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  • Data
  • Other Sources  (244)
  • CYBERNETICS  (244)
  • 1985-1989  (244)
  • 1960-1964
  • 1950-1954
  • 1987  (244)
  • 1
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    Dynamical modelling of coordinated multiple robot systems (1987)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.
    Keywords: CYBERNETICS
    Type: Purdue Univ. and Univ. of Southern California, Report of Workshop on Coordinated Multiple Robot Manipulators: Planning, Control, and Applications; 14 p
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  • 2
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    Raising the AIQ of the Space Station (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Expert systems and robotics technologies are to be significantly advanced during the Space Station program. Artificial intelligence systems (AI) on the Station will include 'scars', which will permit upgrading the AI capabilities as the Station evolves to autonomy. NASA-Ames is managing the development of the AI systems through a series of demonstrations, the first, controlling a single subsystem, to be performed in 1988. The capabilities being integrated into the first demonstration are described; however, machine learning and goal-driven natural language understanding will not reach a prototype stage until the mid-1990s. Steps which will be taken to endow the computer systems with the ability to move from heuristic reasoning to factual knowledge, i.e., learning from experience, are explored. It is noted that the development of Space Station expert systems depends on the development of experts in Station operations, which will not happen until the Station has been used extensively by crew members.
    Keywords: CYBERNETICS
    Type: Aerospace America (ISSN 0740-722X); 25; 16
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  • 3
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    Robustness of active modal damping of large flexible structures (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The method of active modal damping (AMD) is reviewed, and the pinhole/occulter facility (P/OF) is presented as a design example. This system is a large space system composed of a flexible beam, a gimbal-pointing system, and an optical alignment system mounted in the Shuttle cargo bay and excited by typical Shuttle disturbances. The AMD system performance is compared with that of a series-compensated control system.
    Keywords: CYBERNETICS
    Type: International Journal of Control (ISSN 0020-7179); 46; 1009-101
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  • 4
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    Time-scale synthesis of a closed-loop discrete optimal control system (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Keywords: CYBERNETICS
    Type: Journal of Guidance, Control, and Dynamics (ISSN 0731-5090); 10; 417-421
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  • 5
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    The capacity of the Hopfield associative memory (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Techniques from coding theory are applied to study rigorously the capacity of the Hopfield associative memory. Such a memory stores n-tuple of + or - 1s. The components change depending on a hard-limited version of linear functions of all other components. With symmetric connections between components, a stable state is ultimately reached. By building up the connection matrix as a sum-of-outer products of m fundamental memories, it may be possible to recover a certain one of the m memories by using an initial n-tuple probe vector less than a Hamming distance n/2 away from the fundamental memory. If m fundamental memories are chosen at random, the maximum asymptotic value of m in order that most of the m original memories are exactly recoverable is n/(2 log n). With the added restriction that every one of the m fundamental memories be recoverable exactly, m can be no more than n/(4 log n) asymptotically as n approaches infinity. Extensions are also considered, in particular to capacity under quantization of the outer-product connection matrix. This quantized memory-capacity problem is closely related to the capacity of the quantized Gaussian channel.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Information Theory (ISSN 0018-9448); IT-33; 461-482
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  • 6
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    Diagnosis and sensor validation through knowledge of structure and function (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The liquid oxygen expert system 'LES' is proposed as the first capable of diagnostic reasoning from sensor data, using model-based knowledge of structure and function to find the expected state of all system objects, including sensors. The approach is generally algorithmic rather than heuristic, and represents uncertainties as sets of possibilities. Functional relationships are inverted to determine hypothetical values for potentially faulty objects, and may include conditional functions not normally considered to have inverses.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Systems, Man, and Cybernetics (ISSN 0018-9472); SMC-17; 360-368
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  • 7
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    Use of voice recognition for control of a robotic welding workcell (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: This paper describes work underway to evaluate the effectiveness of voice recognition systems as an element in the control of a robotic welding workcell. Factors being considered for control include program editor access security, preoperation checklist requirements, welding process variable control, and robot manipulator motion overrides. In the latter two categories, manual vocal control is being compared against manual tactile control and fully automatic control in terms of speed of response, accuracy, stability, reliability, and safety.
    Keywords: CYBERNETICS
    Type: IEEE Control Systems Magazine (ISSN 0272-1708); 7; 16-18
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  • 8
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    Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.
    Keywords: CYBERNETICS
    Type: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 624-639
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  • 9
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    Design of feedforward controllers for multivariable plants (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Simple methods for the design of feedforward controllers to achieve steady-state disturbance rejection and command tracking in stable multivariable plants are developed in this paper. The controllers are represented by simple and low-order transfer functions and are not based on reconstruction of the states of the commands and disturbances. For unstable plants, it is shown that the present method can be applied directly when an additional feedback controller is employed to stabilize the plant. The feedback and feedforward controllers do not affect each other and can be designed independently based on the open-loop plant to achieve stability, disturbance rejection and command tracking, respectivley. Numerical examples are given for illustration.
    Keywords: CYBERNETICS
    Type: International Journal of Control (ISSN 0020-7179); 46; 1633-165
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  • 10
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    Electronic hardware implementations of neutral networks (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: This paper examines some of the present work on the development of electronic neural network hardware. In particular, the investigations currently under way at JPL on neural network hardware implementations based on custom VLSI technology, novel thin film materials, and an analog-digital hybrid architecture are reviewed. The availability of such hardware will greatly benefit and enhance the present intense research effort on the potential computational capabilities of highly parallel systems based on neural network models.
    Keywords: CYBERNETICS
    Type: Applied Optics (ISSN 0003-6935); 26; 5085-509
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  • 11
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    Optoelectronic analogs of self-programming neural nets - Architecture and methodologies for implementing fast stochastic learning by simulated annealing (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Self-organization and learning is a distinctive feature of neural nets and processors that sets them apart from conventional approaches to signal processing. It leads to self-programmability which alleviates the problem of programming complexity in artificial neural nets. In this paper architectures for partitioning an optoelectronic analog of a neural net into distinct layers with prescribed interconnectivity pattern to enable stochastic learning by simulated annealing in the context of a Boltzmann machine are presented. Stochastic learning is of interest because of its relevance to the role of noise in biological neural nets. Practical considerations and methodologies for appreciably accelerating stochastic learning in such a multilayered net are described. These include the use of parallel optical computing of the global energy of the net, the use of fast nonvolatile programmable spatial light modulators to realize fast plasticity, optical generation of random number arrays, and an adaptive noisy thresholding scheme that also makes stochastic learning more biologically plausible. The findings reported predict optoelectronic chips that can be used in the realization of optical learning machines.
