Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “representation”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,423 records · Page 79
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Geometric reasoning

Cognitive robot systems are ones in which sensing and representation occur, from which task plans and tactics are determined. Such a robot system accomplishes a task after being told what to do, but determines for itself how to do it. Cognition is required when the work environment is uncontrolled, when contingencies are prevalent, or when task complexity is large; it is useful in any robotic mission. A number of distinguishing features can be associated with cognitive robotics, and one emphasized here is the role of artificial intelligence in knowledge representation and in planning. While space telerobotics may elude some of the problems driving cognitive robotics, it shares many of the same demands, and it can be assumed that capabilities developed for cognitive robotics can be employed advantageously for telerobotics in general. The top level problem is task planning, and it is appropriate to introduce a hierarchical view of control. Presented with certain mission objectives, the system must generate plans (typically) at the strategic, tactical, and reflexive levels. The structure by which knowledge is used to construct and update these plans endows the system with its cognitive attributes, and with the ability to deal with contingencies, changes, unknowns, and so on. Issues of representation and reasoning which are absolutely fundamental to robot manipulation, decisions based upon geometry, are discussed here, not AI task planning per se.

Woodbury, R. F.↗
NASA NTRS1989

Robust adaptive regulation without persistent excitation

A globally convergent adaptive regulator for minimum- or nonminimum-phase systems subject to bounded disturbances and unmodeled dynamics is presented. The control strategy is designed for a particular input-output representation obtained from the state space representation of the system. The leading coefficient of the representation is the product of the observability and controllability matrices of the system. The controller scheme uses a Least-Squares identification algorithm a with dead zone. The dead zone is chosen to obtain convergence properties on the estimates and on the covariance matrix as well. This allows the definition of modified estimates which secure well-conditioned matrices in the adaptive control law. Explicit bounds on the plant output are given.

Lozano-Leal, Rogelio↗
NASA NTRS1989

Structural stability augmentation system design using BODEDIRECT: A quick and accurate approach

A methodology is presented for a modal suppression control law design using flight test data instead of mathematical models to obtain the required gain and phase information about the flexible airplane. This approach is referred to as BODEDIRECT. The purpose of the BODEDIRECT program is to provide a method of analyzing the modal phase relationships measured directly from the airplane. These measurements can be achieved with a frequency sweep at the control surface input while measuring the outputs of interest. The measured Bode-models can be used directly for analysis in the frequency domain, and for control law design. Besides providing a more accurate representation for the system inputs and outputs of interest, this method is quick and relatively inexpensive. To date, the BODEDIRECT program has been tested and verified for computational integrity. Its capabilities include calculation of series, parallel and loop closure connections between Bode-model representations. System PSD, together with gain and phase margins of stability may be calculated for successive loop closures of multi-input/multi-output systems. Current plans include extensive flight testing to obtain a Bode-model representation of a commercial aircraft for design of a structural stability augmentation system.

Goslin, T. J.↗
NASA NTRS1989

Detection of edges using local geometry

Researchers described a new representation, the local geometry, for early visual processing which is motivated by results from biological vision. This representation is richer than is often used in image processing. It extracts more of the local structure available at each pixel in the image by using receptive fields that can be continuously rotated and that go to third order spatial variation. Early visual processing algorithms such as edge detectors and ridge detectors can be written in terms of various local geometries and are computationally tractable. For example, Canny's edge detector has been implemented in terms of a local geometry of order two, and a ridge detector in terms of a local geometry of order three. The edge detector in local geometry was applied to synthetic and real images and it was shown using simple interpolation schemes that sufficient information is available to locate edges with sub-pixel accuracy (to a resolution increase of at least a factor of five). This is reasonable even for noisy images because the local geometry fits a smooth surface - the Taylor series - to the discrete image data. Only local processing was used in the implementation so it can readily be implemented on parallel mesh machines such as the MPP. Researchers expect that other early visual algorithms, such as region growing, inflection point detection, and segmentation can also be implemented in terms of the local geometry and will provide sufficiently rich and robust representations for subsequent visual processing.

