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At least 649 records · Page 36

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NASA NTRS1989

Common-Reliability Cumulative-Binomial Program

Cumulative-binomial computer program, CROSSER, one of set of three programs, calculates cumulative binomial probability distributions for arbitrary inputs. CROSSER, CUMBIN (NPO-17555), and NEWTONP (NPO-17556), used independently of one another. Point of equality between reliability of system and common reliability of components found. Used by statisticians and users of statistical procedures, test planners, designers, and numerical analysts. Program written in C.

Scheuer, Ernest, M.↗

NASA NTRS1989

Simulating Scenes In Outer Space

Multimission Interactive Picture Planner, MIP, computer program for scientifically accurate and fast, three-dimensional animation of scenes in deep space. Versatile, reasonably comprehensive, and portable, and runs on microcomputers. New techniques developed to perform rapidly calculations and transformations necessary to animate scenes in scientifically accurate three-dimensional space. Written in FORTRAN 77 code. Primarily designed to handle Voyager, Galileo, and Space Telescope. Adapted to handle other missions.

Callahan, John D.↗

NASA NTRS1988

Languages for artificial intelligence: Implementing a scheduler in LISP and in Ada

A prototype scheduler for space experiments originally programmed in a dialect of LISP using some of the more traditional techniques of that language, was recast using an object-oriented LISP, Common LISP with Flavors on the Symbolics. This object-structured version was in turn partially implemented in Ada. The Flavors version showed a decided improvement in both speed of execution and readability of code. The recasting into Ada involved various practical problems of implementation as well as certain challenges of reconceptualization in going from one language to the other. Advantages were realized, however, in greater clarity of the code, especially where more standard flow of control was used. This exercise raised issues about the influence of programming language on the design of flexible and sensitive programs such as schedule planners, and called attention to the importance of factors external to the languages themselves such as system embeddedness, hardware context, and programmer practice.

Hays, Dan↗

NASA NTRS1988

Graphic simualtion test bed for robotics applications in a workstation environment

Graphical simulation is a cost-effective solution for developing and testing robots and their control systems. The availability of various high-performance workstations makes these systems feasible. Simulation offers preliminary testing of systems before their actual realizations, and it provides a framework for developing new control and planning algorithms. On the other hand, these simulation systems have to have the capability of incorporating various knowledge-based system components, e.g., task planners, representation formalisms, etc. They also should have an appropriate user interface, which makes possible the creation and control of simulation models. ROBOSIM was developed jointly by MSFC and Vanderbilt University, first in a VAX environment. Recently, the system has been ported to an HP-9000 workstation equipped with an SRX graphics accelerator. The user interface of the system now contains a menu- and icon-based facility, as well as the original ROBOSIM language. The system is also coupled to a symbolic computing system based on Common Lisp, where knowledge-based functionalities are implemented. The knowledge-based layer uses various representation and reasoning facilities for programming and testing the control systems of robots.

Springfield, J.↗

NASA NTRS1988

Space station payload operations scheduling with ESP2

The Mission Analysis Division of the Systems Analysis and Integration Laboratory at the Marshall Space Flight Center is developing a system of programs to handle all aspects of scheduling payload operations for Space Station. The Expert Scheduling Program (ESP2) is the heart of this system. The task of payload operations scheduling can be simply stated as positioning the payload activities in a mission so that they collect their desired data without interfering with other activities or violating mission constraints. ESP2 is an advanced version of the Experiment Scheduling Program (ESP) which was developed by the Mission Integration Branch beginning in 1979 to schedule Spacelab payload activities. The automatic scheduler in ESP2 is an expert system that embodies the rules that expert planners would use to schedule payload operations by hand. This scheduler uses depth-first searching, backtracking, and forward chaining techniques to place an activity so that constraints (such as crew, resources, and orbit opportunities) are not violated. It has an explanation facility to show why an activity was or was not scheduled at a certain time. The ESP2 user can also place the activities in the schedule manually. The program offers graphical assistance to the user and will advise when constraints are being violated. ESP2 also has an option to identify conflict introduced into an existing schedule by changes to payload requirements, mission constraints, and orbit opportunities.

Stacy, Kenneth L.↗

NASA NTRS1988

Presentation planning using an integrated knowledge base

A description is given of user interface research aimed at bringing together multiple input and output modes in a way that handles mixed mode input (commands, menus, forms, natural language), interacts with a diverse collection of underlying software utilities in a uniform way, and presents the results through a combination of output modes including natural language text, maps, charts and graphs. The system, Integrated Interfaces, derives much of its ability to interact uniformly with the user and the underlying services and to build its presentations, from the information present in a central knowledge base. This knowledge base integrates models of the application domain (Navy ships in the Pacific region, in the current demonstration version); the structure of visual displays and their graphical features; the underlying services (data bases and expert systems); and interface functions. The emphasis is on a presentation planner that uses the knowledge base to produce multi-modal output. There has been a flurry of recent work in user interface management systems. (Several recent examples are listed in the references). Existing work is characterized by an attempt to relieve the software designer of the burden of handcrafting an interface for each application. The work has generally focused on intelligently handling input. This paper deals with the other end of the pipeline - presentations.

Arens, Yigal↗

NASA NTRS1989

Diverter AI based decision aid, phases 1 and 2

It was determined that a system to incorporate artificial intelligence (AI) into airborne flight management computers is feasible. The AI functions that would be most useful to the pilot are to perform situational assessment, evaluate outside influences on the contemplated rerouting, perform flight planning/replanning, and perform maneuver planning. A study of the software architecture and software tools capable of demonstrating Diverter was also made. A skeletal planner known as the Knowledge Acquisition Development Tool (KADET), which is a combination script-based and rule-based system, was used to implement the system. A prototype system was developed which demonstrates advanced in-flight planning/replanning capabilities.

