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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Design of optimal correlation filters for hybrid vision systems

Research is underway at the NASA Johnson Space Center on the development of vision systems that recognize objects and estimate their position by processing their images. This is a crucial task in many space applications such as autonomous landing on Mars sites, satellite inspection and repair, and docking of space shuttle and space station. Currently available algorithms and hardware are too slow to be suitable for these tasks. Electronic digital hardware exhibits superior performance in computing and control; however, they take too much time to carry out important signal processing operations such as Fourier transformation of image data and calculation of correlation between two images. Fortunately, because of the inherent parallelism, optical devices can carry out these operations very fast, although they are not quite suitable for computation and control type operations. Hence, investigations are currently being conducted on the development of hybrid vision systems that utilize both optical techniques and digital processing jointly to carry out the object recognition tasks in real time. Algorithms for the design of optimal filters for use in hybrid vision systems were developed. Specifically, an algorithm was developed for the design of real-valued frequency plane correlation filters. Furthermore, research was also conducted on designing correlation filters optimal in the sense of providing maximum signal-to-nose ratio when noise is present in the detectors in the correlation plane. Algorithms were developed for the design of different types of optimal filters: complex filters, real-value filters, phase-only filters, ternary-valued filters, coupled filters. This report presents some of these algorithms in detail along with their derivations.

Rajan, Periasamy K.↗
NASA NTRS1980

The spatial and logical organization of devices in an advanced industrial robot system

This paper describes the geometrical and device organization of a robot system which is based in part upon transformations of Cartesian frames and exchangeable device tree structures. It discusses coordinate frame transformations, geometrical device representation and solution degeneracy along with the data structures which support the exchangeable logical-physical device assignments. The system, which has been implemented in a minicomputer, supports vision, force, and other sensors. It allows tasks to be instantiated with logically equivalent devices and it allows tasks to be defined relative to appropriate frames. Since these frames are, in turn, defined relative other frames this organization provides a significant simplification in task specification and a high degree of system modularity.

Ruoff, C. F.↗
NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS1990

A modification of the fusion model for log polar coordinates

The fusion mechanism for application in stereo analysis of range restricted the depth of field and therefore required a shift variant mechanism in the peripheral area to find disparity. Misregistration was prevented by restricting the disparity detection range to a neighborhood spanned by the directional edge detection filters. This transformation was essentially accomplished by a nonuniform resampling of the original image in a horizontal direction. While this is easily implemented for digital processing, the approach does not (in the peripheral vision area) model the log-conformal mapping which is known to occur in the human mechanism. This paper therefore modifies the original fusion concept in the peripheral area to include the polar exponential grid-to-log conformal tesselation. Examples of the fusion process resulting in accurate disparity values are given.

Griswold, N. C.↗
NASA NTRS2006

Adaptive Changes In Postural Equilibrium And Motion Sickness Following Repeated Exposures To Virtual Environments

Virtual environments offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Two unresolved human factors issues in virtual reality (VR) systems are: 1) potential "cybersickness", and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Changes in the environmental sensory stimulus conditions and the way we interact with the new stimuli may result in motion sickness, and perceptual, spatial orientation and sensorimotor disturbances. Initial interpretation of novel sensory information may be inappropriate and result in perceptual errors. Active exploratory behavior in a new environment, with resulting feedback and the formation of new associations between sensory inputs and response outputs, promotes appropriate perception and motor control in the new environment. Thus, people adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, unilateral labyrinthectomy and experimentally produced stimulus rearrangements. Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays, and to examine the effects of exposure duration, and repeated exposures to VR systems. Forty-one subjects (21 men, 20 women) participated in the study with an age range of 21-49 years old. One training session was completed in order to achieve stable performance on the posture and VR tasks before participating in the experimental sessions. Three experimental sessions were performed each separated by one day. The subjects performed a navigation and pick and place task in either a dome or head-mounted display (HMD) VR system for either 30 or 60 min. The environment was a square room with 15 pedestals on two opposite walls. The objects appeared on one set of pedestals and the subject s objective was to move the objects to the other set of pedestals. After the subject picked up an object, a pathway appeared and they were required to follow the pathway to the other side of the room. The subject was instructed to perform the task as quickly and accurately as possible, avoiding hitting walls and other any obstacles and placing the object on the center of the pedestal. Postural equilibrium was measured (using the Equitest CDP balance system, Neurocom, International) before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. Postural equilibrium was measured during quiet stance with eyes open, eyes closed and vision and/or ankle proprioceptive inputs selectively altered by servo-controlling the visual surround and/or support surface to the subject s center of mass sway. Posture data was normalized using a log transformation and motion sickness data were normalized using the square root. In general, we found that exposure to VR resulted in decrements in postural stability. The largest decrements were observed in the tests performed immediately following exposure to VR and showed a fairly rapid recovery across the remaining test sessions. In addition, subjects generally showed improvement across days. We found significant main effects for day and time for the composite equilibrium score and for sensory organization tests (SOT) 1, 2 and 6. Significant main effects were observed for day for SOT 3 and 5. Although we found no significant main effects for gender (when center of gravity was used as a covariate), we did observe significant gender X time interaction effects for composite equilibrium and for SOT 1, 3, 4 and 5. Women appeared to show larger decrements in postural stability immediately after exposure to VR than men, but recover more quickly than n. Finally, we found no significant main effects for type of VR device or for exposure duration, however, these factors did interact with other factors during some of the SOTs. Subjects exhibited rapid recovery of motion sickness symptoms across time following exposure to VR and significantly less severe symptoms across days. We did not observe main effects for gender, type of device or duration of exposure. Individuals recovered from the detrimental effects of exposure to virtual reality on postural control and motion sickness within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight.