Gualtieri, J. A.↗
NASA NTRS1989

A comparison of two neural network schemes for navigation

Neural networks have been applied to tasks in several areas of artificial intelligence, including vision, speech, and language. Relatively little work has been done in the area of problem solving. Two approaches to path-finding are presented, both using neural network techniques. Both techniques require a training period. Training under the back propagation (BPL) method was accomplished by presenting representations of (current position, goal position) pairs as input and appropriate actions as output. The Hebbian/interactive activation (HIA) method uses the Hebbian rule to associate points that are nearby. A path to a goal is found by activating a representation of the goal in the network and processing until the current position is activated above some threshold level. BPL, using back-propagation learning, failed to learn, except in a very trivial fashion, that is equivalent to table lookup techniques. HIA, performed much better, and required storage of fewer weights. In drawing a comparison, it is important to note that back propagation techniques depend critically upon the forms of representation used, and can be sensitive to parameters in the simulations; hence the BPL technique may yet yield strong results.

Munro, Paul W.↗
NASA NTRS1990

A comparison of two neural network schemes for navigation

Neural networks have been applied to tasks in several areas of artificial intelligence, including vision, speech, and language. Relatively little work has been done in the area of problem solving. Two approaches to path-finding are presented, both using neural network techniques. Both techniques require a training period. Training under the back propagation (BPL) method was accomplished by presenting representations of current position, goal position pairs as input and appropriate actions as output. The Hebbian/interactive activation (HIA) method uses the Hebbian rule to associate points that are nearby. A path to a goal is found by activating a representation of the goal in the network and processing until the current position is activated above some threshold level. BPL, using back-propagation learning, failed to learn, except in a very trivial fashion, that is equivalent to table lookup techniques. HIA, performed much better, and required storage of fewer weights. In drawing a comparison, it is important to note that back propagation techniques depend critically upon the forms of representation used, and can be sensitive to parameters in the simulations; hence the BPL technique may yet yield strong results.

Munro, Paul↗
NASA NTRS1989

Coordinating the activities of a planner and an execution agent

A research program was defined that will explore the link between planning and execution systems. A simple scenario was defined in which a very capable off-line planning system interacts with the user and a smaller, less capable, on-line real-time system executing plans and reacting to faults. However, the on-line execution system may have a more flexible representation of the plans it is executing. This imbalance in the capabilities of the two agents involved should clarify some of the research objectives and give an experimental framework for the work. The task is to investigate the knowledge representations and communication protocols needed to link a user stating some requirements for a task to be carried out through a planning system to the (remote) execution agent that can carry out the user's wishes. The notion that a single representation can encapsulate the expression of the user's requirements, the capabilities for action, the communication to the execution agent, the successful or faulty response from the execution agent and the means of keeping the user informed, is examined. Methods of creating plan patches to update the plans separately held by each of the parties involved to keep them in step as they each react to changing circumstances in real-time is investigated. This involves the specification of plan patch attachment points that can be understood by the recipient. Transaction based methods are also investigated for coordinating the activities of the planner with those of the execution agent and user. The trial application area for the research is in the command and control of an advanced Earth Observation Space Platform.

Tate, Austin↗
NASA NTRS1989

The indexed time table approach for planning and acting

A representation is discussed of symbolic temporal relations, called IxTeT, that is both powerful enough at the reasoning level for tasks such as plan generation, refinement and modification, and efficient enough for dealing with real time constraints in action monitoring and reactive planning. Such representation for dealing with time is needed in a teleoperated space robot. After a brief survey of known approaches, the proposed representation shows its computational efficiency for managing a large data base of temporal relations. Reactive planning with IxTeT is described and exemplified through the problem of mission planning and modification for a simple surveying satellite.

Ghallab, Malik↗
NASA NTRS1989

Perception for rugged terrain

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

Kweon, In SO↗
NASA NTRS1989

A numerically exact full wave packet approach to molecule-surface scattering

A numerically exact spectral method for solving the time-dependent Schroedinger equation in spherical coordinates is described. The angular dependence of the wave function is represented on a two-dimensional grid of evenly spaced points. The fast Fourier transform algorithm is used to transform between the angle space representation of the wave function and its conjugate representation in momentum space. The time propagation of the wave function is evaluated using an expansion of the time evolution operator as a series of Chebyshev polynomials. Calculations performed for a model system representing H2 scattering from a rectangular corrugated surface yield transition probabilities that are in excellent agreement with those obtained using the close-coupling wave packet (CCWP) method. However, the new method is found to require substantially more computation time than the CCWP method because of the large number of grid points needed to represent the angular dependence of the wave function and the variation in the number of terms required in the Chebyshev representation of the time evolution operator.

