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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Adaptive control with an expert system based supervisory level

Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up to the use of expert systems for more advanced supervision capabilities.

Sullivan, Gerald A.↗
NASA NTRS1992

Cognition and procedure representational requirements for predictive human performance models

Models and modeling environments for human performance are becoming significant contributors to early system design and analysis procedures. Issues of levels of automation, physical environment, informational environment, and manning requirements are being addressed by such man/machine analysis systems. The research reported here investigates the close interaction between models of human cognition and models that described procedural performance. We describe a methodology for the decomposition of aircrew procedures that supports interaction with models of cognition on the basis of procedures observed; that serves to identify cockpit/avionics information sources and crew information requirements; and that provides the structure to support methods for function allocation among crew and aiding systems. Our approach is to develop an object-oriented, modular, executable software representation of the aircrew, the aircraft, and the procedures necessary to satisfy flight-phase goals. We then encode in a time-based language, taxonomies of the conceptual, relational, and procedural constraints among the cockpit avionics and control system and the aircrew. We have designed and implemented a goals/procedures hierarchic representation sufficient to describe procedural flow in the cockpit. We then execute the procedural representation in simulation software and calculate the values of the flight instruments, aircraft state variables and crew resources using the constraints available from the relationship taxonomies. The system provides a flexible, extensible, manipulative and executable representation of aircrew and procedures that is generally applicable to crew/procedure task-analysis. The representation supports developed methods of intent inference, and is extensible to include issues of information requirements and functional allocation. We are attempting to link the procedural representation to models of cognitive functions to establish several intent inference methods including procedural backtracking with concurrent search, temporal reasoning, and constraint checking for partial ordering of procedures. Finally, the representation is being linked to models of human decision making processes that include heuristic, propositional and prescriptive judgement models that are sensitive to the procedural content in which the valuative functions are being performed.

Corker, K.↗
NASA NTRS1994

A parallel strategy for implementing real-time expert systems using CLIPS

As evidenced by current literature, there appears to be a continued interest in the study of real-time expert systems. It is generally recognized that speed of execution is only one consideration when designing an effective real-time expert system. Some other features one must consider are the expert system's ability to perform temporal reasoning, handle interrupts, prioritize data, contend with data uncertainty, and perform context focusing as dictated by the incoming data to the expert system. This paper presents a strategy for implementing a real time expert system on the iPSC/860 hypercube parallel computer using CLIPS. The strategy takes into consideration not only the execution time of the software, but also those features which define a true real-time expert system. The methodology is then demonstrated using a practical implementation of an expert system which performs diagnostics on the Space Shuttle Main Engine (SSME). This particular implementation uses an eight node hypercube to process ten sensor measurements in order to simultaneously diagnose five different failure modes within the SSME. The main program is written in ANSI C and embeds CLIPS to better facilitate and debug the rule based expert system.

Ilyes, Laszlo A.↗
NASA NTRS2004

Interannual Variations in Earth's Low-Degree Gravity Field and the Connections With Geophysical/Climatic Changes

Long-wavelength time-variable gravity recently derived from satellite laser ranging (SLR) analysis have focused to a large extent on the effects of the recent (since 1998) large anomalous change in J2, or the Earth's oblateness, and the potential causes. However, it is relatively more difficult to determine whether there are corresponding signals in the shorter wavelength zonal harmonics from the existing SLR-derived time variable gravity results, although it appears that geophysical fluid mass transport is being observed. For example, the recovered J3 time series shows remarkable agreement with NCEP-derived estimates of atmospheric gravity variations. Likewise, some of the non-zonal spherical harmonic components have significant interannual signal that appears to be related to mass transport. The non-zonal degree-2 components show reasonable temporal correlation with atmospheric signals, as well as climatic effects such as El Nino Southern Oscillation. We will present recent updates on the J2 evolution, as well as a look at other low-degree components of the interannual variations of gravity, complete through degree 4. We will examine the possible geophysical and climatic causes of these low-degree time-variable gravity related to oceanic and hydrological mass transports, for example some anomalous but prominent signals found in the extratropic Pacific ocean related to the Pacific Decadal Oscillation.

