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NASA NTRS2020

Parsing-based Approaches for Verification and Recognition of Hierarchical Plans

Hierarchical Task Networks were proposed as a method todescribe plans by decomposition of tasks to sub-tasks untilprimitive tasks, actions, are obtained. Plan verification assumesa complete plan as input, and the objective is findinga task that decomposes to this plan. In plan recognition, aprefix of the plan is given and the objective is finding a taskthat decomposes to the (shortest) plan with the given prefix.This paper describes how to verify and recognize plans usinga common method known from formal grammars, by parsing.

Bartak, Roman↗

DOE OSTI2017

Operating displays - new concept: high performance displays - 118

New control rooms in Nuclear Power Plants using digital Distributed Control System (DCS) operated with software displays, are providing thousands of signals to the operating crew. When an event happens, the Flood of information provided to operators could obscure the initiator event increasing the operator response time, work load and complicating the selection of the actions to be performed. There are some initiatives that are trying to minimize the 'avalanche effect' as the alarm engineering filtering and prioritization or diagnostic displays. Likewise, new control rooms are lost the availability to know the plant status just with a quick glance to the panel indicators. Regarding Small Modular Reactors, where in some cases four operators should monitor and control twelve reactors, these problems are even more significant. The challenge is to find a solution, based on current digital systems, that supply information to operators in order to prevent events and take early actions to minimize or avoid any unexpected incident. In order to minimize human errors, Tecnatom has developed a specific set of displays, called 'High Performance Displays' (HPD) based on objectives, work environment limitation, and non-anticipated events. These displays are being design following the HFE standards: applying the NUREG-0711 elements to identify the information that they have to content and the NUREG-0700 to design the interface. The function of these displays is monitoring the plant situation in a way that the operators are able to recognize any potential event at a simple glance but controlling thousands of signals through pattern recognition, symmetries, regular polygons and colors. The objective of the HPD is to provide an integrated function minimizing the tunnel effect and reduce the workload during the diagnosis phase. Moreover, HPD enhance operators to take the right actions to anticipate the response to any event, even avoiding it, if possible This paper analyzes how HPD's have been design as well as presents the results of a preliminary validation of their capabilities. The preliminary validation is a reduce validation in a full scope simulator running two representative scenarios of abnormal and emergency operation. The analysis is focused on the first stage of the event, i.e. the detection phase, HPD's have been installed in a generic full scope simulator of a nuclear power plant, digital controlled. Both scenarios have been performed by two different operator crews. The first operator shift has worked with the conventional human machine interface, that is, displays similar to the ones currently installed in existing nuclear power plant with digital control. The second crew, reproduce the same scenarios but with HPD available. The studio collects preliminary data in order to compare results, draw lesson learned from the experience to improve HPD design, and find solutions in terms of reducing human errors, human workload, and increase the availability of the plant. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS1992

Self-amplified optical pattern-recognition technique

A self-amplified optical pattern-recognition technique that utilizes a photorefractive crystal as a real-time volume holographic filter with recording accomplished by means of laser beams of proper polarization and geometric configuration is described. After the holographic filter is recorded, it can be addressed with extremely weak object beams and an even weaker reference beam to obtain a pattern-recognition signal. Because of beam-coupling energy transfer from the input object beam to the diffracted beam, the recognition signal is greatly amplified. Experimental results of this technique using BaTiO3 crystal show that 5 orders of magnitude of amplification of a recognition signal can be obtained.

Liu, Hua-Kuang↗

DOE OSTI2016

A decision tree algorithm for investigation of model biases related to dynamical cores and physical parameterizations: CESM/CAM EVALUATION BY DECISION TREES

