ALBERT

Description: The issues of industrial productivity and economic competitiveness are of major significance in the U.S. at present. By advancing the science of design, and by creating a broad computer-based methodology for automating the design of artifacts and of industrial processes, we can attain dramatic improvements in productivity. It is our thesis that developments in computer science, especially in Artificial Intelligence (AI) and in related areas of advanced computing, provide us with a unique opportunity to push beyond the present level of computer aided automation technology and to attain substantial advances in the understanding and mechanization of design processes. To attain these goals, we need to build on top of the present state of AI, and to accelerate research and development in areas that are especially relevant to design problems of realistic complexity. We propose an approach to the special challenges in this area, which combines 'core work' in AI with the development of systems for handling significant design tasks. We discuss the general nature of design problems, the scientific issues involved in studying them with the help of AI approaches, and the methodological/technical issues that one must face in developing AI systems for handling advanced design tasks. Looking at basic work in AI from the perspective of design automation, we identify a number of research problems that need special attention. These include finding solution methods for handling multiple interacting goals, formation problems, problem decompositions, and redesign problems; choosing representations for design problems with emphasis on the concept of a design record; and developing approaches for the acquisition and structuring of domain knowledge with emphasis on finding useful approximations to domain theories. Progress in handling these research problems will have major impact both on our understanding of design processes and their automation, and also on several fundamental questions that are of intrinsic concern to AI. We present examples of current AI work on specific design tasks, and discuss new directions of research, both as extensions of current work and in the context of new design tasks where domain knowledge is either intractable or incomplete. The domains discussed include Digital Circuit Design, Mechanical Design of Rotational Transmissions, Design of Computer Architectures, Marine Design, Aircraft Design, and Design of Chemical Processes and Materials. Work in these domains is significant on technical grounds, and it is also important for economic and policy reasons.

Description: When trying to decide what task should be done by robots and what tasks should be done by humans with respect to space construction, there has been one decisive barrier which ultimately divides the tasks: can a computer do the job? Von Neumann type computers have great difficulty with problems that the human brain seems to do instantaneously and with little effort. Some of these problems are pattern recognition, speech recognition, content addressable memories, and command interpretation. In an attempt to simulate these talents of the human brain, much research was currently done into the operations and construction of artificial neural networks. The efficiency of the interface between man and machine, robots in particular, can therefore be greatly improved with the use of neural networks. For example, wouldn't it be easier to command a robot to 'fetch an object' rather then having to remotely control the entire operation with remote control?

Description: The purpose of using Fuzzy Logic Controller (FLC) originally is to replace human operators in some control task. The presentation gives brief introduction of fuzzy logic controller and the related concepts in fuzzy sets. Fuzzy modeling is a process of system identification by using a model of fuzzy structure. Representation capability of fuzzy modeling in nonlinear function approximation is shown by mathematical analysis. General conclusions and results of simulation example are given. Finally, configuration of a fuzzy adaptive controller and the adaptive control algorithms are presented, accompanied with simulation results of an example in which a nonlinear plant is controlled by the proposed fuzzy adaptive controller to do the model-following.

Description: This paper presents the results of an application of the semivariogram textural classifier to SIR-B data. Ford and Casey (1988) performed a visual interpretation of a SIR-B image of a tropical rain forest in Borneo in which they recognized and mapped three units of forest canopy (coastal lowland forest, tidal forest and swamp) and two units of open areas (clearcut and wetland). In this study the same image is classified using the STC in an attempt to emulate their interpretation.

Description: Synthetic aperture radar (SAR) imagery data can provide information on types and distribution of river and lake ice needed for studying river ice processes and dynamics, monitoring ice during winter navigation, and formulating ice control strategies. Visible and IR remote sensing systems cannot provide such data and present field methods are inadequate for characterizing ice conditions over long river reaches. Our ongoing analysis of JPL's AIRSAR imagery data and concurrent ground truth of ice conditions on the Tanana River and surrounding lakes near Fairbanks, Alaska, in March 1988, has resulted in several findings: hummocked ice covers and zones of variable ice surface roughness within them can be differentiated; C- and L-band data are more sensitive than P-band to the range of surface roughnesses encountered; smooth, level ice that is clear or contains small bubbles produces little backscatter; snow-covered river ice, whether rough or smooth, is distinguishable from snow-covered river sediments on exposed river beds and unvegetated bars; and open water leads are readily distinguished.

Description: The Joint Research Center (JRC) Ispra and the European Space Agency (ESA) have co-sponsored the deployment of the National Aeronautics and Space Agency (NASA) and Jet Propulsion Laboratory (JPL), C-, L-, and P-band polarimetric synthetic aperture radar (SAR) in Europe in mid-August 1989. This deployment represents the first opportunity for European agencies and institutes to evaluate the current state of the art of multifrequency polarimetric imaging technology over European Test Sites. Of particular interest to the Joint Research Center (JRC) Ispra is the Black Forest Test Site at Freiburg in the Federal Republic of Germany. This Test Site incorporates the Villingen region of the Black Forest to the south-west of Germany. This paper reports upon the activities undertaken in preparation for the MAESTRO 1 Campaign in the Black Forest Test Site. In particular this paper reports upon the ground data collection campaign for the Freiburg Test Site where extensive and intensive ground data measurements were undertaken. These measurements were based upon standard ground data collection protocols developed for forestry by the JRC and utilized throughout Europe for the MAESTRO 1 Campaign. The paper then goes on to present preliminary results derived from the SAR data using the JRC-developed software for polarimetric data interpretation, POLTOOL.

Description: In March 1988, overlapping active and passive microwave instrument data were acquired over Arctic sea ice using the NASA DC-8 aircraft equipped with multifrequency, variable polarization SAR and radiometer. Flights were conducted as a series of coordinated underflights of the DMSP SSM/I satellite radiometer in order to validate ice products derived from the SSM/I radiances. Subsequent flights by an NRL P-3 aircraft enabled overlapping high-resolution, single frequency image data to be acquired over the same regions using a Ka-band scanning microwave radiometer. In this paper, techniques are discussed for the accurate coregistration of the three aircraft datasets. Precise coregistration to an accuracy of 100 m plus or minus 25 m has, for the first time, enabled the detailed comparison of temporally and spatially coincident active and passive airborne microwave datasets. Preliminary results from the intercomparisons indicate that the SAR has highly frequency- and polarization-dependent signatures, which at 5.3 GHz (C-band) show an extremely high correlation with the 37 GHz radiometric temperatures.

