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NASA NTRS1988

Diagnosing faults in autonomous robot plan execution

A major requirement for an autonomous robot is the capability to diagnose faults during plan execution in an uncertain environment. Many diagnostic researches concentrate only on hardware failures within an autonomous robot. Taking a different approach, the implementation of a Telerobot Diagnostic System that addresses, in addition to the hardware failures, failures caused by unexpected event changes in the environment or failures due to plan errors, is described. One feature of the system is the utilization of task-plan knowledge and context information to deduce fault symptoms. This forward deduction provides valuable information on past activities and the current expectations of a robotic event, both of which can guide the plan-execution inference process. The inference process adopts a model-based technique to recreate the plan-execution process and to confirm fault-source hypotheses. This technique allows the system to diagnose multiple faults due to either unexpected plan failures or hardware errors. This research initiates a major effort to investigate relationships between hardware faults and plan errors, relationships which were not addressed in the past. The results of this research will provide a clear understanding of how to generate a better task planner for an autonomous robot and how to recover the robot from faults in a critical environment.

Lam, Raymond K.↗

NASA NTRS1988

Blackboard architectures and their relationship to autonomous space systems

The blackboard architecture provides a powerful paradigm for the autonomy expected in future spaceborne systems, especially SDI and Space Station. Autonomous systems will require skill in both the classic task of information analysis and the newer tasks of decision making, planning and system control. Successful blackboard systems have been built to deal with each of these tasks separately. The blackboard paradigm achieves success in difficult domains through its ability to integrate several uncertain sources of knowledge. In addition to flexible behavior during autonomous operation, the system must also be capable of incrementally growing from semiautonomy to full autonomy. The blackboard structure allows this development. The blackboard's ability to handle error, its flexible execution, and variants of this paradigm are discussed as they apply to specific problems of the space environment.

Thornbrugh, Allison↗

NASA NTRS1988

Mathematical algorithms for approximate reasoning

Most state of the art expert system environments contain a single and often ad hoc strategy for approximate reasoning. Some environments provide facilities to program the approximate reasoning algorithms. However, the next generation of expert systems should have an environment which contain a choice of several mathematical algorithms for approximate reasoning. To meet the need for validatable and verifiable coding, the expert system environment must no longer depend upon ad hoc reasoning techniques but instead must include mathematically rigorous techniques for approximate reasoning. Popular approximate reasoning techniques are reviewed, including: certainty factors, belief measures, Bayesian probabilities, fuzzy logic, and Shafer-Dempster techniques for reasoning. A group of mathematically rigorous algorithms for approximate reasoning are focused on that could form the basis of a next generation expert system environment. These algorithms are based upon the axioms of set theory and probability theory. To separate these algorithms for approximate reasoning various conditions of mutual exclusivity and independence are imposed upon the assertions. Approximate reasoning algorithms presented include: reasoning with statistically independent assertions, reasoning with mutually exclusive assertions, reasoning with assertions that exhibit minimum overlay within the state space, reasoning with assertions that exhibit maximum overlay within the state space (i.e. fuzzy logic), pessimistic reasoning (i.e. worst case analysis), optimistic reasoning (i.e. best case analysis), and reasoning with assertions with absolutely no knowledge of the possible dependency among the assertions. A robust environment for expert system construction should include the two modes of inference: modus ponens and modus tollens. Modus ponens inference is based upon reasoning towards the conclusion in a statement of logical implication, whereas modus tollens inference is based upon reasoning away from the conclusion. These algorithms allow one to reason accurately with uncertain data. The above environment can replicate state-f-the-art expert system environments which provides a continuity between the current expert systems which cannot be validated or verified and future expert systems which should be both validated and verified

Murphy, John H.↗

NASA NTRS1987

Review of measurements of the RF spectrum of radiation from lightning

A review is presented of the measurements reported in the literature of the spectrum of electromagnetic radiation from lightning in the frequency range from 1 kHz to 1 GHz. Measurements have been made either by monitoring the power received at individual frequencies using a narrow bandwidth recording device or by recording the transient (time dependent) radiation with a wide bandwidth device and then Fourier transforming the waveform to obtain a spectrum. Measurements of the first type were made extensively in the 1950's and 1960's and several composite spectra have been deduced by normalizing the data of different investigators to common units of bandwidth and distance. The composite spectra tend to peak near 5 kHz and then decrease roughly as 1/(frequency) up to nearly 100 MHz where scatter in the data make the behaviour uncertain. The spectrum obtained with measurements of the second type is similar. Recent experiments have extended the frequency range covered to several 10's of MHz and include spectra for return strokes, the stepped leader and for some intracloud processes. The spectrum of first return strokes obtained in this manner is very similar to the spectrum of the composite flash obtained from the narrowband measurements.