An object-based evaluation method using a pattern recognition algorithm (i.e., classification trees) is applied to the simulated orographic precipitation for idealized experimental setups using the National Center of Atmospheric Research (NCAR) Community Atmosphere Model (CAM) with the finite volume (FV) and the Eulerian spectral transform dynamical cores with varying resolutions. Daily simulations were analyzed and three different types of precipitation features were identified by the classification tree algorithm. The statistical characteristics of these features (i.e., maximum value, mean value, and variance) were calculated to quantify the difference between the dynamical cores and changing resolutions. Even with the simple and smooth topography in the idealized setups, complexity in the precipitation fields simulated by the models develops quickly. The classification tree algorithm using objective thresholding successfully detected different types of precipitation features even as the complexity of the precipitation field increased. The results show that the complexity and the bias introduced in small-scale phenomena due to the spectral transform method of CAM Eulerian spectral dynamical core is prominent, and is an important reason for its dissimilarity from the FV dynamical core. The resolvable scales, both in horizontal and vertical dimensions, have significant effect on the simulation of precipitation. The results of this study also suggest that an efficient and informative study about the biases produced by GCMs should involve daily (or even hourly) output (rather than monthly mean) analysis over local scales.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2007

Automated Recognition of 3D Features in GPIR Images

A method of automated recognition of three-dimensional (3D) features in images generated by ground-penetrating imaging radar (GPIR) is undergoing development. GPIR 3D images can be analyzed to detect and identify such subsurface features as pipes and other utility conduits. Until now, much of the analysis of GPIR images has been performed manually by expert operators who must visually identify and track each feature. The present method is intended to satisfy a need for more efficient and accurate analysis by means of algorithms that can automatically identify and track subsurface features, with minimal supervision by human operators. In this method, data from multiple sources (for example, data on different features extracted by different algorithms) are fused together for identifying subsurface objects. The algorithms of this method can be classified in several different ways. In one classification, the algorithms fall into three classes: (1) image-processing algorithms, (2) feature- extraction algorithms, and (3) a multiaxis data-fusion/pattern-recognition algorithm that includes a combination of machine-learning, pattern-recognition, and object-linking algorithms. The image-processing class includes preprocessing algorithms for reducing noise and enhancing target features for pattern recognition. The feature-extraction algorithms operate on preprocessed data to extract such specific features in images as two-dimensional (2D) slices of a pipe. Then the multiaxis data-fusion/ pattern-recognition algorithm identifies, classifies, and reconstructs 3D objects from the extracted features. In this process, multiple 2D features extracted by use of different algorithms and representing views along different directions are used to identify and reconstruct 3D objects. In object linking, which is an essential part of this process, features identified in successive 2D slices and located within a threshold radius of identical features in adjacent slices are linked in a directed-graph data structure. Relative to past approaches, this multiaxis approach offers the advantages of more reliable detections, better discrimination of objects, and provision of redundant information, which can be helpful in filling gaps in feature recognition by one of the component algorithms. The image-processing class also includes postprocessing algorithms that enhance identified features to prepare them for further scrutiny by human analysts (see figure). Enhancement of images as a postprocessing step is a significant departure from traditional practice, in which enhancement of images is a preprocessing step.

Park, Han↗

NASA NTRS1994

Visually guided grasping to study teleprogrammation within the BAROCO testbed

This paper describes vision functionalities required in future orbital laboratories; in such systems, robots will be needed in order to execute the on-board scientific experiments or servicing and maintenance tasks under the remote control of ground operators. For this sake, ESA has proposed a robotic configuration called EMATS; a testbed has been developed by ESTEC in order to evaluate the potentialities of EMATS-like robot to execute scientific tasks in automatic mode. For the same context, CNES develops the BAROCO testbed to investigate remote control and teleprogrammation, in which high level primitives like 'Pick Object A' are provided as basic primitives. In nominal situations, the system has an a priori knowledge about the position of all objects. These positions are not very accurate, but this knowledge is sufficient in order to predict the position of the object which must be grasped, with respect to the manipulator frame. Vision is required in order to insure a correct grasping and to guarantee a good accuracy for the following operations. We describe our results about a visually guided grasping of static objects. It seems to be a very classical problem, and a lot of results are available. But, in many cases, it lacks a realistic evaluation of the accuracy, because such an evaluation requires tedious experiments. We propose several results about calibration of the experimental testbed, recognition algorithms required to locate a 3D polyhedral object, and the grasping itself.

