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This paper presents a middle ground between these two extremes that uses plans, but also enables much larger control envelopes using a real-time planner that finds optimal n step plans to achieve a set of goals if one exists.
While universal plans tell a system how to reach a goal regardless of what state it is in, such plans are typically too large to represent. Hybrid systems execute plans where each action is implemented to robustly produce effects if the world does not stray outside the action's control envelopes.
A recently conceived approach to automated real-time control of the actions of a robotic system enables an embedded real-time planning algorithm to develop plans that are more robust than they would otherwise be, without imposing an excessive computational burden. This approach occupies a middle ground between two prior approaches known in the art as the universal-plan and hybrid approaches. Ever since discovering the performance limitations of taking a sense-plan-act approach to controlling robots, the robotics community has endeavored to follow a behavior-based approach in which a behavior includes a rapid feedback loop between state estimation and motor control. Heretofore, system architectures following this approach have been based, variously, on algorithms that implement universal plans or algorithms that function as hybrids of planners and executives. In a typical universal-plan case, a set of behaviors is merged into the plan, but the system must be restricted to relatively small problem domains to avoid having to reason about too many states and represent them in the plan. In the hybrid approach, one implements actions as small sets of behaviors, each applicable to a limited set of circumstances. Each action is intended to bring the system to a subgoal state. A planning algorithm is used to string these actions together into a sequence to traverse the state space from an initial or current state to a goal state. The hybrid approach works well in a static environment, but it is inherently brittle in a dynamic environment because a failure can occur when the environment strays beyond the region of applicability of the current activity. In the present approach, a system can vary from the hybrid approach to the universal-plan approach, depending on a single integer parameter, denoted n, which can range from 1 to a maximum domain-dependent value of M. As illustrated in the figure, n = 1 represents the hybrid approach, in which each linked action covers a small part of the state space of the system. As n increases, the portion of state space associated with each action and its subgoal grows. When n reaches M, coverage extends over the full state space, so that the system contains a universal plan.
Topics covered include: Fiber-Optic Sensor Would Monitor Growth of Polymer Film; Sensors for Pointing Moving Instruments Toward Each Other; Pd/CeO2/SiC Chemical Sensors; Microparticle Flow Sensor; Scattering-Type Surface-Plasmon-Resonance Biosensors; Diode-Laser-Based Spectrometer for Sensing Gases; Improved Cathode Structure for a Direct Methanol Fuel Cell; X-Band, 17-Watt Solid-State Power Amplifier; Improved Anode for a Direct Methanol Fuel Cell; Tools for Designing and Analyzing Structures; Interactive Display of Scenes with Annotations; Solving Common Mathematical Problems; Tools for Basic Statistical Analysis; Program Calculates Forces in Bolted Structural Joints; Integrated Structural Analysis and Test Program; Molybdate Coatings for Protecting Aluminum Against Corrosion; Synthesizing Diamond from Liquid Feedstock; Modifying Silicates for Better Dispersion in Nanocomposites; Powder-Collection System for Ultrasonic/Sonic Drill/Corer; Semiautomated, Reproducible Batch Processing of Soy; Hydrogen Peroxide Enhances Removal of NOx from Flue Gases; Subsurface Ice Probe; Real-Time Simulation of Aeroheating of the Hyper-X Airplane; Using Laser-Induced Incandescence To Measure Soot in Exhaust; Method of Real-Time Principal-Component Analysis; Insect-Inspired Flight Control for Unmanned Aerial Vehicles; Domain Compilation for Embedded Real-Time Planning; Semantic Metrics for Analysis of Software; Simulation of Laser Cooling and Trapping in Engineering Applications; Large Fluvial Fans and Exploration for Hydrocarbons; Doping-Induced Interband Gain in InAs/AlSb Quantum Wells; Development of Software for a Lidar-Altimeter Processor; Upgrading the Space Shuttle Caution and Warning System; and Fractal Reference Signals in Pulse-Width Modulation.
This paper describes MEXEC, an implemented micro executive that compiles a device model into an interal structure. Not only does this structure facilitate computing the most likely current device mode from n sets of sensor measurements, but it also facilitates generating an n step reconfiguration plan that is most likely not to result in reaching a target mode - if such a plan exists.
The paper presents a way to robustly command a system of systems as a single entity. Instead of modeling each component system in isolation and then manually crafting interaction protocols, this approach starts with a model of the collective population as a single system. By compiling the model into separate elements for each component system and utilizing a teamwork model for coordination, it circumvents the complexities of manually crafting robust interaction protocols. The resulting systems are both globally responsive by virtue of a team oriented interaction model and locally responsive by virtue of a distributed approach to model-based fault detection, isolation, and recovery.