Description: Results of preliminary analyses of aircraft polarimetric SAR data acquired over the Greenland Ice Sheet are presented. Data were collected in August 1989 by the Jet Propulsion Laboratory (JPL) multifrequency, polarimetric SAR using the NASA DC-8 aircraft over southern Greenland. Data of this kind are the first to be acquired over an ice sheet. They are complementary to the limited coverage provided by the SEASAT satellite SAR in 1978, and more recent aircraft X-band SAR image coverage. Frequency and polarization dependencies observed in the P-, L-, and C-band image products are attributed to large-scale variations in the snow and ice surface characteristics. At this time of year, during the ablation season, ice topography exerts a strong influence upon drainage and other hydrological features on the ice sheet surface. Systematic trends in backscatter strength observed across regions of changing snow facies are suggestive of a capability to map areas of snow wetness. Trends observed at C-band indicate that algorithms could possibly be developed which have the ability to delineate areas of significant melt.

Description: As a preliminary investigation to the joint multiparameter SIR-C/X-SAR shuttle experiment of NASA/JPL (USA), DLR (FRG), and PSN (Italy) which is scheduled for the year 1992 an airborne SAR campaign was conducted over Oberpfaffenhofen, FRG, in August 1989. Primarily this campaign was planned to test and verify equipment and algorithms developed at the DLR to calibrate multifrequency polarimetric SAR data. Oberpfaffenhofen is designated as one of the super test sites for the SIR-C/X-SAR experiment which will be imaged under all circumstances except severe mission errors. A super test site drives radar parameters and look directions and the recorded SAR data will be calibrated. In addition ancillary data will be available for the site. During the airborne STAR campaign conducted in the week of August 14th 1989 various sensor types were used to record remote sensing data over the calibration test site and its vicinity: the polarimetric DC-8 JPL-SAR (P-, L-, C-band), the DLR airborne SAR (C-, X-band), color infrared aerial photography (DLR), and the truck-mounted scatterometer (C- and X-band) of the Institute for Navigation, University of Stuttgart (INS). Because of this variety of different sensor types used and out of the fact that sufficiently large forested and agriculturally used areas were planned to be covered by these sensors, the interest of several German research groups involved in investigations concerning SAR land applications arose. The following groups carried out different ground-truth measurements: University of Bonn, Institute for plant cultivation (plant morphology and moisture content); University of Braunschweig, Institute for Geography (soil moisture and surface roughness); University of Freiburg, Institute for Geography (dielectric soil properties, landuse); and University of Munich, Institute for Geography (landuse inventory, plant, surface, and soil parameters). This paper presents the joint ground truth activities of the Institute for Geography, University of Munich, and the German Remote Sensing Data Center of the DLR.

Description: The results of a July 1986 remote sensing campaign of Italian volcanoes are reviewed. The equipment and techniques used to acquire the data are described and the results obtained for Campi Flegrei and Mount Etna are reviewed and evaluated for their usefulness for the study of active and recently active volcanoes.

Description: The present work is intended to give technologists, research scientists, and mathematicians a graduate-level overview of the field of neurocomputing. After exploring the relationship of this field to general neuroscience, attention is given to neural network building blocks, the self-adaptation equations of learning laws, the data-transformation structures of associative networks, and the multilayer data-transformation structures of mapping networks. Also treated are the neurocomputing frontiers of spatiotemporal, stochastic, and hierarchical networks, 'neurosoftware', the creation of neural network-based computers, and neurocomputing applications in sensor processing, control, and data analysis.

Description: An algorithm is presented for the recognition and localization of thre-dimensional polyhedral objects based on an optical proximity sensor system capable of measuring the depth and orientation of a local area of an object surface. Emphasis is given to the determination of an optimal sensor trajectory or an optimal probing, for efficient discrimination among all the possible interpretations. The determination of an optimal sensor trajectory for the next probing consists of the selection of optimal beam orientations based on the surface normal vector distribution of the multiple interpretation image (MII) and the selection of an optimal probing plane by projecting the MII onto the projection plane perpendicular to a selected beam orientation and deriving the optimal path on the projection plane. The selection of optimal beam orientation and probing plane is based on the measure of discrimination power of a cluster of surfaces of an MII. Simulation results are shown.

Description: The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Description: This study extends to flexible multibody manipulators the recent results of the author on the use of spatially recursive filtering and smoothing techniques for robot arm dynamics. The configuration analyzed is that of a mechanical system of flexible bodies joined together by articulated joints. The inverse and forward dynamics problems are solved using the techniques of spatially recursive Kalman filtering and smoothing. The algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. The identities are easily derived using a spatial operator algebra developed by the author.

Description: An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Description: A dynamic world model is presented on which all planning, sensing, and control functions are based. A planning system that specifies how task are to be performed and the method used for sensing the state of the task are presented. The objectives of the control law and the algorithm used in the controller are given. Practical considerations are addressed, and some important details, such as the use of the null task, are explained. An example task of opening a door is examined.

Description: Recent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14-state linear-quadratic-Gaussian (LQG) controller was augmented with a 528-tap finite-impulse-response (FIR) filter designed using convex optimization techniques. The resulting 278-state controller produced improved end-point trajectory tracking and disturbance rejection in simulation and experimentally in real time.

Description: An expert system which tunes a proportional-integral-derivative (PID) controller online for a single-input-single-output multiple-lag process with dead time is described. The expert system examines features of the previous transient responses and their corresponding sets of controller parameters. It determines a new set of controller gains to obtain a more desirable time response. This technique can be used to determine and implement a different set of PID gains for each operating regime and, once in steady state, the system can be used to find optimal parameters for load disturbance rejection. The expert system can be applied to any system of the specified form (aerospace, industrial, etc.) and can be expanded to include additional process models.

Description: Preliminary results of applying the linear adaptive control techniques of Johnson (1985, 1988) to a pointing system the gamma-ray imaging device (GRID) experiment, are presented. A brief description of the system configuration and modeling efforts is presented along with results of simulation of the primary control tasks. The advantages of the technique include a straightforward design methodology and constant controller parameters.

Description: A scheme for theoretical and experimental evaluation of multivariable system stability robustness measures is described. The experimental scheme is based on the estimation of frequency responses from power-spectra analyses of a set of time responses due to sine-sweep excitation at each input and then computation of the appropriate singular values. The procedure can also be used on an open-loop stable system to predict the closed-loop stability before closing the loop. Classical Nyquist diagrams can also be constructed to determine one-loop-at-a-time gain or phase margins. The scheme has been implemented in a wind tunnel test for singular-value evaluation of digital flutter suppression control laws and compared with theory. The singular values at the plant input and output of the actual system and the theoretical model are qualitatively similar but have some discrepancies.

