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NASA NTRS1990

Algorithms and architectures for robot vision

The scope of the current work is to develop practical sensing implementations for robots operating in complex, partially unstructured environments. A focus in this work is to develop object models and estimation techniques which are specific to requirements of robot locomotion, approach and avoidance, and grasp and manipulation. Such problems have to date received limited attention in either computer or human vision - in essence, asking not only how perception is in general modeled, but also what is the functional purpose of its underlying representations. As in the past, researchers are drawing on ideas from both the psychological and machine vision literature. Of particular interest is the development 3-D shape and motion estimates for complex objects when given only partial and uncertain information and when such information is incrementally accrued over time. Current studies consider the use of surface motion, contour, and texture information, with the longer range goal of developing a fused sensing strategy based on these sources and others.

Schenker, Paul S.↗

NASA NTRS1989

A survey on the structured singular value

The structured singular value, U, is an important linear algebra tool to study a class of matrix perturbation problems. It is useful for analyzing the robustness of stability and performance of uncertain, (nominally) linear systems. Computation of (M) is difficult, and usually, upper and lower bounds are all that can be reliably computed. Upper bounds give conservative estimates of the sizes of allowable perturbations. The maximum singular value of a matrix M is an upper bound for (M). As an upper bound, it can be improved by finding a transformations to the data (i.e. M) which do not change the structured singular value, but do reduce the maximum singular value. Typically, upper bound algorithms involve searches over sets of transformations to yield the tightest bound. Lower bound algorithms are intelligent searches for minimum-norm solutions to multivariable polynomial equations, and are based on various optimality conditions that hold at the global (and, unfortunately, some local) minima. The current methods to compute both of these types of bounds are reviewed. Theoretical justification and extensive numerical experience with the various algorithms are covered.

Packard, Andy↗

NASA NTRS1989

Parallel and vector computation for stochastic optimal control applications

A general method for parallel and vector numerical solutions of stochastic dynamic programming problems is described for optimal control of general nonlinear, continuous time, multibody dynamical systems, perturbed by Poisson as well as Gaussian random white noise. Possible applications include lumped flight dynamics models for uncertain environments, such as large scale and background random atmospheric fluctuations. The numerical formulation is highly suitable for a vector multiprocessor or vectorizing supercomputer, and results exhibit high processor efficiency and numerical stability. Advanced computing techniques, data structures, and hardware help alleviate Bellman's curse of dimensionality in dynamic programming computations.

Hanson, F. B.↗

NASA NTRS1989

A methodology for formulating a minimal uncertainty model for robust control system design and analysis

In the design and analysis of robust control systems for uncertain plants, the technique of formulating what is termed an M-delta model has become widely accepted and applied in the robust control literature. The M represents the transfer function matrix M(s) of the nominal system, and delta represents an uncertainty matrix acting on M(s). The uncertainty can arise from various sources, such as structured uncertainty from parameter variations or multiple unstructured uncertainties from unmodeled dynamics and other neglected phenomena. In general, delta is a block diagonal matrix, and for real parameter variations the diagonal elements are real. As stated in the literature, this structure can always be formed for any linear interconnection of inputs, outputs, transfer functions, parameter variations, and perturbations. However, very little of the literature addresses methods for obtaining this structure, and none of this literature addresses a general methodology for obtaining a minimal M-delta model for a wide class of uncertainty. Since have a delta matrix of minimum order would improve the efficiency of structured singular value (or multivariable stability margin) computations, a method of obtaining a minimal M-delta model would be useful. A generalized method of obtaining a minimal M-delta structure for systems with real parameter variations is given.

Belcastro, Christine M.↗

NASA NTRS1989

Extensions of output variance constrained controllers to hard constraints

Covariance Controllers assign specified matrix values to the state covariance. A number of robustness results are directly related to the covariance matrix. The conservatism in known upperbounds on the H infinity, L infinity, and L (sub 2) norms for stability and disturbance robustness of linear uncertain systems using covariance controllers is illustrated with examples. These results are illustrated for continuous and discrete time systems. **** ONLY 2 BLOCK MARKERS FOUND -- RETRY *****

Skelton, R.↗

NASA NTRS1989

A real time, FEM based optimal control algorithm and its implementation using parallel processing hardware (transistors) in a microprocessor environment

There is an evident need to discover a means of establishing reliable, implementable controls for systems that are plagued by nonlinear and, or uncertain, model dynamics. The development of a generic controller design tool for tough-to-control systems is reported. The method utilizes a moving grid, time infinite element based solution of the necessary conditions that describe an optimal controller for a system. The technique produces a discrete feedback controller. Real time laboratory experiments are now being conducted to demonstrate the viability of the method. The algorithm that results is being implemented in a microprocessor environment. Critical computational tasks are accomplished using a low cost, on-board, multiprocessor (INMOS T800 Transputers) and parallel processing. Progress to date validates the methodology presented. Applications of the technique to the control of highly flexible robotic appendages are suggested.