    Keywords: CYBERNETICS
    Type: Applied Optics (ISSN 0003-6935); 26; 5093-510
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  • 12
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    Order reduction in linear state estimation under performance constraints (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The design and analysis of minimal-order state estimators for possibly time-varying linear systems, under constraints on the maximal allowable mean-square error, are considered. A global lower bound on the optimal error is derived, along with a lower bound on the minimal estimator order, needed for meeting the performance constraint. The ideal reduced-order estimator which satisfies the lower bound is derived, along with conditions for its realizability. When the ideal estimator is not realizable, its structure forms a suboptimal estimator, which maintains, in some sense, a local optimality property and is called the pseudoideal estimator. The mean-square error of the pseudoideal estimator defines upper bounds on the optimal error and on the estimator order needed for meeting the performance constraint. The lower and the upper bounds on the order define a reduced search set for the design problem. When the distance between the ideal and the pseudoideal estimators is sufficiently small in a certain numerical sense, the pseudoideal estimator may be considered optimal for practical purposes.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Automatic Control (ISSN 0018-9286); AC-32; 983-989
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  • 13
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    Simplified solution for a class of fading memory filters (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: A fading memory filter is a least squares estimator (LSE) that applies an exponentially decaying weight to past measurements. When compared with a standard Kalman filter, its key advantages are asymptotic stability and reduced sensitivity to modeling errors. This paper derives a simple solution for a class of fading memory filters, resulting in a reduction in computational complexity. Steady state filter solutions are obtained for second- and third-order filters used in a global positioning system (GPS) receiver for high dynamic vehicles.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Aerospace and Electronic Systems (ISSN 0018-9251); AES-23; 355-360
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  • 14
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    Robustness of extended-Kalman-type observers (1987)
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    Publication Date: 2011-08-19
    Description: Robustness properties of extended-Kalman-type observers are investigated for linear plants when actuators and sensors have non-linearities or linear dynamics. Sufficient conditions for the stability of the estimation error are obtained for time-varying extended Kalman filters (EKF) for time-varying plants, and for constant-gain, exponentially weighted EKF for time-invariant plants. When the non-linearities are known only within bands of uncertainty, it is proved that the observer is non-divergent.
    Keywords: CYBERNETICS
    Type: International Journal of Control (ISSN 0020-7179); 45; 1857-186
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  • 15
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    Proof of quasi-adaptivity for the m-measurement feedback class of stochastic control policies (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Bounds on expected performance are established which show that the m-measurement feedback (mM) policy for nonlinear stochastic control performs as well or better than the open-loop optimal control policy, and thus is quasi-adaptive in the sense of Witenhausen (1966). The chain of performance inequalities indicate a tendency for the mM policy performance to improve with increasing m. It is suggested that the present analytical method, based on the construction of artificial control sequences denoted as utility controls, can be used to establish performance bounds on other well-known policies, avoiding the extensive Monte Carlo simulations necessary in comparing stochastic control policies.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Automatic Control (ISSN 0018-9286); AC-32; 447-451
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  • 16
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    Using hybrid expert system approaches for engineering applications (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: In this paper, the use of hybrid expert system shells and hybrid (i.e., algorithmic and heuristic) approaches for solving engineering problems is reported. Aspects of various engineering problem domains are reviewed for a number of examples with specific applications made to recently developed prototype expert systems. Based on this prototyping experience, critical evaluations of and comparisons between commercially available tools, and some research tools, in the United States and Australia, and their underlying problem-solving paradigms are made. Characteristics of the implementation tool and the engineering domain are compared and practical software engineering issues are discussed with respect to hybrid tools and approaches. Finally, guidelines are offered with the hope that expert system development will be less time consuming, more effective, and more cost-effective than it has been in the past.
    Keywords: CYBERNETICS
    Type: Engineering with Computers (ISSN 0177-0667); 2; 2, 19; 95-110
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  • 17
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    Performance improvement of robots using a learning control scheme (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Many applications of robots require that the same task be repeated a number of times. In such applications, the errors associated with one cycle are also repeated every cycle of the operation. An off-line learning control scheme is used here to modify the command function which would result in smaller errors in the next operation. The learning scheme is based on a knowledge of the errors and error rates associated with each cycle. Necessary conditions for the iterative scheme to converge to zero errors are derived analytically considering a second order servosystem model. Computer simulations show that the errors are reduced at a faster rate if the error rate is included in the iteration scheme. The results also indicate that the scheme may increase the magnitude of errors if the rate information is not included in the iteration scheme. Modification of the command input using a phase and gain adjustment is also proposed to reduce the errors with one attempt. The scheme is then applied to a computer model of a robot system similar to PUMA 560. Improved performance of the robot is shown by considering various cases of trajectory tracing. The scheme can be successfully used to improve the performance of actual robots within the limitations of the repeatability and noise characteristics of the robot.
    Keywords: CYBERNETICS
    Type: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics; 20 p
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  • 18
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    A general architecture for intelligent training systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A preliminary design of a general architecture for autonomous intelligent training systems was developed. The architecture integrates expert system technology with teaching/training methodologies to permit the production of systems suitable for use by NASA, other government agencies, industry, and academia in the training of personnel for the performance of complex, mission-critical tasks. The proposed architecture consists of five elements: a user interface, a domain expert, a training session manager, a trainee model, and a training scenario generator. The design of this architecture was guided and its efficacy tested through the development of a system for use by Mission Control Center Flight Dynamics Officers in training to perform Payload-Assist Module Deploys from the orbiter.
    Keywords: CYBERNETICS
    Type: NASA. Johnson Space Center, NASA(ASEE Summer Faculty Fellowship Program, 1987, Volume 2; 15 p
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  • 19
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    Intelligent fault-tolerant controllers (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A system with fault tolerant controls is one that can detect, isolate, and estimate failures and perform necessary control reconfiguration based on this new information. Artificial intelligence (AI) is concerned with semantic processing, and it has evolved to include the topics of expert systems and machine learning. This research represents an attempt to apply AI to fault tolerant controls, hence, the name intelligent fault tolerant control (IFTC). A generic solution to the problem is sought, providing a system based on logic in addition to analytical tools, and offering machine learning capabilities. The advantages are that redundant system specific algorithms are no longer needed, that reasonableness is used to quickly choose the correct control strategy, and that the system can adapt to new situations by learning about its effects on system dynamics.