Description: Time-delay control for systems with unknown dynamics involves estimations. In its present form, these estimations include not only the interpolation of a time-varying function but also its derivative between data points. Presently, the control law is reformulated, taking into account the computation delay. A window-shifting scheme is then devised to view n data points as they are sampled in order to perform the function estimation. At each new sampling time, the window shifts to include the new data point as well as the last n-1 points. Several interpolation methods are considered. These methods use data points from a sampled function to construct a polynomial estimate of the function. The control system performance was experimentally tested using a servosystem. The results show that a Newtonian interpolation provided best results when the computation time was 0.4 times the sampling period.

Description: This study introduces three concepts: telefunctioning, a control method for achieving telefunctioning, and an approach to the analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer's choice and depend on the application. In a subclass of telefunctioning called telepresence, all of the relationships between the master and the slave are specified as unity so that all of the master and slave variables (e.g., position and velocity) are dynamically equal. To create telefunctioning, a minimum number of functions relating the robots' variables is identified. A control architecture which guarantees that the defined functions govern the dynamic behavior of the system is then developed. The stability of the closed-loop system (master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived.

Description: A description is given of the efforts in control of an active precision truss structure experiment. The control objective is to provide vibration suppression to selected modes of the structure subject to a bandlimited disturbance and modeling errors. Based on performance requirements and an uncertainty description, several control laws using the H-infinity optimization method are synthesized. The controllers are implemented on the experimental facility. Preliminary experimental results are presented.

Description: System identification is studied for the explicit purpose of supporting modern H-infinity robust control design objectives. In the analysis, the true plant is not assumed to be in the identification model set. An integrated identification/robust control problem is posed in which the optimal solution guarantees the best robust performance relative to the system information contained in a given experimental data set. A numerical example demonstrating an approximate solution to the problem indicates the usefulness of the approach.

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.

Description: A recursive approach is described for processing a sequence of stereo images. It will be the basis for an integrated stereo and motion method to provide more accurate range information using a passive ranging system. Results based on motion sequences of stereo images are presented. The approach is also applicable to other autonomous systems and in robotics.

Description: An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Description: A digital correlation mask that induces orthogonality among a prescribed set of reference imagery is described. In this particular implementation, the resulting correlation is undersampled and shift-variant, though if it is applied to optical correlators, those limitations are removed. A method of introducing orthogonality among the weights among the training set from which filter values are obtained is derived, so that the correlation value from a given filter is representative of the unique nature of the reference object as compared against the other objects in the training class.

Description: Cloud cover in tropical humid forests can pose serious operational constraints on Landsat TM and SPOT HRV instrumentation, given their respective orbital frequencies of 16 and 26 days. SAR data intrinsically precludes such problems; the increase of data acquisition frequency to daily rates, as with the NOAA AVHRR instrument, also bears consideration. It is deemed essential that SAR data-related research be expedited, in order to ascertain inherent SAR information for tropical forests in a timely and cost-effective manner.

Description: The background of the Forest Ecosystem Dynamics field campaign is presented, a progress report on the analysis of the collected data and related modeling activities is provided, and plans for future experiments at different points in the phenological cycle are outlined. The ecological overview of the study site is presented, and attention is focused on forest stands, needles, and atmospheric measurements. Sensor deployment and thermal and microwave observations are discussed, along with two examples of the optical radiation measurements obtained during the experiment in support of radiative transfer modeling. Future activities pertaining to an archival system, synthetic aperture radar, carbon acquisition modeling, and upcoming field experiments are considered.

Description: The objectives, design, and field operations of the First ISLSCP Field Experiment (FIFE) are described. The simultaneous acquisition of satellite, atmosphere, and surface data, and the understanding of the processes governing surface energy and mass exchange and how these are manifested in satellite-resolution radiometric data are identified as the specific objectives of the field-phase experiment. The central issues concerning the design of the field experiment are considered: the size of the site, the duration of the experiment, and the location of the site; it is noted that the Konza Prairie National Reserve was selected as the focus of the study. Field operations in 1987 and 1989 are discussed, and it is pointed out that a data set is available now from a single combined repository to all FIFE investigators, and that scientists can test models and algorithms on scales consistent with satellite observations and with enough supporting data on finer scales.

Description: The functional relation among subpixel canopy cover, illuminated soil, and shadowed soil, which progressively develops with increasing pixel size, is investigated for Poisson distributed plants using a geometric canopy simulation model. An analytical relation among cover components is shown to be applicable when the scale of the pixel is much larger than the scale of the plant and ground shadow. The analysis is facilitated through the use of a nondimensional solar-geometric similarity parameter, eta, equal to the ratio of the area of one plant canopy to its associated ground shadow area, as viewed from nadir. A sampling scale ratio, defined as the ratio of the area of the pixel to the mean area of a single plant shadow, is tested as a quantitative criterion to evaluate when the functional relation among subpixel components occurs. The results of a remote sensing experiment over a natural conifer landscape provide preliminary confirmation of the theoretical analysis.

Description: The global linearization (inversion) of rigid-body rotational dynamics is reviewed, and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.

Description: Significant progress has been made in the application of microwave remote sensing for measuring soil moisture. Both passive and active systems have demonstrated the capability for measuring soil moisture. However, several questions are still unresolved regarding the optimal instrument configuration and other target characteristics, such as roughness and vegetation. In addition, the most likely disciplines for using these data, agriculture and hydrology, do not currently possess adequate models or procedures for using these new data.

Description: Each spatial region viewed by an imaging spectrometer contains various elements in a mixture. The elements present and the amount of each are to be determined. A neural net solution is considered. Initial optical neural net hardware is described. The first simulations on the component requirements of a neural net are considered. The pseudoinverse solution is shown to not suffice, i.e. a neural net solution is required.

Description: High-level robot control research must confront the limitations imposed by real sensors if robots are to be controlled effectively in the real world. In particular, sensor limitations make it impossible to maintain a complete, detailed world model of the situation surrounding the robot. To address the problems involved in planning with the resulting incomplete and uncertain world models, traditional robot control architectures must be altered significantly. Task-directed sensing and control is suggested as a way of coping with world model limitations by focusing sensing and analysis resources on only those parts of the world relevant to the robot's active goals. The RAP adaptive execution system is used as an example of a control architecture designed to deploy sensing resources in this way to accomplish both action and knowledge goals.