Patten, William Neff↗

NASA NTRS1990

Laboratory Simulation of the Effect of Rocket Thrust on a Precessing Space Vehicle

Ground tests of solid propellant rocket motors have shown that metal-containing propellants produce various amounts of slag (primarily aluminum oxide) which is trapped in the motor case, causing a loss of specific impulse. Although not yet definitely established, the presence of a liquid pool of slag also may contribute to nutational instabilities that have been observed with certain spin-stabilized, upper-stage vehicles. Because of the rocket's axial acceleration, absent in the ground tests, estimates of in-flight slag mass have been very uncertain. Yet such estimates are needed to determine the magnitude of the control authority of the systems required for eliminating the instability. A test rig with an eccentrically mounted hemispherical bowl was designed and built which incorporates a follower force that properly aligns the thrust vector along the axis of spin. A program that computes the motion of a point mass in the spinning and precessing bowl was written. Using various RPMs, friction factors, and initial starting conditions, plots were generated showing the trace of the point mass around the inside of the fuel tank. The apparatus will incorporate future design features such as a variable nutation angle and a film height measuring instrument. Data obtained on the nutational instability characteristics will be used to determine order of magnitude estimates of control authority needed to minimize the sloshing effect.

Alvarez, Oscar↗

NASA NTRS1990

Magnetism and superconductivity of some Tl-Cu oxides

Many copper oxide based Thallium compounds have now been discovered. In comparison to the Bi-compounds, the Tl-system shows a richer diversity; viz., High Temperature Superconductors (HTSC) can be obtained with either one or two Tl-0 layers (m = 1,2); also, the triple-digit phases are easier to synthesize. The value of d, oxygen stoichiometry, is critical to achieving superconductivity. The Tl system is robust to oxygen loss; Tl may be lost or incorporated by diffusion. A diffusion coefficient equal to 10 ms at 900 C was determined. Both ortho-rhombic and tetragonal structures are evidenced, but HTSC behavior is indifferent to the crystal symmetry. This system has the highest T(sub c) confirmed. T(sub c) generally increases with p, the number of CuO layers, but tends to saturate at p = 3. Zero resistance as high as 125K has been observed. Most of these HTSC's are hole type, but the Ce-doped specimens may be electronic. The magnetic aspects were studied; because in addition to defining the perfectly diamagnetic ground state as in the conventional superconductors, magnetism of the copper oxides show a surprising variety. This is true of both the normal and the superconducting states. Also, due to the large phonon contribution to the specific heat at the high T(sub c) accurate thermal measurement of important parameters such as the sp. heat jump, electronic density of states, D(Ef) and coherence length are uncertain, and thus, are estimated from the magnetic results. Results from the Tl-system CuO, LaBaCuO, 120 and the Bi-CuO compounds are discussed. The emphasis is on the role of magnetism in the TlCuO HTSC, but technological aspects are also pointed out.

Datta, Timir↗

NASA NTRS1989

A Boltzmann machine for the organization of intelligent machines

In the present technological society, there is a major need to build machines that would execute intelligent tasks operating in uncertain environments with minimum interaction with a human operator. Although some designers have built smart robots, utilizing heuristic ideas, there is no systematic approach to design such machines in an engineering manner. Recently, cross-disciplinary research from the fields of computers, systems AI and information theory has served to set the foundations of the emerging area of the design of intelligent machines. Since 1977 Saridis has been developing an approach, defined as Hierarchical Intelligent Control, designed to organize, coordinate and execute anthropomorphic tasks by a machine with minimum interaction with a human operator. This approach utilizes analytical (probabilistic) models to describe and control the various functions of the intelligent machine structured by the intuitively defined principle of Increasing Precision with Decreasing Intelligence (IPDI) (Saridis 1979). This principle, even though resembles the managerial structure of organizational systems (Levis 1988), has been derived on an analytic basis by Saridis (1988). The purpose is to derive analytically a Boltzmann machine suitable for optimal connection of nodes in a neural net (Fahlman, Hinton, Sejnowski, 1985). Then this machine will serve to search for the optimal design of the organization level of an intelligent machine. In order to accomplish this, some mathematical theory of the intelligent machines will be first outlined. Then some definitions of the variables associated with the principle, like machine intelligence, machine knowledge, and precision will be made (Saridis, Valavanis 1988). Then a procedure to establish the Boltzmann machine on an analytic basis will be presented and illustrated by an example in designing the organization level of an Intelligent Machine. A new search technique, the Modified Genetic Algorithm, is presented and proved to converge to the minimum of a cost function. Finally, simulations will show the effectiveness of a variety of search techniques for the intelligent machine.

Moed, Michael C.↗

NASA NTRS1989

Grasp planning under uncertainty

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

Erkmen, A. M.↗

NASA NTRS1989

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 NTRS1990

Chemical heterogeneity and imperfect mixing in the solar nebula

The 'standard' accretion-disk model of the solar nebula is examined together with its basic equations, which are solved for the steady-state case. It is shown that, for this model of the solar nebula, the efficiency of mixing the products of thermochemical processing from small to large disk radii depends not on the magnitude of the eddy diffusivity but only on the ratio k between the eddy diffusivity and the eddy viscosity. In most cases, this ratio k is probably of order of unity or less, implying that most of the solar nebula was not contaminated by the consequences of thermochemical equilibria that were established at 'small' disk radii. It is noted that, while this condition is almost certainly satisfied if the physical process responsible for viscosity is thermal convection or waves, it has uncertain validity during the early phases of disk evolution where accretion-induced shear instabilities may dominate.