Radiation↗

NASA NTRS1987

The surface-brightness-effective-size relation for elliptical galaxies in the cores of clusters

Surface photometry of 372 elliptical galaxies has been performed using CCD images of the centers of 97 nearby rich Abell clusters. The strong correlation between surface brightness and effective size, originally found by Kormendy (1977), is clear in the data. Brightest cluster galaxies show much less scatter about the mean relation defined by these data than do lower-luminosity cluster ellipticals, and the slope of the relation is shallower for the brightest galaxies; these two results are tentative, however, because of uncertain selection and environmental effects. When combined with published central velocity dispersions, the photometry yields a relation for brightest cluster galaxies that is in good agreement with the mean relation for elliptical galaxies found by Djorgovski and Davis (1987). Use of the surface-brightness/scale-length relation to measure the lookback luminosity evolution of the stellar content in galaxies is promising.

Hoessel, J. G.↗

NASA NTRS1988

Two-temperature interpretation of dissociation rate data for N2 and O2

The existing experimental data on dissociation of nitrogen and oxygen obtained using shock-tubes during the 1960's and 1970's are reinterpreted using the two-temperature thermo-chemical model developed recently in order to determine the rate coefficients consistent with the model. In this model, the vibrational-electronic temperature is calculated by integrating a separate conservation equation accounting for the suppression of vibrational energy during dissociation due to preferential removal of high vibrational states. The rate coefficient is assumed to be a function of the geometrically-averaged temperature between the translational-rotational temperature and the vibrational-electronic temperature. By comparing the computed overall and species densities with the experimental data, the rate coefficient values most consistent with the model, and their ranges of uncertainty, are deduced for dissociation of N2 through collisions with N2 or N, and for O2 through collisions with O2, O or N2. It is seen that a single set of such rate coefficients fit all existing experimental data closely. According to the two-temperature model, density and species density are insensitive to the rate coefficients, and so the rate coefficients so determined are uncertain to within a factor of at least 1.5.

Park, Chul↗

NASA NTRS1987

Sensitivity of closed-loop eigenvalues and robustness

Analytical results are obtained in a present investigation of the way in which full state feedback controller and estimator eigenvalues in a closed-loop linear control system affect these eigenvalues' sensitivity with respect to uncertain plant parameters. A controller eigenvalue lying near an estimator eigenvalue yields large eigenvalue sensitivity, which should be reduced through the separation of controller eigenvalues from estimator eigenvalues.

Adamian, A.↗

NASA NTRS1987

Detection of a new emission band at 2.8 microns in Comet P/Halley

A 2.8- to 3.7-micron spectrum of Comet Halley taken in May 1986 is presented. The spectrum shows the 3.36-micron emission feature that most likely arises from carbonaceous material and a previously unknown emission band at 2.8-2.9 microns with no evidence for the 3-micron water-ice band either in reflection or absorption. The 2.8- to 2.9-micron emission feature does not arise from infrared fluorescence from water or OH. Since LTE emission from water is unlikely, the nature of this feature is uncertain.

Tokunaga, A. T.↗

NASA NTRS1987

Adaptive proximate time-optimal servomechanisms - Continuous time case

A Proximate Time-Optimal Servo (PTOS) is developed, along with conditions for its stability. An algorithm is proposed for adapting the PTOS (APTOS) to improve performance in the face of uncertain plant parameters. Under ideal conditions APTOS is shown to be uniformly asymptotically stable. Simulation results demonstrate the predicted performance.

Workman, M. L.↗

NASA NTRS1988

The contribution to the gamma-ray background from a superposition of 3C 273-like jet sources

Recent theories suggest that quasar jets may produce the gamma-ray emission observed in sources such as 3C 273. One of these theories is tested to see if it is consistent with observations of the gamma-ray background. Quasar jets are taken as the source of this radiation, each with the spectrum of the nearby quasar 3C 273, and with an evolution in time based on a model for the observed gamma-rays of 3C 273. In that model, a plasma jet interacts with the ambient intergalactic gas to produce (from nuclear collisions) secondary electrons which lead to isotropic bremsstrahlung gamma-rays, and ultimately to a double radio source. It is shown that the gamma-ray background can be modeled in general as a superposition of such discrete sources of various redshifts. The results are consistent with the observed background intensity and spectral form; of course, there are uncertain and adjustable parameters.

Sadun, Alberto C.↗

NASA NTRS1988

A search for the binary companion of Polaris

Polaris has a spectroscopic orbit determined from an extensive series of observations as well as a more uncertain astrometric orbit. The determination of its mass and evolutionary state is of considerable interest because it is a low-amplitude classical Cepheid with unusual period and amplitude variations. In this study, IUE spectra are investigated to search for light from the companion. The spectra of Polaris from 1600 A to 3200 A are a good match for nonvariable supergiants of similar spectral type. The lack of any excess flux at the shortest wavelengths implies that a main-sequence companion must be later than A8 V. Although this is the most likely companion, the ultraviolet observations cannot rule out a white dwarf 15,000 K or cooler. Both these companions are consistent with either an evolutionary mass or a smaller pulsation mass for the Cepheid.