Harm, D. L.↗
NASA NTRS2018

E-Glider: Active Electrostatic Flight for Airless Body Exploration

The environment near the surface of asteroids, comets, and the Moon is electrically charged due to the Sun's photoelectric bombardment and lofting dust, which follows the Sun illumination as the body spins. Chargeddust is ever present, in the form of dusty plasma, even at high altitudes, following the solar illumination. If abody with high surface resistivity is exposed to the solar wind and solar radiation, sun-exposed areas andshadowed areas become differentially charged. The E-Glider (Electrostatic Glider) is an enabling capability foroperation at airless bodies, a solution applicable to many types of in-situ mission concepts, which leverages thenatural environment. With the E-Glider, we transform a problem (spacecraft charging) into an enablingtechnology, i.e. a new form of mobility in microgravity environments using new mechanisms and maneuveringbased on the interaction of the vehicle with the environment. Consequently, the vision of the E-Glider is toenable global scale airless body exploration with a vehicle that uses, instead of avoids, the local electricallycharged environment. This platform directly addresses the "All Access Mobility" Challenge, one of the NASA'sSpace Technology Grand Challenges. Exploration of comets, asteroids, moons and planetary bodies is limitedby mobility on those bodies. The lack of an atmosphere, the low gravity levels, and the unknown surface soilproperties pose a very difficult challenge for all forms of know locomotion at airless bodies. This E-Gliderlevitates by extending thin, charged, appendages, which are also articulated to direct the levitation force in themost convenient direction for propulsion and maneuvering. The charging is maintained through continuouscharge emission. It lands, wherever it is most convenient, by retracting the appendages or by firing a cold-gasthruster, or by deploying an anchor. The wings could be made of very thin Au-coated Mylar film, which areelectrostatically inflated, and would provide the lift due to electrostatic repulsion with the naturally chargedasteroid surface. Since the E-glider would follow the Sun's illumination, the solar panels on the vehicle wouldconstantly charge a battery. Further articulation at the root of the lateral strands or inflated membrane wings,would generate a component of lift depending on the articulation angle, hence a selective maneuveringcapability which, to all effects, would lead to electrostatic (rather than aerodynamic) flight. Preliminarycalculations indicate that a 1 kg mass can be electrostatically levitated in a microgravity field with a 2 mdiameter electrostatically inflated ribbon structure at 19kV, hence the need for a "balloon-like" system. Due tothe high density and the photo-electron sheath and associate small Debye length, significant power is requiredto levitate even a few kilograms. The power required is in the kilo-Watt range to maintain a constant chargelevel.