Chao, Benjamin F.↗
NASA NTRS2005

Mixed-Initiative Planning in MAPGEN: Capabilities and Shortcomings

MAPGEN (Mixed-initiative Activity Plan GENerator) is a mixed-initiative system that employs automated constraint-based planning, scheduling, and temporal reasoning to assist the Mars Exploration Rover mission operations staff in generating the daily activity plans. This paper describes the mixed-initiative capabilities of MAPGEN, identifies shortcomings with the deployed system, and discusses ongoing work to address some of these shortcomings.

Bresina, John L.↗
NASA NTRS2021

Assessment of the Advanced Very High Resolution Radiometer (AVHRR) for Snowfall Retrieval in High Latitudes Using CloudSat and Machine Learning

Precipitation retrieval is a challenging topic, especially in high latitudes (HL), and current precipitation products face ample challenges over these regions. This study investigates the potential of the Advanced Very High Resolution Radiometer (AVHRR) for snowfall retrieval in HL using CloudSat radar information and machine learning (ML). With all the known limitations, AVHRR observations should be considered for HL snowfall retrieval because 1) AVHRR data have been continuously collected for about four decades on multiple platforms with global coverage, and similar observations will likely continue in the future; 2) current passive microwave satellite precipitation products have several issues over snow and ice surfaces; and 3) good coincident observations between AVHRR and CloudSat are available for training ML algorithms. Using ML, snowfall rate was retrieved from AVHRR’s brightness temperature and cloud probability, as well as auxiliary information provided by numerical reanalysis. The results indicate that the ML-based retrieval algorithm is capable of detection and estimation of snowfall with comparable or better statistical scores than those obtained from the Atmospheric Infrared Sounder (AIRS) and two passive microwave sensors contributing to the Global Precipitation Measurement (GPM) mission constellation. The outcomes also suggest that AVHRR-based snowfall retrievals are spatially and temporally reasonable and can be considered as a quantitatively useful input to the merged precipitation products that require frequent sampling or long-term records.

Mohammad Reza↗
NASA NTRS2005

Temporal and Resource Reasoning for Planning, Scheduling and Execution in Autonomous Agents

This viewgraph slide tutorial reviews methods for planning and scheduling events. The presentation reviews several methods and uses several examples of scheduling events for the successful and timely completion of the overall plan. Using constraint based models the presentation reviews planning with time, time representations in problem solving and resource reasoning.

Muscettola, Nicola↗
NASA NTRS1987

The mechanisms of temporal inference

The properties of a temporal language are determined by its constituent elements: the temporal objects which it can represent, the attributes of those objects, the relationships between them, the axioms which define the default relationships, and the rules which define the statements that can be formulated. The methods of inference which can be applied to a temporal language are derived in part from a small number of axioms which define the meaning of equality and order and how those relationships can be propagated. More complex inferences involve detailed analysis of the stated relationships. Perhaps the most challenging area of temporal inference is reasoning over disjunctive temporal constraints. Simple forms of disjunction do not sufficiently increase the expressive power of a language while unrestricted use of disjunction makes the analysis NP-hard. In many cases a set of disjunctive constraints can be converted to disjunctive normal form and familiar methods of inference can be applied to the conjunctive sub-expressions. This process itself is NP-hard but it is made more tractable by careful expansion of a tree-structured search space.

Fox, B. R.↗
NASA NTRS1993

Combining qualitative and quantitative spatial and temporal information in a hierarchical structure: Approximate reasoning for plan execution monitoring

The problem of plan generation (PG) and the problem of plan execution monitoring (PEM), including updating, queries, and resource-bounded replanning, have different reasoning and representation requirements. PEM requires the integration of qualitative and quantitative information. PEM is the receiving of data about the world in which a plan or agent is executing. The problem is to quickly determine the relevance of the data, the consistency of the data with respect to the expected effects, and if execution should continue. Only spatial and temporal aspects of the plan are addressed for relevance in this work. Current temporal reasoning systems are deficient in computational aspects or expressiveness. This work presents a hybrid qualitative and quantitative system that is fully expressive in its assertion language while offering certain computational efficiencies. In order to proceed, methods incorporating approximate reasoning using hierarchies, notions of locality, constraint expansion, and absolute parameters need be used and are shown to be useful for the anytime nature of PEM.