    Keywords: CYBERNETICS
    Type: NASA. Langley Research Center Joint University Program for Air Transportation Research, 1984; p 149-160
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  • 20
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    Task-level robot programming: Integral part of evolution from teleoperation to autonomy (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 533-540
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  • 21
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    An efficient representation of spatial information for expert reasoning in robotic vehicles (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The previous generation of robotic vehicles and drones was designed for a specific task, with limited flexibility in executing their mission. This limited flexibility arises because the robotic vehicles do not possess the intelligence and knowledge upon which to make significant tactical decisions. Current development of robotic vehicles is toward increased intelligence and capabilities, adapting to a changing environment and altering mission objectives. The latest techniques in artificial intelligence (AI) are being employed to increase the robotic vehicle's intelligent decision-making capabilities. This document describes the design of the SARA spatial database tool, which is composed of request parser, reasoning, computations, and database modules that collectively manage and derive information useful for robotic vehicles.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 527-531
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  • 22
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    Real-time artificial intelligence issues in the development of the adaptive tactical navigator (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Adaptive Tactical Navigation (ATN) is a laboratory prototype of a knowledge based system to provide navigation system management and decision aiding in the next generation of tactical aircraft. ATN's purpose is to manage a set of multimode navigation equipment, dynamically selecting the best equipment to use in accordance with mission goals and phase, threat environment, equipment malfunction status, and battle damage. ATN encompasses functions as diverse as sensor data interpretation, diagnosis, and planning. Real time issues that were identified in ATN and the approaches used to address them are addressed. Functional requirements and a global architecture for the ATN system are described. Decision making with time constraints are discussed. Two subproblems are identified; making decisions with incomplete information and with limited resources. Approaches used in ATN to address real time performance are described and simulation results are discussed.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 389-396
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  • 23
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    TDAS: The Thermal Expert System (TEXSYS) data acquisition system (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: As part of the NASA Systems Autonomy Demonstration Project, a thermal expert system (TEXSYS) is being developed. TEXSYS combines a fast real time control system, a sophisticated human interface for the user and several distinct artificial intelligence techniques in one system. TEXSYS is to provide real time control, operations advice and fault detection, isolation and recovery capabilities for the space station Thermal Test Bed (TTB). TEXSYS will be integrated with the TTB and act as an intelligent assistant to thermal engineers conducting TTB tests and experiments. The results are presented from connecting the real time controller to the knowledge based system thereby creating an integrated system. Special attention will be paid to the problem of filtering and interpreting the raw, real time data and placing the important values into the knowledge base of the expert system.
    Keywords: CYBERNETICS
    Type: First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 375-382
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  • 24
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    A conceptual framework for intelligent real-time information processing (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: By combining artificial intelligence concepts with the human information processing model of Rasmussen, a conceptual framework was developed for real time artificial intelligence systems which provides a foundation for system organization, control and validation. The approach is based on the description of system processing terms of an abstraction hierarchy of states of knowledge. The states of knowledge are organized along one dimension which corresponds to the extent to which the concepts are expressed in terms of the system inouts or in terms of the system response. Thus organized, the useful states form a generally triangular shape with the sensors and effectors forming the lower two vertices and the full evaluated set of courses of action the apex. Within the triangle boundaries are numerous processing paths which shortcut the detailed processing, by connecting incomplete levels of analysis to partially defined responses. Shortcuts at different levels of abstraction include reflexes, sensory motor control, rule based behavior, and satisficing. This approach was used in the design of a real time tactical decision aiding system, and in defining an intelligent aiding system for transport pilots.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 371-374
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  • 25
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    Beyond rules: The next generation of expert systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The PARAGON Representation, Management, and Manipulation system is introduced. The concepts of knowledge representation, knowledge management, and knowledge manipulation are combined in a comprehensive system for solving real world problems requiring high levels of expertise in a real time environment. In most applications the complexity of the problem and the representation used to describe the domain knowledge tend to obscure the information from which solutions are derived. This inhibits the acquisition of domain knowledge verification/validation, places severe constraints on the ability to extend and maintain a knowledge base while making generic problem solving strategies difficult to develop. A unique hybrid system was developed to overcome these traditional limitations.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 363-369
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  • 26
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    Automatic routing module (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Automatic Routing Module (ARM) is a tool to partially automate Air Launched Cruise Missile (ALCM) routing. For any accessible launch point or target pair, ARM creates flyable routes that, within the fidelity of the models, are optimal in terms of threat avoidance, clobber avoidance, and adherence to vehicle and planning constraints. Although highly algorithmic, ARM is an expert system. Because of the heuristics applied, ARM generated routes closely resemble manually generated routes in routine cases. In more complex cases, ARM's ability to accumulate and assess threat danger in three dimensions and trade that danger off with the probability of ground clobber results in the safest path around or through difficult areas. The tools available prior to ARM did not provide the planner with enough information or present it in such a way that ensured he would select the safest path.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 327-334
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  • 27
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    Advanced decision aiding techniques applicable to space (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: RADC has had an intensive program to show the feasibility of applying advanced technology to Air Force decision aiding situations. Some aspects of the program, such as Satellite Autonomy, are directly applicable to space systems. For example, RADC has shown the feasibility of decision aids that combine the advantages of laser disks and computer generated graphics; decision aids that interface object-oriented programs with expert systems; decision aids that solve path optimization problems; etc. Some of the key techniques that could be used in space applications are reviewed. Current applications are reviewed along with their advantages and disadvantages, and examples are given of possible space applications. The emphasis is to share RADC experience in decision aiding techniques.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 321-326
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  • 28
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    Robotic planner expert system (RPLANES) (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The Artificial Intelligence Section of the Mission Planning and Analysis of the Johnson Space Center has developed a prototype of an expert system for robotic planning. A robot is given a high level goal to perform an action (i.e., swap, adjust, or stow) on a component unit of an object such as a satellite and the Robotic Planner Expert System (RPLANES) generates the necessary goals for arm actions. RPLANES is designed using the Inference Corp. Automated Reasoning Tool (ART) development tool. It resides on a SYMBOLICS 3670. RPLANES and its evolution are described.