Mowrey, R. C.↗
NASA NTRS1990

Image recovery from edge primitives

A method for extracting edge primitives from Mach-band patterns is presented together with a method for recovering image representations of features outlined by the edge boundaries. The accuracy, stability, and resolution of these representations are assessed. Since these representations are most commonly used in characterizing targets, this method of low-level processing offers new opportunities for computer vision and high data-compressing coding. Two bandpass filters are considered, the spatially invariant Laplacian of Gaussian filter and spatially variant intensity-dependent spatial (IDS) summation. It is shown that the recovery from the IDS bandpass data is particularly advantageous in applications for which robustness to local and temporal variations in illumination is important. It is concluded that the edge primitives extracted from bandpassed images can be an efficient way to store, transmit, and represent images.

Alter-Gartenberg, Rachel↗
NASA NTRS1989

Automated analysis for fluid flow topology

A new approach for visualizing vector data sets was developed by reducing the original vector field to a set of critical points and their connections, and was applied to fluid flow data sets. The critical point representation allows for considerable reduction in the data complexity. The representations are displayed as surfaces which are much simpler than the original data set, yet retain all the pertinent flow topology information. It is suggested that topological representations may be useful for database comparison.

Helman, James↗
NASA NTRS1990

On complexity of trellis structure of linear block codes

The trellis structure of linear block codes (LBCs) is discussed. The state and branch complexities of a trellis diagram (TD) for a LBC is investigated. The TD with the minimum number of states is said to be minimal. The branch complexity of a minimal TD for a LBC is expressed in terms of the dimensions of specific subcodes of the given code. Then upper and lower bounds are derived on the number of states of a minimal TD for a LBC, and it is shown that a cyclic (or shortened cyclic) code is the worst in terms of the state complexity among the LBCs of the same length and dimension. Furthermore, it is shown that the structural complexity of a minimal TD for a LBC depends on the order of its bit positions. This fact suggests that an appropriate permutation of the bit positions of a code may result in an equivalent code with a much simpler minimal TD. Boolean polynomial representation of codewords of a LBC is also considered. This representation helps in study of the trellis structure of the code. Boolean polynomial representation of a code is applied to construct its minimal TD. Particularly, the construction of minimal trellises for Reed-Muller codes and the extended and permuted binary primitive BCH codes which contain Reed-Muller as subcodes is emphasized. Finally, the structural complexity of minimal trellises for the extended and permuted, and double-error-correcting BCH codes is analyzed and presented. It is shown that these codes have relatively simple trellis structure and hence can be decoded with the Viterbi decoding algorithm.

Lin, Shu↗
NASA NTRS1990

Effect of atmospherics on beamforming accuracy

Two mathematical representations of noise due to atmospheric turbulence are presented. These representations are derived and used in computer simulations of the Bartlett Estimate implementation of beamforming. Beamforming is an array processing technique employing an array of acoustic sensors used to determine the bearing of an acoustic source. Atmospheric wind conditions introduce noise into the beamformer output. Consequently, the accuracy of the process is degraded and the bearing of the acoustic source is falsely indicated or impossible to determine. The two representations of noise presented here are intended to quantify the effects of mean wind passing over the array of sensors and to correct for these effects. The first noise model is an idealized case. The effect of the mean wind is incorporated as a change in the propagation velocity of the acoustic wave. This yields an effective phase shift applied to each term of the spatial correlation matrix in the Bartlett Estimate. The resultant error caused by this model can be corrected in closed form in the beamforming algorithm. The second noise model acts to change the true direction of propagation at the beginning of the beamforming process. A closed form correction for this model is not available. Efforts to derive effective means to reduce the contributions of the noise have not been successful. In either case, the maximum error introduced by the wind is a beam shift of approximately three degrees. That is, the bearing of the acoustic source is indicated at a point a few degrees from the true bearing location. These effects are not quite as pronounced as those seen in experimental results. Sidelobes are false indications of acoustic sources in the beamformer output away from the true bearing angle. The sidelobes that are observed in experimental results are not caused by these noise models. The effects of mean wind passing over the sensor array as modeled here do not alter the beamformer output as significantly as expected.

