ALBERT

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

Beschreibung: A model is developed that permits the representation of the Galactic disk and bulge, the molecular ring, extragalactic sky, and other Galactic structures in terms of the IR point-source sky. Full characterization is achieved for up to 87 types of Galactic sources in terms of scale heights and absolute magnitudes, and the model is guided by a parallel Monte Carlo simulation of the Galaxy at 12 microns. The model predicts differential and cumulative IR source counts for all bandpasses in the IRAS ranges and can therefore be employed to predict the character of the point-source sky related to IR space observations.

Beschreibung: During the past 15 years considerable progress in observational techniques has been achieved in the middle-infrared region (5000-500/cm, 2-20 microns), the region where most diagnostic molecular vibrations occur. Spectra of many different astronomical infrared sources, some deeply embedded in dark molecular clouds and others obscured only by dust in the diffuse interstellar medium are now available. These spectra provide a powerful probe, not only for the identification of interstellar molecules in both the gas and solid phases, but also of the physical and chemical conditions which prevail in these two very different domains. By comparing these spectra with laboratory spectra one can determine the composition and abundance of the icy material frozen on the cold (- 10K) dust in the dark interior of molecular clouds and of the hydrocarbon component of dust in the diffuse interstellar medium. As these are the building blocks of comets, the work described here also gives insight into the nature of comets.

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

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

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

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

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

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