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  • 1
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    Continuous motion using task-directed stereo vision (1992)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The performance of autonomous mobile robots performing complex navigation tasks can be dramatically improved by directing expensive sensing and planning in service of the task. The task-direction algorithms can be quite simple. In this paper we describe a simple task-directed vision system which has been implemented on a real outdoor robot which navigates using stereo vision. While the performance of this particular robot was improved by task-directed vision, the performance of task-directed vision in general is influenced in complex ways by many factors. We briefly discuss some of these, and present some initial simulated results.
    Keywords: CYBERNETICS
    Type: In: Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991 (A93-49438 21-63); p. 294-298.
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  • 2
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    Maximum entropy method applied to deblurring images on a MasPar MP-1 computer (1991)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: A statistical inference method based on the principle of maximum entropy is developed for the purpose of enhancing and restoring satellite images. The proposed maximum entropy image restoration method is shown to overcome the difficulties associated with image restoration and provide the smoothest and most appropriate solution consistent with the measured data. An implementation of the method on the MP-1 computer is described, and results of tests on simulated data are presented.
    Keywords: CYBERNETICS
    Type: In: Image understanding in the '90s: Building systems that work; Proceedings of the Meeting, McLean, VA, Oct. 18, 19, 1990 (A93-20261 06-63); p. 138-146.
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  • 3
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    Adaptive structures for precision controlled large space systems (1992)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The development of adaptive structural systems is reviewed and the potential of these systems in meeting some of the requirements for NASA future space missions is demonstrated. Particular attention is given to the characteristics of a viscous damper in the micron displacement regime; the optimal placement of active and passive members into a truss structure; a system identification test using the active members as excitation sources; a concept for deforming a lightweight composite honeycomb optical panel to correct for on-orbit distortions by using piezoelectric actuators attached to the back facesheet; and the results of an active member vibration control experiment in a reduced gravity environment.
    Keywords: CYBERNETICS
    Type: Journal of Intelligent Material Systems and Structures (ISSN 1045-389X); 3; 2, Ap
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  • 4
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    Towards a methodology for robust parameter identification (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Consideration is given to the problem of estimating, from experimental data, real parameters for a model with uncertainty in the form of both additive noise and norm-bounded perturbations. Such models frequently arise in robust control theory, and a framework is introduced for the consideration of experimental data in robust control analysis problems. If the analysis tools applied include robust stability tests for real parameter variations (real mu), the framework can be used to address the problem of robust parameter identification. While the techniques discussed can quickly become computationally overwhelming when applied to physical systems and real data, the approach introduces a novel way of looking at the identification problem and may be helpful in arriving at a more tractable methodology.
    Keywords: CYBERNETICS
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  • 5
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    Mapping considerations for optimal binary correlation filters (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The optimality of correlation filters is an important issue in applications of pattern recognition. Both binary phase-only filters (BPOFs) and amplitude encoded binary phase-only filters (AE BPOFs) are considered and the results of optimizing the filters for a real world object (the Space Shuttle) are studied. It is found that while only small improvements result from optimizing a BPOF, optimization of the AE BPOF is quite important in obtaining a useful correlation function. In the case of an AE BPOF, both signal-to-noise and peak-to-sidelobe measures must be studied. Computer simulation and experimental correlation results are presented.
    Keywords: CYBERNETICS
    Type: Applied Optics (ISSN 0003-6935); 29; 5235-524
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  • 6
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    Experimental verification of modified synthetic discriminant function filters for rotation invariance (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Experimental results are presented which demonstrate that effective binary synthetic discriminant functions (SDFs) can be constructed if the binary nature of the filter modulation is included in SDF synthesis. It is also shown that the iterative procedure needed to produce the SDF is well performed on the optical correlator, as opposed to off-line computation. Binary SDF filters have been demonstrated which produce approximately equal correlation peaks over in-plane rotation ranges up to 75 deg and out-of-plane rotation ranges up to 60 deg. This technique, combined with the translational position invariance of optical filters, allows a single filter to track a Shuttle Orbiter as it moves along a curved path across the input field.
    Keywords: CYBERNETICS
    Type: Applied Optics (ISSN 0003-6935); 29; 1209-121
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  • 7
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    Planning, scheduling, and control for automatic telescopes (1992)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: This paper presents an argument for the appropriateness of Entropy Reduction Engine (ERE) technology to the planning, scheduling, and control components of Automatic Photoelectric Telescope (APT) management. The paper is organized as follows. In the next section, we give a brief summary of the planning and scheduling requirements for APTs. Following this, in section 3, we give an ERE project precis, couched primarily in terms of project objectives. Section 4 gives a sketch of the match-up between problem and technology, and section 5 outlines where we want to go with this work.
    Keywords: CYBERNETICS
    Type: NASA. Ames Research Center, Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning; p 82-86
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  • 8
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    IOPS advisor: Research in progress on knowledge-intensive methods for irregular operations airline scheduling (1992)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Our research focuses on the problem of recovering from perturbations in large-scale schedules, specifically on the ability of a human-machine partnership to dynamically modify an airline schedule in response to unanticipated disruptions. This task is characterized by massive interdependencies and a large space of possible actions. Our approach is to apply the following: qualitative, knowledge-intensive techniques relying on a memory of stereotypical failures and appropriate recoveries; and quantitative techniques drawn from the Operations Research community's work on scheduling. Our main scientific challenge is to represent schedules, failures, and repairs so as to make both sets of techniques applicable to the same data. This paper outlines ongoing research in which we are cooperating with United Airlines to develop our understanding of the scientific issues underlying the practicalities of dynamic, real-time schedule repair.
    Keywords: CYBERNETICS
    Type: NASA. Ames Research Center, Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning; p 127-130
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  • 9
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    Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS) (1990)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.
    Keywords: CYBERNETICS
    Type: NASA. Johnson Space Center, First CLIPS Conference Proceedings, Volume 2; p 822-830
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  • 10
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    Three-D Artificial Neural Network (3DANN) technology. Blueprint for the future (1994)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Irvine Sensors Corporation (ISC), working closely with JPL under BMDO/ONR sponsorship, is developing a radically new neural computing technology. Primarily aimed at discrimination and target recognition for BMDO missile interceptor applications, it appears to have near term commercial applicability to such problems as handwriting and face recognition, just to name two. In its earliest form it will be able to perform inner product computation using 262 thousand 64x64 templates (weighted synapse arrays) where the 64(exp 5) weights can all be changed every millisecond. Internal switching provides an inherent capability to zoom, translate, or rotate the templates. The 3D silicon architecture is manufactured on a commercial, high volume DRAM production line at very low cost, enabling its commercialization. Two technology thrusts are beginning: in the first, the 64 layer capability of 3DANN-I will be extended to 1024 layers and beyond. In the second layer size will be shrunk to 2-3 millimeters to reduce layer costs. Our workshop goal is to expose this technology to the neural network community as an emerging tool for their use and to obtain their desire for its future development.
    Keywords: CYBERNETICS
    Type: JPL, A Decade of Neural Networks: Practical Applications and Prospects; p 65-74
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