Alexander, Richard M.↗
NASA NTRS1991

Robust fault diagnosis of physical systems in operation

Ideas are presented and demonstrated for improved robustness in diagnostic problem solving of complex physical systems in operation, or operative diagnosis. The first idea is that graceful degradation can be viewed as reasoning at higher levels of abstraction whenever the more detailed levels proved to be incomplete or inadequate. A form of abstraction is defined that applies this view to the problem of diagnosis. In this form of abstraction, named status abstraction, two levels are defined. The lower level of abstraction corresponds to the level of detail at which most current knowledge-based diagnosis systems reason. At the higher level, a graph representation is presented that describes the real-world physical system. An incremental, constructive approach to manipulating this graph representation is demonstrated that supports certain characteristics of operative diagnosis. The suitability of this constructive approach is shown for diagnosing fault propagation behavior over time, and for sometimes diagnosing systems with feedback. A way is shown to represent different semantics in the same type of graph representation to characterize different types of fault propagation behavior. An approach is demonstrated that threats these different behaviors as different fault classes, and the approach moves to other classes when previous classes fail to generate suitable hypotheses. These ideas are implemented in a computer program named Draphys (Diagnostic Reasoning About Physical Systems) and demonstrated for the domain of inflight aircraft subsystems, specifically a propulsion system (containing two turbofan systems and a fuel system) and hydraulic subsystem.

Abbott, Kathy Hamilton↗
NASA NTRS1990

Experience with abstract notation one

The development of computer science has produced a vast number of machine architectures, programming languages, and compiler technologies. The cross product of these three characteristics defines the spectrum of previous and present data representation methodologies. With regard to computer networks, the uniqueness of these methodologies presents an obstacle when disparate host environments are to be interconnected. Interoperability within a heterogeneous network relies upon the establishment of data representation commonality. The International Standards Organization (ISO) is currently developing the abstract syntax notation one standard (ASN.1) and the basic encoding rules standard (BER) that collectively address this problem. When used within the presentation layer of the open systems interconnection reference model, these two standards provide the data representation commonality required to facilitate interoperability. The details of a compiler that was built to automate the use of ASN.1 and BER are described. From this experience, insights into both standards are given and potential problems relating to this development effort are discussed.

Harvey, James D.↗
NASA NTRS1992

Squeezed states: A geometric framework

A general definition of squeezed states is proposed and its main features are illustrated through a discussion of the standard optical coherent states represented by 'Gaussian pure states'. The set-up involves representations of groups on Hilbert spaces over homogeneous spaces of the group, and relies on the construction of a square integrable (coherent state) group representation modulo a subgroup. This construction depends upon a choice of a Borel section which has a certain permissible arbitrariness in its selection; this freedom is attributable to a squeezing of the defining coherent states of the representation, and corresponds in this way to a sort of gauging.

Ali, S. T.↗
NASA NTRS1992

Artificial intelligence approach to planning the robotic assembly of large tetrahedral truss structures

An assembly planner for tetrahedral truss structures is presented. To overcome the difficulties due to the large number of parts, the planner exploits the simplicity and uniformity of the shapes of the parts and the regularity of their interconnection. The planning automation is based on the computational formalism known as production system. The global data base consists of a hexagonal grid representation of the truss structure. This representation captures the regularity of tetrahedral truss structures and their multiple hierarchies. It maps into quadratic grids and can be implemented in a computer by using a two-dimensional array data structure. By maintaining the multiple hierarchies explicitly in the model, the choice of a particular hierarchy is only made when needed, thus allowing a more informed decision. Furthermore, testing the preconditions of the production rules is simple because the patterned way in which the struts are interconnected is incorporated into the topology of the hexagonal grid. A directed graph representation of assembly sequences allows the use of both graph search and backtracking control strategies.

Homemdemello, Luiz S.↗