Devy, M.↗

NASA NTRS1989

The development of two-dimensional object identification techniques

This report marks the end of the first year of an anticipated three year effort to study methods for numerically identifying objects according to shape in two dimensions. The method is based upon comparing the unit gradient of an observed object and the unit gradient of a standard object over a specified range of points. The manner in which the gradients are compared forms the basis of a shape recognition scheme, which is then applied to simple closed plane figures. The gradient based method is calibrated by using various distorted objects in comparison with a set of standard reference objects. The use of pattern recognition techniques for computer identification of two-dimensional figures will be investigated during the second and third years of this project.

Lebby, Gary↗

NASA NTRS1977

Voice technology and BBN

The following research was discussed: (1) speech signal processing; (2) automatic speech recognition; (3) continuous speech understanding; (4) speaker recognition; (5) speech compression; (6) subjective and objective evaluation of speech communication system; (7) measurement of the intelligibility and quality of speech when degraded by noise or other masking stimuli; (8) speech synthesis; (9) instructional aids for second-language learning and for training of the deaf; and (10) investigation of speech correlates of psychological stress. Experimental psychology, control systems, and human factors engineering, which are often relevant to the proper design and operation of speech systems are described.

Wolf, Jared J.↗

NASA NTRS1994

Dual use of image based tracking techniques: Laser eye surgery and low vision prosthesis

With a concentration on Fourier optics pattern recognition, we have developed several methods of tracking objects in dynamic imagery to automate certain space applications such as orbital rendezvous and spacecraft capture, or planetary landing. We are developing two of these techniques for Earth applications in real-time medical image processing. The first is warping of a video image, developed to evoke shift invariance to scale and rotation in correlation pattern recognition. The technology is being applied to compensation for certain field defects in low vision humans. The second is using the optical joint Fourier transform to track the translation of unmodeled scenes. Developed as an image fixation tool to assist in calculating shape from motion, it is being applied to tracking motions of the eyeball quickly enough to keep a laser photocoagulation spot fixed on the retina, thus avoiding collateral damage.

Juday, Richard D.↗

NASA NTRS1994

Dual Use of Image Based Tracking Techniques: Laser Eye Surgery and Low Vision Prosthesis

Juday, Richard D.↗

NASA NTRS2020

Application of Sparse Identification of Nonlinear Dynamics for Physics-Informed Learning

Advances in machine learning and deep neural networks has enabled complex engineering tasks like image recognition, anomaly detection, regression, and multi-objective optimization, to name but a few. The complexity of the algorithm architecture, e.g., the number of hidden layers in a deep neural network, typically grows with the complexity of the problems they are required to solve, leaving little room for interpreting (or explaining) the path that results in a specific solution. This drawback is particularly relevant for autonomous aerospace and aviation systems, where certifications require a complete understanding of the algorithm behavior in all possible scenarios. Including physics knowledge in such data-driven tools may improve the interpretability of the algorithms, thus enhancing model validation against events with low probability but relevant for system certification. Such events include, for example, spacecraft or aircraft sub-system failures, for which data may not be available in the training phase. This paper investigates a recent physics-informed learning algorithm for identification of system dynamics, and shows how the governing equations of a system can be extracted from data using sparse regression. The learned relationships can be utilized as a surrogate model which, unlike typical data-driven surrogate models, relies on the learned underlying dynamics of the system rather than large number of fitting parameters. The work shows that the algorithm can reconstruct the differential equations underlying the observed dynamics using a single trajectory when no uncertainty is involved. However, the training set size must increase when dealing with stochastic systems, e.g., nonlinear dynamics with random initial conditions.

Corbetta, Matteo↗

NASA NTRS1993

An evaluation of three-dimensional sensors for the extravehicular activity helper/retreiver

The Extravehicular Activity Retriever/Helper (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, accurate sensing of the operational environment and objects in the environment will therefore be critical. The qualitative and quantitative results of empirical studies of three sensors that are capable of providing three-dimensional information to the EVAHR, but using completely different hardware approaches are documented. The first of these devices is a phase shift laser with an effective operating range (ambiguity interval) of approximately 15 meters. The second sensor is a laser triangulation system designed to operate at much closer range and to provide higher resolution images. The third sensor is a dual camera stereo imaging system from which range images can also be obtained. The remainder of the report characterizes the strengths and weaknesses of each of these systems relative to quality of data extracted and how different object characteristics affect sensor operation.