Description: Based on NOAA-9 AVHRR and Nimbus-7 SMMR satellite data, satellite indices of vegetation from the Australian continent are calculated for the period of May 1986 to April 1987. Visible (VIS) and near infrared (NIR) reflectances and the normalized difference (ND) vegetation index are calculated from the AVHRR sensor. The microwave polarization difference (PD) is also calculated as the difference between the vertically and horizontally polarized brightness temperatures at 37 GHz. ND, PD, VIS, and NIR indices were plotted against rainfall and water balance estimates of evaporation. It is concluded that direct satellite monitoring of annual evaporation across the Australian continent using PD or VIS satellite indices of vegetation biomass appears possible for areas with evaporation less than 600 mm/y and that use of the ND relationship at continental scale may underpredict monthly evaporation of forests relative to agriculture.

Description: Classical Rayleigh scattering theory is extended to the case of a homogeneous dielectric cylinder of arbitrary cross section whose transverse dimensions are much smaller than the wavelength. By assuming that the surface fields can be approximated by those of the infinite cylinder, the far zone scattered field is expressed in terms of polarizability tensors, whose properties are discussed. Numerical results are presented for circular, semicircular, triangular, and square cylinders. The results are applicable to the remote sensing of twigs, stalks, and vegetation needles at centimeter and millimeter wavelengths.

Description: An analytical framework is provided for examining the physically based behavior of the normalized difference vegetation index (NDVI) in terms of the variability in bulk subpixel landscape components and with respect to variations in pixel scales, within the context of the stochastic-geometric canopy reflectance model. Analysis focuses on regional scale variability in horizontal plant density and soil background reflectance distribution. Modeling is generalized to different plant geometries and solar angles through the use of the nondimensional solar-geometric similarity parameter. Results demonstrate that, for Poisson-distributed plants and for one deterministic distribution, NDVI increases with increasing subpixel fractional canopy amount, decreasing soil background reflectance, and increasing shadows, at least within the limitations of the geometric reflectance model. The NDVI of a pecan orchard and a juniper landscape is presented and discussed.

Description: An apparatus for acquiring bidirectional reflectance-factor data was constructed and used over four surface types. Data sets were obtained over a headed wheat canopy, bare soil having several different roughness conditions, playa (dry lake bed), and gypsum sand. Results are presented in terms of relative bidirectional reflectance factors (BRFs) as a function of view angle at a number of solar zenith angles, nadir BRFs as a function of solar zenith angles, and, for wheat, vegetation indices as related to view and solar zenith angles. The wheat canopy exhibited the largest BRF changes with view angle. BRFs for the red and the NIR bands measured over wheat did not have the same relationship with view angle. NIR/Red ratios calculated from nadir BRFs changed by nearly a factor of 2 when the solar zenith angle changed from 20 to 50 degs. BRF versus view angle relationships were similar for soils having smooth and intermediate rough surfaces but were considerably different for the roughest surface. Nadir BRF versus solar-zenith angle relationships were distinctly different for the three soil roughness levels. Of the various surfaces, BRFs for gypsum sand changed the least with view angle (10 percent at 30 degs).

Description: A review of the physical mechanisms involved in light polarization by reflecting surfaces is presented and experimental results for single leaf, bare soil, and plant canopies are analyzed. It is shown that light polarization can be employed to identify different plant canopies and to estimate their standing biomass. For bare soils, light polarization can be used to monitor the surface soil moisture and the state of the surface. Thus light polarization may be considered as a new remote sensing technique for potential agricultural application.

Description: A comprehensive overview is presented on how remote sensing technology has been applied to tropical forest monitoring over the past 20 years. Research needs for monitoring the condition and extent of tropical forests are suggested. The discussion focuses on nonphotographic sensors, especially those on orbiting satellites. Several remote sensing approaches to tropical forest monitoring are outlined, including NOAA AVHRR, Landsat MSS, the Landsat Thematic Mapper, SPOT-1, and Synthetic Aperture Radar. Suggested research needs are addressed, along with discussions on the use of Geographic Information Systems, and multistage and multisensor approaches in data analysis and acquisition. It is concluded that additional research and technique development is urgently needed to advance the utility of remotely sensed data for tropical forest monitoring. However, there is sufficient information available now to prototype a global tropical forest monitoring system that would utilize current satellite sensors complemented with airborne sensors for detailed measurements on sample locations.

Description: Sets of Thematic Mapper (TM) imagery taken over the Washington, DC metropolitan area during the months of November, March and May were converted into a form of ground reflectance imagery. This conversion was accomplished by adjusting the incident sunlight and view angles and by applying a pixel-by-pixel correction for atmospheric effects. Seasonal color changes of the area can be better observed when such normalization is applied to space imagery taken in time series. In normalized imagery, the grey scale depicts variations in surface reflectance and tonal signature of multi-band color imagery can be directly interpreted for quantitative information of the target.

Description: A new neural network architecture is proposed based upon effects of non-Lipschitzian dynamics. The network is fully connected, but these connections are active only during vanishingly short time periods. The advantages of this architecture are discussed.

Description: A technique for the efficient analytical computation of such parameters of the neural architecture as synaptic weights and neural gain is presented as a single solution of a set of adjoint equations. The learning model discussed concentrates on the adiabatic approximation only. A problem of interest is represented by a system of N coupled equations, and then adjoint operators are introduced. A neural network is formalized as an adaptive dynamical system whose temporal evolution is governed by a set of coupled nonlinear differential equations. An approach based on the minimization of a constrained neuromorphic energylike function is applied, and the complete learning dynamics are obtained as a result of the calculations.

Description: Mesoscale mapping of spatial variations in sand composition of the Gran Desierto (Sonora, Mexico) was carried out on multispectral Landsat TM images of this region, making it possible to examine the dynamic development of sand sheets and dunes. Compositions determined from remote imagery were found to agree well with samples from selected areas. The sand populations delineated were used to describe the sediment source areas, transport paths, and deposition sites. The image analysis revealed important compositional variations aver large areas that were not readily apparent in the field data.

Description: A digital terrain elevation data set was coregistered with radar data for assessing tropical forest stand characteristics. Both raw and topographically corrected L-band polarimetric radar data acquired over the tropical forests of Costa Rica were analyzed and correlated with field-collected tree parameter data to study the stand characteristics. The results of analyses using 18 out of 81 plots for sites A and B indicated that per-plot bole volume and tree volume are related to SAR data, particularly at site A. The topographically corrected SAR data appear to produce the same findings as those of uncorrected data.