This paper describes MEXEC, an implemented micro executive that compiles a device model that can have feedback into a structure for subsequent evaluation. This system computes both the most likely current device mode from n sets of sensor measurements and the n-1 step reconfiguration plan that is most likely to result in reaching a target mode - if such a plan exists. A user tunes the system by increasing n to improve system capability at the cost of real-time performance.
Smart building technologies can improve building energy efficiency and resilience, reduce carbon emissions, and provide load flexibility to the grid. However, in both college curricula and building professionals’ continuing education, there is a lack of systematic instruction on smart building technologies. Slipstream, partnering with Texas A&M University (TAMU), the Society of Building Science Educators (SBSE), and the National Institute of Building Sciences (NIBS), developed a semester-long smart building curriculum for college students and 16 training videos for building professionals and the general public. The education and training cover the drivers and benefits of smart building technologies, key building energy systems, the latest sensor technologies and IoT devices, and focus on topics related to smart building controls (i.e., energy management information systems, smart building control platforms, cybersecurity, grid-interactive-efficient buildings [GEBs], smart building control methods, and occupant-centric control). The smart building curriculum for college students was taught at TAMU in the Spring semester of 2024 as part of the validation process. Student feedback was collected and summarized in a validation report by TAMU. The curriculum material was also reviewed by SBSE faculty who are interested in teaching smart building technology-related courses. Suggestions on revisions and better adoption of the materials by other faculty across the architectural, engineering, and construction (AEC) domains were compiled in a distinct validation report by SBSE. The SBSE validation report was used to create structured subsets of the curriculum material for adoption at different levels in different sub-disciplines. These subsets are categorized and offered on the SBSE website (https://www.sbse.org/courses/Smart-Building-Technologies). The 16 training videos for building professionals and the general public were previewed by 17 industry experts, and feedback and suggested changes were incorporated into the final version of these videos. The videos are organized into a smart building technology training course and published on the Whole Building Design Guide website (https://www.wbdg.org/ce/doe/bto/sbtt), which is hosted by the National Institute of Building Sciences (NIBS). Project team members created marketing materials to promote the awareness of these free, publicly available education and training resources. Outreach and marketing activities included creating short promotional videos, building project webpages, making project announcements on social media, conducting an email campaign, and directly reaching out to faculties and building professionals. This report describes the project approach, provides outlines of the training materials, along with links to resources, and identifies lessons learned in creating the content. We also suggest ways to scale the instruction of smart building concepts to empower the workforce to accelerate the adoption of smart building technologies in the real world.
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Embedded domain-specific languages (EDSLs) are an approach for quickly building new languages while maintaining the advantages of a rich metalanguage. We argue in this experience report that the "EDSL approach" can surprisingly ease the task of building a high-assurance compiler.We do not strive to build a fully formally-verified tool-chain, but take a "do-it-yourself" approach to increase our confidence in compiler-correctness without too much effort. Copilot is an EDSL developed by Galois, Inc. and the National Institute of Aerospace under contract to NASA for the purpose of runtime monitoring of flight-critical avionics. We report our experience in using type-checking, QuickCheck, and model-checking "off-the-shelf" to quickly increase confidence in our EDSL tool-chain.
The paper is a compilation of data on antiphase domains in lunar plagioclase. New observations and reports in the literature are tabulated and discussed. In the pattern which emerges (but is still very incomplete), it appears that b-domains, which except for the An 82 bytownite from the Stillwater complex have only been observed in lunar feldspars, occur in the anorthite range An 80 to 95. Especially in the sodium rich part there seems to be a close relation between an exsolution structure and b-APB's. The c-APB's are found in anorthites An 95 to 100 and for a given An-content they are larger for metamorphic than for volcanic anorthites. Near An 95, c- and b-domains can be observed in the same crystal. The c-domains disappear when heated above 1200 C; they are not affected by heating below 600 C. This implies that calcic anorthite without c-domains must have been rapidly quenched from high temperatures.
Formal specification development and modification are an essential component of the knowledge-based software life cycle. User interface technology is needed to empower end-users to create their own formal specifications. This paper describes the advanced user interface for AMPHION1 a knowledge-based software engineering system that targets scientific subroutine libraries. AMPHION is a generic, domain-independent architecture that is specialized to an application domain through a declarative domain theory. Formal specification development and reuse is made accessible to end-users through an intuitive graphical interface that provides semantic guidance in creating diagrams denoting formal specifications in an application domain. The diagrams also serve to document the specifications. Automatic deductive program synthesis ensures that end-user specifications are correctly implemented. The tables that drive AMPHION's user interface are automatically compiled from a domain theory; portions of the interface can be customized by the end-user. The user interface facilitates formal specification development by hiding syntactic details, such as logical notation. It also turns some of the barriers for end-user specification development associated with strongly typed formal languages into active sources of guidance, without restricting advanced users. The interface is especially suited for specification modification. AMPHION has been applied to the domain of solar system kinematics through the development of a declarative domain theory. Testing over six months with planetary scientists indicates that AMPHION's interactive specification acquisition paradigm enables users to develop, modify, and reuse specifications at least an order of magnitude more rapidly than manual program development.