Magee, Michael↗

NASA NTRS1987

Pattern recogition using reduced information content filters

Pattern recognition by optical spatial filtering procedures is discussed using general considerations with the objective of reducing the information content in the spatial filter. The achievement of this objective is very useful toward the wide application of spatial light modulators and also for facilitating distortion invariant recognition. The proposed novel approach is demonstrated by an example employing bipolar spatial filters for rotation invariant pattern recognition.

Shamir, Joseph↗

DOE OSTI2025

Quantum optical classifier with superexponential speedup

Abstract Classification is a central task in deep learning algorithms. Usually, images are first captured and then processed by a sequence of operations, of which the artificial neuron represents one of the fundamental units. This paradigm requires significant resources that scale (at least) linearly in the image resolution, both in terms of photons and computational operations. Here, we present a quantum optical pattern recognition method for binary classification tasks. It classifies objects without reconstructing their images, using the rate of two-photon coincidences at the output of a Hong-Ou-Mandel interferometer, where both the input and the classifier parameters are encoded into single-photon states. Our method exhibits the behaviour of a classical neuron of unit depth. Once trained, it shows a constant $${{\mathcal{O}}}(1)$$ O ( 1 ) complexity in the number of computational operations and photons required by a single classification. This is a superexponential advantage over a classical artificial neuron.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1973

Introduction to computer image processing

Theoretical backgrounds and digital techniques for a class of image processing problems are presented. Image formation in the context of linear system theory, image evaluation, noise characteristics, mathematical operations on image and their implementation are discussed. Various techniques for image restoration and image enhancement are presented. Methods for object extraction and the problem of pictorial pattern recognition and classification are discussed.

Moik, J. G.↗

NASA NTRS1993

Image remapping strategies applied as protheses for the visually impaired

Maculopathy and retinitis pigmentosa (rp) are two vision defects which render the afflicted person with impaired ability to read and recognize visual patterns. For some time there has been interest and work on the use of image remapping techniques to provide a visual aid for individuals with these impairments. The basic concept is to remap an image according to some mathematical transformation such that the image is warped around a maculopathic defect (scotoma) or within the rp foveal region of retinal sensitivity. NASA/JSC has been pursuing this research using angle invariant transformations with testing of the resulting remapping using subjects and facilities of the University of Houston, College of Optometry. Testing is facilitated by use of a hardware device, the Programmable Remapper, to provide the remapping of video images. This report presents the results of studies of alternative remapping transformations with the objective of improving subject reading rates and pattern recognition. In particular a form of conformal transformation was developed which provides for a smooth warping of an image around a scotoma. In such a case it is shown that distortion of characters and lines of characters is minimized which should lead to enhanced character recognition. In addition studies were made of alternative transformations which, although not conformal, provide for similar low character distortion remapping. A second, non-conformal transformation was studied for remapping of images to aid rp impairments. In this case a transformation was investigated which allows remapping of a vision field into a circular area representing the foveal retina region. The size and spatial representation of the image are selectable. It is shown that parametric adjustments allow for a wide variation of how a visual field is presented to the sensitive retina. This study also presents some preliminary considerations of how a prosthetic device could be implemented in a practical sense, vis-a-vis, size, weight and portability.

Johnson, Curtis D.↗

NASA NTRS2003

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Ambrose, Robert↗

NASA NTRS2004

Optical Position Encoders for High or Low Temperatures

Optoelectronic pattern-recognition systems (optical encoders) for measuring positions of objects of interest at temperatures well below or well above room temperature are undergoing development. At present, the development effort is concentrated on absolute linear, rotary, and Cartesian encoders and Cartesian autocollimators for scientific instruments that operate in cryostats.

Leviton, Douglas B.↗