Stevenson, David J.↗

NASA NTRS1990

On the apparent positions of T Tauri stars in the H-R diagram

The spread in apparent luminosities of T Tauri stars caused by occultation and emission from protostellar disks is investigated. A random distribution of disk inclination angles, coupled with a plausible range of accretion rates, introduces a significant scatter in apparent luminosities for intrinsically identical stars. The observed dispersion of luminosities for K7-M1 Hayashi track stars thought to have disks in Taurus-Auriga is similar to predictions of the simple accretion disk model, which suggets that age determinations form many pre-main-sequence stars are uncertain. The results also suggest that Stahler's 'birthline' for convective track pre-main-sequence stars may be located at slightly lower luminosities than previously thought.

Kenyon, Scott J.↗

NASA NTRS1990

Optimal dynamic remapping of data parallel computations

A large class of data parallel computations is characterized by a sequence of phases, with phase changes occurring unpredictably. Dynamic remapping of the workload to processors may be required to maintain good performance. The problem considered, for which the utility of remapping and the future behavior of the workload are uncertain, arises when phases exhibit stable execution requirements during a given phase, but requirements change radically between phases. For these situations, a workload assignment generated for one phase may hinder performance during the next phase. This problem is treated formally for a probabilistic model of computation with at most two phases. The authors address the fundamental problem of balancing the expected remapping performance gain against the delay cost, and they derive the optimal remapping decision policy. The promise of the approach is shown by application to multiprocessor implementations of an adaptive gridding fluid dynamics program and to a battlefield simulation program.

Nicol, David M.↗

NASA NTRS1989

Dissociative recombination in interstellar clouds

Molecular ions play a significant role in the chemistry and evolution of interstellar molecular clouds, even though these regions are overwhelmingly neutral. The dissociative recombination (DR) process governs the abundances of many of these ions and of related neutral species. The gas-phase ion-molecule chemistry of the simplest species is summarized, with emphasis on those problems which are most sensitive to uncertain rates or product branching ratios of DR processes. Examples of the kinds of information needed about DR processes are presented. The importance of the H3(+) ion and prospects for its direct observation are discussed.

Black, John H.↗

NASA NTRS1990

A proposed Kalman filter algorithm for estimation of unmeasured output variables for an F100 turbofan engine

To develop advanced control systems for optimizing aircraft engine performance, unmeasurable output variables must be estimated. The estimation has to be done in an uncertain environment and be adaptable to varying degrees of modeling errors and other variations in engine behavior over its operational life cycle. This paper presents an approach to estimate unmeasured output variables by explicitly modeling the effects of off-nominal engine behavior as biases on the measurable output variables. A state variable model accommodating off-nominal behavior is developed for the engine, and Kalman filter concepts are used to estimate the required variables. Results are presented from nonlinear engine simulation studies as well as the application of the estimation algorithm on actual flight data. The formulation presented has a wide range of application since it is not restricted or tailored to the particular application described in the paper.

Alag, Gurbux S.↗

NASA NTRS1990

IUE observations of WX Ceti in outburst

IUE observations of the peculiar dwarf nova WX Ceti roughly two weeks into a rare outburst, the first since 1963, are obtained. The SWP and LWP observations are very similar to other erupting dwarf novae, both in the line and continuum spectrum. The C IV 1549 A doublet displays blueshifted absorption, indicating the presence of a wind which has a terminal velocity of either 3150 km/s or 5450 km/s; the two possible values are due to an uncertain interpretation of features in the blue wing of the line. The line may also show a weak, redshifted emission, completing a P Cygni profile. The derived mass-loss of 0.7-2.2 x 10 to the -11th solar masses/yr is quite typical of dwarf novae in outburst. Thus, despite the unusual photometric properties of this system, long recurrence time, large amplitude outbursts, and long duration eruptions, the IUE observations reveal that the physical characteristics of the outburst are fairly typical of dwarf novae.

Downes, Ronald A.↗

NASA NTRS1990

Tables and intercomparisons of evolutionary sequences of models for massive stars

Tables of evolutionary sequences of models for massive stars have been prepared for a variety of physical input parameters that are normally treated as free. These parameters include the interior convective mixing scheme, the mixing length in the outer convective envelope, the rate of stellar-wind mass loss, the initial stellar mass, and the initial chemical composition. Ranges of specified initial mass and initial chemical composition are M = 10-120 solar masses, Xe = 0.602-0.739, and Ze = 0.021-0.044. The tables cover evolution of the star from the ZAMS to either the end of core H burning or the end of core He burning. Differences among the evolutionary tracks are illustrated primarily in terms of the interior mixing scheme, since the amount and timing of stellar wind mass loss are still very uncertain for initial masses above about 30 solar masses.

Chin, Chao-Wen↗