Hoebel, Louis J.↗
DOE OSTI2021

Watermarks in stream processing systems: semantics and comparative analysis of Apache Flink and Google cloud dataflow

Streaming data processing is an exercise in taming disorder: from oftentimes huge torrents of information, we hope to extract powerful and timely analyses. But when dealing with streaming data, the unbounded and temporally disordered nature of real-world streams introduces a critical challenge: how does one reason about the completeness of a stream that never ends? In this paper, we present a comprehensive definition and analysis of watermarks, a key tool for reasoning about temporal completeness in infinite streams.First, we describe what watermarks are and why they are important, highlighting how they address a suite of stream processing needs that are poorly served by eventually-consistent approaches:• Computing a single correct answer, as in notifications.• Reasoning about a lack of data, as in dip detection.• Performing non-incremental processing over temporal subsets of an infinite stream, as in statistical anomaly detection with cubic spline models.• Safely and punctually garbage collecting obsolete inputs and intermediate state.• Surfacing a reliable signal of overall pipeline health.Second, we describe, evaluate, and compare the semantically equivalent, but starkly different, watermark implementations in two modern stream processing engines: Apache Flink and Google Cloud Dataflow.

Akidau, Tyler↗
NASA NTRS2019

Software and System Health Management with R2U2

R2U2 (Realizable, Responsive, Unobtrusive Unit) is a hardware-supported tool and framework for the real-time system and software health management of cyber-physical systems. R2U2 continuously monitors properties about safety, performance, and security of the vehicle and can perform diagnostic reasoning. Efficient observers for past-time and future-time Metric Temporal Logic, reasoners for Bayesian Networks, and model-based prognostics algorithms are major components of R2U2. Their combination makes it possible to design powerful models for system runtime monitoring, diagnostics, software health management, prognostics, and security monitoring. The R2U2 monitoring engine is designed for minimal runtime overhead and is available as Simulink block or as a software component for integration into the flight software stack, and enables R2U2 to monitor complex cyber-physical systems without any instrumentation of the flight software. In this presentation, we give an overview of R2U2 architecture and reasoning algorithms, present its features, and give a life demo of the tool.

Schumann, Johann↗
NASA NTRS1992

Incorporation of varying types of temporal data in a neural network

Most neural network models do not specifically deal with temporal data. Handling of these variables is complicated by the different uses to which temporal data are put, depending on the application. Even within the same application, temporal variables are often used in a number of different ways. In this paper, types of temporal data are discussed, along with their implications for approximate reasoning. Methods for integrating approximate temporal reasoning into existing neural network structures are presented. These methods are illustrated in a medical application for diagnosis of graft-versus-host disease which requires the use of several types of temporal data.

Cohen, M. E.↗
NASA NTRS1999

Data Assimilation Into a Coupled Ocean Atmosphere Model: Application to the 1997-1998 El Nino

As part of JPL's ocean data assimilation effort to study ocean circulation and seasonal-interannual climate variability, sea level anomaly observed by TOPEX altimeter, together with sea surface temperature and wind stress data, are assimilated into a simple coupled ocean atmosphere model of the tropical Pacific. Model-data consistency is examined. Impact of the assimilation (as initialization) on El Nino Southern Oscillation (ENSO) forecasts is evaluated. The coupled model consists of a shallow water component with two baroclinic modes, an Ekman shear layer, a simplified mixed-layer temperature equation, and a statistical atmosphere based on dominant correlations between historical surface temperature and wind stress anomaly data. The adjoins method is used to fit the coupled model to the data over various six-month periods from late 1996 to early 1998 by optimally adjusting the initial state, model parameters, and basis functions of the statistical atmosphere. On average, the coupled model can be fitted to the data to approximately within the data and representation errors (5 cm, 0.5 C, and 10 sq m/sq m for sea level, surface temperature, and pseudo wind stress anomalies, respectively). The estimated fields resemble observed spatio-temporal structure reasonably well. Hindcasts/forecasts of the 1997/1998 El Nino initialized from forced estimated ocean states and parameters are much more realistic than those simply initialized from ocean states (see figure below). In particular, the ability of the model to produce significant warming beyond the initial state is dramatically improved. Parameter estimation, which compensates for some model errors, is found to be important to obtaining better fits of the model to data and to improving forecasts.