    Keywords: CYBERNETICS
    Type: First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 293-297
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  • 29
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    Artificial Intelligence (AI), Operations Research (OR), and Decision Support Systems (DSS): A conceptual framework (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: In recent years there has been increasing interest in applying the computer based problem solving techniques of Artificial Intelligence (AI), Operations Research (OR), and Decision Support Systems (DSS) to analyze extremely complex problems. A conceptual framework is developed for successfully integrating these three techniques. First, the fields of AI, OR, and DSS are defined and the relationships among the three fields are explored. Next, a comprehensive adaptive design methodology for AI and OR modeling within the context of a DSS is described. These observations are made: (1) the solution of extremely complex knowledge problems with ill-defined, changing requirements can benefit greatly from the use of the adaptive design process, (2) the field of DSS provides the focus on the decision making process essential for tailoring solutions to these complex problems, (3) the characteristics of AI, OR, and DSS tools appears to be converging rapidly, and (4) there is a growing need for an interdisciplinary AI/OR/DSS education.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 287-292
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    The empirical accuracy of uncertain inference models (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Uncertainty is a pervasive feature of the domains in which expert systems are designed to function. Research design to test uncertain inference methods for accuracy and robustness, in accordance with standard engineering practice is reviewed. Several studies were conducted to assess how well various methods perform on problems constructed so that correct answers are known, and to find out what underlying features of a problem cause strong or weak performance. For each method studied, situations were identified in which performance deteriorates dramatically. Over a broad range of problems, some well known methods do only about as well as a simple linear regression model, and often much worse than a simple independence probability model. The results indicate that some commercially available expert system shells should be used with caution, because the uncertain inference models that they implement can yield rather inaccurate results.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 269-275
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    Teaching artificial neural systems to drive: Manual training techniques for autonomous systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A methodology was developed for manually training autonomous control systems based on artificial neural systems (ANS). In applications where the rule set governing an expert's decisions is difficult to formulate, ANS can be used to extract rules by associating the information an expert receives with the actions taken. Properly constructed networks imitate rules of behavior that permits them to function autonomously when they are trained on the spanning set of possible situations. This training can be provided manually, either under the direct supervision of a system trainer, or indirectly using a background mode where the networks assimilates training data as the expert performs its day-to-day tasks. To demonstrate these methods, an ANS network was trained to drive a vehicle through simulated freeway traffic.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 231-238
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    Diagnosis: Reasoning from first principles and experiential knowledge (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Completeness, efficiency and autonomy are requirements for suture diagnostic reasoning systems. Methods for automating diagnostic reasoning systems include diagnosis from first principles (i.e., reasoning from a thorough description of structure and behavior) and diagnosis from experiential knowledge (i.e., reasoning from a set of examples obtained from experts). However, implementation of either as a single reasoning method fails to meet these requirements. The approach of combining reasoning from first principles and reasoning from experiential knowledge does address the requirements discussed above and can possibly ease some of the difficulties associated with knowledge acquisition by allowing developers to systematically enumerate a portion of the knowledge necessary to build the diagnosis program. The ability to enumerate knowledge systematically facilitates defining the program's scope, completeness, and competence and assists in bounding, controlling, and guiding the knowledge acquisition process.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 217-222
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    Building validation tools for knowledge-based systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The Expert Systems Validation Associate (EVA), a validation system under development at the Lockheed Artificial Intelligence Center for more than a year, provides a wide range of validation tools to check the correctness, consistency and completeness of a knowledge-based system. A declarative meta-language (higher-order language), is used to create a generic version of EVA to validate applications written in arbitrary expert system shells. The architecture and functionality of EVA are presented. The functionality includes Structure Check, Logic Check, Extended Structure Check (using semantic information), Extended Logic Check, Semantic Check, Omission Check, Rule Refinement, Control Check, Test Case Generation, Error Localization, and Behavior Verification.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 209-216
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    A formal approach to validation and verification for knowledge-based control systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: As control systems become more complex in response to desires for greater system flexibility, performance and reliability, the promise is held out that artificial intelligence might provide the means for building such systems. An obstacle to the use of symbolic processing constructs in this domain is the need for verification and validation (V and V) of the systems. Techniques currently in use do not seem appropriate for knowledge-based software. An outline of a formal approach to V and V for knowledge-based control systems is presented.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 197-202
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    Approaches to the verification of rule-based expert systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Expert systems are a highly useful spinoff of artificial intelligence research. One major stumbling block to extended use of expert systems is the lack of well-defined verification and validation (V and V) methodologies. Since expert systems are computer programs, the definitions of verification and validation from conventional software are applicable. The primary difficulty with expert systems is the use of development methodologies which do not support effective V and V. If proper techniques are used to document requirements, V and V of rule-based expert systems is possible, and may be easier than with conventional code. For NASA applications, the flight technique panels used in previous programs should provide an excellent way to verify the rules used in expert systems. There are, however, some inherent differences in expert systems that will affect V and V considerations.
    Keywords: CYBERNETICS
    Type: First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 191-196
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    Cooperative analysis expert situation assessment research (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: For the past few decades, Rome Air Development Center (RADC) has been conducting research in Artificial Intelligence (AI). When the recent advances in hardware technology made many AI techniques practical, the Intelligence and Reconnaissance Directorate of RADC initiated an applications program entitled Knowledge Based Intelligence Systems (KBIS). The goal of the program is the development of a generic Intelligent Analyst System, an open machine with the framework for intelligence analysis, natural language processing, and man-machine interface techniques, needing only the specific problem domain knowledge to be operationally useful. The development of KBIS is described.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 161-164
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    The desktop interface in intelligent tutoring systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The interface between an Intelligent Tutoring System (ITS) and the person being tutored is critical to the success of the learning process. If the interface to the ITS is confusing or non-supportive of the tutored domain, the effectiveness of the instruction will be diminished or lost entirely. Consequently, the interface to an ITS should be highly integrated with the domain to provide a robust and semantically rich learning environment. In building an ITS for ZetaLISP on a LISP Machine, a Desktop Interface was designed to support a programming learning environment. Using the bitmapped display, windows, and mouse, three desktops were designed to support self-study and tutoring of ZetaLISP. Through organization, well-defined boundaries, and domain support facilities, the desktops provide substantial flexibility and power for the student and facilitate learning ZetaLISP programming while screening the student from the complex LISP Machine environment. The student can concentrate on learning ZetaLISP programming and not on how to operate the interface or a LISP Machine.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 135-143
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    NASA JSC neural network survey results (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A survey of Artificial Neural Systems in support of NASA's (Johnson Space Center) Automatic Perception for Mission Planning and Flight Control Research Program was conducted. Several of the world's leading researchers contributed papers containing their most recent results on artificial neural systems. These papers were broken into categories and descriptive accounts of the results make up a large part of this report. Also included is material on sources of information on artificial neural systems such as books, technical reports, software tools, etc.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 97-110
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  • 39
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    Neural network based architectures for aerospace applications (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A brief history of the field of neural networks research is given and some simple concepts are described. In addition, some neural network based avionics research and development programs are reviewed. The need for the United States Air Force and NASA to assume a leadership role in supporting this technology is stressed.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87); p 85-91
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  • 40
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    Applications of expert systems for satellite autonomy (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Some aspects of the on-board application of expert systems in artificial satellites are discussed. The activities of the study, which include the implementation of two prototypes on a dedicated artificial intelligence machine, are described. The general implications of the experience are then discussed. These concern the interrelationship between the expert system and the architecture of the satellite and the expert system's impact on the mission definition phase of the satellite lifecycle. The main obstacles that need to be overcome before operational use of onboard expert systems can take place are discussed.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 453-457
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    Prototype space station automation system delivered and demonstrated at NASA (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The Automated Subsystem Control for Life Support System (ASCLSS) program has successfully developed and demonstrated a generic approach to the automation and control of Space Station subsystems. The hierarchical and distributed real time controls system places the required controls authority at every level of the automation system architecture. As a demonstration of the automation technique, the ASCLSS system automated the Air Revitalization Group (ARG) of the Space Station regenerative Environmental Control and Life Support System (ECLSS) using real-time, high fidelity simulators of the ARG processess. This automation system represents an early flight prototype and an important test bed for evaluating Space Station controls technology including future application of ADA software in real-time control and the development and demonstration of embedded artificial intelligence and expert systems (AI/ES) in distributed automation and controls systems.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 447-451
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    Application of artificial intelligence to impulsive orbital transfers (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A generalized technique for the numerical solution of any given class of problems is presented. The technique requires the analytic (or numerical) solution of every applicable equation for all variables that appear in the problem. Conditional blocks are employed to rapidly expand the set of known variables from a minimum of input. The method is illustrated via the use of the Hohmann transfer problem from orbital mechanics.