Description: To improve the interpretation of surface cryospheric albedo from satellite sensor data, diurnal measurements of the spectral bidirectional reflectance of a commonly found fresh water ice type were made, from which hemispherical reflectance can be derived. The purpose of this study is to document its clear-sky, bidirectional reflectance characteristics in the visible (650-670 nm) and near-infrared (810-840 nm) region, assess the diurnal nature of the reflectance, and quantify the surface anisotropy. Bidirectional reflectances of the refrozen slush ice measured show a spectral dependence and change significantly with solar zenith angle. Considerable variation occurs at each view angle and among view angles throughout the day. Although diurnal reflectance patterns were similar in both bands, magnitudes varied greatly, being highest in the visible and lowest in the near-infrared region. With the exception of peak saturated (specular) values in the forward scatter direction, bidirectional reflectance was generally highest in the morning when the surface and the illumination were most diffuse in character.

Description: Much of discrete event control theory has been developed within the framework of automata and formal languages. An alternative approach inspired by the theories of process-algebra as developed in the computer science literature is presented. The framework, which rests on a new formalism of concurrency, can adequately handle nondeterminism and can be used for analysis of a wide range of discrete event phenomena.

Description: Various image processing techniques developed for enhancement and extraction of linear features, of interest to the structural geologist, from digital remote sensing, geologic, and gravity data, are presented. These techniques include: (1) automatic detection of linear features and construction of rose diagrams from Landsat MSS data; (2) enhancement of principal structural directions using selective filters on Landsat MSS, Spacelab panchromatic, and HCMM NIR data; (3) directional filtering of Spacelab panchromatic data using Fast Fourier Transform; (4) detection of linear/elongated zones of high thermal gradient from thermal infrared data; and (5) extraction of strong gravimetric gradients from digitized Bouguer anomaly maps. Processing results can be compared to each other through the use of a geocoded database to evaluate the structural importance of each lineament according to its depth: superficial structures in the sedimentary cover, or deeper ones affecting the basement. These image processing techniques were successfully applied to achieve a better understanding of the transition between Provence and the Pyrenees structural blocks, in southeastern France, for an improved structural interpretation of the Mediterranean region.

Description: Landsat TM images, subjected to four-component processing through which lithologies can be discriminated by their contrasting absorption and reflection at IR wavelengths, have revealed previously unsuspected strike-slip and normal faults in the central and eastern Mojave Desert. These discriminations, which extend to ferric and ferrous iron and to hydroxyl content without compromise of landform depiction, represent a novel type of geophysical display for geologic mapping in regions of well-exposed bedrock; the faults thus discovered form part of an extensive regional network of right shear which connects Death Valley region faults with those in the San Andreas system.

Description: The Balanced Bridge Feedback technique is applied to the multiloop pointing control problem. Using colocated torque and angular velocity sensors and high-order compensators, the motor loop is decoupled from the flexible plant, the feedback bandwidth is increased in the motor and plant loops, and the accuracy improved by orders of magnitude compared to the results achievable with conventional control techniques.

Description: A polarimetric radar measures the complete scattering matrix of a target. For the forest and other natural targets, the average return is, in general, partially polarized. Conditions on the second-order statistics of the scattering matrix under which the return is fully polarized are derived, and it is shown that these conditions are connected with the eigenvalues of the covariance matrix. The result of this analysis is a set of three quantities which indicate the ability of a scatterer to generate an unpolarized component. These quantities for forested areas are shown.

Description: The problem of data compression is very important in digital photogrammetry, computer assisted cartography, and GIS/LIS. In addition, it is also applicable in many other fields such as computer vision, image processing, pattern recognition, and artificial intelligence. Consequently, there are many algorithms available to solve this problem but none of them are considered to be satisfactory. In this paper, a new method of finding critical points in a digitized curve is explained. This technique, based on the normalized symmetric scattered matrix, is good for both critical points detection and data compression. In addition, the critical points detected by this algorithm are compared with those by zero-crossings.

Description: Recent research has shown an artificial neural network (ANN) to be capable of pattern recognition and the classification of image data. This paper examines the potential for the application of neural network computing to satellite image processing. A second objective is to provide a preliminary comparison and ANN classification. An artificial neural network can be trained to do land-cover classification of satellite imagery using selected sites representative of each class in a manner similar to conventional supervised classification. One of the major problems associated with recognition and classifications of pattern from remotely sensed data is the time and cost of developing a set of training sites. This reseach compares the use of an ANN back propagation classification procedure with a conventional supervised maximum likelihood classification procedure using a minimal training set. When using a minimal training set, the neural network is able to provide a land-cover classification superior to the classification derived from the conventional classification procedure. This research is the foundation for developing application parameters for further prototyping of software and hardware implementations for artificial neural networks in satellite image and geographic information processing.

Description: Several conditions for a near-optimal reduction of general dynamic systems are presented focusing on the reduction in balanced and modal coordinates. It is shown that model and balanced reductions give very different results for the flexible structure with closely-spaced natural frequencies. In general, balanced reduction is found to give better results. A robust model reduction technique was developed to study the sensitivity of modeling error to variations in the damping of a structure. New concepts of grammians defined over a finite time and/or a frequency interval are proposed including computational procedures for evaluating them. Application of the model reduction technique to these grammians is considered to lead to a near-optimal reduced model which closely reproduces the full system output in the time and/or frequency interval.

Description: The effectiveness of using L-band polarimetric data to determine tropical tree-stand parameters is discussed with specific attention given to the correction of the radar data. Tree-parameter data from ground studies is compared to L-band polarimetric data (in both uncorrected and topographically corrected forms) for two test areas. The test sites are at two different elevations but both include 81 test plots with topographic data and tree-characteristic data given. Synthetic-aperture radar (SAR) data are found to be related to bole volume and tree volume, and the topographically corrected data show results similar to the uncorrected data. Similar r-values are given for both data sets because the data with incidence-angle values below 35 and above 55 are removed. Topographical correction is important when local incidence angles exceed the limits.

Description: Correlation analyses of Landsat TM data for arid areas and laboratory spectral data for various combinations of minerals indicate that band combination 1-4-7 maximally differentiates lithologic materials in most scenes, but that band combination 1-5-7 is preferable for scenes in which hydroxyl-rich minerals are prominent or of specific interest. Among band ratio combinations, 3/1 - 5/4 - 5/7 ranks high for optimal information display.

Description: A previously noted higher proportion of coniferous vegetation over metavolcanic formations than over metasedimentary ones, in which deciduous vegetation predominates, has been quantified and extended to encompass granites, migmatites, and ultramafic bodies typical of the NW Ontario shield area. Preliminary analyses of TM data suggests that there are spectral differences associated with these vegetation parameters; more importantly, a species assemblage pattern associated with ultramafic units was found at five different locations.