Sexton, George A.↗

NASA NTRS1987

Mission planning for autonomous systems

Planning is a necessary task for intelligent, adaptive systems operating independently of human controllers. A mission planning system that performs task planning by decomposing a high-level mission objective into subtasks and synthesizing a plan for those tasks at varying levels of abstraction is discussed. Researchers use a blackboard architecture to partition the search space and direct the focus of attention of the planner. Using advanced planning techniques, they can control plan synthesis for the complex planning tasks involved in mission planning.

Pearson, G.↗

NASA NTRS1987

Recovering from execution errors in SIPE

In real-world domains (e.g., a mobile robot environment), things do not always proceed as planned, so it is important to develop better execution-monitoring techniques and replanning capabilities. These capabilities in the SIPE planning system are described. The motivation behind SIPE is to place enough limitations on the representation so that planning can be done efficiently, while retaining sufficient power to still be useful. This work assumes that new information given to the execution monitor is in the form of predicates, thus avoiding the difficult problem of how to generate these predicates from information provided by sensors. The replanning module presented here takes advantage of the rich structure of SIPE plans and is intimately connected with the planner, which can be called as a subroutine. This allows the use of SIPE's capabilities to determine efficiently how unexpected events affect the plan being executed and, in many cases, to retain most of the original plan by making changes in it to avoid problems caused by these unexpected events. SIPE is also capable of shortening the original plan when serendipitous events occur. A general set of replanning actions is presented along with a general replanning capability that has been implemented by using these actions.

Wilkins, D. E.↗

NASA NTRS1989

Shared resource control between human and computer

The advantages of an AI system of actively monitoring human control of a shared resource (such as a telerobotic manipulator) are presented. A system is described in which a simple AI planning program gains efficiency by monitoring human actions and recognizing when the actions cause a change in the system's assumed state of the world. This enables the planner to recognize when an interaction occurs between human actions and system goals, and allows maintenance of an up-to-date knowledge of the state of the world and thus informs the operator when human action would undo a goal achieved by the system, when an action would render a system goal unachievable, and efficiently replans the establishment of goals after human intervention.

Hendler, James↗

NASA NTRS1988

Development of a Space Station Operations Management System

To enhance the productivity of operations aboard the Space Station, a means must be provided to augment, and frequently to supplant, human effort in support of mission operations and management, both on the ground and onboard. The Operations Management System (OMS), under development at the Johnson Space Center, is one such means. OMS comprises the tools and procedures to facilitate automation of station monitoring, control, and mission planning tasks. OMS mechanizes, and hence rationalizes, execution of tasks traditionally performed by mission planners, the mission control center team, onboard System Management software, and the flight crew.

Brandli, A. E.↗

NASA NTRS1988

NASA-GSFC research developments evolve into HRSO satellite concepts

Shaped omni and modular array-antenna concepts are being baselined for use on operations with the NASA space network and the High-Resolution Solar Observatory (HRSO) satellite free-flyer concept. This mission requires 16-MBPS return links, 1-KBPS multiple-access links, and a completely redundant set of gimballed antennas to support these links with 90-percent continuous coverage from TDRSS. Here, attention is given to the ways in which the flexibility of these components enabled mission planners to trade off spacecraft options without sacrificing mission objectives.

Hilliard, Lawrence M.↗

NASA NTRS1989

User interactive electric propulsion software design

As electric propulsion technology matures from laboratory development to flight application, mission planners and spacecraft designers are increasingly required to determine the benefits and integration issues of using this propulsion capability. A computer software tool for supporting these analyses is presented. This tool combines detailed analytical models describing electric propulsion engine performance and subsystem design, and a software structure that is highly user interactive and adaptable. The software design methodology used to develop this software tool is presented in this paper.

Aston, Martha B.↗

NASA NTRS1989

The Voyager interstellar mission

The life expectancy of the Voyager spacecraft as they enter interstellar space, and what they will find along the way, are examined. The range of options available to mission planners as to which instruments to keep alive and which to shut off for the interstellar voyage is addressed. The way that the spacecraft will be operated in interstellar space is described.

Finnerty, Dan F.↗

NASA NTRS1989

Design and implementation of a robot control system with traded and shared control capability

Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.

Hayati, S.↗

NASA NTRS1990

Probabilistic Determination Of Motions Of Robots

Heuristic-path-planner method reduces computing time. Probability of successful motion of robot through region of space obtained from geometric model and captures effects of objects in region and kinematics of robot arm. Information used to guide on-line search and results, in most cases, in successful determination of path within reasonably short time.

Balaram, J.↗

NASA NTRS1990

Analyzing Distributed Processing For Electric Utilities

Distributed Processing Trade-Off Model for Electric Utility Operation computer program based upon study performed at California Institute of Technology for NASA's Jet Propulsion Laboratory. Study presented technique addressing question of tradeoffs between expanding communications network or expanding capacity of distributed computers in energy-management systems (EMS) of electric utility. Gives EMS planners macroscopic tool for evaluation of architectures of distributed-processing systems and major technical and economic tradeoffs as well as interactions within systems.

Klein, Stanley A.↗

NASA NTRS1990

A knowledge-based approach to improving optimization techniques in system planning

A knowledge-based (KB) approach to improve mathematical programming techniques used in the system planning environment is presented. The KB system assists in selecting appropriate optimization algorithms, objective functions, constraints and parameters. The scheme is implemented by integrating symbolic computation of rules derived from operator and planner's experience and is used for generalized optimization packages. The KB optimization software package is capable of improving the overall planning process which includes correction of given violations. The method was demonstrated on a large scale power system discussed in the paper.

Momoh, J. A.↗