    Keywords: CYBERNETICS
    Type: Third Conference on Artificial Intelligence for Space Applications, Part 1; p 433-437
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    Knowledge representation by connection matrices: A method for the on-board implementation of large expert systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Extremely large knowledge sources and efficient knowledge access characterizing future real-life artificial intelligence applications represent crucial requirements for on-board artificial intelligence systems due to obvious computer time and storage constraints on spacecraft. A type of knowledge representation and corresponding reasoning mechanism is proposed which is particularly suited for the efficient processing of such large knowledge bases in expert systems.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 415-419
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    Case-based reasoning for space applications: Utilization of prior experience in knowledge-based systems (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The goal is to explain Case-Based Reasoning as a vehicle to establish knowledge-based systems based on experimental reasoning for possible space applications. This goal will be accomplished through an examination of reasoning based on prior experience in a sample domain, and also through a presentation of proposed space applications which could utilize Case-Based Reasoning techniques.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 409-413
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    The power of neural nets (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Implementation of the Hopfield net which is used in the image processing type of applications where only partial information about the image may be available is discussed. The image classification type of algorithm of Hopfield and other learning algorithms, such as the Boltzmann machine and the back-propagation training algorithm, have many vital applications in space.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 395-400
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    Neural network based speech synthesizer: A preliminary report (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A neural net based speech synthesis project is discussed. The novelty is that the reproduced speech was extracted from actual voice recordings. In essence, the neural network learns the timing, pitch fluctuations, connectivity between individual sounds, and speaking habits unique to that individual person. The parallel distributed processing network used for this project is the generalized backward propagation network which has been modified to also learn sequences of actions or states given in a particular plan.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 389-394
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    Intelligent man/machine interfaces on the space station (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Some important topics in the development of good, intelligent, usable man/machine interfaces for the Space Station are discussed. These computer interfaces should adhere strictly to three concepts or doctrines: generality, simplicity, and elegance. The motivation for natural language interfaces and their use and value on the Space Station, both now and in the future, are discussed.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 321-325
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  • 48
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    Commonality analysis as a knowledge acquisition problem (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Commonality analysis is a systematic attempt to reduce costs in a large scale engineering project by discontinuing development of certain components during the design phase. Each discontinued component is replaced by another component that has sufficient functionality to be considered an appropriate substitute. The replacement strategy is driven by economic considerations. The System Commonality Analysis Tool (SCAT) is based on an oversimplified model of the problem and incorporates no knowledge acquisition component. In fact, the process of arriving at a compromise between functionality and economy is quite complex, with many opportunities for the application of expert knowledge. Such knowledge is of two types: general knowledge expressible as heuristics or mathematical laws potentially applicable to any set of components, and specific knowledge about the way in which elements of a given set of components interrelate. Examples of both types of knowledge are presented, and a framework is proposed for integrating the knowledge into a more general and useable tool.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 291-295
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    Rapid prototyping and AI programming environments applied to payload modeling (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: This effort focused on using artificial intelligence (AI) programming environments and rapid prototyping to aid in both space flight manned and unmanned payload simulation and training. Significant problems addressed are the large amount of development time required to design and implement just one of these payload simulations and the relative inflexibility of the resulting model to accepting future modification. Results of this effort have suggested that both rapid prototyping and AI programming environments can significantly reduce development time and cost when applied to the domain of payload modeling for crew training. The techniques employed are applicable to a variety of domains where models or simulations are required.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 255-259
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    Interactive knowledge acquisition tools (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The problems of designing practical tools to aid the knowledge engineer and general applications used in performing knowledge acquisition tasks are discussed. A particular approach was developed for the class of knowledge acquisition problem characterized by situations where acquisition and transformation of domain expertise are often bottlenecks in systems development. An explanation is given on how the tool and underlying software engineering principles can be extended to provide a flexible set of tools that allow the application specialist to build highly customized knowledge-based applications.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 227-232
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    Problem solving as intelligent retrieval from distributed knowledge sources (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Distributed computing in intelligent systems is investigated from a different perspective. From the viewpoint that problem solving can be viewed as intelligent knowledge retrieval, the use of distributed knowledge sources in intelligent systems is proposed.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 165-169
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    Task path planning, scheduling and learning for free-ranging robot systems (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 137-141
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    Development of a task-level robot programming and simulation system (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: An ongoing project in developing a Task-Level Robot Programming and Simulation System (TARPS) is discussed. The objective of this approach is to design a generic TARPS that can be used in a variety of applications. Many robotic applications require off-line programming, and a TARPS is very useful in such applications. Task level programming is object centered in that the user specifies tasks to be performed instead of robot paths. Graphics simulation provides greater flexibility and also avoids costly machine setup and possible damage. A TARPS has three major modules: world model, task planner and task simulator. The system architecture, design issues and some preliminary results are given.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 143-149
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    EUREX D: An expert system for failure diagnosis and recovery in the TCS of the European retrievable carrier EURECA (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: An expert system for diagnosis and recovery of failures in the Freon cooling loop of the European retrievable experiment carrier EURECA is described. The system demonstrates the feasibility of a functional scope of expert diagnostic systems which appears to be essential for practical applications of such systems in space technology. The scope includes early warning and treatment of incomplete information, fault tolerance, identification of failure superpositions, intelligent reaction to unforeseen events, and detailed status display for optimal recovery action.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 131-135
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  • 55
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    Exploring hypotheses in attitude control fault diagnosis (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: A system which analyzes telemetry and evaluates hypotheses to explain any anomalies that are observed is described. Results achieved from a sample set of failure cases are presented, followed by a brief discussion of the benefits derived from this approach.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 123-130
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    Embedded expert system for space shuttle main engine maintenance (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: The SPARTA Embedded Expert System (SEES) is an intelligent health monitoring system that directs analysis by placing confidence factors on possible engine status and then recommends a course of action to an engineer or engine controller. The technique can prevent catastropic failures or costly rocket engine down time because of false alarms. Further, the SEES has potential as an on-board flight monitor for reusable rocket engine systems. The SEES methodology synergistically integrates vibration analysis, pattern recognition and communications theory techniques with an artificial intelligence technique - the Embedded Expert System (EES).