This paper describes a framework for running cooperating agents in a distributed environment to support the Intelligent Computer Aided Design System (ICADS), a project in progress at the CAD Research Unit of the Design Institute at the California Polytechnic State University. Currently, the systems aids an architectural designer in creating a floor plan that satisfies some general architectural constraints and project specific requirements. At the core of ICADS is the Blackboard Control System. Connected to the blackboard are any number of domain experts called Intelligent Design Tools (IDT). The Blackboard Control System monitors the evolving design as it is being drawn and helps resolve conflicts from the domain experts. The user serves as a partner in this system by manipulating the floor plan in the CAD system and validating recommendations made by the domain experts. The primary components of the Blackboard Control System are two expert systems executed by a modified CLIPS shell. The first is the Message Handler. The second is the Conflict Resolver. The Conflict Resolver synthesizes the suggestions made by the domain experts, which can be either CLIPS expert systems, or compiled C programs. In DEMO1, the current ICADS prototype, the CLIPS domain expert systems are Acoustics, Lighting, Structural, and Thermal; the compiled C domain experts are the CAD system and the User Interface.
An approach is introduced to automated model derivation for knowledge based systems. The approach, model compilation, involves procedurally generating the set of domain models used by a knowledge based system. With an implemented example, how this approach can be used to derive models of different precision and abstraction is illustrated, and models are tailored to different tasks, from a given set of base domain models. In particular, two implemented model compilers are described, each of which takes as input a base model that describes the structure and behavior of a simple electromechanical device, the Reaction Wheel Assembly of NASA's Hubble Space Telescope. The compilers transform this relatively general base model into simple task specific models for troubleshooting and redesign, respectively, by applying a sequence of model transformations. Each transformation in this sequence produces an increasingly more specialized model. The compilation approach lessens the burden of updating and maintaining consistency among models by enabling their automatic regeneration.
A suite of telerobotic tasks has been compiled and assessed for the purpose of selecting viable tasks for near and far term laboratory demonstrations. The primary intent of developing the task is to provide some technical guidelines, with supporting data, for focusing laboratory demonstrations toward application domains that address a wide array of potential telerobot tasks and required technologies. This wide application would then result in a rich technology development environment to meet the broad task requirements of a system such as the Flight Telerobot Servicer. The methodology and results of the telerobot task assessment are described, including a ranking of the final select suite of major tasks. The presented along with guidelines for both interpreting the task ranking results and setting programmatic objectives based on these results. Detailed data about the task candidates and their respective levels of complexity, task primitive actions, and the actual relative measures of task worth as associated with key tradeoff variables such as cost, available research resources, technology availability, and importance to the user community are also presented.
Julia is a relatively new computer language that aims to reduce the challenge for mathmodelers to develop fast computer tools and simulations. It potentially combines the ease-of-coding feature of scripting languages (like Python) with the performance of compiled languages (like C++). A key question for Julia application to the simulation domain is, “Can Julia, with its obvious coding simplicity, provide runtime speeds comparable to conventional compiled languages for flight simulation?” A unique combination of existing elements can be employed to address the previous question: Extensively documented object-oriented simulation architecture, Industry standard rocket flight simulation, Separate versions (C++, Java, and Python) already benchmarked.
The process of deciphering, extracting, and compiling information from texts dense with domain-specific terminology and technical jargon is a challenging endeavor. It demands considerable expertise and deep knowledge in the respective field, resulting in a labor-intensive process when executed by humans. Furthermore, the task of identifying multiple class labels in extensive texts presents a challenge due to intra- and inter-reader variability, making the process time-consuming and costly.We’re introducing a user-friendly graphical interface, fortified with a BERT model-powered decision support system. This advanced system aims to augment efficiency, curtail data collection time, and sustain high precision in data acquisition. It is instrumental in deciphering and synthesizing intricate texts teeming with a spectrum of expressions, even within similar mitigation categories. Such tasks traditionally demand substantial human effort and specialized knowledge in the domain.Our system is specifically engineered for the task of extracting environmental mitigation information to promote sustainable hydropower development from licenses issued by the Federal Energy Regulatory Commission (FERC). These license documents are comprehensive, each containing over 15,000 words and requiring the identification of 135 different class labels. We anticipate that our system will boost reading speed, improve the consistency of classification outputs among readers, and contribute to the development of a robust scientific database of environmental mitigations associated with the 2,000+ non-federal hydropower facilities licensed by FERC in the United States.