time a solution which can prove effective in dealing with some of the problems being encountered with expertise being lost via retirement or defection to the private sector. The proffered recommendations are recognizably cost-effective and tap the rising sector of expert knowledge being produced by the American academic community.
    Keywords: CYBERNETICS
    Type: NASA, Marshall Space Flight Center, Fifth Conference on Artificial Intelligence for Space Applications; p 139-145
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  • 10
    Publication Date: 2019-07-12
    Description: The application of Kalman filtering techniques to the analysis of VLBI data is discussed. The VLBI observables are geometrically related to the geodetic and astrometric parameters which can be determined from them. However, contributions to the observables from the clocks at, and the atmospheres above, the VLBI sites must be accounted for if reliable estimates of geodetic and astrometric parameters are to be obtained. Here, an implementation of a Kalman filter to account for stochastic behavior on those parameters which vary during the course of a VLBI experiment is discussed. Both the nature of the stochastic processes which should be used in the model for the VLBI data and the implementation of the Kalman filter estimator are considered. It is concluded that the Kalman filter is appropriate for analyzing VLBI data.
    Keywords: CYBERNETICS
    Type: Journal of Geophysical Research (ISSN 0148-0227); 95; 12561-12
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