    Keywords: CYBERNETICS
    Type: Third Conference on Artificial Intelligence for Space Applications, Part 1; p 115-119
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    A knowledge-based system for monitoring the electrical power system of the Hubble Space Telescope (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The design and the prototype for the expert system for the Hubble Space Telescope's electrical power system are discussed. This prototype demonstrated the capability to use real time data from a 32k telemetry stream and to perform operational health and safety status monitoring, detect trends such as battery degradation, and detect anomalies such as solar array failures. This prototype, along with the pointing control system and data management system expert systems, forms the initial Telemetry Analysis for Lockheed Operated Spacecraft (TALOS) capability.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 103-107
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    Artificial intelligence and space power systems automation (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Various applications of artificial intelligence to space electrical power systems are discussed. An overview is given of completed, on-going, and planned knowledge-based system activities. These applications include the Nickel-Cadmium Battery Expert System (NICBES) (the expert system interfaced with the Hubble Space Telescope electrical power system test bed); the early work with the Space Station Experiment Scheduler (SSES); the three expert systems under development in the space station advanced development effort in the core module power management and distribution system test bed; planned cooperation of expert systems in the Core Module Power Management and Distribution (CM/PMAD) system breadboard with expert systems for the space station at other research centers; and the intelligent data reduction expert system under development.
    Keywords: CYBERNETICS
    Type: Third Conference on Artificial Intelligence for Space Applications, Part 1; p 109-113
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    Software simulation of time delay in teleoperation (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Research done in the Space Robotics Laboratory at the University of Atlanta at Huntsville on the effects of time delay on teleoperation is discussed. The laboratory is configured around a Puma 562 robot with 6 degrees of freedom. A custom designed joystick controller with two joysticks, each with three degrees of freedom, is used to control the robot. These joysticks are connected to the robot controller through an analog to digital interface. Joystick calibration, a computer program called Joystick, and the VAL 2 robot control language are discussed.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 73-77
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    Telerobotic controller development (1987)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: To meet NASA's space station's needs and growth, a modular and generic approach to robotic control which provides near-term implementation with low development cost and capability for growth into more autonomous systems was developed. The method uses a vision based robotic controller and compliant hand integrated with the Remote Manipulator System arm on the Orbiter. A description of the hardware and its system integration is presented.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 65-71
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    Issues associated with telerobotic systems in space (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Research issues in using telerobotics in space are discussed. Included is a review of previous research in space telerobotics and the results of several telerobotics experiments.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 59-64
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    Methodology for testing and validating knowledge bases (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: A test and validation toolset developed for artificial intelligence programs is described. The basic premises of this method are: (1) knowledge bases have a strongly declarative character and represent mostly structural information about different domains, (2) the conditions for integrity, consistency, and correctness can be transformed into structural properties of knowledge bases, and (3) structural information and structural properties can be uniformly represented by graphs and checked by graph algorithms. The interactive test and validation environment have been implemented on a SUN workstation.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 21-32
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    Expert system technology (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The expert system is a computer program which attempts to reproduce the problem-solving behavior of an expert, who is able to view problems from a broad perspective and arrive at conclusions rapidly, using intuition, shortcuts, and analogies to previous situations. Expert systems are a departure from the usual artificial intelligence approach to problem solving. Researchers have traditionally tried to develop general modes of human intelligence that could be applied to many different situations. Expert systems, on the other hand, tend to rely on large quantities of domain specific knowledge, much of it heuristic. The reasoning component of the system is relatively simple and straightforward. For this reason, expert systems are often called knowledge based systems. The report expands on the foregoing. Section 1 discusses the architecture of a typical expert system. Section 2 deals with the characteristics that make a problem a suitable candidate for expert system solution. Section 3 surveys current technology, describing some of the software aids available for expert system development. Section 4 discusses the limitations of the latter. The concluding section makes predictions of future trends.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Research Reports: 1987 NASA(ASEE Summer Faculty Fellowship Program; 17 p
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    Direct adaptive control of manipulators in Cartesian space (1987)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.
    Keywords: CYBERNETICS
    Type: Journal of Robotic Systems (ISSN 0741-2223); 4; 157-178
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    Mathematical correlation of modal-parameter-identification methods via system-realization theory (1987)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: A unified approach is introduced using system-realization theory to derive and correlate modal-parameter-identification methods for flexible structures. Several different time-domain methods are analyzed and treated. A basic mathematical foundation is presented which provides insight into the field of modal-parameter identification for comparison and evaluation. The relation among various existing methods is established and discussed. This report serves as a starting point to stimulate additional research toward the unification of the many possible approaches for modal-parameter identification.
    Keywords: CYBERNETICS
    Type: International Journal of Analytical and Experimental Modal Analysis (ISSN 0886-9367); 2; 1-18
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    Adaptive control strategies for cooperative dual-arm manipulators (1987)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: Three strategies for adaptive control of cooperative dual-arm robots are discussed. Implementation of these adaptive controllers does not require the use of complex mathematical models of the arm dynamics or knowledge of the arm dynamic parameters or load parameters. These strategies have simple structures, and are computationally fast for on-line implementation with high sampling rates. In all three cases, the coupling effects between the arms through the load are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. Simulation results demonstrate the usefulness of the controllers.
    Keywords: CYBERNETICS
    Type: Journal of Robotic Systems (ISSN 0741-2223); 4; 653-684
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    A new approach to adaptive control of manipulators (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.
    Keywords: CYBERNETICS
    Type: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control (ISSN 0022-0434); 109; 193-202
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    The nature and evaluation of commercial expert system building tools (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: This memorandum reviews the factors that constitute an Expert System Building Tool (ESBT) and evaluates current tools in terms of these factors. Evaluation of these tools is based on their structure and their alternative forms of knowledge representation, inference mechanisms and developer/end-user interfaces. Next, functional capabilities, such as diagnosis and design, are related to alternative forms of mechanization. The characteristics and capabilities of existing commercial tools are then reviewed in terms of these criteria.
    Keywords: CYBERNETICS
    Type: Computer (ISSN 0018-9162); 20; 24-41
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    An approach to multivariable control of manipulators (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.
    Keywords: CYBERNETICS
    Type: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control (ISSN 0022-0434); 109; 146-154
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    A new linear quadratic optimal controller for the 34-meter high efficiency antenna position loop (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The design of a new position loop controller for the 34-meter High Efficiency Deep Space antennas using linear quadratic (LQ) optimal control techniques is discussed. The LQ optimal control theory is reviewed, and model development and verification are discussed. Families of optimal gain vectors are generated by varying weight parameters. Performance specifications were used to select a final gain vector. Estimator dynamics were selected and the corresponding gain vectors were computed. Final estimator selection was based on position, commanded rate, and estimator error responses.
    Keywords: CYBERNETICS
    Type: The Telecommunications and Data Acquisition Report; p 136-148
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    Algorithms for adaptive control of two-arm flexible manipulators under uncertainty (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 245-253
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    Simple robust control laws for robot manipulators. Part 2: Adaptive case (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.