Description: Intensity-hue-saturation (IHS) processing of slope (dip), aspect (dip direction), and elevation to reveal subtle topographic lineaments which may not be obvious in the unprocessed data are used to enhance digital elevation model (DEM) data from northwestern Nevada. This IHS method of lineament identification was applied to a mosiac of 12 square degrees using a Cray Y-MP8/864. Square arrays from 3 x 3 to 31 x 31 points were tested as well as several different slope enhancements. When relatively few points are used to fit the plane, lineaments of various lengths are observed and a mechanism for lineament classification is described. An area encompassing the gold deposits of the Carlin trend and including the Rain in the southeast to Midas in the northwest is investigated in greater detail. The orientation and density of lineaments may be determined on the gently sloping pediment surface as well as in the more steeply sloping ranges.

Description: The nature of spectral lithologic mapping is studied utilizing ratios centered around the wavelength means of TM imagery. Laboratory-derived spectra are analyzed to determine the two-dimensional relationships and distributions visible in spectral ratio feature space. The spectral distributions of various rocks and minerals in ratio feature space are found to be controlled by several spectrally dominant molecules. Three study areas were examined: Rawhide Mining District, Nevada; Manzano Mountains, New Mexico; and the Sevilleta Long Term Ecological Research site in New Mexico. It is shown that, in the comparison of two ratio plots of laboratory reflectance spectra, i.e., 0.66/0.485 micron versus 1.65/2.22 microns with those derived from TM data, several molecules spectrally dominate the reflectance characteristic of surface lithologic units. Utilizing the above ratio combination, two areas are successfully mapped based on their distribution in spectral ratio feature space.

Description: Analysis of the data acquired by the Airborne Visible/IR Imaging Spectrometer over the Goldfield Mining District, Nevada, demonstrates the unique capabilities of high resolution imaging spectrometers for alteration mapping and identification of mineralogy. The study focuses on the 2-2.45 micron window, as alteration minerals of interest have their distinctive spectral reflectance features in this region. An attempt was made to map the spatial distribution of the individual minerals and produce a mixture maps showing their relative abundance on a pixel-by-pixel basis, focussing on selected subareas. Software and SNR performances limited success in detailed mapping.

Description: Recent advances in airborne and satellite remote-sensing technology for application to geological exploration are discussed in reviews and reports. Sections are devoted to basement tectonics and their surface expressions, spectral geology, hydrocarbon exploration applications, radar applications and future systems, engineering and environment issues, geobotanical remote sensing, advanced image processing, data integration and mapping, and mineral exploration. Extensive diagrams, graphs, and sample images are provided.

Description: An interactive user interface, User-Macro-Interface (UMI), and its complete task execution system are developed and implemented for utilization by an operator to describe, simulate and execute tasks on a multiarm telerobot. The sequences or primitives can be executed on a graphics simulator or on the JPL Telerobot which incorporates two task execution manipulators, one manipulation used for positioning cameras, and two 6-degree-of-freedom force-reflecting hand controllers employed for shared and teleoperation modes of execution. The UMI interface is to be used as the operator interface at a local command site to prepare and send commands to a remote space telerobot.

Description: This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.

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.

Description: This work has the objective to assess the performance of a yield estimation model for sugarcane (Succharum officinarum). The model uses orbital gathered spectral data along with yield estimated from an agrometeorological model. The test site includes the sugarcane plantations of the Barra Grande Plant located in Lencois Paulista municipality in Sao Paulo State. Production data of four crop years were analyzed. Yield data observed in the first crop year (1983/84) were regressed against spectral and agrometeorological data of that same year. This provided the model to predict the yield for the following crop year i.e., 1984/85. The model to predict the yield of subsequent years (up to 1987/88) were developed similarly, incorporating all previous years data. The yield estimations obtained from these models explained 69, 54, and 50 percent of the yield variation in the 1984/85, 1985/86, and 1986/87 crop years, respectively. The accuracy of yield estimations based on spectral data only (vegetation index model) and on agrometeorological data only (agrometeorological model) were also investigated.

Description: The reflectance of snow-covered surfaces in Minnesota is analyzed using Landsat-5 Thematic Mapper satellite data. Calculations are performed for satellite-derived reflectances integrated over the spectral region (0.45-0.9 micron). Corrections are applied for atmospheric effects and integrated reflectances (R1) are compared over agricultural and forested areas and over a lake using TM scenes acquired in November 1984 and January 1985. Integrated reflectances are then mapped and inter- and intra-scene comparisons of surface reflectance are compared. Temporal analysis of reflectance changes can then be performed rapidly and efficiently using color-coded images. It is noted that the average R1 within the November 1984 subscene was 0.429 + or - 0.176, whereas R1 within the January 1985 subscene was 0.669 + or - 0.236.

Description: The NASA Langley Research Center's L-band pushbroom microwave radiometer (PBMR) aboard the NASA C-130 aircraft was used to map surface soil moisture at and around the Konza Prairie Natural Research Area in Kansas during the four intensive field campaigns of FIFE in May-October 1987. There was a total of 11 measurements was made when soils were known to be saturated. This measurement was used for the calibration of the vegetation effect on the microwave absorption. Based on this calibration, the data from other measurements on other days were inverted to generate the soil moisture maps. Good agreement was found when the estimated soil moisture values were compared to those independently measured on the ground at a number of widely separated locations. There was a slight bias between the estimated and measured values, the estimated soil moisture on the average being lower by about 1.8 percent. This small bias, however, was accounted for by the difference in time of the radiometric measurements and the soil moisture ground sampling.

Description: Digital elevation models are now widely used to calculate terrain parameters to determine incoming solar and longwave radiation for use in surface climate models, interpretation of remote-sensing data, and parameters in hydrologic models. Because of the large number of points in an elevation grid, fast algorithms are useful to save computation time. A description is given of rapid methods for calculating slope and azimuth, solar illumination angle, horizons, and view factors for radiation from sky and terrain. Calculation time is reduced by fast algorithms and lookup tables.