Electrostatic Flight↗
NASA NTRS2016

Multidisciplinary Model Transformation Through Simplified Intermediate Representations

There has long been a challenge of making engineering tools from multiple disciplines interoperate. This problem extends to system modeling practices. This challenge has been confronted with a wide variety of techniques. These techniques include attempting to interface tools together into combined suites, attempting to find underlying commonalities in mathematics, supporting connections through semantic encoding, various graph mappings and transformations, and code wrappers. All of these approaches have strengths and weaknesses. These are measured in multiple areas: relative freedom of action of individual domain engineers in developing their own tools, speed of execution, ease of creation, traceability, fidelity of information transfer, and degree of alignment between the concepts of different domains. This paper presents an approach to this interoperation problem currently being used in the World-Wide Web. The approach is to develop easy-to-parse formats that allow flexibility to both the file author and file interpreter. Many of the formats that are currently deployed sacrifice runtime performance for the ability of third parties to easily understand what to do with the data. XML became popular earlier as a de-facto standard format for many web applications, but is now being replaced by JSON to enhance human readability and provide a simpler data model. This is the basis for work in this paper. Our approach, which provides the key to interoperation, is a simplified “shrapnel” intermediate collection of objects and relationships that is the result of a breakdown of the system model into minimal pieces. It is then reassembled on the destination side, forming a two-step transformation. Previous efforts with single-step transformations have proven too difficult to create efficiently. In contrast, the use of this approach leads to an almost automatic procedure for transformation development. The Europa project is a large engineering project that must coordinate the efforts of many different teams with different specialties. The traditional form of exchanging engineering information has been documentation. The vision of model-based systems engineering is to make this information exchange much more digital. This paper presents the application of our simplified format to connecting two different engineering tools to the system model, with a focus on a dynamic mission simulation encoded in Modelica.

Cole, Bjorn↗
NASA NTRS2019

The TASAR Project: Launching Aviation on an Optimized Route Toward Aircraft Autonomy

The Traffic Aware Strategic Aircrew Request (TASAR) concept applies onboard automation for the purpose of advising the pilot of route modifications that would be beneficial to the flight. Leveraging onboard computing platforms with connectivity to avionics and diverse data sources on and off the aircraft, TASAR introduces a new, powerful capability for in-flight trajectory management to the cockpit and its flight crew that is anticipated to induce a significant culture change in airspace operations. Flight crews empowered by TASAR and its derivative technologies could transform from today’s flight plan followers to proactive trajectory managers, taking an initial critical step towards increasing autonomy in the airspace system. TASAR was developed as a catalyst for operational autonomy, a future vision where the responsibilities and authorities of trajectory management reside with the aircraft operator and are distributed among participating aircraft, thus fulfilling a vision dating back decades and enabling a fully scalable airspace system. This NASA Technical Paper maps TASAR to its foundational vision and traces its research and development from initial concept generation to an operational evaluation by a U.S. airline in revenue service, the final stage before technology transfer and commercialization.

Wing, David J.↗
NASA NTRS1995

Discrete Gabor Filters For Binocular Disparity Measurement

Discrete Gabor filters proposed for use in determining binocular disparity - difference between positions of same feature or object depicted in stereoscopic images produced by two side-by-side cameras aimed in parallel. Magnitude of binocular disparity used to estimate distance from cameras to feature or object. In one potential application, cameras charge-coupled-device video cameras in robotic vision system, and binocular disparities and distance estimates used as control inputs - for example, to control approaches to objects manipulated or to maintain safe distances from obstacles. Binocular disparities determined from phases of discretized Gabor transforms.

Weiman, Carl F. R.↗
NASA NTRS2018

2040 Vision: A Roadmap for Integrated, Multiscale Materials and System Modeling and Simulation

Over the last few decades, advances in high-performance computing, new materials characterization methods, and, more recently, an emphasis on integrated computational materials engineering (ICME) and additive manufacturing have been a catalyst for multiscale modeling and simulation-based design of materials and structures in the aerospace industry. While these advances have driven significant progress in the development of aerospace components and systems, that progress has been limited by persistent technology and infrastructure challenges that must be overcome to realize the full potential of integrated materials and systems design and simulation modeling throughout the supply chain. As a result, NASA's Transformational Tools and Technology (TTT) Project sponsored a study (performed by a team led by Pratt & Whitney) to define the potential 25-year future state required for integrated multiscale modeling of materials and systems (e.g., load-bearing structures) to accelerate the pace and reduce the expense of innovation in future aerospace and aeronautical systems. This talk will describe the findings of this 2040 Vision study (e.g., the 2040 vision state; the required interdependent core technical work areas, Key Element (KE); associated critical gaps and actions to close those gaps; and major recommendations). This roadmap is a community consensus document and is a result of over 450 professionals input obtain via: i) four society workshops (AIAA, NAFEMS, and two TMS), ii) community-wide survey, and iii) the establishment of 9 expert panels (one per key element) consisting on average 10 non-team members from academia, government and industry to review, update content, and prioritize gaps and actions. It is NASA's hope and desire that this roadmap provides the strategic guidance to both public and private research and development decision makers to make the proposed 2040 vision state a reality and thereby provide a significant advancement in the United States global competitiveness.