    Keywords: CYBERNETICS
    Type: Proceedings of the Workshop on Space Telerobotics, Volume 3; p 231-243
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    The use of 3-D sensing techniques for on-line collision-free path planning (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: The state of the art in collision prevention for manipulators with revolute joints, showing that it is a particularly computationally hard problem, is discussed. Based on the analogy with other hard or undecidable problems such as theorem proving, an extensible multi-resolution architecture for path planning, based on a collection of weak methods is proposed. Finally, the role that sensors can play for an on-line use of sensor data is examined.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 119-123
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    Manipulator control by exact linearization (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.
    Keywords: CYBERNETICS
    Type: Proceedings of the Workshop on Space Telerobotics, Volume 3; p 325-334
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    Adaptive hybrid control of manipulators (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.
    Keywords: CYBERNETICS
    Type: Proceedings of the Workshop on Space Telerobotics, Volume 3; p 261-271
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    Simple robust control laws for robot manipulators. Part 1: Non-adaptive case (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.
    Keywords: CYBERNETICS
    Type: Proceedings of the Workshop on Space Telerobotics, Volume 3; p 215-229
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    Adaptive control of dual-arm robots (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.
    Keywords: CYBERNETICS
    Type: Proceedings of the Workshop on Space Telerobotics, Volume 3; p 159-170
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    Task planning and control synthesis for robotic manipulation in space applications (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 129-138
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    Collision-free trajectory planning algorthm for manipulators (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Collision-free trajectory planning for robotic manipulators is investigated. The task of the manipulator is to move its end-effector from one point to another point in an environment with polyhedral obstacles. An on-line algorithm is developed based on finding the required joint angles of the manipulator, according to goals with different priorities. The highest priority is to avoid collisions, the second priority is to plan the shortest path for the end effector, and the lowest priority is to minimize the joint velocity for smooth motion. The pseudo-inverse of the Jacobian matrix is applied for inverse kinematics. When a possible collision is detected, a constrained inverse kinematic problem is solved such that the collision is avoided. This algorithm can also be applied to a time-variant environment.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 125-127
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    Flexible manipulator control experiments and analysis (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 279-287
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    Optimal cooperative control synthesis of active displays (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A technique is developed that is intended to provide a systematic approach to synthesizing display augmentation for optimal manual control in complex, closed-loop tasks. A cooperative control synthesis technique, previously developed to design pilot-optimal control augmentation for the plant, is extended to incorporate the simultaneous design of performance enhancing displays. The technique utilizes an optimal control model of the man in the loop. It is applied to the design of a quickening control law for a display and a simple K/(s squared) plant, and then to an F-15 type aircraft in a multichannel task. Utilizing the closed-loop modeling and analysis procedures, the results from the display design algorithm are evaluated and an analytical validation is performed. Experimental validation is recommended for future efforts.
    Keywords: CYBERNETICS
    Type: NASA-CR-4058 , H-1378 , NAS 1.26:4058
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    A combined stochastic feedforward and feedback control design methodology with application to autoland design (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.
    Keywords: CYBERNETICS
    Type: NASA-CR-4078 , NAS 1.26:4078 , FR-687102
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    Strong convergence and convergence rates of approximating solutions for algebraic Riccati equations in Hilbert spaces (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The linear quadratic optimal control problem on infinite time interval for linear time-invariant systems defined on Hilbert spaces is considered. The optimal control is given by a feedback form in terms of solution pi to the associated algebraic Riccati equation (ARE). A Ritz type approximation is used to obtain a sequence pi sup N of finite dimensional approximations of the solution to ARE. A sufficient condition that shows pi sup N converges strongly to pi is obtained. Under this condition, a formula is derived which can be used to obtain a rate of convergence of pi sup N to pi. The results of the Galerkin approximation is demonstrated and applied for parabolic systems and the averaging approximation for hereditary differential systems.
    Keywords: CYBERNETICS
    Type: NASA-CR-178302 , ICASE-87-31 , NAS 1.26:178302 , AD-A192764
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    Development of hardwares and computer interface for a two-degree-of-freedom robot (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The research results that were obtained are reviewed. Then the robot actuator, the selection of the data acquisition system, and the design of the power amplifier will be discussed. The machine design of the robot manipulator will then be presented. After that, the integration of the developed hardware into the open-loop system will also be discussed. Current and future research work is addressed.
    Keywords: CYBERNETICS
    Type: NASA-CR-180591 , NAS 1.26:180591
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    An optimal output feedback gain variation scheme for the control of plants exhibiting gross parameter changes (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A concept for optimally designing output feedback controllers for plants whose dynamics exhibit gross changes over their operating regimes was developed. This was to formulate the design problem in such a way that the implemented feedback gains vary as the output of a dynamical system whose independent variable is a scalar parameterization of the plant operating point. The results of this effort include derivation of necessary conditions for optimality for the general problem formulation, and for several simplified cases. The question of existence of a solution to the design problem was also examined, and it was shown that the class of gain variation schemes developed are capable of achieving gain variation histories which are arbitrarily close to the unconstrained gain solution for each point in the plant operating range. The theory was implemented in a feedback design algorithm, which was exercised in a numerical example. The results are applicable to the design of practical high-performance feedback controllers for plants whose dynamics vary significanly during operation. Many aerospace systems fall into this category.
    Keywords: CYBERNETICS
    Type: NASA-CR-178254 , NAS 1.26:178254 , FR-48507
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    Analysis and synthesis of abstract data types through generalization from examples (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The discovery of general patterns of behavior from a set of input/output examples can be a useful technique in the automated analysis and synthesis of software systems. These generalized descriptions of the behavior form a set of assertions which can be used for validation, program synthesis, program testing and run-time monitoring. Describing the behavior is characterized as a learning process in which general patterns can be easily characterized. The learning algorithm must choose a transform function and define a subset of the transform space which is related to equivalence classes of behavior in the original domain. An algorithm for analyzing the behavior of abstract data types is presented and several examples are given. The use of the analysis for purposes of program synthesis is also discussed.
    Keywords: CYBERNETICS
    Type: NASA-CR-180976 , NAS 1.26:180976 , TR-87-004
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    Robust time and frequency domain estimation methods in adaptive control (1987)
    In:  CASI
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    Publication Date: 2019-06-28
    Description: A robust identification method was developed for use in an adaptive control system. The type of estimator is called the robust estimator, since it is robust to the effects of both unmodeled dynamics and an unmeasurable disturbance. The development of the robust estimator was motivated by a need to provide guarantees in the identification part of an adaptive controller. To enable the design of a robust control system, a nominal model as well as a frequency-domain bounding function on the modeling uncertainty associated with this nominal model must be provided. Two estimation methods are presented for finding parameter estimates, and, hence, a nominal model. One of these methods is based on the well developed field of time-domain parameter estimation. In a second method of finding parameter estimates, a type of weighted least-squares fitting to a frequency-domain estimated model is used. The frequency-domain estimator is shown to perform better, in general, than the time-domain parameter estimator. In addition, a methodology for finding a frequency-domain bounding function on the disturbance is used to compute a frequency-domain bounding function on the additive modeling error due to the effects of the disturbance and the use of finite-length data. The performance of the robust estimator in both open-loop and closed-loop situations is examined through the use of simulations.