Description: One-dimensional, sparse-crop interaction theory is reformulated to allow calculation of the canopy resistance from measurements of foliage temperature. A submodel is introduced to describe eddy diffusion within the canopy which provides a simple, empirical simulation of the reported behavior obtained from a second-order closure model. The sensitivity of the calculated canopy resistance to the parameters and formulas assumed in the model is investigated. The calculation is shown to exhibit a significant but acceptable sensitivity to extreme changes in canopy aerodynamics, and to changes in the surface resistance of the substrate beneath the canopy at high and intermediate values of leaf area index. In very sparse crops changes in the surface resistance of the substrate are shown to contaminate the calculated canopy resistance, tending to amplify the apparent response to changes in water availability. The theory is developed to allow the use of a measurement of substrate temperature as an option to mitigate this contamination.

Description: Visible reflectance along a transect through the Sahel and Sudan zones of Africa has been derived from observations by the AVHRR on the NOAA-7 and NOAA-9 satellites and compared with concurrent observations of the 37-GHz polarization difference by the SMMR on the Nimbus-7 satellite. The study period was January 1982 to December 1986, which included an unprecedented drought during 1984 over the Sahel zone. While spatial and temporal patterns of these two data sets are found to be highly correlated, there are also quantitative differences which need to be understood.

Description: A model for simulating polarized 37-GHz microwave emissions from vegetated surfaces is proposed. An equation expressing the radiative transfer is solved using a two-point Gauss quadrature method. Surface temperature, reflectance, normalized difference, and polarized brightness temperatures are obtained from processed multispectral satellite data. The model simulations are evaluated against satellite data collected between January 1982 and December 1983 along a transect going from rain forest to hot desert over Africa (0 deg to 20 deg N, 11 deg E). It is found that the temporal variation of the average brightness temperature matches closely the surface temperature. The seasonal variation of the polarization difference is confined within the latitude band of 8 deg to 18 deg N, but the normalized difference continues to show seasonal variation south of 8 deg N. The relations between the polarization difference and the normal difference and between the polarization difference and the reflectance are considered to be nonlinear and almost linear, respectively.

Description: A novel approach is proposed for using high-spectral resolution imagers to estimate the fraction of photosynthetically active radiation adsorbed, f(apar), by vegetated land surfaces. In comparison to approaches using broad-band vegetation indices, the proposed method appears to be relatively insensitive to the reflectance of nonphotosynthetically active material beneath the canopy, such as leaf litter or soil. The method is based on a relationship between the second derivative of the reflectance vs wavelength function for terrestrial vegetation and f(apar). The relationship can be defined by the second derivatives in either of two windows, one in the visible region centered at 0.69 micron, another in the near-infrared region centered at 0.74 micron.

Description: An image obtained by the Jet Propulsion Laboratory's airborne L-band polarimeter (SAR) over an agricultural area near Fresno, California, was analyzed for the signatures of polarization phase difference (PPD). The PPD of orchard trees was found to be distinctly different from that of bare fields or fields covered with other crops. Thus the PPD signatures obtained from a polarimeter may be useful in the understanding of the radar remote sensing of the earth's surface.

Description: The airborne visible/infrared imaging spectrometer (AVIRIS) is described, and an example of a false-color image recorded by this device is provided. The AVIRIS is capable of sensing in 209 visible and near-infrared wavebands with an 11km swath and a 20m spatial resolution. Evaluation flights for AVIRIS were made at an altitude of approximately 20km x 10.2km of low-lying and relatively flat irrigated land near Yuba City and Sacramento, California. Raw data were converted from digital numbers to radiance and radiometrically corrected at the NASA Jet Propulsion Laboratory. Notch filtering in the frequency domain of the image was used to remove periodic noise. The illustration of both spatial and spectral properties on the false-color image are explained. AVIRIS is designed to be flown in an ER-2 aircraft and will serve as a test-bed sensor for the High-Resolution Imaging Spectrometer (HIRIS) planned for the Earth Observing System.

Description: Impedance measurements have been made on several Ni/Cd and Ni/H2 flight-weight cells using the case as a reference electrode. For these measurements, the voltage of the case with respect to the anode or cathode is unimportant provided that it remains stable during the measurement of the impedance. In the cells measured so far, the voltage of the cell cases with respect to the individual electrodes differ from cell to cell, even at the same overall cell voltage, but they remain stable with time. The measurements can thus be used to separate the cell impedance into the contributions of each electrode, allowing improved diagnosis of cell problems.

Description: A theory and computer simulation of a neural controller that learns to move and position a link carrying an unforeseen payload accurately are presented. The neural controller learns adaptive dynamic control from its own experience. It does not use information about link mass, link length, or direction of gravity, and it uses only indirect uncalibrated information about payload and actuator limits. Its average positioning accuracy across a large range of payloads after learning is 3 percent of the positioning range. This neural controller can be used as a basis for coordinating any number of sensory inputs with limbs of any number of joints. The feedforward nature of control allows parallel implementation in real time across multiple joints.

Description: In the Northern Hemisphere the mean monthly snow-covered area ranges from about 7 percent of the land area in summer to over 40 percent in winter, thus making snow one of the most rapidly varying natural surface features. The mean monthly snow volume ranges from about 1.5 x 10 to the 16th g in summer to about 3.0 x 10 to the 18th g in winter. Currently several algorithms utilizing passive microwave brightness temperatures are available to estimate snow cover and depth. The algorithm presented here uses the difference between the 37-GHz channel and the 18-GHz channel of the SMMR on the Nimbus-7 satellite to derive estimates of snow volume. Even though satellite sensor snow records are currently too short to reveal trends, continued monitoring over about the next 10 years should make it possible to establish whether incipient or current trends are significant in the context of global climate change.

Description: The implementation and experimental validation of a direct adaptive control scheme on a PUMA 560 industrial robot is discussed. The design theory for direct adaptive control of manipulators is outlined and the test facility and software are described. Results are presented from the experiments on the simultaneous control of all of the six joint angles and control of the end-effector position and orientation of the robot. Also, the possible applications of the direct adaptive control scheme are considered.

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.

Description: A state estimation problem where some of the measurements may be common to two or more data sets is considered. Two approaches for computing the error covariance of the difference between filtered estimates (for each data set) are discussed. The first algorithm is based on postprocessing of the Kalman gain profiles of two correlated estimators. It uses UD factors of the covariance of the relative error. The second algorithm uses a square root information filter applied to relative error analysis. In the absence of process noise, the square root information filter is computationally more efficient and more flexible than the Kalman gain (covariance update) method. Both the algorithms (covariance and information matrix based) are applied to a Venus orbiter simulation, and their performances are compared.