Multiscale Modeling↗
NASA NTRS2018

Vision 2040: A Roadmap for Integrated, Multiscale Modeling and Simulation of Materials and Systems

Over the last few decades, advances in high-performance computing, new materials characterization methods, and, more recently, an emphasis on integrated computational materials engineering (ICME) and additive manufacturing have been a catalyst for multiscale modeling and simulation-based design of materials and structures in the aerospace industry. While these advances have driven significant progress in the development of aerospace components and systems, that progress has been limited by persistent technology and infrastructure challenges that must be overcome to realize the full potential of integrated materials and systems design and simulation modeling throughout the supply chain. As a result, NASA's Transformational Tools and Technology (TTT) Project sponsored a study (performed by a diverse team led by Pratt & Whitney) to define the potential 25-year future state required for integrated multiscale modeling of materials and systems (e.g., load-bearing structures) to accelerate the pace and reduce the expense of innovation in future aerospace and aeronautical systems. This report describes the findings of this 2040 Vision study (e.g., the 2040 vision state; the required interdependent core technical work areas, Key Element (KE); identified gaps and actions to close those gaps; and major recommendations) which constitutes a community consensus document as it is a result of over 450 professionals input obtain via: 1) four society workshops (AIAA, NAFEMS, and two TMS), 2) community-wide survey, and 3) the establishment of 9 expert panels (one per KE) consisting on average of 10 non-team members from academia, government and industry to review, update content, and prioritize gaps and actions. The study envisions the development of a cyber-physical-social ecosystem comprised of experimentally verified and validated computational models, tools, and techniques, along with the associated digital tapestry, that impacts the entire supply chain to enable cost-effective, rapid, and revolutionary design of fit-for-purpose materials, components, and systems. Although the vision focused on aeronautics and space applications, it is believed that other engineering communities (e.g., automotive, biomedical, etc.) can benefit as well from the proposed framework with only minor modifications. Finally, it is TTT's hope and desire that this vision provides the strategic guidance to both public and private research and development decision makers to make the proposed 2040 vision state a reality and thereby provide a significant advancement in the United States global competitiveness.

multi-scale modeling↗
NASA NTRS2015

The SMART-NAS Testbed

The SMART-NAS Testbed for Safe Trajectory Based Operations Project will deliver an evaluation capability, critical to the ATM community, allowing full NextGen and beyond-NextGen concepts to be assessed and developed. To meet this objective a strong focus will be placed on concept integration and validation to enable a gate-to-gate trajectory-based system capability that satisfies a full vision for NextGen. The SMART-NAS for Safe TBO Project consists of six sub-projects. Three of the sub-projects are focused on exploring and developing technologies, concepts and models for evolving and transforming air traffic management operations in the ATM+2 time horizon, while the remaining three sub-projects are focused on developing the tools and capabilities needed for testing these advanced concepts. Function Allocation, Networked Air Traffic Management and Trajectory Based Operations are developing concepts and models. SMART-NAS Test-bed, System Assurance Technologies and Real-time Safety Modeling are developing the tools and capabilities to test these concepts. Simulation and modeling capabilities will include the ability to assess multiple operational scenarios of the national airspace system, accept data feeds, allowing shadowing of actual operations in either real-time, fast-time and/or hybrid modes of operations in distributed environments, and enable integrated examinations of concepts, algorithms, technologies, and NAS architectures. An important focus within this project is to enable the development of a real-time, system-wide safety assurance system. The basis of such a system is a continuum of information acquisition, analysis, and assessment that enables awareness and corrective action to detect and mitigate potential threats to continuous system-wide safety at all levels. This process, which currently can only be done post operations, will be driven towards "real-time" assessments in the 2035 time frame.