    Keywords: CYBERNETICS
    Type: NASA-CR-181074 , NAS 1.26:181074 , LIDS-TH-1674
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    Chandrasekhar equations for infinite dimensional systems. Part 2: Unbounded input and output case (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: A set of equations known as Chandrasekhar equations arising in the linear quadratic optimal control problem is considered. In this paper, we consider the linear time-invariant system defined in Hilbert spaces involving unbounded input and output operators. For a general class of such systems, the Chandrasekhar equations are derived and the existence, uniqueness, and regularity of the results of their solutions established.
    Keywords: CYBERNETICS
    Type: NASA-CR-178303 , ICASE-87-32 , NAS 1.26:178303
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    An overview of the artificial intelligence and expert systems component of RICIS (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: Artificial Intelligence and Expert Systems are the important component of RICIS (Research Institute and Information Systems) research program. For space applications, a number of problem areas that should be able to make good use of the above tools include: resource allocation and management, control and monitoring, environmental control and life support, power distribution, communications scheduling, orbit and attitude maintenance, redundancy management, intelligent man-machine interfaces and fault detection, isolation and recovery.
    Keywords: CYBERNETICS
    Type: RICIS 1987 Symposium. Executive Summary 1 p(SEE N91-18616 10-61); RICIS 1987 Symposium
    Format: text
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    Real time AI expert system for robotic applications (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: A computer controlled multi-robot process cell to demonstrate advanced technologies for the demilitarization of obsolete chemical munitions was developed. The methods through which the vision system and other sensory inputs were used by the artificial intelligence to provide the information required to direct the robots to complete the desired task are discussed. The mechanisms that the expert system uses to solve problems (goals), the different rule data base, and the methods for adapting this control system to any device that can be controlled or programmed through a high level computer interface are discussed.
    Keywords: CYBERNETICS
    Type: Third Conference on Artificial Intelligence for Space Applications, Part 1; p 269-270
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  • 91
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    Heuristic search in robot configuration space using variable metric (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: A method to generate obstacle free trajectories for both mobile robots and linked robots is proposed. The approach generates the shortest paths in a configuration space. The metric in the configuration space can be adjusted to obtain a tradeoff between safety and velocity by imposing extra costs on paths near obstacles.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1 153-154 (SEE N88-16360 08-61); NASA. Marshall Space
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  • 92
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    Goal driven kinematic simulation of flexible arm robot for space station missions (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 151
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  • 93
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    Qualitative and temporal reasoning in engine behavior analysis (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: Numerical simulation models, engine experts, and experimental data are used to generate qualitative and temporal representations of abnormal engine behavior. Engine parameters monitored during operation are used to generate qualitative and temporal representations of actual engine behavior. Similarities between the representations of failure scenarios and the actual engine behavior are used to diagnose fault conditions which have already occurred, or are about to occur; to increase the surveillance by the monitoring system of relevant engine parameters; and to predict likely future engine behavior.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 121-122
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  • 94
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    Monitoring of space station life support systems with miniature mass spectrometry and artificial intelligence (1987)
    In:  Other Sources
    Details
    Publication Date: 2019-01-25
    Description: The combination of quadrupole ion trap tandem mass spectroscopy with artificial intelligence is a promising approach for monitoring the performance of the life support systems in the space station. Such an analytical system can provide the selectivity, sensitivity, speed, small size, and decision making intelligence to detect, identify, and quantify trace toxic compounds which may accumulate in the space station habitat.
    Keywords: CYBERNETICS
    Type: NASA. Marshall Space Flight Center, Third Conference on Artificial Intelligence for Space Applications, Part 1; p 87
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  • 95
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    Route planning in a four-dimensional environment (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Robots must be able to function in the real world. The real world involves processes and agents that move independently of the actions of the robot, sometimes in an unpredictable manner. A real-time integrated route planning and spatial representation system for planning routes through dynamic domains is presented. The system will find the safest most efficient route through space-time as described by a set of user defined evaluation functions. Because the route planning algorthims is highly parallel and can run on an SIMD machine in O(p) time (p is the length of a path), the system will find real-time paths through unpredictable domains when used in an incremental mode. Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture are discussed.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 41-47
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  • 96
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    Prediction and causal reasoning in planning (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Nonlinear planners are often touted as having an efficiency advantage over linear planners. The reason usually given is that nonlinear planners, unlike their linear counterparts, are not forced to make arbitrary commitments to the order in which actions are to be performed. This ability to delay commitment enables nonlinear planners to solve certain problems with far less effort than would be required of linear planners. Here, it is argued that this advantage is bought with a significant reduction in the ability of a nonlinear planner to accurately predict the consequences of actions. Unfortunately, the general problem of predicting the consequences of a partially ordered set of actions is intractable. In gaining the predictive power of linear planners, nonlinear planners sacrifice their efficiency advantage. There are, however, other advantages to nonlinear planning (e.g., the ability to reason about partial orders and incomplete information) that make it well worth the effort needed to extend nonlinear methods. A framework is supplied for causal inference that supports reasoning about partially ordered events and actions whose effects depend upon the context in which they are executed. As an alternative to a complete but potentially exponential-time algorithm, researchers provide a provably sound polynomial-time algorithm for predicting the consequences of partially ordered events.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 49-58
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  • 97
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    A learning controller for nonrepetitive robotic operation (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2; p 273-281
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  • 98
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    Sensing and perception: Connectionist approaches to subcognitive computing (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: New approaches to machine sensing and perception are presented. The motivation for crossdisciplinary studies of perception in terms of AI and neurosciences is suggested. The question of computing architecture granularity as related to global/local computation underlying perceptual function is considered and examples of two environments are given. Finally, the examples of using one of the environments, UCLA PUNNS, to study neural architectures for visual function are presented.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2; p 145-153
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  • 99
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    Inverse kinematic-based robot control (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2; p 165-175
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  • 100
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    Constraint-based stereo matching (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: The major difficulty in stereo vision is the correspondence problem that requires matching features in two stereo images. Researchers describe a constraint-based stereo matching technique using local geometric constraints among edge segments to limit the search space and to resolve matching ambiguity. Edge segments are used as image features for stereo matching. Epipolar constraint and individual edge properties are used to determine possible initial matches between edge segments in a stereo image pair. Local edge geometric attributes such as continuity, junction structure, and edge neighborhood relations are used as constraints to guide the stereo matching process. The result is a locally consistent set of edge segment correspondences between stereo images. These locally consistent matches are used to generate higher-level hypotheses on extended edge segments and junctions to form more global contexts to achieve global consistency.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2; p 131-134
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