Lee, Tong↗
NASA NTRS2014

Dynamic Controllability and Dispatchability Relationships

An important issue for temporal planners is the ability to handle temporal uncertainty. Recent papers have addressed the question of how to tell whether a temporal network is Dynamically Controllable, i.e., whether the temporal requirements are feasible in the light of uncertain durations of some processes. We present a fast algorithm for Dynamic Controllability. We also note a correspondence between the reduction steps in the algorithm and the operations involved in converting the projections to dispatchable form. This has implications for the complexity for sparse networks.

controllability↗
NASA NTRS1991

Reasoning about real-time systems with temporal interval logic constraints on multi-state automata

Models of real-time systems using a single paradigm often turn out to be inadequate, whether the paradigm is based on states, rules, event sequences, or logic. A model-based approach to reasoning about real-time systems is presented in which a temporal interval logic called TIL is employed to define constraints on a new type of high level automata. The combination, called hierarchical multi-state (HMS) machines, can be used to model formally a real-time system, a dynamic set of requirements, the environment, heuristic knowledge about planning-related problem solving, and the computational states of the reasoning mechanism. In this framework, mathematical techniques were developed for: (1) proving the correctness of a representation; (2) planning of concurrent tasks to achieve goals; and (3) scheduling of plans to satisfy complex temporal constraints. HMS machines allow reasoning about a real-time system from a model of how truth arises instead of merely depending of what is true in a system.

Gabrielian, Armen↗
NASA NTRSDate not supplied

Runtime Monitoring with R2U2 for Aircraft Systems with Neural Networks

R2U2 (Realizable, Responsive, Unobtrusive Unit) is a hardware-supported tool and framework for real-time system monitoring and software health management of cyber-physical systems. During system operation, R2U2 continuously monitors properties about safety, performance, and security of the vehicle and its vital components and can perform diagnostic reasoning. Efficient observers for past-time and future-time Metric Temporal Logic, fast reasoners for Bayesian Networks, and model-based prognostics algorithms are key components of R2U2 and designed for minimal computational footprint. R2U2 has been implemented in software supporting ROS, NASA's cFS/cFE, and Simulink and as an FPGA configuration. The synergistic combination of monitors and observers in R2U2 makes it possible to design powerful models for system runtime monitoring, diagnostics, software health management, prognostics, and security monitoring. In this presentation, I will give a detailed overview of the R2U2 architecture and its features and will discuss the application of R2U2 for safety-monitoring of a neural-network based autonomous centerline tracking system (ACT) for autonomous aircraft.

Runtime Monitoring↗
NASA NTRS1987

A framework for qualitative reasoning about solid objects

Predicting the behavior of a qualitatively described system of solid objects requires a combination of geometrical, temporal, and physical reasoning. Methods based upon formulating and solving differential equations are not adequate for robust prediction, since the behavior of a system over extended time may be much simpler than its behavior over local time. A first-order logic, in which one can state simple physical problems and derive their solution deductively, without recourse to solving the differential equations, is discussed. This logic is substantially more expressive and powerful than any previous AI representational system in this domain.

Davis, E.↗
NASA NTRS2002

Two Solvers for Tractable Temporal Constraints with Preferences

A number of reasoning problems involving the manipulation of temporal information can naturally be viewed as implicitly inducing an ordering of potential local decisions involving time on the basis of preferences. Soft temporal constraints problems allow to describe in a natural way scenarios where events happen over time and preferences are associated to event distances and durations. In general, solving soft temporal problems require exponential time in the worst case, but there are interesting subclasses of problems which are polynomially solvable. We describe two solvers based on two different approaches for solving the same tractable subclass. For each solver we present the theoretical results it stands on, a description of the algorithm and some experimental results. The random generator used to build the problems on which tests are performed is also described. Finally, we compare the two solvers highlighting the tradeoff between performance and representational power.

Rossi, F.↗