Description: The difference equations of Kalman filtering and smoothing recursively factor and invert the covariance of the output of a linear state-space system driven by a white-noise process. Here it is shown that similar recursive techniques factor and invert the inertia matrix of a multibody robot system. The random field models are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. They are easier to describe than the models based on classical mechanics, which typically require extensive derivation and manipulation of equations of motion for complex mechanical systems. With the spatially random models, more primitive locally specified computations result in a global collective system behavior equivalent to that obtained with deterministic models. The primary goal of applying random field estimation is to provide a concise analytical foundation for solving robot control and motion planning problems.

Description: This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Description: Neural networks defined by outer products of vectors over (-1, 0, 1) are considered. Patterns over (-1, 0, 1) define by their outer products partially connected neural networks consisting of internally strongly connected, externally weakly connected subnetworks. Subpatterns over (-1, 1) define subnetworks, and their combinations that agree in the common bits define permissible words. It is shown that the permissible words are locally stable states of the network, provided that each of the subnetworks stores mutually orthogonal subwords, or, at most, two subwords. It is also shown that when each of the subnetworks stores two mutually orthogonal binary subwords at most, the permissible words, defined as the combinations of the subwords (one corresponding to each subnetwork), that agree in their common bits are the unique ground states of the associated energy function.

Description: Space Shuttle and Skylab-3 photography has been used to map the areal extent of Amazonian smoke palls associated with biomass burning (1973-1988). Areas covered with smoke have increased from approximately 300,000 sq km in 1973 to continental-size smoke palls measuring approximately 3,000,000 sq km in 1985 and 1988. Mapping of these smoke palls has been accomplished using space photography mainly acquired during Space Shuttle missions. Astronaut observations of such dynamic and vital environmental phenomena indicate the possibility of integrating the earth observation capabilities of all space platforms in future Global Change research.

Description: In order to determine the significance of organic matter content on the microwave emissivity of soils when estimating soil moisture, field experiments were conducted in which 1.4 GHz microwave emissivity data were collected over test plots of sandy loam soil with different organic matter levels (1.8, 4.0, and 6.1 percent) for a range of soil moisture values. Analyses of the observed data show only minor variation in microwave emissivity due to a change in organic matter content at a given moisture level for soils with similar texture and structure. Predictions of microwave emissivity made using a dielectric model for aggregated soils exhibit the same trends and type of response as the measured data when appropriate values for the input parameters were utilized.

Description: Groound-reflectance data on selected targets for calbiration of a Landsat TM image of Wind River Basin, Wyoming, acquired November 21, 1982 were examined. Field-derived calibration relationships together with Landsat radiometric calibration data are used to convert scanner DN values to spectral radiance for the TM bands and (together with a simplified homogeneous atmospheric model) to obtain estimates of single-scattering albedo and optical depth consistent with the derived path radiance and transmission properties of the atmosphere. These estimates are used to study the problems of evaluation of the magnitude of adjacency effects for reference targets, the assumption of isotropic properties, and the aggregate magnitude of multiple reflections between sky and ground. The radiance calibration equations are also used together with preflight measured signal/noise properties of the TM-4 system to estimate the noise-equivalent reflectance recoverable in practice from the system.

Description: Agricultural productivity is expected to be sensitive to global climate change. Models from atmospheric science, plant science, and agricultural economics are linked to explore this sensitivity. Although the results depend on the severity of climate change and the compensating effects of carbon dioxide on crop yields, the simulation suggests that irrigated acreage will expand and regional patterns of U.S. agriculture will shift. The impact of the U.S. economy strongly depends on which climate model is used.

Description: The global water cycle is perhaps the most important of all the biogeochemical cycles and evaporation, which is a significant component of the water cycle, is also linked with the energy and carbon cycles. Long-term evaporation over large areas has generally been computed as the difference of precipitation and river runoff. Analysis of short-term evaporation rate and its spatial pattern, however, is extremely complex, and multispectral remotely sensed data could aid in such analysis. Multispectral data considered here are visible and near-infrared reflectances, infrared surface temperature and the 37 GHz brightness temperatures. These observations are found to be not totally independent of each other. A few of their relationships are established and discussed considering physically-based models.

Description: There are many situations in which the image resolution of satellite data is insufficient to provide the detail required for resource management and environmental monitoring. This paper will focus on applications of high-resolution (0.4 to 10 m) airborne multispectral and imaging spectrometer data acquired in Canada using the MEIS II multispectral line imager and the PMI imaging spectrometer. Applications discussed will include forestry, mapping, and geobotany.

Description: To demonstrate the feasibility of adaptive trusses for vibration suppression, a 12-ft-long beam is attached to a single cell of an adaptive truss which has three active battens. With the base of the adaptive truss attached to the laboratory frame, the measured strain of the vibrating beam shows the adaptive truss to be very effective in suppressing vibration when subjected to initial conditions. Control is accomplished by a PC/XT computer that implements an LQR-designed control law.

Description: A procedure for partitioning a global (centralized) controller into interconnected decentralized subcontrollers is presented. It is shown that the controller partitioning problem is different than controller order reduction. An example is presented to demonstrate a procedure wherein an integrated flight/propulsion controller is partitioned into separate airframe and engine subcontrollers. Results show that the assembled partitioned subcontrollers closely match the response of the centralized controller in the frequency domain.

Description: The decentralization of a segmented reflector telescope based on a finite-element model of its structure is considered. The decentralization of the system at the panel level is considered. Each panel is originally treated as an isolated subsystem so that the controller design is performed independently at the local level, and then applied to the composite system for stability analysis. The panel-level control laws were designed by means of pole placement using local output feedback. Simulation results show a better 1000:1 vibration attenuation in panel position when compared to the open-loop system. It is shown that the overall closed-loop system is exponentially stable provided that certain conditions are met. The advantage to the decentralized approach is that the design is performed in terms of the low-dimensionality subsystems, thus drastically reducing the design computational complexities.

Description: A novel approach is presented which is motivated by an attempt to remove one of the most fundamental limitations of artificial neural networks: their rigid behavior as compared with even the simplest biological systems. It is demonstrated that non-Lipschitzian dynamics, based on the faliure of the Lipschitz conditions at repellers, displays a new qualitative effect, i.e., a multichoice response to periodic external excitations. This makes it possible to construct unpredictable systems, represented in the form of coupled activation and learning dynamical equations. It is shown that unpredictable systems can be controlled by sign strings which uniquely define the system behavior by specifying the direction of the motions at the critical points. Unpredictable systems driven by sign strings are extremely flexible and can serve as a powerful tool for complex pattern recognition.

Description: A new neural network architecture is proposed based upon effects of non-Lipschitzian dynamics. The network is fully connected, but these connections are active only during vanishingly short time periods. The advantages of this architecture are discussed.