Trajectory Based Operations↗
NASA NTRSDate not supplied

Real World Applications of AI/ML in Optimizing Airspace Operations

As National Airspace System (NAS) is going through the Digital Transformation journey, data science and analytics methods can significantly contribute to improving the traditional physics-based decision-making tools. The adoption of AI/ML methods will not only help accelerate Federal Aviation Administration (FAA)’s vision of Info-centric NAS but also contribute to the overall objective of sustainable aviation. AI/ML can improve the ground and airspace operations by enhancing the accuracy of current decision-making tools used by the airlines and the FAA to manage traffic on the ground and in the air. Huge amount of data that gets collected during a flight. AI/ML methods can extract information from this data and provide valuable insights to make better operational decisions. NASA has partnered with the FAA and commercial airlines such as American and Southwest Airlines on this effort and has successfully demonstrated the benefits of using ML in real world environment by reducing delays and optimizing ground operations at the US airports. In 2022 itself, NASA demonstrated real-world benefits (over 24K lbs. of fuel savings, over 76.6K lbs. CO2 emission savings, and several hours of delay savings) by deploying ML based prediction models to optimize ground operations at Dallas/Fort Worth International and Dallas Love Field Airports in Texas. These tools are being deployed on the cloud for broader deployment, adaptability, and scalability. NASA is developed a reference implementation of the cloud-based platform to significantly lower the bar to development and distribution of these digital services for aviation. In this talk, I will share information about the Digital Information Platform project, the novel AI/ML based approaches used for optimizing ground operations and the opportunities to partner with NASA on these demonstrations.

air traffic management↗
NASA NTRS1993

Prototype Optical Correlator For Robotic Vision System

Known and unknown images fed in electronically at high speed. Optical correlator and associated electronic circuitry developed for vision system of robotic vehicle. System recognizes features of landscape by optical correlation between input image of scene viewed by video camera on robot and stored reference image. Optical configuration is Vander Lugt correlator, in which Fourier transform of scene formed in coherent light and spatially modulated by hologram of reference image to obtain correlation.

Scholl, Marija S.↗
NASA NTRSDate not supplied

Ultraviolet Astronomy in the XXI Century

The US 2020 Astrophysics Decadal Survey (Astro2020) has recommended NASA develop the first observatory designed to search for signs of life on exoplanets and enable transformative astrophysics. These ambitious goals demand a large and highly capable space telescope with broad wavelength coverage from the far-UV to the near-IR, in the tradition of the Hubble Space Telescope. Realizing this vision will require aggressive technology development — as well as respect for and careful balancing of the needs of many scientific communities. In this talk, I will review the Decadal recommendations, including the development approach and timeline envisioned for the recommended UV/O/IR flagship. The LUVOIR and HabEx pre-Decadal mission concepts that fed into that flagship will also be reviewed. Finally, I’ll highlight some key technical considerations for the future UV/O/IR Great Observatory.

Aki Roberge↗
NASA NTRSDate not supplied

Materials Informatics at NASA GRC: Machine Learning Surrogate Modeling, Data Management, and Integrated Toolsets for Establishing/Maintaining the Digital Thread

Integrated Computational Materials Engineering (ICME) has recently received widespread attention due to its promises in reducing dependence on physical testing for engineering design by relying on simulation, reducing both time and cost to market for various applications. ICME however requires validated multiscale material models, which heavily depend on available test data with full material and test pedigree, including material processing, test and measurement equipment, raw data collection, and analysis methodology and results that is findable and usable, along with integrated, efficient toolsets for effectively passing information across various length and time scales across such models. At the NASA Glenn Research Center under the Transformational Tools and Technologies Project, significant recent efforts have been directed towards establishing the required cyberinfrastructure to enable optimized ICME processes and the design of “fit-for-purpose” materials to achieve the goals outlined in the NASA Vision 2040 report. Such efforts include development of multiscale physics-based material models, which can be used to train highly efficient surrogate machine learning models, development of best practices and infrastructure for effective, traceable materials information management, and development of toolsets that integrate with physics-based codes, machine learning models, and an information management system to enable high throughput of materials data collection and analysis, establishment of digital twins and the digital thread, and automation of the ICME design process for material optimization.

Machine Learning↗
NASA NTRS1989

Techniques and potential capabilities of multi-resolutional information (knowledge) processing

A concept of nested hierarchical (multi-resolutional, pyramidal) information (knowledge) processing is introduced for a variety of systems including data and/or knowledge bases, vision, control, and manufacturing systems, industrial automated robots, and (self-programmed) autonomous intelligent machines. A set of practical recommendations is presented using a case study of a multiresolutional object representation. It is demonstrated here that any intelligent module transforms (sometimes, irreversibly) the knowledge it deals with, and this tranformation affects the subsequent computation processes, e.g., those of decision and control. Several types of knowledge transformation are reviewed. Definite conditions are analyzed, satisfaction of which is required for organization and processing of redundant information (knowledge) in the multi-resolutional systems. Providing a definite degree of redundancy is one of these conditions.

Meystel, A.↗