Evans, Nancy Remage↗

NASA NTRS1988

Probabilistic Structural Analysis Methods for select space propulsion system structural components (PSAM)

The objective is the development of several modular structural analysis packages capable of predicting the probabilistic response distribution for key structural variables such as maximum stress, natural frequencies, transient response, etc. The structural analysis packages are to include stochastic modeling of loads, material properties, geometry (tolerances), and boundary conditions. The solution is to be in terms of the cumulative probability of exceedance distribution (CDF) and confidence bounds. Two methods of probability modeling are to be included as well as three types of structural models - probabilistic finite-element method (PFEM); probabilistic approximate analysis methods (PAAM); and probabilistic boundary element methods (PBEM). The purpose in doing probabilistic structural analysis is to provide the designer with a more realistic ability to assess the importance of uncertainty in the response of a high performance structure. Probabilistic Structural Analysis Method (PSAM) tools will estimate structural safety and reliability, while providing the engineer with information on the confidence that should be given to the predicted behavior. Perhaps most critically, the PSAM results will directly provide information on the sensitivity of the design response to those variables which are seen to be uncertain.

Cruse, T. A.↗

NASA NTRS1988

Robustness margin calculation with dynamic and real parametric uncertainty

The problem of robust stability in feedback control systems with real uncertain parameters and unmodeled dynamics, where the latter takes the form of one complex block dynamic uncertainty, is considered. A robustness margin Tm is defined with respect to such model uncertainty structure and robust stability is characterized in terms of it. An algorithm to calculate Tm and the closely related multivariable stability margin km and structured singular value mu measures of robust stability is developed. It is shown that other control problems, such as robust performance for real parametric uncertainty, can also be handled in this framework.

Sideris, Athanasios↗

NASA NTRS1988

Robustness analysis based on passivity

A technique of robust stability analysis for multivariable control systems is introduced. Existing tools in the literature are mostly based on small gain type of conditions such as the H(infinity)-norm or mu measure. In contrast, the approach presented is motivated by passivity theory. The natural energy Lyapunov function associated with a passive system allows robustness to be analyzed with Lyapunov stability theory. Consequently, nonlinear and time-varying perturbations can be considered within the same framework. For unstructured uncertainties, the robustness margin is characterized in terms of an index related to the Hermitian part of a transfer function. If the uncertainties contain additional diagonal structure, stability margins are obtained for variations of each uncertain block in both positive and negative directions. Applications of this robustness analysis technique are illustrated.

Wen, John T.↗

NASA NTRS1988

Infrared processes in the Jovian auroral zone

In the present theoretical model of the Jovian auroral zone's CH4 and H2 vibrational excitation and deexitation processes, the calculation of the emission intensities of nu3 and nu4 bands of CH3 assume that electrons are the bombarding particles. The most uncertain part of the model calculation involves the energy flux spectrum of incident electrons on the auroral zone. Comparisons with Voyager 1 IRIS observations indicate a domination of the nonthermal, directly or indirectly particle bombardment-derived emission by the thermal emission of the CH4 band.

Kim, Sang J.↗

NASA NTRS1989

Fast Correction For Doppler In MDPSK Signals

Detector of multiple differential phase-shift-keyed (MDPSK) signals designed to effect combination of open-loop estimation of frequency and differential detection of digital modulation. Improved design expected to decrease probability of bit errors in situations in which carrier frequency uncertain and signals transmitted in bursts too short to allow closed-loop tracking of carrier frequency - for example, in transmission of digitally-coded voice signals in land-mobile/satellite communications at ultra-high frequencies.

Simon, M. K.↗

NASA NTRS1988

Cosmic strings

Cosmic strings are linear topological defects which are predicted by some grand unified theories to form during a spontaneous symmetry breaking phase transition in the early universe. They are the basis for the only theories of galaxy formation aside from quantum fluctuations from inflation based on fundamental physics. In contrast to inflation, they can also be observed directly through gravitational lensing and their characterisitc microwave background anisotropy. It was recently discovered that details of cosmic string evolution are very differnt from the so-called standard model that was assumed in most of the string-induced galaxy formation calculations. Therefore, the details of galaxy formation in the cosmic string models are currently very uncertain.

Bennett, David P.↗

NASA NTRS1988

Interstellar lines in the spectrum of supernova 1987a

The primary interest was to analyze the interstellar lines produced by gases along the line of sight which resides in the galactic plane and halo, as well as material in the Large Magellanic Cloud or the immediate environment of the supernovae. The ionization and fine-structure excitation of assorted atoms were intrepreted. The goal was to learn more about conditions in various regions of space and identify the probable origins for some velocity components whose locations were uncertain.

Jenkins, Edward B.↗